diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Book-None-DeskLamp-328/trial_T20190908_062929_997479/game.tw-pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Book-None-DeskLamp-328/trial_T20190908_062929_997479/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..e821ad74d9a22ea728be679f5236fc6f62cdca28 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Book-None-DeskLamp-328/trial_T20190908_062929_997479/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\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 book 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_062929_997479)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n AlarmClock_bar__plus_01_dot_11_bar__plus_00_dot_51_bar__minus_01_dot_67 - object\n Blinds_bar__plus_00_dot_67_bar__plus_01_dot_99_bar__minus_01_dot_86 - object\n Blinds_bar__plus_01_dot_78_bar__plus_01_dot_99_bar__minus_01_dot_86 - object\n Book_bar__plus_02_dot_88_bar__plus_00_dot_79_bar__minus_01_dot_62 - object\n CD_bar__plus_01_dot_18_bar__plus_00_dot_28_bar__minus_01_dot_61 - object\n CD_bar__plus_01_dot_30_bar__plus_00_dot_28_bar__minus_01_dot_61 - object\n CD_bar__plus_02_dot_51_bar__plus_00_dot_80_bar__minus_01_dot_42 - object\n CellPhone_bar__plus_02_dot_11_bar__plus_00_dot_80_bar__minus_01_dot_67 - object\n Chair_bar__plus_02_dot_22_bar__plus_00_dot_00_bar__minus_01_dot_47 - object\n CreditCard_bar__plus_03_dot_10_bar__plus_00_dot_80_bar__minus_01_dot_36 - object\n DeskLamp_bar__plus_03_dot_16_bar__plus_00_dot_79_bar__minus_01_dot_66 - object\n HousePlant_bar__minus_00_dot_83_bar__plus_00_dot_00_bar__plus_00_dot_84 - object\n KeyChain_bar__plus_01_dot_35_bar__plus_00_dot_06_bar__minus_01_dot_64 - object\n KeyChain_bar__plus_02_dot_11_bar__plus_00_dot_80_bar__minus_01_dot_42 - object\n KeyChain_bar__plus_02_dot_71_bar__plus_00_dot_80_bar__minus_01_dot_48 - object\n Laptop_bar__minus_00_dot_10_bar__plus_00_dot_57_bar__minus_01_dot_13 - object\n LightSwitch_bar__plus_02_dot_01_bar__plus_01_dot_13_bar__plus_01_dot_03 - object\n Mirror_bar__plus_00_dot_62_bar__plus_01_dot_26_bar__plus_01_dot_03 - object\n Mug_bar__plus_01_dot_47_bar__plus_00_dot_52_bar__minus_01_dot_63 - object\n Mug_bar__plus_02_dot_31_bar__plus_00_dot_80_bar__minus_01_dot_42 - object\n Pencil_bar__plus_02_dot_82_bar__plus_00_dot_80_bar__minus_01_dot_43 - object\n Pen_bar__plus_01_dot_24_bar__plus_00_dot_52_bar__minus_01_dot_59 - object\n Pen_bar__plus_01_dot_24_bar__plus_00_dot_52_bar__minus_01_dot_75 - object\n Pen_bar__plus_01_dot_91_bar__plus_00_dot_80_bar__minus_01_dot_54 - object\n Pillow_bar__plus_00_dot_30_bar__plus_00_dot_64_bar__minus_01_dot_56 - object\n TeddyBear_bar__minus_00_dot_08_bar__plus_00_dot_56_bar__minus_00_dot_27 - object\n TennisRacket_bar__minus_00_dot_92_bar__plus_00_dot_34_bar__plus_00_dot_39 - object\n TissueBox_bar__plus_01_dot_91_bar__plus_00_dot_80_bar__minus_01_dot_73 - object\n TissueBox_bar__plus_03_dot_07_bar__plus_00_dot_54_bar__minus_01_dot_42 - object\n Window_bar__plus_00_dot_69_bar__plus_01_dot_36_bar__minus_01_dot_94 - object\n Window_bar__plus_01_dot_80_bar__plus_01_dot_68_bar__minus_01_dot_94 - object\n Bed_bar__plus_00_dot_23_bar__plus_00_dot_00_bar__minus_00_dot_95 - receptacle\n Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59 - receptacle\n Drawer_bar__plus_01_dot_24_bar__plus_00_dot_13_bar__minus_01_dot_60 - receptacle\n Drawer_bar__plus_01_dot_24_bar__plus_00_dot_35_bar__minus_01_dot_60 - receptacle\n GarbageCan_bar__plus_03_dot_17_bar__plus_00_dot_00_bar__minus_00_dot_27 - receptacle\n Shelf_bar__plus_03_dot_04_bar__plus_00_dot_54_bar__minus_01_dot_44 - receptacle\n SideTable_bar__plus_01_dot_24_bar__plus_00_dot_00_bar__minus_01_dot_67 - receptacle\n loc_bar_5_bar__minus_5_bar_2_bar_60 - location\n loc_bar_7_bar__minus_3_bar_2_bar_60 - location\n loc_bar_9_bar__minus_3_bar_3_bar_45 - location\n loc_bar__minus_2_bar_2_bar_3_bar_60 - location\n loc_bar_2_bar_2_bar_0_bar_30 - location\n loc_bar_5_bar__minus_5_bar_2_bar__minus_30 - location\n loc_bar_6_bar__minus_5_bar_2_bar_0 - location\n loc_bar_10_bar__minus_2_bar_2_bar_60 - location\n loc_bar_11_bar__minus_2_bar_2_bar_45 - location\n loc_bar__minus_2_bar_2_bar_0_bar_60 - location\n loc_bar_7_bar__minus_2_bar_2_bar_60 - location\n loc_bar_5_bar__minus_5_bar_2_bar_30 - location\n loc_bar_9_bar__minus_3_bar_1_bar_60 - location\n loc_bar_9_bar__minus_3_bar_2_bar_60 - location\n loc_bar_8_bar_2_bar_0_bar_45 - location\n loc_bar_6_bar__minus_5_bar_2_bar__minus_30 - location\n loc_bar_6_bar__minus_4_bar_3_bar_45 - location\n loc_bar_12_bar__minus_3_bar_1_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Bed_bar__plus_00_dot_23_bar__plus_00_dot_00_bar__minus_00_dot_95 BedType)\n (receptacleType Drawer_bar__plus_01_dot_24_bar__plus_00_dot_35_bar__minus_01_dot_60 DrawerType)\n (receptacleType Drawer_bar__plus_01_dot_24_bar__plus_00_dot_13_bar__minus_01_dot_60 DrawerType)\n (receptacleType Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59 DeskType)\n (receptacleType GarbageCan_bar__plus_03_dot_17_bar__plus_00_dot_00_bar__minus_00_dot_27 GarbageCanType)\n (receptacleType Shelf_bar__plus_03_dot_04_bar__plus_00_dot_54_bar__minus_01_dot_44 ShelfType)\n (receptacleType SideTable_bar__plus_01_dot_24_bar__plus_00_dot_00_bar__minus_01_dot_67 SideTableType)\n (objectType Mirror_bar__plus_00_dot_62_bar__plus_01_dot_26_bar__plus_01_dot_03 MirrorType)\n (objectType Blinds_bar__plus_00_dot_67_bar__plus_01_dot_99_bar__minus_01_dot_86 BlindsType)\n (objectType Window_bar__plus_00_dot_69_bar__plus_01_dot_36_bar__minus_01_dot_94 WindowType)\n (objectType KeyChain_bar__plus_01_dot_35_bar__plus_00_dot_06_bar__minus_01_dot_64 KeyChainType)\n (objectType KeyChain_bar__plus_02_dot_71_bar__plus_00_dot_80_bar__minus_01_dot_48 KeyChainType)\n (objectType Pen_bar__plus_01_dot_24_bar__plus_00_dot_52_bar__minus_01_dot_75 PenType)\n (objectType Book_bar__plus_02_dot_88_bar__plus_00_dot_79_bar__minus_01_dot_62 BookType)\n (objectType CreditCard_bar__plus_03_dot_10_bar__plus_00_dot_80_bar__minus_01_dot_36 CreditCardType)\n (objectType Laptop_bar__minus_00_dot_10_bar__plus_00_dot_57_bar__minus_01_dot_13 LaptopType)\n (objectType Pen_bar__plus_01_dot_91_bar__plus_00_dot_80_bar__minus_01_dot_54 PenType)\n (objectType AlarmClock_bar__plus_01_dot_11_bar__plus_00_dot_51_bar__minus_01_dot_67 AlarmClockType)\n (objectType Chair_bar__plus_02_dot_22_bar__plus_00_dot_00_bar__minus_01_dot_47 ChairType)\n (objectType TissueBox_bar__plus_01_dot_91_bar__plus_00_dot_80_bar__minus_01_dot_73 TissueBoxType)\n (objectType TennisRacket_bar__minus_00_dot_92_bar__plus_00_dot_34_bar__plus_00_dot_39 TennisRacketType)\n (objectType TissueBox_bar__plus_03_dot_07_bar__plus_00_dot_54_bar__minus_01_dot_42 TissueBoxType)\n (objectType Window_bar__plus_01_dot_80_bar__plus_01_dot_68_bar__minus_01_dot_94 WindowType)\n (objectType DeskLamp_bar__plus_03_dot_16_bar__plus_00_dot_79_bar__minus_01_dot_66 DeskLampType)\n (objectType KeyChain_bar__plus_02_dot_11_bar__plus_00_dot_80_bar__minus_01_dot_42 KeyChainType)\n (objectType LightSwitch_bar__plus_02_dot_01_bar__plus_01_dot_13_bar__plus_01_dot_03 LightSwitchType)\n (objectType CD_bar__plus_01_dot_30_bar__plus_00_dot_28_bar__minus_01_dot_61 CDType)\n (objectType Mug_bar__plus_01_dot_47_bar__plus_00_dot_52_bar__minus_01_dot_63 MugType)\n (objectType CD_bar__plus_01_dot_18_bar__plus_00_dot_28_bar__minus_01_dot_61 CDType)\n (objectType Pen_bar__plus_01_dot_24_bar__plus_00_dot_52_bar__minus_01_dot_59 PenType)\n (objectType TeddyBear_bar__minus_00_dot_08_bar__plus_00_dot_56_bar__minus_00_dot_27 TeddyBearType)\n (objectType Pencil_bar__plus_02_dot_82_bar__plus_00_dot_80_bar__minus_01_dot_43 PencilType)\n (objectType Mug_bar__plus_02_dot_31_bar__plus_00_dot_80_bar__minus_01_dot_42 MugType)\n (objectType Pillow_bar__plus_00_dot_30_bar__plus_00_dot_64_bar__minus_01_dot_56 PillowType)\n (objectType Blinds_bar__plus_01_dot_78_bar__plus_01_dot_99_bar__minus_01_dot_86 BlindsType)\n (objectType CD_bar__plus_02_dot_51_bar__plus_00_dot_80_bar__minus_01_dot_42 CDType)\n (objectType HousePlant_bar__minus_00_dot_83_bar__plus_00_dot_00_bar__plus_00_dot_84 HousePlantType)\n (objectType CellPhone_bar__plus_02_dot_11_bar__plus_00_dot_80_bar__minus_01_dot_67 CellPhoneType)\n (canContain BedType TennisRacketType)\n (canContain BedType LaptopType)\n (canContain BedType BookType)\n (canContain BedType CellPhoneType)\n (canContain BedType PillowType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType TissueBoxType)\n (canContain DeskType PenType)\n (canContain DeskType BookType)\n (canContain DeskType CDType)\n (canContain DeskType MugType)\n (canContain DeskType CellPhoneType)\n (canContain DeskType KeyChainType)\n (canContain DeskType CreditCardType)\n (canContain DeskType TennisRacketType)\n (canContain DeskType LaptopType)\n (canContain DeskType PencilType)\n (canContain DeskType TissueBoxType)\n (canContain DeskType AlarmClockType)\n (canContain GarbageCanType PenType)\n (canContain GarbageCanType CDType)\n (canContain GarbageCanType PencilType)\n (canContain GarbageCanType TissueBoxType)\n (canContain ShelfType PenType)\n (canContain ShelfType BookType)\n (canContain ShelfType CDType)\n (canContain ShelfType MugType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType PencilType)\n (canContain ShelfType TissueBoxType)\n (canContain ShelfType AlarmClockType)\n (canContain SideTableType PenType)\n (canContain SideTableType BookType)\n (canContain SideTableType CDType)\n (canContain SideTableType MugType)\n (canContain SideTableType CellPhoneType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType TennisRacketType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType PencilType)\n (canContain SideTableType TissueBoxType)\n (canContain SideTableType AlarmClockType)\n (pickupable KeyChain_bar__plus_01_dot_35_bar__plus_00_dot_06_bar__minus_01_dot_64)\n (pickupable KeyChain_bar__plus_02_dot_71_bar__plus_00_dot_80_bar__minus_01_dot_48)\n (pickupable Pen_bar__plus_01_dot_24_bar__plus_00_dot_52_bar__minus_01_dot_75)\n (pickupable Book_bar__plus_02_dot_88_bar__plus_00_dot_79_bar__minus_01_dot_62)\n (pickupable CreditCard_bar__plus_03_dot_10_bar__plus_00_dot_80_bar__minus_01_dot_36)\n (pickupable Laptop_bar__minus_00_dot_10_bar__plus_00_dot_57_bar__minus_01_dot_13)\n (pickupable Pen_bar__plus_01_dot_91_bar__plus_00_dot_80_bar__minus_01_dot_54)\n (pickupable AlarmClock_bar__plus_01_dot_11_bar__plus_00_dot_51_bar__minus_01_dot_67)\n (pickupable TissueBox_bar__plus_01_dot_91_bar__plus_00_dot_80_bar__minus_01_dot_73)\n (pickupable TennisRacket_bar__minus_00_dot_92_bar__plus_00_dot_34_bar__plus_00_dot_39)\n (pickupable TissueBox_bar__plus_03_dot_07_bar__plus_00_dot_54_bar__minus_01_dot_42)\n (pickupable KeyChain_bar__plus_02_dot_11_bar__plus_00_dot_80_bar__minus_01_dot_42)\n (pickupable CD_bar__plus_01_dot_30_bar__plus_00_dot_28_bar__minus_01_dot_61)\n (pickupable Mug_bar__plus_01_dot_47_bar__plus_00_dot_52_bar__minus_01_dot_63)\n (pickupable CD_bar__plus_01_dot_18_bar__plus_00_dot_28_bar__minus_01_dot_61)\n (pickupable Pen_bar__plus_01_dot_24_bar__plus_00_dot_52_bar__minus_01_dot_59)\n (pickupable TeddyBear_bar__minus_00_dot_08_bar__plus_00_dot_56_bar__minus_00_dot_27)\n (pickupable Pencil_bar__plus_02_dot_82_bar__plus_00_dot_80_bar__minus_01_dot_43)\n (pickupable Mug_bar__plus_02_dot_31_bar__plus_00_dot_80_bar__minus_01_dot_42)\n (pickupable Pillow_bar__plus_00_dot_30_bar__plus_00_dot_64_bar__minus_01_dot_56)\n (pickupable CD_bar__plus_02_dot_51_bar__plus_00_dot_80_bar__minus_01_dot_42)\n (pickupable CellPhone_bar__plus_02_dot_11_bar__plus_00_dot_80_bar__minus_01_dot_67)\n (isReceptacleObject Mug_bar__plus_01_dot_47_bar__plus_00_dot_52_bar__minus_01_dot_63)\n (isReceptacleObject Mug_bar__plus_02_dot_31_bar__plus_00_dot_80_bar__minus_01_dot_42)\n (openable Drawer_bar__plus_01_dot_24_bar__plus_00_dot_35_bar__minus_01_dot_60)\n (openable Drawer_bar__plus_01_dot_24_bar__plus_00_dot_13_bar__minus_01_dot_60)\n \n (atLocation agent1 loc_bar_12_bar__minus_3_bar_1_bar_30)\n \n (cleanable Mug_bar__plus_01_dot_47_bar__plus_00_dot_52_bar__minus_01_dot_63)\n (cleanable Mug_bar__plus_02_dot_31_bar__plus_00_dot_80_bar__minus_01_dot_42)\n \n (heatable Mug_bar__plus_01_dot_47_bar__plus_00_dot_52_bar__minus_01_dot_63)\n (heatable Mug_bar__plus_02_dot_31_bar__plus_00_dot_80_bar__minus_01_dot_42)\n (coolable Mug_bar__plus_01_dot_47_bar__plus_00_dot_52_bar__minus_01_dot_63)\n (coolable Mug_bar__plus_02_dot_31_bar__plus_00_dot_80_bar__minus_01_dot_42)\n \n \n (toggleable DeskLamp_bar__plus_03_dot_16_bar__plus_00_dot_79_bar__minus_01_dot_66)\n \n \n \n \n (inReceptacle Pen_bar__plus_01_dot_91_bar__plus_00_dot_80_bar__minus_01_dot_54 Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59)\n (inReceptacle Pencil_bar__plus_02_dot_82_bar__plus_00_dot_80_bar__minus_01_dot_43 Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59)\n (inReceptacle Mug_bar__plus_02_dot_31_bar__plus_00_dot_80_bar__minus_01_dot_42 Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59)\n (inReceptacle TissueBox_bar__plus_01_dot_91_bar__plus_00_dot_80_bar__minus_01_dot_73 Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59)\n (inReceptacle CD_bar__plus_02_dot_51_bar__plus_00_dot_80_bar__minus_01_dot_42 Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59)\n (inReceptacle KeyChain_bar__plus_02_dot_71_bar__plus_00_dot_80_bar__minus_01_dot_48 Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59)\n (inReceptacle DeskLamp_bar__plus_03_dot_16_bar__plus_00_dot_79_bar__minus_01_dot_66 Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59)\n (inReceptacle KeyChain_bar__plus_02_dot_11_bar__plus_00_dot_80_bar__minus_01_dot_42 Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59)\n (inReceptacle CellPhone_bar__plus_02_dot_11_bar__plus_00_dot_80_bar__minus_01_dot_67 Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59)\n (inReceptacle Book_bar__plus_02_dot_88_bar__plus_00_dot_79_bar__minus_01_dot_62 Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59)\n (inReceptacle CreditCard_bar__plus_03_dot_10_bar__plus_00_dot_80_bar__minus_01_dot_36 Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59)\n (inReceptacle Laptop_bar__minus_00_dot_10_bar__plus_00_dot_57_bar__minus_01_dot_13 Bed_bar__plus_00_dot_23_bar__plus_00_dot_00_bar__minus_00_dot_95)\n (inReceptacle TeddyBear_bar__minus_00_dot_08_bar__plus_00_dot_56_bar__minus_00_dot_27 Bed_bar__plus_00_dot_23_bar__plus_00_dot_00_bar__minus_00_dot_95)\n (inReceptacle Pillow_bar__plus_00_dot_30_bar__plus_00_dot_64_bar__minus_01_dot_56 Bed_bar__plus_00_dot_23_bar__plus_00_dot_00_bar__minus_00_dot_95)\n (inReceptacle KeyChain_bar__plus_01_dot_35_bar__plus_00_dot_06_bar__minus_01_dot_64 Drawer_bar__plus_01_dot_24_bar__plus_00_dot_13_bar__minus_01_dot_60)\n (inReceptacle Pen_bar__plus_01_dot_24_bar__plus_00_dot_52_bar__minus_01_dot_75 SideTable_bar__plus_01_dot_24_bar__plus_00_dot_00_bar__minus_01_dot_67)\n (inReceptacle Pen_bar__plus_01_dot_24_bar__plus_00_dot_52_bar__minus_01_dot_59 SideTable_bar__plus_01_dot_24_bar__plus_00_dot_00_bar__minus_01_dot_67)\n (inReceptacle Mug_bar__plus_01_dot_47_bar__plus_00_dot_52_bar__minus_01_dot_63 SideTable_bar__plus_01_dot_24_bar__plus_00_dot_00_bar__minus_01_dot_67)\n (inReceptacle CD_bar__plus_01_dot_18_bar__plus_00_dot_28_bar__minus_01_dot_61 Drawer_bar__plus_01_dot_24_bar__plus_00_dot_35_bar__minus_01_dot_60)\n (inReceptacle CD_bar__plus_01_dot_30_bar__plus_00_dot_28_bar__minus_01_dot_61 Drawer_bar__plus_01_dot_24_bar__plus_00_dot_35_bar__minus_01_dot_60)\n (inReceptacle TissueBox_bar__plus_03_dot_07_bar__plus_00_dot_54_bar__minus_01_dot_42 Shelf_bar__plus_03_dot_04_bar__plus_00_dot_54_bar__minus_01_dot_44)\n \n \n (receptacleAtLocation Bed_bar__plus_00_dot_23_bar__plus_00_dot_00_bar__minus_00_dot_95 loc_bar_6_bar__minus_4_bar_3_bar_45)\n (receptacleAtLocation Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59 loc_bar_10_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_24_bar__plus_00_dot_13_bar__minus_01_dot_60 loc_bar_7_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_24_bar__plus_00_dot_35_bar__minus_01_dot_60 loc_bar_9_bar__minus_3_bar_3_bar_45)\n (receptacleAtLocation GarbageCan_bar__plus_03_dot_17_bar__plus_00_dot_00_bar__minus_00_dot_27 loc_bar_9_bar__minus_3_bar_1_bar_60)\n (receptacleAtLocation Shelf_bar__plus_03_dot_04_bar__plus_00_dot_54_bar__minus_01_dot_44 loc_bar_11_bar__minus_2_bar_2_bar_45)\n (receptacleAtLocation SideTable_bar__plus_01_dot_24_bar__plus_00_dot_00_bar__minus_01_dot_67 loc_bar_7_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Mug_bar__plus_02_dot_31_bar__plus_00_dot_80_bar__minus_01_dot_42 loc_bar_10_bar__minus_2_bar_2_bar_60)\n (objectAtLocation CD_bar__plus_01_dot_18_bar__plus_00_dot_28_bar__minus_01_dot_61 loc_bar_9_bar__minus_3_bar_3_bar_45)\n (objectAtLocation Pen_bar__plus_01_dot_24_bar__plus_00_dot_52_bar__minus_01_dot_59 loc_bar_7_bar__minus_3_bar_2_bar_60)\n (objectAtLocation TissueBox_bar__plus_03_dot_07_bar__plus_00_dot_54_bar__minus_01_dot_42 loc_bar_11_bar__minus_2_bar_2_bar_45)\n (objectAtLocation KeyChain_bar__plus_02_dot_11_bar__plus_00_dot_80_bar__minus_01_dot_42 loc_bar_10_bar__minus_2_bar_2_bar_60)\n (objectAtLocation KeyChain_bar__plus_01_dot_35_bar__plus_00_dot_06_bar__minus_01_dot_64 loc_bar_7_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Pen_bar__plus_01_dot_24_bar__plus_00_dot_52_bar__minus_01_dot_75 loc_bar_7_bar__minus_3_bar_2_bar_60)\n (objectAtLocation CD_bar__plus_01_dot_30_bar__plus_00_dot_28_bar__minus_01_dot_61 loc_bar_9_bar__minus_3_bar_3_bar_45)\n (objectAtLocation Book_bar__plus_02_dot_88_bar__plus_00_dot_79_bar__minus_01_dot_62 loc_bar_10_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Mirror_bar__plus_00_dot_62_bar__plus_01_dot_26_bar__plus_01_dot_03 loc_bar_2_bar_2_bar_0_bar_30)\n (objectAtLocation Chair_bar__plus_02_dot_22_bar__plus_00_dot_00_bar__minus_01_dot_47 loc_bar_9_bar__minus_3_bar_2_bar_60)\n (objectAtLocation KeyChain_bar__plus_02_dot_71_bar__plus_00_dot_80_bar__minus_01_dot_48 loc_bar_10_bar__minus_2_bar_2_bar_60)\n (objectAtLocation TissueBox_bar__plus_01_dot_91_bar__plus_00_dot_80_bar__minus_01_dot_73 loc_bar_10_bar__minus_2_bar_2_bar_60)\n (objectAtLocation TeddyBear_bar__minus_00_dot_08_bar__plus_00_dot_56_bar__minus_00_dot_27 loc_bar_6_bar__minus_4_bar_3_bar_45)\n (objectAtLocation DeskLamp_bar__plus_03_dot_16_bar__plus_00_dot_79_bar__minus_01_dot_66 loc_bar_10_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Pencil_bar__plus_02_dot_82_bar__plus_00_dot_80_bar__minus_01_dot_43 loc_bar_10_bar__minus_2_bar_2_bar_60)\n (objectAtLocation CreditCard_bar__plus_03_dot_10_bar__plus_00_dot_80_bar__minus_01_dot_36 loc_bar_10_bar__minus_2_bar_2_bar_60)\n (objectAtLocation TennisRacket_bar__minus_00_dot_92_bar__plus_00_dot_34_bar__plus_00_dot_39 loc_bar__minus_2_bar_2_bar_3_bar_60)\n (objectAtLocation HousePlant_bar__minus_00_dot_83_bar__plus_00_dot_00_bar__plus_00_dot_84 loc_bar__minus_2_bar_2_bar_0_bar_60)\n (objectAtLocation Laptop_bar__minus_00_dot_10_bar__plus_00_dot_57_bar__minus_01_dot_13 loc_bar_6_bar__minus_4_bar_3_bar_45)\n (objectAtLocation AlarmClock_bar__plus_01_dot_11_bar__plus_00_dot_51_bar__minus_01_dot_67 loc_bar_5_bar__minus_5_bar_2_bar_60)\n (objectAtLocation LightSwitch_bar__plus_02_dot_01_bar__plus_01_dot_13_bar__plus_01_dot_03 loc_bar_8_bar_2_bar_0_bar_45)\n (objectAtLocation Pen_bar__plus_01_dot_91_bar__plus_00_dot_80_bar__minus_01_dot_54 loc_bar_10_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Pillow_bar__plus_00_dot_30_bar__plus_00_dot_64_bar__minus_01_dot_56 loc_bar_6_bar__minus_4_bar_3_bar_45)\n (objectAtLocation CellPhone_bar__plus_02_dot_11_bar__plus_00_dot_80_bar__minus_01_dot_67 loc_bar_10_bar__minus_2_bar_2_bar_60)\n (objectAtLocation CD_bar__plus_02_dot_51_bar__plus_00_dot_80_bar__minus_01_dot_42 loc_bar_10_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Window_bar__plus_01_dot_80_bar__plus_01_dot_68_bar__minus_01_dot_94 loc_bar_6_bar__minus_5_bar_2_bar_0)\n (objectAtLocation Window_bar__plus_00_dot_69_bar__plus_01_dot_36_bar__minus_01_dot_94 loc_bar_5_bar__minus_5_bar_2_bar_30)\n (objectAtLocation Mug_bar__plus_01_dot_47_bar__plus_00_dot_52_bar__minus_01_dot_63 loc_bar_7_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Blinds_bar__plus_01_dot_78_bar__plus_01_dot_99_bar__minus_01_dot_86 loc_bar_6_bar__minus_5_bar_2_bar__minus_30)\n (objectAtLocation Blinds_bar__plus_00_dot_67_bar__plus_01_dot_99_bar__minus_01_dot_86 loc_bar_5_bar__minus_5_bar_2_bar__minus_30)\n )\n \n\n (:goal\n (and\n (exists (?ot - object\n ?r - receptacle\n ?a - agent\n ?l - location)\n (and\n (objectType ?ot DeskLampType)\n (toggleable ?ot)\n (isToggled ?ot)\n (receptacleAtLocation ?r ?l)\n (atLocation ?a ?l)\n (inReceptacle ?ot ?r)\n )\n )\n (exists (?o - object\n ?a - agent)\n (and\n (objectType ?o BookType)\n (holds ?a ?o)\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to desk 1", "use desklamp 1", "take book 1 from desk 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Book-None-DeskLamp-328/trial_T20190908_062929_997479/initial_state.pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Book-None-DeskLamp-328/trial_T20190908_062929_997479/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..581fa403792118e8791d97f84a0fdc4162a4ff41 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Book-None-DeskLamp-328/trial_T20190908_062929_997479/initial_state.pddl @@ -0,0 +1,487 @@ + +(define (problem plan_trial_T20190908_062929_997479) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + AlarmClock_bar__plus_01_dot_11_bar__plus_00_dot_51_bar__minus_01_dot_67 - object + Blinds_bar__plus_00_dot_67_bar__plus_01_dot_99_bar__minus_01_dot_86 - object + Blinds_bar__plus_01_dot_78_bar__plus_01_dot_99_bar__minus_01_dot_86 - object + Book_bar__plus_02_dot_88_bar__plus_00_dot_79_bar__minus_01_dot_62 - object + CD_bar__plus_01_dot_18_bar__plus_00_dot_28_bar__minus_01_dot_61 - object + CD_bar__plus_01_dot_30_bar__plus_00_dot_28_bar__minus_01_dot_61 - object + CD_bar__plus_02_dot_51_bar__plus_00_dot_80_bar__minus_01_dot_42 - object + CellPhone_bar__plus_02_dot_11_bar__plus_00_dot_80_bar__minus_01_dot_67 - object + Chair_bar__plus_02_dot_22_bar__plus_00_dot_00_bar__minus_01_dot_47 - object + CreditCard_bar__plus_03_dot_10_bar__plus_00_dot_80_bar__minus_01_dot_36 - object + DeskLamp_bar__plus_03_dot_16_bar__plus_00_dot_79_bar__minus_01_dot_66 - object + HousePlant_bar__minus_00_dot_83_bar__plus_00_dot_00_bar__plus_00_dot_84 - object + KeyChain_bar__plus_01_dot_35_bar__plus_00_dot_06_bar__minus_01_dot_64 - object + KeyChain_bar__plus_02_dot_11_bar__plus_00_dot_80_bar__minus_01_dot_42 - object + KeyChain_bar__plus_02_dot_71_bar__plus_00_dot_80_bar__minus_01_dot_48 - object + Laptop_bar__minus_00_dot_10_bar__plus_00_dot_57_bar__minus_01_dot_13 - object + LightSwitch_bar__plus_02_dot_01_bar__plus_01_dot_13_bar__plus_01_dot_03 - object + Mirror_bar__plus_00_dot_62_bar__plus_01_dot_26_bar__plus_01_dot_03 - object + Mug_bar__plus_01_dot_47_bar__plus_00_dot_52_bar__minus_01_dot_63 - object + Mug_bar__plus_02_dot_31_bar__plus_00_dot_80_bar__minus_01_dot_42 - object + Pencil_bar__plus_02_dot_82_bar__plus_00_dot_80_bar__minus_01_dot_43 - object + Pen_bar__plus_01_dot_24_bar__plus_00_dot_52_bar__minus_01_dot_59 - object + Pen_bar__plus_01_dot_24_bar__plus_00_dot_52_bar__minus_01_dot_75 - object + Pen_bar__plus_01_dot_91_bar__plus_00_dot_80_bar__minus_01_dot_54 - object + Pillow_bar__plus_00_dot_30_bar__plus_00_dot_64_bar__minus_01_dot_56 - object + TeddyBear_bar__minus_00_dot_08_bar__plus_00_dot_56_bar__minus_00_dot_27 - object + TennisRacket_bar__minus_00_dot_92_bar__plus_00_dot_34_bar__plus_00_dot_39 - object + TissueBox_bar__plus_01_dot_91_bar__plus_00_dot_80_bar__minus_01_dot_73 - object + TissueBox_bar__plus_03_dot_07_bar__plus_00_dot_54_bar__minus_01_dot_42 - object + Window_bar__plus_00_dot_69_bar__plus_01_dot_36_bar__minus_01_dot_94 - object + Window_bar__plus_01_dot_80_bar__plus_01_dot_68_bar__minus_01_dot_94 - object + Bed_bar__plus_00_dot_23_bar__plus_00_dot_00_bar__minus_00_dot_95 - receptacle + Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59 - receptacle + Drawer_bar__plus_01_dot_24_bar__plus_00_dot_13_bar__minus_01_dot_60 - receptacle + Drawer_bar__plus_01_dot_24_bar__plus_00_dot_35_bar__minus_01_dot_60 - receptacle + GarbageCan_bar__plus_03_dot_17_bar__plus_00_dot_00_bar__minus_00_dot_27 - receptacle + Shelf_bar__plus_03_dot_04_bar__plus_00_dot_54_bar__minus_01_dot_44 - receptacle + SideTable_bar__plus_01_dot_24_bar__plus_00_dot_00_bar__minus_01_dot_67 - receptacle + loc_bar_5_bar__minus_5_bar_2_bar_60 - location + loc_bar_7_bar__minus_3_bar_2_bar_60 - location + loc_bar_9_bar__minus_3_bar_3_bar_45 - location + loc_bar__minus_2_bar_2_bar_3_bar_60 - location + loc_bar_2_bar_2_bar_0_bar_30 - location + loc_bar_5_bar__minus_5_bar_2_bar__minus_30 - location + loc_bar_6_bar__minus_5_bar_2_bar_0 - location + loc_bar_10_bar__minus_2_bar_2_bar_60 - location + loc_bar_11_bar__minus_2_bar_2_bar_45 - location + loc_bar__minus_2_bar_2_bar_0_bar_60 - location + loc_bar_7_bar__minus_2_bar_2_bar_60 - location + loc_bar_5_bar__minus_5_bar_2_bar_30 - location + loc_bar_9_bar__minus_3_bar_1_bar_60 - location + loc_bar_9_bar__minus_3_bar_2_bar_60 - location + loc_bar_8_bar_2_bar_0_bar_45 - location + loc_bar_6_bar__minus_5_bar_2_bar__minus_30 - location + loc_bar_6_bar__minus_4_bar_3_bar_45 - location + loc_bar_12_bar__minus_3_bar_1_bar_30 - location + ) + + +(:init + + + (receptacleType Bed_bar__plus_00_dot_23_bar__plus_00_dot_00_bar__minus_00_dot_95 BedType) + (receptacleType Drawer_bar__plus_01_dot_24_bar__plus_00_dot_35_bar__minus_01_dot_60 DrawerType) + (receptacleType Drawer_bar__plus_01_dot_24_bar__plus_00_dot_13_bar__minus_01_dot_60 DrawerType) + (receptacleType Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59 DeskType) + (receptacleType GarbageCan_bar__plus_03_dot_17_bar__plus_00_dot_00_bar__minus_00_dot_27 GarbageCanType) + (receptacleType Shelf_bar__plus_03_dot_04_bar__plus_00_dot_54_bar__minus_01_dot_44 ShelfType) + (receptacleType SideTable_bar__plus_01_dot_24_bar__plus_00_dot_00_bar__minus_01_dot_67 SideTableType) + (objectType Mirror_bar__plus_00_dot_62_bar__plus_01_dot_26_bar__plus_01_dot_03 MirrorType) + (objectType Blinds_bar__plus_00_dot_67_bar__plus_01_dot_99_bar__minus_01_dot_86 BlindsType) + (objectType Window_bar__plus_00_dot_69_bar__plus_01_dot_36_bar__minus_01_dot_94 WindowType) + (objectType KeyChain_bar__plus_01_dot_35_bar__plus_00_dot_06_bar__minus_01_dot_64 KeyChainType) + (objectType KeyChain_bar__plus_02_dot_71_bar__plus_00_dot_80_bar__minus_01_dot_48 KeyChainType) + (objectType Pen_bar__plus_01_dot_24_bar__plus_00_dot_52_bar__minus_01_dot_75 PenType) + (objectType Book_bar__plus_02_dot_88_bar__plus_00_dot_79_bar__minus_01_dot_62 BookType) + (objectType CreditCard_bar__plus_03_dot_10_bar__plus_00_dot_80_bar__minus_01_dot_36 CreditCardType) + (objectType Laptop_bar__minus_00_dot_10_bar__plus_00_dot_57_bar__minus_01_dot_13 LaptopType) + (objectType Pen_bar__plus_01_dot_91_bar__plus_00_dot_80_bar__minus_01_dot_54 PenType) + (objectType AlarmClock_bar__plus_01_dot_11_bar__plus_00_dot_51_bar__minus_01_dot_67 AlarmClockType) + (objectType Chair_bar__plus_02_dot_22_bar__plus_00_dot_00_bar__minus_01_dot_47 ChairType) + (objectType TissueBox_bar__plus_01_dot_91_bar__plus_00_dot_80_bar__minus_01_dot_73 TissueBoxType) + (objectType TennisRacket_bar__minus_00_dot_92_bar__plus_00_dot_34_bar__plus_00_dot_39 TennisRacketType) + (objectType TissueBox_bar__plus_03_dot_07_bar__plus_00_dot_54_bar__minus_01_dot_42 TissueBoxType) + (objectType Window_bar__plus_01_dot_80_bar__plus_01_dot_68_bar__minus_01_dot_94 WindowType) + (objectType DeskLamp_bar__plus_03_dot_16_bar__plus_00_dot_79_bar__minus_01_dot_66 DeskLampType) + (objectType KeyChain_bar__plus_02_dot_11_bar__plus_00_dot_80_bar__minus_01_dot_42 KeyChainType) + (objectType LightSwitch_bar__plus_02_dot_01_bar__plus_01_dot_13_bar__plus_01_dot_03 LightSwitchType) + (objectType CD_bar__plus_01_dot_30_bar__plus_00_dot_28_bar__minus_01_dot_61 CDType) + (objectType Mug_bar__plus_01_dot_47_bar__plus_00_dot_52_bar__minus_01_dot_63 MugType) + (objectType CD_bar__plus_01_dot_18_bar__plus_00_dot_28_bar__minus_01_dot_61 CDType) + (objectType Pen_bar__plus_01_dot_24_bar__plus_00_dot_52_bar__minus_01_dot_59 PenType) + (objectType TeddyBear_bar__minus_00_dot_08_bar__plus_00_dot_56_bar__minus_00_dot_27 TeddyBearType) + (objectType Pencil_bar__plus_02_dot_82_bar__plus_00_dot_80_bar__minus_01_dot_43 PencilType) + (objectType Mug_bar__plus_02_dot_31_bar__plus_00_dot_80_bar__minus_01_dot_42 MugType) + (objectType Pillow_bar__plus_00_dot_30_bar__plus_00_dot_64_bar__minus_01_dot_56 PillowType) + (objectType Blinds_bar__plus_01_dot_78_bar__plus_01_dot_99_bar__minus_01_dot_86 BlindsType) + (objectType CD_bar__plus_02_dot_51_bar__plus_00_dot_80_bar__minus_01_dot_42 CDType) + (objectType HousePlant_bar__minus_00_dot_83_bar__plus_00_dot_00_bar__plus_00_dot_84 HousePlantType) + (objectType CellPhone_bar__plus_02_dot_11_bar__plus_00_dot_80_bar__minus_01_dot_67 CellPhoneType) + (canContain BedType TennisRacketType) + (canContain BedType LaptopType) + (canContain BedType BookType) + (canContain BedType CellPhoneType) + (canContain BedType PillowType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType TissueBoxType) + (canContain DeskType PenType) + (canContain DeskType BookType) + (canContain DeskType CDType) + (canContain DeskType MugType) + (canContain DeskType CellPhoneType) + (canContain DeskType KeyChainType) + (canContain DeskType CreditCardType) + (canContain DeskType TennisRacketType) + (canContain DeskType LaptopType) + (canContain DeskType PencilType) + (canContain DeskType TissueBoxType) + (canContain DeskType AlarmClockType) + (canContain GarbageCanType PenType) + (canContain GarbageCanType CDType) + (canContain GarbageCanType PencilType) + (canContain GarbageCanType TissueBoxType) + (canContain ShelfType PenType) + (canContain ShelfType BookType) + (canContain ShelfType CDType) + (canContain ShelfType MugType) + (canContain ShelfType CellPhoneType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType PencilType) + (canContain ShelfType TissueBoxType) + (canContain ShelfType AlarmClockType) + (canContain SideTableType PenType) + (canContain SideTableType BookType) + (canContain SideTableType CDType) + (canContain SideTableType MugType) + (canContain SideTableType CellPhoneType) + (canContain SideTableType KeyChainType) + (canContain SideTableType CreditCardType) + (canContain SideTableType TennisRacketType) + (canContain SideTableType LaptopType) + (canContain SideTableType PencilType) + (canContain SideTableType TissueBoxType) + (canContain SideTableType AlarmClockType) + (pickupable KeyChain_bar__plus_01_dot_35_bar__plus_00_dot_06_bar__minus_01_dot_64) + (pickupable KeyChain_bar__plus_02_dot_71_bar__plus_00_dot_80_bar__minus_01_dot_48) + (pickupable Pen_bar__plus_01_dot_24_bar__plus_00_dot_52_bar__minus_01_dot_75) + (pickupable Book_bar__plus_02_dot_88_bar__plus_00_dot_79_bar__minus_01_dot_62) + (pickupable CreditCard_bar__plus_03_dot_10_bar__plus_00_dot_80_bar__minus_01_dot_36) + (pickupable Laptop_bar__minus_00_dot_10_bar__plus_00_dot_57_bar__minus_01_dot_13) + (pickupable Pen_bar__plus_01_dot_91_bar__plus_00_dot_80_bar__minus_01_dot_54) + (pickupable AlarmClock_bar__plus_01_dot_11_bar__plus_00_dot_51_bar__minus_01_dot_67) + (pickupable TissueBox_bar__plus_01_dot_91_bar__plus_00_dot_80_bar__minus_01_dot_73) + (pickupable TennisRacket_bar__minus_00_dot_92_bar__plus_00_dot_34_bar__plus_00_dot_39) + (pickupable TissueBox_bar__plus_03_dot_07_bar__plus_00_dot_54_bar__minus_01_dot_42) + (pickupable KeyChain_bar__plus_02_dot_11_bar__plus_00_dot_80_bar__minus_01_dot_42) + (pickupable CD_bar__plus_01_dot_30_bar__plus_00_dot_28_bar__minus_01_dot_61) + (pickupable Mug_bar__plus_01_dot_47_bar__plus_00_dot_52_bar__minus_01_dot_63) + (pickupable CD_bar__plus_01_dot_18_bar__plus_00_dot_28_bar__minus_01_dot_61) + (pickupable Pen_bar__plus_01_dot_24_bar__plus_00_dot_52_bar__minus_01_dot_59) + (pickupable TeddyBear_bar__minus_00_dot_08_bar__plus_00_dot_56_bar__minus_00_dot_27) + (pickupable Pencil_bar__plus_02_dot_82_bar__plus_00_dot_80_bar__minus_01_dot_43) + (pickupable Mug_bar__plus_02_dot_31_bar__plus_00_dot_80_bar__minus_01_dot_42) + (pickupable Pillow_bar__plus_00_dot_30_bar__plus_00_dot_64_bar__minus_01_dot_56) + (pickupable CD_bar__plus_02_dot_51_bar__plus_00_dot_80_bar__minus_01_dot_42) + (pickupable CellPhone_bar__plus_02_dot_11_bar__plus_00_dot_80_bar__minus_01_dot_67) + (isReceptacleObject Mug_bar__plus_01_dot_47_bar__plus_00_dot_52_bar__minus_01_dot_63) + (isReceptacleObject Mug_bar__plus_02_dot_31_bar__plus_00_dot_80_bar__minus_01_dot_42) + (openable Drawer_bar__plus_01_dot_24_bar__plus_00_dot_35_bar__minus_01_dot_60) + (openable Drawer_bar__plus_01_dot_24_bar__plus_00_dot_13_bar__minus_01_dot_60) + + (atLocation agent1 loc_bar_12_bar__minus_3_bar_1_bar_30) + + (cleanable Mug_bar__plus_01_dot_47_bar__plus_00_dot_52_bar__minus_01_dot_63) + (cleanable Mug_bar__plus_02_dot_31_bar__plus_00_dot_80_bar__minus_01_dot_42) + + (heatable Mug_bar__plus_01_dot_47_bar__plus_00_dot_52_bar__minus_01_dot_63) + (heatable Mug_bar__plus_02_dot_31_bar__plus_00_dot_80_bar__minus_01_dot_42) + (coolable Mug_bar__plus_01_dot_47_bar__plus_00_dot_52_bar__minus_01_dot_63) + (coolable Mug_bar__plus_02_dot_31_bar__plus_00_dot_80_bar__minus_01_dot_42) + + + (toggleable DeskLamp_bar__plus_03_dot_16_bar__plus_00_dot_79_bar__minus_01_dot_66) + + + + + (inReceptacle Pen_bar__plus_01_dot_91_bar__plus_00_dot_80_bar__minus_01_dot_54 Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59) + (inReceptacle Pencil_bar__plus_02_dot_82_bar__plus_00_dot_80_bar__minus_01_dot_43 Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59) + (inReceptacle Mug_bar__plus_02_dot_31_bar__plus_00_dot_80_bar__minus_01_dot_42 Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59) + (inReceptacle TissueBox_bar__plus_01_dot_91_bar__plus_00_dot_80_bar__minus_01_dot_73 Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59) + (inReceptacle CD_bar__plus_02_dot_51_bar__plus_00_dot_80_bar__minus_01_dot_42 Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59) + (inReceptacle KeyChain_bar__plus_02_dot_71_bar__plus_00_dot_80_bar__minus_01_dot_48 Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59) + (inReceptacle DeskLamp_bar__plus_03_dot_16_bar__plus_00_dot_79_bar__minus_01_dot_66 Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59) + (inReceptacle KeyChain_bar__plus_02_dot_11_bar__plus_00_dot_80_bar__minus_01_dot_42 Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59) + (inReceptacle CellPhone_bar__plus_02_dot_11_bar__plus_00_dot_80_bar__minus_01_dot_67 Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59) + (inReceptacle Book_bar__plus_02_dot_88_bar__plus_00_dot_79_bar__minus_01_dot_62 Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59) + (inReceptacle CreditCard_bar__plus_03_dot_10_bar__plus_00_dot_80_bar__minus_01_dot_36 Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59) + (inReceptacle Laptop_bar__minus_00_dot_10_bar__plus_00_dot_57_bar__minus_01_dot_13 Bed_bar__plus_00_dot_23_bar__plus_00_dot_00_bar__minus_00_dot_95) + (inReceptacle TeddyBear_bar__minus_00_dot_08_bar__plus_00_dot_56_bar__minus_00_dot_27 Bed_bar__plus_00_dot_23_bar__plus_00_dot_00_bar__minus_00_dot_95) + (inReceptacle Pillow_bar__plus_00_dot_30_bar__plus_00_dot_64_bar__minus_01_dot_56 Bed_bar__plus_00_dot_23_bar__plus_00_dot_00_bar__minus_00_dot_95) + (inReceptacle KeyChain_bar__plus_01_dot_35_bar__plus_00_dot_06_bar__minus_01_dot_64 Drawer_bar__plus_01_dot_24_bar__plus_00_dot_13_bar__minus_01_dot_60) + (inReceptacle Pen_bar__plus_01_dot_24_bar__plus_00_dot_52_bar__minus_01_dot_75 SideTable_bar__plus_01_dot_24_bar__plus_00_dot_00_bar__minus_01_dot_67) + (inReceptacle Pen_bar__plus_01_dot_24_bar__plus_00_dot_52_bar__minus_01_dot_59 SideTable_bar__plus_01_dot_24_bar__plus_00_dot_00_bar__minus_01_dot_67) + (inReceptacle Mug_bar__plus_01_dot_47_bar__plus_00_dot_52_bar__minus_01_dot_63 SideTable_bar__plus_01_dot_24_bar__plus_00_dot_00_bar__minus_01_dot_67) + (inReceptacle CD_bar__plus_01_dot_18_bar__plus_00_dot_28_bar__minus_01_dot_61 Drawer_bar__plus_01_dot_24_bar__plus_00_dot_35_bar__minus_01_dot_60) + (inReceptacle CD_bar__plus_01_dot_30_bar__plus_00_dot_28_bar__minus_01_dot_61 Drawer_bar__plus_01_dot_24_bar__plus_00_dot_35_bar__minus_01_dot_60) + (inReceptacle 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CD_bar__plus_01_dot_30_bar__plus_00_dot_28_bar__minus_01_dot_61 loc_bar_9_bar__minus_3_bar_3_bar_45) + (objectAtLocation Book_bar__plus_02_dot_88_bar__plus_00_dot_79_bar__minus_01_dot_62 loc_bar_10_bar__minus_2_bar_2_bar_60) + (objectAtLocation Mirror_bar__plus_00_dot_62_bar__plus_01_dot_26_bar__plus_01_dot_03 loc_bar_2_bar_2_bar_0_bar_30) + (objectAtLocation Chair_bar__plus_02_dot_22_bar__plus_00_dot_00_bar__minus_01_dot_47 loc_bar_9_bar__minus_3_bar_2_bar_60) + (objectAtLocation KeyChain_bar__plus_02_dot_71_bar__plus_00_dot_80_bar__minus_01_dot_48 loc_bar_10_bar__minus_2_bar_2_bar_60) + (objectAtLocation TissueBox_bar__plus_01_dot_91_bar__plus_00_dot_80_bar__minus_01_dot_73 loc_bar_10_bar__minus_2_bar_2_bar_60) + (objectAtLocation TeddyBear_bar__minus_00_dot_08_bar__plus_00_dot_56_bar__minus_00_dot_27 loc_bar_6_bar__minus_4_bar_3_bar_45) + (objectAtLocation DeskLamp_bar__plus_03_dot_16_bar__plus_00_dot_79_bar__minus_01_dot_66 loc_bar_10_bar__minus_2_bar_2_bar_60) + (objectAtLocation 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"y": 0.7983656, + "z": -1.35880566 + }, + "rotation": { + "x": 0.0, + "y": 0.000174169822, + "z": 0.0 + } + }, + { + "objectName": "TennisRacket_ea5075c1", + "position": { + "x": -0.921, + "y": 0.344, + "z": 0.390329272 + }, + "rotation": { + "x": 13.9117947, + "y": 273.938477, + "z": 195.992615 + } + }, + { + "objectName": "Laptop_d69ea96f", + "position": { + "x": -0.09779529, + "y": 0.5680995, + "z": -1.12907469 + }, + "rotation": { + "x": 0.0, + "y": 3.756604e-05, + "z": 0.0 + } + }, + { + "objectName": "AlarmClock_66d39ac8", + "position": { + "x": 1.108159, + "y": 0.5109172, + "z": -1.67323172 + }, + "rotation": { + "x": 359.960754, + "y": 345.199127, + "z": 0.03131173 + } + }, + { + "objectName": "Pen_c03a4918", + "position": { + "x": 1.24000084, + "y": 0.5161055, + "z": -1.59148419 + }, + "rotation": { + "x": 0.0177247971, + "y": 0.000590996351, + "z": -0.000167679347 + } + }, + { + "objectName": "Pillow_b9c16add", + "position": { + "x": 0.2994393, + "y": 0.643, + "z": -1.5575825 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "CellPhone_948924de", + "position": { + "x": 2.108635, + "y": 0.798579633, + "z": -1.66683865 + }, + "rotation": { + "x": 0.0, + "y": 0.000174169822, + "z": 0.0 + } + }, + { + "objectName": "CD_e348100e", + "position": { + "x": 1.18350887, + "y": 0.2827446, + "z": -1.6141355 + }, + "rotation": { + "x": 0.0, + "y": 180.000259, + "z": 0.0 + } + }, + { + "objectName": "Mug_e2689221", + "position": { + "x": 2.30756569, + "y": 0.7963696, + "z": -1.42041039 + }, + "rotation": { + "x": 0.0, + "y": 0.000174169822, + "z": 0.0 + } + } + ], + "object_toggles": [ + { + "isOn": false, + "objectType": "DeskLamp" + } + ], + "random_seed": 1879670269, + "scene_num": 328 + }, + "task_id": "trial_T20190908_062929_997479", + "task_type": "look_at_obj_in_light", + "turk_annotations": { + "anns": [ + { + "assignment_id": "AJQGWGESKQT4Y_32SVAV9L3IQH18PRZULZAV79QF1A3J", + "high_descs": [ + "Turn to the right and face the desk.", + "Turn the lamp on.", + "Pick the book up from the desk." + ], + "task_desc": "Turn a lamp on and pick up a book.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A2KAGFQU28JY43_3NLZY2D53S6Q4SMXUWMLWHGVUJZQL5", + "high_descs": [ + "Turn to the desk on your right. ", + "Turn on the lamp in the back left corner of the desk.", + "Pick up the book between the book and the lamp." + ], + "task_desc": "Pick up a book.", + "votes": [ + 1, + 1, + 0 + ] + }, + { + "assignment_id": "A36DK84J5YJ942_3TEM0PF1Q8EJINT60HUIYYH886C0DE", + "high_descs": [ + "move to the desk to the right of you", + "pick up a book from the desk", + "turn on the lamp" + ], + "task_desc": "Inspect a book with a lamp.", + "votes": [ + 1, + 0, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Book-None-DeskLamp-328/trial_T20190908_062936_284723/game.tw-pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Book-None-DeskLamp-328/trial_T20190908_062936_284723/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..ad37ca6d5de7dacc9fe31eaa60c8919978b97c45 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Book-None-DeskLamp-328/trial_T20190908_062936_284723/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\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 book 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_062936_284723)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\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_51_bar__plus_00_dot_80_bar__minus_01_dot_54 - object\n Blinds_bar__plus_00_dot_67_bar__plus_01_dot_99_bar__minus_01_dot_86 - object\n Blinds_bar__plus_01_dot_78_bar__plus_01_dot_99_bar__minus_01_dot_86 - object\n Book_bar__plus_00_dot_39_bar__plus_00_dot_57_bar__minus_00_dot_46 - object\n Book_bar__plus_00_dot_72_bar__plus_00_dot_57_bar__minus_01_dot_35 - object\n Book_bar__plus_01_dot_09_bar__plus_00_dot_52_bar__minus_01_dot_67 - object\n CD_bar__plus_01_dot_18_bar__plus_00_dot_06_bar__minus_01_dot_59 - object\n CellPhone_bar__plus_01_dot_30_bar__plus_00_dot_06_bar__minus_01_dot_61 - object\n CellPhone_bar__minus_00_dot_10_bar__plus_00_dot_57_bar__minus_01_dot_35 - object\n Chair_bar__plus_02_dot_22_bar__plus_00_dot_00_bar__minus_01_dot_47 - object\n CreditCard_bar__plus_02_dot_71_bar__plus_00_dot_80_bar__minus_01_dot_48 - object\n CreditCard_bar__plus_02_dot_71_bar__plus_00_dot_80_bar__minus_01_dot_61 - object\n CreditCard_bar__plus_02_dot_88_bar__plus_00_dot_55_bar__minus_01_dot_40 - object\n DeskLamp_bar__plus_03_dot_16_bar__plus_00_dot_79_bar__minus_01_dot_66 - object\n HousePlant_bar__minus_00_dot_83_bar__plus_00_dot_00_bar__plus_00_dot_84 - object\n KeyChain_bar__plus_01_dot_41_bar__plus_00_dot_28_bar__minus_01_dot_59 - object\n KeyChain_bar__plus_02_dot_93_bar__plus_00_dot_55_bar__minus_01_dot_46 - object\n KeyChain_bar__plus_03_dot_10_bar__plus_00_dot_80_bar__minus_01_dot_36 - object\n Laptop_bar__plus_00_dot_23_bar__plus_00_dot_57_bar__minus_00_dot_91 - object\n LightSwitch_bar__plus_02_dot_01_bar__plus_01_dot_13_bar__plus_01_dot_03 - object\n Mirror_bar__plus_00_dot_62_bar__plus_01_dot_26_bar__plus_01_dot_03 - object\n Mug_bar__plus_01_dot_91_bar__plus_00_dot_80_bar__minus_01_dot_36 - object\n Pencil_bar__plus_01_dot_91_bar__plus_00_dot_80_bar__minus_01_dot_54 - object\n Pencil_bar__plus_02_dot_11_bar__plus_00_dot_80_bar__minus_01_dot_54 - object\n Pencil_bar__plus_03_dot_19_bar__plus_00_dot_08_bar__minus_00_dot_27 - object\n Pen_bar__plus_01_dot_24_bar__plus_00_dot_52_bar__minus_01_dot_75 - object\n Pen_bar__plus_02_dot_90_bar__plus_00_dot_80_bar__minus_01_dot_48 - object\n Pillow_bar__plus_00_dot_30_bar__plus_00_dot_64_bar__minus_01_dot_56 - object\n TeddyBear_bar__minus_00_dot_08_bar__plus_00_dot_56_bar__minus_00_dot_27 - object\n TennisRacket_bar__minus_00_dot_92_bar__plus_00_dot_34_bar__plus_00_dot_39 - object\n TissueBox_bar__plus_03_dot_07_bar__plus_00_dot_54_bar__minus_01_dot_42 - object\n Window_bar__plus_00_dot_69_bar__plus_01_dot_36_bar__minus_01_dot_94 - object\n Window_bar__plus_01_dot_80_bar__plus_01_dot_68_bar__minus_01_dot_94 - object\n Bed_bar__plus_00_dot_23_bar__plus_00_dot_00_bar__minus_00_dot_95 - receptacle\n Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59 - receptacle\n Drawer_bar__plus_01_dot_24_bar__plus_00_dot_13_bar__minus_01_dot_60 - receptacle\n Drawer_bar__plus_01_dot_24_bar__plus_00_dot_35_bar__minus_01_dot_60 - receptacle\n GarbageCan_bar__plus_03_dot_17_bar__plus_00_dot_00_bar__minus_00_dot_27 - receptacle\n Shelf_bar__plus_03_dot_04_bar__plus_00_dot_54_bar__minus_01_dot_44 - receptacle\n SideTable_bar__plus_01_dot_24_bar__plus_00_dot_00_bar__minus_01_dot_67 - receptacle\n loc_bar_7_bar__minus_3_bar_2_bar_60 - location\n loc_bar_9_bar__minus_3_bar_3_bar_45 - location\n loc_bar__minus_2_bar_2_bar_3_bar_60 - location\n loc_bar_2_bar_2_bar_0_bar_30 - location\n loc_bar_5_bar__minus_5_bar_2_bar__minus_30 - location\n loc_bar_6_bar__minus_5_bar_2_bar_0 - location\n loc_bar_10_bar__minus_2_bar_2_bar_60 - location\n loc_bar_11_bar__minus_2_bar_2_bar_45 - location\n loc_bar__minus_2_bar_2_bar_0_bar_60 - location\n loc_bar_7_bar__minus_2_bar_2_bar_60 - location\n loc_bar_5_bar__minus_5_bar_2_bar_30 - location\n loc_bar_9_bar__minus_3_bar_1_bar_60 - location\n loc_bar_11_bar__minus_1_bar_1_bar_60 - location\n loc_bar_9_bar__minus_3_bar_2_bar_60 - location\n loc_bar_8_bar_2_bar_0_bar_45 - location\n loc_bar_6_bar__minus_5_bar_2_bar__minus_30 - location\n loc_bar_6_bar__minus_4_bar_3_bar_45 - location\n loc_bar_4_bar_2_bar_1_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Bed_bar__plus_00_dot_23_bar__plus_00_dot_00_bar__minus_00_dot_95 BedType)\n (receptacleType Drawer_bar__plus_01_dot_24_bar__plus_00_dot_35_bar__minus_01_dot_60 DrawerType)\n (receptacleType Drawer_bar__plus_01_dot_24_bar__plus_00_dot_13_bar__minus_01_dot_60 DrawerType)\n (receptacleType Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59 DeskType)\n (receptacleType GarbageCan_bar__plus_03_dot_17_bar__plus_00_dot_00_bar__minus_00_dot_27 GarbageCanType)\n (receptacleType Shelf_bar__plus_03_dot_04_bar__plus_00_dot_54_bar__minus_01_dot_44 ShelfType)\n (receptacleType SideTable_bar__plus_01_dot_24_bar__plus_00_dot_00_bar__minus_01_dot_67 SideTableType)\n (objectType Mirror_bar__plus_00_dot_62_bar__plus_01_dot_26_bar__plus_01_dot_03 MirrorType)\n (objectType Blinds_bar__plus_00_dot_67_bar__plus_01_dot_99_bar__minus_01_dot_86 BlindsType)\n (objectType Window_bar__plus_00_dot_69_bar__plus_01_dot_36_bar__minus_01_dot_94 WindowType)\n (objectType CD_bar__plus_01_dot_18_bar__plus_00_dot_06_bar__minus_01_dot_59 CDType)\n (objectType CreditCard_bar__plus_02_dot_71_bar__plus_00_dot_80_bar__minus_01_dot_48 CreditCardType)\n (objectType Pen_bar__plus_01_dot_24_bar__plus_00_dot_52_bar__minus_01_dot_75 PenType)\n (objectType KeyChain_bar__plus_02_dot_93_bar__plus_00_dot_55_bar__minus_01_dot_46 KeyChainType)\n (objectType Chair_bar__plus_02_dot_22_bar__plus_00_dot_00_bar__minus_01_dot_47 ChairType)\n (objectType Pencil_bar__plus_01_dot_91_bar__plus_00_dot_80_bar__minus_01_dot_54 PencilType)\n (objectType TennisRacket_bar__minus_00_dot_92_bar__plus_00_dot_34_bar__plus_00_dot_39 TennisRacketType)\n (objectType TissueBox_bar__plus_03_dot_07_bar__plus_00_dot_54_bar__minus_01_dot_42 TissueBoxType)\n (objectType Book_bar__plus_00_dot_39_bar__plus_00_dot_57_bar__minus_00_dot_46 BookType)\n (objectType Window_bar__plus_01_dot_80_bar__plus_01_dot_68_bar__minus_01_dot_94 WindowType)\n (objectType Pen_bar__plus_02_dot_90_bar__plus_00_dot_80_bar__minus_01_dot_48 PenType)\n (objectType DeskLamp_bar__plus_03_dot_16_bar__plus_00_dot_79_bar__minus_01_dot_66 DeskLampType)\n (objectType Book_bar__plus_00_dot_72_bar__plus_00_dot_57_bar__minus_01_dot_35 BookType)\n (objectType LightSwitch_bar__plus_02_dot_01_bar__plus_01_dot_13_bar__plus_01_dot_03 LightSwitchType)\n (objectType KeyChain_bar__plus_01_dot_41_bar__plus_00_dot_28_bar__minus_01_dot_59 KeyChainType)\n (objectType CellPhone_bar__minus_00_dot_10_bar__plus_00_dot_57_bar__minus_01_dot_35 CellPhoneType)\n (objectType KeyChain_bar__plus_03_dot_10_bar__plus_00_dot_80_bar__minus_01_dot_36 KeyChainType)\n (objectType Mug_bar__plus_01_dot_91_bar__plus_00_dot_80_bar__minus_01_dot_36 MugType)\n (objectType Laptop_bar__plus_00_dot_23_bar__plus_00_dot_57_bar__minus_00_dot_91 LaptopType)\n (objectType TeddyBear_bar__minus_00_dot_08_bar__plus_00_dot_56_bar__minus_00_dot_27 TeddyBearType)\n (objectType AlarmClock_bar__plus_02_dot_51_bar__plus_00_dot_80_bar__minus_01_dot_54 AlarmClockType)\n (objectType CreditCard_bar__plus_02_dot_71_bar__plus_00_dot_80_bar__minus_01_dot_61 CreditCardType)\n (objectType Book_bar__plus_01_dot_09_bar__plus_00_dot_52_bar__minus_01_dot_67 BookType)\n (objectType CellPhone_bar__plus_01_dot_30_bar__plus_00_dot_06_bar__minus_01_dot_61 CellPhoneType)\n (objectType Pillow_bar__plus_00_dot_30_bar__plus_00_dot_64_bar__minus_01_dot_56 PillowType)\n (objectType Blinds_bar__plus_01_dot_78_bar__plus_01_dot_99_bar__minus_01_dot_86 BlindsType)\n (objectType Pencil_bar__plus_02_dot_11_bar__plus_00_dot_80_bar__minus_01_dot_54 PencilType)\n (objectType CreditCard_bar__plus_02_dot_88_bar__plus_00_dot_55_bar__minus_01_dot_40 CreditCardType)\n (objectType Pencil_bar__plus_03_dot_19_bar__plus_00_dot_08_bar__minus_00_dot_27 PencilType)\n (objectType HousePlant_bar__minus_00_dot_83_bar__plus_00_dot_00_bar__plus_00_dot_84 HousePlantType)\n (canContain BedType TennisRacketType)\n (canContain BedType LaptopType)\n (canContain BedType BookType)\n (canContain BedType CellPhoneType)\n (canContain BedType PillowType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType TissueBoxType)\n (canContain DeskType PenType)\n (canContain DeskType BookType)\n (canContain DeskType CDType)\n (canContain DeskType MugType)\n (canContain DeskType CellPhoneType)\n (canContain DeskType KeyChainType)\n (canContain DeskType CreditCardType)\n (canContain DeskType TennisRacketType)\n (canContain DeskType LaptopType)\n (canContain DeskType PencilType)\n (canContain DeskType TissueBoxType)\n (canContain DeskType AlarmClockType)\n (canContain GarbageCanType PenType)\n (canContain GarbageCanType CDType)\n (canContain GarbageCanType PencilType)\n (canContain GarbageCanType TissueBoxType)\n (canContain ShelfType PenType)\n (canContain ShelfType BookType)\n (canContain ShelfType CDType)\n (canContain ShelfType MugType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType PencilType)\n (canContain ShelfType TissueBoxType)\n (canContain ShelfType AlarmClockType)\n (canContain SideTableType PenType)\n (canContain SideTableType BookType)\n (canContain SideTableType CDType)\n (canContain SideTableType MugType)\n (canContain SideTableType CellPhoneType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType TennisRacketType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType PencilType)\n (canContain SideTableType TissueBoxType)\n (canContain SideTableType AlarmClockType)\n (pickupable CD_bar__plus_01_dot_18_bar__plus_00_dot_06_bar__minus_01_dot_59)\n (pickupable CreditCard_bar__plus_02_dot_71_bar__plus_00_dot_80_bar__minus_01_dot_48)\n (pickupable Pen_bar__plus_01_dot_24_bar__plus_00_dot_52_bar__minus_01_dot_75)\n (pickupable KeyChain_bar__plus_02_dot_93_bar__plus_00_dot_55_bar__minus_01_dot_46)\n (pickupable Pencil_bar__plus_01_dot_91_bar__plus_00_dot_80_bar__minus_01_dot_54)\n (pickupable TennisRacket_bar__minus_00_dot_92_bar__plus_00_dot_34_bar__plus_00_dot_39)\n (pickupable TissueBox_bar__plus_03_dot_07_bar__plus_00_dot_54_bar__minus_01_dot_42)\n (pickupable Book_bar__plus_00_dot_39_bar__plus_00_dot_57_bar__minus_00_dot_46)\n (pickupable Pen_bar__plus_02_dot_90_bar__plus_00_dot_80_bar__minus_01_dot_48)\n (pickupable Book_bar__plus_00_dot_72_bar__plus_00_dot_57_bar__minus_01_dot_35)\n (pickupable KeyChain_bar__plus_01_dot_41_bar__plus_00_dot_28_bar__minus_01_dot_59)\n (pickupable CellPhone_bar__minus_00_dot_10_bar__plus_00_dot_57_bar__minus_01_dot_35)\n (pickupable KeyChain_bar__plus_03_dot_10_bar__plus_00_dot_80_bar__minus_01_dot_36)\n (pickupable Mug_bar__plus_01_dot_91_bar__plus_00_dot_80_bar__minus_01_dot_36)\n (pickupable Laptop_bar__plus_00_dot_23_bar__plus_00_dot_57_bar__minus_00_dot_91)\n (pickupable TeddyBear_bar__minus_00_dot_08_bar__plus_00_dot_56_bar__minus_00_dot_27)\n (pickupable AlarmClock_bar__plus_02_dot_51_bar__plus_00_dot_80_bar__minus_01_dot_54)\n (pickupable CreditCard_bar__plus_02_dot_71_bar__plus_00_dot_80_bar__minus_01_dot_61)\n (pickupable Book_bar__plus_01_dot_09_bar__plus_00_dot_52_bar__minus_01_dot_67)\n (pickupable CellPhone_bar__plus_01_dot_30_bar__plus_00_dot_06_bar__minus_01_dot_61)\n (pickupable Pillow_bar__plus_00_dot_30_bar__plus_00_dot_64_bar__minus_01_dot_56)\n (pickupable Pencil_bar__plus_02_dot_11_bar__plus_00_dot_80_bar__minus_01_dot_54)\n (pickupable CreditCard_bar__plus_02_dot_88_bar__plus_00_dot_55_bar__minus_01_dot_40)\n (pickupable Pencil_bar__plus_03_dot_19_bar__plus_00_dot_08_bar__minus_00_dot_27)\n (isReceptacleObject Mug_bar__plus_01_dot_91_bar__plus_00_dot_80_bar__minus_01_dot_36)\n (openable Drawer_bar__plus_01_dot_24_bar__plus_00_dot_35_bar__minus_01_dot_60)\n (openable Drawer_bar__plus_01_dot_24_bar__plus_00_dot_13_bar__minus_01_dot_60)\n \n (atLocation agent1 loc_bar_4_bar_2_bar_1_bar_30)\n \n (cleanable Mug_bar__plus_01_dot_91_bar__plus_00_dot_80_bar__minus_01_dot_36)\n \n (heatable Mug_bar__plus_01_dot_91_bar__plus_00_dot_80_bar__minus_01_dot_36)\n (coolable Mug_bar__plus_01_dot_91_bar__plus_00_dot_80_bar__minus_01_dot_36)\n \n \n (toggleable DeskLamp_bar__plus_03_dot_16_bar__plus_00_dot_79_bar__minus_01_dot_66)\n \n \n \n \n (inReceptacle CreditCard_bar__plus_02_dot_71_bar__plus_00_dot_80_bar__minus_01_dot_61 Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59)\n (inReceptacle KeyChain_bar__plus_03_dot_10_bar__plus_00_dot_80_bar__minus_01_dot_36 Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59)\n (inReceptacle Pencil_bar__plus_01_dot_91_bar__plus_00_dot_80_bar__minus_01_dot_54 Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59)\n (inReceptacle Pencil_bar__plus_02_dot_11_bar__plus_00_dot_80_bar__minus_01_dot_54 Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59)\n (inReceptacle CreditCard_bar__plus_02_dot_71_bar__plus_00_dot_80_bar__minus_01_dot_48 Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59)\n (inReceptacle Mug_bar__plus_01_dot_91_bar__plus_00_dot_80_bar__minus_01_dot_36 Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59)\n (inReceptacle Pen_bar__plus_02_dot_90_bar__plus_00_dot_80_bar__minus_01_dot_48 Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59)\n (inReceptacle DeskLamp_bar__plus_03_dot_16_bar__plus_00_dot_79_bar__minus_01_dot_66 Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59)\n (inReceptacle AlarmClock_bar__plus_02_dot_51_bar__plus_00_dot_80_bar__minus_01_dot_54 Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59)\n (inReceptacle CellPhone_bar__minus_00_dot_10_bar__plus_00_dot_57_bar__minus_01_dot_35 Bed_bar__plus_00_dot_23_bar__plus_00_dot_00_bar__minus_00_dot_95)\n (inReceptacle Pillow_bar__plus_00_dot_30_bar__plus_00_dot_64_bar__minus_01_dot_56 Bed_bar__plus_00_dot_23_bar__plus_00_dot_00_bar__minus_00_dot_95)\n (inReceptacle Book_bar__plus_00_dot_39_bar__plus_00_dot_57_bar__minus_00_dot_46 Bed_bar__plus_00_dot_23_bar__plus_00_dot_00_bar__minus_00_dot_95)\n (inReceptacle Laptop_bar__plus_00_dot_23_bar__plus_00_dot_57_bar__minus_00_dot_91 Bed_bar__plus_00_dot_23_bar__plus_00_dot_00_bar__minus_00_dot_95)\n (inReceptacle Book_bar__plus_00_dot_72_bar__plus_00_dot_57_bar__minus_01_dot_35 Bed_bar__plus_00_dot_23_bar__plus_00_dot_00_bar__minus_00_dot_95)\n (inReceptacle TeddyBear_bar__minus_00_dot_08_bar__plus_00_dot_56_bar__minus_00_dot_27 Bed_bar__plus_00_dot_23_bar__plus_00_dot_00_bar__minus_00_dot_95)\n (inReceptacle CellPhone_bar__plus_01_dot_30_bar__plus_00_dot_06_bar__minus_01_dot_61 Drawer_bar__plus_01_dot_24_bar__plus_00_dot_13_bar__minus_01_dot_60)\n (inReceptacle CD_bar__plus_01_dot_18_bar__plus_00_dot_06_bar__minus_01_dot_59 Drawer_bar__plus_01_dot_24_bar__plus_00_dot_13_bar__minus_01_dot_60)\n (inReceptacle Book_bar__plus_01_dot_09_bar__plus_00_dot_52_bar__minus_01_dot_67 SideTable_bar__plus_01_dot_24_bar__plus_00_dot_00_bar__minus_01_dot_67)\n (inReceptacle Pen_bar__plus_01_dot_24_bar__plus_00_dot_52_bar__minus_01_dot_75 SideTable_bar__plus_01_dot_24_bar__plus_00_dot_00_bar__minus_01_dot_67)\n (inReceptacle KeyChain_bar__plus_01_dot_41_bar__plus_00_dot_28_bar__minus_01_dot_59 Drawer_bar__plus_01_dot_24_bar__plus_00_dot_35_bar__minus_01_dot_60)\n (inReceptacle CreditCard_bar__plus_02_dot_88_bar__plus_00_dot_55_bar__minus_01_dot_40 Shelf_bar__plus_03_dot_04_bar__plus_00_dot_54_bar__minus_01_dot_44)\n (inReceptacle TissueBox_bar__plus_03_dot_07_bar__plus_00_dot_54_bar__minus_01_dot_42 Shelf_bar__plus_03_dot_04_bar__plus_00_dot_54_bar__minus_01_dot_44)\n (inReceptacle KeyChain_bar__plus_02_dot_93_bar__plus_00_dot_55_bar__minus_01_dot_46 Shelf_bar__plus_03_dot_04_bar__plus_00_dot_54_bar__minus_01_dot_44)\n \n \n (receptacleAtLocation Bed_bar__plus_00_dot_23_bar__plus_00_dot_00_bar__minus_00_dot_95 loc_bar_6_bar__minus_4_bar_3_bar_45)\n (receptacleAtLocation Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59 loc_bar_10_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_24_bar__plus_00_dot_13_bar__minus_01_dot_60 loc_bar_7_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_24_bar__plus_00_dot_35_bar__minus_01_dot_60 loc_bar_9_bar__minus_3_bar_3_bar_45)\n (receptacleAtLocation GarbageCan_bar__plus_03_dot_17_bar__plus_00_dot_00_bar__minus_00_dot_27 loc_bar_9_bar__minus_3_bar_1_bar_60)\n (receptacleAtLocation Shelf_bar__plus_03_dot_04_bar__plus_00_dot_54_bar__minus_01_dot_44 loc_bar_11_bar__minus_2_bar_2_bar_45)\n (receptacleAtLocation SideTable_bar__plus_01_dot_24_bar__plus_00_dot_00_bar__minus_01_dot_67 loc_bar_7_bar__minus_3_bar_2_bar_60)\n (objectAtLocation CellPhone_bar__minus_00_dot_10_bar__plus_00_dot_57_bar__minus_01_dot_35 loc_bar_6_bar__minus_4_bar_3_bar_45)\n (objectAtLocation Pen_bar__plus_02_dot_90_bar__plus_00_dot_80_bar__minus_01_dot_48 loc_bar_10_bar__minus_2_bar_2_bar_60)\n (objectAtLocation CreditCard_bar__plus_02_dot_88_bar__plus_00_dot_55_bar__minus_01_dot_40 loc_bar_11_bar__minus_2_bar_2_bar_45)\n (objectAtLocation Pencil_bar__plus_03_dot_19_bar__plus_00_dot_08_bar__minus_00_dot_27 loc_bar_11_bar__minus_1_bar_1_bar_60)\n (objectAtLocation KeyChain_bar__plus_01_dot_41_bar__plus_00_dot_28_bar__minus_01_dot_59 loc_bar_9_bar__minus_3_bar_3_bar_45)\n (objectAtLocation Book_bar__plus_00_dot_39_bar__plus_00_dot_57_bar__minus_00_dot_46 loc_bar_6_bar__minus_4_bar_3_bar_45)\n (objectAtLocation Book_bar__plus_00_dot_72_bar__plus_00_dot_57_bar__minus_01_dot_35 loc_bar_6_bar__minus_4_bar_3_bar_45)\n (objectAtLocation KeyChain_bar__plus_03_dot_10_bar__plus_00_dot_80_bar__minus_01_dot_36 loc_bar_10_bar__minus_2_bar_2_bar_60)\n (objectAtLocation CreditCard_bar__plus_02_dot_71_bar__plus_00_dot_80_bar__minus_01_dot_48 loc_bar_10_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Pencil_bar__plus_02_dot_11_bar__plus_00_dot_80_bar__minus_01_dot_54 loc_bar_10_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Book_bar__plus_01_dot_09_bar__plus_00_dot_52_bar__minus_01_dot_67 loc_bar_7_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Mirror_bar__plus_00_dot_62_bar__plus_01_dot_26_bar__plus_01_dot_03 loc_bar_2_bar_2_bar_0_bar_30)\n (objectAtLocation Chair_bar__plus_02_dot_22_bar__plus_00_dot_00_bar__minus_01_dot_47 loc_bar_9_bar__minus_3_bar_2_bar_60)\n (objectAtLocation KeyChain_bar__plus_02_dot_93_bar__plus_00_dot_55_bar__minus_01_dot_46 loc_bar_11_bar__minus_2_bar_2_bar_45)\n (objectAtLocation TissueBox_bar__plus_03_dot_07_bar__plus_00_dot_54_bar__minus_01_dot_42 loc_bar_11_bar__minus_2_bar_2_bar_45)\n (objectAtLocation TeddyBear_bar__minus_00_dot_08_bar__plus_00_dot_56_bar__minus_00_dot_27 loc_bar_6_bar__minus_4_bar_3_bar_45)\n (objectAtLocation DeskLamp_bar__plus_03_dot_16_bar__plus_00_dot_79_bar__minus_01_dot_66 loc_bar_10_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Pencil_bar__plus_01_dot_91_bar__plus_00_dot_80_bar__minus_01_dot_54 loc_bar_10_bar__minus_2_bar_2_bar_60)\n (objectAtLocation CreditCard_bar__plus_02_dot_71_bar__plus_00_dot_80_bar__minus_01_dot_61 loc_bar_10_bar__minus_2_bar_2_bar_60)\n (objectAtLocation TennisRacket_bar__minus_00_dot_92_bar__plus_00_dot_34_bar__plus_00_dot_39 loc_bar__minus_2_bar_2_bar_3_bar_60)\n (objectAtLocation HousePlant_bar__minus_00_dot_83_bar__plus_00_dot_00_bar__plus_00_dot_84 loc_bar__minus_2_bar_2_bar_0_bar_60)\n (objectAtLocation Laptop_bar__plus_00_dot_23_bar__plus_00_dot_57_bar__minus_00_dot_91 loc_bar_6_bar__minus_4_bar_3_bar_45)\n (objectAtLocation AlarmClock_bar__plus_02_dot_51_bar__plus_00_dot_80_bar__minus_01_dot_54 loc_bar_10_bar__minus_2_bar_2_bar_60)\n (objectAtLocation LightSwitch_bar__plus_02_dot_01_bar__plus_01_dot_13_bar__plus_01_dot_03 loc_bar_8_bar_2_bar_0_bar_45)\n (objectAtLocation Pen_bar__plus_01_dot_24_bar__plus_00_dot_52_bar__minus_01_dot_75 loc_bar_7_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Pillow_bar__plus_00_dot_30_bar__plus_00_dot_64_bar__minus_01_dot_56 loc_bar_6_bar__minus_4_bar_3_bar_45)\n (objectAtLocation CellPhone_bar__plus_01_dot_30_bar__plus_00_dot_06_bar__minus_01_dot_61 loc_bar_7_bar__minus_2_bar_2_bar_60)\n (objectAtLocation CD_bar__plus_01_dot_18_bar__plus_00_dot_06_bar__minus_01_dot_59 loc_bar_7_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Window_bar__plus_01_dot_80_bar__plus_01_dot_68_bar__minus_01_dot_94 loc_bar_6_bar__minus_5_bar_2_bar_0)\n (objectAtLocation Window_bar__plus_00_dot_69_bar__plus_01_dot_36_bar__minus_01_dot_94 loc_bar_5_bar__minus_5_bar_2_bar_30)\n (objectAtLocation Mug_bar__plus_01_dot_91_bar__plus_00_dot_80_bar__minus_01_dot_36 loc_bar_10_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Blinds_bar__plus_01_dot_78_bar__plus_01_dot_99_bar__minus_01_dot_86 loc_bar_6_bar__minus_5_bar_2_bar__minus_30)\n (objectAtLocation Blinds_bar__plus_00_dot_67_bar__plus_01_dot_99_bar__minus_01_dot_86 loc_bar_5_bar__minus_5_bar_2_bar__minus_30)\n )\n \n\n (:goal\n (and\n (exists (?ot - object\n ?r - receptacle\n ?a - agent\n ?l - location)\n (and\n (objectType ?ot DeskLampType)\n (toggleable ?ot)\n (isToggled ?ot)\n (receptacleAtLocation ?r ?l)\n (atLocation ?a ?l)\n (inReceptacle ?ot ?r)\n )\n )\n (exists (?o - object\n ?a - agent)\n (and\n (objectType ?o BookType)\n (holds ?a ?o)\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to bed 1", "take book 2 from bed 1", "go to desk 1", "use desklamp 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Book-None-DeskLamp-328/trial_T20190908_062936_284723/initial_state.pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Book-None-DeskLamp-328/trial_T20190908_062936_284723/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..2fe4fe24202320dbcaf2e3d8e8969f3d8f7d99dc --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Book-None-DeskLamp-328/trial_T20190908_062936_284723/initial_state.pddl @@ -0,0 +1,493 @@ + +(define (problem plan_trial_T20190908_062936_284723) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_51_bar__plus_00_dot_80_bar__minus_01_dot_54 - object + Blinds_bar__plus_00_dot_67_bar__plus_01_dot_99_bar__minus_01_dot_86 - object + Blinds_bar__plus_01_dot_78_bar__plus_01_dot_99_bar__minus_01_dot_86 - object + Book_bar__plus_00_dot_39_bar__plus_00_dot_57_bar__minus_00_dot_46 - object + Book_bar__plus_00_dot_72_bar__plus_00_dot_57_bar__minus_01_dot_35 - object + Book_bar__plus_01_dot_09_bar__plus_00_dot_52_bar__minus_01_dot_67 - object + CD_bar__plus_01_dot_18_bar__plus_00_dot_06_bar__minus_01_dot_59 - object + CellPhone_bar__plus_01_dot_30_bar__plus_00_dot_06_bar__minus_01_dot_61 - object + CellPhone_bar__minus_00_dot_10_bar__plus_00_dot_57_bar__minus_01_dot_35 - object + Chair_bar__plus_02_dot_22_bar__plus_00_dot_00_bar__minus_01_dot_47 - object + CreditCard_bar__plus_02_dot_71_bar__plus_00_dot_80_bar__minus_01_dot_48 - object + CreditCard_bar__plus_02_dot_71_bar__plus_00_dot_80_bar__minus_01_dot_61 - object + CreditCard_bar__plus_02_dot_88_bar__plus_00_dot_55_bar__minus_01_dot_40 - object + DeskLamp_bar__plus_03_dot_16_bar__plus_00_dot_79_bar__minus_01_dot_66 - object + HousePlant_bar__minus_00_dot_83_bar__plus_00_dot_00_bar__plus_00_dot_84 - object + KeyChain_bar__plus_01_dot_41_bar__plus_00_dot_28_bar__minus_01_dot_59 - object + KeyChain_bar__plus_02_dot_93_bar__plus_00_dot_55_bar__minus_01_dot_46 - object + KeyChain_bar__plus_03_dot_10_bar__plus_00_dot_80_bar__minus_01_dot_36 - object + Laptop_bar__plus_00_dot_23_bar__plus_00_dot_57_bar__minus_00_dot_91 - object + LightSwitch_bar__plus_02_dot_01_bar__plus_01_dot_13_bar__plus_01_dot_03 - object + Mirror_bar__plus_00_dot_62_bar__plus_01_dot_26_bar__plus_01_dot_03 - object + Mug_bar__plus_01_dot_91_bar__plus_00_dot_80_bar__minus_01_dot_36 - object + Pencil_bar__plus_01_dot_91_bar__plus_00_dot_80_bar__minus_01_dot_54 - object + Pencil_bar__plus_02_dot_11_bar__plus_00_dot_80_bar__minus_01_dot_54 - object + Pencil_bar__plus_03_dot_19_bar__plus_00_dot_08_bar__minus_00_dot_27 - object + Pen_bar__plus_01_dot_24_bar__plus_00_dot_52_bar__minus_01_dot_75 - object + Pen_bar__plus_02_dot_90_bar__plus_00_dot_80_bar__minus_01_dot_48 - object + Pillow_bar__plus_00_dot_30_bar__plus_00_dot_64_bar__minus_01_dot_56 - object + TeddyBear_bar__minus_00_dot_08_bar__plus_00_dot_56_bar__minus_00_dot_27 - object + TennisRacket_bar__minus_00_dot_92_bar__plus_00_dot_34_bar__plus_00_dot_39 - object + TissueBox_bar__plus_03_dot_07_bar__plus_00_dot_54_bar__minus_01_dot_42 - object + Window_bar__plus_00_dot_69_bar__plus_01_dot_36_bar__minus_01_dot_94 - object + Window_bar__plus_01_dot_80_bar__plus_01_dot_68_bar__minus_01_dot_94 - object + Bed_bar__plus_00_dot_23_bar__plus_00_dot_00_bar__minus_00_dot_95 - receptacle + Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59 - receptacle + Drawer_bar__plus_01_dot_24_bar__plus_00_dot_13_bar__minus_01_dot_60 - receptacle + Drawer_bar__plus_01_dot_24_bar__plus_00_dot_35_bar__minus_01_dot_60 - receptacle + GarbageCan_bar__plus_03_dot_17_bar__plus_00_dot_00_bar__minus_00_dot_27 - receptacle + Shelf_bar__plus_03_dot_04_bar__plus_00_dot_54_bar__minus_01_dot_44 - receptacle + SideTable_bar__plus_01_dot_24_bar__plus_00_dot_00_bar__minus_01_dot_67 - receptacle + loc_bar_7_bar__minus_3_bar_2_bar_60 - location + loc_bar_9_bar__minus_3_bar_3_bar_45 - location + loc_bar__minus_2_bar_2_bar_3_bar_60 - location + loc_bar_2_bar_2_bar_0_bar_30 - location + loc_bar_5_bar__minus_5_bar_2_bar__minus_30 - location + loc_bar_6_bar__minus_5_bar_2_bar_0 - location + loc_bar_10_bar__minus_2_bar_2_bar_60 - location + loc_bar_11_bar__minus_2_bar_2_bar_45 - location + loc_bar__minus_2_bar_2_bar_0_bar_60 - location + loc_bar_7_bar__minus_2_bar_2_bar_60 - location + loc_bar_5_bar__minus_5_bar_2_bar_30 - location + loc_bar_9_bar__minus_3_bar_1_bar_60 - location + loc_bar_11_bar__minus_1_bar_1_bar_60 - location + loc_bar_9_bar__minus_3_bar_2_bar_60 - location + loc_bar_8_bar_2_bar_0_bar_45 - location + loc_bar_6_bar__minus_5_bar_2_bar__minus_30 - location + loc_bar_6_bar__minus_4_bar_3_bar_45 - location + loc_bar_4_bar_2_bar_1_bar_30 - location + ) + + +(:init + + + (receptacleType Bed_bar__plus_00_dot_23_bar__plus_00_dot_00_bar__minus_00_dot_95 BedType) + (receptacleType Drawer_bar__plus_01_dot_24_bar__plus_00_dot_35_bar__minus_01_dot_60 DrawerType) + (receptacleType Drawer_bar__plus_01_dot_24_bar__plus_00_dot_13_bar__minus_01_dot_60 DrawerType) + (receptacleType Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59 DeskType) + (receptacleType GarbageCan_bar__plus_03_dot_17_bar__plus_00_dot_00_bar__minus_00_dot_27 GarbageCanType) + (receptacleType Shelf_bar__plus_03_dot_04_bar__plus_00_dot_54_bar__minus_01_dot_44 ShelfType) + (receptacleType SideTable_bar__plus_01_dot_24_bar__plus_00_dot_00_bar__minus_01_dot_67 SideTableType) + (objectType Mirror_bar__plus_00_dot_62_bar__plus_01_dot_26_bar__plus_01_dot_03 MirrorType) + (objectType Blinds_bar__plus_00_dot_67_bar__plus_01_dot_99_bar__minus_01_dot_86 BlindsType) + (objectType Window_bar__plus_00_dot_69_bar__plus_01_dot_36_bar__minus_01_dot_94 WindowType) + (objectType CD_bar__plus_01_dot_18_bar__plus_00_dot_06_bar__minus_01_dot_59 CDType) + (objectType CreditCard_bar__plus_02_dot_71_bar__plus_00_dot_80_bar__minus_01_dot_48 CreditCardType) + (objectType Pen_bar__plus_01_dot_24_bar__plus_00_dot_52_bar__minus_01_dot_75 PenType) + (objectType KeyChain_bar__plus_02_dot_93_bar__plus_00_dot_55_bar__minus_01_dot_46 KeyChainType) + (objectType Chair_bar__plus_02_dot_22_bar__plus_00_dot_00_bar__minus_01_dot_47 ChairType) + (objectType Pencil_bar__plus_01_dot_91_bar__plus_00_dot_80_bar__minus_01_dot_54 PencilType) + (objectType TennisRacket_bar__minus_00_dot_92_bar__plus_00_dot_34_bar__plus_00_dot_39 TennisRacketType) + (objectType TissueBox_bar__plus_03_dot_07_bar__plus_00_dot_54_bar__minus_01_dot_42 TissueBoxType) + (objectType Book_bar__plus_00_dot_39_bar__plus_00_dot_57_bar__minus_00_dot_46 BookType) + (objectType Window_bar__plus_01_dot_80_bar__plus_01_dot_68_bar__minus_01_dot_94 WindowType) + (objectType Pen_bar__plus_02_dot_90_bar__plus_00_dot_80_bar__minus_01_dot_48 PenType) + (objectType DeskLamp_bar__plus_03_dot_16_bar__plus_00_dot_79_bar__minus_01_dot_66 DeskLampType) + (objectType Book_bar__plus_00_dot_72_bar__plus_00_dot_57_bar__minus_01_dot_35 BookType) + (objectType LightSwitch_bar__plus_02_dot_01_bar__plus_01_dot_13_bar__plus_01_dot_03 LightSwitchType) + (objectType KeyChain_bar__plus_01_dot_41_bar__plus_00_dot_28_bar__minus_01_dot_59 KeyChainType) + (objectType CellPhone_bar__minus_00_dot_10_bar__plus_00_dot_57_bar__minus_01_dot_35 CellPhoneType) + (objectType KeyChain_bar__plus_03_dot_10_bar__plus_00_dot_80_bar__minus_01_dot_36 KeyChainType) + (objectType Mug_bar__plus_01_dot_91_bar__plus_00_dot_80_bar__minus_01_dot_36 MugType) + (objectType Laptop_bar__plus_00_dot_23_bar__plus_00_dot_57_bar__minus_00_dot_91 LaptopType) + (objectType TeddyBear_bar__minus_00_dot_08_bar__plus_00_dot_56_bar__minus_00_dot_27 TeddyBearType) + (objectType AlarmClock_bar__plus_02_dot_51_bar__plus_00_dot_80_bar__minus_01_dot_54 AlarmClockType) + (objectType CreditCard_bar__plus_02_dot_71_bar__plus_00_dot_80_bar__minus_01_dot_61 CreditCardType) + (objectType Book_bar__plus_01_dot_09_bar__plus_00_dot_52_bar__minus_01_dot_67 BookType) + (objectType CellPhone_bar__plus_01_dot_30_bar__plus_00_dot_06_bar__minus_01_dot_61 CellPhoneType) + (objectType Pillow_bar__plus_00_dot_30_bar__plus_00_dot_64_bar__minus_01_dot_56 PillowType) + (objectType Blinds_bar__plus_01_dot_78_bar__plus_01_dot_99_bar__minus_01_dot_86 BlindsType) + (objectType Pencil_bar__plus_02_dot_11_bar__plus_00_dot_80_bar__minus_01_dot_54 PencilType) + (objectType CreditCard_bar__plus_02_dot_88_bar__plus_00_dot_55_bar__minus_01_dot_40 CreditCardType) + (objectType Pencil_bar__plus_03_dot_19_bar__plus_00_dot_08_bar__minus_00_dot_27 PencilType) + (objectType HousePlant_bar__minus_00_dot_83_bar__plus_00_dot_00_bar__plus_00_dot_84 HousePlantType) + (canContain BedType TennisRacketType) + (canContain BedType LaptopType) + (canContain BedType BookType) + (canContain BedType CellPhoneType) + (canContain BedType PillowType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType TissueBoxType) + (canContain DeskType PenType) + (canContain DeskType BookType) + (canContain DeskType CDType) + (canContain DeskType MugType) + (canContain DeskType CellPhoneType) + (canContain DeskType KeyChainType) + (canContain DeskType CreditCardType) + (canContain DeskType TennisRacketType) + (canContain DeskType LaptopType) + (canContain DeskType PencilType) + (canContain DeskType TissueBoxType) + (canContain DeskType AlarmClockType) + (canContain GarbageCanType PenType) + (canContain GarbageCanType CDType) + (canContain GarbageCanType PencilType) + (canContain GarbageCanType TissueBoxType) + (canContain ShelfType PenType) + (canContain ShelfType BookType) + (canContain ShelfType CDType) + (canContain ShelfType MugType) + (canContain ShelfType CellPhoneType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType PencilType) + (canContain ShelfType TissueBoxType) + (canContain ShelfType AlarmClockType) + (canContain SideTableType PenType) + (canContain SideTableType BookType) + (canContain SideTableType CDType) + (canContain SideTableType MugType) + (canContain SideTableType CellPhoneType) + (canContain SideTableType KeyChainType) + (canContain SideTableType CreditCardType) + (canContain SideTableType TennisRacketType) + (canContain SideTableType LaptopType) + (canContain SideTableType PencilType) + (canContain SideTableType TissueBoxType) + (canContain SideTableType AlarmClockType) + (pickupable CD_bar__plus_01_dot_18_bar__plus_00_dot_06_bar__minus_01_dot_59) + (pickupable CreditCard_bar__plus_02_dot_71_bar__plus_00_dot_80_bar__minus_01_dot_48) + (pickupable Pen_bar__plus_01_dot_24_bar__plus_00_dot_52_bar__minus_01_dot_75) + (pickupable KeyChain_bar__plus_02_dot_93_bar__plus_00_dot_55_bar__minus_01_dot_46) + (pickupable Pencil_bar__plus_01_dot_91_bar__plus_00_dot_80_bar__minus_01_dot_54) + (pickupable TennisRacket_bar__minus_00_dot_92_bar__plus_00_dot_34_bar__plus_00_dot_39) + (pickupable TissueBox_bar__plus_03_dot_07_bar__plus_00_dot_54_bar__minus_01_dot_42) + (pickupable Book_bar__plus_00_dot_39_bar__plus_00_dot_57_bar__minus_00_dot_46) + (pickupable Pen_bar__plus_02_dot_90_bar__plus_00_dot_80_bar__minus_01_dot_48) + (pickupable Book_bar__plus_00_dot_72_bar__plus_00_dot_57_bar__minus_01_dot_35) + (pickupable KeyChain_bar__plus_01_dot_41_bar__plus_00_dot_28_bar__minus_01_dot_59) + (pickupable CellPhone_bar__minus_00_dot_10_bar__plus_00_dot_57_bar__minus_01_dot_35) + (pickupable KeyChain_bar__plus_03_dot_10_bar__plus_00_dot_80_bar__minus_01_dot_36) + (pickupable Mug_bar__plus_01_dot_91_bar__plus_00_dot_80_bar__minus_01_dot_36) + (pickupable Laptop_bar__plus_00_dot_23_bar__plus_00_dot_57_bar__minus_00_dot_91) + (pickupable TeddyBear_bar__minus_00_dot_08_bar__plus_00_dot_56_bar__minus_00_dot_27) + (pickupable AlarmClock_bar__plus_02_dot_51_bar__plus_00_dot_80_bar__minus_01_dot_54) + (pickupable CreditCard_bar__plus_02_dot_71_bar__plus_00_dot_80_bar__minus_01_dot_61) + (pickupable Book_bar__plus_01_dot_09_bar__plus_00_dot_52_bar__minus_01_dot_67) + (pickupable CellPhone_bar__plus_01_dot_30_bar__plus_00_dot_06_bar__minus_01_dot_61) + (pickupable Pillow_bar__plus_00_dot_30_bar__plus_00_dot_64_bar__minus_01_dot_56) + (pickupable Pencil_bar__plus_02_dot_11_bar__plus_00_dot_80_bar__minus_01_dot_54) + (pickupable CreditCard_bar__plus_02_dot_88_bar__plus_00_dot_55_bar__minus_01_dot_40) + (pickupable Pencil_bar__plus_03_dot_19_bar__plus_00_dot_08_bar__minus_00_dot_27) + (isReceptacleObject Mug_bar__plus_01_dot_91_bar__plus_00_dot_80_bar__minus_01_dot_36) + (openable Drawer_bar__plus_01_dot_24_bar__plus_00_dot_35_bar__minus_01_dot_60) + (openable Drawer_bar__plus_01_dot_24_bar__plus_00_dot_13_bar__minus_01_dot_60) + + (atLocation agent1 loc_bar_4_bar_2_bar_1_bar_30) + + (cleanable Mug_bar__plus_01_dot_91_bar__plus_00_dot_80_bar__minus_01_dot_36) + + (heatable Mug_bar__plus_01_dot_91_bar__plus_00_dot_80_bar__minus_01_dot_36) + (coolable Mug_bar__plus_01_dot_91_bar__plus_00_dot_80_bar__minus_01_dot_36) + + + (toggleable DeskLamp_bar__plus_03_dot_16_bar__plus_00_dot_79_bar__minus_01_dot_66) + + + + + (inReceptacle CreditCard_bar__plus_02_dot_71_bar__plus_00_dot_80_bar__minus_01_dot_61 Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59) + (inReceptacle KeyChain_bar__plus_03_dot_10_bar__plus_00_dot_80_bar__minus_01_dot_36 Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59) + (inReceptacle Pencil_bar__plus_01_dot_91_bar__plus_00_dot_80_bar__minus_01_dot_54 Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59) + (inReceptacle Pencil_bar__plus_02_dot_11_bar__plus_00_dot_80_bar__minus_01_dot_54 Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59) + (inReceptacle CreditCard_bar__plus_02_dot_71_bar__plus_00_dot_80_bar__minus_01_dot_48 Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59) + (inReceptacle Mug_bar__plus_01_dot_91_bar__plus_00_dot_80_bar__minus_01_dot_36 Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59) + (inReceptacle Pen_bar__plus_02_dot_90_bar__plus_00_dot_80_bar__minus_01_dot_48 Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59) + (inReceptacle DeskLamp_bar__plus_03_dot_16_bar__plus_00_dot_79_bar__minus_01_dot_66 Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59) + (inReceptacle AlarmClock_bar__plus_02_dot_51_bar__plus_00_dot_80_bar__minus_01_dot_54 Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59) + (inReceptacle CellPhone_bar__minus_00_dot_10_bar__plus_00_dot_57_bar__minus_01_dot_35 Bed_bar__plus_00_dot_23_bar__plus_00_dot_00_bar__minus_00_dot_95) + (inReceptacle Pillow_bar__plus_00_dot_30_bar__plus_00_dot_64_bar__minus_01_dot_56 Bed_bar__plus_00_dot_23_bar__plus_00_dot_00_bar__minus_00_dot_95) + (inReceptacle Book_bar__plus_00_dot_39_bar__plus_00_dot_57_bar__minus_00_dot_46 Bed_bar__plus_00_dot_23_bar__plus_00_dot_00_bar__minus_00_dot_95) + (inReceptacle Laptop_bar__plus_00_dot_23_bar__plus_00_dot_57_bar__minus_00_dot_91 Bed_bar__plus_00_dot_23_bar__plus_00_dot_00_bar__minus_00_dot_95) + (inReceptacle Book_bar__plus_00_dot_72_bar__plus_00_dot_57_bar__minus_01_dot_35 Bed_bar__plus_00_dot_23_bar__plus_00_dot_00_bar__minus_00_dot_95) + (inReceptacle TeddyBear_bar__minus_00_dot_08_bar__plus_00_dot_56_bar__minus_00_dot_27 Bed_bar__plus_00_dot_23_bar__plus_00_dot_00_bar__minus_00_dot_95) + (inReceptacle CellPhone_bar__plus_01_dot_30_bar__plus_00_dot_06_bar__minus_01_dot_61 Drawer_bar__plus_01_dot_24_bar__plus_00_dot_13_bar__minus_01_dot_60) + (inReceptacle CD_bar__plus_01_dot_18_bar__plus_00_dot_06_bar__minus_01_dot_59 Drawer_bar__plus_01_dot_24_bar__plus_00_dot_13_bar__minus_01_dot_60) + (inReceptacle Book_bar__plus_01_dot_09_bar__plus_00_dot_52_bar__minus_01_dot_67 SideTable_bar__plus_01_dot_24_bar__plus_00_dot_00_bar__minus_01_dot_67) + (inReceptacle Pen_bar__plus_01_dot_24_bar__plus_00_dot_52_bar__minus_01_dot_75 SideTable_bar__plus_01_dot_24_bar__plus_00_dot_00_bar__minus_01_dot_67) + (inReceptacle KeyChain_bar__plus_01_dot_41_bar__plus_00_dot_28_bar__minus_01_dot_59 Drawer_bar__plus_01_dot_24_bar__plus_00_dot_35_bar__minus_01_dot_60) + (inReceptacle CreditCard_bar__plus_02_dot_88_bar__plus_00_dot_55_bar__minus_01_dot_40 Shelf_bar__plus_03_dot_04_bar__plus_00_dot_54_bar__minus_01_dot_44) + (inReceptacle TissueBox_bar__plus_03_dot_07_bar__plus_00_dot_54_bar__minus_01_dot_42 Shelf_bar__plus_03_dot_04_bar__plus_00_dot_54_bar__minus_01_dot_44) + (inReceptacle KeyChain_bar__plus_02_dot_93_bar__plus_00_dot_55_bar__minus_01_dot_46 Shelf_bar__plus_03_dot_04_bar__plus_00_dot_54_bar__minus_01_dot_44) + + + (receptacleAtLocation Bed_bar__plus_00_dot_23_bar__plus_00_dot_00_bar__minus_00_dot_95 loc_bar_6_bar__minus_4_bar_3_bar_45) + (receptacleAtLocation Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59 loc_bar_10_bar__minus_2_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_24_bar__plus_00_dot_13_bar__minus_01_dot_60 loc_bar_7_bar__minus_2_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_24_bar__plus_00_dot_35_bar__minus_01_dot_60 loc_bar_9_bar__minus_3_bar_3_bar_45) + (receptacleAtLocation GarbageCan_bar__plus_03_dot_17_bar__plus_00_dot_00_bar__minus_00_dot_27 loc_bar_9_bar__minus_3_bar_1_bar_60) + (receptacleAtLocation Shelf_bar__plus_03_dot_04_bar__plus_00_dot_54_bar__minus_01_dot_44 loc_bar_11_bar__minus_2_bar_2_bar_45) + (receptacleAtLocation SideTable_bar__plus_01_dot_24_bar__plus_00_dot_00_bar__minus_01_dot_67 loc_bar_7_bar__minus_3_bar_2_bar_60) + (objectAtLocation CellPhone_bar__minus_00_dot_10_bar__plus_00_dot_57_bar__minus_01_dot_35 loc_bar_6_bar__minus_4_bar_3_bar_45) + (objectAtLocation Pen_bar__plus_02_dot_90_bar__plus_00_dot_80_bar__minus_01_dot_48 loc_bar_10_bar__minus_2_bar_2_bar_60) + (objectAtLocation CreditCard_bar__plus_02_dot_88_bar__plus_00_dot_55_bar__minus_01_dot_40 loc_bar_11_bar__minus_2_bar_2_bar_45) + (objectAtLocation Pencil_bar__plus_03_dot_19_bar__plus_00_dot_08_bar__minus_00_dot_27 loc_bar_11_bar__minus_1_bar_1_bar_60) + (objectAtLocation KeyChain_bar__plus_01_dot_41_bar__plus_00_dot_28_bar__minus_01_dot_59 loc_bar_9_bar__minus_3_bar_3_bar_45) + (objectAtLocation Book_bar__plus_00_dot_39_bar__plus_00_dot_57_bar__minus_00_dot_46 loc_bar_6_bar__minus_4_bar_3_bar_45) + (objectAtLocation Book_bar__plus_00_dot_72_bar__plus_00_dot_57_bar__minus_01_dot_35 loc_bar_6_bar__minus_4_bar_3_bar_45) + (objectAtLocation KeyChain_bar__plus_03_dot_10_bar__plus_00_dot_80_bar__minus_01_dot_36 loc_bar_10_bar__minus_2_bar_2_bar_60) + (objectAtLocation CreditCard_bar__plus_02_dot_71_bar__plus_00_dot_80_bar__minus_01_dot_48 loc_bar_10_bar__minus_2_bar_2_bar_60) + (objectAtLocation Pencil_bar__plus_02_dot_11_bar__plus_00_dot_80_bar__minus_01_dot_54 loc_bar_10_bar__minus_2_bar_2_bar_60) + (objectAtLocation Book_bar__plus_01_dot_09_bar__plus_00_dot_52_bar__minus_01_dot_67 loc_bar_7_bar__minus_3_bar_2_bar_60) + (objectAtLocation Mirror_bar__plus_00_dot_62_bar__plus_01_dot_26_bar__plus_01_dot_03 loc_bar_2_bar_2_bar_0_bar_30) + (objectAtLocation Chair_bar__plus_02_dot_22_bar__plus_00_dot_00_bar__minus_01_dot_47 loc_bar_9_bar__minus_3_bar_2_bar_60) + (objectAtLocation KeyChain_bar__plus_02_dot_93_bar__plus_00_dot_55_bar__minus_01_dot_46 loc_bar_11_bar__minus_2_bar_2_bar_45) + (objectAtLocation TissueBox_bar__plus_03_dot_07_bar__plus_00_dot_54_bar__minus_01_dot_42 loc_bar_11_bar__minus_2_bar_2_bar_45) + (objectAtLocation TeddyBear_bar__minus_00_dot_08_bar__plus_00_dot_56_bar__minus_00_dot_27 loc_bar_6_bar__minus_4_bar_3_bar_45) + (objectAtLocation DeskLamp_bar__plus_03_dot_16_bar__plus_00_dot_79_bar__minus_01_dot_66 loc_bar_10_bar__minus_2_bar_2_bar_60) + (objectAtLocation Pencil_bar__plus_01_dot_91_bar__plus_00_dot_80_bar__minus_01_dot_54 loc_bar_10_bar__minus_2_bar_2_bar_60) + (objectAtLocation CreditCard_bar__plus_02_dot_71_bar__plus_00_dot_80_bar__minus_01_dot_61 loc_bar_10_bar__minus_2_bar_2_bar_60) + (objectAtLocation TennisRacket_bar__minus_00_dot_92_bar__plus_00_dot_34_bar__plus_00_dot_39 loc_bar__minus_2_bar_2_bar_3_bar_60) + (objectAtLocation HousePlant_bar__minus_00_dot_83_bar__plus_00_dot_00_bar__plus_00_dot_84 loc_bar__minus_2_bar_2_bar_0_bar_60) + (objectAtLocation Laptop_bar__plus_00_dot_23_bar__plus_00_dot_57_bar__minus_00_dot_91 loc_bar_6_bar__minus_4_bar_3_bar_45) + (objectAtLocation AlarmClock_bar__plus_02_dot_51_bar__plus_00_dot_80_bar__minus_01_dot_54 loc_bar_10_bar__minus_2_bar_2_bar_60) + (objectAtLocation LightSwitch_bar__plus_02_dot_01_bar__plus_01_dot_13_bar__plus_01_dot_03 loc_bar_8_bar_2_bar_0_bar_45) + (objectAtLocation Pen_bar__plus_01_dot_24_bar__plus_00_dot_52_bar__minus_01_dot_75 loc_bar_7_bar__minus_3_bar_2_bar_60) + (objectAtLocation Pillow_bar__plus_00_dot_30_bar__plus_00_dot_64_bar__minus_01_dot_56 loc_bar_6_bar__minus_4_bar_3_bar_45) + (objectAtLocation CellPhone_bar__plus_01_dot_30_bar__plus_00_dot_06_bar__minus_01_dot_61 loc_bar_7_bar__minus_2_bar_2_bar_60) + (objectAtLocation CD_bar__plus_01_dot_18_bar__plus_00_dot_06_bar__minus_01_dot_59 loc_bar_7_bar__minus_2_bar_2_bar_60) + (objectAtLocation Window_bar__plus_01_dot_80_bar__plus_01_dot_68_bar__minus_01_dot_94 loc_bar_6_bar__minus_5_bar_2_bar_0) + (objectAtLocation Window_bar__plus_00_dot_69_bar__plus_01_dot_36_bar__minus_01_dot_94 loc_bar_5_bar__minus_5_bar_2_bar_30) + (objectAtLocation Mug_bar__plus_01_dot_91_bar__plus_00_dot_80_bar__minus_01_dot_36 loc_bar_10_bar__minus_2_bar_2_bar_60) + (objectAtLocation Blinds_bar__plus_01_dot_78_bar__plus_01_dot_99_bar__minus_01_dot_86 loc_bar_6_bar__minus_5_bar_2_bar__minus_30) + (objectAtLocation Blinds_bar__plus_00_dot_67_bar__plus_01_dot_99_bar__minus_01_dot_86 loc_bar_5_bar__minus_5_bar_2_bar__minus_30) + ) + + + (:goal + (and + (exists (?ot - object + ?r - receptacle + ?a - agent + ?l - location) + (and + (objectType ?ot DeskLampType) + (toggleable ?ot) + (isToggled ?ot) + (receptacleAtLocation ?r ?l) + (atLocation ?a ?l) + (inReceptacle ?ot ?r) + ) + ) + (exists (?o - object + ?a - agent) + (and + (objectType ?o BookType) + (holds ?a ?o) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Book-None-DeskLamp-328/trial_T20190908_062936_284723/traj_data.json b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Book-None-DeskLamp-328/trial_T20190908_062936_284723/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..875f6ee57c0e91446c4a287ac24a8568a8518859 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Book-None-DeskLamp-328/trial_T20190908_062936_284723/traj_data.json @@ -0,0 +1,2348 @@ +{ + "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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} + }, + { + "objectName": "TennisRacket_ea5075c1", + "position": { + "x": -0.921, + "y": 0.344, + "z": 0.390329272 + }, + "rotation": { + "x": 13.9117947, + "y": 273.938477, + "z": 195.992615 + } + }, + { + "objectName": "Laptop_d69ea96f", + "position": { + "x": 0.227484852, + "y": 0.5680995, + "z": -0.9058705 + }, + "rotation": { + "x": 0.0, + "y": 3.756604e-05, + "z": 0.0 + } + }, + { + "objectName": "AlarmClock_66d39ac8", + "position": { + "x": 2.50649548, + "y": 0.7989713, + "z": -1.54362547 + }, + "rotation": { + "x": 0.0, + "y": 0.000174169822, + "z": 0.0 + } + }, + { + "objectName": "Pen_c03a4918", + "position": { + "x": 2.904356, + "y": 0.804022431, + "z": -1.48201942 + }, + "rotation": { + "x": 0.0, + "y": 0.000174169822, + "z": 0.0 + } + }, + { + "objectName": "Pillow_b9c16add", + "position": { + "x": 0.2994393, + "y": 0.643, + "z": -1.5575825 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "CellPhone_948924de", + "position": { + "x": -0.09779544, + "y": 0.5703095, + "z": -1.35227907 + }, + "rotation": { + "x": 0.0, + "y": 3.756604e-05, + "z": 0.0 + } + }, + { + "objectName": "CD_e348100e", + "position": { + "x": 1.183509, + "y": 0.0587445945, + "z": -1.59309125 + }, + "rotation": { + "x": 0.0, + "y": 180.000259, + "z": 0.0 + } + }, + { + "objectName": "Mug_e2689221", + "position": { + "x": 1.9097054, + "y": 0.7963696, + "z": -1.35880208 + }, + "rotation": { + "x": 0.0, + "y": 0.000174169822, + "z": 0.0 + } + } + ], + "object_toggles": [ + { + "isOn": false, + "objectType": "DeskLamp" + } + ], + "random_seed": 1479461062, + "scene_num": 328 + }, + "task_id": "trial_T20190908_062936_284723", + "task_type": "look_at_obj_in_light", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A1HXEXQTZCJ1DW_3U8YCDAGXSXD7WXB5302YXO7RLTQ01", + "high_descs": [ + "turn right and walk to the night stand. turn right and face the bed", + "pick up the book from the bed", + "turn around and walk towards the wall. turn right and face the desk", + "turn on the lamp" + ], + "task_desc": "pick up the book and look at it under the light", + "votes": [ + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1SX8IVV82M0LW_3LWJHTCVCF3440C18LJN14BBYU3FQU", + "high_descs": [ + "Walk to the bed in front of the book.", + "Grab the book from the bed.", + "Walk to the computer desk's edge.", + "Turn on the lamp on the desk." + ], + "task_desc": "Examine a book under a lamp.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AJQGWGESKQT4Y_3QY7M81QHA35E4Z0DX1EHQML0TQK7M", + "high_descs": [ + "Go right and then right again to face the bed.", + "Pick the book up from the edge of the bed.", + "Turn around and then turn right again to face the lamp on the desk.", + "Turn on the lamp." + ], + "task_desc": "Pick up a book and turn on a lamp.", + "votes": [ + 1, + 0, + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Book-None-DeskLamp-328/trial_T20190908_062949_158183/game.tw-pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Book-None-DeskLamp-328/trial_T20190908_062949_158183/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..305a6815a546b9cd4deb6820fcda14c516c392c4 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Book-None-DeskLamp-328/trial_T20190908_062949_158183/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\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 book 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_062949_158183)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n AlarmClock_bar__plus_01_dot_11_bar__plus_00_dot_51_bar__minus_01_dot_67 - object\n Blinds_bar__plus_00_dot_67_bar__plus_01_dot_99_bar__minus_01_dot_86 - object\n Blinds_bar__plus_01_dot_78_bar__plus_01_dot_99_bar__minus_01_dot_86 - object\n Book_bar__minus_00_dot_26_bar__plus_00_dot_57_bar__minus_01_dot_35 - object\n CD_bar__plus_01_dot_13_bar__plus_00_dot_06_bar__minus_01_dot_64 - object\n CellPhone_bar__plus_02_dot_11_bar__plus_00_dot_80_bar__minus_01_dot_42 - object\n CellPhone_bar__minus_00_dot_26_bar__plus_00_dot_57_bar__minus_00_dot_46 - object\n CellPhone_bar__minus_00_dot_26_bar__plus_00_dot_57_bar__minus_01_dot_13 - object\n Chair_bar__plus_02_dot_22_bar__plus_00_dot_00_bar__minus_01_dot_47 - object\n CreditCard_bar__plus_01_dot_47_bar__plus_00_dot_52_bar__minus_01_dot_63 - object\n CreditCard_bar__plus_01_dot_91_bar__plus_00_dot_80_bar__minus_01_dot_36 - object\n DeskLamp_bar__plus_03_dot_16_bar__plus_00_dot_79_bar__minus_01_dot_66 - object\n HousePlant_bar__minus_00_dot_83_bar__plus_00_dot_00_bar__plus_00_dot_84 - object\n KeyChain_bar__plus_02_dot_31_bar__plus_00_dot_80_bar__minus_01_dot_42 - object\n KeyChain_bar__plus_02_dot_71_bar__plus_00_dot_80_bar__minus_01_dot_54 - object\n KeyChain_bar__plus_02_dot_88_bar__plus_00_dot_55_bar__minus_01_dot_46 - object\n Laptop_bar__plus_00_dot_39_bar__plus_00_dot_57_bar__minus_00_dot_24 - object\n LightSwitch_bar__plus_02_dot_01_bar__plus_01_dot_13_bar__plus_01_dot_03 - object\n Mirror_bar__plus_00_dot_62_bar__plus_01_dot_26_bar__plus_01_dot_03 - object\n Mug_bar__plus_01_dot_47_bar__plus_00_dot_52_bar__minus_01_dot_75 - object\n Mug_bar__plus_03_dot_04_bar__plus_00_dot_54_bar__minus_01_dot_42 - object\n Mug_bar__plus_03_dot_21_bar__plus_00_dot_54_bar__minus_01_dot_46 - object\n Pencil_bar__plus_01_dot_32_bar__plus_00_dot_52_bar__minus_01_dot_75 - object\n Pencil_bar__plus_02_dot_90_bar__plus_00_dot_80_bar__minus_01_dot_61 - object\n Pen_bar__plus_01_dot_84_bar__plus_00_dot_80_bar__minus_01_dot_67 - object\n Pen_bar__plus_02_dot_51_bar__plus_00_dot_80_bar__minus_01_dot_73 - object\n Pillow_bar__plus_00_dot_23_bar__plus_00_dot_67_bar__minus_01_dot_13 - object\n Pillow_bar__plus_00_dot_30_bar__plus_00_dot_64_bar__minus_01_dot_56 - object\n TeddyBear_bar__minus_00_dot_08_bar__plus_00_dot_56_bar__minus_00_dot_27 - object\n TennisRacket_bar__minus_00_dot_92_bar__plus_00_dot_34_bar__plus_00_dot_39 - object\n TissueBox_bar__plus_02_dot_31_bar__plus_00_dot_80_bar__minus_01_dot_73 - object\n TissueBox_bar__plus_02_dot_90_bar__plus_00_dot_80_bar__minus_01_dot_73 - object\n Window_bar__plus_00_dot_69_bar__plus_01_dot_36_bar__minus_01_dot_94 - object\n Window_bar__plus_01_dot_80_bar__plus_01_dot_68_bar__minus_01_dot_94 - object\n Bed_bar__plus_00_dot_23_bar__plus_00_dot_00_bar__minus_00_dot_95 - receptacle\n Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59 - receptacle\n Drawer_bar__plus_01_dot_24_bar__plus_00_dot_13_bar__minus_01_dot_60 - receptacle\n Drawer_bar__plus_01_dot_24_bar__plus_00_dot_35_bar__minus_01_dot_60 - receptacle\n GarbageCan_bar__plus_03_dot_17_bar__plus_00_dot_00_bar__minus_00_dot_27 - receptacle\n Shelf_bar__plus_03_dot_04_bar__plus_00_dot_54_bar__minus_01_dot_44 - receptacle\n SideTable_bar__plus_01_dot_24_bar__plus_00_dot_00_bar__minus_01_dot_67 - receptacle\n loc_bar_7_bar__minus_3_bar_2_bar_60 - location\n loc_bar_9_bar__minus_3_bar_3_bar_45 - location\n loc_bar__minus_2_bar_2_bar_3_bar_60 - location\n loc_bar_2_bar_2_bar_0_bar_30 - location\n loc_bar_5_bar__minus_5_bar_2_bar__minus_30 - location\n loc_bar_6_bar__minus_5_bar_2_bar_0 - location\n loc_bar_10_bar__minus_2_bar_2_bar_60 - location\n loc_bar_11_bar__minus_2_bar_2_bar_45 - location\n loc_bar__minus_2_bar_2_bar_0_bar_60 - location\n loc_bar_7_bar__minus_2_bar_2_bar_60 - location\n loc_bar_5_bar__minus_5_bar_2_bar_30 - location\n loc_bar_9_bar__minus_3_bar_1_bar_60 - location\n loc_bar_9_bar__minus_3_bar_2_bar_60 - location\n loc_bar_8_bar_2_bar_0_bar_45 - location\n loc_bar_6_bar__minus_5_bar_2_bar__minus_30 - location\n loc_bar_6_bar__minus_4_bar_3_bar_45 - location\n loc_bar_4_bar_1_bar_3_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Bed_bar__plus_00_dot_23_bar__plus_00_dot_00_bar__minus_00_dot_95 BedType)\n (receptacleType Drawer_bar__plus_01_dot_24_bar__plus_00_dot_35_bar__minus_01_dot_60 DrawerType)\n (receptacleType Drawer_bar__plus_01_dot_24_bar__plus_00_dot_13_bar__minus_01_dot_60 DrawerType)\n (receptacleType Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59 DeskType)\n (receptacleType GarbageCan_bar__plus_03_dot_17_bar__plus_00_dot_00_bar__minus_00_dot_27 GarbageCanType)\n (receptacleType Shelf_bar__plus_03_dot_04_bar__plus_00_dot_54_bar__minus_01_dot_44 ShelfType)\n (receptacleType SideTable_bar__plus_01_dot_24_bar__plus_00_dot_00_bar__minus_01_dot_67 SideTableType)\n (objectType Mirror_bar__plus_00_dot_62_bar__plus_01_dot_26_bar__plus_01_dot_03 MirrorType)\n (objectType Blinds_bar__plus_00_dot_67_bar__plus_01_dot_99_bar__minus_01_dot_86 BlindsType)\n (objectType Mug_bar__plus_03_dot_21_bar__plus_00_dot_54_bar__minus_01_dot_46 MugType)\n (objectType Window_bar__plus_00_dot_69_bar__plus_01_dot_36_bar__minus_01_dot_94 WindowType)\n (objectType CreditCard_bar__plus_01_dot_47_bar__plus_00_dot_52_bar__minus_01_dot_63 CreditCardType)\n (objectType TissueBox_bar__plus_02_dot_31_bar__plus_00_dot_80_bar__minus_01_dot_73 TissueBoxType)\n (objectType CellPhone_bar__minus_00_dot_26_bar__plus_00_dot_57_bar__minus_01_dot_13 CellPhoneType)\n (objectType TissueBox_bar__plus_02_dot_90_bar__plus_00_dot_80_bar__minus_01_dot_73 TissueBoxType)\n (objectType CellPhone_bar__plus_02_dot_11_bar__plus_00_dot_80_bar__minus_01_dot_42 CellPhoneType)\n (objectType Laptop_bar__plus_00_dot_39_bar__plus_00_dot_57_bar__minus_00_dot_24 LaptopType)\n (objectType KeyChain_bar__plus_02_dot_71_bar__plus_00_dot_80_bar__minus_01_dot_54 KeyChainType)\n (objectType AlarmClock_bar__plus_01_dot_11_bar__plus_00_dot_51_bar__minus_01_dot_67 AlarmClockType)\n (objectType Chair_bar__plus_02_dot_22_bar__plus_00_dot_00_bar__minus_01_dot_47 ChairType)\n (objectType TennisRacket_bar__minus_00_dot_92_bar__plus_00_dot_34_bar__plus_00_dot_39 TennisRacketType)\n (objectType Pencil_bar__plus_02_dot_90_bar__plus_00_dot_80_bar__minus_01_dot_61 PencilType)\n (objectType KeyChain_bar__plus_02_dot_88_bar__plus_00_dot_55_bar__minus_01_dot_46 KeyChainType)\n (objectType Window_bar__plus_01_dot_80_bar__plus_01_dot_68_bar__minus_01_dot_94 WindowType)\n (objectType DeskLamp_bar__plus_03_dot_16_bar__plus_00_dot_79_bar__minus_01_dot_66 DeskLampType)\n (objectType LightSwitch_bar__plus_02_dot_01_bar__plus_01_dot_13_bar__plus_01_dot_03 LightSwitchType)\n (objectType Mug_bar__plus_03_dot_04_bar__plus_00_dot_54_bar__minus_01_dot_42 MugType)\n (objectType Book_bar__minus_00_dot_26_bar__plus_00_dot_57_bar__minus_01_dot_35 BookType)\n (objectType CreditCard_bar__plus_01_dot_91_bar__plus_00_dot_80_bar__minus_01_dot_36 CreditCardType)\n (objectType CD_bar__plus_01_dot_13_bar__plus_00_dot_06_bar__minus_01_dot_64 CDType)\n (objectType Pencil_bar__plus_01_dot_32_bar__plus_00_dot_52_bar__minus_01_dot_75 PencilType)\n (objectType Pen_bar__plus_01_dot_84_bar__plus_00_dot_80_bar__minus_01_dot_67 PenType)\n (objectType Mug_bar__plus_01_dot_47_bar__plus_00_dot_52_bar__minus_01_dot_75 MugType)\n (objectType KeyChain_bar__plus_02_dot_31_bar__plus_00_dot_80_bar__minus_01_dot_42 KeyChainType)\n (objectType TeddyBear_bar__minus_00_dot_08_bar__plus_00_dot_56_bar__minus_00_dot_27 TeddyBearType)\n (objectType CellPhone_bar__minus_00_dot_26_bar__plus_00_dot_57_bar__minus_00_dot_46 CellPhoneType)\n (objectType Pillow_bar__plus_00_dot_30_bar__plus_00_dot_64_bar__minus_01_dot_56 PillowType)\n (objectType Blinds_bar__plus_01_dot_78_bar__plus_01_dot_99_bar__minus_01_dot_86 BlindsType)\n (objectType Pen_bar__plus_02_dot_51_bar__plus_00_dot_80_bar__minus_01_dot_73 PenType)\n (objectType HousePlant_bar__minus_00_dot_83_bar__plus_00_dot_00_bar__plus_00_dot_84 HousePlantType)\n (objectType Pillow_bar__plus_00_dot_23_bar__plus_00_dot_67_bar__minus_01_dot_13 PillowType)\n (canContain BedType TennisRacketType)\n (canContain BedType LaptopType)\n (canContain BedType BookType)\n (canContain BedType CellPhoneType)\n (canContain BedType PillowType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType TissueBoxType)\n (canContain DeskType PenType)\n (canContain DeskType BookType)\n (canContain DeskType CDType)\n (canContain DeskType MugType)\n (canContain DeskType CellPhoneType)\n (canContain DeskType KeyChainType)\n (canContain DeskType CreditCardType)\n (canContain DeskType TennisRacketType)\n (canContain DeskType LaptopType)\n (canContain DeskType PencilType)\n (canContain DeskType TissueBoxType)\n (canContain DeskType AlarmClockType)\n (canContain GarbageCanType PenType)\n (canContain GarbageCanType CDType)\n (canContain GarbageCanType PencilType)\n (canContain GarbageCanType TissueBoxType)\n (canContain ShelfType PenType)\n (canContain ShelfType BookType)\n (canContain ShelfType CDType)\n (canContain ShelfType MugType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType PencilType)\n (canContain ShelfType TissueBoxType)\n (canContain ShelfType AlarmClockType)\n (canContain SideTableType PenType)\n (canContain SideTableType BookType)\n (canContain SideTableType CDType)\n (canContain SideTableType MugType)\n (canContain SideTableType CellPhoneType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType TennisRacketType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType PencilType)\n (canContain SideTableType TissueBoxType)\n (canContain SideTableType AlarmClockType)\n (pickupable Mug_bar__plus_03_dot_21_bar__plus_00_dot_54_bar__minus_01_dot_46)\n (pickupable CreditCard_bar__plus_01_dot_47_bar__plus_00_dot_52_bar__minus_01_dot_63)\n (pickupable TissueBox_bar__plus_02_dot_31_bar__plus_00_dot_80_bar__minus_01_dot_73)\n (pickupable CellPhone_bar__minus_00_dot_26_bar__plus_00_dot_57_bar__minus_01_dot_13)\n (pickupable TissueBox_bar__plus_02_dot_90_bar__plus_00_dot_80_bar__minus_01_dot_73)\n (pickupable CellPhone_bar__plus_02_dot_11_bar__plus_00_dot_80_bar__minus_01_dot_42)\n (pickupable Laptop_bar__plus_00_dot_39_bar__plus_00_dot_57_bar__minus_00_dot_24)\n (pickupable KeyChain_bar__plus_02_dot_71_bar__plus_00_dot_80_bar__minus_01_dot_54)\n (pickupable AlarmClock_bar__plus_01_dot_11_bar__plus_00_dot_51_bar__minus_01_dot_67)\n (pickupable TennisRacket_bar__minus_00_dot_92_bar__plus_00_dot_34_bar__plus_00_dot_39)\n (pickupable Pencil_bar__plus_02_dot_90_bar__plus_00_dot_80_bar__minus_01_dot_61)\n (pickupable KeyChain_bar__plus_02_dot_88_bar__plus_00_dot_55_bar__minus_01_dot_46)\n (pickupable Mug_bar__plus_03_dot_04_bar__plus_00_dot_54_bar__minus_01_dot_42)\n (pickupable Book_bar__minus_00_dot_26_bar__plus_00_dot_57_bar__minus_01_dot_35)\n (pickupable CreditCard_bar__plus_01_dot_91_bar__plus_00_dot_80_bar__minus_01_dot_36)\n (pickupable CD_bar__plus_01_dot_13_bar__plus_00_dot_06_bar__minus_01_dot_64)\n (pickupable Pencil_bar__plus_01_dot_32_bar__plus_00_dot_52_bar__minus_01_dot_75)\n (pickupable Pen_bar__plus_01_dot_84_bar__plus_00_dot_80_bar__minus_01_dot_67)\n (pickupable Mug_bar__plus_01_dot_47_bar__plus_00_dot_52_bar__minus_01_dot_75)\n (pickupable KeyChain_bar__plus_02_dot_31_bar__plus_00_dot_80_bar__minus_01_dot_42)\n (pickupable TeddyBear_bar__minus_00_dot_08_bar__plus_00_dot_56_bar__minus_00_dot_27)\n (pickupable CellPhone_bar__minus_00_dot_26_bar__plus_00_dot_57_bar__minus_00_dot_46)\n (pickupable Pillow_bar__plus_00_dot_30_bar__plus_00_dot_64_bar__minus_01_dot_56)\n (pickupable Pen_bar__plus_02_dot_51_bar__plus_00_dot_80_bar__minus_01_dot_73)\n (pickupable Pillow_bar__plus_00_dot_23_bar__plus_00_dot_67_bar__minus_01_dot_13)\n (isReceptacleObject Mug_bar__plus_03_dot_21_bar__plus_00_dot_54_bar__minus_01_dot_46)\n (isReceptacleObject Mug_bar__plus_03_dot_04_bar__plus_00_dot_54_bar__minus_01_dot_42)\n (isReceptacleObject Mug_bar__plus_01_dot_47_bar__plus_00_dot_52_bar__minus_01_dot_75)\n (openable Drawer_bar__plus_01_dot_24_bar__plus_00_dot_35_bar__minus_01_dot_60)\n (openable Drawer_bar__plus_01_dot_24_bar__plus_00_dot_13_bar__minus_01_dot_60)\n \n (atLocation agent1 loc_bar_4_bar_1_bar_3_bar_30)\n \n (cleanable Mug_bar__plus_03_dot_21_bar__plus_00_dot_54_bar__minus_01_dot_46)\n (cleanable Mug_bar__plus_03_dot_04_bar__plus_00_dot_54_bar__minus_01_dot_42)\n (cleanable Mug_bar__plus_01_dot_47_bar__plus_00_dot_52_bar__minus_01_dot_75)\n \n (heatable Mug_bar__plus_03_dot_21_bar__plus_00_dot_54_bar__minus_01_dot_46)\n (heatable Mug_bar__plus_03_dot_04_bar__plus_00_dot_54_bar__minus_01_dot_42)\n (heatable Mug_bar__plus_01_dot_47_bar__plus_00_dot_52_bar__minus_01_dot_75)\n (coolable Mug_bar__plus_03_dot_21_bar__plus_00_dot_54_bar__minus_01_dot_46)\n (coolable Mug_bar__plus_03_dot_04_bar__plus_00_dot_54_bar__minus_01_dot_42)\n (coolable Mug_bar__plus_01_dot_47_bar__plus_00_dot_52_bar__minus_01_dot_75)\n \n \n (toggleable DeskLamp_bar__plus_03_dot_16_bar__plus_00_dot_79_bar__minus_01_dot_66)\n \n \n \n \n (inReceptacle KeyChain_bar__plus_02_dot_71_bar__plus_00_dot_80_bar__minus_01_dot_54 Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59)\n (inReceptacle TissueBox_bar__plus_02_dot_31_bar__plus_00_dot_80_bar__minus_01_dot_73 Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59)\n (inReceptacle CreditCard_bar__plus_01_dot_91_bar__plus_00_dot_80_bar__minus_01_dot_36 Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59)\n (inReceptacle Pencil_bar__plus_02_dot_90_bar__plus_00_dot_80_bar__minus_01_dot_61 Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59)\n (inReceptacle Pen_bar__plus_02_dot_51_bar__plus_00_dot_80_bar__minus_01_dot_73 Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59)\n (inReceptacle TissueBox_bar__plus_02_dot_90_bar__plus_00_dot_80_bar__minus_01_dot_73 Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59)\n (inReceptacle Pen_bar__plus_01_dot_84_bar__plus_00_dot_80_bar__minus_01_dot_67 Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59)\n (inReceptacle DeskLamp_bar__plus_03_dot_16_bar__plus_00_dot_79_bar__minus_01_dot_66 Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59)\n (inReceptacle CellPhone_bar__plus_02_dot_11_bar__plus_00_dot_80_bar__minus_01_dot_42 Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59)\n (inReceptacle KeyChain_bar__plus_02_dot_31_bar__plus_00_dot_80_bar__minus_01_dot_42 Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59)\n (inReceptacle Book_bar__minus_00_dot_26_bar__plus_00_dot_57_bar__minus_01_dot_35 Bed_bar__plus_00_dot_23_bar__plus_00_dot_00_bar__minus_00_dot_95)\n (inReceptacle CellPhone_bar__minus_00_dot_26_bar__plus_00_dot_57_bar__minus_00_dot_46 Bed_bar__plus_00_dot_23_bar__plus_00_dot_00_bar__minus_00_dot_95)\n (inReceptacle Pillow_bar__plus_00_dot_30_bar__plus_00_dot_64_bar__minus_01_dot_56 Bed_bar__plus_00_dot_23_bar__plus_00_dot_00_bar__minus_00_dot_95)\n (inReceptacle CellPhone_bar__minus_00_dot_26_bar__plus_00_dot_57_bar__minus_01_dot_13 Bed_bar__plus_00_dot_23_bar__plus_00_dot_00_bar__minus_00_dot_95)\n (inReceptacle Pillow_bar__plus_00_dot_23_bar__plus_00_dot_67_bar__minus_01_dot_13 Bed_bar__plus_00_dot_23_bar__plus_00_dot_00_bar__minus_00_dot_95)\n (inReceptacle Laptop_bar__plus_00_dot_39_bar__plus_00_dot_57_bar__minus_00_dot_24 Bed_bar__plus_00_dot_23_bar__plus_00_dot_00_bar__minus_00_dot_95)\n (inReceptacle TeddyBear_bar__minus_00_dot_08_bar__plus_00_dot_56_bar__minus_00_dot_27 Bed_bar__plus_00_dot_23_bar__plus_00_dot_00_bar__minus_00_dot_95)\n (inReceptacle CD_bar__plus_01_dot_13_bar__plus_00_dot_06_bar__minus_01_dot_64 Drawer_bar__plus_01_dot_24_bar__plus_00_dot_13_bar__minus_01_dot_60)\n (inReceptacle Mug_bar__plus_01_dot_47_bar__plus_00_dot_52_bar__minus_01_dot_75 SideTable_bar__plus_01_dot_24_bar__plus_00_dot_00_bar__minus_01_dot_67)\n (inReceptacle Pencil_bar__plus_01_dot_32_bar__plus_00_dot_52_bar__minus_01_dot_75 SideTable_bar__plus_01_dot_24_bar__plus_00_dot_00_bar__minus_01_dot_67)\n (inReceptacle CreditCard_bar__plus_01_dot_47_bar__plus_00_dot_52_bar__minus_01_dot_63 SideTable_bar__plus_01_dot_24_bar__plus_00_dot_00_bar__minus_01_dot_67)\n (inReceptacle AlarmClock_bar__plus_01_dot_11_bar__plus_00_dot_51_bar__minus_01_dot_67 SideTable_bar__plus_01_dot_24_bar__plus_00_dot_00_bar__minus_01_dot_67)\n (inReceptacle Mug_bar__plus_03_dot_21_bar__plus_00_dot_54_bar__minus_01_dot_46 Shelf_bar__plus_03_dot_04_bar__plus_00_dot_54_bar__minus_01_dot_44)\n (inReceptacle KeyChain_bar__plus_02_dot_88_bar__plus_00_dot_55_bar__minus_01_dot_46 Shelf_bar__plus_03_dot_04_bar__plus_00_dot_54_bar__minus_01_dot_44)\n (inReceptacle Mug_bar__plus_03_dot_04_bar__plus_00_dot_54_bar__minus_01_dot_42 Shelf_bar__plus_03_dot_04_bar__plus_00_dot_54_bar__minus_01_dot_44)\n \n \n (receptacleAtLocation Bed_bar__plus_00_dot_23_bar__plus_00_dot_00_bar__minus_00_dot_95 loc_bar_6_bar__minus_4_bar_3_bar_45)\n (receptacleAtLocation Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59 loc_bar_10_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_24_bar__plus_00_dot_13_bar__minus_01_dot_60 loc_bar_7_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_24_bar__plus_00_dot_35_bar__minus_01_dot_60 loc_bar_9_bar__minus_3_bar_3_bar_45)\n (receptacleAtLocation GarbageCan_bar__plus_03_dot_17_bar__plus_00_dot_00_bar__minus_00_dot_27 loc_bar_9_bar__minus_3_bar_1_bar_60)\n (receptacleAtLocation Shelf_bar__plus_03_dot_04_bar__plus_00_dot_54_bar__minus_01_dot_44 loc_bar_11_bar__minus_2_bar_2_bar_45)\n (receptacleAtLocation SideTable_bar__plus_01_dot_24_bar__plus_00_dot_00_bar__minus_01_dot_67 loc_bar_7_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Mug_bar__plus_03_dot_04_bar__plus_00_dot_54_bar__minus_01_dot_42 loc_bar_11_bar__minus_2_bar_2_bar_45)\n (objectAtLocation CellPhone_bar__minus_00_dot_26_bar__plus_00_dot_57_bar__minus_01_dot_13 loc_bar_6_bar__minus_4_bar_3_bar_45)\n (objectAtLocation Pillow_bar__plus_00_dot_30_bar__plus_00_dot_64_bar__minus_01_dot_56 loc_bar_6_bar__minus_4_bar_3_bar_45)\n (objectAtLocation Pen_bar__plus_01_dot_84_bar__plus_00_dot_80_bar__minus_01_dot_67 loc_bar_10_bar__minus_2_bar_2_bar_60)\n (objectAtLocation CreditCard_bar__plus_01_dot_47_bar__plus_00_dot_52_bar__minus_01_dot_63 loc_bar_7_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Pencil_bar__plus_02_dot_90_bar__plus_00_dot_80_bar__minus_01_dot_61 loc_bar_10_bar__minus_2_bar_2_bar_60)\n (objectAtLocation TissueBox_bar__plus_02_dot_90_bar__plus_00_dot_80_bar__minus_01_dot_73 loc_bar_10_bar__minus_2_bar_2_bar_60)\n (objectAtLocation KeyChain_bar__plus_02_dot_71_bar__plus_00_dot_80_bar__minus_01_dot_54 loc_bar_10_bar__minus_2_bar_2_bar_60)\n (objectAtLocation KeyChain_bar__plus_02_dot_31_bar__plus_00_dot_80_bar__minus_01_dot_42 loc_bar_10_bar__minus_2_bar_2_bar_60)\n (objectAtLocation CellPhone_bar__minus_00_dot_26_bar__plus_00_dot_57_bar__minus_00_dot_46 loc_bar_6_bar__minus_4_bar_3_bar_45)\n (objectAtLocation Mug_bar__plus_01_dot_47_bar__plus_00_dot_52_bar__minus_01_dot_75 loc_bar_7_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Book_bar__minus_00_dot_26_bar__plus_00_dot_57_bar__minus_01_dot_35 loc_bar_6_bar__minus_4_bar_3_bar_45)\n (objectAtLocation Mirror_bar__plus_00_dot_62_bar__plus_01_dot_26_bar__plus_01_dot_03 loc_bar_2_bar_2_bar_0_bar_30)\n (objectAtLocation Chair_bar__plus_02_dot_22_bar__plus_00_dot_00_bar__minus_01_dot_47 loc_bar_9_bar__minus_3_bar_2_bar_60)\n (objectAtLocation KeyChain_bar__plus_02_dot_88_bar__plus_00_dot_55_bar__minus_01_dot_46 loc_bar_11_bar__minus_2_bar_2_bar_45)\n (objectAtLocation TissueBox_bar__plus_02_dot_31_bar__plus_00_dot_80_bar__minus_01_dot_73 loc_bar_10_bar__minus_2_bar_2_bar_60)\n (objectAtLocation TeddyBear_bar__minus_00_dot_08_bar__plus_00_dot_56_bar__minus_00_dot_27 loc_bar_6_bar__minus_4_bar_3_bar_45)\n (objectAtLocation DeskLamp_bar__plus_03_dot_16_bar__plus_00_dot_79_bar__minus_01_dot_66 loc_bar_10_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Pencil_bar__plus_01_dot_32_bar__plus_00_dot_52_bar__minus_01_dot_75 loc_bar_7_bar__minus_3_bar_2_bar_60)\n (objectAtLocation CreditCard_bar__plus_01_dot_91_bar__plus_00_dot_80_bar__minus_01_dot_36 loc_bar_10_bar__minus_2_bar_2_bar_60)\n (objectAtLocation TennisRacket_bar__minus_00_dot_92_bar__plus_00_dot_34_bar__plus_00_dot_39 loc_bar__minus_2_bar_2_bar_3_bar_60)\n (objectAtLocation HousePlant_bar__minus_00_dot_83_bar__plus_00_dot_00_bar__plus_00_dot_84 loc_bar__minus_2_bar_2_bar_0_bar_60)\n (objectAtLocation Laptop_bar__plus_00_dot_39_bar__plus_00_dot_57_bar__minus_00_dot_24 loc_bar_6_bar__minus_4_bar_3_bar_45)\n (objectAtLocation AlarmClock_bar__plus_01_dot_11_bar__plus_00_dot_51_bar__minus_01_dot_67 loc_bar_7_bar__minus_3_bar_2_bar_60)\n (objectAtLocation LightSwitch_bar__plus_02_dot_01_bar__plus_01_dot_13_bar__plus_01_dot_03 loc_bar_8_bar_2_bar_0_bar_45)\n (objectAtLocation Pen_bar__plus_02_dot_51_bar__plus_00_dot_80_bar__minus_01_dot_73 loc_bar_10_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Pillow_bar__plus_00_dot_23_bar__plus_00_dot_67_bar__minus_01_dot_13 loc_bar_6_bar__minus_4_bar_3_bar_45)\n (objectAtLocation CellPhone_bar__plus_02_dot_11_bar__plus_00_dot_80_bar__minus_01_dot_42 loc_bar_10_bar__minus_2_bar_2_bar_60)\n (objectAtLocation CD_bar__plus_01_dot_13_bar__plus_00_dot_06_bar__minus_01_dot_64 loc_bar_7_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Window_bar__plus_01_dot_80_bar__plus_01_dot_68_bar__minus_01_dot_94 loc_bar_6_bar__minus_5_bar_2_bar_0)\n (objectAtLocation Window_bar__plus_00_dot_69_bar__plus_01_dot_36_bar__minus_01_dot_94 loc_bar_5_bar__minus_5_bar_2_bar_30)\n (objectAtLocation Mug_bar__plus_03_dot_21_bar__plus_00_dot_54_bar__minus_01_dot_46 loc_bar_11_bar__minus_2_bar_2_bar_45)\n (objectAtLocation Blinds_bar__plus_01_dot_78_bar__plus_01_dot_99_bar__minus_01_dot_86 loc_bar_6_bar__minus_5_bar_2_bar__minus_30)\n (objectAtLocation Blinds_bar__plus_00_dot_67_bar__plus_01_dot_99_bar__minus_01_dot_86 loc_bar_5_bar__minus_5_bar_2_bar__minus_30)\n )\n \n\n (:goal\n (and\n (exists (?ot - object\n ?r - receptacle\n ?a - agent\n ?l - location)\n (and\n (objectType ?ot DeskLampType)\n (toggleable ?ot)\n (isToggled ?ot)\n (receptacleAtLocation ?r ?l)\n (atLocation ?a ?l)\n (inReceptacle ?ot ?r)\n )\n )\n (exists (?o - object\n ?a - agent)\n (and\n (objectType ?o BookType)\n (holds ?a ?o)\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to bed 1", "take book 1 from bed 1", "go to desk 1", "use desklamp 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Book-None-DeskLamp-328/trial_T20190908_062949_158183/initial_state.pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Book-None-DeskLamp-328/trial_T20190908_062949_158183/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..18d3350ff65455100afeba22a82e2fc638ff7870 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Book-None-DeskLamp-328/trial_T20190908_062949_158183/initial_state.pddl @@ -0,0 +1,506 @@ + +(define (problem plan_trial_T20190908_062949_158183) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + AlarmClock_bar__plus_01_dot_11_bar__plus_00_dot_51_bar__minus_01_dot_67 - object + Blinds_bar__plus_00_dot_67_bar__plus_01_dot_99_bar__minus_01_dot_86 - object + Blinds_bar__plus_01_dot_78_bar__plus_01_dot_99_bar__minus_01_dot_86 - object + Book_bar__minus_00_dot_26_bar__plus_00_dot_57_bar__minus_01_dot_35 - object + CD_bar__plus_01_dot_13_bar__plus_00_dot_06_bar__minus_01_dot_64 - object + CellPhone_bar__plus_02_dot_11_bar__plus_00_dot_80_bar__minus_01_dot_42 - object + CellPhone_bar__minus_00_dot_26_bar__plus_00_dot_57_bar__minus_00_dot_46 - object + CellPhone_bar__minus_00_dot_26_bar__plus_00_dot_57_bar__minus_01_dot_13 - object + Chair_bar__plus_02_dot_22_bar__plus_00_dot_00_bar__minus_01_dot_47 - object + CreditCard_bar__plus_01_dot_47_bar__plus_00_dot_52_bar__minus_01_dot_63 - object + CreditCard_bar__plus_01_dot_91_bar__plus_00_dot_80_bar__minus_01_dot_36 - object + DeskLamp_bar__plus_03_dot_16_bar__plus_00_dot_79_bar__minus_01_dot_66 - object + HousePlant_bar__minus_00_dot_83_bar__plus_00_dot_00_bar__plus_00_dot_84 - object + KeyChain_bar__plus_02_dot_31_bar__plus_00_dot_80_bar__minus_01_dot_42 - object + KeyChain_bar__plus_02_dot_71_bar__plus_00_dot_80_bar__minus_01_dot_54 - object + KeyChain_bar__plus_02_dot_88_bar__plus_00_dot_55_bar__minus_01_dot_46 - object + Laptop_bar__plus_00_dot_39_bar__plus_00_dot_57_bar__minus_00_dot_24 - object + LightSwitch_bar__plus_02_dot_01_bar__plus_01_dot_13_bar__plus_01_dot_03 - object + Mirror_bar__plus_00_dot_62_bar__plus_01_dot_26_bar__plus_01_dot_03 - object + Mug_bar__plus_01_dot_47_bar__plus_00_dot_52_bar__minus_01_dot_75 - object + Mug_bar__plus_03_dot_04_bar__plus_00_dot_54_bar__minus_01_dot_42 - object + Mug_bar__plus_03_dot_21_bar__plus_00_dot_54_bar__minus_01_dot_46 - object + Pencil_bar__plus_01_dot_32_bar__plus_00_dot_52_bar__minus_01_dot_75 - object + Pencil_bar__plus_02_dot_90_bar__plus_00_dot_80_bar__minus_01_dot_61 - object + Pen_bar__plus_01_dot_84_bar__plus_00_dot_80_bar__minus_01_dot_67 - object + Pen_bar__plus_02_dot_51_bar__plus_00_dot_80_bar__minus_01_dot_73 - object + Pillow_bar__plus_00_dot_23_bar__plus_00_dot_67_bar__minus_01_dot_13 - object + Pillow_bar__plus_00_dot_30_bar__plus_00_dot_64_bar__minus_01_dot_56 - object + TeddyBear_bar__minus_00_dot_08_bar__plus_00_dot_56_bar__minus_00_dot_27 - object + TennisRacket_bar__minus_00_dot_92_bar__plus_00_dot_34_bar__plus_00_dot_39 - object + TissueBox_bar__plus_02_dot_31_bar__plus_00_dot_80_bar__minus_01_dot_73 - object + TissueBox_bar__plus_02_dot_90_bar__plus_00_dot_80_bar__minus_01_dot_73 - object + Window_bar__plus_00_dot_69_bar__plus_01_dot_36_bar__minus_01_dot_94 - object + Window_bar__plus_01_dot_80_bar__plus_01_dot_68_bar__minus_01_dot_94 - object + Bed_bar__plus_00_dot_23_bar__plus_00_dot_00_bar__minus_00_dot_95 - receptacle + Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59 - receptacle + Drawer_bar__plus_01_dot_24_bar__plus_00_dot_13_bar__minus_01_dot_60 - receptacle + Drawer_bar__plus_01_dot_24_bar__plus_00_dot_35_bar__minus_01_dot_60 - receptacle + GarbageCan_bar__plus_03_dot_17_bar__plus_00_dot_00_bar__minus_00_dot_27 - receptacle + Shelf_bar__plus_03_dot_04_bar__plus_00_dot_54_bar__minus_01_dot_44 - receptacle + SideTable_bar__plus_01_dot_24_bar__plus_00_dot_00_bar__minus_01_dot_67 - receptacle + loc_bar_7_bar__minus_3_bar_2_bar_60 - location + loc_bar_9_bar__minus_3_bar_3_bar_45 - location + loc_bar__minus_2_bar_2_bar_3_bar_60 - location + loc_bar_2_bar_2_bar_0_bar_30 - location + loc_bar_5_bar__minus_5_bar_2_bar__minus_30 - location + loc_bar_6_bar__minus_5_bar_2_bar_0 - location + loc_bar_10_bar__minus_2_bar_2_bar_60 - location + loc_bar_11_bar__minus_2_bar_2_bar_45 - location + loc_bar__minus_2_bar_2_bar_0_bar_60 - location + loc_bar_7_bar__minus_2_bar_2_bar_60 - location + loc_bar_5_bar__minus_5_bar_2_bar_30 - location + loc_bar_9_bar__minus_3_bar_1_bar_60 - location + loc_bar_9_bar__minus_3_bar_2_bar_60 - location + loc_bar_8_bar_2_bar_0_bar_45 - location + loc_bar_6_bar__minus_5_bar_2_bar__minus_30 - location + loc_bar_6_bar__minus_4_bar_3_bar_45 - location + loc_bar_4_bar_1_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType Bed_bar__plus_00_dot_23_bar__plus_00_dot_00_bar__minus_00_dot_95 BedType) + (receptacleType Drawer_bar__plus_01_dot_24_bar__plus_00_dot_35_bar__minus_01_dot_60 DrawerType) + (receptacleType Drawer_bar__plus_01_dot_24_bar__plus_00_dot_13_bar__minus_01_dot_60 DrawerType) + (receptacleType Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59 DeskType) + (receptacleType GarbageCan_bar__plus_03_dot_17_bar__plus_00_dot_00_bar__minus_00_dot_27 GarbageCanType) + (receptacleType Shelf_bar__plus_03_dot_04_bar__plus_00_dot_54_bar__minus_01_dot_44 ShelfType) + (receptacleType SideTable_bar__plus_01_dot_24_bar__plus_00_dot_00_bar__minus_01_dot_67 SideTableType) + (objectType Mirror_bar__plus_00_dot_62_bar__plus_01_dot_26_bar__plus_01_dot_03 MirrorType) + (objectType Blinds_bar__plus_00_dot_67_bar__plus_01_dot_99_bar__minus_01_dot_86 BlindsType) + (objectType Mug_bar__plus_03_dot_21_bar__plus_00_dot_54_bar__minus_01_dot_46 MugType) + (objectType Window_bar__plus_00_dot_69_bar__plus_01_dot_36_bar__minus_01_dot_94 WindowType) + (objectType CreditCard_bar__plus_01_dot_47_bar__plus_00_dot_52_bar__minus_01_dot_63 CreditCardType) + (objectType TissueBox_bar__plus_02_dot_31_bar__plus_00_dot_80_bar__minus_01_dot_73 TissueBoxType) + (objectType CellPhone_bar__minus_00_dot_26_bar__plus_00_dot_57_bar__minus_01_dot_13 CellPhoneType) + (objectType TissueBox_bar__plus_02_dot_90_bar__plus_00_dot_80_bar__minus_01_dot_73 TissueBoxType) + (objectType CellPhone_bar__plus_02_dot_11_bar__plus_00_dot_80_bar__minus_01_dot_42 CellPhoneType) + (objectType Laptop_bar__plus_00_dot_39_bar__plus_00_dot_57_bar__minus_00_dot_24 LaptopType) + (objectType KeyChain_bar__plus_02_dot_71_bar__plus_00_dot_80_bar__minus_01_dot_54 KeyChainType) + (objectType AlarmClock_bar__plus_01_dot_11_bar__plus_00_dot_51_bar__minus_01_dot_67 AlarmClockType) + (objectType Chair_bar__plus_02_dot_22_bar__plus_00_dot_00_bar__minus_01_dot_47 ChairType) + (objectType TennisRacket_bar__minus_00_dot_92_bar__plus_00_dot_34_bar__plus_00_dot_39 TennisRacketType) + (objectType Pencil_bar__plus_02_dot_90_bar__plus_00_dot_80_bar__minus_01_dot_61 PencilType) + (objectType KeyChain_bar__plus_02_dot_88_bar__plus_00_dot_55_bar__minus_01_dot_46 KeyChainType) + (objectType Window_bar__plus_01_dot_80_bar__plus_01_dot_68_bar__minus_01_dot_94 WindowType) + (objectType DeskLamp_bar__plus_03_dot_16_bar__plus_00_dot_79_bar__minus_01_dot_66 DeskLampType) + (objectType LightSwitch_bar__plus_02_dot_01_bar__plus_01_dot_13_bar__plus_01_dot_03 LightSwitchType) + (objectType Mug_bar__plus_03_dot_04_bar__plus_00_dot_54_bar__minus_01_dot_42 MugType) + (objectType Book_bar__minus_00_dot_26_bar__plus_00_dot_57_bar__minus_01_dot_35 BookType) + (objectType CreditCard_bar__plus_01_dot_91_bar__plus_00_dot_80_bar__minus_01_dot_36 CreditCardType) + (objectType CD_bar__plus_01_dot_13_bar__plus_00_dot_06_bar__minus_01_dot_64 CDType) + (objectType Pencil_bar__plus_01_dot_32_bar__plus_00_dot_52_bar__minus_01_dot_75 PencilType) + (objectType Pen_bar__plus_01_dot_84_bar__plus_00_dot_80_bar__minus_01_dot_67 PenType) + (objectType Mug_bar__plus_01_dot_47_bar__plus_00_dot_52_bar__minus_01_dot_75 MugType) + (objectType KeyChain_bar__plus_02_dot_31_bar__plus_00_dot_80_bar__minus_01_dot_42 KeyChainType) + (objectType TeddyBear_bar__minus_00_dot_08_bar__plus_00_dot_56_bar__minus_00_dot_27 TeddyBearType) + (objectType CellPhone_bar__minus_00_dot_26_bar__plus_00_dot_57_bar__minus_00_dot_46 CellPhoneType) + (objectType Pillow_bar__plus_00_dot_30_bar__plus_00_dot_64_bar__minus_01_dot_56 PillowType) + (objectType Blinds_bar__plus_01_dot_78_bar__plus_01_dot_99_bar__minus_01_dot_86 BlindsType) + (objectType Pen_bar__plus_02_dot_51_bar__plus_00_dot_80_bar__minus_01_dot_73 PenType) + (objectType HousePlant_bar__minus_00_dot_83_bar__plus_00_dot_00_bar__plus_00_dot_84 HousePlantType) + (objectType Pillow_bar__plus_00_dot_23_bar__plus_00_dot_67_bar__minus_01_dot_13 PillowType) + (canContain BedType TennisRacketType) + (canContain BedType LaptopType) + (canContain BedType BookType) + (canContain BedType CellPhoneType) + (canContain BedType PillowType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType TissueBoxType) + (canContain DeskType PenType) + (canContain DeskType BookType) + (canContain DeskType CDType) + (canContain DeskType MugType) + (canContain DeskType CellPhoneType) + (canContain DeskType KeyChainType) + (canContain DeskType CreditCardType) + (canContain DeskType TennisRacketType) + (canContain DeskType LaptopType) + (canContain DeskType PencilType) + (canContain DeskType TissueBoxType) + (canContain DeskType AlarmClockType) + (canContain GarbageCanType PenType) + (canContain GarbageCanType CDType) + (canContain GarbageCanType PencilType) + (canContain GarbageCanType TissueBoxType) + (canContain ShelfType PenType) + (canContain ShelfType BookType) + (canContain ShelfType CDType) + (canContain ShelfType MugType) + (canContain ShelfType CellPhoneType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType PencilType) + (canContain ShelfType TissueBoxType) + (canContain ShelfType AlarmClockType) + (canContain SideTableType PenType) + (canContain SideTableType BookType) + (canContain SideTableType CDType) + (canContain SideTableType MugType) + (canContain SideTableType CellPhoneType) + (canContain SideTableType KeyChainType) + (canContain SideTableType CreditCardType) + (canContain SideTableType TennisRacketType) + (canContain SideTableType LaptopType) + (canContain SideTableType PencilType) + (canContain SideTableType TissueBoxType) + (canContain SideTableType AlarmClockType) + (pickupable Mug_bar__plus_03_dot_21_bar__plus_00_dot_54_bar__minus_01_dot_46) + (pickupable CreditCard_bar__plus_01_dot_47_bar__plus_00_dot_52_bar__minus_01_dot_63) + (pickupable TissueBox_bar__plus_02_dot_31_bar__plus_00_dot_80_bar__minus_01_dot_73) + (pickupable CellPhone_bar__minus_00_dot_26_bar__plus_00_dot_57_bar__minus_01_dot_13) + (pickupable TissueBox_bar__plus_02_dot_90_bar__plus_00_dot_80_bar__minus_01_dot_73) + (pickupable CellPhone_bar__plus_02_dot_11_bar__plus_00_dot_80_bar__minus_01_dot_42) + (pickupable Laptop_bar__plus_00_dot_39_bar__plus_00_dot_57_bar__minus_00_dot_24) + (pickupable KeyChain_bar__plus_02_dot_71_bar__plus_00_dot_80_bar__minus_01_dot_54) + (pickupable AlarmClock_bar__plus_01_dot_11_bar__plus_00_dot_51_bar__minus_01_dot_67) + (pickupable TennisRacket_bar__minus_00_dot_92_bar__plus_00_dot_34_bar__plus_00_dot_39) + (pickupable Pencil_bar__plus_02_dot_90_bar__plus_00_dot_80_bar__minus_01_dot_61) + (pickupable KeyChain_bar__plus_02_dot_88_bar__plus_00_dot_55_bar__minus_01_dot_46) + (pickupable Mug_bar__plus_03_dot_04_bar__plus_00_dot_54_bar__minus_01_dot_42) + (pickupable Book_bar__minus_00_dot_26_bar__plus_00_dot_57_bar__minus_01_dot_35) + (pickupable CreditCard_bar__plus_01_dot_91_bar__plus_00_dot_80_bar__minus_01_dot_36) + (pickupable CD_bar__plus_01_dot_13_bar__plus_00_dot_06_bar__minus_01_dot_64) + (pickupable Pencil_bar__plus_01_dot_32_bar__plus_00_dot_52_bar__minus_01_dot_75) + (pickupable Pen_bar__plus_01_dot_84_bar__plus_00_dot_80_bar__minus_01_dot_67) + (pickupable Mug_bar__plus_01_dot_47_bar__plus_00_dot_52_bar__minus_01_dot_75) + (pickupable KeyChain_bar__plus_02_dot_31_bar__plus_00_dot_80_bar__minus_01_dot_42) + (pickupable TeddyBear_bar__minus_00_dot_08_bar__plus_00_dot_56_bar__minus_00_dot_27) + (pickupable CellPhone_bar__minus_00_dot_26_bar__plus_00_dot_57_bar__minus_00_dot_46) + (pickupable Pillow_bar__plus_00_dot_30_bar__plus_00_dot_64_bar__minus_01_dot_56) + (pickupable Pen_bar__plus_02_dot_51_bar__plus_00_dot_80_bar__minus_01_dot_73) + (pickupable Pillow_bar__plus_00_dot_23_bar__plus_00_dot_67_bar__minus_01_dot_13) + (isReceptacleObject Mug_bar__plus_03_dot_21_bar__plus_00_dot_54_bar__minus_01_dot_46) + (isReceptacleObject Mug_bar__plus_03_dot_04_bar__plus_00_dot_54_bar__minus_01_dot_42) + (isReceptacleObject Mug_bar__plus_01_dot_47_bar__plus_00_dot_52_bar__minus_01_dot_75) + (openable Drawer_bar__plus_01_dot_24_bar__plus_00_dot_35_bar__minus_01_dot_60) + (openable Drawer_bar__plus_01_dot_24_bar__plus_00_dot_13_bar__minus_01_dot_60) + + (atLocation agent1 loc_bar_4_bar_1_bar_3_bar_30) + + (cleanable Mug_bar__plus_03_dot_21_bar__plus_00_dot_54_bar__minus_01_dot_46) + (cleanable Mug_bar__plus_03_dot_04_bar__plus_00_dot_54_bar__minus_01_dot_42) + (cleanable Mug_bar__plus_01_dot_47_bar__plus_00_dot_52_bar__minus_01_dot_75) + + (heatable Mug_bar__plus_03_dot_21_bar__plus_00_dot_54_bar__minus_01_dot_46) + (heatable Mug_bar__plus_03_dot_04_bar__plus_00_dot_54_bar__minus_01_dot_42) + (heatable Mug_bar__plus_01_dot_47_bar__plus_00_dot_52_bar__minus_01_dot_75) + (coolable Mug_bar__plus_03_dot_21_bar__plus_00_dot_54_bar__minus_01_dot_46) + (coolable Mug_bar__plus_03_dot_04_bar__plus_00_dot_54_bar__minus_01_dot_42) + (coolable Mug_bar__plus_01_dot_47_bar__plus_00_dot_52_bar__minus_01_dot_75) + + + (toggleable DeskLamp_bar__plus_03_dot_16_bar__plus_00_dot_79_bar__minus_01_dot_66) + + + + + (inReceptacle KeyChain_bar__plus_02_dot_71_bar__plus_00_dot_80_bar__minus_01_dot_54 Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59) + (inReceptacle TissueBox_bar__plus_02_dot_31_bar__plus_00_dot_80_bar__minus_01_dot_73 Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59) + (inReceptacle CreditCard_bar__plus_01_dot_91_bar__plus_00_dot_80_bar__minus_01_dot_36 Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59) + (inReceptacle Pencil_bar__plus_02_dot_90_bar__plus_00_dot_80_bar__minus_01_dot_61 Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59) + (inReceptacle Pen_bar__plus_02_dot_51_bar__plus_00_dot_80_bar__minus_01_dot_73 Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59) + (inReceptacle TissueBox_bar__plus_02_dot_90_bar__plus_00_dot_80_bar__minus_01_dot_73 Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59) + (inReceptacle Pen_bar__plus_01_dot_84_bar__plus_00_dot_80_bar__minus_01_dot_67 Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59) + (inReceptacle DeskLamp_bar__plus_03_dot_16_bar__plus_00_dot_79_bar__minus_01_dot_66 Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59) + (inReceptacle CellPhone_bar__plus_02_dot_11_bar__plus_00_dot_80_bar__minus_01_dot_42 Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59) + (inReceptacle KeyChain_bar__plus_02_dot_31_bar__plus_00_dot_80_bar__minus_01_dot_42 Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59) + (inReceptacle Book_bar__minus_00_dot_26_bar__plus_00_dot_57_bar__minus_01_dot_35 Bed_bar__plus_00_dot_23_bar__plus_00_dot_00_bar__minus_00_dot_95) + (inReceptacle CellPhone_bar__minus_00_dot_26_bar__plus_00_dot_57_bar__minus_00_dot_46 Bed_bar__plus_00_dot_23_bar__plus_00_dot_00_bar__minus_00_dot_95) + (inReceptacle Pillow_bar__plus_00_dot_30_bar__plus_00_dot_64_bar__minus_01_dot_56 Bed_bar__plus_00_dot_23_bar__plus_00_dot_00_bar__minus_00_dot_95) + (inReceptacle CellPhone_bar__minus_00_dot_26_bar__plus_00_dot_57_bar__minus_01_dot_13 Bed_bar__plus_00_dot_23_bar__plus_00_dot_00_bar__minus_00_dot_95) + (inReceptacle Pillow_bar__plus_00_dot_23_bar__plus_00_dot_67_bar__minus_01_dot_13 Bed_bar__plus_00_dot_23_bar__plus_00_dot_00_bar__minus_00_dot_95) + (inReceptacle Laptop_bar__plus_00_dot_39_bar__plus_00_dot_57_bar__minus_00_dot_24 Bed_bar__plus_00_dot_23_bar__plus_00_dot_00_bar__minus_00_dot_95) + (inReceptacle TeddyBear_bar__minus_00_dot_08_bar__plus_00_dot_56_bar__minus_00_dot_27 Bed_bar__plus_00_dot_23_bar__plus_00_dot_00_bar__minus_00_dot_95) + (inReceptacle CD_bar__plus_01_dot_13_bar__plus_00_dot_06_bar__minus_01_dot_64 Drawer_bar__plus_01_dot_24_bar__plus_00_dot_13_bar__minus_01_dot_60) + (inReceptacle Mug_bar__plus_01_dot_47_bar__plus_00_dot_52_bar__minus_01_dot_75 SideTable_bar__plus_01_dot_24_bar__plus_00_dot_00_bar__minus_01_dot_67) + (inReceptacle Pencil_bar__plus_01_dot_32_bar__plus_00_dot_52_bar__minus_01_dot_75 SideTable_bar__plus_01_dot_24_bar__plus_00_dot_00_bar__minus_01_dot_67) + (inReceptacle CreditCard_bar__plus_01_dot_47_bar__plus_00_dot_52_bar__minus_01_dot_63 SideTable_bar__plus_01_dot_24_bar__plus_00_dot_00_bar__minus_01_dot_67) + (inReceptacle AlarmClock_bar__plus_01_dot_11_bar__plus_00_dot_51_bar__minus_01_dot_67 SideTable_bar__plus_01_dot_24_bar__plus_00_dot_00_bar__minus_01_dot_67) + (inReceptacle Mug_bar__plus_03_dot_21_bar__plus_00_dot_54_bar__minus_01_dot_46 Shelf_bar__plus_03_dot_04_bar__plus_00_dot_54_bar__minus_01_dot_44) + (inReceptacle KeyChain_bar__plus_02_dot_88_bar__plus_00_dot_55_bar__minus_01_dot_46 Shelf_bar__plus_03_dot_04_bar__plus_00_dot_54_bar__minus_01_dot_44) + (inReceptacle Mug_bar__plus_03_dot_04_bar__plus_00_dot_54_bar__minus_01_dot_42 Shelf_bar__plus_03_dot_04_bar__plus_00_dot_54_bar__minus_01_dot_44) + + + (receptacleAtLocation Bed_bar__plus_00_dot_23_bar__plus_00_dot_00_bar__minus_00_dot_95 loc_bar_6_bar__minus_4_bar_3_bar_45) + (receptacleAtLocation Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59 loc_bar_10_bar__minus_2_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_24_bar__plus_00_dot_13_bar__minus_01_dot_60 loc_bar_7_bar__minus_2_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_24_bar__plus_00_dot_35_bar__minus_01_dot_60 loc_bar_9_bar__minus_3_bar_3_bar_45) + (receptacleAtLocation GarbageCan_bar__plus_03_dot_17_bar__plus_00_dot_00_bar__minus_00_dot_27 loc_bar_9_bar__minus_3_bar_1_bar_60) + (receptacleAtLocation Shelf_bar__plus_03_dot_04_bar__plus_00_dot_54_bar__minus_01_dot_44 loc_bar_11_bar__minus_2_bar_2_bar_45) + (receptacleAtLocation SideTable_bar__plus_01_dot_24_bar__plus_00_dot_00_bar__minus_01_dot_67 loc_bar_7_bar__minus_3_bar_2_bar_60) + (objectAtLocation Mug_bar__plus_03_dot_04_bar__plus_00_dot_54_bar__minus_01_dot_42 loc_bar_11_bar__minus_2_bar_2_bar_45) + (objectAtLocation CellPhone_bar__minus_00_dot_26_bar__plus_00_dot_57_bar__minus_01_dot_13 loc_bar_6_bar__minus_4_bar_3_bar_45) + (objectAtLocation Pillow_bar__plus_00_dot_30_bar__plus_00_dot_64_bar__minus_01_dot_56 loc_bar_6_bar__minus_4_bar_3_bar_45) + (objectAtLocation Pen_bar__plus_01_dot_84_bar__plus_00_dot_80_bar__minus_01_dot_67 loc_bar_10_bar__minus_2_bar_2_bar_60) + (objectAtLocation CreditCard_bar__plus_01_dot_47_bar__plus_00_dot_52_bar__minus_01_dot_63 loc_bar_7_bar__minus_3_bar_2_bar_60) + (objectAtLocation Pencil_bar__plus_02_dot_90_bar__plus_00_dot_80_bar__minus_01_dot_61 loc_bar_10_bar__minus_2_bar_2_bar_60) + (objectAtLocation TissueBox_bar__plus_02_dot_90_bar__plus_00_dot_80_bar__minus_01_dot_73 loc_bar_10_bar__minus_2_bar_2_bar_60) + (objectAtLocation KeyChain_bar__plus_02_dot_71_bar__plus_00_dot_80_bar__minus_01_dot_54 loc_bar_10_bar__minus_2_bar_2_bar_60) + (objectAtLocation KeyChain_bar__plus_02_dot_31_bar__plus_00_dot_80_bar__minus_01_dot_42 loc_bar_10_bar__minus_2_bar_2_bar_60) + (objectAtLocation CellPhone_bar__minus_00_dot_26_bar__plus_00_dot_57_bar__minus_00_dot_46 loc_bar_6_bar__minus_4_bar_3_bar_45) + (objectAtLocation Mug_bar__plus_01_dot_47_bar__plus_00_dot_52_bar__minus_01_dot_75 loc_bar_7_bar__minus_3_bar_2_bar_60) + (objectAtLocation Book_bar__minus_00_dot_26_bar__plus_00_dot_57_bar__minus_01_dot_35 loc_bar_6_bar__minus_4_bar_3_bar_45) + (objectAtLocation Mirror_bar__plus_00_dot_62_bar__plus_01_dot_26_bar__plus_01_dot_03 loc_bar_2_bar_2_bar_0_bar_30) + (objectAtLocation Chair_bar__plus_02_dot_22_bar__plus_00_dot_00_bar__minus_01_dot_47 loc_bar_9_bar__minus_3_bar_2_bar_60) + (objectAtLocation KeyChain_bar__plus_02_dot_88_bar__plus_00_dot_55_bar__minus_01_dot_46 loc_bar_11_bar__minus_2_bar_2_bar_45) + (objectAtLocation TissueBox_bar__plus_02_dot_31_bar__plus_00_dot_80_bar__minus_01_dot_73 loc_bar_10_bar__minus_2_bar_2_bar_60) + (objectAtLocation TeddyBear_bar__minus_00_dot_08_bar__plus_00_dot_56_bar__minus_00_dot_27 loc_bar_6_bar__minus_4_bar_3_bar_45) + (objectAtLocation DeskLamp_bar__plus_03_dot_16_bar__plus_00_dot_79_bar__minus_01_dot_66 loc_bar_10_bar__minus_2_bar_2_bar_60) + (objectAtLocation Pencil_bar__plus_01_dot_32_bar__plus_00_dot_52_bar__minus_01_dot_75 loc_bar_7_bar__minus_3_bar_2_bar_60) + (objectAtLocation CreditCard_bar__plus_01_dot_91_bar__plus_00_dot_80_bar__minus_01_dot_36 loc_bar_10_bar__minus_2_bar_2_bar_60) + (objectAtLocation TennisRacket_bar__minus_00_dot_92_bar__plus_00_dot_34_bar__plus_00_dot_39 loc_bar__minus_2_bar_2_bar_3_bar_60) + (objectAtLocation HousePlant_bar__minus_00_dot_83_bar__plus_00_dot_00_bar__plus_00_dot_84 loc_bar__minus_2_bar_2_bar_0_bar_60) + (objectAtLocation Laptop_bar__plus_00_dot_39_bar__plus_00_dot_57_bar__minus_00_dot_24 loc_bar_6_bar__minus_4_bar_3_bar_45) + (objectAtLocation AlarmClock_bar__plus_01_dot_11_bar__plus_00_dot_51_bar__minus_01_dot_67 loc_bar_7_bar__minus_3_bar_2_bar_60) + (objectAtLocation LightSwitch_bar__plus_02_dot_01_bar__plus_01_dot_13_bar__plus_01_dot_03 loc_bar_8_bar_2_bar_0_bar_45) + (objectAtLocation Pen_bar__plus_02_dot_51_bar__plus_00_dot_80_bar__minus_01_dot_73 loc_bar_10_bar__minus_2_bar_2_bar_60) + (objectAtLocation Pillow_bar__plus_00_dot_23_bar__plus_00_dot_67_bar__minus_01_dot_13 loc_bar_6_bar__minus_4_bar_3_bar_45) + (objectAtLocation CellPhone_bar__plus_02_dot_11_bar__plus_00_dot_80_bar__minus_01_dot_42 loc_bar_10_bar__minus_2_bar_2_bar_60) + (objectAtLocation CD_bar__plus_01_dot_13_bar__plus_00_dot_06_bar__minus_01_dot_64 loc_bar_7_bar__minus_2_bar_2_bar_60) + (objectAtLocation Window_bar__plus_01_dot_80_bar__plus_01_dot_68_bar__minus_01_dot_94 loc_bar_6_bar__minus_5_bar_2_bar_0) + (objectAtLocation Window_bar__plus_00_dot_69_bar__plus_01_dot_36_bar__minus_01_dot_94 loc_bar_5_bar__minus_5_bar_2_bar_30) + (objectAtLocation Mug_bar__plus_03_dot_21_bar__plus_00_dot_54_bar__minus_01_dot_46 loc_bar_11_bar__minus_2_bar_2_bar_45) + (objectAtLocation Blinds_bar__plus_01_dot_78_bar__plus_01_dot_99_bar__minus_01_dot_86 loc_bar_6_bar__minus_5_bar_2_bar__minus_30) + (objectAtLocation Blinds_bar__plus_00_dot_67_bar__plus_01_dot_99_bar__minus_01_dot_86 loc_bar_5_bar__minus_5_bar_2_bar__minus_30) + ) + + + (:goal + (and + (exists (?ot - object + ?r - receptacle + ?a - agent + ?l - location) + (and + (objectType ?ot DeskLampType) + (toggleable ?ot) + (isToggled ?ot) + (receptacleAtLocation ?r ?l) + (atLocation ?a ?l) + (inReceptacle ?ot ?r) + ) + ) + (exists (?o - object + ?a - agent) + (and + (objectType ?o BookType) + (holds ?a ?o) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Book-None-DeskLamp-328/trial_T20190908_062949_158183/traj_data.json b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Book-None-DeskLamp-328/trial_T20190908_062949_158183/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..9b42721fed1650782902255a7f34f7a2c19ca66b --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Book-None-DeskLamp-328/trial_T20190908_062949_158183/traj_data.json @@ -0,0 +1,2363 @@ +{ + "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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+ "z": 0.0 + } + }, + { + "objectName": "CellPhone_948924de", + "position": { + "x": -0.260435343, + "y": 0.5703095, + "z": -1.12907457 + }, + "rotation": { + "x": 0.0, + "y": 3.756604e-05, + "z": 0.0 + } + }, + { + "objectName": "CD_e348100e", + "position": { + "x": 1.12701726, + "y": 0.0587445945, + "z": -1.63517928 + }, + "rotation": { + "x": 0.0, + "y": 180.000259, + "z": 0.0 + } + }, + { + "objectName": "Mug_e2689221", + "position": { + "x": 3.04302645, + "y": 0.543992937, + "z": -1.41994715 + }, + "rotation": { + "x": 0.0, + "y": 0.000160509444, + "z": 0.0 + } + } + ], + "object_toggles": [ + { + "isOn": false, + "objectType": "DeskLamp" + } + ], + "random_seed": 3279487128, + "scene_num": 328 + }, + "task_id": "trial_T20190908_062949_158183", + "task_type": "look_at_obj_in_light", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A3MLUEOP3CCLXL_37UQDCYH60CJUFTCC1FLJZX2GRE7VC", + "high_descs": [ + "Turn left and go to the night stand that is to the left of the bed, then turn right and face the bed", + "Pick up the book that is on the other side of the bed, the book that says Sherlock Holmes", + "Turn around and cross the room to the green trash can, then turn right and face the desk", + "Turn on the lamp that is sitting on the left side of the desk" + ], + "task_desc": "Read a book by lamp light", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1HXEXQTZCJ1DW_3LWJHTCVCF3440C18LJN14BBXNNQFA", + "high_descs": [ + "turn left and walk to the nightstand. turn right towards the bed", + "pick up the book from the bed", + "turn around and walk to the wall. turn right and face the desk", + "turn on the light" + ], + "task_desc": "Look at a book under a lamp", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AJQGWGESKQT4Y_3OS4RQUCRCWH0UACP3MX6FGCBNMFBN", + "high_descs": [ + "Go to the left and then turn right to face the bed.", + "Pick the Sherlock Holmes book up off of the bed.", + "Turn around and stand in front of the lamp on the desk.", + "Turn the lamp on." + ], + "task_desc": " Pick up a book and turn the lamp on.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Box-None-DeskLamp-314/trial_T20190909_002343_906544/initial_state.pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Box-None-DeskLamp-314/trial_T20190909_002343_906544/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..5b36ccc754edc6ac9531edfba1d08f3ce2c76115 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Box-None-DeskLamp-314/trial_T20190909_002343_906544/initial_state.pddl @@ -0,0 +1,485 @@ + +(define (problem plan_trial_T20190909_002343_906544) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_23_bar__plus_00_dot_93_bar__minus_01_dot_25 - object + AlarmClock_bar__minus_00_dot_41_bar__plus_00_dot_93_bar__minus_00_dot_18 - object + BasketBall_bar__minus_00_dot_24_bar__plus_00_dot_12_bar__plus_00_dot_17 - object + Blinds_bar__plus_00_dot_70_bar__plus_01_dot_98_bar__minus_01_dot_87 - object + Book_bar__plus_00_dot_17_bar__plus_00_dot_55_bar__plus_02_dot_43 - object + Book_bar__plus_00_dot_49_bar__plus_00_dot_55_bar__plus_02_dot_14 - object + Book_bar__minus_00_dot_41_bar__plus_00_dot_93_bar__minus_00_dot_60 - object + Box_bar__plus_02_dot_15_bar__plus_00_dot_14_bar__plus_00_dot_49 - object + CD_bar__plus_02_dot_23_bar__plus_00_dot_05_bar__plus_02_dot_61 - object + CD_bar__minus_00_dot_41_bar__plus_00_dot_92_bar__minus_00_dot_39 - object + CellPhone_bar__minus_00_dot_13_bar__plus_00_dot_93_bar__minus_01_dot_46 - object + CellPhone_bar__minus_00_dot_25_bar__plus_00_dot_67_bar__minus_00_dot_56 - object + CellPhone_bar__minus_00_dot_35_bar__plus_00_dot_38_bar__minus_00_dot_38 - object + Chair_bar__plus_00_dot_01_bar__plus_00_dot_01_bar__minus_01_dot_24 - object + CreditCard_bar__minus_00_dot_51_bar__plus_00_dot_93_bar__minus_01_dot_03 - object + DeskLamp_bar__minus_00_dot_67_bar__plus_00_dot_92_bar__minus_00_dot_06 - object + KeyChain_bar__plus_02_dot_22_bar__plus_00_dot_09_bar__minus_00_dot_48 - object + Laptop_bar__minus_00_dot_15_bar__plus_00_dot_55_bar__plus_01_dot_26 - object + LightSwitch_bar__plus_00_dot_73_bar__plus_01_dot_20_bar__plus_02_dot_75 - object + Mirror_bar__plus_02_dot_12_bar__plus_01_dot_28_bar__plus_02_dot_75 - object + Painting_bar__minus_00_dot_79_bar__plus_01_dot_81_bar__plus_01_dot_02 - object + Painting_bar__minus_00_dot_79_bar__plus_01_dot_81_bar__minus_00_dot_22 - object + Pencil_bar__minus_00_dot_19_bar__plus_00_dot_38_bar__minus_00_dot_10 - object + Pen_bar__plus_02_dot_29_bar__plus_00_dot_85_bar__minus_00_dot_48 - object + Pen_bar__minus_00_dot_32_bar__plus_00_dot_93_bar__minus_00_dot_60 - object + Pillow_bar__plus_00_dot_33_bar__plus_00_dot_62_bar__plus_01_dot_26 - object + Pillow_bar__plus_00_dot_33_bar__plus_00_dot_62_bar__plus_01_dot_85 - object + Window_bar__plus_00_dot_67_bar__plus_01_dot_36_bar__minus_01_dot_91 - object + Bed_bar__plus_00_dot_01_bar__minus_00_dot_06_bar__plus_01_dot_61 - receptacle + Desk_bar__minus_00_dot_38_bar__plus_00_dot_00_bar__minus_00_dot_95 - receptacle + Drawer_bar__plus_02_dot_16_bar__plus_00_dot_21_bar__minus_00_dot_48 - receptacle + Drawer_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__minus_00_dot_48 - receptacle + Drawer_bar__minus_00_dot_10_bar__plus_00_dot_22_bar__minus_00_dot_40 - receptacle + Drawer_bar__minus_00_dot_10_bar__plus_00_dot_51_bar__minus_00_dot_40 - receptacle + Drawer_bar__minus_00_dot_10_bar__plus_00_dot_76_bar__minus_00_dot_40 - receptacle + Dresser_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__minus_00_dot_48 - receptacle + GarbageCan_bar__plus_02_dot_26_bar__plus_00_dot_00_bar__plus_02_dot_60 - receptacle + loc_bar_3_bar__minus_5_bar_2_bar__minus_30 - location + loc_bar_3_bar__minus_2_bar_3_bar_45 - location + loc_bar_6_bar__minus_2_bar_1_bar_60 - location + loc_bar_1_bar_0_bar_3_bar_60 - location + loc_bar_2_bar__minus_5_bar_3_bar_60 - location + loc_bar_8_bar_9_bar_0_bar_60 - location + loc_bar_6_bar_2_bar_1_bar_60 - location + loc_bar_5_bar__minus_5_bar_1_bar_60 - location + loc_bar_6_bar__minus_5_bar_0_bar_60 - location + loc_bar_1_bar__minus_1_bar_3_bar__minus_15 - location + loc_bar_3_bar__minus_5_bar_2_bar_30 - location + loc_bar_2_bar__minus_5_bar_0_bar_60 - location + loc_bar_4_bar_9_bar_0_bar_45 - location + loc_bar_8_bar_9_bar_0_bar_30 - location + loc_bar_3_bar__minus_5_bar_3_bar_60 - location + loc_bar_4_bar_4_bar_3_bar_0 - location + loc_bar_6_bar_6_bar_3_bar_45 - location + loc_bar_4_bar_3_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType Dresser_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__minus_00_dot_48 DresserType) + (receptacleType Drawer_bar__minus_00_dot_10_bar__plus_00_dot_51_bar__minus_00_dot_40 DrawerType) + (receptacleType Drawer_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__minus_00_dot_48 DrawerType) + (receptacleType Desk_bar__minus_00_dot_38_bar__plus_00_dot_00_bar__minus_00_dot_95 DeskType) + (receptacleType Drawer_bar__plus_02_dot_16_bar__plus_00_dot_21_bar__minus_00_dot_48 DrawerType) + (receptacleType GarbageCan_bar__plus_02_dot_26_bar__plus_00_dot_00_bar__plus_02_dot_60 GarbageCanType) + (receptacleType Drawer_bar__minus_00_dot_10_bar__plus_00_dot_76_bar__minus_00_dot_40 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_10_bar__plus_00_dot_22_bar__minus_00_dot_40 DrawerType) + (receptacleType Bed_bar__plus_00_dot_01_bar__minus_00_dot_06_bar__plus_01_dot_61 BedType) + (objectType CellPhone_bar__minus_00_dot_25_bar__plus_00_dot_67_bar__minus_00_dot_56 CellPhoneType) + (objectType Book_bar__plus_00_dot_49_bar__plus_00_dot_55_bar__plus_02_dot_14 BookType) + (objectType Laptop_bar__minus_00_dot_15_bar__plus_00_dot_55_bar__plus_01_dot_26 LaptopType) + (objectType Book_bar__minus_00_dot_41_bar__plus_00_dot_93_bar__minus_00_dot_60 BookType) + (objectType Painting_bar__minus_00_dot_79_bar__plus_01_dot_81_bar__plus_01_dot_02 PaintingType) + (objectType Box_bar__plus_02_dot_15_bar__plus_00_dot_14_bar__plus_00_dot_49 BoxType) + (objectType CellPhone_bar__minus_00_dot_35_bar__plus_00_dot_38_bar__minus_00_dot_38 CellPhoneType) + (objectType Blinds_bar__plus_00_dot_70_bar__plus_01_dot_98_bar__minus_01_dot_87 BlindsType) + (objectType AlarmClock_bar__minus_00_dot_23_bar__plus_00_dot_93_bar__minus_01_dot_25 AlarmClockType) + (objectType Pen_bar__plus_02_dot_29_bar__plus_00_dot_85_bar__minus_00_dot_48 PenType) + (objectType Pen_bar__minus_00_dot_32_bar__plus_00_dot_93_bar__minus_00_dot_60 PenType) + (objectType KeyChain_bar__plus_02_dot_22_bar__plus_00_dot_09_bar__minus_00_dot_48 KeyChainType) + (objectType Book_bar__plus_00_dot_17_bar__plus_00_dot_55_bar__plus_02_dot_43 BookType) + (objectType BasketBall_bar__minus_00_dot_24_bar__plus_00_dot_12_bar__plus_00_dot_17 BasketBallType) + (objectType Painting_bar__minus_00_dot_79_bar__plus_01_dot_81_bar__minus_00_dot_22 PaintingType) + (objectType CreditCard_bar__minus_00_dot_51_bar__plus_00_dot_93_bar__minus_01_dot_03 CreditCardType) + (objectType Mirror_bar__plus_02_dot_12_bar__plus_01_dot_28_bar__plus_02_dot_75 MirrorType) + (objectType CellPhone_bar__minus_00_dot_13_bar__plus_00_dot_93_bar__minus_01_dot_46 CellPhoneType) + (objectType Window_bar__plus_00_dot_67_bar__plus_01_dot_36_bar__minus_01_dot_91 WindowType) + (objectType DeskLamp_bar__minus_00_dot_67_bar__plus_00_dot_92_bar__minus_00_dot_06 DeskLampType) + (objectType AlarmClock_bar__minus_00_dot_41_bar__plus_00_dot_93_bar__minus_00_dot_18 AlarmClockType) + (objectType Pillow_bar__plus_00_dot_33_bar__plus_00_dot_62_bar__plus_01_dot_26 PillowType) + (objectType Pencil_bar__minus_00_dot_19_bar__plus_00_dot_38_bar__minus_00_dot_10 PencilType) + (objectType LightSwitch_bar__plus_00_dot_73_bar__plus_01_dot_20_bar__plus_02_dot_75 LightSwitchType) + (objectType Chair_bar__plus_00_dot_01_bar__plus_00_dot_01_bar__minus_01_dot_24 ChairType) + (objectType Pillow_bar__plus_00_dot_33_bar__plus_00_dot_62_bar__plus_01_dot_85 PillowType) + (objectType CD_bar__plus_02_dot_23_bar__plus_00_dot_05_bar__plus_02_dot_61 CDType) + (objectType CD_bar__minus_00_dot_41_bar__plus_00_dot_92_bar__minus_00_dot_39 CDType) + (canContain DresserType PenType) + (canContain DresserType BookType) + (canContain DresserType CDType) + (canContain DresserType BoxType) + (canContain DresserType CellPhoneType) + (canContain DresserType KeyChainType) + (canContain DresserType CreditCardType) + (canContain DresserType BasketBallType) + (canContain DresserType LaptopType) + (canContain DresserType PencilType) + (canContain DresserType AlarmClockType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DeskType PenType) + (canContain DeskType BookType) + (canContain DeskType CDType) + (canContain DeskType BoxType) + (canContain DeskType CellPhoneType) + (canContain DeskType KeyChainType) + (canContain DeskType CreditCardType) + (canContain DeskType BasketBallType) + (canContain DeskType LaptopType) + (canContain DeskType PencilType) + (canContain DeskType AlarmClockType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain GarbageCanType PenType) + (canContain GarbageCanType CDType) + (canContain GarbageCanType PencilType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain BedType BasketBallType) + (canContain BedType LaptopType) + (canContain BedType BookType) + (canContain BedType CellPhoneType) + (canContain BedType PillowType) + (pickupable CellPhone_bar__minus_00_dot_25_bar__plus_00_dot_67_bar__minus_00_dot_56) + (pickupable Book_bar__plus_00_dot_49_bar__plus_00_dot_55_bar__plus_02_dot_14) + (pickupable Laptop_bar__minus_00_dot_15_bar__plus_00_dot_55_bar__plus_01_dot_26) + (pickupable Book_bar__minus_00_dot_41_bar__plus_00_dot_93_bar__minus_00_dot_60) + (pickupable Box_bar__plus_02_dot_15_bar__plus_00_dot_14_bar__plus_00_dot_49) + (pickupable CellPhone_bar__minus_00_dot_35_bar__plus_00_dot_38_bar__minus_00_dot_38) + (pickupable AlarmClock_bar__minus_00_dot_23_bar__plus_00_dot_93_bar__minus_01_dot_25) + (pickupable Pen_bar__plus_02_dot_29_bar__plus_00_dot_85_bar__minus_00_dot_48) + (pickupable Pen_bar__minus_00_dot_32_bar__plus_00_dot_93_bar__minus_00_dot_60) + (pickupable KeyChain_bar__plus_02_dot_22_bar__plus_00_dot_09_bar__minus_00_dot_48) + (pickupable Book_bar__plus_00_dot_17_bar__plus_00_dot_55_bar__plus_02_dot_43) + (pickupable BasketBall_bar__minus_00_dot_24_bar__plus_00_dot_12_bar__plus_00_dot_17) + (pickupable CreditCard_bar__minus_00_dot_51_bar__plus_00_dot_93_bar__minus_01_dot_03) + (pickupable CellPhone_bar__minus_00_dot_13_bar__plus_00_dot_93_bar__minus_01_dot_46) + (pickupable AlarmClock_bar__minus_00_dot_41_bar__plus_00_dot_93_bar__minus_00_dot_18) + (pickupable Pillow_bar__plus_00_dot_33_bar__plus_00_dot_62_bar__plus_01_dot_26) + (pickupable Pencil_bar__minus_00_dot_19_bar__plus_00_dot_38_bar__minus_00_dot_10) + (pickupable Pillow_bar__plus_00_dot_33_bar__plus_00_dot_62_bar__plus_01_dot_85) + (pickupable CD_bar__plus_02_dot_23_bar__plus_00_dot_05_bar__plus_02_dot_61) + (pickupable CD_bar__minus_00_dot_41_bar__plus_00_dot_92_bar__minus_00_dot_39) + (isReceptacleObject Box_bar__plus_02_dot_15_bar__plus_00_dot_14_bar__plus_00_dot_49) + (openable Drawer_bar__minus_00_dot_10_bar__plus_00_dot_51_bar__minus_00_dot_40) + (openable Drawer_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__minus_00_dot_48) + (openable Drawer_bar__plus_02_dot_16_bar__plus_00_dot_21_bar__minus_00_dot_48) + (openable Drawer_bar__minus_00_dot_10_bar__plus_00_dot_76_bar__minus_00_dot_40) + (openable Drawer_bar__minus_00_dot_10_bar__plus_00_dot_22_bar__minus_00_dot_40) + + (atLocation agent1 loc_bar_4_bar_3_bar_3_bar_30) + + + + + + + + (toggleable DeskLamp_bar__minus_00_dot_67_bar__plus_00_dot_92_bar__minus_00_dot_06) + + + + + (inReceptacle Pen_bar__plus_02_dot_29_bar__plus_00_dot_85_bar__minus_00_dot_48 Dresser_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__minus_00_dot_48) + (inReceptacle Pencil_bar__minus_00_dot_19_bar__plus_00_dot_38_bar__minus_00_dot_10 Drawer_bar__minus_00_dot_10_bar__plus_00_dot_51_bar__minus_00_dot_40) + (inReceptacle CellPhone_bar__minus_00_dot_35_bar__plus_00_dot_38_bar__minus_00_dot_38 Drawer_bar__minus_00_dot_10_bar__plus_00_dot_51_bar__minus_00_dot_40) + (inReceptacle KeyChain_bar__plus_02_dot_22_bar__plus_00_dot_09_bar__minus_00_dot_48 Drawer_bar__plus_02_dot_16_bar__plus_00_dot_21_bar__minus_00_dot_48) + (inReceptacle Book_bar__plus_00_dot_17_bar__plus_00_dot_55_bar__plus_02_dot_43 Bed_bar__plus_00_dot_01_bar__minus_00_dot_06_bar__plus_01_dot_61) + (inReceptacle Book_bar__plus_00_dot_49_bar__plus_00_dot_55_bar__plus_02_dot_14 Bed_bar__plus_00_dot_01_bar__minus_00_dot_06_bar__plus_01_dot_61) + (inReceptacle Pillow_bar__plus_00_dot_33_bar__plus_00_dot_62_bar__plus_01_dot_26 Bed_bar__plus_00_dot_01_bar__minus_00_dot_06_bar__plus_01_dot_61) + (inReceptacle Laptop_bar__minus_00_dot_15_bar__plus_00_dot_55_bar__plus_01_dot_26 Bed_bar__plus_00_dot_01_bar__minus_00_dot_06_bar__plus_01_dot_61) + (inReceptacle Pillow_bar__plus_00_dot_33_bar__plus_00_dot_62_bar__plus_01_dot_85 Bed_bar__plus_00_dot_01_bar__minus_00_dot_06_bar__plus_01_dot_61) + (inReceptacle Pen_bar__minus_00_dot_32_bar__plus_00_dot_93_bar__minus_00_dot_60 Desk_bar__minus_00_dot_38_bar__plus_00_dot_00_bar__minus_00_dot_95) + (inReceptacle DeskLamp_bar__minus_00_dot_67_bar__plus_00_dot_92_bar__minus_00_dot_06 Desk_bar__minus_00_dot_38_bar__plus_00_dot_00_bar__minus_00_dot_95) + (inReceptacle AlarmClock_bar__minus_00_dot_41_bar__plus_00_dot_93_bar__minus_00_dot_18 Desk_bar__minus_00_dot_38_bar__plus_00_dot_00_bar__minus_00_dot_95) + (inReceptacle CreditCard_bar__minus_00_dot_51_bar__plus_00_dot_93_bar__minus_01_dot_03 Desk_bar__minus_00_dot_38_bar__plus_00_dot_00_bar__minus_00_dot_95) + (inReceptacle Book_bar__minus_00_dot_41_bar__plus_00_dot_93_bar__minus_00_dot_60 Desk_bar__minus_00_dot_38_bar__plus_00_dot_00_bar__minus_00_dot_95) + (inReceptacle CellPhone_bar__minus_00_dot_13_bar__plus_00_dot_93_bar__minus_01_dot_46 Desk_bar__minus_00_dot_38_bar__plus_00_dot_00_bar__minus_00_dot_95) + (inReceptacle AlarmClock_bar__minus_00_dot_23_bar__plus_00_dot_93_bar__minus_01_dot_25 Desk_bar__minus_00_dot_38_bar__plus_00_dot_00_bar__minus_00_dot_95) + (inReceptacle CD_bar__minus_00_dot_41_bar__plus_00_dot_92_bar__minus_00_dot_39 Desk_bar__minus_00_dot_38_bar__plus_00_dot_00_bar__minus_00_dot_95) + (inReceptacle CellPhone_bar__minus_00_dot_25_bar__plus_00_dot_67_bar__minus_00_dot_56 Drawer_bar__minus_00_dot_10_bar__plus_00_dot_76_bar__minus_00_dot_40) + (inReceptacle CD_bar__plus_02_dot_23_bar__plus_00_dot_05_bar__plus_02_dot_61 GarbageCan_bar__plus_02_dot_26_bar__plus_00_dot_00_bar__plus_02_dot_60) + + + (receptacleAtLocation Bed_bar__plus_00_dot_01_bar__minus_00_dot_06_bar__plus_01_dot_61 loc_bar_6_bar_6_bar_3_bar_45) + (receptacleAtLocation Desk_bar__minus_00_dot_38_bar__plus_00_dot_00_bar__minus_00_dot_95 loc_bar_2_bar__minus_5_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__plus_02_dot_16_bar__plus_00_dot_21_bar__minus_00_dot_48 loc_bar_5_bar__minus_5_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__minus_00_dot_48 loc_bar_6_bar__minus_5_bar_0_bar_60) + (receptacleAtLocation Drawer_bar__minus_00_dot_10_bar__plus_00_dot_22_bar__minus_00_dot_40 loc_bar_3_bar__minus_5_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_00_dot_10_bar__plus_00_dot_51_bar__minus_00_dot_40 loc_bar_2_bar__minus_5_bar_0_bar_60) + (receptacleAtLocation Drawer_bar__minus_00_dot_10_bar__plus_00_dot_76_bar__minus_00_dot_40 loc_bar_3_bar__minus_2_bar_3_bar_45) + (receptacleAtLocation Dresser_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__minus_00_dot_48 loc_bar_6_bar__minus_2_bar_1_bar_60) + (receptacleAtLocation GarbageCan_bar__plus_02_dot_26_bar__plus_00_dot_00_bar__plus_02_dot_60 loc_bar_8_bar_9_bar_0_bar_60) + (objectAtLocation CD_bar__minus_00_dot_41_bar__plus_00_dot_92_bar__minus_00_dot_39 loc_bar_2_bar__minus_5_bar_3_bar_60) + (objectAtLocation AlarmClock_bar__minus_00_dot_23_bar__plus_00_dot_93_bar__minus_01_dot_25 loc_bar_2_bar__minus_5_bar_3_bar_60) + (objectAtLocation CellPhone_bar__minus_00_dot_13_bar__plus_00_dot_93_bar__minus_01_dot_46 loc_bar_2_bar__minus_5_bar_3_bar_60) + (objectAtLocation Pillow_bar__plus_00_dot_33_bar__plus_00_dot_62_bar__plus_01_dot_85 loc_bar_6_bar_6_bar_3_bar_45) + (objectAtLocation Pen_bar__minus_00_dot_32_bar__plus_00_dot_93_bar__minus_00_dot_60 loc_bar_2_bar__minus_5_bar_3_bar_60) + (objectAtLocation Book_bar__minus_00_dot_41_bar__plus_00_dot_93_bar__minus_00_dot_60 loc_bar_2_bar__minus_5_bar_3_bar_60) + (objectAtLocation Book_bar__plus_00_dot_17_bar__plus_00_dot_55_bar__plus_02_dot_43 loc_bar_6_bar_6_bar_3_bar_45) + (objectAtLocation CellPhone_bar__minus_00_dot_25_bar__plus_00_dot_67_bar__minus_00_dot_56 loc_bar_3_bar__minus_2_bar_3_bar_45) + (objectAtLocation Chair_bar__plus_00_dot_01_bar__plus_00_dot_01_bar__minus_01_dot_24 loc_bar_2_bar__minus_5_bar_3_bar_60) + (objectAtLocation Box_bar__plus_02_dot_15_bar__plus_00_dot_14_bar__plus_00_dot_49 loc_bar_6_bar_2_bar_1_bar_60) + (objectAtLocation Book_bar__plus_00_dot_49_bar__plus_00_dot_55_bar__plus_02_dot_14 loc_bar_6_bar_6_bar_3_bar_45) + (objectAtLocation DeskLamp_bar__minus_00_dot_67_bar__plus_00_dot_92_bar__minus_00_dot_06 loc_bar_2_bar__minus_5_bar_3_bar_60) + (objectAtLocation BasketBall_bar__minus_00_dot_24_bar__plus_00_dot_12_bar__plus_00_dot_17 loc_bar_1_bar_0_bar_3_bar_60) + (objectAtLocation Pen_bar__plus_02_dot_29_bar__plus_00_dot_85_bar__minus_00_dot_48 loc_bar_6_bar__minus_2_bar_1_bar_60) + (objectAtLocation Pillow_bar__plus_00_dot_33_bar__plus_00_dot_62_bar__plus_01_dot_26 loc_bar_6_bar_6_bar_3_bar_45) + (objectAtLocation Pencil_bar__minus_00_dot_19_bar__plus_00_dot_38_bar__minus_00_dot_10 loc_bar_2_bar__minus_5_bar_0_bar_60) + (objectAtLocation CellPhone_bar__minus_00_dot_35_bar__plus_00_dot_38_bar__minus_00_dot_38 loc_bar_2_bar__minus_5_bar_0_bar_60) + (objectAtLocation KeyChain_bar__plus_02_dot_22_bar__plus_00_dot_09_bar__minus_00_dot_48 loc_bar_5_bar__minus_5_bar_1_bar_60) + (objectAtLocation Painting_bar__minus_00_dot_79_bar__plus_01_dot_81_bar__minus_00_dot_22 loc_bar_1_bar__minus_1_bar_3_bar__minus_15) + (objectAtLocation Painting_bar__minus_00_dot_79_bar__plus_01_dot_81_bar__plus_01_dot_02 loc_bar_4_bar_4_bar_3_bar_0) + (objectAtLocation CreditCard_bar__minus_00_dot_51_bar__plus_00_dot_93_bar__minus_01_dot_03 loc_bar_2_bar__minus_5_bar_3_bar_60) + 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(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-DeskLamp-314/trial_T20190909_002343_906544/traj_data.json b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Box-None-DeskLamp-314/trial_T20190909_002343_906544/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..217cacde39ee9f420a2353d7b1538d535f21aa86 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Box-None-DeskLamp-314/trial_T20190909_002343_906544/traj_data.json @@ -0,0 +1,2089 @@ +{ + "images": [ + { + "high_idx": 0, + "image_name": "000000000.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000001.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000002.png", + 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"scene": { + "dirty_and_empty": false, + "floor_plan": "FloorPlan314", + "init_action": { + "action": "TeleportFull", + "horizon": 30, + "rotateOnTeleport": true, + "rotation": 270, + "x": 1.0, + "y": 0.9009992, + "z": 0.75 + }, + "object_poses": [ + { + "objectName": "CD_c03efa1f", + "position": { + "x": 2.22563434, + "y": 0.049730543, + "z": 2.60699368 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "CellPhone_56b6ac64", + "position": { + "x": -0.3499273, + "y": 0.378406435, + "z": -0.37724638 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "CellPhone_56b6ac64", + "position": { + "x": -0.247179508, + "y": 0.669386268, + "z": -0.561705 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pen_0ee61c22", + "position": { + "x": 2.28551912, + "y": 0.84865284, + "z": -0.484 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Book_c376c5e5", + 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-0.484 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "CreditCard_226fa37e", + "position": { + "x": -0.509224057, + "y": 0.9252468, + "z": -1.03212011 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "AlarmClock_7857d014", + "position": { + "x": -0.225681, + "y": 0.925584435, + "z": -1.24582207 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "CD_c03efa1f", + "position": { + "x": -0.4147097, + "y": 0.92460674, + "z": -0.391014516 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Laptop_3a6a5101", + "position": { + "x": -0.148658425, + "y": 0.548538864, + "z": 1.263513 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [ + { + "isOn": false, + "objectType": "DeskLamp" + } + ], + "random_seed": 2806495481, + "scene_num": 314 + }, + "task_id": "trial_T20190909_002343_906544", + "task_type": "look_at_obj_in_light", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A17TKHT8FEVH0R_3GNCZX450LEWTMGCT07NOKUCPPCPAI", + "high_descs": [ + "Turn around and face the ground", + "Grab the cardboard box off of the ground", + "Turn around and go to the desk", + "Turn on the lamp on the desk" + ], + "task_desc": "Turning on a lamp while holding a cardboard box", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3R19ZA45J8915_3HVVDCPGTHJVHW7MQNUNWGDGHJWYT2", + "high_descs": [ + "Turn around completely and walk up to the cardboard box that is on the floor.", + "Pick up the cardboard box that is on the floor. ", + "Turn to the right, walk a few steps, then turn right and walk up to the desk.", + "Turn on the lamp that is sitting on the desk." + ], + "task_desc": "Examine a cardboard box using the light of a lamp.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AM2KK02JXXW48_3PQ8K71NH0BP6IAA4HPQYP5HQ3BAAM", + "high_descs": [ + "Turn around, go to the box on the floor.", + "Pick up the box on the floor. ", + "Turn around, bring the box to the lamp on the desk.", + "Turn on the lamp." + ], + "task_desc": "Examine a box by the light of the lamp on the desk. ", + "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-DeskLamp-314/trial_T20190909_012232_899640/initial_state.pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Box-None-DeskLamp-314/trial_T20190909_012232_899640/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..c849d5eca81efcdc35e6d5355b9fa39e4f3ea634 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Box-None-DeskLamp-314/trial_T20190909_012232_899640/initial_state.pddl @@ -0,0 +1,480 @@ + +(define (problem plan_trial_T20190909_012232_899640) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_41_bar__plus_00_dot_93_bar__minus_00_dot_60 - object + AlarmClock_bar__minus_00_dot_41_bar__plus_00_dot_93_bar__minus_01_dot_46 - object + AlarmClock_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_01_dot_46 - object + BasketBall_bar__minus_00_dot_24_bar__plus_00_dot_12_bar__plus_00_dot_17 - object + Blinds_bar__plus_00_dot_70_bar__plus_01_dot_98_bar__minus_01_dot_87 - object + Book_bar__plus_02_dot_14_bar__plus_00_dot_84_bar__minus_00_dot_48 - object + Book_bar__minus_00_dot_32_bar__plus_00_dot_93_bar__minus_01_dot_25 - object + Book_bar__minus_00_dot_47_bar__plus_00_dot_55_bar__plus_02_dot_43 - object + Box_bar__plus_02_dot_15_bar__plus_00_dot_14_bar__plus_00_dot_49 - object + CD_bar__minus_00_dot_13_bar__plus_00_dot_92_bar__minus_00_dot_60 - object + CD_bar__minus_00_dot_51_bar__plus_00_dot_92_bar__minus_00_dot_18 - object + CellPhone_bar__minus_00_dot_70_bar__plus_00_dot_93_bar__minus_00_dot_39 - object + Chair_bar__plus_00_dot_01_bar__plus_00_dot_01_bar__minus_01_dot_24 - object + CreditCard_bar__plus_02_dot_19_bar__plus_00_dot_84_bar__minus_00_dot_88 - object + DeskLamp_bar__minus_00_dot_67_bar__plus_00_dot_92_bar__minus_00_dot_06 - object + KeyChain_bar__minus_00_dot_19_bar__plus_00_dot_09_bar__minus_00_dot_19 - object + KeyChain_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_01_dot_25 - object + Laptop_bar__minus_00_dot_43_bar__plus_00_dot_92_bar__minus_00_dot_90 - object + LightSwitch_bar__plus_00_dot_73_bar__plus_01_dot_20_bar__plus_02_dot_75 - object + Mirror_bar__plus_02_dot_12_bar__plus_01_dot_28_bar__plus_02_dot_75 - object + Painting_bar__minus_00_dot_79_bar__plus_01_dot_81_bar__plus_01_dot_02 - object + Painting_bar__minus_00_dot_79_bar__plus_01_dot_81_bar__minus_00_dot_22 - object + Pencil_bar__plus_02_dot_20_bar__plus_00_dot_05_bar__plus_02_dot_61 - object + Pen_bar__minus_00_dot_25_bar__plus_00_dot_09_bar__minus_00_dot_47 - object + Pillow_bar__plus_00_dot_01_bar__plus_00_dot_62_bar__plus_00_dot_68 - object + Pillow_bar__plus_00_dot_01_bar__plus_00_dot_62_bar__plus_01_dot_26 - object + Window_bar__plus_00_dot_67_bar__plus_01_dot_36_bar__minus_01_dot_91 - object + Bed_bar__plus_00_dot_01_bar__minus_00_dot_06_bar__plus_01_dot_61 - receptacle + Desk_bar__minus_00_dot_38_bar__plus_00_dot_00_bar__minus_00_dot_95 - receptacle + Drawer_bar__plus_02_dot_16_bar__plus_00_dot_21_bar__minus_00_dot_48 - receptacle + Drawer_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__minus_00_dot_48 - receptacle + Drawer_bar__minus_00_dot_10_bar__plus_00_dot_22_bar__minus_00_dot_40 - receptacle + Drawer_bar__minus_00_dot_10_bar__plus_00_dot_51_bar__minus_00_dot_40 - receptacle + Drawer_bar__minus_00_dot_10_bar__plus_00_dot_76_bar__minus_00_dot_40 - receptacle + Dresser_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__minus_00_dot_48 - receptacle + GarbageCan_bar__plus_02_dot_26_bar__plus_00_dot_00_bar__plus_02_dot_60 - receptacle + loc_bar_3_bar__minus_5_bar_2_bar__minus_30 - location + loc_bar_3_bar__minus_2_bar_3_bar_45 - location + loc_bar_6_bar__minus_2_bar_1_bar_60 - location + loc_bar_1_bar_0_bar_3_bar_60 - location + loc_bar_2_bar__minus_5_bar_3_bar_60 - location + loc_bar_8_bar_9_bar_0_bar_60 - location + loc_bar_6_bar_2_bar_1_bar_60 - location + loc_bar_5_bar__minus_5_bar_1_bar_60 - location + loc_bar_6_bar__minus_5_bar_0_bar_60 - location + loc_bar_1_bar__minus_1_bar_3_bar__minus_15 - location + loc_bar_3_bar__minus_5_bar_2_bar_30 - location + loc_bar_2_bar__minus_5_bar_0_bar_60 - location + loc_bar_4_bar_9_bar_0_bar_45 - location + loc_bar_8_bar_9_bar_0_bar_30 - location + loc_bar_3_bar__minus_5_bar_3_bar_60 - location + loc_bar_4_bar_4_bar_3_bar_0 - location + loc_bar_6_bar_6_bar_3_bar_45 - location + loc_bar_2_bar__minus_5_bar_0_bar_30 - location + ) + + +(:init + + + (receptacleType Dresser_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__minus_00_dot_48 DresserType) + (receptacleType Drawer_bar__minus_00_dot_10_bar__plus_00_dot_51_bar__minus_00_dot_40 DrawerType) + (receptacleType Drawer_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__minus_00_dot_48 DrawerType) + (receptacleType Desk_bar__minus_00_dot_38_bar__plus_00_dot_00_bar__minus_00_dot_95 DeskType) + (receptacleType Drawer_bar__plus_02_dot_16_bar__plus_00_dot_21_bar__minus_00_dot_48 DrawerType) + (receptacleType GarbageCan_bar__plus_02_dot_26_bar__plus_00_dot_00_bar__plus_02_dot_60 GarbageCanType) + (receptacleType Drawer_bar__minus_00_dot_10_bar__plus_00_dot_76_bar__minus_00_dot_40 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_10_bar__plus_00_dot_22_bar__minus_00_dot_40 DrawerType) + (receptacleType Bed_bar__plus_00_dot_01_bar__minus_00_dot_06_bar__plus_01_dot_61 BedType) + (objectType AlarmClock_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_01_dot_46 AlarmClockType) + (objectType Painting_bar__minus_00_dot_79_bar__plus_01_dot_81_bar__plus_01_dot_02 PaintingType) + (objectType KeyChain_bar__minus_00_dot_19_bar__plus_00_dot_09_bar__minus_00_dot_19 KeyChainType) + (objectType AlarmClock_bar__minus_00_dot_41_bar__plus_00_dot_93_bar__minus_01_dot_46 AlarmClockType) + (objectType AlarmClock_bar__minus_00_dot_41_bar__plus_00_dot_93_bar__minus_00_dot_60 AlarmClockType) + (objectType Box_bar__plus_02_dot_15_bar__plus_00_dot_14_bar__plus_00_dot_49 BoxType) + (objectType Book_bar__plus_02_dot_14_bar__plus_00_dot_84_bar__minus_00_dot_48 BookType) + (objectType CellPhone_bar__minus_00_dot_70_bar__plus_00_dot_93_bar__minus_00_dot_39 CellPhoneType) + (objectType Blinds_bar__plus_00_dot_70_bar__plus_01_dot_98_bar__minus_01_dot_87 BlindsType) + (objectType Book_bar__minus_00_dot_47_bar__plus_00_dot_55_bar__plus_02_dot_43 BookType) + (objectType CD_bar__minus_00_dot_51_bar__plus_00_dot_92_bar__minus_00_dot_18 CDType) + (objectType Laptop_bar__minus_00_dot_43_bar__plus_00_dot_92_bar__minus_00_dot_90 LaptopType) + (objectType BasketBall_bar__minus_00_dot_24_bar__plus_00_dot_12_bar__plus_00_dot_17 BasketBallType) + (objectType Pencil_bar__plus_02_dot_20_bar__plus_00_dot_05_bar__plus_02_dot_61 PencilType) + (objectType Painting_bar__minus_00_dot_79_bar__plus_01_dot_81_bar__minus_00_dot_22 PaintingType) + (objectType Mirror_bar__plus_02_dot_12_bar__plus_01_dot_28_bar__plus_02_dot_75 MirrorType) + (objectType Window_bar__plus_00_dot_67_bar__plus_01_dot_36_bar__minus_01_dot_91 WindowType) + (objectType DeskLamp_bar__minus_00_dot_67_bar__plus_00_dot_92_bar__minus_00_dot_06 DeskLampType) + (objectType LightSwitch_bar__plus_00_dot_73_bar__plus_01_dot_20_bar__plus_02_dot_75 LightSwitchType) + (objectType CD_bar__minus_00_dot_13_bar__plus_00_dot_92_bar__minus_00_dot_60 CDType) + (objectType Chair_bar__plus_00_dot_01_bar__plus_00_dot_01_bar__minus_01_dot_24 ChairType) + (objectType Pillow_bar__plus_00_dot_01_bar__plus_00_dot_62_bar__plus_01_dot_26 PillowType) + (objectType Book_bar__minus_00_dot_32_bar__plus_00_dot_93_bar__minus_01_dot_25 BookType) + (objectType Pillow_bar__plus_00_dot_01_bar__plus_00_dot_62_bar__plus_00_dot_68 PillowType) + (objectType KeyChain_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_01_dot_25 KeyChainType) + (objectType Pen_bar__minus_00_dot_25_bar__plus_00_dot_09_bar__minus_00_dot_47 PenType) + (objectType CreditCard_bar__plus_02_dot_19_bar__plus_00_dot_84_bar__minus_00_dot_88 CreditCardType) + (canContain DresserType PenType) + (canContain DresserType BookType) + (canContain DresserType CDType) + (canContain DresserType BoxType) + (canContain DresserType CellPhoneType) + (canContain DresserType KeyChainType) + (canContain DresserType CreditCardType) + (canContain DresserType BasketBallType) + (canContain DresserType LaptopType) + (canContain DresserType PencilType) + (canContain DresserType AlarmClockType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DeskType PenType) + (canContain DeskType BookType) + (canContain DeskType CDType) + (canContain DeskType BoxType) + (canContain DeskType CellPhoneType) + (canContain DeskType KeyChainType) + (canContain DeskType CreditCardType) + (canContain DeskType BasketBallType) + (canContain DeskType LaptopType) + (canContain DeskType PencilType) + (canContain DeskType AlarmClockType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain GarbageCanType PenType) + (canContain GarbageCanType CDType) + (canContain GarbageCanType PencilType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain BedType BasketBallType) + (canContain BedType LaptopType) + (canContain BedType BookType) + (canContain BedType CellPhoneType) + (canContain BedType PillowType) + (pickupable AlarmClock_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_01_dot_46) + (pickupable KeyChain_bar__minus_00_dot_19_bar__plus_00_dot_09_bar__minus_00_dot_19) + (pickupable AlarmClock_bar__minus_00_dot_41_bar__plus_00_dot_93_bar__minus_01_dot_46) + (pickupable AlarmClock_bar__minus_00_dot_41_bar__plus_00_dot_93_bar__minus_00_dot_60) + (pickupable Box_bar__plus_02_dot_15_bar__plus_00_dot_14_bar__plus_00_dot_49) + (pickupable Book_bar__plus_02_dot_14_bar__plus_00_dot_84_bar__minus_00_dot_48) + (pickupable CellPhone_bar__minus_00_dot_70_bar__plus_00_dot_93_bar__minus_00_dot_39) + (pickupable Book_bar__minus_00_dot_47_bar__plus_00_dot_55_bar__plus_02_dot_43) + (pickupable CD_bar__minus_00_dot_51_bar__plus_00_dot_92_bar__minus_00_dot_18) + (pickupable Laptop_bar__minus_00_dot_43_bar__plus_00_dot_92_bar__minus_00_dot_90) + (pickupable BasketBall_bar__minus_00_dot_24_bar__plus_00_dot_12_bar__plus_00_dot_17) + (pickupable Pencil_bar__plus_02_dot_20_bar__plus_00_dot_05_bar__plus_02_dot_61) + (pickupable CD_bar__minus_00_dot_13_bar__plus_00_dot_92_bar__minus_00_dot_60) + (pickupable Pillow_bar__plus_00_dot_01_bar__plus_00_dot_62_bar__plus_01_dot_26) + (pickupable Book_bar__minus_00_dot_32_bar__plus_00_dot_93_bar__minus_01_dot_25) + (pickupable Pillow_bar__plus_00_dot_01_bar__plus_00_dot_62_bar__plus_00_dot_68) + (pickupable KeyChain_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_01_dot_25) + (pickupable Pen_bar__minus_00_dot_25_bar__plus_00_dot_09_bar__minus_00_dot_47) + (pickupable CreditCard_bar__plus_02_dot_19_bar__plus_00_dot_84_bar__minus_00_dot_88) + (isReceptacleObject Box_bar__plus_02_dot_15_bar__plus_00_dot_14_bar__plus_00_dot_49) + (openable Drawer_bar__minus_00_dot_10_bar__plus_00_dot_51_bar__minus_00_dot_40) + (openable Drawer_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__minus_00_dot_48) + (openable Drawer_bar__plus_02_dot_16_bar__plus_00_dot_21_bar__minus_00_dot_48) + (openable Drawer_bar__minus_00_dot_10_bar__plus_00_dot_76_bar__minus_00_dot_40) + (openable Drawer_bar__minus_00_dot_10_bar__plus_00_dot_22_bar__minus_00_dot_40) + + (atLocation agent1 loc_bar_2_bar__minus_5_bar_0_bar_30) + + + + + + + + (toggleable DeskLamp_bar__minus_00_dot_67_bar__plus_00_dot_92_bar__minus_00_dot_06) + + + + + (inReceptacle CreditCard_bar__plus_02_dot_19_bar__plus_00_dot_84_bar__minus_00_dot_88 Dresser_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__minus_00_dot_48) + (inReceptacle Book_bar__plus_02_dot_14_bar__plus_00_dot_84_bar__minus_00_dot_48 Dresser_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__minus_00_dot_48) + (inReceptacle Pillow_bar__plus_00_dot_01_bar__plus_00_dot_62_bar__plus_00_dot_68 Bed_bar__plus_00_dot_01_bar__minus_00_dot_06_bar__plus_01_dot_61) + (inReceptacle Pillow_bar__plus_00_dot_01_bar__plus_00_dot_62_bar__plus_01_dot_26 Bed_bar__plus_00_dot_01_bar__minus_00_dot_06_bar__plus_01_dot_61) + (inReceptacle Book_bar__minus_00_dot_47_bar__plus_00_dot_55_bar__plus_02_dot_43 Bed_bar__plus_00_dot_01_bar__minus_00_dot_06_bar__plus_01_dot_61) + (inReceptacle KeyChain_bar__minus_00_dot_19_bar__plus_00_dot_09_bar__minus_00_dot_19 Drawer_bar__minus_00_dot_10_bar__plus_00_dot_22_bar__minus_00_dot_40) + (inReceptacle Pen_bar__minus_00_dot_25_bar__plus_00_dot_09_bar__minus_00_dot_47 Drawer_bar__minus_00_dot_10_bar__plus_00_dot_22_bar__minus_00_dot_40) + (inReceptacle AlarmClock_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_01_dot_46 Desk_bar__minus_00_dot_38_bar__plus_00_dot_00_bar__minus_00_dot_95) + (inReceptacle DeskLamp_bar__minus_00_dot_67_bar__plus_00_dot_92_bar__minus_00_dot_06 Desk_bar__minus_00_dot_38_bar__plus_00_dot_00_bar__minus_00_dot_95) + (inReceptacle Laptop_bar__minus_00_dot_43_bar__plus_00_dot_92_bar__minus_00_dot_90 Desk_bar__minus_00_dot_38_bar__plus_00_dot_00_bar__minus_00_dot_95) + (inReceptacle AlarmClock_bar__minus_00_dot_41_bar__plus_00_dot_93_bar__minus_01_dot_46 Desk_bar__minus_00_dot_38_bar__plus_00_dot_00_bar__minus_00_dot_95) + (inReceptacle AlarmClock_bar__minus_00_dot_41_bar__plus_00_dot_93_bar__minus_00_dot_60 Desk_bar__minus_00_dot_38_bar__plus_00_dot_00_bar__minus_00_dot_95) + (inReceptacle CD_bar__minus_00_dot_13_bar__plus_00_dot_92_bar__minus_00_dot_60 Desk_bar__minus_00_dot_38_bar__plus_00_dot_00_bar__minus_00_dot_95) + (inReceptacle CellPhone_bar__minus_00_dot_70_bar__plus_00_dot_93_bar__minus_00_dot_39 Desk_bar__minus_00_dot_38_bar__plus_00_dot_00_bar__minus_00_dot_95) + (inReceptacle Book_bar__minus_00_dot_32_bar__plus_00_dot_93_bar__minus_01_dot_25 Desk_bar__minus_00_dot_38_bar__plus_00_dot_00_bar__minus_00_dot_95) + (inReceptacle CD_bar__minus_00_dot_51_bar__plus_00_dot_92_bar__minus_00_dot_18 Desk_bar__minus_00_dot_38_bar__plus_00_dot_00_bar__minus_00_dot_95) + (inReceptacle KeyChain_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_01_dot_25 Desk_bar__minus_00_dot_38_bar__plus_00_dot_00_bar__minus_00_dot_95) + (inReceptacle Pencil_bar__plus_02_dot_20_bar__plus_00_dot_05_bar__plus_02_dot_61 GarbageCan_bar__plus_02_dot_26_bar__plus_00_dot_00_bar__plus_02_dot_60) + + + (receptacleAtLocation Bed_bar__plus_00_dot_01_bar__minus_00_dot_06_bar__plus_01_dot_61 loc_bar_6_bar_6_bar_3_bar_45) + (receptacleAtLocation Desk_bar__minus_00_dot_38_bar__plus_00_dot_00_bar__minus_00_dot_95 loc_bar_2_bar__minus_5_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__plus_02_dot_16_bar__plus_00_dot_21_bar__minus_00_dot_48 loc_bar_5_bar__minus_5_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__minus_00_dot_48 loc_bar_6_bar__minus_5_bar_0_bar_60) + (receptacleAtLocation Drawer_bar__minus_00_dot_10_bar__plus_00_dot_22_bar__minus_00_dot_40 loc_bar_3_bar__minus_5_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_00_dot_10_bar__plus_00_dot_51_bar__minus_00_dot_40 loc_bar_2_bar__minus_5_bar_0_bar_60) + (receptacleAtLocation Drawer_bar__minus_00_dot_10_bar__plus_00_dot_76_bar__minus_00_dot_40 loc_bar_3_bar__minus_2_bar_3_bar_45) + (receptacleAtLocation Dresser_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__minus_00_dot_48 loc_bar_6_bar__minus_2_bar_1_bar_60) + (receptacleAtLocation GarbageCan_bar__plus_02_dot_26_bar__plus_00_dot_00_bar__plus_02_dot_60 loc_bar_8_bar_9_bar_0_bar_60) + (objectAtLocation CD_bar__minus_00_dot_13_bar__plus_00_dot_92_bar__minus_00_dot_60 loc_bar_2_bar__minus_5_bar_3_bar_60) + (objectAtLocation AlarmClock_bar__minus_00_dot_41_bar__plus_00_dot_93_bar__minus_01_dot_46 loc_bar_2_bar__minus_5_bar_3_bar_60) + (objectAtLocation KeyChain_bar__minus_00_dot_19_bar__plus_00_dot_09_bar__minus_00_dot_19 loc_bar_3_bar__minus_5_bar_3_bar_60) + (objectAtLocation Pillow_bar__plus_00_dot_01_bar__plus_00_dot_62_bar__plus_00_dot_68 loc_bar_6_bar_6_bar_3_bar_45) + (objectAtLocation Book_bar__minus_00_dot_47_bar__plus_00_dot_55_bar__plus_02_dot_43 loc_bar_6_bar_6_bar_3_bar_45) + (objectAtLocation AlarmClock_bar__minus_00_dot_41_bar__plus_00_dot_93_bar__minus_00_dot_60 loc_bar_2_bar__minus_5_bar_3_bar_60) + (objectAtLocation Book_bar__plus_02_dot_14_bar__plus_00_dot_84_bar__minus_00_dot_48 loc_bar_6_bar__minus_2_bar_1_bar_60) + (objectAtLocation Chair_bar__plus_00_dot_01_bar__plus_00_dot_01_bar__minus_01_dot_24 loc_bar_2_bar__minus_5_bar_3_bar_60) + (objectAtLocation Box_bar__plus_02_dot_15_bar__plus_00_dot_14_bar__plus_00_dot_49 loc_bar_6_bar_2_bar_1_bar_60) + (objectAtLocation Book_bar__minus_00_dot_32_bar__plus_00_dot_93_bar__minus_01_dot_25 loc_bar_2_bar__minus_5_bar_3_bar_60) + (objectAtLocation DeskLamp_bar__minus_00_dot_67_bar__plus_00_dot_92_bar__minus_00_dot_06 loc_bar_2_bar__minus_5_bar_3_bar_60) + (objectAtLocation BasketBall_bar__minus_00_dot_24_bar__plus_00_dot_12_bar__plus_00_dot_17 loc_bar_1_bar_0_bar_3_bar_60) + (objectAtLocation Pen_bar__minus_00_dot_25_bar__plus_00_dot_09_bar__minus_00_dot_47 loc_bar_3_bar__minus_5_bar_3_bar_60) + (objectAtLocation Pillow_bar__plus_00_dot_01_bar__plus_00_dot_62_bar__plus_01_dot_26 loc_bar_6_bar_6_bar_3_bar_45) + (objectAtLocation Pencil_bar__plus_02_dot_20_bar__plus_00_dot_05_bar__plus_02_dot_61 loc_bar_8_bar_9_bar_0_bar_60) + (objectAtLocation CellPhone_bar__minus_00_dot_70_bar__plus_00_dot_93_bar__minus_00_dot_39 loc_bar_2_bar__minus_5_bar_3_bar_60) + (objectAtLocation KeyChain_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_01_dot_25 loc_bar_2_bar__minus_5_bar_3_bar_60) + (objectAtLocation Painting_bar__minus_00_dot_79_bar__plus_01_dot_81_bar__minus_00_dot_22 loc_bar_1_bar__minus_1_bar_3_bar__minus_15) + (objectAtLocation Painting_bar__minus_00_dot_79_bar__plus_01_dot_81_bar__plus_01_dot_02 loc_bar_4_bar_4_bar_3_bar_0) + (objectAtLocation CreditCard_bar__plus_02_dot_19_bar__plus_00_dot_84_bar__minus_00_dot_88 loc_bar_6_bar__minus_2_bar_1_bar_60) + (objectAtLocation AlarmClock_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_01_dot_46 loc_bar_2_bar__minus_5_bar_3_bar_60) + (objectAtLocation Mirror_bar__plus_02_dot_12_bar__plus_01_dot_28_bar__plus_02_dot_75 loc_bar_8_bar_9_bar_0_bar_30) + (objectAtLocation LightSwitch_bar__plus_00_dot_73_bar__plus_01_dot_20_bar__plus_02_dot_75 loc_bar_4_bar_9_bar_0_bar_45) + (objectAtLocation CD_bar__minus_00_dot_51_bar__plus_00_dot_92_bar__minus_00_dot_18 loc_bar_2_bar__minus_5_bar_3_bar_60) + (objectAtLocation Laptop_bar__minus_00_dot_43_bar__plus_00_dot_92_bar__minus_00_dot_90 loc_bar_2_bar__minus_5_bar_3_bar_60) + (objectAtLocation Window_bar__plus_00_dot_67_bar__plus_01_dot_36_bar__minus_01_dot_91 loc_bar_3_bar__minus_5_bar_2_bar_30) + (objectAtLocation Blinds_bar__plus_00_dot_70_bar__plus_01_dot_98_bar__minus_01_dot_87 loc_bar_3_bar__minus_5_bar_2_bar__minus_30) + ) + + + (:goal + (and + (exists (?ot - object + ?r - receptacle + ?a - agent + ?l - location) + (and + (objectType ?ot DeskLampType) + (toggleable ?ot) + (isToggled ?ot) + (receptacleAtLocation ?r ?l) + (atLocation ?a ?l) + (inReceptacle ?ot ?r) + ) + ) + (exists (?o - object + ?a - agent) + (and + (objectType ?o 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-DeskLamp-314/trial_T20190909_012232_899640/traj_data.json b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Box-None-DeskLamp-314/trial_T20190909_012232_899640/traj_data.json new file mode 100644 index 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"trial_T20190909_012232_899640", + "task_type": "look_at_obj_in_light", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A20FCMWP43CVIU_31JLPPHS2XLEO15Q5LFYCCBG9AAO3Q", + "high_descs": [ + "walk to face box on floor to the left of bureau ", + "pick up box from floor", + "turn around, walk to face desk", + "turn on lamp on desk" + ], + "task_desc": "turn on desk lamp with box in hand", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "ASP32QB28TEZU_3PMBY0YE2AUZUEX3WP7H8PKLKNVC9Q", + "high_descs": [ + "Walk towards bed, turn right towards box on floor", + "Pick up box from floor", + "Turn around, walk towards desk", + "Turn on light located on desk" + ], + "task_desc": "Retrieve box from floor, turn on desk lamp", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A2KAGFQU28JY43_3M23Y66PO5YSJCK1V4U53KX1GPA6S4", + "high_descs": [ + "Turn to your right, and go to the cardboard box, on the floor, to the left of the dresser across from you. ", + "Pick up the cardboard box on the floor. ", + "Turn around and go to the desk across the room. ", + "Turn on the lamp on the back, right corner of the desk. " + ], + "task_desc": "Turn on the desk lamp. ", + "votes": [ + 0, + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Box-None-DeskLamp-314/trial_T20190909_012259_796923/initial_state.pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Box-None-DeskLamp-314/trial_T20190909_012259_796923/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..0dd5ff1d14f090363d07f3133a65304fb74e6727 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Box-None-DeskLamp-314/trial_T20190909_012259_796923/initial_state.pddl @@ -0,0 +1,480 @@ + +(define (problem plan_trial_T20190909_012259_796923) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_19_bar__plus_00_dot_84_bar__minus_00_dot_09 - object + AlarmClock_bar__minus_00_dot_41_bar__plus_00_dot_93_bar__minus_01_dot_25 - object + AlarmClock_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_01_dot_46 - object + BasketBall_bar__minus_00_dot_24_bar__plus_00_dot_12_bar__plus_00_dot_17 - object + Blinds_bar__plus_00_dot_70_bar__plus_01_dot_98_bar__minus_01_dot_87 - object + Book_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_01_dot_25 - object + Box_bar__plus_02_dot_15_bar__plus_00_dot_14_bar__plus_00_dot_49 - object + CD_bar__plus_02_dot_31_bar__plus_00_dot_05_bar__plus_02_dot_61 - object + CellPhone_bar__plus_02_dot_17_bar__plus_00_dot_46_bar__minus_00_dot_48 - object + Chair_bar__plus_00_dot_01_bar__plus_00_dot_01_bar__minus_01_dot_24 - object + CreditCard_bar__minus_00_dot_13_bar__plus_00_dot_92_bar__minus_01_dot_46 - object + CreditCard_bar__minus_00_dot_23_bar__plus_00_dot_93_bar__minus_01_dot_25 - object + CreditCard_bar__minus_00_dot_70_bar__plus_00_dot_93_bar__minus_00_dot_39 - object + DeskLamp_bar__minus_00_dot_67_bar__plus_00_dot_92_bar__minus_00_dot_06 - object + KeyChain_bar__plus_02_dot_19_bar__plus_00_dot_84_bar__minus_00_dot_35 - object + KeyChain_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_00_dot_60 - object + Laptop_bar__minus_00_dot_43_bar__plus_00_dot_92_bar__minus_00_dot_90 - object + LightSwitch_bar__plus_00_dot_73_bar__plus_01_dot_20_bar__plus_02_dot_75 - object + Mirror_bar__plus_02_dot_12_bar__plus_01_dot_28_bar__plus_02_dot_75 - object + Painting_bar__minus_00_dot_79_bar__plus_01_dot_81_bar__plus_01_dot_02 - object + Painting_bar__minus_00_dot_79_bar__plus_01_dot_81_bar__minus_00_dot_22 - object + Pencil_bar__plus_02_dot_10_bar__plus_00_dot_85_bar__minus_00_dot_22 - object + Pen_bar__minus_00_dot_41_bar__plus_00_dot_93_bar__minus_00_dot_60 - object + Pen_bar__minus_00_dot_41_bar__plus_00_dot_93_bar__minus_01_dot_46 - object + Pen_bar__minus_00_dot_51_bar__plus_00_dot_93_bar__minus_00_dot_60 - object + Pillow_bar__minus_00_dot_15_bar__plus_00_dot_62_bar__plus_01_dot_85 - object + Window_bar__plus_00_dot_67_bar__plus_01_dot_36_bar__minus_01_dot_91 - object + Bed_bar__plus_00_dot_01_bar__minus_00_dot_06_bar__plus_01_dot_61 - receptacle + Desk_bar__minus_00_dot_38_bar__plus_00_dot_00_bar__minus_00_dot_95 - receptacle + Drawer_bar__plus_02_dot_16_bar__plus_00_dot_21_bar__minus_00_dot_48 - receptacle + Drawer_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__minus_00_dot_48 - receptacle + Drawer_bar__minus_00_dot_10_bar__plus_00_dot_22_bar__minus_00_dot_40 - receptacle + Drawer_bar__minus_00_dot_10_bar__plus_00_dot_51_bar__minus_00_dot_40 - receptacle + Drawer_bar__minus_00_dot_10_bar__plus_00_dot_76_bar__minus_00_dot_40 - receptacle + Dresser_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__minus_00_dot_48 - receptacle + GarbageCan_bar__plus_02_dot_26_bar__plus_00_dot_00_bar__plus_02_dot_60 - receptacle + loc_bar_3_bar__minus_5_bar_2_bar__minus_30 - location + loc_bar_3_bar__minus_2_bar_3_bar_45 - location + loc_bar_6_bar__minus_2_bar_1_bar_60 - location + loc_bar_1_bar_0_bar_3_bar_60 - location + loc_bar_2_bar__minus_5_bar_3_bar_60 - location + loc_bar_8_bar_9_bar_0_bar_60 - location + loc_bar_6_bar_2_bar_1_bar_60 - location + loc_bar_5_bar__minus_5_bar_1_bar_60 - location + loc_bar_6_bar__minus_5_bar_0_bar_60 - location + loc_bar_1_bar__minus_1_bar_3_bar__minus_15 - location + loc_bar_3_bar__minus_5_bar_2_bar_30 - location + loc_bar_2_bar__minus_5_bar_0_bar_60 - location + loc_bar_4_bar_9_bar_0_bar_45 - location + loc_bar_8_bar_9_bar_0_bar_30 - location + loc_bar_3_bar__minus_5_bar_3_bar_60 - location + loc_bar_4_bar_4_bar_3_bar_0 - location + loc_bar_6_bar_6_bar_3_bar_45 - location + loc_bar_5_bar_3_bar_1_bar_30 - location + ) + + +(:init + + + (receptacleType Dresser_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__minus_00_dot_48 DresserType) + (receptacleType Drawer_bar__minus_00_dot_10_bar__plus_00_dot_51_bar__minus_00_dot_40 DrawerType) + (receptacleType Drawer_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__minus_00_dot_48 DrawerType) + (receptacleType Desk_bar__minus_00_dot_38_bar__plus_00_dot_00_bar__minus_00_dot_95 DeskType) + (receptacleType Drawer_bar__plus_02_dot_16_bar__plus_00_dot_21_bar__minus_00_dot_48 DrawerType) + (receptacleType GarbageCan_bar__plus_02_dot_26_bar__plus_00_dot_00_bar__plus_02_dot_60 GarbageCanType) + (receptacleType Drawer_bar__minus_00_dot_10_bar__plus_00_dot_76_bar__minus_00_dot_40 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_10_bar__plus_00_dot_22_bar__minus_00_dot_40 DrawerType) + (receptacleType Bed_bar__plus_00_dot_01_bar__minus_00_dot_06_bar__plus_01_dot_61 BedType) + (objectType AlarmClock_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_01_dot_46 AlarmClockType) + (objectType Pen_bar__minus_00_dot_41_bar__plus_00_dot_93_bar__minus_00_dot_60 PenType) + (objectType CD_bar__plus_02_dot_31_bar__plus_00_dot_05_bar__plus_02_dot_61 CDType) + (objectType Painting_bar__minus_00_dot_79_bar__plus_01_dot_81_bar__plus_01_dot_02 PaintingType) + (objectType Pillow_bar__minus_00_dot_15_bar__plus_00_dot_62_bar__plus_01_dot_85 PillowType) + (objectType CreditCard_bar__minus_00_dot_70_bar__plus_00_dot_93_bar__minus_00_dot_39 CreditCardType) + (objectType Pencil_bar__plus_02_dot_10_bar__plus_00_dot_85_bar__minus_00_dot_22 PencilType) + (objectType Box_bar__plus_02_dot_15_bar__plus_00_dot_14_bar__plus_00_dot_49 BoxType) + (objectType KeyChain_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_00_dot_60 KeyChainType) + (objectType Blinds_bar__plus_00_dot_70_bar__plus_01_dot_98_bar__minus_01_dot_87 BlindsType) + (objectType CreditCard_bar__minus_00_dot_13_bar__plus_00_dot_92_bar__minus_01_dot_46 CreditCardType) + (objectType KeyChain_bar__plus_02_dot_19_bar__plus_00_dot_84_bar__minus_00_dot_35 KeyChainType) + (objectType Pen_bar__minus_00_dot_51_bar__plus_00_dot_93_bar__minus_00_dot_60 PenType) + (objectType Laptop_bar__minus_00_dot_43_bar__plus_00_dot_92_bar__minus_00_dot_90 LaptopType) + (objectType BasketBall_bar__minus_00_dot_24_bar__plus_00_dot_12_bar__plus_00_dot_17 BasketBallType) + (objectType Painting_bar__minus_00_dot_79_bar__plus_01_dot_81_bar__minus_00_dot_22 PaintingType) + (objectType Mirror_bar__plus_02_dot_12_bar__plus_01_dot_28_bar__plus_02_dot_75 MirrorType) + (objectType AlarmClock_bar__plus_02_dot_19_bar__plus_00_dot_84_bar__minus_00_dot_09 AlarmClockType) + (objectType Book_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_01_dot_25 BookType) + (objectType Pen_bar__minus_00_dot_41_bar__plus_00_dot_93_bar__minus_01_dot_46 PenType) + (objectType Window_bar__plus_00_dot_67_bar__plus_01_dot_36_bar__minus_01_dot_91 WindowType) + (objectType CreditCard_bar__minus_00_dot_23_bar__plus_00_dot_93_bar__minus_01_dot_25 CreditCardType) + (objectType DeskLamp_bar__minus_00_dot_67_bar__plus_00_dot_92_bar__minus_00_dot_06 DeskLampType) + (objectType LightSwitch_bar__plus_00_dot_73_bar__plus_01_dot_20_bar__plus_02_dot_75 LightSwitchType) + (objectType AlarmClock_bar__minus_00_dot_41_bar__plus_00_dot_93_bar__minus_01_dot_25 AlarmClockType) + (objectType Chair_bar__plus_00_dot_01_bar__plus_00_dot_01_bar__minus_01_dot_24 ChairType) + (objectType CellPhone_bar__plus_02_dot_17_bar__plus_00_dot_46_bar__minus_00_dot_48 CellPhoneType) + (canContain DresserType PenType) + (canContain DresserType BookType) + (canContain DresserType CDType) + (canContain DresserType BoxType) + (canContain DresserType CellPhoneType) + (canContain DresserType KeyChainType) + (canContain DresserType CreditCardType) + (canContain DresserType BasketBallType) + (canContain DresserType LaptopType) + (canContain DresserType PencilType) + (canContain DresserType AlarmClockType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DeskType PenType) + (canContain DeskType BookType) + (canContain DeskType CDType) + (canContain DeskType BoxType) + (canContain DeskType CellPhoneType) + (canContain DeskType KeyChainType) + (canContain DeskType CreditCardType) + (canContain DeskType BasketBallType) + (canContain DeskType LaptopType) + (canContain DeskType PencilType) + (canContain DeskType AlarmClockType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain GarbageCanType PenType) + (canContain GarbageCanType CDType) + (canContain GarbageCanType PencilType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain BedType BasketBallType) + (canContain BedType LaptopType) + (canContain BedType BookType) + (canContain BedType CellPhoneType) + (canContain BedType PillowType) + (pickupable AlarmClock_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_01_dot_46) + (pickupable Pen_bar__minus_00_dot_41_bar__plus_00_dot_93_bar__minus_00_dot_60) + (pickupable CD_bar__plus_02_dot_31_bar__plus_00_dot_05_bar__plus_02_dot_61) + (pickupable Pillow_bar__minus_00_dot_15_bar__plus_00_dot_62_bar__plus_01_dot_85) + (pickupable CreditCard_bar__minus_00_dot_70_bar__plus_00_dot_93_bar__minus_00_dot_39) + (pickupable Pencil_bar__plus_02_dot_10_bar__plus_00_dot_85_bar__minus_00_dot_22) + (pickupable Box_bar__plus_02_dot_15_bar__plus_00_dot_14_bar__plus_00_dot_49) + (pickupable KeyChain_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_00_dot_60) + (pickupable CreditCard_bar__minus_00_dot_13_bar__plus_00_dot_92_bar__minus_01_dot_46) + (pickupable KeyChain_bar__plus_02_dot_19_bar__plus_00_dot_84_bar__minus_00_dot_35) + (pickupable Pen_bar__minus_00_dot_51_bar__plus_00_dot_93_bar__minus_00_dot_60) + (pickupable Laptop_bar__minus_00_dot_43_bar__plus_00_dot_92_bar__minus_00_dot_90) + (pickupable BasketBall_bar__minus_00_dot_24_bar__plus_00_dot_12_bar__plus_00_dot_17) + (pickupable AlarmClock_bar__plus_02_dot_19_bar__plus_00_dot_84_bar__minus_00_dot_09) + (pickupable Book_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_01_dot_25) + (pickupable Pen_bar__minus_00_dot_41_bar__plus_00_dot_93_bar__minus_01_dot_46) + (pickupable CreditCard_bar__minus_00_dot_23_bar__plus_00_dot_93_bar__minus_01_dot_25) + (pickupable AlarmClock_bar__minus_00_dot_41_bar__plus_00_dot_93_bar__minus_01_dot_25) + (pickupable CellPhone_bar__plus_02_dot_17_bar__plus_00_dot_46_bar__minus_00_dot_48) + (isReceptacleObject Box_bar__plus_02_dot_15_bar__plus_00_dot_14_bar__plus_00_dot_49) + (openable Drawer_bar__minus_00_dot_10_bar__plus_00_dot_51_bar__minus_00_dot_40) + (openable Drawer_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__minus_00_dot_48) + (openable Drawer_bar__plus_02_dot_16_bar__plus_00_dot_21_bar__minus_00_dot_48) + (openable Drawer_bar__minus_00_dot_10_bar__plus_00_dot_76_bar__minus_00_dot_40) + (openable Drawer_bar__minus_00_dot_10_bar__plus_00_dot_22_bar__minus_00_dot_40) + + (atLocation agent1 loc_bar_5_bar_3_bar_1_bar_30) + + + + + + + + (toggleable DeskLamp_bar__minus_00_dot_67_bar__plus_00_dot_92_bar__minus_00_dot_06) + + + + + (inReceptacle KeyChain_bar__plus_02_dot_19_bar__plus_00_dot_84_bar__minus_00_dot_35 Dresser_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__minus_00_dot_48) + (inReceptacle AlarmClock_bar__plus_02_dot_19_bar__plus_00_dot_84_bar__minus_00_dot_09 Dresser_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__minus_00_dot_48) + (inReceptacle Pencil_bar__plus_02_dot_10_bar__plus_00_dot_85_bar__minus_00_dot_22 Dresser_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__minus_00_dot_48) + (inReceptacle Pillow_bar__minus_00_dot_15_bar__plus_00_dot_62_bar__plus_01_dot_85 Bed_bar__plus_00_dot_01_bar__minus_00_dot_06_bar__plus_01_dot_61) + (inReceptacle AlarmClock_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_01_dot_46 Desk_bar__minus_00_dot_38_bar__plus_00_dot_00_bar__minus_00_dot_95) + (inReceptacle DeskLamp_bar__minus_00_dot_67_bar__plus_00_dot_92_bar__minus_00_dot_06 Desk_bar__minus_00_dot_38_bar__plus_00_dot_00_bar__minus_00_dot_95) + (inReceptacle Pen_bar__minus_00_dot_51_bar__plus_00_dot_93_bar__minus_00_dot_60 Desk_bar__minus_00_dot_38_bar__plus_00_dot_00_bar__minus_00_dot_95) + (inReceptacle Laptop_bar__minus_00_dot_43_bar__plus_00_dot_92_bar__minus_00_dot_90 Desk_bar__minus_00_dot_38_bar__plus_00_dot_00_bar__minus_00_dot_95) + (inReceptacle Pen_bar__minus_00_dot_41_bar__plus_00_dot_93_bar__minus_00_dot_60 Desk_bar__minus_00_dot_38_bar__plus_00_dot_00_bar__minus_00_dot_95) + (inReceptacle Book_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_01_dot_25 Desk_bar__minus_00_dot_38_bar__plus_00_dot_00_bar__minus_00_dot_95) + (inReceptacle AlarmClock_bar__minus_00_dot_41_bar__plus_00_dot_93_bar__minus_01_dot_25 Desk_bar__minus_00_dot_38_bar__plus_00_dot_00_bar__minus_00_dot_95) + (inReceptacle KeyChain_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_00_dot_60 Desk_bar__minus_00_dot_38_bar__plus_00_dot_00_bar__minus_00_dot_95) + (inReceptacle CreditCard_bar__minus_00_dot_13_bar__plus_00_dot_92_bar__minus_01_dot_46 Desk_bar__minus_00_dot_38_bar__plus_00_dot_00_bar__minus_00_dot_95) + (inReceptacle CreditCard_bar__minus_00_dot_70_bar__plus_00_dot_93_bar__minus_00_dot_39 Desk_bar__minus_00_dot_38_bar__plus_00_dot_00_bar__minus_00_dot_95) + (inReceptacle Pen_bar__minus_00_dot_41_bar__plus_00_dot_93_bar__minus_01_dot_46 Desk_bar__minus_00_dot_38_bar__plus_00_dot_00_bar__minus_00_dot_95) + (inReceptacle CreditCard_bar__minus_00_dot_23_bar__plus_00_dot_93_bar__minus_01_dot_25 Desk_bar__minus_00_dot_38_bar__plus_00_dot_00_bar__minus_00_dot_95) + (inReceptacle CellPhone_bar__plus_02_dot_17_bar__plus_00_dot_46_bar__minus_00_dot_48 Drawer_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__minus_00_dot_48) + (inReceptacle CD_bar__plus_02_dot_31_bar__plus_00_dot_05_bar__plus_02_dot_61 GarbageCan_bar__plus_02_dot_26_bar__plus_00_dot_00_bar__plus_02_dot_60) + + + (receptacleAtLocation Bed_bar__plus_00_dot_01_bar__minus_00_dot_06_bar__plus_01_dot_61 loc_bar_6_bar_6_bar_3_bar_45) + (receptacleAtLocation Desk_bar__minus_00_dot_38_bar__plus_00_dot_00_bar__minus_00_dot_95 loc_bar_2_bar__minus_5_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__plus_02_dot_16_bar__plus_00_dot_21_bar__minus_00_dot_48 loc_bar_5_bar__minus_5_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__minus_00_dot_48 loc_bar_6_bar__minus_5_bar_0_bar_60) + (receptacleAtLocation Drawer_bar__minus_00_dot_10_bar__plus_00_dot_22_bar__minus_00_dot_40 loc_bar_3_bar__minus_5_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_00_dot_10_bar__plus_00_dot_51_bar__minus_00_dot_40 loc_bar_2_bar__minus_5_bar_0_bar_60) + (receptacleAtLocation Drawer_bar__minus_00_dot_10_bar__plus_00_dot_76_bar__minus_00_dot_40 loc_bar_3_bar__minus_2_bar_3_bar_45) + (receptacleAtLocation Dresser_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__minus_00_dot_48 loc_bar_6_bar__minus_2_bar_1_bar_60) + (receptacleAtLocation GarbageCan_bar__plus_02_dot_26_bar__plus_00_dot_00_bar__plus_02_dot_60 loc_bar_8_bar_9_bar_0_bar_60) + (objectAtLocation AlarmClock_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_01_dot_46 loc_bar_2_bar__minus_5_bar_3_bar_60) + (objectAtLocation CreditCard_bar__minus_00_dot_23_bar__plus_00_dot_93_bar__minus_01_dot_25 loc_bar_2_bar__minus_5_bar_3_bar_60) + (objectAtLocation KeyChain_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_00_dot_60 loc_bar_2_bar__minus_5_bar_3_bar_60) + (objectAtLocation Pen_bar__minus_00_dot_41_bar__plus_00_dot_93_bar__minus_01_dot_46 loc_bar_2_bar__minus_5_bar_3_bar_60) + (objectAtLocation AlarmClock_bar__plus_02_dot_19_bar__plus_00_dot_84_bar__minus_00_dot_09 loc_bar_6_bar__minus_2_bar_1_bar_60) + (objectAtLocation CreditCard_bar__minus_00_dot_70_bar__plus_00_dot_93_bar__minus_00_dot_39 loc_bar_2_bar__minus_5_bar_3_bar_60) + (objectAtLocation Pen_bar__minus_00_dot_41_bar__plus_00_dot_93_bar__minus_00_dot_60 loc_bar_2_bar__minus_5_bar_3_bar_60) + (objectAtLocation Chair_bar__plus_00_dot_01_bar__plus_00_dot_01_bar__minus_01_dot_24 loc_bar_2_bar__minus_5_bar_3_bar_60) + (objectAtLocation Box_bar__plus_02_dot_15_bar__plus_00_dot_14_bar__plus_00_dot_49 loc_bar_6_bar_2_bar_1_bar_60) + (objectAtLocation Book_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_01_dot_25 loc_bar_2_bar__minus_5_bar_3_bar_60) + (objectAtLocation DeskLamp_bar__minus_00_dot_67_bar__plus_00_dot_92_bar__minus_00_dot_06 loc_bar_2_bar__minus_5_bar_3_bar_60) + (objectAtLocation BasketBall_bar__minus_00_dot_24_bar__plus_00_dot_12_bar__plus_00_dot_17 loc_bar_1_bar_0_bar_3_bar_60) + (objectAtLocation Pen_bar__minus_00_dot_51_bar__plus_00_dot_93_bar__minus_00_dot_60 loc_bar_2_bar__minus_5_bar_3_bar_60) + (objectAtLocation Pillow_bar__minus_00_dot_15_bar__plus_00_dot_62_bar__plus_01_dot_85 loc_bar_6_bar_6_bar_3_bar_45) + (objectAtLocation Pencil_bar__plus_02_dot_10_bar__plus_00_dot_85_bar__minus_00_dot_22 loc_bar_6_bar__minus_2_bar_1_bar_60) + (objectAtLocation CellPhone_bar__plus_02_dot_17_bar__plus_00_dot_46_bar__minus_00_dot_48 loc_bar_6_bar__minus_5_bar_0_bar_60) + (objectAtLocation KeyChain_bar__plus_02_dot_19_bar__plus_00_dot_84_bar__minus_00_dot_35 loc_bar_6_bar__minus_2_bar_1_bar_60) + (objectAtLocation Painting_bar__minus_00_dot_79_bar__plus_01_dot_81_bar__minus_00_dot_22 loc_bar_1_bar__minus_1_bar_3_bar__minus_15) + (objectAtLocation Painting_bar__minus_00_dot_79_bar__plus_01_dot_81_bar__plus_01_dot_02 loc_bar_4_bar_4_bar_3_bar_0) + (objectAtLocation CreditCard_bar__minus_00_dot_13_bar__plus_00_dot_92_bar__minus_01_dot_46 loc_bar_2_bar__minus_5_bar_3_bar_60) + (objectAtLocation AlarmClock_bar__minus_00_dot_41_bar__plus_00_dot_93_bar__minus_01_dot_25 loc_bar_2_bar__minus_5_bar_3_bar_60) + (objectAtLocation Mirror_bar__plus_02_dot_12_bar__plus_01_dot_28_bar__plus_02_dot_75 loc_bar_8_bar_9_bar_0_bar_30) + (objectAtLocation LightSwitch_bar__plus_00_dot_73_bar__plus_01_dot_20_bar__plus_02_dot_75 loc_bar_4_bar_9_bar_0_bar_45) + (objectAtLocation CD_bar__plus_02_dot_31_bar__plus_00_dot_05_bar__plus_02_dot_61 loc_bar_8_bar_9_bar_0_bar_60) + (objectAtLocation Laptop_bar__minus_00_dot_43_bar__plus_00_dot_92_bar__minus_00_dot_90 loc_bar_2_bar__minus_5_bar_3_bar_60) + (objectAtLocation Window_bar__plus_00_dot_67_bar__plus_01_dot_36_bar__minus_01_dot_91 loc_bar_3_bar__minus_5_bar_2_bar_30) + (objectAtLocation Blinds_bar__plus_00_dot_70_bar__plus_01_dot_98_bar__minus_01_dot_87 loc_bar_3_bar__minus_5_bar_2_bar__minus_30) + ) + + + (:goal + (and + (exists (?ot - object + ?r - receptacle + ?a - agent + ?l - location) + (and + (objectType ?ot DeskLampType) + (toggleable ?ot) + (isToggled ?ot) + (receptacleAtLocation ?r ?l) + (atLocation ?a ?l) + (inReceptacle ?ot ?r) + ) + ) + (exists (?o - object + ?a - agent) + (and + (objectType ?o 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-DeskLamp-314/trial_T20190909_012259_796923/traj_data.json 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"assignment_id": "A2Z43TA0WZ0EG0_34J10VATJIPWZG0P51EP5N857W1IQA", + "high_descs": [ + "Turn to your left at the dresses with the pen on top of it.", + "Pick up the pen from the dresser.", + "Walk to your left towards the lamp with a green shade on the dresser.", + "Turn the lamp with the green shade on." + ], + "task_desc": "Pick up the pen from the dresser and turn the lamp on.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1CY7IOJ9YH136_3WJ1OXY92D7BNUHV7J5C2YZM0I8A8L", + "high_descs": [ + "turn left, face desk with lamp", + "pick up white pen from desk", + "go to the lamp on left end of desk", + "turn on lamp on desk" + ], + "task_desc": "pick up pen, turn on lamp", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "ABR580YP0ST7X_3YGXWBAF738YX8RRFUBQRH95YZ04CD", + "high_descs": [ + "Walk forward to end of table, turn left", + "Pick up pen off of table", + "Turn left, walk back to end of table", + "Turn on light on top of table" + ], + "task_desc": "Pick up pen from end of table, return to other end of table to turn on 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-Pen-None-DeskLamp-327/trial_T20190909_020841_759592/game.tw-pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Pen-None-DeskLamp-327/trial_T20190909_020841_759592/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..fd68ad5a586268b06f2b71fce14940017e54abd3 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Pen-None-DeskLamp-327/trial_T20190909_020841_759592/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\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 pen with the desklamp.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190909_020841_759592)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\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_46_bar__plus_00_dot_70_bar__minus_02_dot_19 - object\n AlarmClock_bar__minus_01_dot_51_bar__plus_01_dot_52_bar__minus_02_dot_00 - object\n BaseballBat_bar__plus_01_dot_44_bar__plus_00_dot_64_bar__plus_01_dot_99 - object\n BasketBall_bar__plus_01_dot_27_bar__plus_00_dot_12_bar__minus_01_dot_29 - object\n Blinds_bar__plus_00_dot_25_bar__plus_02_dot_19_bar__minus_02_dot_69 - object\n Blinds_bar__minus_00_dot_35_bar__plus_02_dot_19_bar__minus_02_dot_69 - object\n Blinds_bar__minus_00_dot_95_bar__plus_02_dot_19_bar__minus_02_dot_69 - object\n Book_bar__plus_00_dot_62_bar__plus_00_dot_57_bar__minus_02_dot_47 - object\n Boots_bar__plus_01_dot_29_bar__plus_00_dot_00_bar__minus_00_dot_96 - object\n Bowl_bar__minus_01_dot_54_bar__plus_01_dot_52_bar__minus_02_dot_44 - object\n CD_bar__plus_01_dot_29_bar__plus_00_dot_91_bar__minus_00_dot_10 - object\n CellPhone_bar__plus_01_dot_33_bar__plus_00_dot_37_bar__minus_01_dot_64 - object\n CellPhone_bar__minus_00_dot_84_bar__plus_00_dot_61_bar__minus_01_dot_07 - object\n CellPhone_bar__minus_01_dot_39_bar__plus_00_dot_70_bar__minus_01_dot_90 - object\n Chair_bar__plus_00_dot_28_bar__plus_00_dot_00_bar__minus_02_dot_26 - object\n CreditCard_bar_00_dot_00_bar__plus_00_dot_58_bar__minus_02_dot_59 - object\n DeskLamp_bar__minus_01_dot_49_bar__plus_00_dot_69_bar__minus_02_dot_42 - object\n KeyChain_bar__plus_00_dot_31_bar__plus_00_dot_58_bar__minus_02_dot_37 - object\n Laptop_bar__minus_01_dot_08_bar__plus_00_dot_61_bar__minus_00_dot_22 - object\n Laptop_bar__minus_01_dot_44_bar__plus_00_dot_61_bar__plus_00_dot_62 - object\n LightSwitch_bar__minus_00_dot_76_bar__plus_01_dot_18_bar__plus_02_dot_10 - object\n Mirror_bar__plus_00_dot_74_bar__plus_01_dot_49_bar__plus_02_dot_10 - object\n Pencil_bar__plus_01_dot_22_bar__plus_00_dot_24_bar__minus_01_dot_93 - object\n Pencil_bar__plus_01_dot_26_bar__plus_00_dot_92_bar__plus_00_dot_04 - object\n Pencil_bar__plus_01_dot_29_bar__plus_01_dot_42_bar__plus_00_dot_20 - object\n Pen_bar__minus_01_dot_52_bar__plus_00_dot_70_bar__minus_01_dot_76 - object\n Pillow_bar__minus_01_dot_17_bar__plus_00_dot_68_bar__minus_00_dot_99 - object\n Window_bar__plus_00_dot_24_bar__plus_00_dot_96_bar__minus_02_dot_68 - object\n Window_bar__minus_00_dot_36_bar__plus_00_dot_96_bar__minus_02_dot_68 - object\n Window_bar__minus_00_dot_96_bar__plus_00_dot_96_bar__minus_02_dot_68 - object\n Bed_bar__minus_01_dot_21_bar__plus_00_dot_02_bar__minus_00_dot_27 - receptacle\n Desk_bar__plus_00_dot_45_bar_00_dot_00_bar__minus_02_dot_53 - receptacle\n Drawer_bar__plus_00_dot_98_bar__plus_00_dot_14_bar__minus_01_dot_64 - receptacle\n Drawer_bar__plus_00_dot_98_bar__plus_00_dot_14_bar__minus_01_dot_96 - receptacle\n Drawer_bar__plus_00_dot_98_bar__plus_00_dot_27_bar__minus_01_dot_64 - receptacle\n Drawer_bar__plus_00_dot_98_bar__plus_00_dot_27_bar__minus_01_dot_96 - receptacle\n Drawer_bar__plus_00_dot_98_bar__plus_00_dot_40_bar__minus_01_dot_64 - receptacle\n Drawer_bar__plus_00_dot_98_bar__plus_00_dot_40_bar__minus_01_dot_96 - receptacle\n Drawer_bar__minus_01_dot_35_bar__plus_00_dot_19_bar__minus_02_dot_05 - receptacle\n Drawer_bar__minus_01_dot_35_bar__plus_00_dot_48_bar__minus_02_dot_05 - receptacle\n Dresser_bar__minus_01_dot_47_bar__plus_00_dot_03_bar__minus_02_dot_05 - receptacle\n GarbageCan_bar__minus_01_dot_57_bar__plus_00_dot_00_bar__plus_01_dot_94 - receptacle\n Shelf_bar__plus_01_dot_22_bar__plus_00_dot_86_bar__minus_01_dot_80 - receptacle\n Shelf_bar__plus_01_dot_26_bar__plus_00_dot_38_bar__minus_00_dot_26 - receptacle\n Shelf_bar__plus_01_dot_26_bar__plus_00_dot_90_bar__minus_00_dot_27 - receptacle\n Shelf_bar__plus_01_dot_26_bar__plus_01_dot_40_bar__minus_00_dot_26 - receptacle\n Shelf_bar__minus_01_dot_58_bar__plus_01_dot_51_bar__minus_02_dot_03 - receptacle\n loc_bar_0_bar_0_bar_3_bar_60 - location\n loc_bar_0_bar__minus_6_bar_1_bar_60 - location\n loc_bar__minus_2_bar__minus_9_bar_2_bar__minus_30 - location\n loc_bar__minus_2_bar__minus_9_bar_2_bar_60 - location\n loc_bar_1_bar__minus_6_bar_1_bar_60 - location\n loc_bar_2_bar__minus_1_bar_1_bar_45 - location\n loc_bar_1_bar__minus_5_bar_1_bar_60 - location\n loc_bar__minus_2_bar_5_bar_3_bar_60 - location\n loc_bar_3_bar_6_bar_0_bar_15 - location\n loc_bar_2_bar__minus_6_bar_2_bar_60 - location\n loc_bar_2_bar__minus_6_bar_1_bar_45 - location\n loc_bar_4_bar_6_bar_0_bar_60 - location\n loc_bar__minus_2_bar__minus_9_bar_1_bar_45 - location\n loc_bar__minus_3_bar__minus_8_bar_3_bar_60 - location\n loc_bar__minus_1_bar__minus_7_bar_3_bar_60 - location\n loc_bar__minus_3_bar__minus_9_bar_2_bar__minus_30 - location\n loc_bar__minus_3_bar_6_bar_0_bar_45 - location\n loc_bar__minus_3_bar__minus_9_bar_2_bar_60 - location\n loc_bar_2_bar__minus_1_bar_1_bar_60 - location\n loc_bar_2_bar__minus_5_bar_1_bar_60 - location\n loc_bar_2_bar__minus_1_bar_1_bar_15 - location\n loc_bar_2_bar_0_bar_1_bar_45 - location\n loc_bar__minus_1_bar__minus_5_bar_1_bar_45 - location\n loc_bar__minus_2_bar__minus_9_bar_1_bar_60 - location\n loc_bar_0_bar__minus_5_bar_1_bar_60 - location\n loc_bar__minus_2_bar__minus_9_bar_1_bar__minus_30 - location\n loc_bar__minus_3_bar__minus_8_bar_3_bar_15 - location\n loc_bar_3_bar__minus_4_bar_1_bar_60 - location\n loc_bar__minus_1_bar__minus_8_bar_3_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Drawer_bar__plus_00_dot_98_bar__plus_00_dot_40_bar__minus_01_dot_64 DrawerType)\n (receptacleType Shelf_bar__minus_01_dot_58_bar__plus_01_dot_51_bar__minus_02_dot_03 ShelfType)\n (receptacleType Dresser_bar__minus_01_dot_47_bar__plus_00_dot_03_bar__minus_02_dot_05 DresserType)\n (receptacleType Drawer_bar__minus_01_dot_35_bar__plus_00_dot_19_bar__minus_02_dot_05 DrawerType)\n (receptacleType Drawer_bar__plus_00_dot_98_bar__plus_00_dot_14_bar__minus_01_dot_64 DrawerType)\n (receptacleType Shelf_bar__plus_01_dot_26_bar__plus_01_dot_40_bar__minus_00_dot_26 ShelfType)\n (receptacleType Drawer_bar__plus_00_dot_98_bar__plus_00_dot_14_bar__minus_01_dot_96 DrawerType)\n (receptacleType Drawer_bar__plus_00_dot_98_bar__plus_00_dot_27_bar__minus_01_dot_64 DrawerType)\n (receptacleType Shelf_bar__plus_01_dot_26_bar__plus_00_dot_38_bar__minus_00_dot_26 ShelfType)\n (receptacleType GarbageCan_bar__minus_01_dot_57_bar__plus_00_dot_00_bar__plus_01_dot_94 GarbageCanType)\n (receptacleType Drawer_bar__plus_00_dot_98_bar__plus_00_dot_27_bar__minus_01_dot_96 DrawerType)\n (receptacleType Shelf_bar__plus_01_dot_22_bar__plus_00_dot_86_bar__minus_01_dot_80 ShelfType)\n (receptacleType Drawer_bar__plus_00_dot_98_bar__plus_00_dot_40_bar__minus_01_dot_96 DrawerType)\n (receptacleType Shelf_bar__plus_01_dot_26_bar__plus_00_dot_90_bar__minus_00_dot_27 ShelfType)\n (receptacleType Desk_bar__plus_00_dot_45_bar_00_dot_00_bar__minus_02_dot_53 DeskType)\n (receptacleType Bed_bar__minus_01_dot_21_bar__plus_00_dot_02_bar__minus_00_dot_27 BedType)\n (receptacleType Drawer_bar__minus_01_dot_35_bar__plus_00_dot_48_bar__minus_02_dot_05 DrawerType)\n (objectType Pencil_bar__plus_01_dot_26_bar__plus_00_dot_92_bar__plus_00_dot_04 PencilType)\n (objectType Pen_bar__minus_01_dot_52_bar__plus_00_dot_70_bar__minus_01_dot_76 PenType)\n (objectType AlarmClock_bar__minus_01_dot_46_bar__plus_00_dot_70_bar__minus_02_dot_19 AlarmClockType)\n (objectType Bowl_bar__minus_01_dot_54_bar__plus_01_dot_52_bar__minus_02_dot_44 BowlType)\n (objectType CellPhone_bar__plus_01_dot_33_bar__plus_00_dot_37_bar__minus_01_dot_64 CellPhoneType)\n (objectType Window_bar__minus_00_dot_96_bar__plus_00_dot_96_bar__minus_02_dot_68 WindowType)\n (objectType KeyChain_bar__plus_00_dot_31_bar__plus_00_dot_58_bar__minus_02_dot_37 KeyChainType)\n (objectType Blinds_bar__minus_00_dot_35_bar__plus_02_dot_19_bar__minus_02_dot_69 BlindsType)\n (objectType Boots_bar__plus_01_dot_29_bar__plus_00_dot_00_bar__minus_00_dot_96 BootsType)\n (objectType Blinds_bar__plus_00_dot_25_bar__plus_02_dot_19_bar__minus_02_dot_69 BlindsType)\n (objectType Blinds_bar__minus_00_dot_95_bar__plus_02_dot_19_bar__minus_02_dot_69 BlindsType)\n (objectType Pencil_bar__plus_01_dot_29_bar__plus_01_dot_42_bar__plus_00_dot_20 PencilType)\n (objectType CellPhone_bar__minus_01_dot_39_bar__plus_00_dot_70_bar__minus_01_dot_90 CellPhoneType)\n (objectType DeskLamp_bar__minus_01_dot_49_bar__plus_00_dot_69_bar__minus_02_dot_42 DeskLampType)\n (objectType Chair_bar__plus_00_dot_28_bar__plus_00_dot_00_bar__minus_02_dot_26 ChairType)\n (objectType CreditCard_bar_00_dot_00_bar__plus_00_dot_58_bar__minus_02_dot_59 CreditCardType)\n (objectType Pencil_bar__plus_01_dot_22_bar__plus_00_dot_24_bar__minus_01_dot_93 PencilType)\n (objectType Book_bar__plus_00_dot_62_bar__plus_00_dot_57_bar__minus_02_dot_47 BookType)\n (objectType Laptop_bar__minus_01_dot_08_bar__plus_00_dot_61_bar__minus_00_dot_22 LaptopType)\n (objectType CellPhone_bar__minus_00_dot_84_bar__plus_00_dot_61_bar__minus_01_dot_07 CellPhoneType)\n (objectType Window_bar__plus_00_dot_24_bar__plus_00_dot_96_bar__minus_02_dot_68 WindowType)\n (objectType BasketBall_bar__plus_01_dot_27_bar__plus_00_dot_12_bar__minus_01_dot_29 BasketBallType)\n (objectType Laptop_bar__minus_01_dot_44_bar__plus_00_dot_61_bar__plus_00_dot_62 LaptopType)\n (objectType Pillow_bar__minus_01_dot_17_bar__plus_00_dot_68_bar__minus_00_dot_99 PillowType)\n (objectType BaseballBat_bar__plus_01_dot_44_bar__plus_00_dot_64_bar__plus_01_dot_99 BaseballBatType)\n (objectType CD_bar__plus_01_dot_29_bar__plus_00_dot_91_bar__minus_00_dot_10 CDType)\n (objectType Window_bar__minus_00_dot_36_bar__plus_00_dot_96_bar__minus_02_dot_68 WindowType)\n (objectType Mirror_bar__plus_00_dot_74_bar__plus_01_dot_49_bar__plus_02_dot_10 MirrorType)\n (objectType LightSwitch_bar__minus_00_dot_76_bar__plus_01_dot_18_bar__plus_02_dot_10 LightSwitchType)\n (objectType AlarmClock_bar__minus_01_dot_51_bar__plus_01_dot_52_bar__minus_02_dot_00 AlarmClockType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain ShelfType PenType)\n (canContain ShelfType BookType)\n (canContain ShelfType BowlType)\n (canContain ShelfType CDType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType PencilType)\n (canContain ShelfType AlarmClockType)\n (canContain DresserType PenType)\n (canContain DresserType BookType)\n (canContain DresserType BowlType)\n (canContain DresserType CDType)\n (canContain DresserType CellPhoneType)\n (canContain DresserType KeyChainType)\n (canContain DresserType CreditCardType)\n (canContain DresserType BasketBallType)\n (canContain DresserType LaptopType)\n (canContain DresserType PencilType)\n (canContain DresserType AlarmClockType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain ShelfType PenType)\n (canContain ShelfType BookType)\n (canContain ShelfType BowlType)\n (canContain ShelfType CDType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType PencilType)\n (canContain ShelfType AlarmClockType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain ShelfType PenType)\n (canContain ShelfType BookType)\n (canContain ShelfType BowlType)\n (canContain ShelfType CDType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType PencilType)\n (canContain ShelfType AlarmClockType)\n (canContain GarbageCanType PenType)\n (canContain GarbageCanType CDType)\n (canContain GarbageCanType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain ShelfType PenType)\n (canContain ShelfType BookType)\n (canContain ShelfType BowlType)\n (canContain ShelfType CDType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType PencilType)\n (canContain ShelfType AlarmClockType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain ShelfType PenType)\n (canContain ShelfType BookType)\n (canContain ShelfType BowlType)\n (canContain ShelfType CDType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType PencilType)\n (canContain ShelfType AlarmClockType)\n (canContain DeskType PenType)\n (canContain DeskType BookType)\n (canContain DeskType BowlType)\n (canContain DeskType CDType)\n (canContain DeskType CellPhoneType)\n (canContain DeskType KeyChainType)\n (canContain DeskType CreditCardType)\n (canContain DeskType BasketBallType)\n (canContain DeskType LaptopType)\n (canContain DeskType PencilType)\n (canContain DeskType AlarmClockType)\n (canContain BedType BasketBallType)\n (canContain BedType BaseballBatType)\n (canContain BedType LaptopType)\n (canContain BedType BookType)\n (canContain BedType CellPhoneType)\n (canContain BedType PillowType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (pickupable Pencil_bar__plus_01_dot_26_bar__plus_00_dot_92_bar__plus_00_dot_04)\n (pickupable Pen_bar__minus_01_dot_52_bar__plus_00_dot_70_bar__minus_01_dot_76)\n (pickupable AlarmClock_bar__minus_01_dot_46_bar__plus_00_dot_70_bar__minus_02_dot_19)\n (pickupable Bowl_bar__minus_01_dot_54_bar__plus_01_dot_52_bar__minus_02_dot_44)\n (pickupable CellPhone_bar__plus_01_dot_33_bar__plus_00_dot_37_bar__minus_01_dot_64)\n (pickupable KeyChain_bar__plus_00_dot_31_bar__plus_00_dot_58_bar__minus_02_dot_37)\n (pickupable Boots_bar__plus_01_dot_29_bar__plus_00_dot_00_bar__minus_00_dot_96)\n (pickupable Pencil_bar__plus_01_dot_29_bar__plus_01_dot_42_bar__plus_00_dot_20)\n (pickupable CellPhone_bar__minus_01_dot_39_bar__plus_00_dot_70_bar__minus_01_dot_90)\n (pickupable CreditCard_bar_00_dot_00_bar__plus_00_dot_58_bar__minus_02_dot_59)\n (pickupable Pencil_bar__plus_01_dot_22_bar__plus_00_dot_24_bar__minus_01_dot_93)\n (pickupable Book_bar__plus_00_dot_62_bar__plus_00_dot_57_bar__minus_02_dot_47)\n (pickupable Laptop_bar__minus_01_dot_08_bar__plus_00_dot_61_bar__minus_00_dot_22)\n (pickupable CellPhone_bar__minus_00_dot_84_bar__plus_00_dot_61_bar__minus_01_dot_07)\n (pickupable BasketBall_bar__plus_01_dot_27_bar__plus_00_dot_12_bar__minus_01_dot_29)\n (pickupable Laptop_bar__minus_01_dot_44_bar__plus_00_dot_61_bar__plus_00_dot_62)\n (pickupable Pillow_bar__minus_01_dot_17_bar__plus_00_dot_68_bar__minus_00_dot_99)\n (pickupable BaseballBat_bar__plus_01_dot_44_bar__plus_00_dot_64_bar__plus_01_dot_99)\n (pickupable CD_bar__plus_01_dot_29_bar__plus_00_dot_91_bar__minus_00_dot_10)\n (pickupable AlarmClock_bar__minus_01_dot_51_bar__plus_01_dot_52_bar__minus_02_dot_00)\n (isReceptacleObject Bowl_bar__minus_01_dot_54_bar__plus_01_dot_52_bar__minus_02_dot_44)\n (openable Drawer_bar__plus_00_dot_98_bar__plus_00_dot_40_bar__minus_01_dot_64)\n (openable Drawer_bar__minus_01_dot_35_bar__plus_00_dot_19_bar__minus_02_dot_05)\n (openable Drawer_bar__plus_00_dot_98_bar__plus_00_dot_14_bar__minus_01_dot_64)\n (openable Drawer_bar__plus_00_dot_98_bar__plus_00_dot_14_bar__minus_01_dot_96)\n (openable Drawer_bar__plus_00_dot_98_bar__plus_00_dot_27_bar__minus_01_dot_64)\n (openable Drawer_bar__plus_00_dot_98_bar__plus_00_dot_27_bar__minus_01_dot_96)\n (openable Drawer_bar__plus_00_dot_98_bar__plus_00_dot_40_bar__minus_01_dot_96)\n \n (atLocation agent1 loc_bar__minus_1_bar__minus_8_bar_3_bar_30)\n \n (cleanable Bowl_bar__minus_01_dot_54_bar__plus_01_dot_52_bar__minus_02_dot_44)\n \n \n (coolable Bowl_bar__minus_01_dot_54_bar__plus_01_dot_52_bar__minus_02_dot_44)\n \n \n (toggleable DeskLamp_bar__minus_01_dot_49_bar__plus_00_dot_69_bar__minus_02_dot_42)\n \n \n \n \n (inReceptacle Pencil_bar__plus_01_dot_22_bar__plus_00_dot_24_bar__minus_01_dot_93 Drawer_bar__plus_00_dot_98_bar__plus_00_dot_27_bar__minus_01_dot_96)\n (inReceptacle KeyChain_bar__plus_00_dot_31_bar__plus_00_dot_58_bar__minus_02_dot_37 Desk_bar__plus_00_dot_45_bar_00_dot_00_bar__minus_02_dot_53)\n (inReceptacle CreditCard_bar_00_dot_00_bar__plus_00_dot_58_bar__minus_02_dot_59 Desk_bar__plus_00_dot_45_bar_00_dot_00_bar__minus_02_dot_53)\n (inReceptacle Book_bar__plus_00_dot_62_bar__plus_00_dot_57_bar__minus_02_dot_47 Desk_bar__plus_00_dot_45_bar_00_dot_00_bar__minus_02_dot_53)\n (inReceptacle AlarmClock_bar__minus_01_dot_46_bar__plus_00_dot_70_bar__minus_02_dot_19 Dresser_bar__minus_01_dot_47_bar__plus_00_dot_03_bar__minus_02_dot_05)\n (inReceptacle CellPhone_bar__minus_01_dot_39_bar__plus_00_dot_70_bar__minus_01_dot_90 Dresser_bar__minus_01_dot_47_bar__plus_00_dot_03_bar__minus_02_dot_05)\n (inReceptacle DeskLamp_bar__minus_01_dot_49_bar__plus_00_dot_69_bar__minus_02_dot_42 Dresser_bar__minus_01_dot_47_bar__plus_00_dot_03_bar__minus_02_dot_05)\n (inReceptacle Pen_bar__minus_01_dot_52_bar__plus_00_dot_70_bar__minus_01_dot_76 Dresser_bar__minus_01_dot_47_bar__plus_00_dot_03_bar__minus_02_dot_05)\n (inReceptacle Laptop_bar__minus_01_dot_44_bar__plus_00_dot_61_bar__plus_00_dot_62 Bed_bar__minus_01_dot_21_bar__plus_00_dot_02_bar__minus_00_dot_27)\n (inReceptacle Laptop_bar__minus_01_dot_08_bar__plus_00_dot_61_bar__minus_00_dot_22 Bed_bar__minus_01_dot_21_bar__plus_00_dot_02_bar__minus_00_dot_27)\n (inReceptacle CellPhone_bar__minus_00_dot_84_bar__plus_00_dot_61_bar__minus_01_dot_07 Bed_bar__minus_01_dot_21_bar__plus_00_dot_02_bar__minus_00_dot_27)\n (inReceptacle Pillow_bar__minus_01_dot_17_bar__plus_00_dot_68_bar__minus_00_dot_99 Bed_bar__minus_01_dot_21_bar__plus_00_dot_02_bar__minus_00_dot_27)\n (inReceptacle CellPhone_bar__plus_01_dot_33_bar__plus_00_dot_37_bar__minus_01_dot_64 Drawer_bar__plus_00_dot_98_bar__plus_00_dot_40_bar__minus_01_dot_64)\n (inReceptacle Pencil_bar__plus_01_dot_26_bar__plus_00_dot_92_bar__plus_00_dot_04 Shelf_bar__plus_01_dot_26_bar__plus_00_dot_90_bar__minus_00_dot_27)\n (inReceptacle Pencil_bar__plus_01_dot_29_bar__plus_01_dot_42_bar__plus_00_dot_20 Shelf_bar__plus_01_dot_26_bar__plus_01_dot_40_bar__minus_00_dot_26)\n (inReceptacle Bowl_bar__minus_01_dot_54_bar__plus_01_dot_52_bar__minus_02_dot_44 Shelf_bar__minus_01_dot_58_bar__plus_01_dot_51_bar__minus_02_dot_03)\n (inReceptacle AlarmClock_bar__minus_01_dot_51_bar__plus_01_dot_52_bar__minus_02_dot_00 Shelf_bar__minus_01_dot_58_bar__plus_01_dot_51_bar__minus_02_dot_03)\n \n \n (receptacleAtLocation Bed_bar__minus_01_dot_21_bar__plus_00_dot_02_bar__minus_00_dot_27 loc_bar_0_bar_0_bar_3_bar_60)\n (receptacleAtLocation Desk_bar__plus_00_dot_45_bar_00_dot_00_bar__minus_02_dot_53 loc_bar_2_bar__minus_6_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__plus_00_dot_98_bar__plus_00_dot_14_bar__minus_01_dot_64 loc_bar_0_bar__minus_5_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_00_dot_98_bar__plus_00_dot_14_bar__minus_01_dot_96 loc_bar_0_bar__minus_6_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_00_dot_98_bar__plus_00_dot_27_bar__minus_01_dot_64 loc_bar__minus_1_bar__minus_5_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_98_bar__plus_00_dot_27_bar__minus_01_dot_96 loc_bar_0_bar__minus_6_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_00_dot_98_bar__plus_00_dot_40_bar__minus_01_dot_64 loc_bar_1_bar__minus_5_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_00_dot_98_bar__plus_00_dot_40_bar__minus_01_dot_96 loc_bar_1_bar__minus_6_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_35_bar__plus_00_dot_19_bar__minus_02_dot_05 loc_bar__minus_1_bar__minus_7_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_35_bar__plus_00_dot_48_bar__minus_02_dot_05 loc_bar__minus_3_bar__minus_8_bar_3_bar_60)\n (receptacleAtLocation Dresser_bar__minus_01_dot_47_bar__plus_00_dot_03_bar__minus_02_dot_05 loc_bar__minus_3_bar__minus_8_bar_3_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_01_dot_57_bar__plus_00_dot_00_bar__plus_01_dot_94 loc_bar__minus_2_bar_5_bar_3_bar_60)\n (receptacleAtLocation Shelf_bar__plus_01_dot_22_bar__plus_00_dot_86_bar__minus_01_dot_80 loc_bar_2_bar__minus_6_bar_1_bar_45)\n (receptacleAtLocation Shelf_bar__plus_01_dot_26_bar__plus_00_dot_38_bar__minus_00_dot_26 loc_bar_2_bar__minus_1_bar_1_bar_60)\n (receptacleAtLocation Shelf_bar__plus_01_dot_26_bar__plus_00_dot_90_bar__minus_00_dot_27 loc_bar_2_bar__minus_1_bar_1_bar_45)\n (receptacleAtLocation Shelf_bar__plus_01_dot_26_bar__plus_01_dot_40_bar__minus_00_dot_26 loc_bar_2_bar__minus_1_bar_1_bar_15)\n (receptacleAtLocation Shelf_bar__minus_01_dot_58_bar__plus_01_dot_51_bar__minus_02_dot_03 loc_bar__minus_3_bar__minus_8_bar_3_bar_15)\n (objectAtLocation AlarmClock_bar__minus_01_dot_46_bar__plus_00_dot_70_bar__minus_02_dot_19 loc_bar__minus_3_bar__minus_8_bar_3_bar_60)\n (objectAtLocation Laptop_bar__minus_01_dot_08_bar__plus_00_dot_61_bar__minus_00_dot_22 loc_bar_0_bar_0_bar_3_bar_60)\n (objectAtLocation CellPhone_bar__plus_01_dot_33_bar__plus_00_dot_37_bar__minus_01_dot_64 loc_bar_1_bar__minus_5_bar_1_bar_60)\n (objectAtLocation Pencil_bar__plus_01_dot_26_bar__plus_00_dot_92_bar__plus_00_dot_04 loc_bar_2_bar__minus_1_bar_1_bar_45)\n (objectAtLocation Pencil_bar__plus_01_dot_22_bar__plus_00_dot_24_bar__minus_01_dot_93 loc_bar_0_bar__minus_6_bar_1_bar_60)\n (objectAtLocation CellPhone_bar__minus_01_dot_39_bar__plus_00_dot_70_bar__minus_01_dot_90 loc_bar__minus_3_bar__minus_8_bar_3_bar_60)\n (objectAtLocation Book_bar__plus_00_dot_62_bar__plus_00_dot_57_bar__minus_02_dot_47 loc_bar_2_bar__minus_6_bar_2_bar_60)\n (objectAtLocation Mirror_bar__plus_00_dot_74_bar__plus_01_dot_49_bar__plus_02_dot_10 loc_bar_3_bar_6_bar_0_bar_15)\n (objectAtLocation Chair_bar__plus_00_dot_28_bar__plus_00_dot_00_bar__minus_02_dot_26 loc_bar__minus_2_bar__minus_9_bar_1_bar_60)\n (objectAtLocation KeyChain_bar__plus_00_dot_31_bar__plus_00_dot_58_bar__minus_02_dot_37 loc_bar_2_bar__minus_6_bar_2_bar_60)\n (objectAtLocation BaseballBat_bar__plus_01_dot_44_bar__plus_00_dot_64_bar__plus_01_dot_99 loc_bar_4_bar_6_bar_0_bar_60)\n (objectAtLocation BasketBall_bar__plus_01_dot_27_bar__plus_00_dot_12_bar__minus_01_dot_29 loc_bar_2_bar__minus_5_bar_1_bar_60)\n (objectAtLocation Pencil_bar__plus_01_dot_29_bar__plus_01_dot_42_bar__plus_00_dot_20 loc_bar_2_bar__minus_1_bar_1_bar_15)\n (objectAtLocation CellPhone_bar__minus_00_dot_84_bar__plus_00_dot_61_bar__minus_01_dot_07 loc_bar_0_bar_0_bar_3_bar_60)\n (objectAtLocation CreditCard_bar_00_dot_00_bar__plus_00_dot_58_bar__minus_02_dot_59 loc_bar_2_bar__minus_6_bar_2_bar_60)\n (objectAtLocation Laptop_bar__minus_01_dot_44_bar__plus_00_dot_61_bar__plus_00_dot_62 loc_bar_0_bar_0_bar_3_bar_60)\n (objectAtLocation Pillow_bar__minus_01_dot_17_bar__plus_00_dot_68_bar__minus_00_dot_99 loc_bar_0_bar_0_bar_3_bar_60)\n (objectAtLocation LightSwitch_bar__minus_00_dot_76_bar__plus_01_dot_18_bar__plus_02_dot_10 loc_bar__minus_3_bar_6_bar_0_bar_45)\n (objectAtLocation Boots_bar__plus_01_dot_29_bar__plus_00_dot_00_bar__minus_00_dot_96 loc_bar_3_bar__minus_4_bar_1_bar_60)\n (objectAtLocation Pen_bar__minus_01_dot_52_bar__plus_00_dot_70_bar__minus_01_dot_76 loc_bar__minus_3_bar__minus_8_bar_3_bar_60)\n (objectAtLocation DeskLamp_bar__minus_01_dot_49_bar__plus_00_dot_69_bar__minus_02_dot_42 loc_bar__minus_3_bar__minus_8_bar_3_bar_60)\n (objectAtLocation AlarmClock_bar__minus_01_dot_51_bar__plus_01_dot_52_bar__minus_02_dot_00 loc_bar__minus_3_bar__minus_8_bar_3_bar_15)\n (objectAtLocation CD_bar__plus_01_dot_29_bar__plus_00_dot_91_bar__minus_00_dot_10 loc_bar_2_bar_0_bar_1_bar_45)\n (objectAtLocation Window_bar__plus_00_dot_24_bar__plus_00_dot_96_bar__minus_02_dot_68 loc_bar__minus_2_bar__minus_9_bar_1_bar_45)\n (objectAtLocation Window_bar__minus_00_dot_36_bar__plus_00_dot_96_bar__minus_02_dot_68 loc_bar__minus_2_bar__minus_9_bar_2_bar_60)\n (objectAtLocation Window_bar__minus_00_dot_96_bar__plus_00_dot_96_bar__minus_02_dot_68 loc_bar__minus_3_bar__minus_9_bar_2_bar_60)\n (objectAtLocation Bowl_bar__minus_01_dot_54_bar__plus_01_dot_52_bar__minus_02_dot_44 loc_bar__minus_3_bar__minus_8_bar_3_bar_15)\n (objectAtLocation Blinds_bar__minus_00_dot_35_bar__plus_02_dot_19_bar__minus_02_dot_69 loc_bar__minus_2_bar__minus_9_bar_2_bar__minus_30)\n (objectAtLocation Blinds_bar__plus_00_dot_25_bar__plus_02_dot_19_bar__minus_02_dot_69 loc_bar__minus_2_bar__minus_9_bar_1_bar__minus_30)\n (objectAtLocation Blinds_bar__minus_00_dot_95_bar__plus_02_dot_19_bar__minus_02_dot_69 loc_bar__minus_3_bar__minus_9_bar_2_bar__minus_30)\n )\n \n\n (:goal\n (and\n (exists (?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 PenType)\n (holds ?a ?o)\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to drawer 7", "use desklamp 1", "take pen 1 from dresser 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Pen-None-DeskLamp-327/trial_T20190909_020841_759592/initial_state.pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Pen-None-DeskLamp-327/trial_T20190909_020841_759592/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..8ebb05833b9694b3e383c1d62922be0477a8abab --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Pen-None-DeskLamp-327/trial_T20190909_020841_759592/initial_state.pddl @@ -0,0 +1,593 @@ + +(define (problem plan_trial_T20190909_020841_759592) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_46_bar__plus_00_dot_70_bar__minus_02_dot_19 - object + AlarmClock_bar__minus_01_dot_51_bar__plus_01_dot_52_bar__minus_02_dot_00 - object + BaseballBat_bar__plus_01_dot_44_bar__plus_00_dot_64_bar__plus_01_dot_99 - object + BasketBall_bar__plus_01_dot_27_bar__plus_00_dot_12_bar__minus_01_dot_29 - object + Blinds_bar__plus_00_dot_25_bar__plus_02_dot_19_bar__minus_02_dot_69 - object + Blinds_bar__minus_00_dot_35_bar__plus_02_dot_19_bar__minus_02_dot_69 - object + Blinds_bar__minus_00_dot_95_bar__plus_02_dot_19_bar__minus_02_dot_69 - object + Book_bar__plus_00_dot_62_bar__plus_00_dot_57_bar__minus_02_dot_47 - object + Boots_bar__plus_01_dot_29_bar__plus_00_dot_00_bar__minus_00_dot_96 - object + Bowl_bar__minus_01_dot_54_bar__plus_01_dot_52_bar__minus_02_dot_44 - object + CD_bar__plus_01_dot_29_bar__plus_00_dot_91_bar__minus_00_dot_10 - object + CellPhone_bar__plus_01_dot_33_bar__plus_00_dot_37_bar__minus_01_dot_64 - object + CellPhone_bar__minus_00_dot_84_bar__plus_00_dot_61_bar__minus_01_dot_07 - object + CellPhone_bar__minus_01_dot_39_bar__plus_00_dot_70_bar__minus_01_dot_90 - object + Chair_bar__plus_00_dot_28_bar__plus_00_dot_00_bar__minus_02_dot_26 - object + CreditCard_bar_00_dot_00_bar__plus_00_dot_58_bar__minus_02_dot_59 - object + DeskLamp_bar__minus_01_dot_49_bar__plus_00_dot_69_bar__minus_02_dot_42 - object + KeyChain_bar__plus_00_dot_31_bar__plus_00_dot_58_bar__minus_02_dot_37 - object + Laptop_bar__minus_01_dot_08_bar__plus_00_dot_61_bar__minus_00_dot_22 - object + Laptop_bar__minus_01_dot_44_bar__plus_00_dot_61_bar__plus_00_dot_62 - object + LightSwitch_bar__minus_00_dot_76_bar__plus_01_dot_18_bar__plus_02_dot_10 - object + Mirror_bar__plus_00_dot_74_bar__plus_01_dot_49_bar__plus_02_dot_10 - object + Pencil_bar__plus_01_dot_22_bar__plus_00_dot_24_bar__minus_01_dot_93 - object + Pencil_bar__plus_01_dot_26_bar__plus_00_dot_92_bar__plus_00_dot_04 - object + Pencil_bar__plus_01_dot_29_bar__plus_01_dot_42_bar__plus_00_dot_20 - object + Pen_bar__minus_01_dot_52_bar__plus_00_dot_70_bar__minus_01_dot_76 - object + Pillow_bar__minus_01_dot_17_bar__plus_00_dot_68_bar__minus_00_dot_99 - object + Window_bar__plus_00_dot_24_bar__plus_00_dot_96_bar__minus_02_dot_68 - object + Window_bar__minus_00_dot_36_bar__plus_00_dot_96_bar__minus_02_dot_68 - object + Window_bar__minus_00_dot_96_bar__plus_00_dot_96_bar__minus_02_dot_68 - object + Bed_bar__minus_01_dot_21_bar__plus_00_dot_02_bar__minus_00_dot_27 - receptacle + Desk_bar__plus_00_dot_45_bar_00_dot_00_bar__minus_02_dot_53 - receptacle + Drawer_bar__plus_00_dot_98_bar__plus_00_dot_14_bar__minus_01_dot_64 - receptacle + Drawer_bar__plus_00_dot_98_bar__plus_00_dot_14_bar__minus_01_dot_96 - receptacle + Drawer_bar__plus_00_dot_98_bar__plus_00_dot_27_bar__minus_01_dot_64 - receptacle + Drawer_bar__plus_00_dot_98_bar__plus_00_dot_27_bar__minus_01_dot_96 - receptacle + Drawer_bar__plus_00_dot_98_bar__plus_00_dot_40_bar__minus_01_dot_64 - receptacle + Drawer_bar__plus_00_dot_98_bar__plus_00_dot_40_bar__minus_01_dot_96 - receptacle + Drawer_bar__minus_01_dot_35_bar__plus_00_dot_19_bar__minus_02_dot_05 - receptacle + Drawer_bar__minus_01_dot_35_bar__plus_00_dot_48_bar__minus_02_dot_05 - receptacle + Dresser_bar__minus_01_dot_47_bar__plus_00_dot_03_bar__minus_02_dot_05 - receptacle + GarbageCan_bar__minus_01_dot_57_bar__plus_00_dot_00_bar__plus_01_dot_94 - receptacle + Shelf_bar__plus_01_dot_22_bar__plus_00_dot_86_bar__minus_01_dot_80 - receptacle + Shelf_bar__plus_01_dot_26_bar__plus_00_dot_38_bar__minus_00_dot_26 - receptacle + Shelf_bar__plus_01_dot_26_bar__plus_00_dot_90_bar__minus_00_dot_27 - receptacle + Shelf_bar__plus_01_dot_26_bar__plus_01_dot_40_bar__minus_00_dot_26 - receptacle + Shelf_bar__minus_01_dot_58_bar__plus_01_dot_51_bar__minus_02_dot_03 - receptacle + loc_bar_0_bar_0_bar_3_bar_60 - location + loc_bar_0_bar__minus_6_bar_1_bar_60 - location + loc_bar__minus_2_bar__minus_9_bar_2_bar__minus_30 - location + loc_bar__minus_2_bar__minus_9_bar_2_bar_60 - location + loc_bar_1_bar__minus_6_bar_1_bar_60 - location + loc_bar_2_bar__minus_1_bar_1_bar_45 - location + loc_bar_1_bar__minus_5_bar_1_bar_60 - location + loc_bar__minus_2_bar_5_bar_3_bar_60 - location + loc_bar_3_bar_6_bar_0_bar_15 - location + loc_bar_2_bar__minus_6_bar_2_bar_60 - location + loc_bar_2_bar__minus_6_bar_1_bar_45 - location + loc_bar_4_bar_6_bar_0_bar_60 - location + loc_bar__minus_2_bar__minus_9_bar_1_bar_45 - location + loc_bar__minus_3_bar__minus_8_bar_3_bar_60 - location + loc_bar__minus_1_bar__minus_7_bar_3_bar_60 - location + loc_bar__minus_3_bar__minus_9_bar_2_bar__minus_30 - location + loc_bar__minus_3_bar_6_bar_0_bar_45 - location + loc_bar__minus_3_bar__minus_9_bar_2_bar_60 - location + loc_bar_2_bar__minus_1_bar_1_bar_60 - location + loc_bar_2_bar__minus_5_bar_1_bar_60 - location + loc_bar_2_bar__minus_1_bar_1_bar_15 - location + loc_bar_2_bar_0_bar_1_bar_45 - location + loc_bar__minus_1_bar__minus_5_bar_1_bar_45 - location + loc_bar__minus_2_bar__minus_9_bar_1_bar_60 - location + loc_bar_0_bar__minus_5_bar_1_bar_60 - location + loc_bar__minus_2_bar__minus_9_bar_1_bar__minus_30 - location + loc_bar__minus_3_bar__minus_8_bar_3_bar_15 - location + loc_bar_3_bar__minus_4_bar_1_bar_60 - location + loc_bar__minus_1_bar__minus_8_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType Drawer_bar__plus_00_dot_98_bar__plus_00_dot_40_bar__minus_01_dot_64 DrawerType) + (receptacleType Shelf_bar__minus_01_dot_58_bar__plus_01_dot_51_bar__minus_02_dot_03 ShelfType) + (receptacleType Dresser_bar__minus_01_dot_47_bar__plus_00_dot_03_bar__minus_02_dot_05 DresserType) + (receptacleType Drawer_bar__minus_01_dot_35_bar__plus_00_dot_19_bar__minus_02_dot_05 DrawerType) + (receptacleType Drawer_bar__plus_00_dot_98_bar__plus_00_dot_14_bar__minus_01_dot_64 DrawerType) + (receptacleType Shelf_bar__plus_01_dot_26_bar__plus_01_dot_40_bar__minus_00_dot_26 ShelfType) + (receptacleType Drawer_bar__plus_00_dot_98_bar__plus_00_dot_14_bar__minus_01_dot_96 DrawerType) + (receptacleType Drawer_bar__plus_00_dot_98_bar__plus_00_dot_27_bar__minus_01_dot_64 DrawerType) + (receptacleType Shelf_bar__plus_01_dot_26_bar__plus_00_dot_38_bar__minus_00_dot_26 ShelfType) + (receptacleType GarbageCan_bar__minus_01_dot_57_bar__plus_00_dot_00_bar__plus_01_dot_94 GarbageCanType) + (receptacleType Drawer_bar__plus_00_dot_98_bar__plus_00_dot_27_bar__minus_01_dot_96 DrawerType) + (receptacleType Shelf_bar__plus_01_dot_22_bar__plus_00_dot_86_bar__minus_01_dot_80 ShelfType) + (receptacleType Drawer_bar__plus_00_dot_98_bar__plus_00_dot_40_bar__minus_01_dot_96 DrawerType) + (receptacleType Shelf_bar__plus_01_dot_26_bar__plus_00_dot_90_bar__minus_00_dot_27 ShelfType) + (receptacleType Desk_bar__plus_00_dot_45_bar_00_dot_00_bar__minus_02_dot_53 DeskType) + (receptacleType Bed_bar__minus_01_dot_21_bar__plus_00_dot_02_bar__minus_00_dot_27 BedType) + (receptacleType Drawer_bar__minus_01_dot_35_bar__plus_00_dot_48_bar__minus_02_dot_05 DrawerType) + (objectType Pencil_bar__plus_01_dot_26_bar__plus_00_dot_92_bar__plus_00_dot_04 PencilType) + (objectType Pen_bar__minus_01_dot_52_bar__plus_00_dot_70_bar__minus_01_dot_76 PenType) + (objectType AlarmClock_bar__minus_01_dot_46_bar__plus_00_dot_70_bar__minus_02_dot_19 AlarmClockType) + (objectType Bowl_bar__minus_01_dot_54_bar__plus_01_dot_52_bar__minus_02_dot_44 BowlType) + (objectType CellPhone_bar__plus_01_dot_33_bar__plus_00_dot_37_bar__minus_01_dot_64 CellPhoneType) + (objectType Window_bar__minus_00_dot_96_bar__plus_00_dot_96_bar__minus_02_dot_68 WindowType) + (objectType KeyChain_bar__plus_00_dot_31_bar__plus_00_dot_58_bar__minus_02_dot_37 KeyChainType) + (objectType Blinds_bar__minus_00_dot_35_bar__plus_02_dot_19_bar__minus_02_dot_69 BlindsType) + (objectType Boots_bar__plus_01_dot_29_bar__plus_00_dot_00_bar__minus_00_dot_96 BootsType) + (objectType Blinds_bar__plus_00_dot_25_bar__plus_02_dot_19_bar__minus_02_dot_69 BlindsType) + (objectType Blinds_bar__minus_00_dot_95_bar__plus_02_dot_19_bar__minus_02_dot_69 BlindsType) + (objectType Pencil_bar__plus_01_dot_29_bar__plus_01_dot_42_bar__plus_00_dot_20 PencilType) + (objectType CellPhone_bar__minus_01_dot_39_bar__plus_00_dot_70_bar__minus_01_dot_90 CellPhoneType) + (objectType DeskLamp_bar__minus_01_dot_49_bar__plus_00_dot_69_bar__minus_02_dot_42 DeskLampType) + (objectType Chair_bar__plus_00_dot_28_bar__plus_00_dot_00_bar__minus_02_dot_26 ChairType) + (objectType CreditCard_bar_00_dot_00_bar__plus_00_dot_58_bar__minus_02_dot_59 CreditCardType) + (objectType Pencil_bar__plus_01_dot_22_bar__plus_00_dot_24_bar__minus_01_dot_93 PencilType) + (objectType Book_bar__plus_00_dot_62_bar__plus_00_dot_57_bar__minus_02_dot_47 BookType) + (objectType Laptop_bar__minus_01_dot_08_bar__plus_00_dot_61_bar__minus_00_dot_22 LaptopType) + (objectType CellPhone_bar__minus_00_dot_84_bar__plus_00_dot_61_bar__minus_01_dot_07 CellPhoneType) + (objectType Window_bar__plus_00_dot_24_bar__plus_00_dot_96_bar__minus_02_dot_68 WindowType) + (objectType BasketBall_bar__plus_01_dot_27_bar__plus_00_dot_12_bar__minus_01_dot_29 BasketBallType) + (objectType Laptop_bar__minus_01_dot_44_bar__plus_00_dot_61_bar__plus_00_dot_62 LaptopType) + (objectType Pillow_bar__minus_01_dot_17_bar__plus_00_dot_68_bar__minus_00_dot_99 PillowType) + (objectType BaseballBat_bar__plus_01_dot_44_bar__plus_00_dot_64_bar__plus_01_dot_99 BaseballBatType) + (objectType CD_bar__plus_01_dot_29_bar__plus_00_dot_91_bar__minus_00_dot_10 CDType) + (objectType Window_bar__minus_00_dot_36_bar__plus_00_dot_96_bar__minus_02_dot_68 WindowType) + (objectType Mirror_bar__plus_00_dot_74_bar__plus_01_dot_49_bar__plus_02_dot_10 MirrorType) + (objectType LightSwitch_bar__minus_00_dot_76_bar__plus_01_dot_18_bar__plus_02_dot_10 LightSwitchType) + (objectType AlarmClock_bar__minus_01_dot_51_bar__plus_01_dot_52_bar__minus_02_dot_00 AlarmClockType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain ShelfType PenType) + (canContain ShelfType BookType) + (canContain ShelfType BowlType) + (canContain ShelfType CDType) + (canContain ShelfType CellPhoneType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType PencilType) + (canContain ShelfType AlarmClockType) + (canContain DresserType PenType) + (canContain DresserType BookType) + (canContain DresserType BowlType) + (canContain DresserType CDType) + (canContain DresserType CellPhoneType) + (canContain DresserType KeyChainType) + (canContain DresserType CreditCardType) + (canContain DresserType BasketBallType) + (canContain DresserType LaptopType) + (canContain DresserType PencilType) + (canContain DresserType AlarmClockType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain ShelfType PenType) + (canContain ShelfType BookType) + (canContain ShelfType BowlType) + (canContain ShelfType CDType) + (canContain ShelfType CellPhoneType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType PencilType) + (canContain ShelfType AlarmClockType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain ShelfType PenType) + (canContain ShelfType BookType) + (canContain ShelfType BowlType) + (canContain ShelfType CDType) + (canContain ShelfType CellPhoneType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType PencilType) + (canContain ShelfType AlarmClockType) + (canContain GarbageCanType PenType) + (canContain GarbageCanType CDType) + (canContain GarbageCanType PencilType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain ShelfType PenType) + (canContain ShelfType BookType) + (canContain ShelfType BowlType) + (canContain ShelfType CDType) + (canContain ShelfType CellPhoneType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType PencilType) + (canContain ShelfType AlarmClockType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain ShelfType PenType) + (canContain ShelfType BookType) + (canContain ShelfType BowlType) + (canContain ShelfType CDType) + (canContain ShelfType CellPhoneType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType PencilType) + (canContain ShelfType AlarmClockType) + (canContain DeskType PenType) + (canContain DeskType BookType) + (canContain DeskType BowlType) + (canContain DeskType CDType) + (canContain DeskType CellPhoneType) + (canContain DeskType KeyChainType) + (canContain DeskType CreditCardType) + (canContain DeskType BasketBallType) + (canContain DeskType LaptopType) + (canContain DeskType PencilType) + (canContain DeskType AlarmClockType) + (canContain BedType BasketBallType) + (canContain BedType BaseballBatType) + (canContain BedType LaptopType) + (canContain BedType BookType) + (canContain BedType CellPhoneType) + (canContain BedType PillowType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (pickupable Pencil_bar__plus_01_dot_26_bar__plus_00_dot_92_bar__plus_00_dot_04) + (pickupable Pen_bar__minus_01_dot_52_bar__plus_00_dot_70_bar__minus_01_dot_76) + (pickupable AlarmClock_bar__minus_01_dot_46_bar__plus_00_dot_70_bar__minus_02_dot_19) + (pickupable Bowl_bar__minus_01_dot_54_bar__plus_01_dot_52_bar__minus_02_dot_44) + (pickupable CellPhone_bar__plus_01_dot_33_bar__plus_00_dot_37_bar__minus_01_dot_64) + (pickupable KeyChain_bar__plus_00_dot_31_bar__plus_00_dot_58_bar__minus_02_dot_37) + (pickupable Boots_bar__plus_01_dot_29_bar__plus_00_dot_00_bar__minus_00_dot_96) + (pickupable Pencil_bar__plus_01_dot_29_bar__plus_01_dot_42_bar__plus_00_dot_20) + (pickupable CellPhone_bar__minus_01_dot_39_bar__plus_00_dot_70_bar__minus_01_dot_90) + (pickupable CreditCard_bar_00_dot_00_bar__plus_00_dot_58_bar__minus_02_dot_59) + (pickupable Pencil_bar__plus_01_dot_22_bar__plus_00_dot_24_bar__minus_01_dot_93) + (pickupable Book_bar__plus_00_dot_62_bar__plus_00_dot_57_bar__minus_02_dot_47) + (pickupable Laptop_bar__minus_01_dot_08_bar__plus_00_dot_61_bar__minus_00_dot_22) + (pickupable CellPhone_bar__minus_00_dot_84_bar__plus_00_dot_61_bar__minus_01_dot_07) + (pickupable BasketBall_bar__plus_01_dot_27_bar__plus_00_dot_12_bar__minus_01_dot_29) + (pickupable Laptop_bar__minus_01_dot_44_bar__plus_00_dot_61_bar__plus_00_dot_62) + (pickupable Pillow_bar__minus_01_dot_17_bar__plus_00_dot_68_bar__minus_00_dot_99) + (pickupable BaseballBat_bar__plus_01_dot_44_bar__plus_00_dot_64_bar__plus_01_dot_99) + (pickupable CD_bar__plus_01_dot_29_bar__plus_00_dot_91_bar__minus_00_dot_10) + (pickupable AlarmClock_bar__minus_01_dot_51_bar__plus_01_dot_52_bar__minus_02_dot_00) + (isReceptacleObject Bowl_bar__minus_01_dot_54_bar__plus_01_dot_52_bar__minus_02_dot_44) + (openable Drawer_bar__plus_00_dot_98_bar__plus_00_dot_40_bar__minus_01_dot_64) + (openable Drawer_bar__minus_01_dot_35_bar__plus_00_dot_19_bar__minus_02_dot_05) + (openable Drawer_bar__plus_00_dot_98_bar__plus_00_dot_14_bar__minus_01_dot_64) + (openable Drawer_bar__plus_00_dot_98_bar__plus_00_dot_14_bar__minus_01_dot_96) + (openable Drawer_bar__plus_00_dot_98_bar__plus_00_dot_27_bar__minus_01_dot_64) + (openable Drawer_bar__plus_00_dot_98_bar__plus_00_dot_27_bar__minus_01_dot_96) + (openable Drawer_bar__plus_00_dot_98_bar__plus_00_dot_40_bar__minus_01_dot_96) + + (atLocation agent1 loc_bar__minus_1_bar__minus_8_bar_3_bar_30) + + (cleanable Bowl_bar__minus_01_dot_54_bar__plus_01_dot_52_bar__minus_02_dot_44) + + + (coolable Bowl_bar__minus_01_dot_54_bar__plus_01_dot_52_bar__minus_02_dot_44) + + + (toggleable DeskLamp_bar__minus_01_dot_49_bar__plus_00_dot_69_bar__minus_02_dot_42) + + + + + (inReceptacle Pencil_bar__plus_01_dot_22_bar__plus_00_dot_24_bar__minus_01_dot_93 Drawer_bar__plus_00_dot_98_bar__plus_00_dot_27_bar__minus_01_dot_96) + (inReceptacle KeyChain_bar__plus_00_dot_31_bar__plus_00_dot_58_bar__minus_02_dot_37 Desk_bar__plus_00_dot_45_bar_00_dot_00_bar__minus_02_dot_53) + (inReceptacle CreditCard_bar_00_dot_00_bar__plus_00_dot_58_bar__minus_02_dot_59 Desk_bar__plus_00_dot_45_bar_00_dot_00_bar__minus_02_dot_53) + (inReceptacle Book_bar__plus_00_dot_62_bar__plus_00_dot_57_bar__minus_02_dot_47 Desk_bar__plus_00_dot_45_bar_00_dot_00_bar__minus_02_dot_53) + (inReceptacle AlarmClock_bar__minus_01_dot_46_bar__plus_00_dot_70_bar__minus_02_dot_19 Dresser_bar__minus_01_dot_47_bar__plus_00_dot_03_bar__minus_02_dot_05) + (inReceptacle CellPhone_bar__minus_01_dot_39_bar__plus_00_dot_70_bar__minus_01_dot_90 Dresser_bar__minus_01_dot_47_bar__plus_00_dot_03_bar__minus_02_dot_05) + (inReceptacle DeskLamp_bar__minus_01_dot_49_bar__plus_00_dot_69_bar__minus_02_dot_42 Dresser_bar__minus_01_dot_47_bar__plus_00_dot_03_bar__minus_02_dot_05) + (inReceptacle Pen_bar__minus_01_dot_52_bar__plus_00_dot_70_bar__minus_01_dot_76 Dresser_bar__minus_01_dot_47_bar__plus_00_dot_03_bar__minus_02_dot_05) + (inReceptacle Laptop_bar__minus_01_dot_44_bar__plus_00_dot_61_bar__plus_00_dot_62 Bed_bar__minus_01_dot_21_bar__plus_00_dot_02_bar__minus_00_dot_27) + (inReceptacle Laptop_bar__minus_01_dot_08_bar__plus_00_dot_61_bar__minus_00_dot_22 Bed_bar__minus_01_dot_21_bar__plus_00_dot_02_bar__minus_00_dot_27) + (inReceptacle CellPhone_bar__minus_00_dot_84_bar__plus_00_dot_61_bar__minus_01_dot_07 Bed_bar__minus_01_dot_21_bar__plus_00_dot_02_bar__minus_00_dot_27) + (inReceptacle Pillow_bar__minus_01_dot_17_bar__plus_00_dot_68_bar__minus_00_dot_99 Bed_bar__minus_01_dot_21_bar__plus_00_dot_02_bar__minus_00_dot_27) + (inReceptacle CellPhone_bar__plus_01_dot_33_bar__plus_00_dot_37_bar__minus_01_dot_64 Drawer_bar__plus_00_dot_98_bar__plus_00_dot_40_bar__minus_01_dot_64) + (inReceptacle Pencil_bar__plus_01_dot_26_bar__plus_00_dot_92_bar__plus_00_dot_04 Shelf_bar__plus_01_dot_26_bar__plus_00_dot_90_bar__minus_00_dot_27) + (inReceptacle Pencil_bar__plus_01_dot_29_bar__plus_01_dot_42_bar__plus_00_dot_20 Shelf_bar__plus_01_dot_26_bar__plus_01_dot_40_bar__minus_00_dot_26) + (inReceptacle Bowl_bar__minus_01_dot_54_bar__plus_01_dot_52_bar__minus_02_dot_44 Shelf_bar__minus_01_dot_58_bar__plus_01_dot_51_bar__minus_02_dot_03) + (inReceptacle AlarmClock_bar__minus_01_dot_51_bar__plus_01_dot_52_bar__minus_02_dot_00 Shelf_bar__minus_01_dot_58_bar__plus_01_dot_51_bar__minus_02_dot_03) + + + (receptacleAtLocation Bed_bar__minus_01_dot_21_bar__plus_00_dot_02_bar__minus_00_dot_27 loc_bar_0_bar_0_bar_3_bar_60) + (receptacleAtLocation Desk_bar__plus_00_dot_45_bar_00_dot_00_bar__minus_02_dot_53 loc_bar_2_bar__minus_6_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__plus_00_dot_98_bar__plus_00_dot_14_bar__minus_01_dot_64 loc_bar_0_bar__minus_5_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_00_dot_98_bar__plus_00_dot_14_bar__minus_01_dot_96 loc_bar_0_bar__minus_6_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_00_dot_98_bar__plus_00_dot_27_bar__minus_01_dot_64 loc_bar__minus_1_bar__minus_5_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_00_dot_98_bar__plus_00_dot_27_bar__minus_01_dot_96 loc_bar_0_bar__minus_6_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_00_dot_98_bar__plus_00_dot_40_bar__minus_01_dot_64 loc_bar_1_bar__minus_5_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_00_dot_98_bar__plus_00_dot_40_bar__minus_01_dot_96 loc_bar_1_bar__minus_6_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__minus_01_dot_35_bar__plus_00_dot_19_bar__minus_02_dot_05 loc_bar__minus_1_bar__minus_7_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_01_dot_35_bar__plus_00_dot_48_bar__minus_02_dot_05 loc_bar__minus_3_bar__minus_8_bar_3_bar_60) + (receptacleAtLocation Dresser_bar__minus_01_dot_47_bar__plus_00_dot_03_bar__minus_02_dot_05 loc_bar__minus_3_bar__minus_8_bar_3_bar_60) + (receptacleAtLocation GarbageCan_bar__minus_01_dot_57_bar__plus_00_dot_00_bar__plus_01_dot_94 loc_bar__minus_2_bar_5_bar_3_bar_60) + (receptacleAtLocation Shelf_bar__plus_01_dot_22_bar__plus_00_dot_86_bar__minus_01_dot_80 loc_bar_2_bar__minus_6_bar_1_bar_45) + (receptacleAtLocation Shelf_bar__plus_01_dot_26_bar__plus_00_dot_38_bar__minus_00_dot_26 loc_bar_2_bar__minus_1_bar_1_bar_60) + (receptacleAtLocation Shelf_bar__plus_01_dot_26_bar__plus_00_dot_90_bar__minus_00_dot_27 loc_bar_2_bar__minus_1_bar_1_bar_45) + (receptacleAtLocation Shelf_bar__plus_01_dot_26_bar__plus_01_dot_40_bar__minus_00_dot_26 loc_bar_2_bar__minus_1_bar_1_bar_15) + (receptacleAtLocation Shelf_bar__minus_01_dot_58_bar__plus_01_dot_51_bar__minus_02_dot_03 loc_bar__minus_3_bar__minus_8_bar_3_bar_15) + (objectAtLocation AlarmClock_bar__minus_01_dot_46_bar__plus_00_dot_70_bar__minus_02_dot_19 loc_bar__minus_3_bar__minus_8_bar_3_bar_60) + (objectAtLocation Laptop_bar__minus_01_dot_08_bar__plus_00_dot_61_bar__minus_00_dot_22 loc_bar_0_bar_0_bar_3_bar_60) + (objectAtLocation CellPhone_bar__plus_01_dot_33_bar__plus_00_dot_37_bar__minus_01_dot_64 loc_bar_1_bar__minus_5_bar_1_bar_60) + (objectAtLocation Pencil_bar__plus_01_dot_26_bar__plus_00_dot_92_bar__plus_00_dot_04 loc_bar_2_bar__minus_1_bar_1_bar_45) + (objectAtLocation Pencil_bar__plus_01_dot_22_bar__plus_00_dot_24_bar__minus_01_dot_93 loc_bar_0_bar__minus_6_bar_1_bar_60) + (objectAtLocation CellPhone_bar__minus_01_dot_39_bar__plus_00_dot_70_bar__minus_01_dot_90 loc_bar__minus_3_bar__minus_8_bar_3_bar_60) + (objectAtLocation Book_bar__plus_00_dot_62_bar__plus_00_dot_57_bar__minus_02_dot_47 loc_bar_2_bar__minus_6_bar_2_bar_60) + (objectAtLocation Mirror_bar__plus_00_dot_74_bar__plus_01_dot_49_bar__plus_02_dot_10 loc_bar_3_bar_6_bar_0_bar_15) + (objectAtLocation Chair_bar__plus_00_dot_28_bar__plus_00_dot_00_bar__minus_02_dot_26 loc_bar__minus_2_bar__minus_9_bar_1_bar_60) + (objectAtLocation KeyChain_bar__plus_00_dot_31_bar__plus_00_dot_58_bar__minus_02_dot_37 loc_bar_2_bar__minus_6_bar_2_bar_60) + (objectAtLocation BaseballBat_bar__plus_01_dot_44_bar__plus_00_dot_64_bar__plus_01_dot_99 loc_bar_4_bar_6_bar_0_bar_60) + (objectAtLocation BasketBall_bar__plus_01_dot_27_bar__plus_00_dot_12_bar__minus_01_dot_29 loc_bar_2_bar__minus_5_bar_1_bar_60) + (objectAtLocation Pencil_bar__plus_01_dot_29_bar__plus_01_dot_42_bar__plus_00_dot_20 loc_bar_2_bar__minus_1_bar_1_bar_15) + (objectAtLocation CellPhone_bar__minus_00_dot_84_bar__plus_00_dot_61_bar__minus_01_dot_07 loc_bar_0_bar_0_bar_3_bar_60) + (objectAtLocation CreditCard_bar_00_dot_00_bar__plus_00_dot_58_bar__minus_02_dot_59 loc_bar_2_bar__minus_6_bar_2_bar_60) + (objectAtLocation Laptop_bar__minus_01_dot_44_bar__plus_00_dot_61_bar__plus_00_dot_62 loc_bar_0_bar_0_bar_3_bar_60) + (objectAtLocation Pillow_bar__minus_01_dot_17_bar__plus_00_dot_68_bar__minus_00_dot_99 loc_bar_0_bar_0_bar_3_bar_60) + (objectAtLocation LightSwitch_bar__minus_00_dot_76_bar__plus_01_dot_18_bar__plus_02_dot_10 loc_bar__minus_3_bar_6_bar_0_bar_45) + (objectAtLocation Boots_bar__plus_01_dot_29_bar__plus_00_dot_00_bar__minus_00_dot_96 loc_bar_3_bar__minus_4_bar_1_bar_60) + (objectAtLocation Pen_bar__minus_01_dot_52_bar__plus_00_dot_70_bar__minus_01_dot_76 loc_bar__minus_3_bar__minus_8_bar_3_bar_60) + (objectAtLocation DeskLamp_bar__minus_01_dot_49_bar__plus_00_dot_69_bar__minus_02_dot_42 loc_bar__minus_3_bar__minus_8_bar_3_bar_60) + (objectAtLocation AlarmClock_bar__minus_01_dot_51_bar__plus_01_dot_52_bar__minus_02_dot_00 loc_bar__minus_3_bar__minus_8_bar_3_bar_15) + (objectAtLocation CD_bar__plus_01_dot_29_bar__plus_00_dot_91_bar__minus_00_dot_10 loc_bar_2_bar_0_bar_1_bar_45) + (objectAtLocation Window_bar__plus_00_dot_24_bar__plus_00_dot_96_bar__minus_02_dot_68 loc_bar__minus_2_bar__minus_9_bar_1_bar_45) + (objectAtLocation Window_bar__minus_00_dot_36_bar__plus_00_dot_96_bar__minus_02_dot_68 loc_bar__minus_2_bar__minus_9_bar_2_bar_60) + (objectAtLocation Window_bar__minus_00_dot_96_bar__plus_00_dot_96_bar__minus_02_dot_68 loc_bar__minus_3_bar__minus_9_bar_2_bar_60) + (objectAtLocation Bowl_bar__minus_01_dot_54_bar__plus_01_dot_52_bar__minus_02_dot_44 loc_bar__minus_3_bar__minus_8_bar_3_bar_15) + (objectAtLocation Blinds_bar__minus_00_dot_35_bar__plus_02_dot_19_bar__minus_02_dot_69 loc_bar__minus_2_bar__minus_9_bar_2_bar__minus_30) + (objectAtLocation Blinds_bar__plus_00_dot_25_bar__plus_02_dot_19_bar__minus_02_dot_69 loc_bar__minus_2_bar__minus_9_bar_1_bar__minus_30) + (objectAtLocation Blinds_bar__minus_00_dot_95_bar__plus_02_dot_19_bar__minus_02_dot_69 loc_bar__minus_3_bar__minus_9_bar_2_bar__minus_30) + ) + + + (:goal + (and + (exists (?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 PenType) + (holds ?a ?o) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Pen-None-DeskLamp-327/trial_T20190909_020841_759592/traj_data.json b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Pen-None-DeskLamp-327/trial_T20190909_020841_759592/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..d5efb9499ccbcc01412929d4402e948fa69ba700 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Pen-None-DeskLamp-327/trial_T20190909_020841_759592/traj_data.json @@ -0,0 +1,1660 @@ +{ + "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 + }, + 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"objectName": "Boots_d4663af8", + "position": { + "x": 1.28801286, + "y": 0.0006439388, + "z": -0.9610129 + }, + "rotation": { + "x": 0.0101616178, + "y": 177.9129, + "z": 359.993683 + } + }, + { + "objectName": "Pen_5b90d568", + "position": { + "x": -1.51988137, + "y": 0.7021554, + "z": -1.75577068 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "AlarmClock_f169cd1d", + "position": { + "x": -1.45727193, + "y": 0.6965797, + "z": -2.19111466 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "CD_20bef21f", + "position": { + "x": 1.293553, + "y": 0.9109028, + "z": -0.104672059 + }, + "rotation": { + "x": 0.0, + "y": 270.000153, + "z": 0.0 + } + }, + { + "objectName": "Bowl_a179d6ba", + "position": { + "x": -1.5441438, + "y": 1.52158082, + "z": -2.437593 + }, + "rotation": { + "x": 0.0, + "y": 269.9995, + "z": 0.0 + } + } + ], + "object_toggles": [ + { + "isOn": false, + "objectType": "DeskLamp" + } + ], + "random_seed": 3115670786, + "scene_num": 327 + }, + "task_id": "trial_T20190909_020841_759592", + "task_type": "look_at_obj_in_light", + "turk_annotations": { + "anns": [ + { + "assignment_id": "AJQGWGESKQT4Y_3ATPCQ38JB1Q208DKN361BNOTXAAYY", + "high_descs": [ + "Move to the right to face the right side of the dresser.", + "Pick the pen up from the dresser.", + "Move to the left and face the lamp on the dresser.", + "Turn the lamp on." + ], + "task_desc": "Pick up a pen and turn a lamp on.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A31681CCEVDIH3_3CN4LGXD50FB0BSWBMTFO81O1N8Y45", + "high_descs": [ + "Make a left to face the dresser next to the wall.", + "Pick up the pen from the dresser.", + "Move to face the lamp on the dresser.", + "Turn on the lamp." + ], + "task_desc": "Pick up a pen to look at under a lit lamp.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A2KAGFQU28JY43_3N8OEVH1FUH3AQYCOJZQ0F9R448OOT", + "high_descs": [ + "Move over to the right side of the dresser in front of you. ", + "Pick up the pen to the right of the cell phone, on the dresser. ", + "Move back over to the left side of the dresser. ", + "Turn on the lamp in the back, left corner of the dresser. " + ], + "task_desc": "Turn on the bedroom 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-Pencil-None-DeskLamp-319/trial_T20190908_135012_910702/game.tw-pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Pencil-None-DeskLamp-319/trial_T20190908_135012_910702/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..a2efc0062e32fb334c1c501d49cb3e77973a1b5f --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Pencil-None-DeskLamp-319/trial_T20190908_135012_910702/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\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 pencil 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_135012_910702)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\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_46_bar__plus_00_dot_82_bar__minus_00_dot_13 - object\n BasketBall_bar__minus_01_dot_23_bar__plus_00_dot_12_bar__minus_00_dot_18 - object\n Blinds_bar__plus_00_dot_54_bar__plus_02_dot_14_bar__minus_02_dot_55 - object\n Blinds_bar__minus_01_dot_65_bar__plus_02_dot_15_bar__minus_00_dot_55 - object\n Book_bar__plus_02_dot_55_bar__plus_00_dot_03_bar__minus_00_dot_22 - object\n Book_bar__minus_00_dot_40_bar__plus_00_dot_73_bar__plus_00_dot_70 - object\n Box_bar__plus_00_dot_25_bar__plus_00_dot_23_bar__minus_02_dot_04 - object\n CD_bar__plus_02_dot_51_bar__plus_00_dot_19_bar__minus_00_dot_39 - object\n CD_bar__plus_02_dot_52_bar__plus_00_dot_82_bar__plus_00_dot_43 - object\n CD_bar__plus_02_dot_64_bar__plus_00_dot_82_bar__plus_00_dot_62 - object\n CellPhone_bar__plus_00_dot_55_bar__plus_00_dot_83_bar__minus_02_dot_47 - object\n CellPhone_bar__plus_02_dot_58_bar__plus_00_dot_82_bar__plus_00_dot_05 - object\n CellPhone_bar__plus_02_dot_70_bar__plus_00_dot_82_bar__minus_00_dot_13 - object\n CreditCard_bar__plus_00_dot_42_bar__plus_00_dot_83_bar__minus_02_dot_41 - object\n CreditCard_bar__plus_02_dot_52_bar__plus_00_dot_82_bar__plus_00_dot_81 - object\n CreditCard_bar__plus_02_dot_69_bar__plus_00_dot_35_bar__plus_00_dot_71 - object\n DeskLamp_bar__plus_02_dot_68_bar__plus_00_dot_82_bar__plus_00_dot_88 - object\n Footstool_bar__plus_00_dot_80_bar__plus_00_dot_44_bar__minus_02_dot_11 - object\n HousePlant_bar__minus_00_dot_80_bar__plus_00_dot_96_bar__minus_01_dot_73 - object\n KeyChain_bar__plus_02_dot_69_bar__plus_00_dot_19_bar__minus_00_dot_04 - object\n Laptop_bar__plus_00_dot_18_bar__plus_00_dot_73_bar__plus_00_dot_70 - object\n Laptop_bar__minus_00_dot_54_bar__plus_00_dot_78_bar__plus_00_dot_40 - object\n LightSwitch_bar__plus_00_dot_78_bar__plus_01_dot_27_bar__plus_02_dot_13 - object\n Mirror_bar__plus_02_dot_84_bar__plus_01_dot_40_bar__plus_01_dot_38 - object\n Painting_bar__plus_01_dot_87_bar__plus_00_dot_39_bar__minus_01_dot_79 - object\n Painting_bar__plus_02_dot_06_bar__plus_01_dot_67_bar__minus_01_dot_87 - object\n Pencil_bar__minus_00_dot_39_bar__plus_00_dot_05_bar__minus_01_dot_75 - object\n Pen_bar__plus_02_dot_55_bar__plus_00_dot_20_bar__minus_00_dot_22 - object\n Pen_bar__plus_02_dot_70_bar__plus_00_dot_83_bar__plus_00_dot_43 - object\n Pen_bar__minus_00_dot_90_bar__plus_00_dot_43_bar__minus_01_dot_75 - object\n Pillow_bar__plus_00_dot_15_bar__plus_00_dot_74_bar__plus_01_dot_74 - object\n Pillow_bar__minus_00_dot_44_bar__plus_00_dot_74_bar__plus_01_dot_64 - object\n Statue_bar__plus_02_dot_46_bar__plus_00_dot_83_bar__minus_00_dot_32 - object\n Window_bar__plus_00_dot_54_bar__plus_01_dot_41_bar__minus_02_dot_62 - object\n Window_bar__minus_01_dot_70_bar__plus_01_dot_44_bar__minus_00_dot_54 - object\n Bed_bar__minus_00_dot_21_bar__plus_00_dot_00_bar__plus_00_dot_98 - receptacle\n Drawer_bar__plus_02_dot_54_bar__plus_00_dot_08_bar__plus_00_dot_62 - receptacle\n Drawer_bar__plus_02_dot_54_bar__plus_00_dot_08_bar__minus_00_dot_13 - receptacle\n Drawer_bar__plus_02_dot_54_bar__plus_00_dot_24_bar__plus_00_dot_62 - receptacle\n Drawer_bar__plus_02_dot_54_bar__plus_00_dot_24_bar__minus_00_dot_13 - receptacle\n Drawer_bar__plus_02_dot_54_bar__plus_00_dot_40_bar__plus_00_dot_62 - receptacle\n Drawer_bar__plus_02_dot_54_bar__plus_00_dot_40_bar__minus_00_dot_13 - receptacle\n Drawer_bar__plus_02_dot_54_bar__plus_00_dot_57_bar__plus_00_dot_62 - receptacle\n Drawer_bar__plus_02_dot_54_bar__plus_00_dot_57_bar__minus_00_dot_13 - receptacle\n Drawer_bar__plus_02_dot_54_bar__plus_00_dot_73_bar__plus_00_dot_62 - receptacle\n Drawer_bar__plus_02_dot_54_bar__plus_00_dot_73_bar__minus_00_dot_13 - receptacle\n Dresser_bar__plus_02_dot_56_bar_00_dot_00_bar__plus_00_dot_25 - receptacle\n GarbageCan_bar__minus_01_dot_36_bar__plus_00_dot_00_bar__minus_00_dot_94 - receptacle\n Shelf_bar__plus_00_dot_53_bar__plus_00_dot_83_bar__minus_02_dot_41 - receptacle\n Shelf_bar__minus_00_dot_33_bar__plus_00_dot_04_bar__minus_01_dot_75 - receptacle\n Shelf_bar__minus_00_dot_45_bar__plus_00_dot_42_bar__minus_01_dot_75 - receptacle\n Shelf_bar__minus_00_dot_45_bar__plus_00_dot_70_bar__minus_01_dot_75 - receptacle\n Shelf_bar__minus_00_dot_62_bar__plus_00_dot_96_bar__minus_01_dot_75 - receptacle\n Shelf_bar__minus_00_dot_72_bar__plus_00_dot_04_bar__minus_01_dot_75 - receptacle\n Shelf_bar__minus_00_dot_81_bar__plus_00_dot_96_bar__minus_01_dot_75 - receptacle\n Shelf_bar__minus_00_dot_91_bar__plus_00_dot_42_bar__minus_01_dot_75 - receptacle\n Shelf_bar__minus_00_dot_91_bar__plus_00_dot_70_bar__minus_01_dot_75 - receptacle\n loc_bar__minus_2_bar__minus_4_bar_2_bar_45 - location\n loc_bar__minus_1_bar__minus_4_bar_2_bar_45 - location\n loc_bar_6_bar_3_bar_3_bar_45 - location\n loc_bar__minus_1_bar__minus_3_bar_2_bar_60 - location\n loc_bar_2_bar__minus_7_bar_2_bar_45 - location\n loc_bar__minus_4_bar__minus_2_bar_3_bar__minus_30 - location\n loc_bar_8_bar__minus_4_bar_2_bar_0 - location\n loc_bar_2_bar__minus_7_bar_2_bar_15 - location\n loc_bar__minus_1_bar__minus_5_bar_2_bar_60 - location\n loc_bar_6_bar_4_bar_1_bar_60 - location\n loc_bar_6_bar__minus_2_bar_1_bar_60 - location\n loc_bar_7_bar__minus_1_bar_1_bar_45 - location\n loc_bar__minus_4_bar__minus_2_bar_0_bar_60 - location\n loc_bar_7_bar_2_bar_1_bar_45 - location\n loc_bar__minus_2_bar__minus_4_bar_2_bar_60 - location\n loc_bar__minus_1_bar__minus_4_bar_2_bar_60 - location\n loc_bar_7_bar_1_bar_1_bar_60 - location\n loc_bar_2_bar__minus_7_bar_2_bar__minus_30 - location\n loc_bar__minus_3_bar__minus_3_bar_3_bar_60 - location\n loc_bar_1_bar__minus_3_bar_2_bar_60 - location\n loc_bar_6_bar_1_bar_1_bar_45 - location\n loc_bar__minus_4_bar__minus_2_bar_3_bar_15 - location\n loc_bar_9_bar_5_bar_1_bar_30 - location\n loc_bar__minus_1_bar__minus_5_bar_3_bar_45 - location\n loc_bar_2_bar__minus_7_bar_2_bar_60 - location\n loc_bar_7_bar__minus_4_bar_2_bar_60 - location\n loc_bar_6_bar_4_bar_1_bar_45 - location\n loc_bar_5_bar_5_bar_1_bar_45 - location\n loc_bar_4_bar_6_bar_0_bar_30 - location\n loc_bar_5_bar_2_bar_1_bar_45 - location\n loc_bar_2_bar__minus_6_bar_2_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Drawer_bar__plus_02_dot_54_bar__plus_00_dot_40_bar__plus_00_dot_62 DrawerType)\n (receptacleType Shelf_bar__minus_00_dot_81_bar__plus_00_dot_96_bar__minus_01_dot_75 ShelfType)\n (receptacleType Drawer_bar__plus_02_dot_54_bar__plus_00_dot_73_bar__minus_00_dot_13 DrawerType)\n (receptacleType Shelf_bar__plus_00_dot_53_bar__plus_00_dot_83_bar__minus_02_dot_41 ShelfType)\n (receptacleType Drawer_bar__plus_02_dot_54_bar__plus_00_dot_08_bar__plus_00_dot_62 DrawerType)\n (receptacleType Drawer_bar__plus_02_dot_54_bar__plus_00_dot_40_bar__minus_00_dot_13 DrawerType)\n (receptacleType Shelf_bar__minus_00_dot_91_bar__plus_00_dot_70_bar__minus_01_dot_75 ShelfType)\n (receptacleType Shelf_bar__minus_00_dot_45_bar__plus_00_dot_42_bar__minus_01_dot_75 ShelfType)\n (receptacleType Shelf_bar__minus_00_dot_62_bar__plus_00_dot_96_bar__minus_01_dot_75 ShelfType)\n (receptacleType Bed_bar__minus_00_dot_21_bar__plus_00_dot_00_bar__plus_00_dot_98 BedType)\n (receptacleType GarbageCan_bar__minus_01_dot_36_bar__plus_00_dot_00_bar__minus_00_dot_94 GarbageCanType)\n (receptacleType Shelf_bar__minus_00_dot_45_bar__plus_00_dot_70_bar__minus_01_dot_75 ShelfType)\n (receptacleType Drawer_bar__plus_02_dot_54_bar__plus_00_dot_57_bar__minus_00_dot_13 DrawerType)\n (receptacleType Drawer_bar__plus_02_dot_54_bar__plus_00_dot_08_bar__minus_00_dot_13 DrawerType)\n (receptacleType Dresser_bar__plus_02_dot_56_bar_00_dot_00_bar__plus_00_dot_25 DresserType)\n (receptacleType Shelf_bar__minus_00_dot_91_bar__plus_00_dot_42_bar__minus_01_dot_75 ShelfType)\n (receptacleType Shelf_bar__minus_00_dot_72_bar__plus_00_dot_04_bar__minus_01_dot_75 ShelfType)\n (receptacleType Shelf_bar__minus_00_dot_33_bar__plus_00_dot_04_bar__minus_01_dot_75 ShelfType)\n (receptacleType Drawer_bar__plus_02_dot_54_bar__plus_00_dot_57_bar__plus_00_dot_62 DrawerType)\n (receptacleType Drawer_bar__plus_02_dot_54_bar__plus_00_dot_24_bar__plus_00_dot_62 DrawerType)\n (receptacleType Drawer_bar__plus_02_dot_54_bar__plus_00_dot_24_bar__minus_00_dot_13 DrawerType)\n (receptacleType Drawer_bar__plus_02_dot_54_bar__plus_00_dot_73_bar__plus_00_dot_62 DrawerType)\n (objectType Laptop_bar__minus_00_dot_54_bar__plus_00_dot_78_bar__plus_00_dot_40 LaptopType)\n (objectType CreditCard_bar__plus_02_dot_52_bar__plus_00_dot_82_bar__plus_00_dot_81 CreditCardType)\n (objectType HousePlant_bar__minus_00_dot_80_bar__plus_00_dot_96_bar__minus_01_dot_73 HousePlantType)\n (objectType CellPhone_bar__plus_02_dot_70_bar__plus_00_dot_82_bar__minus_00_dot_13 CellPhoneType)\n (objectType CD_bar__plus_02_dot_64_bar__plus_00_dot_82_bar__plus_00_dot_62 CDType)\n (objectType Statue_bar__plus_02_dot_46_bar__plus_00_dot_83_bar__minus_00_dot_32 StatueType)\n (objectType Pillow_bar__plus_00_dot_15_bar__plus_00_dot_74_bar__plus_01_dot_74 PillowType)\n (objectType Painting_bar__plus_01_dot_87_bar__plus_00_dot_39_bar__minus_01_dot_79 PaintingType)\n (objectType KeyChain_bar__plus_02_dot_69_bar__plus_00_dot_19_bar__minus_00_dot_04 KeyChainType)\n (objectType Book_bar__minus_00_dot_40_bar__plus_00_dot_73_bar__plus_00_dot_70 BookType)\n (objectType Footstool_bar__plus_00_dot_80_bar__plus_00_dot_44_bar__minus_02_dot_11 FootstoolType)\n (objectType Painting_bar__plus_02_dot_06_bar__plus_01_dot_67_bar__minus_01_dot_87 PaintingType)\n (objectType CD_bar__plus_02_dot_52_bar__plus_00_dot_82_bar__plus_00_dot_43 CDType)\n (objectType Pillow_bar__minus_00_dot_44_bar__plus_00_dot_74_bar__plus_01_dot_64 PillowType)\n (objectType BasketBall_bar__minus_01_dot_23_bar__plus_00_dot_12_bar__minus_00_dot_18 BasketBallType)\n (objectType Pen_bar__plus_02_dot_70_bar__plus_00_dot_83_bar__plus_00_dot_43 PenType)\n (objectType Window_bar__plus_00_dot_54_bar__plus_01_dot_41_bar__minus_02_dot_62 WindowType)\n (objectType Mirror_bar__plus_02_dot_84_bar__plus_01_dot_40_bar__plus_01_dot_38 MirrorType)\n (objectType AlarmClock_bar__plus_02_dot_46_bar__plus_00_dot_82_bar__minus_00_dot_13 AlarmClockType)\n (objectType Blinds_bar__plus_00_dot_54_bar__plus_02_dot_14_bar__minus_02_dot_55 BlindsType)\n (objectType Window_bar__minus_01_dot_70_bar__plus_01_dot_44_bar__minus_00_dot_54 WindowType)\n (objectType DeskLamp_bar__plus_02_dot_68_bar__plus_00_dot_82_bar__plus_00_dot_88 DeskLampType)\n (objectType LightSwitch_bar__plus_00_dot_78_bar__plus_01_dot_27_bar__plus_02_dot_13 LightSwitchType)\n (objectType Laptop_bar__plus_00_dot_18_bar__plus_00_dot_73_bar__plus_00_dot_70 LaptopType)\n (objectType Blinds_bar__minus_01_dot_65_bar__plus_02_dot_15_bar__minus_00_dot_55 BlindsType)\n (objectType Box_bar__plus_00_dot_25_bar__plus_00_dot_23_bar__minus_02_dot_04 BoxType)\n (objectType Pen_bar__plus_02_dot_55_bar__plus_00_dot_20_bar__minus_00_dot_22 PenType)\n (objectType CellPhone_bar__plus_02_dot_58_bar__plus_00_dot_82_bar__plus_00_dot_05 CellPhoneType)\n (objectType CreditCard_bar__plus_02_dot_69_bar__plus_00_dot_35_bar__plus_00_dot_71 CreditCardType)\n (objectType Book_bar__plus_02_dot_55_bar__plus_00_dot_03_bar__minus_00_dot_22 BookType)\n (objectType Pencil_bar__minus_00_dot_39_bar__plus_00_dot_05_bar__minus_01_dot_75 PencilType)\n (objectType CD_bar__plus_02_dot_51_bar__plus_00_dot_19_bar__minus_00_dot_39 CDType)\n (objectType CreditCard_bar__plus_00_dot_42_bar__plus_00_dot_83_bar__minus_02_dot_41 CreditCardType)\n (objectType Pen_bar__minus_00_dot_90_bar__plus_00_dot_43_bar__minus_01_dot_75 PenType)\n (objectType CellPhone_bar__plus_00_dot_55_bar__plus_00_dot_83_bar__minus_02_dot_47 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 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 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 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 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 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 StatueType)\n (canContain ShelfType AlarmClockType)\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 StatueType)\n (canContain ShelfType AlarmClockType)\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 StatueType)\n (canContain ShelfType AlarmClockType)\n (canContain BedType BasketBallType)\n (canContain BedType LaptopType)\n (canContain BedType BookType)\n (canContain BedType CellPhoneType)\n (canContain BedType PillowType)\n (canContain GarbageCanType PenType)\n (canContain GarbageCanType CDType)\n (canContain GarbageCanType PencilType)\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 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 DresserType PenType)\n (canContain DresserType BookType)\n (canContain DresserType CDType)\n (canContain DresserType BoxType)\n (canContain DresserType CellPhoneType)\n (canContain DresserType KeyChainType)\n (canContain DresserType CreditCardType)\n (canContain DresserType BasketBallType)\n (canContain DresserType LaptopType)\n (canContain DresserType PencilType)\n (canContain DresserType StatueType)\n (canContain DresserType AlarmClockType)\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 StatueType)\n (canContain ShelfType AlarmClockType)\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 StatueType)\n (canContain ShelfType AlarmClockType)\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 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 DrawerType PenType)\n (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_54_bar__plus_00_dot_78_bar__plus_00_dot_40)\n (pickupable CreditCard_bar__plus_02_dot_52_bar__plus_00_dot_82_bar__plus_00_dot_81)\n (pickupable CellPhone_bar__plus_02_dot_70_bar__plus_00_dot_82_bar__minus_00_dot_13)\n (pickupable CD_bar__plus_02_dot_64_bar__plus_00_dot_82_bar__plus_00_dot_62)\n (pickupable Statue_bar__plus_02_dot_46_bar__plus_00_dot_83_bar__minus_00_dot_32)\n (pickupable Pillow_bar__plus_00_dot_15_bar__plus_00_dot_74_bar__plus_01_dot_74)\n (pickupable KeyChain_bar__plus_02_dot_69_bar__plus_00_dot_19_bar__minus_00_dot_04)\n (pickupable Book_bar__minus_00_dot_40_bar__plus_00_dot_73_bar__plus_00_dot_70)\n (pickupable CD_bar__plus_02_dot_52_bar__plus_00_dot_82_bar__plus_00_dot_43)\n (pickupable Pillow_bar__minus_00_dot_44_bar__plus_00_dot_74_bar__plus_01_dot_64)\n (pickupable BasketBall_bar__minus_01_dot_23_bar__plus_00_dot_12_bar__minus_00_dot_18)\n (pickupable Pen_bar__plus_02_dot_70_bar__plus_00_dot_83_bar__plus_00_dot_43)\n (pickupable AlarmClock_bar__plus_02_dot_46_bar__plus_00_dot_82_bar__minus_00_dot_13)\n (pickupable Laptop_bar__plus_00_dot_18_bar__plus_00_dot_73_bar__plus_00_dot_70)\n (pickupable Box_bar__plus_00_dot_25_bar__plus_00_dot_23_bar__minus_02_dot_04)\n (pickupable Pen_bar__plus_02_dot_55_bar__plus_00_dot_20_bar__minus_00_dot_22)\n (pickupable CellPhone_bar__plus_02_dot_58_bar__plus_00_dot_82_bar__plus_00_dot_05)\n (pickupable CreditCard_bar__plus_02_dot_69_bar__plus_00_dot_35_bar__plus_00_dot_71)\n (pickupable Book_bar__plus_02_dot_55_bar__plus_00_dot_03_bar__minus_00_dot_22)\n (pickupable Pencil_bar__minus_00_dot_39_bar__plus_00_dot_05_bar__minus_01_dot_75)\n (pickupable CD_bar__plus_02_dot_51_bar__plus_00_dot_19_bar__minus_00_dot_39)\n (pickupable CreditCard_bar__plus_00_dot_42_bar__plus_00_dot_83_bar__minus_02_dot_41)\n (pickupable Pen_bar__minus_00_dot_90_bar__plus_00_dot_43_bar__minus_01_dot_75)\n (pickupable CellPhone_bar__plus_00_dot_55_bar__plus_00_dot_83_bar__minus_02_dot_47)\n (isReceptacleObject Box_bar__plus_00_dot_25_bar__plus_00_dot_23_bar__minus_02_dot_04)\n (openable Drawer_bar__plus_02_dot_54_bar__plus_00_dot_40_bar__plus_00_dot_62)\n (openable Drawer_bar__plus_02_dot_54_bar__plus_00_dot_73_bar__minus_00_dot_13)\n (openable Drawer_bar__plus_02_dot_54_bar__plus_00_dot_08_bar__plus_00_dot_62)\n (openable Drawer_bar__plus_02_dot_54_bar__plus_00_dot_40_bar__minus_00_dot_13)\n (openable Drawer_bar__plus_02_dot_54_bar__plus_00_dot_57_bar__minus_00_dot_13)\n (openable Drawer_bar__plus_02_dot_54_bar__plus_00_dot_08_bar__minus_00_dot_13)\n (openable Drawer_bar__plus_02_dot_54_bar__plus_00_dot_57_bar__plus_00_dot_62)\n (openable Drawer_bar__plus_02_dot_54_bar__plus_00_dot_24_bar__plus_00_dot_62)\n (openable Drawer_bar__plus_02_dot_54_bar__plus_00_dot_24_bar__minus_00_dot_13)\n (openable Drawer_bar__plus_02_dot_54_bar__plus_00_dot_73_bar__plus_00_dot_62)\n \n (atLocation agent1 loc_bar_2_bar__minus_6_bar_2_bar_30)\n \n \n \n \n \n \n \n (toggleable DeskLamp_bar__plus_02_dot_68_bar__plus_00_dot_82_bar__plus_00_dot_88)\n \n \n \n \n (inReceptacle CreditCard_bar__plus_02_dot_69_bar__plus_00_dot_35_bar__plus_00_dot_71 Drawer_bar__plus_02_dot_54_bar__plus_00_dot_40_bar__plus_00_dot_62)\n (inReceptacle KeyChain_bar__plus_02_dot_69_bar__plus_00_dot_19_bar__minus_00_dot_04 Drawer_bar__plus_02_dot_54_bar__plus_00_dot_24_bar__minus_00_dot_13)\n (inReceptacle Pen_bar__plus_02_dot_55_bar__plus_00_dot_20_bar__minus_00_dot_22 Drawer_bar__plus_02_dot_54_bar__plus_00_dot_24_bar__minus_00_dot_13)\n (inReceptacle CD_bar__plus_02_dot_51_bar__plus_00_dot_19_bar__minus_00_dot_39 Drawer_bar__plus_02_dot_54_bar__plus_00_dot_24_bar__minus_00_dot_13)\n (inReceptacle CellPhone_bar__plus_02_dot_58_bar__plus_00_dot_82_bar__plus_00_dot_05 Dresser_bar__plus_02_dot_56_bar_00_dot_00_bar__plus_00_dot_25)\n (inReceptacle CreditCard_bar__plus_02_dot_52_bar__plus_00_dot_82_bar__plus_00_dot_81 Dresser_bar__plus_02_dot_56_bar_00_dot_00_bar__plus_00_dot_25)\n (inReceptacle CellPhone_bar__plus_02_dot_70_bar__plus_00_dot_82_bar__minus_00_dot_13 Dresser_bar__plus_02_dot_56_bar_00_dot_00_bar__plus_00_dot_25)\n (inReceptacle CD_bar__plus_02_dot_52_bar__plus_00_dot_82_bar__plus_00_dot_43 Dresser_bar__plus_02_dot_56_bar_00_dot_00_bar__plus_00_dot_25)\n (inReceptacle CD_bar__plus_02_dot_64_bar__plus_00_dot_82_bar__plus_00_dot_62 Dresser_bar__plus_02_dot_56_bar_00_dot_00_bar__plus_00_dot_25)\n (inReceptacle Statue_bar__plus_02_dot_46_bar__plus_00_dot_83_bar__minus_00_dot_32 Dresser_bar__plus_02_dot_56_bar_00_dot_00_bar__plus_00_dot_25)\n (inReceptacle DeskLamp_bar__plus_02_dot_68_bar__plus_00_dot_82_bar__plus_00_dot_88 Dresser_bar__plus_02_dot_56_bar_00_dot_00_bar__plus_00_dot_25)\n (inReceptacle Pen_bar__plus_02_dot_70_bar__plus_00_dot_83_bar__plus_00_dot_43 Dresser_bar__plus_02_dot_56_bar_00_dot_00_bar__plus_00_dot_25)\n (inReceptacle AlarmClock_bar__plus_02_dot_46_bar__plus_00_dot_82_bar__minus_00_dot_13 Dresser_bar__plus_02_dot_56_bar_00_dot_00_bar__plus_00_dot_25)\n (inReceptacle Pillow_bar__minus_00_dot_44_bar__plus_00_dot_74_bar__plus_01_dot_64 Bed_bar__minus_00_dot_21_bar__plus_00_dot_00_bar__plus_00_dot_98)\n (inReceptacle Pillow_bar__plus_00_dot_15_bar__plus_00_dot_74_bar__plus_01_dot_74 Bed_bar__minus_00_dot_21_bar__plus_00_dot_00_bar__plus_00_dot_98)\n (inReceptacle Laptop_bar__minus_00_dot_54_bar__plus_00_dot_78_bar__plus_00_dot_40 Bed_bar__minus_00_dot_21_bar__plus_00_dot_00_bar__plus_00_dot_98)\n (inReceptacle Book_bar__minus_00_dot_40_bar__plus_00_dot_73_bar__plus_00_dot_70 Bed_bar__minus_00_dot_21_bar__plus_00_dot_00_bar__plus_00_dot_98)\n (inReceptacle Laptop_bar__plus_00_dot_18_bar__plus_00_dot_73_bar__plus_00_dot_70 Bed_bar__minus_00_dot_21_bar__plus_00_dot_00_bar__plus_00_dot_98)\n (inReceptacle Book_bar__plus_02_dot_55_bar__plus_00_dot_03_bar__minus_00_dot_22 Drawer_bar__plus_02_dot_54_bar__plus_00_dot_08_bar__minus_00_dot_13)\n (inReceptacle Pen_bar__minus_00_dot_90_bar__plus_00_dot_43_bar__minus_01_dot_75 Shelf_bar__minus_00_dot_91_bar__plus_00_dot_42_bar__minus_01_dot_75)\n (inReceptacle HousePlant_bar__minus_00_dot_80_bar__plus_00_dot_96_bar__minus_01_dot_73 Shelf_bar__minus_00_dot_81_bar__plus_00_dot_96_bar__minus_01_dot_75)\n (inReceptacle Pencil_bar__minus_00_dot_39_bar__plus_00_dot_05_bar__minus_01_dot_75 Shelf_bar__minus_00_dot_33_bar__plus_00_dot_04_bar__minus_01_dot_75)\n (inReceptacle CreditCard_bar__plus_00_dot_42_bar__plus_00_dot_83_bar__minus_02_dot_41 Shelf_bar__plus_00_dot_53_bar__plus_00_dot_83_bar__minus_02_dot_41)\n (inReceptacle CellPhone_bar__plus_00_dot_55_bar__plus_00_dot_83_bar__minus_02_dot_47 Shelf_bar__plus_00_dot_53_bar__plus_00_dot_83_bar__minus_02_dot_41)\n \n \n (receptacleAtLocation Bed_bar__minus_00_dot_21_bar__plus_00_dot_00_bar__plus_00_dot_98 loc_bar_6_bar_3_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__plus_02_dot_54_bar__plus_00_dot_08_bar__plus_00_dot_62 loc_bar_5_bar_5_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_02_dot_54_bar__plus_00_dot_08_bar__minus_00_dot_13 loc_bar_5_bar_2_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_02_dot_54_bar__plus_00_dot_24_bar__plus_00_dot_62 loc_bar_6_bar_4_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_02_dot_54_bar__plus_00_dot_24_bar__minus_00_dot_13 loc_bar_6_bar__minus_2_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_02_dot_54_bar__plus_00_dot_40_bar__plus_00_dot_62 loc_bar_6_bar_4_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_02_dot_54_bar__plus_00_dot_40_bar__minus_00_dot_13 loc_bar_6_bar_1_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_02_dot_54_bar__plus_00_dot_57_bar__plus_00_dot_62 loc_bar_6_bar_4_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_02_dot_54_bar__plus_00_dot_57_bar__minus_00_dot_13 loc_bar_6_bar_1_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_02_dot_54_bar__plus_00_dot_73_bar__plus_00_dot_62 loc_bar_7_bar_2_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_02_dot_54_bar__plus_00_dot_73_bar__minus_00_dot_13 loc_bar_7_bar__minus_1_bar_1_bar_45)\n (receptacleAtLocation Dresser_bar__plus_02_dot_56_bar_00_dot_00_bar__plus_00_dot_25 loc_bar_7_bar_1_bar_1_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_01_dot_36_bar__plus_00_dot_00_bar__minus_00_dot_94 loc_bar__minus_3_bar__minus_3_bar_3_bar_60)\n (receptacleAtLocation Shelf_bar__plus_00_dot_53_bar__plus_00_dot_83_bar__minus_02_dot_41 loc_bar_2_bar__minus_7_bar_2_bar_45)\n (receptacleAtLocation Shelf_bar__minus_00_dot_33_bar__plus_00_dot_04_bar__minus_01_dot_75 loc_bar_1_bar__minus_3_bar_2_bar_60)\n (receptacleAtLocation Shelf_bar__minus_00_dot_45_bar__plus_00_dot_42_bar__minus_01_dot_75 loc_bar__minus_1_bar__minus_4_bar_2_bar_60)\n (receptacleAtLocation Shelf_bar__minus_00_dot_45_bar__plus_00_dot_70_bar__minus_01_dot_75 loc_bar__minus_1_bar__minus_4_bar_2_bar_45)\n (receptacleAtLocation Shelf_bar__minus_00_dot_62_bar__plus_00_dot_96_bar__minus_01_dot_75 loc_bar__minus_1_bar__minus_5_bar_2_bar_60)\n (receptacleAtLocation Shelf_bar__minus_00_dot_72_bar__plus_00_dot_04_bar__minus_01_dot_75 loc_bar__minus_1_bar__minus_3_bar_2_bar_60)\n (receptacleAtLocation Shelf_bar__minus_00_dot_81_bar__plus_00_dot_96_bar__minus_01_dot_75 loc_bar__minus_1_bar__minus_5_bar_3_bar_45)\n (receptacleAtLocation Shelf_bar__minus_00_dot_91_bar__plus_00_dot_42_bar__minus_01_dot_75 loc_bar__minus_2_bar__minus_4_bar_2_bar_60)\n (receptacleAtLocation Shelf_bar__minus_00_dot_91_bar__plus_00_dot_70_bar__minus_01_dot_75 loc_bar__minus_2_bar__minus_4_bar_2_bar_45)\n (objectAtLocation Pen_bar__minus_00_dot_90_bar__plus_00_dot_43_bar__minus_01_dot_75 loc_bar__minus_2_bar__minus_4_bar_2_bar_60)\n (objectAtLocation CD_bar__plus_02_dot_52_bar__plus_00_dot_82_bar__plus_00_dot_43 loc_bar_7_bar_1_bar_1_bar_60)\n (objectAtLocation Laptop_bar__minus_00_dot_54_bar__plus_00_dot_78_bar__plus_00_dot_40 loc_bar_6_bar_3_bar_3_bar_45)\n (objectAtLocation CreditCard_bar__plus_00_dot_42_bar__plus_00_dot_83_bar__minus_02_dot_41 loc_bar_2_bar__minus_7_bar_2_bar_45)\n (objectAtLocation CellPhone_bar__plus_02_dot_58_bar__plus_00_dot_82_bar__plus_00_dot_05 loc_bar_7_bar_1_bar_1_bar_60)\n (objectAtLocation Book_bar__plus_02_dot_55_bar__plus_00_dot_03_bar__minus_00_dot_22 loc_bar_5_bar_2_bar_1_bar_45)\n (objectAtLocation CreditCard_bar__plus_02_dot_52_bar__plus_00_dot_82_bar__plus_00_dot_81 loc_bar_7_bar_1_bar_1_bar_60)\n (objectAtLocation Pen_bar__plus_02_dot_55_bar__plus_00_dot_20_bar__minus_00_dot_22 loc_bar_6_bar__minus_2_bar_1_bar_60)\n (objectAtLocation CellPhone_bar__plus_02_dot_70_bar__plus_00_dot_82_bar__minus_00_dot_13 loc_bar_7_bar_1_bar_1_bar_60)\n (objectAtLocation CD_bar__plus_02_dot_51_bar__plus_00_dot_19_bar__minus_00_dot_39 loc_bar_6_bar__minus_2_bar_1_bar_60)\n (objectAtLocation Box_bar__plus_00_dot_25_bar__plus_00_dot_23_bar__minus_02_dot_04 loc_bar_2_bar__minus_7_bar_2_bar_60)\n (objectAtLocation Footstool_bar__plus_00_dot_80_bar__plus_00_dot_44_bar__minus_02_dot_11 loc_bar_2_bar__minus_7_bar_2_bar_60)\n (objectAtLocation Book_bar__minus_00_dot_40_bar__plus_00_dot_73_bar__plus_00_dot_70 loc_bar_6_bar_3_bar_3_bar_45)\n (objectAtLocation Statue_bar__plus_02_dot_46_bar__plus_00_dot_83_bar__minus_00_dot_32 loc_bar_7_bar_1_bar_1_bar_60)\n (objectAtLocation CellPhone_bar__plus_00_dot_55_bar__plus_00_dot_83_bar__minus_02_dot_47 loc_bar_2_bar__minus_7_bar_2_bar_45)\n (objectAtLocation Pillow_bar__plus_00_dot_15_bar__plus_00_dot_74_bar__plus_01_dot_74 loc_bar_6_bar_3_bar_3_bar_45)\n (objectAtLocation Pillow_bar__minus_00_dot_44_bar__plus_00_dot_74_bar__plus_01_dot_64 loc_bar_6_bar_3_bar_3_bar_45)\n (objectAtLocation BasketBall_bar__minus_01_dot_23_bar__plus_00_dot_12_bar__minus_00_dot_18 loc_bar__minus_4_bar__minus_2_bar_0_bar_60)\n (objectAtLocation CreditCard_bar__plus_02_dot_69_bar__plus_00_dot_35_bar__plus_00_dot_71 loc_bar_6_bar_4_bar_1_bar_45)\n (objectAtLocation KeyChain_bar__plus_02_dot_69_bar__plus_00_dot_19_bar__minus_00_dot_04 loc_bar_6_bar__minus_2_bar_1_bar_60)\n (objectAtLocation Pencil_bar__minus_00_dot_39_bar__plus_00_dot_05_bar__minus_01_dot_75 loc_bar_1_bar__minus_3_bar_2_bar_60)\n (objectAtLocation LightSwitch_bar__plus_00_dot_78_bar__plus_01_dot_27_bar__plus_02_dot_13 loc_bar_4_bar_6_bar_0_bar_30)\n (objectAtLocation AlarmClock_bar__plus_02_dot_46_bar__plus_00_dot_82_bar__minus_00_dot_13 loc_bar_7_bar_1_bar_1_bar_60)\n (objectAtLocation Painting_bar__plus_02_dot_06_bar__plus_01_dot_67_bar__minus_01_dot_87 loc_bar_8_bar__minus_4_bar_2_bar_0)\n (objectAtLocation HousePlant_bar__minus_00_dot_80_bar__plus_00_dot_96_bar__minus_01_dot_73 loc_bar__minus_1_bar__minus_5_bar_3_bar_45)\n (objectAtLocation Laptop_bar__plus_00_dot_18_bar__plus_00_dot_73_bar__plus_00_dot_70 loc_bar_6_bar_3_bar_3_bar_45)\n (objectAtLocation Painting_bar__plus_01_dot_87_bar__plus_00_dot_39_bar__minus_01_dot_79 loc_bar_7_bar__minus_4_bar_2_bar_60)\n (objectAtLocation Mirror_bar__plus_02_dot_84_bar__plus_01_dot_40_bar__plus_01_dot_38 loc_bar_9_bar_5_bar_1_bar_30)\n (objectAtLocation DeskLamp_bar__plus_02_dot_68_bar__plus_00_dot_82_bar__plus_00_dot_88 loc_bar_7_bar_1_bar_1_bar_60)\n (objectAtLocation CD_bar__plus_02_dot_64_bar__plus_00_dot_82_bar__plus_00_dot_62 loc_bar_7_bar_1_bar_1_bar_60)\n (objectAtLocation Pen_bar__plus_02_dot_70_bar__plus_00_dot_83_bar__plus_00_dot_43 loc_bar_7_bar_1_bar_1_bar_60)\n (objectAtLocation Window_bar__minus_01_dot_70_bar__plus_01_dot_44_bar__minus_00_dot_54 loc_bar__minus_4_bar__minus_2_bar_3_bar_15)\n (objectAtLocation Window_bar__plus_00_dot_54_bar__plus_01_dot_41_bar__minus_02_dot_62 loc_bar_2_bar__minus_7_bar_2_bar_15)\n (objectAtLocation Blinds_bar__plus_00_dot_54_bar__plus_02_dot_14_bar__minus_02_dot_55 loc_bar_2_bar__minus_7_bar_2_bar__minus_30)\n (objectAtLocation Blinds_bar__minus_01_dot_65_bar__plus_02_dot_15_bar__minus_00_dot_55 loc_bar__minus_4_bar__minus_2_bar_3_bar__minus_30)\n )\n \n\n (:goal\n (and\n (exists (?ot - object\n ?r - receptacle\n ?a - agent\n ?l - location)\n (and\n (objectType ?ot DeskLampType)\n (toggleable ?ot)\n (isToggled ?ot)\n (receptacleAtLocation ?r ?l)\n (atLocation ?a ?l)\n (inReceptacle ?ot ?r)\n )\n )\n (exists (?o - object\n ?a - agent)\n (and\n (objectType ?o PencilType)\n (holds ?a ?o)\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to shelf 9", "take pencil 1 from shelf 9", "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-Pencil-None-DeskLamp-319/trial_T20190908_135012_910702/initial_state.pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Pencil-None-DeskLamp-319/trial_T20190908_135012_910702/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..e6754d3df25c7a4fad85a9d5689ee57dafda63ed --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Pencil-None-DeskLamp-319/trial_T20190908_135012_910702/initial_state.pddl @@ -0,0 +1,687 @@ + +(define (problem plan_trial_T20190908_135012_910702) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_46_bar__plus_00_dot_82_bar__minus_00_dot_13 - object + BasketBall_bar__minus_01_dot_23_bar__plus_00_dot_12_bar__minus_00_dot_18 - object + Blinds_bar__plus_00_dot_54_bar__plus_02_dot_14_bar__minus_02_dot_55 - object + Blinds_bar__minus_01_dot_65_bar__plus_02_dot_15_bar__minus_00_dot_55 - object + Book_bar__plus_02_dot_55_bar__plus_00_dot_03_bar__minus_00_dot_22 - object + Book_bar__minus_00_dot_40_bar__plus_00_dot_73_bar__plus_00_dot_70 - object + Box_bar__plus_00_dot_25_bar__plus_00_dot_23_bar__minus_02_dot_04 - object + CD_bar__plus_02_dot_51_bar__plus_00_dot_19_bar__minus_00_dot_39 - object + CD_bar__plus_02_dot_52_bar__plus_00_dot_82_bar__plus_00_dot_43 - object + CD_bar__plus_02_dot_64_bar__plus_00_dot_82_bar__plus_00_dot_62 - object + CellPhone_bar__plus_00_dot_55_bar__plus_00_dot_83_bar__minus_02_dot_47 - object + CellPhone_bar__plus_02_dot_58_bar__plus_00_dot_82_bar__plus_00_dot_05 - object + CellPhone_bar__plus_02_dot_70_bar__plus_00_dot_82_bar__minus_00_dot_13 - object + CreditCard_bar__plus_00_dot_42_bar__plus_00_dot_83_bar__minus_02_dot_41 - object + CreditCard_bar__plus_02_dot_52_bar__plus_00_dot_82_bar__plus_00_dot_81 - object + CreditCard_bar__plus_02_dot_69_bar__plus_00_dot_35_bar__plus_00_dot_71 - object + DeskLamp_bar__plus_02_dot_68_bar__plus_00_dot_82_bar__plus_00_dot_88 - object + Footstool_bar__plus_00_dot_80_bar__plus_00_dot_44_bar__minus_02_dot_11 - object + HousePlant_bar__minus_00_dot_80_bar__plus_00_dot_96_bar__minus_01_dot_73 - object + KeyChain_bar__plus_02_dot_69_bar__plus_00_dot_19_bar__minus_00_dot_04 - object + Laptop_bar__plus_00_dot_18_bar__plus_00_dot_73_bar__plus_00_dot_70 - object + Laptop_bar__minus_00_dot_54_bar__plus_00_dot_78_bar__plus_00_dot_40 - object + LightSwitch_bar__plus_00_dot_78_bar__plus_01_dot_27_bar__plus_02_dot_13 - object + Mirror_bar__plus_02_dot_84_bar__plus_01_dot_40_bar__plus_01_dot_38 - object + Painting_bar__plus_01_dot_87_bar__plus_00_dot_39_bar__minus_01_dot_79 - object + Painting_bar__plus_02_dot_06_bar__plus_01_dot_67_bar__minus_01_dot_87 - object + Pencil_bar__minus_00_dot_39_bar__plus_00_dot_05_bar__minus_01_dot_75 - object + Pen_bar__plus_02_dot_55_bar__plus_00_dot_20_bar__minus_00_dot_22 - object + Pen_bar__plus_02_dot_70_bar__plus_00_dot_83_bar__plus_00_dot_43 - object + Pen_bar__minus_00_dot_90_bar__plus_00_dot_43_bar__minus_01_dot_75 - object + Pillow_bar__plus_00_dot_15_bar__plus_00_dot_74_bar__plus_01_dot_74 - object + Pillow_bar__minus_00_dot_44_bar__plus_00_dot_74_bar__plus_01_dot_64 - object + Statue_bar__plus_02_dot_46_bar__plus_00_dot_83_bar__minus_00_dot_32 - object + Window_bar__plus_00_dot_54_bar__plus_01_dot_41_bar__minus_02_dot_62 - object + Window_bar__minus_01_dot_70_bar__plus_01_dot_44_bar__minus_00_dot_54 - object + Bed_bar__minus_00_dot_21_bar__plus_00_dot_00_bar__plus_00_dot_98 - receptacle + Drawer_bar__plus_02_dot_54_bar__plus_00_dot_08_bar__plus_00_dot_62 - receptacle + Drawer_bar__plus_02_dot_54_bar__plus_00_dot_08_bar__minus_00_dot_13 - receptacle + Drawer_bar__plus_02_dot_54_bar__plus_00_dot_24_bar__plus_00_dot_62 - receptacle + Drawer_bar__plus_02_dot_54_bar__plus_00_dot_24_bar__minus_00_dot_13 - receptacle + Drawer_bar__plus_02_dot_54_bar__plus_00_dot_40_bar__plus_00_dot_62 - receptacle + Drawer_bar__plus_02_dot_54_bar__plus_00_dot_40_bar__minus_00_dot_13 - receptacle + Drawer_bar__plus_02_dot_54_bar__plus_00_dot_57_bar__plus_00_dot_62 - receptacle + Drawer_bar__plus_02_dot_54_bar__plus_00_dot_57_bar__minus_00_dot_13 - receptacle + Drawer_bar__plus_02_dot_54_bar__plus_00_dot_73_bar__plus_00_dot_62 - receptacle + Drawer_bar__plus_02_dot_54_bar__plus_00_dot_73_bar__minus_00_dot_13 - receptacle + Dresser_bar__plus_02_dot_56_bar_00_dot_00_bar__plus_00_dot_25 - receptacle + GarbageCan_bar__minus_01_dot_36_bar__plus_00_dot_00_bar__minus_00_dot_94 - receptacle + Shelf_bar__plus_00_dot_53_bar__plus_00_dot_83_bar__minus_02_dot_41 - receptacle + Shelf_bar__minus_00_dot_33_bar__plus_00_dot_04_bar__minus_01_dot_75 - receptacle + Shelf_bar__minus_00_dot_45_bar__plus_00_dot_42_bar__minus_01_dot_75 - receptacle + Shelf_bar__minus_00_dot_45_bar__plus_00_dot_70_bar__minus_01_dot_75 - receptacle + Shelf_bar__minus_00_dot_62_bar__plus_00_dot_96_bar__minus_01_dot_75 - receptacle + Shelf_bar__minus_00_dot_72_bar__plus_00_dot_04_bar__minus_01_dot_75 - receptacle + Shelf_bar__minus_00_dot_81_bar__plus_00_dot_96_bar__minus_01_dot_75 - receptacle + Shelf_bar__minus_00_dot_91_bar__plus_00_dot_42_bar__minus_01_dot_75 - receptacle + Shelf_bar__minus_00_dot_91_bar__plus_00_dot_70_bar__minus_01_dot_75 - receptacle + loc_bar__minus_2_bar__minus_4_bar_2_bar_45 - location + loc_bar__minus_1_bar__minus_4_bar_2_bar_45 - location + loc_bar_6_bar_3_bar_3_bar_45 - location + loc_bar__minus_1_bar__minus_3_bar_2_bar_60 - location + loc_bar_2_bar__minus_7_bar_2_bar_45 - location + loc_bar__minus_4_bar__minus_2_bar_3_bar__minus_30 - location + loc_bar_8_bar__minus_4_bar_2_bar_0 - location + loc_bar_2_bar__minus_7_bar_2_bar_15 - location + loc_bar__minus_1_bar__minus_5_bar_2_bar_60 - location + loc_bar_6_bar_4_bar_1_bar_60 - location + loc_bar_6_bar__minus_2_bar_1_bar_60 - location + loc_bar_7_bar__minus_1_bar_1_bar_45 - location + loc_bar__minus_4_bar__minus_2_bar_0_bar_60 - location + loc_bar_7_bar_2_bar_1_bar_45 - location + loc_bar__minus_2_bar__minus_4_bar_2_bar_60 - location + loc_bar__minus_1_bar__minus_4_bar_2_bar_60 - location + loc_bar_7_bar_1_bar_1_bar_60 - location + loc_bar_2_bar__minus_7_bar_2_bar__minus_30 - location + loc_bar__minus_3_bar__minus_3_bar_3_bar_60 - location + loc_bar_1_bar__minus_3_bar_2_bar_60 - location + loc_bar_6_bar_1_bar_1_bar_45 - location + loc_bar__minus_4_bar__minus_2_bar_3_bar_15 - location + loc_bar_9_bar_5_bar_1_bar_30 - location + loc_bar__minus_1_bar__minus_5_bar_3_bar_45 - location + loc_bar_2_bar__minus_7_bar_2_bar_60 - location + loc_bar_7_bar__minus_4_bar_2_bar_60 - location + loc_bar_6_bar_4_bar_1_bar_45 - location + loc_bar_5_bar_5_bar_1_bar_45 - location + loc_bar_4_bar_6_bar_0_bar_30 - location + loc_bar_5_bar_2_bar_1_bar_45 - location + loc_bar_2_bar__minus_6_bar_2_bar_30 - location + ) + + +(:init + + + (receptacleType Drawer_bar__plus_02_dot_54_bar__plus_00_dot_40_bar__plus_00_dot_62 DrawerType) + (receptacleType Shelf_bar__minus_00_dot_81_bar__plus_00_dot_96_bar__minus_01_dot_75 ShelfType) + (receptacleType Drawer_bar__plus_02_dot_54_bar__plus_00_dot_73_bar__minus_00_dot_13 DrawerType) + (receptacleType Shelf_bar__plus_00_dot_53_bar__plus_00_dot_83_bar__minus_02_dot_41 ShelfType) + (receptacleType Drawer_bar__plus_02_dot_54_bar__plus_00_dot_08_bar__plus_00_dot_62 DrawerType) + (receptacleType Drawer_bar__plus_02_dot_54_bar__plus_00_dot_40_bar__minus_00_dot_13 DrawerType) + (receptacleType Shelf_bar__minus_00_dot_91_bar__plus_00_dot_70_bar__minus_01_dot_75 ShelfType) + (receptacleType Shelf_bar__minus_00_dot_45_bar__plus_00_dot_42_bar__minus_01_dot_75 ShelfType) + (receptacleType Shelf_bar__minus_00_dot_62_bar__plus_00_dot_96_bar__minus_01_dot_75 ShelfType) + (receptacleType Bed_bar__minus_00_dot_21_bar__plus_00_dot_00_bar__plus_00_dot_98 BedType) + (receptacleType GarbageCan_bar__minus_01_dot_36_bar__plus_00_dot_00_bar__minus_00_dot_94 GarbageCanType) + (receptacleType Shelf_bar__minus_00_dot_45_bar__plus_00_dot_70_bar__minus_01_dot_75 ShelfType) + (receptacleType Drawer_bar__plus_02_dot_54_bar__plus_00_dot_57_bar__minus_00_dot_13 DrawerType) + (receptacleType Drawer_bar__plus_02_dot_54_bar__plus_00_dot_08_bar__minus_00_dot_13 DrawerType) + (receptacleType Dresser_bar__plus_02_dot_56_bar_00_dot_00_bar__plus_00_dot_25 DresserType) + (receptacleType Shelf_bar__minus_00_dot_91_bar__plus_00_dot_42_bar__minus_01_dot_75 ShelfType) + (receptacleType Shelf_bar__minus_00_dot_72_bar__plus_00_dot_04_bar__minus_01_dot_75 ShelfType) + (receptacleType Shelf_bar__minus_00_dot_33_bar__plus_00_dot_04_bar__minus_01_dot_75 ShelfType) + (receptacleType Drawer_bar__plus_02_dot_54_bar__plus_00_dot_57_bar__plus_00_dot_62 DrawerType) + (receptacleType Drawer_bar__plus_02_dot_54_bar__plus_00_dot_24_bar__plus_00_dot_62 DrawerType) + (receptacleType Drawer_bar__plus_02_dot_54_bar__plus_00_dot_24_bar__minus_00_dot_13 DrawerType) + (receptacleType Drawer_bar__plus_02_dot_54_bar__plus_00_dot_73_bar__plus_00_dot_62 DrawerType) + (objectType Laptop_bar__minus_00_dot_54_bar__plus_00_dot_78_bar__plus_00_dot_40 LaptopType) + (objectType CreditCard_bar__plus_02_dot_52_bar__plus_00_dot_82_bar__plus_00_dot_81 CreditCardType) + (objectType HousePlant_bar__minus_00_dot_80_bar__plus_00_dot_96_bar__minus_01_dot_73 HousePlantType) + (objectType CellPhone_bar__plus_02_dot_70_bar__plus_00_dot_82_bar__minus_00_dot_13 CellPhoneType) + (objectType CD_bar__plus_02_dot_64_bar__plus_00_dot_82_bar__plus_00_dot_62 CDType) + (objectType Statue_bar__plus_02_dot_46_bar__plus_00_dot_83_bar__minus_00_dot_32 StatueType) + (objectType Pillow_bar__plus_00_dot_15_bar__plus_00_dot_74_bar__plus_01_dot_74 PillowType) + (objectType Painting_bar__plus_01_dot_87_bar__plus_00_dot_39_bar__minus_01_dot_79 PaintingType) + (objectType KeyChain_bar__plus_02_dot_69_bar__plus_00_dot_19_bar__minus_00_dot_04 KeyChainType) + (objectType Book_bar__minus_00_dot_40_bar__plus_00_dot_73_bar__plus_00_dot_70 BookType) + (objectType Footstool_bar__plus_00_dot_80_bar__plus_00_dot_44_bar__minus_02_dot_11 FootstoolType) + (objectType Painting_bar__plus_02_dot_06_bar__plus_01_dot_67_bar__minus_01_dot_87 PaintingType) + (objectType CD_bar__plus_02_dot_52_bar__plus_00_dot_82_bar__plus_00_dot_43 CDType) + (objectType Pillow_bar__minus_00_dot_44_bar__plus_00_dot_74_bar__plus_01_dot_64 PillowType) + (objectType BasketBall_bar__minus_01_dot_23_bar__plus_00_dot_12_bar__minus_00_dot_18 BasketBallType) + (objectType Pen_bar__plus_02_dot_70_bar__plus_00_dot_83_bar__plus_00_dot_43 PenType) + (objectType Window_bar__plus_00_dot_54_bar__plus_01_dot_41_bar__minus_02_dot_62 WindowType) + (objectType Mirror_bar__plus_02_dot_84_bar__plus_01_dot_40_bar__plus_01_dot_38 MirrorType) + (objectType AlarmClock_bar__plus_02_dot_46_bar__plus_00_dot_82_bar__minus_00_dot_13 AlarmClockType) + (objectType Blinds_bar__plus_00_dot_54_bar__plus_02_dot_14_bar__minus_02_dot_55 BlindsType) + (objectType Window_bar__minus_01_dot_70_bar__plus_01_dot_44_bar__minus_00_dot_54 WindowType) + (objectType DeskLamp_bar__plus_02_dot_68_bar__plus_00_dot_82_bar__plus_00_dot_88 DeskLampType) + (objectType LightSwitch_bar__plus_00_dot_78_bar__plus_01_dot_27_bar__plus_02_dot_13 LightSwitchType) + (objectType Laptop_bar__plus_00_dot_18_bar__plus_00_dot_73_bar__plus_00_dot_70 LaptopType) + (objectType Blinds_bar__minus_01_dot_65_bar__plus_02_dot_15_bar__minus_00_dot_55 BlindsType) + (objectType Box_bar__plus_00_dot_25_bar__plus_00_dot_23_bar__minus_02_dot_04 BoxType) + (objectType Pen_bar__plus_02_dot_55_bar__plus_00_dot_20_bar__minus_00_dot_22 PenType) + (objectType CellPhone_bar__plus_02_dot_58_bar__plus_00_dot_82_bar__plus_00_dot_05 CellPhoneType) + (objectType CreditCard_bar__plus_02_dot_69_bar__plus_00_dot_35_bar__plus_00_dot_71 CreditCardType) + (objectType Book_bar__plus_02_dot_55_bar__plus_00_dot_03_bar__minus_00_dot_22 BookType) + (objectType Pencil_bar__minus_00_dot_39_bar__plus_00_dot_05_bar__minus_01_dot_75 PencilType) + (objectType CD_bar__plus_02_dot_51_bar__plus_00_dot_19_bar__minus_00_dot_39 CDType) + (objectType CreditCard_bar__plus_00_dot_42_bar__plus_00_dot_83_bar__minus_02_dot_41 CreditCardType) + (objectType Pen_bar__minus_00_dot_90_bar__plus_00_dot_43_bar__minus_01_dot_75 PenType) + (objectType CellPhone_bar__plus_00_dot_55_bar__plus_00_dot_83_bar__minus_02_dot_47 CellPhoneType) + (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 CDType) + (canContain ShelfType BoxType) + (canContain ShelfType CellPhoneType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType PencilType) + (canContain ShelfType StatueType) + (canContain ShelfType AlarmClockType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain 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 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 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 StatueType) + (canContain ShelfType AlarmClockType) + (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 StatueType) + (canContain ShelfType AlarmClockType) + (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 StatueType) + (canContain ShelfType AlarmClockType) + (canContain BedType BasketBallType) + (canContain BedType LaptopType) + (canContain BedType BookType) + (canContain BedType CellPhoneType) + (canContain BedType PillowType) + (canContain GarbageCanType PenType) + (canContain GarbageCanType CDType) + (canContain GarbageCanType PencilType) + (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 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 DresserType PenType) + (canContain DresserType BookType) + (canContain DresserType CDType) + (canContain DresserType BoxType) + (canContain DresserType CellPhoneType) + (canContain DresserType KeyChainType) + (canContain DresserType CreditCardType) + (canContain DresserType BasketBallType) + (canContain DresserType LaptopType) + (canContain DresserType PencilType) + (canContain DresserType StatueType) + (canContain DresserType AlarmClockType) + (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 StatueType) + (canContain ShelfType AlarmClockType) + (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 StatueType) + (canContain ShelfType AlarmClockType) + (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 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 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_54_bar__plus_00_dot_78_bar__plus_00_dot_40) + (pickupable CreditCard_bar__plus_02_dot_52_bar__plus_00_dot_82_bar__plus_00_dot_81) + (pickupable CellPhone_bar__plus_02_dot_70_bar__plus_00_dot_82_bar__minus_00_dot_13) + (pickupable CD_bar__plus_02_dot_64_bar__plus_00_dot_82_bar__plus_00_dot_62) + (pickupable Statue_bar__plus_02_dot_46_bar__plus_00_dot_83_bar__minus_00_dot_32) + (pickupable Pillow_bar__plus_00_dot_15_bar__plus_00_dot_74_bar__plus_01_dot_74) + (pickupable KeyChain_bar__plus_02_dot_69_bar__plus_00_dot_19_bar__minus_00_dot_04) + (pickupable Book_bar__minus_00_dot_40_bar__plus_00_dot_73_bar__plus_00_dot_70) + (pickupable CD_bar__plus_02_dot_52_bar__plus_00_dot_82_bar__plus_00_dot_43) + (pickupable Pillow_bar__minus_00_dot_44_bar__plus_00_dot_74_bar__plus_01_dot_64) + (pickupable BasketBall_bar__minus_01_dot_23_bar__plus_00_dot_12_bar__minus_00_dot_18) + (pickupable Pen_bar__plus_02_dot_70_bar__plus_00_dot_83_bar__plus_00_dot_43) + (pickupable AlarmClock_bar__plus_02_dot_46_bar__plus_00_dot_82_bar__minus_00_dot_13) + (pickupable Laptop_bar__plus_00_dot_18_bar__plus_00_dot_73_bar__plus_00_dot_70) + (pickupable Box_bar__plus_00_dot_25_bar__plus_00_dot_23_bar__minus_02_dot_04) + (pickupable Pen_bar__plus_02_dot_55_bar__plus_00_dot_20_bar__minus_00_dot_22) + (pickupable CellPhone_bar__plus_02_dot_58_bar__plus_00_dot_82_bar__plus_00_dot_05) + (pickupable CreditCard_bar__plus_02_dot_69_bar__plus_00_dot_35_bar__plus_00_dot_71) + (pickupable Book_bar__plus_02_dot_55_bar__plus_00_dot_03_bar__minus_00_dot_22) + (pickupable Pencil_bar__minus_00_dot_39_bar__plus_00_dot_05_bar__minus_01_dot_75) + (pickupable CD_bar__plus_02_dot_51_bar__plus_00_dot_19_bar__minus_00_dot_39) + (pickupable CreditCard_bar__plus_00_dot_42_bar__plus_00_dot_83_bar__minus_02_dot_41) + (pickupable Pen_bar__minus_00_dot_90_bar__plus_00_dot_43_bar__minus_01_dot_75) + (pickupable CellPhone_bar__plus_00_dot_55_bar__plus_00_dot_83_bar__minus_02_dot_47) + (isReceptacleObject Box_bar__plus_00_dot_25_bar__plus_00_dot_23_bar__minus_02_dot_04) + (openable Drawer_bar__plus_02_dot_54_bar__plus_00_dot_40_bar__plus_00_dot_62) + (openable Drawer_bar__plus_02_dot_54_bar__plus_00_dot_73_bar__minus_00_dot_13) + (openable Drawer_bar__plus_02_dot_54_bar__plus_00_dot_08_bar__plus_00_dot_62) + (openable Drawer_bar__plus_02_dot_54_bar__plus_00_dot_40_bar__minus_00_dot_13) + (openable Drawer_bar__plus_02_dot_54_bar__plus_00_dot_57_bar__minus_00_dot_13) + (openable Drawer_bar__plus_02_dot_54_bar__plus_00_dot_08_bar__minus_00_dot_13) + (openable Drawer_bar__plus_02_dot_54_bar__plus_00_dot_57_bar__plus_00_dot_62) + (openable Drawer_bar__plus_02_dot_54_bar__plus_00_dot_24_bar__plus_00_dot_62) + (openable Drawer_bar__plus_02_dot_54_bar__plus_00_dot_24_bar__minus_00_dot_13) + (openable Drawer_bar__plus_02_dot_54_bar__plus_00_dot_73_bar__plus_00_dot_62) + + (atLocation agent1 loc_bar_2_bar__minus_6_bar_2_bar_30) + + + + + + + + (toggleable DeskLamp_bar__plus_02_dot_68_bar__plus_00_dot_82_bar__plus_00_dot_88) + + + + + (inReceptacle CreditCard_bar__plus_02_dot_69_bar__plus_00_dot_35_bar__plus_00_dot_71 Drawer_bar__plus_02_dot_54_bar__plus_00_dot_40_bar__plus_00_dot_62) + (inReceptacle KeyChain_bar__plus_02_dot_69_bar__plus_00_dot_19_bar__minus_00_dot_04 Drawer_bar__plus_02_dot_54_bar__plus_00_dot_24_bar__minus_00_dot_13) + (inReceptacle Pen_bar__plus_02_dot_55_bar__plus_00_dot_20_bar__minus_00_dot_22 Drawer_bar__plus_02_dot_54_bar__plus_00_dot_24_bar__minus_00_dot_13) + (inReceptacle CD_bar__plus_02_dot_51_bar__plus_00_dot_19_bar__minus_00_dot_39 Drawer_bar__plus_02_dot_54_bar__plus_00_dot_24_bar__minus_00_dot_13) + (inReceptacle CellPhone_bar__plus_02_dot_58_bar__plus_00_dot_82_bar__plus_00_dot_05 Dresser_bar__plus_02_dot_56_bar_00_dot_00_bar__plus_00_dot_25) + (inReceptacle CreditCard_bar__plus_02_dot_52_bar__plus_00_dot_82_bar__plus_00_dot_81 Dresser_bar__plus_02_dot_56_bar_00_dot_00_bar__plus_00_dot_25) + (inReceptacle CellPhone_bar__plus_02_dot_70_bar__plus_00_dot_82_bar__minus_00_dot_13 Dresser_bar__plus_02_dot_56_bar_00_dot_00_bar__plus_00_dot_25) + (inReceptacle CD_bar__plus_02_dot_52_bar__plus_00_dot_82_bar__plus_00_dot_43 Dresser_bar__plus_02_dot_56_bar_00_dot_00_bar__plus_00_dot_25) + (inReceptacle CD_bar__plus_02_dot_64_bar__plus_00_dot_82_bar__plus_00_dot_62 Dresser_bar__plus_02_dot_56_bar_00_dot_00_bar__plus_00_dot_25) + (inReceptacle Statue_bar__plus_02_dot_46_bar__plus_00_dot_83_bar__minus_00_dot_32 Dresser_bar__plus_02_dot_56_bar_00_dot_00_bar__plus_00_dot_25) + (inReceptacle DeskLamp_bar__plus_02_dot_68_bar__plus_00_dot_82_bar__plus_00_dot_88 Dresser_bar__plus_02_dot_56_bar_00_dot_00_bar__plus_00_dot_25) + (inReceptacle Pen_bar__plus_02_dot_70_bar__plus_00_dot_83_bar__plus_00_dot_43 Dresser_bar__plus_02_dot_56_bar_00_dot_00_bar__plus_00_dot_25) + (inReceptacle AlarmClock_bar__plus_02_dot_46_bar__plus_00_dot_82_bar__minus_00_dot_13 Dresser_bar__plus_02_dot_56_bar_00_dot_00_bar__plus_00_dot_25) + (inReceptacle Pillow_bar__minus_00_dot_44_bar__plus_00_dot_74_bar__plus_01_dot_64 Bed_bar__minus_00_dot_21_bar__plus_00_dot_00_bar__plus_00_dot_98) + (inReceptacle Pillow_bar__plus_00_dot_15_bar__plus_00_dot_74_bar__plus_01_dot_74 Bed_bar__minus_00_dot_21_bar__plus_00_dot_00_bar__plus_00_dot_98) + (inReceptacle Laptop_bar__minus_00_dot_54_bar__plus_00_dot_78_bar__plus_00_dot_40 Bed_bar__minus_00_dot_21_bar__plus_00_dot_00_bar__plus_00_dot_98) + (inReceptacle Book_bar__minus_00_dot_40_bar__plus_00_dot_73_bar__plus_00_dot_70 Bed_bar__minus_00_dot_21_bar__plus_00_dot_00_bar__plus_00_dot_98) + (inReceptacle Laptop_bar__plus_00_dot_18_bar__plus_00_dot_73_bar__plus_00_dot_70 Bed_bar__minus_00_dot_21_bar__plus_00_dot_00_bar__plus_00_dot_98) + (inReceptacle Book_bar__plus_02_dot_55_bar__plus_00_dot_03_bar__minus_00_dot_22 Drawer_bar__plus_02_dot_54_bar__plus_00_dot_08_bar__minus_00_dot_13) + (inReceptacle Pen_bar__minus_00_dot_90_bar__plus_00_dot_43_bar__minus_01_dot_75 Shelf_bar__minus_00_dot_91_bar__plus_00_dot_42_bar__minus_01_dot_75) + (inReceptacle HousePlant_bar__minus_00_dot_80_bar__plus_00_dot_96_bar__minus_01_dot_73 Shelf_bar__minus_00_dot_81_bar__plus_00_dot_96_bar__minus_01_dot_75) + (inReceptacle Pencil_bar__minus_00_dot_39_bar__plus_00_dot_05_bar__minus_01_dot_75 Shelf_bar__minus_00_dot_33_bar__plus_00_dot_04_bar__minus_01_dot_75) + (inReceptacle CreditCard_bar__plus_00_dot_42_bar__plus_00_dot_83_bar__minus_02_dot_41 Shelf_bar__plus_00_dot_53_bar__plus_00_dot_83_bar__minus_02_dot_41) + (inReceptacle CellPhone_bar__plus_00_dot_55_bar__plus_00_dot_83_bar__minus_02_dot_47 Shelf_bar__plus_00_dot_53_bar__plus_00_dot_83_bar__minus_02_dot_41) + + + (receptacleAtLocation Bed_bar__minus_00_dot_21_bar__plus_00_dot_00_bar__plus_00_dot_98 loc_bar_6_bar_3_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__plus_02_dot_54_bar__plus_00_dot_08_bar__plus_00_dot_62 loc_bar_5_bar_5_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_02_dot_54_bar__plus_00_dot_08_bar__minus_00_dot_13 loc_bar_5_bar_2_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_02_dot_54_bar__plus_00_dot_24_bar__plus_00_dot_62 loc_bar_6_bar_4_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_02_dot_54_bar__plus_00_dot_24_bar__minus_00_dot_13 loc_bar_6_bar__minus_2_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_02_dot_54_bar__plus_00_dot_40_bar__plus_00_dot_62 loc_bar_6_bar_4_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_02_dot_54_bar__plus_00_dot_40_bar__minus_00_dot_13 loc_bar_6_bar_1_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_02_dot_54_bar__plus_00_dot_57_bar__plus_00_dot_62 loc_bar_6_bar_4_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_02_dot_54_bar__plus_00_dot_57_bar__minus_00_dot_13 loc_bar_6_bar_1_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_02_dot_54_bar__plus_00_dot_73_bar__plus_00_dot_62 loc_bar_7_bar_2_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_02_dot_54_bar__plus_00_dot_73_bar__minus_00_dot_13 loc_bar_7_bar__minus_1_bar_1_bar_45) + (receptacleAtLocation Dresser_bar__plus_02_dot_56_bar_00_dot_00_bar__plus_00_dot_25 loc_bar_7_bar_1_bar_1_bar_60) + (receptacleAtLocation GarbageCan_bar__minus_01_dot_36_bar__plus_00_dot_00_bar__minus_00_dot_94 loc_bar__minus_3_bar__minus_3_bar_3_bar_60) + (receptacleAtLocation Shelf_bar__plus_00_dot_53_bar__plus_00_dot_83_bar__minus_02_dot_41 loc_bar_2_bar__minus_7_bar_2_bar_45) + (receptacleAtLocation Shelf_bar__minus_00_dot_33_bar__plus_00_dot_04_bar__minus_01_dot_75 loc_bar_1_bar__minus_3_bar_2_bar_60) + (receptacleAtLocation Shelf_bar__minus_00_dot_45_bar__plus_00_dot_42_bar__minus_01_dot_75 loc_bar__minus_1_bar__minus_4_bar_2_bar_60) + (receptacleAtLocation Shelf_bar__minus_00_dot_45_bar__plus_00_dot_70_bar__minus_01_dot_75 loc_bar__minus_1_bar__minus_4_bar_2_bar_45) + (receptacleAtLocation Shelf_bar__minus_00_dot_62_bar__plus_00_dot_96_bar__minus_01_dot_75 loc_bar__minus_1_bar__minus_5_bar_2_bar_60) + (receptacleAtLocation Shelf_bar__minus_00_dot_72_bar__plus_00_dot_04_bar__minus_01_dot_75 loc_bar__minus_1_bar__minus_3_bar_2_bar_60) + (receptacleAtLocation Shelf_bar__minus_00_dot_81_bar__plus_00_dot_96_bar__minus_01_dot_75 loc_bar__minus_1_bar__minus_5_bar_3_bar_45) + (receptacleAtLocation Shelf_bar__minus_00_dot_91_bar__plus_00_dot_42_bar__minus_01_dot_75 loc_bar__minus_2_bar__minus_4_bar_2_bar_60) + (receptacleAtLocation Shelf_bar__minus_00_dot_91_bar__plus_00_dot_70_bar__minus_01_dot_75 loc_bar__minus_2_bar__minus_4_bar_2_bar_45) + (objectAtLocation Pen_bar__minus_00_dot_90_bar__plus_00_dot_43_bar__minus_01_dot_75 loc_bar__minus_2_bar__minus_4_bar_2_bar_60) + (objectAtLocation CD_bar__plus_02_dot_52_bar__plus_00_dot_82_bar__plus_00_dot_43 loc_bar_7_bar_1_bar_1_bar_60) + (objectAtLocation Laptop_bar__minus_00_dot_54_bar__plus_00_dot_78_bar__plus_00_dot_40 loc_bar_6_bar_3_bar_3_bar_45) + (objectAtLocation CreditCard_bar__plus_00_dot_42_bar__plus_00_dot_83_bar__minus_02_dot_41 loc_bar_2_bar__minus_7_bar_2_bar_45) + (objectAtLocation CellPhone_bar__plus_02_dot_58_bar__plus_00_dot_82_bar__plus_00_dot_05 loc_bar_7_bar_1_bar_1_bar_60) + (objectAtLocation Book_bar__plus_02_dot_55_bar__plus_00_dot_03_bar__minus_00_dot_22 loc_bar_5_bar_2_bar_1_bar_45) + (objectAtLocation CreditCard_bar__plus_02_dot_52_bar__plus_00_dot_82_bar__plus_00_dot_81 loc_bar_7_bar_1_bar_1_bar_60) + (objectAtLocation Pen_bar__plus_02_dot_55_bar__plus_00_dot_20_bar__minus_00_dot_22 loc_bar_6_bar__minus_2_bar_1_bar_60) + (objectAtLocation CellPhone_bar__plus_02_dot_70_bar__plus_00_dot_82_bar__minus_00_dot_13 loc_bar_7_bar_1_bar_1_bar_60) + (objectAtLocation CD_bar__plus_02_dot_51_bar__plus_00_dot_19_bar__minus_00_dot_39 loc_bar_6_bar__minus_2_bar_1_bar_60) + (objectAtLocation Box_bar__plus_00_dot_25_bar__plus_00_dot_23_bar__minus_02_dot_04 loc_bar_2_bar__minus_7_bar_2_bar_60) + (objectAtLocation Footstool_bar__plus_00_dot_80_bar__plus_00_dot_44_bar__minus_02_dot_11 loc_bar_2_bar__minus_7_bar_2_bar_60) + (objectAtLocation Book_bar__minus_00_dot_40_bar__plus_00_dot_73_bar__plus_00_dot_70 loc_bar_6_bar_3_bar_3_bar_45) + (objectAtLocation Statue_bar__plus_02_dot_46_bar__plus_00_dot_83_bar__minus_00_dot_32 loc_bar_7_bar_1_bar_1_bar_60) + (objectAtLocation CellPhone_bar__plus_00_dot_55_bar__plus_00_dot_83_bar__minus_02_dot_47 loc_bar_2_bar__minus_7_bar_2_bar_45) + (objectAtLocation Pillow_bar__plus_00_dot_15_bar__plus_00_dot_74_bar__plus_01_dot_74 loc_bar_6_bar_3_bar_3_bar_45) + (objectAtLocation Pillow_bar__minus_00_dot_44_bar__plus_00_dot_74_bar__plus_01_dot_64 loc_bar_6_bar_3_bar_3_bar_45) + (objectAtLocation BasketBall_bar__minus_01_dot_23_bar__plus_00_dot_12_bar__minus_00_dot_18 loc_bar__minus_4_bar__minus_2_bar_0_bar_60) + (objectAtLocation CreditCard_bar__plus_02_dot_69_bar__plus_00_dot_35_bar__plus_00_dot_71 loc_bar_6_bar_4_bar_1_bar_45) + (objectAtLocation KeyChain_bar__plus_02_dot_69_bar__plus_00_dot_19_bar__minus_00_dot_04 loc_bar_6_bar__minus_2_bar_1_bar_60) + (objectAtLocation Pencil_bar__minus_00_dot_39_bar__plus_00_dot_05_bar__minus_01_dot_75 loc_bar_1_bar__minus_3_bar_2_bar_60) + (objectAtLocation LightSwitch_bar__plus_00_dot_78_bar__plus_01_dot_27_bar__plus_02_dot_13 loc_bar_4_bar_6_bar_0_bar_30) + (objectAtLocation AlarmClock_bar__plus_02_dot_46_bar__plus_00_dot_82_bar__minus_00_dot_13 loc_bar_7_bar_1_bar_1_bar_60) + (objectAtLocation Painting_bar__plus_02_dot_06_bar__plus_01_dot_67_bar__minus_01_dot_87 loc_bar_8_bar__minus_4_bar_2_bar_0) + (objectAtLocation HousePlant_bar__minus_00_dot_80_bar__plus_00_dot_96_bar__minus_01_dot_73 loc_bar__minus_1_bar__minus_5_bar_3_bar_45) + (objectAtLocation Laptop_bar__plus_00_dot_18_bar__plus_00_dot_73_bar__plus_00_dot_70 loc_bar_6_bar_3_bar_3_bar_45) + (objectAtLocation Painting_bar__plus_01_dot_87_bar__plus_00_dot_39_bar__minus_01_dot_79 loc_bar_7_bar__minus_4_bar_2_bar_60) + (objectAtLocation Mirror_bar__plus_02_dot_84_bar__plus_01_dot_40_bar__plus_01_dot_38 loc_bar_9_bar_5_bar_1_bar_30) + (objectAtLocation DeskLamp_bar__plus_02_dot_68_bar__plus_00_dot_82_bar__plus_00_dot_88 loc_bar_7_bar_1_bar_1_bar_60) + (objectAtLocation CD_bar__plus_02_dot_64_bar__plus_00_dot_82_bar__plus_00_dot_62 loc_bar_7_bar_1_bar_1_bar_60) + (objectAtLocation Pen_bar__plus_02_dot_70_bar__plus_00_dot_83_bar__plus_00_dot_43 loc_bar_7_bar_1_bar_1_bar_60) + (objectAtLocation Window_bar__minus_01_dot_70_bar__plus_01_dot_44_bar__minus_00_dot_54 loc_bar__minus_4_bar__minus_2_bar_3_bar_15) + (objectAtLocation Window_bar__plus_00_dot_54_bar__plus_01_dot_41_bar__minus_02_dot_62 loc_bar_2_bar__minus_7_bar_2_bar_15) + (objectAtLocation Blinds_bar__plus_00_dot_54_bar__plus_02_dot_14_bar__minus_02_dot_55 loc_bar_2_bar__minus_7_bar_2_bar__minus_30) + (objectAtLocation Blinds_bar__minus_01_dot_65_bar__plus_02_dot_15_bar__minus_00_dot_55 loc_bar__minus_4_bar__minus_2_bar_3_bar__minus_30) + ) + + + (:goal + (and + (exists (?ot - object + ?r - receptacle + ?a - agent + ?l - location) + (and + (objectType ?ot DeskLampType) + (toggleable ?ot) + (isToggled ?ot) + (receptacleAtLocation ?r ?l) + (atLocation ?a ?l) + (inReceptacle ?ot ?r) + ) + ) + (exists (?o - object + ?a - agent) + (and + (objectType ?o PencilType) + (holds ?a ?o) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git 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} + }, + { + "objectName": "BasketBall_054aae4c", + "position": { + "x": -1.231, + "y": 0.121002644, + "z": -0.18 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "CreditCard_9e9ae358", + "position": { + "x": 0.4180629, + "y": 0.8329391, + "z": -2.414 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "KeyChain_f504086d", + "position": { + "x": 2.694349, + "y": 0.192154437, + "z": -0.0412448645 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pencil_c2ef4bac", + "position": { + "x": -0.3933669, + "y": 0.0497949757, + "z": -1.752 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "AlarmClock_bb28d3d0", + "position": { + "x": 2.45610738, + "y": 0.8197357, + "z": -0.134690285 + }, + "rotation": { + "x": 0.0, + "y": 270.000153, + "z": 0.0 + } + }, + { + "objectName": "Laptop_a6ddd15b", + "position": { + "x": -0.535, + "y": 0.7818872, + "z": 0.402 + }, + "rotation": { + "x": 0.0, + "y": 59.9998932, + "z": 0.0 + } + }, + { + "objectName": "CD_0b3dc2b2", + "position": { + "x": 2.517972, + "y": 0.821139336, + "z": 0.4336478 + }, + "rotation": { + "x": 0.0, + "y": 270.000153, + "z": 0.0 + } + }, + { + "objectName": "Pen_2c20820a", + "position": { + "x": -0.904741764, + "y": 0.4328078, + "z": -1.752 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [ + { + "isOn": false, + "objectType": "DeskLamp" + } + ], + "random_seed": 1368982603, + "scene_num": 319 + }, + "task_id": "trial_T20190908_135012_910702", + "task_type": "look_at_obj_in_light", + "turk_annotations": { + "anns": [ + { + "assignment_id": "AFPMG8TLP1TND_3NJM2BJS4ZXKM1DADE3EUFK0PPQCPU", + "high_descs": [ + "turn around and walk a little bit towards the bed and turn left and walk straight towards the shelf and turn left", + "pick up the pencil on the bottom shelf", + "turn left and walk straight then turn left again towards the bed and walk straight towards the door then turn right and walk straight towards the mirror and turn right at the table edge", + "turn the lamp on at the edge of the table" + ], + "task_desc": "pick up a pencil and view it in the light of the lamp", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A2A4UAFZ5LW71K_3O6CYIULEGS6S4RBBR29GFE2PLZWUG", + "high_descs": [ + "turn around, take a step, turn left, take a few steps, turn left to face shelves", + "pick up the pencil that is on the shelf", + "turn left, walk forward, turn left, walk to the door, turn right, walk to mirror, turn right to face the lamp", + "turn the lamp on" + ], + "task_desc": "examine a pencil with a lamp", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3F7G1FSFWQPLE_3RWE2M8QWK10PO6HLJX2VPD4GKAN0W", + "high_descs": [ + "Turn around and walk forward, then turn left and walk over to the wooden shelving unit in the corner of the room.", + "Pick up the short pencil off of the wooden shelving unit.", + "Turn left and walk over to the small lamp on the white dresser.", + "Turn on the light of the small lamp on the white dresser." + ], + "task_desc": "Examine a short pencil in the light of a small lamp.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Pencil-None-DeskLamp-319/trial_T20190908_135046_043056/game.tw-pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Pencil-None-DeskLamp-319/trial_T20190908_135046_043056/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..e014dc3c3cae7967204e32e9f48d7b04db0c7e18 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Pencil-None-DeskLamp-319/trial_T20190908_135046_043056/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\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 pencil 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_135046_043056)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\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_46_bar__plus_00_dot_82_bar__plus_00_dot_05 - object\n BasketBall_bar__minus_01_dot_23_bar__plus_00_dot_12_bar__minus_00_dot_18 - object\n Blinds_bar__plus_00_dot_54_bar__plus_02_dot_14_bar__minus_02_dot_55 - object\n Blinds_bar__minus_01_dot_65_bar__plus_02_dot_15_bar__minus_00_dot_55 - object\n Book_bar__plus_00_dot_37_bar__plus_00_dot_73_bar__plus_00_dot_44 - object\n Book_bar__plus_02_dot_55_bar__plus_00_dot_03_bar__plus_00_dot_44 - object\n Box_bar__plus_00_dot_25_bar__plus_00_dot_23_bar__minus_02_dot_04 - object\n CD_bar__plus_02_dot_64_bar__plus_00_dot_82_bar__minus_00_dot_13 - object\n CD_bar__minus_01_dot_42_bar__plus_00_dot_05_bar__minus_00_dot_94 - object\n CellPhone_bar__plus_00_dot_18_bar__plus_00_dot_73_bar__plus_00_dot_97 - object\n CellPhone_bar__minus_00_dot_21_bar__plus_00_dot_73_bar__plus_01_dot_23 - object\n CreditCard_bar__plus_00_dot_82_bar__plus_00_dot_83_bar__minus_02_dot_38 - object\n DeskLamp_bar__plus_02_dot_68_bar__plus_00_dot_82_bar__plus_00_dot_88 - object\n Footstool_bar__plus_00_dot_80_bar__plus_00_dot_44_bar__minus_02_dot_11 - object\n HousePlant_bar__minus_00_dot_80_bar__plus_00_dot_96_bar__minus_01_dot_73 - object\n KeyChain_bar__plus_00_dot_15_bar__plus_00_dot_83_bar__minus_02_dot_41 - object\n KeyChain_bar__plus_02_dot_64_bar__plus_00_dot_82_bar__plus_00_dot_05 - object\n Laptop_bar__minus_00_dot_02_bar__plus_00_dot_73_bar__plus_00_dot_44 - object\n Laptop_bar__minus_00_dot_21_bar__plus_00_dot_73_bar__plus_00_dot_97 - object\n LightSwitch_bar__plus_00_dot_78_bar__plus_01_dot_27_bar__plus_02_dot_13 - object\n Mirror_bar__plus_02_dot_84_bar__plus_01_dot_40_bar__plus_01_dot_38 - object\n Painting_bar__plus_01_dot_87_bar__plus_00_dot_39_bar__minus_01_dot_79 - object\n Painting_bar__plus_02_dot_06_bar__plus_01_dot_67_bar__minus_01_dot_87 - object\n Pencil_bar__plus_02_dot_52_bar__plus_00_dot_82_bar__plus_00_dot_24 - object\n Pencil_bar__plus_02_dot_55_bar__plus_00_dot_68_bar__minus_00_dot_13 - object\n Pencil_bar__plus_02_dot_70_bar__plus_00_dot_82_bar__plus_00_dot_62 - object\n Pencil_bar__minus_00_dot_82_bar__plus_00_dot_05_bar__minus_01_dot_70 - object\n Pen_bar__plus_02_dot_52_bar__plus_00_dot_83_bar__plus_00_dot_43 - object\n Pen_bar__plus_02_dot_60_bar__plus_00_dot_53_bar__plus_00_dot_44 - object\n Pen_bar__minus_00_dot_36_bar__plus_00_dot_05_bar__minus_01_dot_67 - object\n Pillow_bar__plus_00_dot_15_bar__plus_00_dot_74_bar__plus_01_dot_74 - object\n Pillow_bar__minus_00_dot_44_bar__plus_00_dot_74_bar__plus_01_dot_64 - object\n Statue_bar__plus_02_dot_70_bar__plus_00_dot_83_bar__plus_00_dot_43 - object\n Window_bar__plus_00_dot_54_bar__plus_01_dot_41_bar__minus_02_dot_62 - object\n Window_bar__minus_01_dot_70_bar__plus_01_dot_44_bar__minus_00_dot_54 - object\n Bed_bar__minus_00_dot_21_bar__plus_00_dot_00_bar__plus_00_dot_98 - receptacle\n Drawer_bar__plus_02_dot_54_bar__plus_00_dot_08_bar__plus_00_dot_62 - receptacle\n Drawer_bar__plus_02_dot_54_bar__plus_00_dot_08_bar__minus_00_dot_13 - receptacle\n Drawer_bar__plus_02_dot_54_bar__plus_00_dot_24_bar__plus_00_dot_62 - receptacle\n Drawer_bar__plus_02_dot_54_bar__plus_00_dot_24_bar__minus_00_dot_13 - receptacle\n Drawer_bar__plus_02_dot_54_bar__plus_00_dot_40_bar__plus_00_dot_62 - receptacle\n Drawer_bar__plus_02_dot_54_bar__plus_00_dot_40_bar__minus_00_dot_13 - receptacle\n Drawer_bar__plus_02_dot_54_bar__plus_00_dot_57_bar__plus_00_dot_62 - receptacle\n Drawer_bar__plus_02_dot_54_bar__plus_00_dot_57_bar__minus_00_dot_13 - receptacle\n Drawer_bar__plus_02_dot_54_bar__plus_00_dot_73_bar__plus_00_dot_62 - receptacle\n Drawer_bar__plus_02_dot_54_bar__plus_00_dot_73_bar__minus_00_dot_13 - receptacle\n Dresser_bar__plus_02_dot_56_bar_00_dot_00_bar__plus_00_dot_25 - receptacle\n GarbageCan_bar__minus_01_dot_36_bar__plus_00_dot_00_bar__minus_00_dot_94 - receptacle\n Shelf_bar__plus_00_dot_53_bar__plus_00_dot_83_bar__minus_02_dot_41 - receptacle\n Shelf_bar__minus_00_dot_33_bar__plus_00_dot_04_bar__minus_01_dot_75 - receptacle\n Shelf_bar__minus_00_dot_45_bar__plus_00_dot_42_bar__minus_01_dot_75 - receptacle\n Shelf_bar__minus_00_dot_45_bar__plus_00_dot_70_bar__minus_01_dot_75 - receptacle\n Shelf_bar__minus_00_dot_62_bar__plus_00_dot_96_bar__minus_01_dot_75 - receptacle\n Shelf_bar__minus_00_dot_72_bar__plus_00_dot_04_bar__minus_01_dot_75 - receptacle\n Shelf_bar__minus_00_dot_81_bar__plus_00_dot_96_bar__minus_01_dot_75 - receptacle\n Shelf_bar__minus_00_dot_91_bar__plus_00_dot_42_bar__minus_01_dot_75 - receptacle\n Shelf_bar__minus_00_dot_91_bar__plus_00_dot_70_bar__minus_01_dot_75 - receptacle\n loc_bar__minus_2_bar__minus_4_bar_2_bar_45 - location\n loc_bar__minus_1_bar__minus_4_bar_2_bar_45 - location\n loc_bar_6_bar_3_bar_3_bar_45 - location\n loc_bar__minus_1_bar__minus_3_bar_2_bar_60 - location\n loc_bar_2_bar__minus_7_bar_2_bar_45 - location\n loc_bar__minus_4_bar__minus_2_bar_3_bar__minus_30 - location\n loc_bar_8_bar__minus_4_bar_2_bar_0 - location\n loc_bar_2_bar__minus_7_bar_2_bar_15 - location\n loc_bar__minus_1_bar__minus_5_bar_2_bar_60 - location\n loc_bar_6_bar_4_bar_1_bar_60 - location\n loc_bar_6_bar__minus_2_bar_1_bar_60 - location\n loc_bar_7_bar__minus_1_bar_1_bar_45 - location\n loc_bar__minus_4_bar__minus_2_bar_0_bar_60 - location\n loc_bar_7_bar_2_bar_1_bar_45 - location\n loc_bar__minus_2_bar__minus_4_bar_2_bar_60 - location\n loc_bar__minus_1_bar__minus_4_bar_2_bar_60 - location\n loc_bar_7_bar_1_bar_1_bar_60 - location\n loc_bar_2_bar__minus_7_bar_2_bar__minus_30 - location\n loc_bar__minus_3_bar__minus_3_bar_3_bar_60 - location\n loc_bar_1_bar__minus_3_bar_2_bar_60 - location\n loc_bar_6_bar_1_bar_1_bar_45 - location\n loc_bar__minus_4_bar__minus_2_bar_3_bar_15 - location\n loc_bar_9_bar_5_bar_1_bar_30 - location\n loc_bar__minus_1_bar__minus_5_bar_3_bar_45 - location\n loc_bar_2_bar__minus_7_bar_2_bar_60 - location\n loc_bar_7_bar__minus_4_bar_2_bar_60 - location\n loc_bar_6_bar_4_bar_1_bar_45 - location\n loc_bar_5_bar_5_bar_1_bar_45 - location\n loc_bar_4_bar_6_bar_0_bar_30 - location\n loc_bar_5_bar_2_bar_1_bar_45 - location\n loc_bar_1_bar__minus_2_bar_1_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Drawer_bar__plus_02_dot_54_bar__plus_00_dot_40_bar__plus_00_dot_62 DrawerType)\n (receptacleType Shelf_bar__minus_00_dot_81_bar__plus_00_dot_96_bar__minus_01_dot_75 ShelfType)\n (receptacleType Drawer_bar__plus_02_dot_54_bar__plus_00_dot_73_bar__minus_00_dot_13 DrawerType)\n (receptacleType Shelf_bar__plus_00_dot_53_bar__plus_00_dot_83_bar__minus_02_dot_41 ShelfType)\n (receptacleType Drawer_bar__plus_02_dot_54_bar__plus_00_dot_08_bar__plus_00_dot_62 DrawerType)\n (receptacleType Drawer_bar__plus_02_dot_54_bar__plus_00_dot_40_bar__minus_00_dot_13 DrawerType)\n (receptacleType Shelf_bar__minus_00_dot_91_bar__plus_00_dot_70_bar__minus_01_dot_75 ShelfType)\n (receptacleType Shelf_bar__minus_00_dot_45_bar__plus_00_dot_42_bar__minus_01_dot_75 ShelfType)\n (receptacleType Shelf_bar__minus_00_dot_62_bar__plus_00_dot_96_bar__minus_01_dot_75 ShelfType)\n (receptacleType Bed_bar__minus_00_dot_21_bar__plus_00_dot_00_bar__plus_00_dot_98 BedType)\n (receptacleType GarbageCan_bar__minus_01_dot_36_bar__plus_00_dot_00_bar__minus_00_dot_94 GarbageCanType)\n (receptacleType Shelf_bar__minus_00_dot_45_bar__plus_00_dot_70_bar__minus_01_dot_75 ShelfType)\n (receptacleType Drawer_bar__plus_02_dot_54_bar__plus_00_dot_57_bar__minus_00_dot_13 DrawerType)\n (receptacleType Drawer_bar__plus_02_dot_54_bar__plus_00_dot_08_bar__minus_00_dot_13 DrawerType)\n (receptacleType Dresser_bar__plus_02_dot_56_bar_00_dot_00_bar__plus_00_dot_25 DresserType)\n (receptacleType Shelf_bar__minus_00_dot_91_bar__plus_00_dot_42_bar__minus_01_dot_75 ShelfType)\n (receptacleType Shelf_bar__minus_00_dot_72_bar__plus_00_dot_04_bar__minus_01_dot_75 ShelfType)\n (receptacleType Shelf_bar__minus_00_dot_33_bar__plus_00_dot_04_bar__minus_01_dot_75 ShelfType)\n (receptacleType Drawer_bar__plus_02_dot_54_bar__plus_00_dot_57_bar__plus_00_dot_62 DrawerType)\n (receptacleType Drawer_bar__plus_02_dot_54_bar__plus_00_dot_24_bar__plus_00_dot_62 DrawerType)\n (receptacleType Drawer_bar__plus_02_dot_54_bar__plus_00_dot_24_bar__minus_00_dot_13 DrawerType)\n (receptacleType Drawer_bar__plus_02_dot_54_bar__plus_00_dot_73_bar__plus_00_dot_62 DrawerType)\n (objectType Pencil_bar__plus_02_dot_52_bar__plus_00_dot_82_bar__plus_00_dot_24 PencilType)\n (objectType HousePlant_bar__minus_00_dot_80_bar__plus_00_dot_96_bar__minus_01_dot_73 HousePlantType)\n (objectType CellPhone_bar__minus_00_dot_21_bar__plus_00_dot_73_bar__plus_01_dot_23 CellPhoneType)\n (objectType Pillow_bar__plus_00_dot_15_bar__plus_00_dot_74_bar__plus_01_dot_74 PillowType)\n (objectType Painting_bar__plus_01_dot_87_bar__plus_00_dot_39_bar__minus_01_dot_79 PaintingType)\n (objectType Pencil_bar__plus_02_dot_55_bar__plus_00_dot_68_bar__minus_00_dot_13 PencilType)\n (objectType Footstool_bar__plus_00_dot_80_bar__plus_00_dot_44_bar__minus_02_dot_11 FootstoolType)\n (objectType KeyChain_bar__plus_02_dot_64_bar__plus_00_dot_82_bar__plus_00_dot_05 KeyChainType)\n (objectType Pen_bar__plus_02_dot_52_bar__plus_00_dot_83_bar__plus_00_dot_43 PenType)\n (objectType Pen_bar__minus_00_dot_36_bar__plus_00_dot_05_bar__minus_01_dot_67 PenType)\n (objectType Painting_bar__plus_02_dot_06_bar__plus_01_dot_67_bar__minus_01_dot_87 PaintingType)\n (objectType Book_bar__plus_02_dot_55_bar__plus_00_dot_03_bar__plus_00_dot_44 BookType)\n (objectType CreditCard_bar__plus_00_dot_82_bar__plus_00_dot_83_bar__minus_02_dot_38 CreditCardType)\n (objectType Pillow_bar__minus_00_dot_44_bar__plus_00_dot_74_bar__plus_01_dot_64 PillowType)\n (objectType BasketBall_bar__minus_01_dot_23_bar__plus_00_dot_12_bar__minus_00_dot_18 BasketBallType)\n (objectType Window_bar__plus_00_dot_54_bar__plus_01_dot_41_bar__minus_02_dot_62 WindowType)\n (objectType Mirror_bar__plus_02_dot_84_bar__plus_01_dot_40_bar__plus_01_dot_38 MirrorType)\n (objectType Pencil_bar__minus_00_dot_82_bar__plus_00_dot_05_bar__minus_01_dot_70 PencilType)\n (objectType KeyChain_bar__plus_00_dot_15_bar__plus_00_dot_83_bar__minus_02_dot_41 KeyChainType)\n (objectType CD_bar__plus_02_dot_64_bar__plus_00_dot_82_bar__minus_00_dot_13 CDType)\n (objectType Laptop_bar__minus_00_dot_02_bar__plus_00_dot_73_bar__plus_00_dot_44 LaptopType)\n (objectType CD_bar__minus_01_dot_42_bar__plus_00_dot_05_bar__minus_00_dot_94 CDType)\n (objectType Statue_bar__plus_02_dot_70_bar__plus_00_dot_83_bar__plus_00_dot_43 StatueType)\n (objectType Blinds_bar__plus_00_dot_54_bar__plus_02_dot_14_bar__minus_02_dot_55 BlindsType)\n (objectType Pencil_bar__plus_02_dot_70_bar__plus_00_dot_82_bar__plus_00_dot_62 PencilType)\n (objectType Window_bar__minus_01_dot_70_bar__plus_01_dot_44_bar__minus_00_dot_54 WindowType)\n (objectType DeskLamp_bar__plus_02_dot_68_bar__plus_00_dot_82_bar__plus_00_dot_88 DeskLampType)\n (objectType Pen_bar__plus_02_dot_60_bar__plus_00_dot_53_bar__plus_00_dot_44 PenType)\n (objectType LightSwitch_bar__plus_00_dot_78_bar__plus_01_dot_27_bar__plus_02_dot_13 LightSwitchType)\n (objectType Blinds_bar__minus_01_dot_65_bar__plus_02_dot_15_bar__minus_00_dot_55 BlindsType)\n (objectType Box_bar__plus_00_dot_25_bar__plus_00_dot_23_bar__minus_02_dot_04 BoxType)\n (objectType Book_bar__plus_00_dot_37_bar__plus_00_dot_73_bar__plus_00_dot_44 BookType)\n (objectType Laptop_bar__minus_00_dot_21_bar__plus_00_dot_73_bar__plus_00_dot_97 LaptopType)\n (objectType CellPhone_bar__plus_00_dot_18_bar__plus_00_dot_73_bar__plus_00_dot_97 CellPhoneType)\n (objectType AlarmClock_bar__plus_02_dot_46_bar__plus_00_dot_82_bar__plus_00_dot_05 AlarmClockType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain ShelfType PenType)\n (canContain ShelfType BookType)\n (canContain ShelfType CDType)\n (canContain ShelfType BoxType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType PencilType)\n (canContain ShelfType StatueType)\n (canContain ShelfType AlarmClockType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain 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 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 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 StatueType)\n (canContain ShelfType AlarmClockType)\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 StatueType)\n (canContain ShelfType AlarmClockType)\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 StatueType)\n (canContain ShelfType AlarmClockType)\n (canContain BedType BasketBallType)\n (canContain BedType LaptopType)\n (canContain BedType BookType)\n (canContain BedType CellPhoneType)\n (canContain BedType PillowType)\n (canContain GarbageCanType PenType)\n (canContain GarbageCanType CDType)\n (canContain GarbageCanType PencilType)\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 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 DresserType PenType)\n (canContain DresserType BookType)\n (canContain DresserType CDType)\n (canContain DresserType BoxType)\n (canContain DresserType CellPhoneType)\n (canContain DresserType KeyChainType)\n (canContain DresserType CreditCardType)\n (canContain DresserType BasketBallType)\n (canContain DresserType LaptopType)\n (canContain DresserType PencilType)\n (canContain DresserType StatueType)\n (canContain DresserType AlarmClockType)\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 StatueType)\n (canContain ShelfType AlarmClockType)\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 StatueType)\n (canContain ShelfType AlarmClockType)\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 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 DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (pickupable Pencil_bar__plus_02_dot_52_bar__plus_00_dot_82_bar__plus_00_dot_24)\n (pickupable CellPhone_bar__minus_00_dot_21_bar__plus_00_dot_73_bar__plus_01_dot_23)\n (pickupable Pillow_bar__plus_00_dot_15_bar__plus_00_dot_74_bar__plus_01_dot_74)\n (pickupable Pencil_bar__plus_02_dot_55_bar__plus_00_dot_68_bar__minus_00_dot_13)\n (pickupable KeyChain_bar__plus_02_dot_64_bar__plus_00_dot_82_bar__plus_00_dot_05)\n (pickupable Pen_bar__plus_02_dot_52_bar__plus_00_dot_83_bar__plus_00_dot_43)\n (pickupable Pen_bar__minus_00_dot_36_bar__plus_00_dot_05_bar__minus_01_dot_67)\n (pickupable Book_bar__plus_02_dot_55_bar__plus_00_dot_03_bar__plus_00_dot_44)\n (pickupable CreditCard_bar__plus_00_dot_82_bar__plus_00_dot_83_bar__minus_02_dot_38)\n (pickupable Pillow_bar__minus_00_dot_44_bar__plus_00_dot_74_bar__plus_01_dot_64)\n (pickupable BasketBall_bar__minus_01_dot_23_bar__plus_00_dot_12_bar__minus_00_dot_18)\n (pickupable Pencil_bar__minus_00_dot_82_bar__plus_00_dot_05_bar__minus_01_dot_70)\n (pickupable KeyChain_bar__plus_00_dot_15_bar__plus_00_dot_83_bar__minus_02_dot_41)\n (pickupable CD_bar__plus_02_dot_64_bar__plus_00_dot_82_bar__minus_00_dot_13)\n (pickupable Laptop_bar__minus_00_dot_02_bar__plus_00_dot_73_bar__plus_00_dot_44)\n (pickupable CD_bar__minus_01_dot_42_bar__plus_00_dot_05_bar__minus_00_dot_94)\n (pickupable Statue_bar__plus_02_dot_70_bar__plus_00_dot_83_bar__plus_00_dot_43)\n (pickupable Pencil_bar__plus_02_dot_70_bar__plus_00_dot_82_bar__plus_00_dot_62)\n (pickupable Pen_bar__plus_02_dot_60_bar__plus_00_dot_53_bar__plus_00_dot_44)\n (pickupable Box_bar__plus_00_dot_25_bar__plus_00_dot_23_bar__minus_02_dot_04)\n (pickupable Book_bar__plus_00_dot_37_bar__plus_00_dot_73_bar__plus_00_dot_44)\n (pickupable Laptop_bar__minus_00_dot_21_bar__plus_00_dot_73_bar__plus_00_dot_97)\n (pickupable CellPhone_bar__plus_00_dot_18_bar__plus_00_dot_73_bar__plus_00_dot_97)\n (pickupable AlarmClock_bar__plus_02_dot_46_bar__plus_00_dot_82_bar__plus_00_dot_05)\n (isReceptacleObject Box_bar__plus_00_dot_25_bar__plus_00_dot_23_bar__minus_02_dot_04)\n (openable Drawer_bar__plus_02_dot_54_bar__plus_00_dot_40_bar__plus_00_dot_62)\n (openable Drawer_bar__plus_02_dot_54_bar__plus_00_dot_73_bar__minus_00_dot_13)\n (openable Drawer_bar__plus_02_dot_54_bar__plus_00_dot_08_bar__plus_00_dot_62)\n (openable Drawer_bar__plus_02_dot_54_bar__plus_00_dot_40_bar__minus_00_dot_13)\n (openable Drawer_bar__plus_02_dot_54_bar__plus_00_dot_57_bar__minus_00_dot_13)\n (openable Drawer_bar__plus_02_dot_54_bar__plus_00_dot_08_bar__minus_00_dot_13)\n (openable Drawer_bar__plus_02_dot_54_bar__plus_00_dot_57_bar__plus_00_dot_62)\n (openable Drawer_bar__plus_02_dot_54_bar__plus_00_dot_24_bar__plus_00_dot_62)\n (openable Drawer_bar__plus_02_dot_54_bar__plus_00_dot_24_bar__minus_00_dot_13)\n (openable Drawer_bar__plus_02_dot_54_bar__plus_00_dot_73_bar__plus_00_dot_62)\n \n (atLocation agent1 loc_bar_1_bar__minus_2_bar_1_bar_30)\n \n \n \n \n \n \n \n (toggleable DeskLamp_bar__plus_02_dot_68_bar__plus_00_dot_82_bar__plus_00_dot_88)\n \n \n \n \n (inReceptacle Pen_bar__plus_02_dot_60_bar__plus_00_dot_53_bar__plus_00_dot_44 Drawer_bar__plus_02_dot_54_bar__plus_00_dot_57_bar__plus_00_dot_62)\n (inReceptacle Pencil_bar__plus_02_dot_55_bar__plus_00_dot_68_bar__minus_00_dot_13 Drawer_bar__plus_02_dot_54_bar__plus_00_dot_73_bar__minus_00_dot_13)\n (inReceptacle Book_bar__plus_02_dot_55_bar__plus_00_dot_03_bar__plus_00_dot_44 Drawer_bar__plus_02_dot_54_bar__plus_00_dot_08_bar__plus_00_dot_62)\n (inReceptacle Pencil_bar__plus_02_dot_52_bar__plus_00_dot_82_bar__plus_00_dot_24 Dresser_bar__plus_02_dot_56_bar_00_dot_00_bar__plus_00_dot_25)\n (inReceptacle CD_bar__plus_02_dot_64_bar__plus_00_dot_82_bar__minus_00_dot_13 Dresser_bar__plus_02_dot_56_bar_00_dot_00_bar__plus_00_dot_25)\n (inReceptacle Statue_bar__plus_02_dot_70_bar__plus_00_dot_83_bar__plus_00_dot_43 Dresser_bar__plus_02_dot_56_bar_00_dot_00_bar__plus_00_dot_25)\n (inReceptacle Pencil_bar__plus_02_dot_70_bar__plus_00_dot_82_bar__plus_00_dot_62 Dresser_bar__plus_02_dot_56_bar_00_dot_00_bar__plus_00_dot_25)\n (inReceptacle DeskLamp_bar__plus_02_dot_68_bar__plus_00_dot_82_bar__plus_00_dot_88 Dresser_bar__plus_02_dot_56_bar_00_dot_00_bar__plus_00_dot_25)\n (inReceptacle AlarmClock_bar__plus_02_dot_46_bar__plus_00_dot_82_bar__plus_00_dot_05 Dresser_bar__plus_02_dot_56_bar_00_dot_00_bar__plus_00_dot_25)\n (inReceptacle Pen_bar__plus_02_dot_52_bar__plus_00_dot_83_bar__plus_00_dot_43 Dresser_bar__plus_02_dot_56_bar_00_dot_00_bar__plus_00_dot_25)\n (inReceptacle KeyChain_bar__plus_02_dot_64_bar__plus_00_dot_82_bar__plus_00_dot_05 Dresser_bar__plus_02_dot_56_bar_00_dot_00_bar__plus_00_dot_25)\n (inReceptacle Book_bar__plus_00_dot_37_bar__plus_00_dot_73_bar__plus_00_dot_44 Bed_bar__minus_00_dot_21_bar__plus_00_dot_00_bar__plus_00_dot_98)\n (inReceptacle Laptop_bar__minus_00_dot_21_bar__plus_00_dot_73_bar__plus_00_dot_97 Bed_bar__minus_00_dot_21_bar__plus_00_dot_00_bar__plus_00_dot_98)\n (inReceptacle Laptop_bar__minus_00_dot_02_bar__plus_00_dot_73_bar__plus_00_dot_44 Bed_bar__minus_00_dot_21_bar__plus_00_dot_00_bar__plus_00_dot_98)\n (inReceptacle CellPhone_bar__minus_00_dot_21_bar__plus_00_dot_73_bar__plus_01_dot_23 Bed_bar__minus_00_dot_21_bar__plus_00_dot_00_bar__plus_00_dot_98)\n (inReceptacle Pillow_bar__minus_00_dot_44_bar__plus_00_dot_74_bar__plus_01_dot_64 Bed_bar__minus_00_dot_21_bar__plus_00_dot_00_bar__plus_00_dot_98)\n (inReceptacle Pillow_bar__plus_00_dot_15_bar__plus_00_dot_74_bar__plus_01_dot_74 Bed_bar__minus_00_dot_21_bar__plus_00_dot_00_bar__plus_00_dot_98)\n (inReceptacle CellPhone_bar__plus_00_dot_18_bar__plus_00_dot_73_bar__plus_00_dot_97 Bed_bar__minus_00_dot_21_bar__plus_00_dot_00_bar__plus_00_dot_98)\n (inReceptacle Pencil_bar__minus_00_dot_82_bar__plus_00_dot_05_bar__minus_01_dot_70 Shelf_bar__minus_00_dot_72_bar__plus_00_dot_04_bar__minus_01_dot_75)\n (inReceptacle HousePlant_bar__minus_00_dot_80_bar__plus_00_dot_96_bar__minus_01_dot_73 Shelf_bar__minus_00_dot_81_bar__plus_00_dot_96_bar__minus_01_dot_75)\n (inReceptacle Pen_bar__minus_00_dot_36_bar__plus_00_dot_05_bar__minus_01_dot_67 Shelf_bar__minus_00_dot_33_bar__plus_00_dot_04_bar__minus_01_dot_75)\n (inReceptacle CreditCard_bar__plus_00_dot_82_bar__plus_00_dot_83_bar__minus_02_dot_38 Shelf_bar__plus_00_dot_53_bar__plus_00_dot_83_bar__minus_02_dot_41)\n (inReceptacle KeyChain_bar__plus_00_dot_15_bar__plus_00_dot_83_bar__minus_02_dot_41 Shelf_bar__plus_00_dot_53_bar__plus_00_dot_83_bar__minus_02_dot_41)\n (inReceptacle CD_bar__minus_01_dot_42_bar__plus_00_dot_05_bar__minus_00_dot_94 GarbageCan_bar__minus_01_dot_36_bar__plus_00_dot_00_bar__minus_00_dot_94)\n \n \n (receptacleAtLocation Bed_bar__minus_00_dot_21_bar__plus_00_dot_00_bar__plus_00_dot_98 loc_bar_6_bar_3_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__plus_02_dot_54_bar__plus_00_dot_08_bar__plus_00_dot_62 loc_bar_5_bar_5_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_02_dot_54_bar__plus_00_dot_08_bar__minus_00_dot_13 loc_bar_5_bar_2_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_02_dot_54_bar__plus_00_dot_24_bar__plus_00_dot_62 loc_bar_6_bar_4_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_02_dot_54_bar__plus_00_dot_24_bar__minus_00_dot_13 loc_bar_6_bar__minus_2_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_02_dot_54_bar__plus_00_dot_40_bar__plus_00_dot_62 loc_bar_6_bar_4_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_02_dot_54_bar__plus_00_dot_40_bar__minus_00_dot_13 loc_bar_6_bar_1_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_02_dot_54_bar__plus_00_dot_57_bar__plus_00_dot_62 loc_bar_6_bar_4_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_02_dot_54_bar__plus_00_dot_57_bar__minus_00_dot_13 loc_bar_6_bar_1_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_02_dot_54_bar__plus_00_dot_73_bar__plus_00_dot_62 loc_bar_7_bar_2_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_02_dot_54_bar__plus_00_dot_73_bar__minus_00_dot_13 loc_bar_7_bar__minus_1_bar_1_bar_45)\n (receptacleAtLocation Dresser_bar__plus_02_dot_56_bar_00_dot_00_bar__plus_00_dot_25 loc_bar_7_bar_1_bar_1_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_01_dot_36_bar__plus_00_dot_00_bar__minus_00_dot_94 loc_bar__minus_3_bar__minus_3_bar_3_bar_60)\n (receptacleAtLocation Shelf_bar__plus_00_dot_53_bar__plus_00_dot_83_bar__minus_02_dot_41 loc_bar_2_bar__minus_7_bar_2_bar_45)\n (receptacleAtLocation Shelf_bar__minus_00_dot_33_bar__plus_00_dot_04_bar__minus_01_dot_75 loc_bar_1_bar__minus_3_bar_2_bar_60)\n (receptacleAtLocation Shelf_bar__minus_00_dot_45_bar__plus_00_dot_42_bar__minus_01_dot_75 loc_bar__minus_1_bar__minus_4_bar_2_bar_60)\n (receptacleAtLocation Shelf_bar__minus_00_dot_45_bar__plus_00_dot_70_bar__minus_01_dot_75 loc_bar__minus_1_bar__minus_4_bar_2_bar_45)\n (receptacleAtLocation Shelf_bar__minus_00_dot_62_bar__plus_00_dot_96_bar__minus_01_dot_75 loc_bar__minus_1_bar__minus_5_bar_2_bar_60)\n (receptacleAtLocation Shelf_bar__minus_00_dot_72_bar__plus_00_dot_04_bar__minus_01_dot_75 loc_bar__minus_1_bar__minus_3_bar_2_bar_60)\n (receptacleAtLocation Shelf_bar__minus_00_dot_81_bar__plus_00_dot_96_bar__minus_01_dot_75 loc_bar__minus_1_bar__minus_5_bar_3_bar_45)\n (receptacleAtLocation Shelf_bar__minus_00_dot_91_bar__plus_00_dot_42_bar__minus_01_dot_75 loc_bar__minus_2_bar__minus_4_bar_2_bar_60)\n (receptacleAtLocation Shelf_bar__minus_00_dot_91_bar__plus_00_dot_70_bar__minus_01_dot_75 loc_bar__minus_2_bar__minus_4_bar_2_bar_45)\n (objectAtLocation Pen_bar__plus_02_dot_60_bar__plus_00_dot_53_bar__plus_00_dot_44 loc_bar_6_bar_4_bar_1_bar_45)\n (objectAtLocation CD_bar__plus_02_dot_64_bar__plus_00_dot_82_bar__minus_00_dot_13 loc_bar_7_bar_1_bar_1_bar_60)\n (objectAtLocation Laptop_bar__minus_00_dot_21_bar__plus_00_dot_73_bar__plus_00_dot_97 loc_bar_6_bar_3_bar_3_bar_45)\n (objectAtLocation Pencil_bar__plus_02_dot_70_bar__plus_00_dot_82_bar__plus_00_dot_62 loc_bar_7_bar_1_bar_1_bar_60)\n (objectAtLocation KeyChain_bar__plus_02_dot_64_bar__plus_00_dot_82_bar__plus_00_dot_05 loc_bar_7_bar_1_bar_1_bar_60)\n (objectAtLocation CellPhone_bar__plus_00_dot_18_bar__plus_00_dot_73_bar__plus_00_dot_97 loc_bar_6_bar_3_bar_3_bar_45)\n (objectAtLocation Book_bar__plus_00_dot_37_bar__plus_00_dot_73_bar__plus_00_dot_44 loc_bar_6_bar_3_bar_3_bar_45)\n (objectAtLocation Pencil_bar__minus_00_dot_82_bar__plus_00_dot_05_bar__minus_01_dot_70 loc_bar__minus_1_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Pencil_bar__plus_02_dot_52_bar__plus_00_dot_82_bar__plus_00_dot_24 loc_bar_7_bar_1_bar_1_bar_60)\n (objectAtLocation Pen_bar__minus_00_dot_36_bar__plus_00_dot_05_bar__minus_01_dot_67 loc_bar_1_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Box_bar__plus_00_dot_25_bar__plus_00_dot_23_bar__minus_02_dot_04 loc_bar_2_bar__minus_7_bar_2_bar_60)\n (objectAtLocation Footstool_bar__plus_00_dot_80_bar__plus_00_dot_44_bar__minus_02_dot_11 loc_bar_2_bar__minus_7_bar_2_bar_60)\n (objectAtLocation Book_bar__plus_02_dot_55_bar__plus_00_dot_03_bar__plus_00_dot_44 loc_bar_5_bar_5_bar_1_bar_45)\n (objectAtLocation Statue_bar__plus_02_dot_70_bar__plus_00_dot_83_bar__plus_00_dot_43 loc_bar_7_bar_1_bar_1_bar_60)\n (objectAtLocation CellPhone_bar__minus_00_dot_21_bar__plus_00_dot_73_bar__plus_01_dot_23 loc_bar_6_bar_3_bar_3_bar_45)\n (objectAtLocation Pillow_bar__plus_00_dot_15_bar__plus_00_dot_74_bar__plus_01_dot_74 loc_bar_6_bar_3_bar_3_bar_45)\n (objectAtLocation Pillow_bar__minus_00_dot_44_bar__plus_00_dot_74_bar__plus_01_dot_64 loc_bar_6_bar_3_bar_3_bar_45)\n (objectAtLocation BasketBall_bar__minus_01_dot_23_bar__plus_00_dot_12_bar__minus_00_dot_18 loc_bar__minus_4_bar__minus_2_bar_0_bar_60)\n (objectAtLocation CreditCard_bar__plus_00_dot_82_bar__plus_00_dot_83_bar__minus_02_dot_38 loc_bar_2_bar__minus_7_bar_2_bar_45)\n (objectAtLocation KeyChain_bar__plus_00_dot_15_bar__plus_00_dot_83_bar__minus_02_dot_41 loc_bar_2_bar__minus_7_bar_2_bar_45)\n (objectAtLocation Pencil_bar__plus_02_dot_55_bar__plus_00_dot_68_bar__minus_00_dot_13 loc_bar_7_bar__minus_1_bar_1_bar_45)\n (objectAtLocation LightSwitch_bar__plus_00_dot_78_bar__plus_01_dot_27_bar__plus_02_dot_13 loc_bar_4_bar_6_bar_0_bar_30)\n (objectAtLocation AlarmClock_bar__plus_02_dot_46_bar__plus_00_dot_82_bar__plus_00_dot_05 loc_bar_7_bar_1_bar_1_bar_60)\n (objectAtLocation Painting_bar__plus_02_dot_06_bar__plus_01_dot_67_bar__minus_01_dot_87 loc_bar_8_bar__minus_4_bar_2_bar_0)\n (objectAtLocation HousePlant_bar__minus_00_dot_80_bar__plus_00_dot_96_bar__minus_01_dot_73 loc_bar__minus_1_bar__minus_5_bar_3_bar_45)\n (objectAtLocation Laptop_bar__minus_00_dot_02_bar__plus_00_dot_73_bar__plus_00_dot_44 loc_bar_6_bar_3_bar_3_bar_45)\n (objectAtLocation Painting_bar__plus_01_dot_87_bar__plus_00_dot_39_bar__minus_01_dot_79 loc_bar_7_bar__minus_4_bar_2_bar_60)\n (objectAtLocation Mirror_bar__plus_02_dot_84_bar__plus_01_dot_40_bar__plus_01_dot_38 loc_bar_9_bar_5_bar_1_bar_30)\n (objectAtLocation DeskLamp_bar__plus_02_dot_68_bar__plus_00_dot_82_bar__plus_00_dot_88 loc_bar_7_bar_1_bar_1_bar_60)\n (objectAtLocation CD_bar__minus_01_dot_42_bar__plus_00_dot_05_bar__minus_00_dot_94 loc_bar__minus_3_bar__minus_3_bar_3_bar_60)\n (objectAtLocation Pen_bar__plus_02_dot_52_bar__plus_00_dot_83_bar__plus_00_dot_43 loc_bar_7_bar_1_bar_1_bar_60)\n (objectAtLocation Window_bar__minus_01_dot_70_bar__plus_01_dot_44_bar__minus_00_dot_54 loc_bar__minus_4_bar__minus_2_bar_3_bar_15)\n (objectAtLocation Window_bar__plus_00_dot_54_bar__plus_01_dot_41_bar__minus_02_dot_62 loc_bar_2_bar__minus_7_bar_2_bar_15)\n (objectAtLocation Blinds_bar__plus_00_dot_54_bar__plus_02_dot_14_bar__minus_02_dot_55 loc_bar_2_bar__minus_7_bar_2_bar__minus_30)\n (objectAtLocation Blinds_bar__minus_01_dot_65_bar__plus_02_dot_15_bar__minus_00_dot_55 loc_bar__minus_4_bar__minus_2_bar_3_bar__minus_30)\n )\n \n\n (:goal\n (and\n (exists (?ot - object\n ?r - receptacle\n ?a - agent\n ?l - location)\n (and\n (objectType ?ot DeskLampType)\n (toggleable ?ot)\n (isToggled ?ot)\n (receptacleAtLocation ?r ?l)\n (atLocation ?a ?l)\n (inReceptacle ?ot ?r)\n )\n )\n (exists (?o - object\n ?a - agent)\n (and\n (objectType ?o PencilType)\n (holds ?a ?o)\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to dresser 1", "use desklamp 1", "take pencil 3 from dresser 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Pencil-None-DeskLamp-319/trial_T20190908_135046_043056/initial_state.pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Pencil-None-DeskLamp-319/trial_T20190908_135046_043056/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..db5cee63221254dd850408bfacbd533b2f6c32cb --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Pencil-None-DeskLamp-319/trial_T20190908_135046_043056/initial_state.pddl @@ -0,0 +1,687 @@ + +(define (problem plan_trial_T20190908_135046_043056) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_46_bar__plus_00_dot_82_bar__plus_00_dot_05 - object + BasketBall_bar__minus_01_dot_23_bar__plus_00_dot_12_bar__minus_00_dot_18 - object + Blinds_bar__plus_00_dot_54_bar__plus_02_dot_14_bar__minus_02_dot_55 - object + Blinds_bar__minus_01_dot_65_bar__plus_02_dot_15_bar__minus_00_dot_55 - object + Book_bar__plus_00_dot_37_bar__plus_00_dot_73_bar__plus_00_dot_44 - object + Book_bar__plus_02_dot_55_bar__plus_00_dot_03_bar__plus_00_dot_44 - object + Box_bar__plus_00_dot_25_bar__plus_00_dot_23_bar__minus_02_dot_04 - object + CD_bar__plus_02_dot_64_bar__plus_00_dot_82_bar__minus_00_dot_13 - object + CD_bar__minus_01_dot_42_bar__plus_00_dot_05_bar__minus_00_dot_94 - object + CellPhone_bar__plus_00_dot_18_bar__plus_00_dot_73_bar__plus_00_dot_97 - object + CellPhone_bar__minus_00_dot_21_bar__plus_00_dot_73_bar__plus_01_dot_23 - object + CreditCard_bar__plus_00_dot_82_bar__plus_00_dot_83_bar__minus_02_dot_38 - object + DeskLamp_bar__plus_02_dot_68_bar__plus_00_dot_82_bar__plus_00_dot_88 - object + Footstool_bar__plus_00_dot_80_bar__plus_00_dot_44_bar__minus_02_dot_11 - object + HousePlant_bar__minus_00_dot_80_bar__plus_00_dot_96_bar__minus_01_dot_73 - object + KeyChain_bar__plus_00_dot_15_bar__plus_00_dot_83_bar__minus_02_dot_41 - object + KeyChain_bar__plus_02_dot_64_bar__plus_00_dot_82_bar__plus_00_dot_05 - object + Laptop_bar__minus_00_dot_02_bar__plus_00_dot_73_bar__plus_00_dot_44 - object + Laptop_bar__minus_00_dot_21_bar__plus_00_dot_73_bar__plus_00_dot_97 - object + LightSwitch_bar__plus_00_dot_78_bar__plus_01_dot_27_bar__plus_02_dot_13 - object + Mirror_bar__plus_02_dot_84_bar__plus_01_dot_40_bar__plus_01_dot_38 - object + Painting_bar__plus_01_dot_87_bar__plus_00_dot_39_bar__minus_01_dot_79 - object + Painting_bar__plus_02_dot_06_bar__plus_01_dot_67_bar__minus_01_dot_87 - object + Pencil_bar__plus_02_dot_52_bar__plus_00_dot_82_bar__plus_00_dot_24 - object + Pencil_bar__plus_02_dot_55_bar__plus_00_dot_68_bar__minus_00_dot_13 - object + Pencil_bar__plus_02_dot_70_bar__plus_00_dot_82_bar__plus_00_dot_62 - object + Pencil_bar__minus_00_dot_82_bar__plus_00_dot_05_bar__minus_01_dot_70 - object + Pen_bar__plus_02_dot_52_bar__plus_00_dot_83_bar__plus_00_dot_43 - object + Pen_bar__plus_02_dot_60_bar__plus_00_dot_53_bar__plus_00_dot_44 - object + Pen_bar__minus_00_dot_36_bar__plus_00_dot_05_bar__minus_01_dot_67 - object + Pillow_bar__plus_00_dot_15_bar__plus_00_dot_74_bar__plus_01_dot_74 - object + Pillow_bar__minus_00_dot_44_bar__plus_00_dot_74_bar__plus_01_dot_64 - object + Statue_bar__plus_02_dot_70_bar__plus_00_dot_83_bar__plus_00_dot_43 - object + Window_bar__plus_00_dot_54_bar__plus_01_dot_41_bar__minus_02_dot_62 - object + Window_bar__minus_01_dot_70_bar__plus_01_dot_44_bar__minus_00_dot_54 - object + Bed_bar__minus_00_dot_21_bar__plus_00_dot_00_bar__plus_00_dot_98 - receptacle + Drawer_bar__plus_02_dot_54_bar__plus_00_dot_08_bar__plus_00_dot_62 - receptacle + Drawer_bar__plus_02_dot_54_bar__plus_00_dot_08_bar__minus_00_dot_13 - receptacle + Drawer_bar__plus_02_dot_54_bar__plus_00_dot_24_bar__plus_00_dot_62 - receptacle + 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loc_bar_6_bar_4_bar_1_bar_60 - location + loc_bar_6_bar__minus_2_bar_1_bar_60 - location + loc_bar_7_bar__minus_1_bar_1_bar_45 - location + loc_bar__minus_4_bar__minus_2_bar_0_bar_60 - location + loc_bar_7_bar_2_bar_1_bar_45 - location + loc_bar__minus_2_bar__minus_4_bar_2_bar_60 - location + loc_bar__minus_1_bar__minus_4_bar_2_bar_60 - location + loc_bar_7_bar_1_bar_1_bar_60 - location + loc_bar_2_bar__minus_7_bar_2_bar__minus_30 - location + loc_bar__minus_3_bar__minus_3_bar_3_bar_60 - location + loc_bar_1_bar__minus_3_bar_2_bar_60 - location + loc_bar_6_bar_1_bar_1_bar_45 - location + loc_bar__minus_4_bar__minus_2_bar_3_bar_15 - location + loc_bar_9_bar_5_bar_1_bar_30 - location + loc_bar__minus_1_bar__minus_5_bar_3_bar_45 - location + loc_bar_2_bar__minus_7_bar_2_bar_60 - location + loc_bar_7_bar__minus_4_bar_2_bar_60 - location + loc_bar_6_bar_4_bar_1_bar_45 - location + loc_bar_5_bar_5_bar_1_bar_45 - location + loc_bar_4_bar_6_bar_0_bar_30 - location + loc_bar_5_bar_2_bar_1_bar_45 - location + loc_bar_1_bar__minus_2_bar_1_bar_30 - location + ) + + +(:init + + + (receptacleType Drawer_bar__plus_02_dot_54_bar__plus_00_dot_40_bar__plus_00_dot_62 DrawerType) + (receptacleType Shelf_bar__minus_00_dot_81_bar__plus_00_dot_96_bar__minus_01_dot_75 ShelfType) + (receptacleType Drawer_bar__plus_02_dot_54_bar__plus_00_dot_73_bar__minus_00_dot_13 DrawerType) + (receptacleType Shelf_bar__plus_00_dot_53_bar__plus_00_dot_83_bar__minus_02_dot_41 ShelfType) + (receptacleType Drawer_bar__plus_02_dot_54_bar__plus_00_dot_08_bar__plus_00_dot_62 DrawerType) + (receptacleType Drawer_bar__plus_02_dot_54_bar__plus_00_dot_40_bar__minus_00_dot_13 DrawerType) + (receptacleType Shelf_bar__minus_00_dot_91_bar__plus_00_dot_70_bar__minus_01_dot_75 ShelfType) + (receptacleType Shelf_bar__minus_00_dot_45_bar__plus_00_dot_42_bar__minus_01_dot_75 ShelfType) + (receptacleType Shelf_bar__minus_00_dot_62_bar__plus_00_dot_96_bar__minus_01_dot_75 ShelfType) + (receptacleType Bed_bar__minus_00_dot_21_bar__plus_00_dot_00_bar__plus_00_dot_98 BedType) + (receptacleType GarbageCan_bar__minus_01_dot_36_bar__plus_00_dot_00_bar__minus_00_dot_94 GarbageCanType) + (receptacleType Shelf_bar__minus_00_dot_45_bar__plus_00_dot_70_bar__minus_01_dot_75 ShelfType) + (receptacleType Drawer_bar__plus_02_dot_54_bar__plus_00_dot_57_bar__minus_00_dot_13 DrawerType) + (receptacleType Drawer_bar__plus_02_dot_54_bar__plus_00_dot_08_bar__minus_00_dot_13 DrawerType) + (receptacleType Dresser_bar__plus_02_dot_56_bar_00_dot_00_bar__plus_00_dot_25 DresserType) + (receptacleType Shelf_bar__minus_00_dot_91_bar__plus_00_dot_42_bar__minus_01_dot_75 ShelfType) + (receptacleType Shelf_bar__minus_00_dot_72_bar__plus_00_dot_04_bar__minus_01_dot_75 ShelfType) + (receptacleType Shelf_bar__minus_00_dot_33_bar__plus_00_dot_04_bar__minus_01_dot_75 ShelfType) + (receptacleType Drawer_bar__plus_02_dot_54_bar__plus_00_dot_57_bar__plus_00_dot_62 DrawerType) + (receptacleType Drawer_bar__plus_02_dot_54_bar__plus_00_dot_24_bar__plus_00_dot_62 DrawerType) + (receptacleType Drawer_bar__plus_02_dot_54_bar__plus_00_dot_24_bar__minus_00_dot_13 DrawerType) + (receptacleType Drawer_bar__plus_02_dot_54_bar__plus_00_dot_73_bar__plus_00_dot_62 DrawerType) + (objectType Pencil_bar__plus_02_dot_52_bar__plus_00_dot_82_bar__plus_00_dot_24 PencilType) + (objectType HousePlant_bar__minus_00_dot_80_bar__plus_00_dot_96_bar__minus_01_dot_73 HousePlantType) + (objectType CellPhone_bar__minus_00_dot_21_bar__plus_00_dot_73_bar__plus_01_dot_23 CellPhoneType) + (objectType Pillow_bar__plus_00_dot_15_bar__plus_00_dot_74_bar__plus_01_dot_74 PillowType) + (objectType Painting_bar__plus_01_dot_87_bar__plus_00_dot_39_bar__minus_01_dot_79 PaintingType) + (objectType Pencil_bar__plus_02_dot_55_bar__plus_00_dot_68_bar__minus_00_dot_13 PencilType) + (objectType Footstool_bar__plus_00_dot_80_bar__plus_00_dot_44_bar__minus_02_dot_11 FootstoolType) + (objectType 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Drawer_bar__plus_02_dot_54_bar__plus_00_dot_24_bar__plus_00_dot_62) + (openable Drawer_bar__plus_02_dot_54_bar__plus_00_dot_24_bar__minus_00_dot_13) + (openable Drawer_bar__plus_02_dot_54_bar__plus_00_dot_73_bar__plus_00_dot_62) + + (atLocation agent1 loc_bar_1_bar__minus_2_bar_1_bar_30) + + + + + + + + (toggleable DeskLamp_bar__plus_02_dot_68_bar__plus_00_dot_82_bar__plus_00_dot_88) + + + + + (inReceptacle Pen_bar__plus_02_dot_60_bar__plus_00_dot_53_bar__plus_00_dot_44 Drawer_bar__plus_02_dot_54_bar__plus_00_dot_57_bar__plus_00_dot_62) + (inReceptacle Pencil_bar__plus_02_dot_55_bar__plus_00_dot_68_bar__minus_00_dot_13 Drawer_bar__plus_02_dot_54_bar__plus_00_dot_73_bar__minus_00_dot_13) + (inReceptacle Book_bar__plus_02_dot_55_bar__plus_00_dot_03_bar__plus_00_dot_44 Drawer_bar__plus_02_dot_54_bar__plus_00_dot_08_bar__plus_00_dot_62) + (inReceptacle Pencil_bar__plus_02_dot_52_bar__plus_00_dot_82_bar__plus_00_dot_24 Dresser_bar__plus_02_dot_56_bar_00_dot_00_bar__plus_00_dot_25) + (inReceptacle CD_bar__plus_02_dot_64_bar__plus_00_dot_82_bar__minus_00_dot_13 Dresser_bar__plus_02_dot_56_bar_00_dot_00_bar__plus_00_dot_25) + (inReceptacle Statue_bar__plus_02_dot_70_bar__plus_00_dot_83_bar__plus_00_dot_43 Dresser_bar__plus_02_dot_56_bar_00_dot_00_bar__plus_00_dot_25) + (inReceptacle Pencil_bar__plus_02_dot_70_bar__plus_00_dot_82_bar__plus_00_dot_62 Dresser_bar__plus_02_dot_56_bar_00_dot_00_bar__plus_00_dot_25) + (inReceptacle DeskLamp_bar__plus_02_dot_68_bar__plus_00_dot_82_bar__plus_00_dot_88 Dresser_bar__plus_02_dot_56_bar_00_dot_00_bar__plus_00_dot_25) + (inReceptacle AlarmClock_bar__plus_02_dot_46_bar__plus_00_dot_82_bar__plus_00_dot_05 Dresser_bar__plus_02_dot_56_bar_00_dot_00_bar__plus_00_dot_25) + (inReceptacle Pen_bar__plus_02_dot_52_bar__plus_00_dot_83_bar__plus_00_dot_43 Dresser_bar__plus_02_dot_56_bar_00_dot_00_bar__plus_00_dot_25) + (inReceptacle KeyChain_bar__plus_02_dot_64_bar__plus_00_dot_82_bar__plus_00_dot_05 Dresser_bar__plus_02_dot_56_bar_00_dot_00_bar__plus_00_dot_25) + (inReceptacle Book_bar__plus_00_dot_37_bar__plus_00_dot_73_bar__plus_00_dot_44 Bed_bar__minus_00_dot_21_bar__plus_00_dot_00_bar__plus_00_dot_98) + (inReceptacle Laptop_bar__minus_00_dot_21_bar__plus_00_dot_73_bar__plus_00_dot_97 Bed_bar__minus_00_dot_21_bar__plus_00_dot_00_bar__plus_00_dot_98) + (inReceptacle Laptop_bar__minus_00_dot_02_bar__plus_00_dot_73_bar__plus_00_dot_44 Bed_bar__minus_00_dot_21_bar__plus_00_dot_00_bar__plus_00_dot_98) + (inReceptacle CellPhone_bar__minus_00_dot_21_bar__plus_00_dot_73_bar__plus_01_dot_23 Bed_bar__minus_00_dot_21_bar__plus_00_dot_00_bar__plus_00_dot_98) + (inReceptacle Pillow_bar__minus_00_dot_44_bar__plus_00_dot_74_bar__plus_01_dot_64 Bed_bar__minus_00_dot_21_bar__plus_00_dot_00_bar__plus_00_dot_98) + (inReceptacle Pillow_bar__plus_00_dot_15_bar__plus_00_dot_74_bar__plus_01_dot_74 Bed_bar__minus_00_dot_21_bar__plus_00_dot_00_bar__plus_00_dot_98) + (inReceptacle CellPhone_bar__plus_00_dot_18_bar__plus_00_dot_73_bar__plus_00_dot_97 Bed_bar__minus_00_dot_21_bar__plus_00_dot_00_bar__plus_00_dot_98) + (inReceptacle Pencil_bar__minus_00_dot_82_bar__plus_00_dot_05_bar__minus_01_dot_70 Shelf_bar__minus_00_dot_72_bar__plus_00_dot_04_bar__minus_01_dot_75) + (inReceptacle HousePlant_bar__minus_00_dot_80_bar__plus_00_dot_96_bar__minus_01_dot_73 Shelf_bar__minus_00_dot_81_bar__plus_00_dot_96_bar__minus_01_dot_75) + (inReceptacle Pen_bar__minus_00_dot_36_bar__plus_00_dot_05_bar__minus_01_dot_67 Shelf_bar__minus_00_dot_33_bar__plus_00_dot_04_bar__minus_01_dot_75) + (inReceptacle CreditCard_bar__plus_00_dot_82_bar__plus_00_dot_83_bar__minus_02_dot_38 Shelf_bar__plus_00_dot_53_bar__plus_00_dot_83_bar__minus_02_dot_41) + (inReceptacle KeyChain_bar__plus_00_dot_15_bar__plus_00_dot_83_bar__minus_02_dot_41 Shelf_bar__plus_00_dot_53_bar__plus_00_dot_83_bar__minus_02_dot_41) + (inReceptacle CD_bar__minus_01_dot_42_bar__plus_00_dot_05_bar__minus_00_dot_94 GarbageCan_bar__minus_01_dot_36_bar__plus_00_dot_00_bar__minus_00_dot_94) + + + (receptacleAtLocation Bed_bar__minus_00_dot_21_bar__plus_00_dot_00_bar__plus_00_dot_98 loc_bar_6_bar_3_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__plus_02_dot_54_bar__plus_00_dot_08_bar__plus_00_dot_62 loc_bar_5_bar_5_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_02_dot_54_bar__plus_00_dot_08_bar__minus_00_dot_13 loc_bar_5_bar_2_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_02_dot_54_bar__plus_00_dot_24_bar__plus_00_dot_62 loc_bar_6_bar_4_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_02_dot_54_bar__plus_00_dot_24_bar__minus_00_dot_13 loc_bar_6_bar__minus_2_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_02_dot_54_bar__plus_00_dot_40_bar__plus_00_dot_62 loc_bar_6_bar_4_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_02_dot_54_bar__plus_00_dot_40_bar__minus_00_dot_13 loc_bar_6_bar_1_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_02_dot_54_bar__plus_00_dot_57_bar__plus_00_dot_62 loc_bar_6_bar_4_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_02_dot_54_bar__plus_00_dot_57_bar__minus_00_dot_13 loc_bar_6_bar_1_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_02_dot_54_bar__plus_00_dot_73_bar__plus_00_dot_62 loc_bar_7_bar_2_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_02_dot_54_bar__plus_00_dot_73_bar__minus_00_dot_13 loc_bar_7_bar__minus_1_bar_1_bar_45) + (receptacleAtLocation Dresser_bar__plus_02_dot_56_bar_00_dot_00_bar__plus_00_dot_25 loc_bar_7_bar_1_bar_1_bar_60) + (receptacleAtLocation GarbageCan_bar__minus_01_dot_36_bar__plus_00_dot_00_bar__minus_00_dot_94 loc_bar__minus_3_bar__minus_3_bar_3_bar_60) + (receptacleAtLocation Shelf_bar__plus_00_dot_53_bar__plus_00_dot_83_bar__minus_02_dot_41 loc_bar_2_bar__minus_7_bar_2_bar_45) + (receptacleAtLocation Shelf_bar__minus_00_dot_33_bar__plus_00_dot_04_bar__minus_01_dot_75 loc_bar_1_bar__minus_3_bar_2_bar_60) + (receptacleAtLocation Shelf_bar__minus_00_dot_45_bar__plus_00_dot_42_bar__minus_01_dot_75 loc_bar__minus_1_bar__minus_4_bar_2_bar_60) + (receptacleAtLocation Shelf_bar__minus_00_dot_45_bar__plus_00_dot_70_bar__minus_01_dot_75 loc_bar__minus_1_bar__minus_4_bar_2_bar_45) + (receptacleAtLocation Shelf_bar__minus_00_dot_62_bar__plus_00_dot_96_bar__minus_01_dot_75 loc_bar__minus_1_bar__minus_5_bar_2_bar_60) + (receptacleAtLocation Shelf_bar__minus_00_dot_72_bar__plus_00_dot_04_bar__minus_01_dot_75 loc_bar__minus_1_bar__minus_3_bar_2_bar_60) + (receptacleAtLocation Shelf_bar__minus_00_dot_81_bar__plus_00_dot_96_bar__minus_01_dot_75 loc_bar__minus_1_bar__minus_5_bar_3_bar_45) + (receptacleAtLocation Shelf_bar__minus_00_dot_91_bar__plus_00_dot_42_bar__minus_01_dot_75 loc_bar__minus_2_bar__minus_4_bar_2_bar_60) + (receptacleAtLocation Shelf_bar__minus_00_dot_91_bar__plus_00_dot_70_bar__minus_01_dot_75 loc_bar__minus_2_bar__minus_4_bar_2_bar_45) + (objectAtLocation Pen_bar__plus_02_dot_60_bar__plus_00_dot_53_bar__plus_00_dot_44 loc_bar_6_bar_4_bar_1_bar_45) + (objectAtLocation CD_bar__plus_02_dot_64_bar__plus_00_dot_82_bar__minus_00_dot_13 loc_bar_7_bar_1_bar_1_bar_60) + (objectAtLocation Laptop_bar__minus_00_dot_21_bar__plus_00_dot_73_bar__plus_00_dot_97 loc_bar_6_bar_3_bar_3_bar_45) + (objectAtLocation Pencil_bar__plus_02_dot_70_bar__plus_00_dot_82_bar__plus_00_dot_62 loc_bar_7_bar_1_bar_1_bar_60) + (objectAtLocation KeyChain_bar__plus_02_dot_64_bar__plus_00_dot_82_bar__plus_00_dot_05 loc_bar_7_bar_1_bar_1_bar_60) + (objectAtLocation CellPhone_bar__plus_00_dot_18_bar__plus_00_dot_73_bar__plus_00_dot_97 loc_bar_6_bar_3_bar_3_bar_45) + (objectAtLocation Book_bar__plus_00_dot_37_bar__plus_00_dot_73_bar__plus_00_dot_44 loc_bar_6_bar_3_bar_3_bar_45) + (objectAtLocation Pencil_bar__minus_00_dot_82_bar__plus_00_dot_05_bar__minus_01_dot_70 loc_bar__minus_1_bar__minus_3_bar_2_bar_60) + (objectAtLocation Pencil_bar__plus_02_dot_52_bar__plus_00_dot_82_bar__plus_00_dot_24 loc_bar_7_bar_1_bar_1_bar_60) + (objectAtLocation Pen_bar__minus_00_dot_36_bar__plus_00_dot_05_bar__minus_01_dot_67 loc_bar_1_bar__minus_3_bar_2_bar_60) + (objectAtLocation Box_bar__plus_00_dot_25_bar__plus_00_dot_23_bar__minus_02_dot_04 loc_bar_2_bar__minus_7_bar_2_bar_60) + (objectAtLocation Footstool_bar__plus_00_dot_80_bar__plus_00_dot_44_bar__minus_02_dot_11 loc_bar_2_bar__minus_7_bar_2_bar_60) + (objectAtLocation Book_bar__plus_02_dot_55_bar__plus_00_dot_03_bar__plus_00_dot_44 loc_bar_5_bar_5_bar_1_bar_45) + (objectAtLocation Statue_bar__plus_02_dot_70_bar__plus_00_dot_83_bar__plus_00_dot_43 loc_bar_7_bar_1_bar_1_bar_60) + (objectAtLocation CellPhone_bar__minus_00_dot_21_bar__plus_00_dot_73_bar__plus_01_dot_23 loc_bar_6_bar_3_bar_3_bar_45) + (objectAtLocation Pillow_bar__plus_00_dot_15_bar__plus_00_dot_74_bar__plus_01_dot_74 loc_bar_6_bar_3_bar_3_bar_45) + (objectAtLocation Pillow_bar__minus_00_dot_44_bar__plus_00_dot_74_bar__plus_01_dot_64 loc_bar_6_bar_3_bar_3_bar_45) + (objectAtLocation BasketBall_bar__minus_01_dot_23_bar__plus_00_dot_12_bar__minus_00_dot_18 loc_bar__minus_4_bar__minus_2_bar_0_bar_60) + (objectAtLocation CreditCard_bar__plus_00_dot_82_bar__plus_00_dot_83_bar__minus_02_dot_38 loc_bar_2_bar__minus_7_bar_2_bar_45) + (objectAtLocation KeyChain_bar__plus_00_dot_15_bar__plus_00_dot_83_bar__minus_02_dot_41 loc_bar_2_bar__minus_7_bar_2_bar_45) + (objectAtLocation Pencil_bar__plus_02_dot_55_bar__plus_00_dot_68_bar__minus_00_dot_13 loc_bar_7_bar__minus_1_bar_1_bar_45) + (objectAtLocation LightSwitch_bar__plus_00_dot_78_bar__plus_01_dot_27_bar__plus_02_dot_13 loc_bar_4_bar_6_bar_0_bar_30) + (objectAtLocation AlarmClock_bar__plus_02_dot_46_bar__plus_00_dot_82_bar__plus_00_dot_05 loc_bar_7_bar_1_bar_1_bar_60) + (objectAtLocation Painting_bar__plus_02_dot_06_bar__plus_01_dot_67_bar__minus_01_dot_87 loc_bar_8_bar__minus_4_bar_2_bar_0) + (objectAtLocation HousePlant_bar__minus_00_dot_80_bar__plus_00_dot_96_bar__minus_01_dot_73 loc_bar__minus_1_bar__minus_5_bar_3_bar_45) + (objectAtLocation Laptop_bar__minus_00_dot_02_bar__plus_00_dot_73_bar__plus_00_dot_44 loc_bar_6_bar_3_bar_3_bar_45) + (objectAtLocation Painting_bar__plus_01_dot_87_bar__plus_00_dot_39_bar__minus_01_dot_79 loc_bar_7_bar__minus_4_bar_2_bar_60) + (objectAtLocation Mirror_bar__plus_02_dot_84_bar__plus_01_dot_40_bar__plus_01_dot_38 loc_bar_9_bar_5_bar_1_bar_30) + (objectAtLocation DeskLamp_bar__plus_02_dot_68_bar__plus_00_dot_82_bar__plus_00_dot_88 loc_bar_7_bar_1_bar_1_bar_60) + (objectAtLocation CD_bar__minus_01_dot_42_bar__plus_00_dot_05_bar__minus_00_dot_94 loc_bar__minus_3_bar__minus_3_bar_3_bar_60) + (objectAtLocation Pen_bar__plus_02_dot_52_bar__plus_00_dot_83_bar__plus_00_dot_43 loc_bar_7_bar_1_bar_1_bar_60) + (objectAtLocation Window_bar__minus_01_dot_70_bar__plus_01_dot_44_bar__minus_00_dot_54 loc_bar__minus_4_bar__minus_2_bar_3_bar_15) + (objectAtLocation Window_bar__plus_00_dot_54_bar__plus_01_dot_41_bar__minus_02_dot_62 loc_bar_2_bar__minus_7_bar_2_bar_15) + (objectAtLocation Blinds_bar__plus_00_dot_54_bar__plus_02_dot_14_bar__minus_02_dot_55 loc_bar_2_bar__minus_7_bar_2_bar__minus_30) + (objectAtLocation Blinds_bar__minus_01_dot_65_bar__plus_02_dot_15_bar__minus_00_dot_55 loc_bar__minus_4_bar__minus_2_bar_3_bar__minus_30) + ) + + + (:goal + (and + (exists (?ot - object + ?r - receptacle + ?a - agent + ?l - location) + (and + (objectType ?ot DeskLampType) + (toggleable ?ot) + (isToggled ?ot) + (receptacleAtLocation ?r ?l) + (atLocation ?a ?l) + (inReceptacle ?ot ?r) + ) + ) + (exists (?o - object + ?a - agent) + (and + (objectType ?o PencilType) + (holds ?a ?o) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Pencil-None-DeskLamp-319/trial_T20190908_135046_043056/traj_data.json 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+ "y": 0.0520986356, + "z": -1.66818249 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pencil_c2ef4bac", + "position": { + "x": 2.554471, + "y": 0.679531932, + "z": -0.1285488 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pencil_c2ef4bac", + "position": { + "x": 2.51797152, + "y": 0.8233492, + "z": 0.2442017 + }, + "rotation": { + "x": 0.0, + "y": 270.000153, + "z": 0.0 + } + }, + { + "objectName": "Pencil_c2ef4bac", + "position": { + "x": -0.8189645, + "y": 0.0497949757, + "z": -1.69612169 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "KeyChain_f504086d", + "position": { + "x": 0.147182137, + "y": 0.833778858, + "z": -2.414 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Book_6de61d1a", + "position": { + "x": 2.554471, + "y": 0.03439789, + "z": 0.4442922 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Laptop_a6ddd15b", + "position": { + "x": -0.0165137351, + "y": 0.7290222, + "z": 0.437665224 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Box_831a16be", + "position": { + "x": 0.2524, + "y": 0.2277, + "z": -2.042 + }, + "rotation": { + "x": 0.0, + "y": 29.0781651, + "z": 0.0 + } + }, + { + "objectName": "Book_6de61d1a", + "position": { + "x": 0.3694262, + "y": 0.7308113, + "z": 0.437665224 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Statue_77031df3", + "position": { + "x": 2.70356131, + "y": 0.825887859, + "z": 0.4336473 + }, + "rotation": { + "x": 0.0, + "y": 270.000153, + "z": 0.0 + } + }, + { + "objectName": "CellPhone_19266383", + "position": { + "x": 0.1764562, + "y": 0.7309317, + "z": 0.9677471 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pillow_fc80dfd1", + "position": { + "x": 0.148, + "y": 0.744, + "z": 1.738 + }, + "rotation": { + "x": 0.0, + "y": 195.27034, + "z": 0.0 + } + }, + { + "objectName": "Pillow_568ecdf0", + "position": { + "x": -0.441, + "y": 0.738, + "z": 1.64 + }, + "rotation": { + "x": 0.0, + "y": 348.951324, + "z": 0.0 + } + }, + { + "objectName": "BasketBall_054aae4c", + "position": { + "x": -1.231, + "y": 0.121002644, + "z": -0.18 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "CreditCard_9e9ae358", + "position": { + "x": 0.824384034, + "y": 0.8329391, + "z": -2.38361645 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "KeyChain_f504086d", + "position": { + "x": 2.641697, + "y": 0.8223684, + "z": 0.0547553 + }, + "rotation": { + "x": 0.0, + "y": 270.000153, + "z": 0.0 + } + }, + { + "objectName": "Pencil_c2ef4bac", + "position": { + "x": 2.70356178, + "y": 0.8233492, + "z": 0.623093367 + }, + "rotation": { + "x": 0.0, + "y": 270.000153, + "z": 0.0 + } + }, + { + "objectName": "AlarmClock_bb28d3d0", + "position": { + "x": 2.45610785, + "y": 0.8212683, + "z": 0.054755792 + }, + "rotation": { + "x": 0.0, + "y": 270.000153, + "z": 0.0 + } + }, + { + "objectName": "Laptop_a6ddd15b", + "position": { + "x": -0.209483683, + "y": 0.7290222, + "z": 0.9677471 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "CD_0b3dc2b2", + "position": { + "x": 2.64169645, + "y": 0.8196067, + "z": -0.134690791 + }, + "rotation": { + "x": 0.0, + "y": 270.000153, + "z": 0.0 + } + }, + { + "objectName": "Pen_2c20820a", + "position": { + "x": 2.601097, + "y": 0.5256716, + "z": 0.4442922 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [ + { + "isOn": false, + "objectType": "DeskLamp" + } + ], + "random_seed": 3607173511, + "scene_num": 319 + }, + "task_id": "trial_T20190908_135046_043056", + "task_type": "look_at_obj_in_light", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A2KAGFQU28JY43_31EUONYN2YUY0A79PVL4V73Z0PIVOZ", + "high_descs": [ + "Go to the left side of the wooden dresser with the white top on it, in front of you. ", + "Pick up the pencil between the lamp and the statue, on the back of the dresser. ", + "Turn left and walk around the left side of the dresser so that you are standing right beside the lamp. ", + "Turn the lamp in front of you, on the dresser on. " + ], + "task_desc": "Turn on the dresser lamp. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A2Z43TA0WZ0EG0_33LK57MYLWWU7M4CX9RG0IQWLPKZST", + "high_descs": [ + "Go forward and turn left to the door, then right to the white dresser.", + "Pick up the yellow pencil next to the gray statue.", + "Go to the left to the edge of the dresser facing the lamp.", + "Turn the lamp on. " + ], + "task_desc": "Pick up the pencil from the desk and turn the lamp on.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1DMXEJGJY02E1_33NF62TLXMT6JOM0AEFSL2BWLXUJKB", + "high_descs": [ + "Walk forward and to your left to stand at the dresser.", + "Pick up the pencil to the left of the statue.", + "Move to the left end of the dresser.", + "Turn on the lamp." + ], + "task_desc": "Look at a pencil under the lamp light.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Pencil-None-DeskLamp-319/trial_T20190908_135102_644449/game.tw-pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Pencil-None-DeskLamp-319/trial_T20190908_135102_644449/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..fc182417d88366db978144e2f13917eb63ad8a82 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Pencil-None-DeskLamp-319/trial_T20190908_135102_644449/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\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 pencil 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_135102_644449)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\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_42_bar__plus_00_dot_83_bar__minus_02_dot_38 - object\n AlarmClock_bar__plus_02_dot_52_bar__plus_00_dot_82_bar__plus_00_dot_05 - object\n AlarmClock_bar__minus_00_dot_90_bar__plus_00_dot_71_bar__minus_01_dot_70 - object\n BasketBall_bar__minus_01_dot_23_bar__plus_00_dot_12_bar__minus_00_dot_18 - object\n Blinds_bar__plus_00_dot_54_bar__plus_02_dot_14_bar__minus_02_dot_55 - object\n Blinds_bar__minus_01_dot_65_bar__plus_02_dot_15_bar__minus_00_dot_55 - object\n Book_bar__minus_00_dot_02_bar__plus_00_dot_73_bar__plus_00_dot_44 - object\n Box_bar__plus_00_dot_25_bar__plus_00_dot_23_bar__minus_02_dot_04 - object\n CD_bar__plus_02_dot_65_bar__plus_00_dot_19_bar__plus_00_dot_88 - object\n CellPhone_bar__plus_02_dot_55_bar__plus_00_dot_52_bar__minus_00_dot_22 - object\n CellPhone_bar__plus_02_dot_60_bar__plus_00_dot_68_bar__minus_00_dot_30 - object\n CellPhone_bar__plus_02_dot_65_bar__plus_00_dot_03_bar__minus_00_dot_04 - object\n CreditCard_bar__plus_02_dot_60_bar__plus_00_dot_19_bar__plus_00_dot_44 - object\n DeskLamp_bar__plus_02_dot_68_bar__plus_00_dot_82_bar__plus_00_dot_88 - object\n Footstool_bar__plus_00_dot_80_bar__plus_00_dot_44_bar__minus_02_dot_11 - object\n HousePlant_bar__minus_00_dot_80_bar__plus_00_dot_96_bar__minus_01_dot_73 - object\n KeyChain_bar__plus_02_dot_39_bar__plus_00_dot_82_bar__plus_00_dot_81 - object\n KeyChain_bar__plus_02_dot_52_bar__plus_00_dot_82_bar__minus_00_dot_32 - object\n KeyChain_bar__plus_02_dot_70_bar__plus_00_dot_82_bar__minus_00_dot_32 - object\n Laptop_bar__minus_00_dot_54_bar__plus_00_dot_78_bar__plus_00_dot_40 - object\n LightSwitch_bar__plus_00_dot_78_bar__plus_01_dot_27_bar__plus_02_dot_13 - object\n Mirror_bar__plus_02_dot_84_bar__plus_01_dot_40_bar__plus_01_dot_38 - object\n Painting_bar__plus_01_dot_87_bar__plus_00_dot_39_bar__minus_01_dot_79 - object\n Painting_bar__plus_02_dot_06_bar__plus_01_dot_67_bar__minus_01_dot_87 - object\n Pencil_bar__minus_00_dot_65_bar__plus_00_dot_05_bar__minus_01_dot_70 - object\n Pen_bar__plus_02_dot_51_bar__plus_00_dot_04_bar__minus_00_dot_22 - object\n Pillow_bar__plus_00_dot_15_bar__plus_00_dot_74_bar__plus_01_dot_74 - object\n Pillow_bar__minus_00_dot_02_bar__plus_00_dot_81_bar__plus_00_dot_97 - object\n Statue_bar__plus_02_dot_52_bar__plus_00_dot_83_bar__plus_00_dot_43 - object\n Window_bar__plus_00_dot_54_bar__plus_01_dot_41_bar__minus_02_dot_62 - object\n Window_bar__minus_01_dot_70_bar__plus_01_dot_44_bar__minus_00_dot_54 - object\n Bed_bar__minus_00_dot_21_bar__plus_00_dot_00_bar__plus_00_dot_98 - receptacle\n Drawer_bar__plus_02_dot_54_bar__plus_00_dot_08_bar__plus_00_dot_62 - receptacle\n Drawer_bar__plus_02_dot_54_bar__plus_00_dot_08_bar__minus_00_dot_13 - receptacle\n Drawer_bar__plus_02_dot_54_bar__plus_00_dot_24_bar__plus_00_dot_62 - receptacle\n Drawer_bar__plus_02_dot_54_bar__plus_00_dot_24_bar__minus_00_dot_13 - receptacle\n Drawer_bar__plus_02_dot_54_bar__plus_00_dot_40_bar__plus_00_dot_62 - receptacle\n Drawer_bar__plus_02_dot_54_bar__plus_00_dot_40_bar__minus_00_dot_13 - receptacle\n Drawer_bar__plus_02_dot_54_bar__plus_00_dot_57_bar__plus_00_dot_62 - receptacle\n Drawer_bar__plus_02_dot_54_bar__plus_00_dot_57_bar__minus_00_dot_13 - receptacle\n Drawer_bar__plus_02_dot_54_bar__plus_00_dot_73_bar__plus_00_dot_62 - receptacle\n Drawer_bar__plus_02_dot_54_bar__plus_00_dot_73_bar__minus_00_dot_13 - receptacle\n Dresser_bar__plus_02_dot_56_bar_00_dot_00_bar__plus_00_dot_25 - receptacle\n GarbageCan_bar__minus_01_dot_36_bar__plus_00_dot_00_bar__minus_00_dot_94 - receptacle\n Shelf_bar__plus_00_dot_53_bar__plus_00_dot_83_bar__minus_02_dot_41 - receptacle\n Shelf_bar__minus_00_dot_33_bar__plus_00_dot_04_bar__minus_01_dot_75 - receptacle\n Shelf_bar__minus_00_dot_45_bar__plus_00_dot_42_bar__minus_01_dot_75 - receptacle\n Shelf_bar__minus_00_dot_45_bar__plus_00_dot_70_bar__minus_01_dot_75 - receptacle\n Shelf_bar__minus_00_dot_62_bar__plus_00_dot_96_bar__minus_01_dot_75 - receptacle\n Shelf_bar__minus_00_dot_72_bar__plus_00_dot_04_bar__minus_01_dot_75 - receptacle\n Shelf_bar__minus_00_dot_81_bar__plus_00_dot_96_bar__minus_01_dot_75 - receptacle\n Shelf_bar__minus_00_dot_91_bar__plus_00_dot_42_bar__minus_01_dot_75 - receptacle\n Shelf_bar__minus_00_dot_91_bar__plus_00_dot_70_bar__minus_01_dot_75 - receptacle\n loc_bar__minus_2_bar__minus_4_bar_2_bar_45 - location\n loc_bar__minus_1_bar__minus_4_bar_2_bar_45 - location\n loc_bar_6_bar_3_bar_3_bar_45 - location\n loc_bar__minus_1_bar__minus_3_bar_2_bar_60 - location\n loc_bar_2_bar__minus_7_bar_2_bar_45 - location\n loc_bar__minus_4_bar__minus_2_bar_3_bar__minus_30 - location\n loc_bar_8_bar__minus_4_bar_2_bar_0 - location\n loc_bar_2_bar__minus_7_bar_2_bar_15 - location\n loc_bar__minus_1_bar__minus_5_bar_2_bar_60 - location\n loc_bar_6_bar_4_bar_1_bar_60 - location\n loc_bar_6_bar__minus_2_bar_1_bar_60 - location\n loc_bar_7_bar__minus_1_bar_1_bar_45 - location\n loc_bar__minus_4_bar__minus_2_bar_0_bar_60 - location\n loc_bar_7_bar_2_bar_1_bar_45 - location\n loc_bar__minus_2_bar__minus_4_bar_2_bar_60 - location\n loc_bar__minus_1_bar__minus_4_bar_2_bar_60 - location\n loc_bar_7_bar_1_bar_1_bar_60 - location\n loc_bar_2_bar__minus_7_bar_2_bar__minus_30 - location\n loc_bar__minus_3_bar__minus_3_bar_3_bar_60 - location\n loc_bar_1_bar__minus_3_bar_2_bar_60 - location\n loc_bar_6_bar_1_bar_1_bar_45 - location\n loc_bar__minus_4_bar__minus_2_bar_3_bar_15 - location\n loc_bar_9_bar_5_bar_1_bar_30 - location\n loc_bar__minus_1_bar__minus_5_bar_3_bar_45 - location\n loc_bar_2_bar__minus_7_bar_2_bar_60 - location\n loc_bar_7_bar__minus_4_bar_2_bar_60 - location\n loc_bar_6_bar_4_bar_1_bar_45 - location\n loc_bar_5_bar_5_bar_1_bar_45 - location\n loc_bar_4_bar_6_bar_0_bar_30 - location\n loc_bar_5_bar_2_bar_1_bar_45 - location\n loc_bar_9_bar__minus_3_bar_0_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Drawer_bar__plus_02_dot_54_bar__plus_00_dot_40_bar__plus_00_dot_62 DrawerType)\n (receptacleType Shelf_bar__minus_00_dot_81_bar__plus_00_dot_96_bar__minus_01_dot_75 ShelfType)\n (receptacleType Drawer_bar__plus_02_dot_54_bar__plus_00_dot_73_bar__minus_00_dot_13 DrawerType)\n (receptacleType Shelf_bar__plus_00_dot_53_bar__plus_00_dot_83_bar__minus_02_dot_41 ShelfType)\n (receptacleType Drawer_bar__plus_02_dot_54_bar__plus_00_dot_08_bar__plus_00_dot_62 DrawerType)\n (receptacleType Drawer_bar__plus_02_dot_54_bar__plus_00_dot_40_bar__minus_00_dot_13 DrawerType)\n (receptacleType Shelf_bar__minus_00_dot_91_bar__plus_00_dot_70_bar__minus_01_dot_75 ShelfType)\n (receptacleType Shelf_bar__minus_00_dot_45_bar__plus_00_dot_42_bar__minus_01_dot_75 ShelfType)\n (receptacleType Shelf_bar__minus_00_dot_62_bar__plus_00_dot_96_bar__minus_01_dot_75 ShelfType)\n (receptacleType Bed_bar__minus_00_dot_21_bar__plus_00_dot_00_bar__plus_00_dot_98 BedType)\n (receptacleType GarbageCan_bar__minus_01_dot_36_bar__plus_00_dot_00_bar__minus_00_dot_94 GarbageCanType)\n (receptacleType Shelf_bar__minus_00_dot_45_bar__plus_00_dot_70_bar__minus_01_dot_75 ShelfType)\n (receptacleType Drawer_bar__plus_02_dot_54_bar__plus_00_dot_57_bar__minus_00_dot_13 DrawerType)\n (receptacleType Drawer_bar__plus_02_dot_54_bar__plus_00_dot_08_bar__minus_00_dot_13 DrawerType)\n (receptacleType Dresser_bar__plus_02_dot_56_bar_00_dot_00_bar__plus_00_dot_25 DresserType)\n (receptacleType Shelf_bar__minus_00_dot_91_bar__plus_00_dot_42_bar__minus_01_dot_75 ShelfType)\n (receptacleType Shelf_bar__minus_00_dot_72_bar__plus_00_dot_04_bar__minus_01_dot_75 ShelfType)\n (receptacleType Shelf_bar__minus_00_dot_33_bar__plus_00_dot_04_bar__minus_01_dot_75 ShelfType)\n (receptacleType Drawer_bar__plus_02_dot_54_bar__plus_00_dot_57_bar__plus_00_dot_62 DrawerType)\n (receptacleType Drawer_bar__plus_02_dot_54_bar__plus_00_dot_24_bar__plus_00_dot_62 DrawerType)\n (receptacleType Drawer_bar__plus_02_dot_54_bar__plus_00_dot_24_bar__minus_00_dot_13 DrawerType)\n (receptacleType Drawer_bar__plus_02_dot_54_bar__plus_00_dot_73_bar__plus_00_dot_62 DrawerType)\n (objectType CD_bar__plus_02_dot_65_bar__plus_00_dot_19_bar__plus_00_dot_88 CDType)\n (objectType AlarmClock_bar__plus_00_dot_42_bar__plus_00_dot_83_bar__minus_02_dot_38 AlarmClockType)\n (objectType HousePlant_bar__minus_00_dot_80_bar__plus_00_dot_96_bar__minus_01_dot_73 HousePlantType)\n (objectType AlarmClock_bar__minus_00_dot_90_bar__plus_00_dot_71_bar__minus_01_dot_70 AlarmClockType)\n (objectType KeyChain_bar__plus_02_dot_70_bar__plus_00_dot_82_bar__minus_00_dot_32 KeyChainType)\n (objectType Pencil_bar__minus_00_dot_65_bar__plus_00_dot_05_bar__minus_01_dot_70 PencilType)\n (objectType Pillow_bar__plus_00_dot_15_bar__plus_00_dot_74_bar__plus_01_dot_74 PillowType)\n (objectType Painting_bar__plus_01_dot_87_bar__plus_00_dot_39_bar__minus_01_dot_79 PaintingType)\n (objectType Footstool_bar__plus_00_dot_80_bar__plus_00_dot_44_bar__minus_02_dot_11 FootstoolType)\n (objectType Book_bar__minus_00_dot_02_bar__plus_00_dot_73_bar__plus_00_dot_44 BookType)\n (objectType Pillow_bar__minus_00_dot_02_bar__plus_00_dot_81_bar__plus_00_dot_97 PillowType)\n (objectType Painting_bar__plus_02_dot_06_bar__plus_01_dot_67_bar__minus_01_dot_87 PaintingType)\n (objectType BasketBall_bar__minus_01_dot_23_bar__plus_00_dot_12_bar__minus_00_dot_18 BasketBallType)\n (objectType Window_bar__plus_00_dot_54_bar__plus_01_dot_41_bar__minus_02_dot_62 WindowType)\n (objectType Mirror_bar__plus_02_dot_84_bar__plus_01_dot_40_bar__plus_01_dot_38 MirrorType)\n (objectType KeyChain_bar__plus_02_dot_39_bar__plus_00_dot_82_bar__plus_00_dot_81 KeyChainType)\n (objectType Blinds_bar__plus_00_dot_54_bar__plus_02_dot_14_bar__minus_02_dot_55 BlindsType)\n (objectType KeyChain_bar__plus_02_dot_52_bar__plus_00_dot_82_bar__minus_00_dot_32 KeyChainType)\n (objectType DeskLamp_bar__plus_02_dot_68_bar__plus_00_dot_82_bar__plus_00_dot_88 DeskLampType)\n (objectType AlarmClock_bar__plus_02_dot_52_bar__plus_00_dot_82_bar__plus_00_dot_05 AlarmClockType)\n (objectType Pen_bar__plus_02_dot_51_bar__plus_00_dot_04_bar__minus_00_dot_22 PenType)\n (objectType LightSwitch_bar__plus_00_dot_78_bar__plus_01_dot_27_bar__plus_02_dot_13 LightSwitchType)\n (objectType Blinds_bar__minus_01_dot_65_bar__plus_02_dot_15_bar__minus_00_dot_55 BlindsType)\n (objectType CellPhone_bar__plus_02_dot_55_bar__plus_00_dot_52_bar__minus_00_dot_22 CellPhoneType)\n (objectType Box_bar__plus_00_dot_25_bar__plus_00_dot_23_bar__minus_02_dot_04 BoxType)\n (objectType CreditCard_bar__plus_02_dot_60_bar__plus_00_dot_19_bar__plus_00_dot_44 CreditCardType)\n (objectType CellPhone_bar__plus_02_dot_65_bar__plus_00_dot_03_bar__minus_00_dot_04 CellPhoneType)\n (objectType Statue_bar__plus_02_dot_52_bar__plus_00_dot_83_bar__plus_00_dot_43 StatueType)\n (objectType Laptop_bar__minus_00_dot_54_bar__plus_00_dot_78_bar__plus_00_dot_40 LaptopType)\n (objectType Window_bar__minus_01_dot_70_bar__plus_01_dot_44_bar__minus_00_dot_54 WindowType)\n (objectType CellPhone_bar__plus_02_dot_60_bar__plus_00_dot_68_bar__minus_00_dot_30 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 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 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 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 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 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 StatueType)\n (canContain ShelfType AlarmClockType)\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 StatueType)\n (canContain ShelfType AlarmClockType)\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 StatueType)\n (canContain ShelfType AlarmClockType)\n (canContain BedType BasketBallType)\n (canContain BedType LaptopType)\n (canContain BedType BookType)\n (canContain BedType CellPhoneType)\n (canContain BedType PillowType)\n (canContain GarbageCanType PenType)\n (canContain GarbageCanType CDType)\n (canContain GarbageCanType PencilType)\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 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 DresserType PenType)\n (canContain DresserType BookType)\n (canContain DresserType CDType)\n (canContain DresserType BoxType)\n (canContain DresserType CellPhoneType)\n (canContain DresserType KeyChainType)\n (canContain DresserType CreditCardType)\n (canContain DresserType BasketBallType)\n (canContain DresserType LaptopType)\n (canContain DresserType PencilType)\n (canContain DresserType StatueType)\n (canContain DresserType AlarmClockType)\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 StatueType)\n (canContain ShelfType AlarmClockType)\n (canContain ShelfType PenType)\n (canContain ShelfType BookType)\n 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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 (pickupable CD_bar__plus_02_dot_65_bar__plus_00_dot_19_bar__plus_00_dot_88)\n (pickupable AlarmClock_bar__plus_00_dot_42_bar__plus_00_dot_83_bar__minus_02_dot_38)\n (pickupable AlarmClock_bar__minus_00_dot_90_bar__plus_00_dot_71_bar__minus_01_dot_70)\n (pickupable KeyChain_bar__plus_02_dot_70_bar__plus_00_dot_82_bar__minus_00_dot_32)\n (pickupable Pencil_bar__minus_00_dot_65_bar__plus_00_dot_05_bar__minus_01_dot_70)\n (pickupable Pillow_bar__plus_00_dot_15_bar__plus_00_dot_74_bar__plus_01_dot_74)\n (pickupable Book_bar__minus_00_dot_02_bar__plus_00_dot_73_bar__plus_00_dot_44)\n (pickupable Pillow_bar__minus_00_dot_02_bar__plus_00_dot_81_bar__plus_00_dot_97)\n (pickupable BasketBall_bar__minus_01_dot_23_bar__plus_00_dot_12_bar__minus_00_dot_18)\n (pickupable KeyChain_bar__plus_02_dot_39_bar__plus_00_dot_82_bar__plus_00_dot_81)\n (pickupable KeyChain_bar__plus_02_dot_52_bar__plus_00_dot_82_bar__minus_00_dot_32)\n (pickupable AlarmClock_bar__plus_02_dot_52_bar__plus_00_dot_82_bar__plus_00_dot_05)\n (pickupable Pen_bar__plus_02_dot_51_bar__plus_00_dot_04_bar__minus_00_dot_22)\n (pickupable CellPhone_bar__plus_02_dot_55_bar__plus_00_dot_52_bar__minus_00_dot_22)\n (pickupable Box_bar__plus_00_dot_25_bar__plus_00_dot_23_bar__minus_02_dot_04)\n (pickupable CreditCard_bar__plus_02_dot_60_bar__plus_00_dot_19_bar__plus_00_dot_44)\n (pickupable CellPhone_bar__plus_02_dot_65_bar__plus_00_dot_03_bar__minus_00_dot_04)\n (pickupable Statue_bar__plus_02_dot_52_bar__plus_00_dot_83_bar__plus_00_dot_43)\n (pickupable Laptop_bar__minus_00_dot_54_bar__plus_00_dot_78_bar__plus_00_dot_40)\n (pickupable CellPhone_bar__plus_02_dot_60_bar__plus_00_dot_68_bar__minus_00_dot_30)\n (isReceptacleObject Box_bar__plus_00_dot_25_bar__plus_00_dot_23_bar__minus_02_dot_04)\n (openable Drawer_bar__plus_02_dot_54_bar__plus_00_dot_40_bar__plus_00_dot_62)\n (openable Drawer_bar__plus_02_dot_54_bar__plus_00_dot_73_bar__minus_00_dot_13)\n (openable Drawer_bar__plus_02_dot_54_bar__plus_00_dot_08_bar__plus_00_dot_62)\n (openable Drawer_bar__plus_02_dot_54_bar__plus_00_dot_40_bar__minus_00_dot_13)\n (openable Drawer_bar__plus_02_dot_54_bar__plus_00_dot_57_bar__minus_00_dot_13)\n (openable Drawer_bar__plus_02_dot_54_bar__plus_00_dot_08_bar__minus_00_dot_13)\n (openable Drawer_bar__plus_02_dot_54_bar__plus_00_dot_57_bar__plus_00_dot_62)\n (openable Drawer_bar__plus_02_dot_54_bar__plus_00_dot_24_bar__plus_00_dot_62)\n (openable Drawer_bar__plus_02_dot_54_bar__plus_00_dot_24_bar__minus_00_dot_13)\n (openable Drawer_bar__plus_02_dot_54_bar__plus_00_dot_73_bar__plus_00_dot_62)\n \n (atLocation agent1 loc_bar_9_bar__minus_3_bar_0_bar_30)\n \n \n \n \n \n \n \n (toggleable DeskLamp_bar__plus_02_dot_68_bar__plus_00_dot_82_bar__plus_00_dot_88)\n \n \n \n \n (inReceptacle CellPhone_bar__plus_02_dot_60_bar__plus_00_dot_68_bar__minus_00_dot_30 Drawer_bar__plus_02_dot_54_bar__plus_00_dot_73_bar__minus_00_dot_13)\n (inReceptacle CD_bar__plus_02_dot_65_bar__plus_00_dot_19_bar__plus_00_dot_88 Drawer_bar__plus_02_dot_54_bar__plus_00_dot_24_bar__plus_00_dot_62)\n (inReceptacle CreditCard_bar__plus_02_dot_60_bar__plus_00_dot_19_bar__plus_00_dot_44 Drawer_bar__plus_02_dot_54_bar__plus_00_dot_24_bar__plus_00_dot_62)\n (inReceptacle KeyChain_bar__plus_02_dot_39_bar__plus_00_dot_82_bar__plus_00_dot_81 Dresser_bar__plus_02_dot_56_bar_00_dot_00_bar__plus_00_dot_25)\n (inReceptacle KeyChain_bar__plus_02_dot_70_bar__plus_00_dot_82_bar__minus_00_dot_32 Dresser_bar__plus_02_dot_56_bar_00_dot_00_bar__plus_00_dot_25)\n (inReceptacle KeyChain_bar__plus_02_dot_52_bar__plus_00_dot_82_bar__minus_00_dot_32 Dresser_bar__plus_02_dot_56_bar_00_dot_00_bar__plus_00_dot_25)\n (inReceptacle Statue_bar__plus_02_dot_52_bar__plus_00_dot_83_bar__plus_00_dot_43 Dresser_bar__plus_02_dot_56_bar_00_dot_00_bar__plus_00_dot_25)\n (inReceptacle DeskLamp_bar__plus_02_dot_68_bar__plus_00_dot_82_bar__plus_00_dot_88 Dresser_bar__plus_02_dot_56_bar_00_dot_00_bar__plus_00_dot_25)\n (inReceptacle AlarmClock_bar__plus_02_dot_52_bar__plus_00_dot_82_bar__plus_00_dot_05 Dresser_bar__plus_02_dot_56_bar_00_dot_00_bar__plus_00_dot_25)\n (inReceptacle Pillow_bar__minus_00_dot_02_bar__plus_00_dot_81_bar__plus_00_dot_97 Bed_bar__minus_00_dot_21_bar__plus_00_dot_00_bar__plus_00_dot_98)\n (inReceptacle Book_bar__minus_00_dot_02_bar__plus_00_dot_73_bar__plus_00_dot_44 Bed_bar__minus_00_dot_21_bar__plus_00_dot_00_bar__plus_00_dot_98)\n (inReceptacle Laptop_bar__minus_00_dot_54_bar__plus_00_dot_78_bar__plus_00_dot_40 Bed_bar__minus_00_dot_21_bar__plus_00_dot_00_bar__plus_00_dot_98)\n (inReceptacle Pillow_bar__plus_00_dot_15_bar__plus_00_dot_74_bar__plus_01_dot_74 Bed_bar__minus_00_dot_21_bar__plus_00_dot_00_bar__plus_00_dot_98)\n (inReceptacle CellPhone_bar__plus_02_dot_65_bar__plus_00_dot_03_bar__minus_00_dot_04 Drawer_bar__plus_02_dot_54_bar__plus_00_dot_08_bar__minus_00_dot_13)\n (inReceptacle Pen_bar__plus_02_dot_51_bar__plus_00_dot_04_bar__minus_00_dot_22 Drawer_bar__plus_02_dot_54_bar__plus_00_dot_08_bar__minus_00_dot_13)\n (inReceptacle CellPhone_bar__plus_02_dot_55_bar__plus_00_dot_52_bar__minus_00_dot_22 Drawer_bar__plus_02_dot_54_bar__plus_00_dot_57_bar__minus_00_dot_13)\n (inReceptacle Pencil_bar__minus_00_dot_65_bar__plus_00_dot_05_bar__minus_01_dot_70 Shelf_bar__minus_00_dot_72_bar__plus_00_dot_04_bar__minus_01_dot_75)\n (inReceptacle HousePlant_bar__minus_00_dot_80_bar__plus_00_dot_96_bar__minus_01_dot_73 Shelf_bar__minus_00_dot_81_bar__plus_00_dot_96_bar__minus_01_dot_75)\n (inReceptacle AlarmClock_bar__minus_00_dot_90_bar__plus_00_dot_71_bar__minus_01_dot_70 Shelf_bar__minus_00_dot_91_bar__plus_00_dot_70_bar__minus_01_dot_75)\n (inReceptacle AlarmClock_bar__plus_00_dot_42_bar__plus_00_dot_83_bar__minus_02_dot_38 Shelf_bar__plus_00_dot_53_bar__plus_00_dot_83_bar__minus_02_dot_41)\n \n \n (receptacleAtLocation Bed_bar__minus_00_dot_21_bar__plus_00_dot_00_bar__plus_00_dot_98 loc_bar_6_bar_3_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__plus_02_dot_54_bar__plus_00_dot_08_bar__plus_00_dot_62 loc_bar_5_bar_5_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_02_dot_54_bar__plus_00_dot_08_bar__minus_00_dot_13 loc_bar_5_bar_2_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_02_dot_54_bar__plus_00_dot_24_bar__plus_00_dot_62 loc_bar_6_bar_4_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_02_dot_54_bar__plus_00_dot_24_bar__minus_00_dot_13 loc_bar_6_bar__minus_2_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_02_dot_54_bar__plus_00_dot_40_bar__plus_00_dot_62 loc_bar_6_bar_4_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_02_dot_54_bar__plus_00_dot_40_bar__minus_00_dot_13 loc_bar_6_bar_1_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_02_dot_54_bar__plus_00_dot_57_bar__plus_00_dot_62 loc_bar_6_bar_4_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_02_dot_54_bar__plus_00_dot_57_bar__minus_00_dot_13 loc_bar_6_bar_1_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_02_dot_54_bar__plus_00_dot_73_bar__plus_00_dot_62 loc_bar_7_bar_2_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_02_dot_54_bar__plus_00_dot_73_bar__minus_00_dot_13 loc_bar_7_bar__minus_1_bar_1_bar_45)\n (receptacleAtLocation Dresser_bar__plus_02_dot_56_bar_00_dot_00_bar__plus_00_dot_25 loc_bar_7_bar_1_bar_1_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_01_dot_36_bar__plus_00_dot_00_bar__minus_00_dot_94 loc_bar__minus_3_bar__minus_3_bar_3_bar_60)\n (receptacleAtLocation Shelf_bar__plus_00_dot_53_bar__plus_00_dot_83_bar__minus_02_dot_41 loc_bar_2_bar__minus_7_bar_2_bar_45)\n (receptacleAtLocation Shelf_bar__minus_00_dot_33_bar__plus_00_dot_04_bar__minus_01_dot_75 loc_bar_1_bar__minus_3_bar_2_bar_60)\n (receptacleAtLocation Shelf_bar__minus_00_dot_45_bar__plus_00_dot_42_bar__minus_01_dot_75 loc_bar__minus_1_bar__minus_4_bar_2_bar_60)\n (receptacleAtLocation Shelf_bar__minus_00_dot_45_bar__plus_00_dot_70_bar__minus_01_dot_75 loc_bar__minus_1_bar__minus_4_bar_2_bar_45)\n (receptacleAtLocation Shelf_bar__minus_00_dot_62_bar__plus_00_dot_96_bar__minus_01_dot_75 loc_bar__minus_1_bar__minus_5_bar_2_bar_60)\n (receptacleAtLocation Shelf_bar__minus_00_dot_72_bar__plus_00_dot_04_bar__minus_01_dot_75 loc_bar__minus_1_bar__minus_3_bar_2_bar_60)\n (receptacleAtLocation Shelf_bar__minus_00_dot_81_bar__plus_00_dot_96_bar__minus_01_dot_75 loc_bar__minus_1_bar__minus_5_bar_3_bar_45)\n (receptacleAtLocation Shelf_bar__minus_00_dot_91_bar__plus_00_dot_42_bar__minus_01_dot_75 loc_bar__minus_2_bar__minus_4_bar_2_bar_60)\n (receptacleAtLocation Shelf_bar__minus_00_dot_91_bar__plus_00_dot_70_bar__minus_01_dot_75 loc_bar__minus_2_bar__minus_4_bar_2_bar_45)\n (objectAtLocation AlarmClock_bar__plus_00_dot_42_bar__plus_00_dot_83_bar__minus_02_dot_38 loc_bar_2_bar__minus_7_bar_2_bar_45)\n (objectAtLocation KeyChain_bar__plus_02_dot_52_bar__plus_00_dot_82_bar__minus_00_dot_32 loc_bar_7_bar_1_bar_1_bar_60)\n (objectAtLocation CellPhone_bar__plus_02_dot_55_bar__plus_00_dot_52_bar__minus_00_dot_22 loc_bar_6_bar_1_bar_1_bar_45)\n (objectAtLocation AlarmClock_bar__plus_02_dot_52_bar__plus_00_dot_82_bar__plus_00_dot_05 loc_bar_7_bar_1_bar_1_bar_60)\n (objectAtLocation KeyChain_bar__plus_02_dot_70_bar__plus_00_dot_82_bar__minus_00_dot_32 loc_bar_7_bar_1_bar_1_bar_60)\n (objectAtLocation CellPhone_bar__plus_02_dot_65_bar__plus_00_dot_03_bar__minus_00_dot_04 loc_bar_5_bar_2_bar_1_bar_45)\n (objectAtLocation Box_bar__plus_00_dot_25_bar__plus_00_dot_23_bar__minus_02_dot_04 loc_bar_2_bar__minus_7_bar_2_bar_60)\n (objectAtLocation Footstool_bar__plus_00_dot_80_bar__plus_00_dot_44_bar__minus_02_dot_11 loc_bar_2_bar__minus_7_bar_2_bar_60)\n (objectAtLocation Book_bar__minus_00_dot_02_bar__plus_00_dot_73_bar__plus_00_dot_44 loc_bar_6_bar_3_bar_3_bar_45)\n (objectAtLocation Statue_bar__plus_02_dot_52_bar__plus_00_dot_83_bar__plus_00_dot_43 loc_bar_7_bar_1_bar_1_bar_60)\n (objectAtLocation CellPhone_bar__plus_02_dot_60_bar__plus_00_dot_68_bar__minus_00_dot_30 loc_bar_7_bar__minus_1_bar_1_bar_45)\n (objectAtLocation Pillow_bar__plus_00_dot_15_bar__plus_00_dot_74_bar__plus_01_dot_74 loc_bar_6_bar_3_bar_3_bar_45)\n (objectAtLocation Pillow_bar__minus_00_dot_02_bar__plus_00_dot_81_bar__plus_00_dot_97 loc_bar_6_bar_3_bar_3_bar_45)\n (objectAtLocation BasketBall_bar__minus_01_dot_23_bar__plus_00_dot_12_bar__minus_00_dot_18 loc_bar__minus_4_bar__minus_2_bar_0_bar_60)\n (objectAtLocation CreditCard_bar__plus_02_dot_60_bar__plus_00_dot_19_bar__plus_00_dot_44 loc_bar_6_bar_4_bar_1_bar_60)\n (objectAtLocation KeyChain_bar__plus_02_dot_39_bar__plus_00_dot_82_bar__plus_00_dot_81 loc_bar_7_bar_1_bar_1_bar_60)\n (objectAtLocation Pencil_bar__minus_00_dot_65_bar__plus_00_dot_05_bar__minus_01_dot_70 loc_bar__minus_1_bar__minus_3_bar_2_bar_60)\n (objectAtLocation LightSwitch_bar__plus_00_dot_78_bar__plus_01_dot_27_bar__plus_02_dot_13 loc_bar_4_bar_6_bar_0_bar_30)\n (objectAtLocation AlarmClock_bar__minus_00_dot_90_bar__plus_00_dot_71_bar__minus_01_dot_70 loc_bar__minus_2_bar__minus_4_bar_2_bar_45)\n (objectAtLocation Painting_bar__plus_02_dot_06_bar__plus_01_dot_67_bar__minus_01_dot_87 loc_bar_8_bar__minus_4_bar_2_bar_0)\n (objectAtLocation HousePlant_bar__minus_00_dot_80_bar__plus_00_dot_96_bar__minus_01_dot_73 loc_bar__minus_1_bar__minus_5_bar_3_bar_45)\n (objectAtLocation Laptop_bar__minus_00_dot_54_bar__plus_00_dot_78_bar__plus_00_dot_40 loc_bar_6_bar_3_bar_3_bar_45)\n (objectAtLocation Painting_bar__plus_01_dot_87_bar__plus_00_dot_39_bar__minus_01_dot_79 loc_bar_7_bar__minus_4_bar_2_bar_60)\n (objectAtLocation Mirror_bar__plus_02_dot_84_bar__plus_01_dot_40_bar__plus_01_dot_38 loc_bar_9_bar_5_bar_1_bar_30)\n (objectAtLocation DeskLamp_bar__plus_02_dot_68_bar__plus_00_dot_82_bar__plus_00_dot_88 loc_bar_7_bar_1_bar_1_bar_60)\n (objectAtLocation CD_bar__plus_02_dot_65_bar__plus_00_dot_19_bar__plus_00_dot_88 loc_bar_6_bar_4_bar_1_bar_60)\n (objectAtLocation Pen_bar__plus_02_dot_51_bar__plus_00_dot_04_bar__minus_00_dot_22 loc_bar_5_bar_2_bar_1_bar_45)\n (objectAtLocation Window_bar__minus_01_dot_70_bar__plus_01_dot_44_bar__minus_00_dot_54 loc_bar__minus_4_bar__minus_2_bar_3_bar_15)\n (objectAtLocation Window_bar__plus_00_dot_54_bar__plus_01_dot_41_bar__minus_02_dot_62 loc_bar_2_bar__minus_7_bar_2_bar_15)\n (objectAtLocation Blinds_bar__plus_00_dot_54_bar__plus_02_dot_14_bar__minus_02_dot_55 loc_bar_2_bar__minus_7_bar_2_bar__minus_30)\n (objectAtLocation Blinds_bar__minus_01_dot_65_bar__plus_02_dot_15_bar__minus_00_dot_55 loc_bar__minus_4_bar__minus_2_bar_3_bar__minus_30)\n )\n \n\n (:goal\n (and\n (exists (?ot - object\n ?r - receptacle\n ?a - agent\n ?l - location)\n (and\n (objectType ?ot DeskLampType)\n (toggleable ?ot)\n (isToggled ?ot)\n (receptacleAtLocation ?r ?l)\n (atLocation ?a ?l)\n (inReceptacle ?ot ?r)\n )\n )\n (exists (?o - object\n ?a - agent)\n (and\n (objectType ?o PencilType)\n (holds ?a ?o)\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to shelf 5", "take pencil 1 from shelf 5", "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-Pencil-None-DeskLamp-319/trial_T20190908_135102_644449/initial_state.pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Pencil-None-DeskLamp-319/trial_T20190908_135102_644449/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..6371fb06524b4252735a59cbfc2a8297ef95febc --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Pencil-None-DeskLamp-319/trial_T20190908_135102_644449/initial_state.pddl @@ -0,0 +1,667 @@ + +(define (problem plan_trial_T20190908_135102_644449) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_42_bar__plus_00_dot_83_bar__minus_02_dot_38 - object + AlarmClock_bar__plus_02_dot_52_bar__plus_00_dot_82_bar__plus_00_dot_05 - object + AlarmClock_bar__minus_00_dot_90_bar__plus_00_dot_71_bar__minus_01_dot_70 - object + BasketBall_bar__minus_01_dot_23_bar__plus_00_dot_12_bar__minus_00_dot_18 - object + Blinds_bar__plus_00_dot_54_bar__plus_02_dot_14_bar__minus_02_dot_55 - object + Blinds_bar__minus_01_dot_65_bar__plus_02_dot_15_bar__minus_00_dot_55 - object + Book_bar__minus_00_dot_02_bar__plus_00_dot_73_bar__plus_00_dot_44 - object + Box_bar__plus_00_dot_25_bar__plus_00_dot_23_bar__minus_02_dot_04 - object + CD_bar__plus_02_dot_65_bar__plus_00_dot_19_bar__plus_00_dot_88 - object + CellPhone_bar__plus_02_dot_55_bar__plus_00_dot_52_bar__minus_00_dot_22 - object + CellPhone_bar__plus_02_dot_60_bar__plus_00_dot_68_bar__minus_00_dot_30 - object + CellPhone_bar__plus_02_dot_65_bar__plus_00_dot_03_bar__minus_00_dot_04 - object + CreditCard_bar__plus_02_dot_60_bar__plus_00_dot_19_bar__plus_00_dot_44 - object + DeskLamp_bar__plus_02_dot_68_bar__plus_00_dot_82_bar__plus_00_dot_88 - object + Footstool_bar__plus_00_dot_80_bar__plus_00_dot_44_bar__minus_02_dot_11 - object + HousePlant_bar__minus_00_dot_80_bar__plus_00_dot_96_bar__minus_01_dot_73 - object + KeyChain_bar__plus_02_dot_39_bar__plus_00_dot_82_bar__plus_00_dot_81 - object + KeyChain_bar__plus_02_dot_52_bar__plus_00_dot_82_bar__minus_00_dot_32 - object + KeyChain_bar__plus_02_dot_70_bar__plus_00_dot_82_bar__minus_00_dot_32 - object + Laptop_bar__minus_00_dot_54_bar__plus_00_dot_78_bar__plus_00_dot_40 - object + LightSwitch_bar__plus_00_dot_78_bar__plus_01_dot_27_bar__plus_02_dot_13 - object + Mirror_bar__plus_02_dot_84_bar__plus_01_dot_40_bar__plus_01_dot_38 - object + Painting_bar__plus_01_dot_87_bar__plus_00_dot_39_bar__minus_01_dot_79 - object + Painting_bar__plus_02_dot_06_bar__plus_01_dot_67_bar__minus_01_dot_87 - object + Pencil_bar__minus_00_dot_65_bar__plus_00_dot_05_bar__minus_01_dot_70 - object + Pen_bar__plus_02_dot_51_bar__plus_00_dot_04_bar__minus_00_dot_22 - object + Pillow_bar__plus_00_dot_15_bar__plus_00_dot_74_bar__plus_01_dot_74 - object + Pillow_bar__minus_00_dot_02_bar__plus_00_dot_81_bar__plus_00_dot_97 - object + Statue_bar__plus_02_dot_52_bar__plus_00_dot_83_bar__plus_00_dot_43 - object + Window_bar__plus_00_dot_54_bar__plus_01_dot_41_bar__minus_02_dot_62 - object + Window_bar__minus_01_dot_70_bar__plus_01_dot_44_bar__minus_00_dot_54 - object + Bed_bar__minus_00_dot_21_bar__plus_00_dot_00_bar__plus_00_dot_98 - receptacle + Drawer_bar__plus_02_dot_54_bar__plus_00_dot_08_bar__plus_00_dot_62 - receptacle + Drawer_bar__plus_02_dot_54_bar__plus_00_dot_08_bar__minus_00_dot_13 - receptacle + Drawer_bar__plus_02_dot_54_bar__plus_00_dot_24_bar__plus_00_dot_62 - receptacle + Drawer_bar__plus_02_dot_54_bar__plus_00_dot_24_bar__minus_00_dot_13 - receptacle + Drawer_bar__plus_02_dot_54_bar__plus_00_dot_40_bar__plus_00_dot_62 - receptacle + Drawer_bar__plus_02_dot_54_bar__plus_00_dot_40_bar__minus_00_dot_13 - receptacle + Drawer_bar__plus_02_dot_54_bar__plus_00_dot_57_bar__plus_00_dot_62 - receptacle + Drawer_bar__plus_02_dot_54_bar__plus_00_dot_57_bar__minus_00_dot_13 - receptacle + Drawer_bar__plus_02_dot_54_bar__plus_00_dot_73_bar__plus_00_dot_62 - receptacle + Drawer_bar__plus_02_dot_54_bar__plus_00_dot_73_bar__minus_00_dot_13 - receptacle + Dresser_bar__plus_02_dot_56_bar_00_dot_00_bar__plus_00_dot_25 - receptacle + GarbageCan_bar__minus_01_dot_36_bar__plus_00_dot_00_bar__minus_00_dot_94 - receptacle + Shelf_bar__plus_00_dot_53_bar__plus_00_dot_83_bar__minus_02_dot_41 - receptacle + Shelf_bar__minus_00_dot_33_bar__plus_00_dot_04_bar__minus_01_dot_75 - receptacle + Shelf_bar__minus_00_dot_45_bar__plus_00_dot_42_bar__minus_01_dot_75 - receptacle + Shelf_bar__minus_00_dot_45_bar__plus_00_dot_70_bar__minus_01_dot_75 - receptacle + Shelf_bar__minus_00_dot_62_bar__plus_00_dot_96_bar__minus_01_dot_75 - receptacle + Shelf_bar__minus_00_dot_72_bar__plus_00_dot_04_bar__minus_01_dot_75 - receptacle + Shelf_bar__minus_00_dot_81_bar__plus_00_dot_96_bar__minus_01_dot_75 - receptacle + Shelf_bar__minus_00_dot_91_bar__plus_00_dot_42_bar__minus_01_dot_75 - receptacle + Shelf_bar__minus_00_dot_91_bar__plus_00_dot_70_bar__minus_01_dot_75 - receptacle + loc_bar__minus_2_bar__minus_4_bar_2_bar_45 - location + loc_bar__minus_1_bar__minus_4_bar_2_bar_45 - location + loc_bar_6_bar_3_bar_3_bar_45 - location + loc_bar__minus_1_bar__minus_3_bar_2_bar_60 - location + loc_bar_2_bar__minus_7_bar_2_bar_45 - location + loc_bar__minus_4_bar__minus_2_bar_3_bar__minus_30 - location + loc_bar_8_bar__minus_4_bar_2_bar_0 - location + loc_bar_2_bar__minus_7_bar_2_bar_15 - location + loc_bar__minus_1_bar__minus_5_bar_2_bar_60 - location + loc_bar_6_bar_4_bar_1_bar_60 - location + loc_bar_6_bar__minus_2_bar_1_bar_60 - location + loc_bar_7_bar__minus_1_bar_1_bar_45 - location + loc_bar__minus_4_bar__minus_2_bar_0_bar_60 - location + loc_bar_7_bar_2_bar_1_bar_45 - location + loc_bar__minus_2_bar__minus_4_bar_2_bar_60 - location + loc_bar__minus_1_bar__minus_4_bar_2_bar_60 - location + loc_bar_7_bar_1_bar_1_bar_60 - location + loc_bar_2_bar__minus_7_bar_2_bar__minus_30 - location + loc_bar__minus_3_bar__minus_3_bar_3_bar_60 - location + loc_bar_1_bar__minus_3_bar_2_bar_60 - location + loc_bar_6_bar_1_bar_1_bar_45 - location + loc_bar__minus_4_bar__minus_2_bar_3_bar_15 - location + loc_bar_9_bar_5_bar_1_bar_30 - location + loc_bar__minus_1_bar__minus_5_bar_3_bar_45 - location + loc_bar_2_bar__minus_7_bar_2_bar_60 - location + loc_bar_7_bar__minus_4_bar_2_bar_60 - location + loc_bar_6_bar_4_bar_1_bar_45 - location + loc_bar_5_bar_5_bar_1_bar_45 - location + loc_bar_4_bar_6_bar_0_bar_30 - location + loc_bar_5_bar_2_bar_1_bar_45 - location + loc_bar_9_bar__minus_3_bar_0_bar_30 - location + ) + + +(:init + + + (receptacleType Drawer_bar__plus_02_dot_54_bar__plus_00_dot_40_bar__plus_00_dot_62 DrawerType) + (receptacleType Shelf_bar__minus_00_dot_81_bar__plus_00_dot_96_bar__minus_01_dot_75 ShelfType) + (receptacleType Drawer_bar__plus_02_dot_54_bar__plus_00_dot_73_bar__minus_00_dot_13 DrawerType) + (receptacleType Shelf_bar__plus_00_dot_53_bar__plus_00_dot_83_bar__minus_02_dot_41 ShelfType) + (receptacleType Drawer_bar__plus_02_dot_54_bar__plus_00_dot_08_bar__plus_00_dot_62 DrawerType) + (receptacleType Drawer_bar__plus_02_dot_54_bar__plus_00_dot_40_bar__minus_00_dot_13 DrawerType) + (receptacleType Shelf_bar__minus_00_dot_91_bar__plus_00_dot_70_bar__minus_01_dot_75 ShelfType) + (receptacleType Shelf_bar__minus_00_dot_45_bar__plus_00_dot_42_bar__minus_01_dot_75 ShelfType) + (receptacleType Shelf_bar__minus_00_dot_62_bar__plus_00_dot_96_bar__minus_01_dot_75 ShelfType) + (receptacleType Bed_bar__minus_00_dot_21_bar__plus_00_dot_00_bar__plus_00_dot_98 BedType) + (receptacleType GarbageCan_bar__minus_01_dot_36_bar__plus_00_dot_00_bar__minus_00_dot_94 GarbageCanType) + (receptacleType Shelf_bar__minus_00_dot_45_bar__plus_00_dot_70_bar__minus_01_dot_75 ShelfType) + (receptacleType Drawer_bar__plus_02_dot_54_bar__plus_00_dot_57_bar__minus_00_dot_13 DrawerType) + (receptacleType Drawer_bar__plus_02_dot_54_bar__plus_00_dot_08_bar__minus_00_dot_13 DrawerType) + (receptacleType Dresser_bar__plus_02_dot_56_bar_00_dot_00_bar__plus_00_dot_25 DresserType) + (receptacleType Shelf_bar__minus_00_dot_91_bar__plus_00_dot_42_bar__minus_01_dot_75 ShelfType) + (receptacleType Shelf_bar__minus_00_dot_72_bar__plus_00_dot_04_bar__minus_01_dot_75 ShelfType) + (receptacleType Shelf_bar__minus_00_dot_33_bar__plus_00_dot_04_bar__minus_01_dot_75 ShelfType) + (receptacleType Drawer_bar__plus_02_dot_54_bar__plus_00_dot_57_bar__plus_00_dot_62 DrawerType) + (receptacleType Drawer_bar__plus_02_dot_54_bar__plus_00_dot_24_bar__plus_00_dot_62 DrawerType) + (receptacleType Drawer_bar__plus_02_dot_54_bar__plus_00_dot_24_bar__minus_00_dot_13 DrawerType) + (receptacleType Drawer_bar__plus_02_dot_54_bar__plus_00_dot_73_bar__plus_00_dot_62 DrawerType) + (objectType CD_bar__plus_02_dot_65_bar__plus_00_dot_19_bar__plus_00_dot_88 CDType) + (objectType AlarmClock_bar__plus_00_dot_42_bar__plus_00_dot_83_bar__minus_02_dot_38 AlarmClockType) + (objectType HousePlant_bar__minus_00_dot_80_bar__plus_00_dot_96_bar__minus_01_dot_73 HousePlantType) + (objectType AlarmClock_bar__minus_00_dot_90_bar__plus_00_dot_71_bar__minus_01_dot_70 AlarmClockType) + (objectType KeyChain_bar__plus_02_dot_70_bar__plus_00_dot_82_bar__minus_00_dot_32 KeyChainType) + (objectType Pencil_bar__minus_00_dot_65_bar__plus_00_dot_05_bar__minus_01_dot_70 PencilType) + (objectType Pillow_bar__plus_00_dot_15_bar__plus_00_dot_74_bar__plus_01_dot_74 PillowType) + (objectType Painting_bar__plus_01_dot_87_bar__plus_00_dot_39_bar__minus_01_dot_79 PaintingType) + (objectType Footstool_bar__plus_00_dot_80_bar__plus_00_dot_44_bar__minus_02_dot_11 FootstoolType) + (objectType Book_bar__minus_00_dot_02_bar__plus_00_dot_73_bar__plus_00_dot_44 BookType) + (objectType Pillow_bar__minus_00_dot_02_bar__plus_00_dot_81_bar__plus_00_dot_97 PillowType) + (objectType Painting_bar__plus_02_dot_06_bar__plus_01_dot_67_bar__minus_01_dot_87 PaintingType) + (objectType BasketBall_bar__minus_01_dot_23_bar__plus_00_dot_12_bar__minus_00_dot_18 BasketBallType) + (objectType Window_bar__plus_00_dot_54_bar__plus_01_dot_41_bar__minus_02_dot_62 WindowType) + (objectType Mirror_bar__plus_02_dot_84_bar__plus_01_dot_40_bar__plus_01_dot_38 MirrorType) + (objectType KeyChain_bar__plus_02_dot_39_bar__plus_00_dot_82_bar__plus_00_dot_81 KeyChainType) + (objectType Blinds_bar__plus_00_dot_54_bar__plus_02_dot_14_bar__minus_02_dot_55 BlindsType) + (objectType KeyChain_bar__plus_02_dot_52_bar__plus_00_dot_82_bar__minus_00_dot_32 KeyChainType) + (objectType DeskLamp_bar__plus_02_dot_68_bar__plus_00_dot_82_bar__plus_00_dot_88 DeskLampType) + (objectType AlarmClock_bar__plus_02_dot_52_bar__plus_00_dot_82_bar__plus_00_dot_05 AlarmClockType) + (objectType Pen_bar__plus_02_dot_51_bar__plus_00_dot_04_bar__minus_00_dot_22 PenType) + (objectType LightSwitch_bar__plus_00_dot_78_bar__plus_01_dot_27_bar__plus_02_dot_13 LightSwitchType) + (objectType Blinds_bar__minus_01_dot_65_bar__plus_02_dot_15_bar__minus_00_dot_55 BlindsType) + (objectType CellPhone_bar__plus_02_dot_55_bar__plus_00_dot_52_bar__minus_00_dot_22 CellPhoneType) + (objectType Box_bar__plus_00_dot_25_bar__plus_00_dot_23_bar__minus_02_dot_04 BoxType) + (objectType CreditCard_bar__plus_02_dot_60_bar__plus_00_dot_19_bar__plus_00_dot_44 CreditCardType) + (objectType CellPhone_bar__plus_02_dot_65_bar__plus_00_dot_03_bar__minus_00_dot_04 CellPhoneType) + (objectType Statue_bar__plus_02_dot_52_bar__plus_00_dot_83_bar__plus_00_dot_43 StatueType) + (objectType Laptop_bar__minus_00_dot_54_bar__plus_00_dot_78_bar__plus_00_dot_40 LaptopType) + (objectType Window_bar__minus_01_dot_70_bar__plus_01_dot_44_bar__minus_00_dot_54 WindowType) + (objectType CellPhone_bar__plus_02_dot_60_bar__plus_00_dot_68_bar__minus_00_dot_30 CellPhoneType) + (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 CDType) + (canContain ShelfType BoxType) + (canContain ShelfType CellPhoneType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType PencilType) + (canContain ShelfType StatueType) + (canContain ShelfType AlarmClockType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain ShelfType PenType) + 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(pickupable CreditCard_bar__plus_02_dot_60_bar__plus_00_dot_19_bar__plus_00_dot_44) + (pickupable CellPhone_bar__plus_02_dot_65_bar__plus_00_dot_03_bar__minus_00_dot_04) + (pickupable Statue_bar__plus_02_dot_52_bar__plus_00_dot_83_bar__plus_00_dot_43) + (pickupable Laptop_bar__minus_00_dot_54_bar__plus_00_dot_78_bar__plus_00_dot_40) + (pickupable CellPhone_bar__plus_02_dot_60_bar__plus_00_dot_68_bar__minus_00_dot_30) + (isReceptacleObject Box_bar__plus_00_dot_25_bar__plus_00_dot_23_bar__minus_02_dot_04) + (openable Drawer_bar__plus_02_dot_54_bar__plus_00_dot_40_bar__plus_00_dot_62) + (openable Drawer_bar__plus_02_dot_54_bar__plus_00_dot_73_bar__minus_00_dot_13) + (openable Drawer_bar__plus_02_dot_54_bar__plus_00_dot_08_bar__plus_00_dot_62) + (openable Drawer_bar__plus_02_dot_54_bar__plus_00_dot_40_bar__minus_00_dot_13) + (openable Drawer_bar__plus_02_dot_54_bar__plus_00_dot_57_bar__minus_00_dot_13) + (openable Drawer_bar__plus_02_dot_54_bar__plus_00_dot_08_bar__minus_00_dot_13) + (openable Drawer_bar__plus_02_dot_54_bar__plus_00_dot_57_bar__plus_00_dot_62) + (openable Drawer_bar__plus_02_dot_54_bar__plus_00_dot_24_bar__plus_00_dot_62) + (openable Drawer_bar__plus_02_dot_54_bar__plus_00_dot_24_bar__minus_00_dot_13) + (openable Drawer_bar__plus_02_dot_54_bar__plus_00_dot_73_bar__plus_00_dot_62) + + (atLocation agent1 loc_bar_9_bar__minus_3_bar_0_bar_30) + + + + + + + + (toggleable DeskLamp_bar__plus_02_dot_68_bar__plus_00_dot_82_bar__plus_00_dot_88) + + + + + (inReceptacle CellPhone_bar__plus_02_dot_60_bar__plus_00_dot_68_bar__minus_00_dot_30 Drawer_bar__plus_02_dot_54_bar__plus_00_dot_73_bar__minus_00_dot_13) + (inReceptacle CD_bar__plus_02_dot_65_bar__plus_00_dot_19_bar__plus_00_dot_88 Drawer_bar__plus_02_dot_54_bar__plus_00_dot_24_bar__plus_00_dot_62) + (inReceptacle CreditCard_bar__plus_02_dot_60_bar__plus_00_dot_19_bar__plus_00_dot_44 Drawer_bar__plus_02_dot_54_bar__plus_00_dot_24_bar__plus_00_dot_62) + (inReceptacle KeyChain_bar__plus_02_dot_39_bar__plus_00_dot_82_bar__plus_00_dot_81 Dresser_bar__plus_02_dot_56_bar_00_dot_00_bar__plus_00_dot_25) + (inReceptacle KeyChain_bar__plus_02_dot_70_bar__plus_00_dot_82_bar__minus_00_dot_32 Dresser_bar__plus_02_dot_56_bar_00_dot_00_bar__plus_00_dot_25) + (inReceptacle KeyChain_bar__plus_02_dot_52_bar__plus_00_dot_82_bar__minus_00_dot_32 Dresser_bar__plus_02_dot_56_bar_00_dot_00_bar__plus_00_dot_25) + (inReceptacle Statue_bar__plus_02_dot_52_bar__plus_00_dot_83_bar__plus_00_dot_43 Dresser_bar__plus_02_dot_56_bar_00_dot_00_bar__plus_00_dot_25) + (inReceptacle DeskLamp_bar__plus_02_dot_68_bar__plus_00_dot_82_bar__plus_00_dot_88 Dresser_bar__plus_02_dot_56_bar_00_dot_00_bar__plus_00_dot_25) + (inReceptacle AlarmClock_bar__plus_02_dot_52_bar__plus_00_dot_82_bar__plus_00_dot_05 Dresser_bar__plus_02_dot_56_bar_00_dot_00_bar__plus_00_dot_25) + (inReceptacle Pillow_bar__minus_00_dot_02_bar__plus_00_dot_81_bar__plus_00_dot_97 Bed_bar__minus_00_dot_21_bar__plus_00_dot_00_bar__plus_00_dot_98) + (inReceptacle Book_bar__minus_00_dot_02_bar__plus_00_dot_73_bar__plus_00_dot_44 Bed_bar__minus_00_dot_21_bar__plus_00_dot_00_bar__plus_00_dot_98) + (inReceptacle Laptop_bar__minus_00_dot_54_bar__plus_00_dot_78_bar__plus_00_dot_40 Bed_bar__minus_00_dot_21_bar__plus_00_dot_00_bar__plus_00_dot_98) + (inReceptacle Pillow_bar__plus_00_dot_15_bar__plus_00_dot_74_bar__plus_01_dot_74 Bed_bar__minus_00_dot_21_bar__plus_00_dot_00_bar__plus_00_dot_98) + (inReceptacle CellPhone_bar__plus_02_dot_65_bar__plus_00_dot_03_bar__minus_00_dot_04 Drawer_bar__plus_02_dot_54_bar__plus_00_dot_08_bar__minus_00_dot_13) + (inReceptacle Pen_bar__plus_02_dot_51_bar__plus_00_dot_04_bar__minus_00_dot_22 Drawer_bar__plus_02_dot_54_bar__plus_00_dot_08_bar__minus_00_dot_13) + (inReceptacle CellPhone_bar__plus_02_dot_55_bar__plus_00_dot_52_bar__minus_00_dot_22 Drawer_bar__plus_02_dot_54_bar__plus_00_dot_57_bar__minus_00_dot_13) + (inReceptacle Pencil_bar__minus_00_dot_65_bar__plus_00_dot_05_bar__minus_01_dot_70 Shelf_bar__minus_00_dot_72_bar__plus_00_dot_04_bar__minus_01_dot_75) + (inReceptacle HousePlant_bar__minus_00_dot_80_bar__plus_00_dot_96_bar__minus_01_dot_73 Shelf_bar__minus_00_dot_81_bar__plus_00_dot_96_bar__minus_01_dot_75) + (inReceptacle AlarmClock_bar__minus_00_dot_90_bar__plus_00_dot_71_bar__minus_01_dot_70 Shelf_bar__minus_00_dot_91_bar__plus_00_dot_70_bar__minus_01_dot_75) + (inReceptacle AlarmClock_bar__plus_00_dot_42_bar__plus_00_dot_83_bar__minus_02_dot_38 Shelf_bar__plus_00_dot_53_bar__plus_00_dot_83_bar__minus_02_dot_41) + + + (receptacleAtLocation Bed_bar__minus_00_dot_21_bar__plus_00_dot_00_bar__plus_00_dot_98 loc_bar_6_bar_3_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__plus_02_dot_54_bar__plus_00_dot_08_bar__plus_00_dot_62 loc_bar_5_bar_5_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_02_dot_54_bar__plus_00_dot_08_bar__minus_00_dot_13 loc_bar_5_bar_2_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_02_dot_54_bar__plus_00_dot_24_bar__plus_00_dot_62 loc_bar_6_bar_4_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_02_dot_54_bar__plus_00_dot_24_bar__minus_00_dot_13 loc_bar_6_bar__minus_2_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_02_dot_54_bar__plus_00_dot_40_bar__plus_00_dot_62 loc_bar_6_bar_4_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_02_dot_54_bar__plus_00_dot_40_bar__minus_00_dot_13 loc_bar_6_bar_1_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_02_dot_54_bar__plus_00_dot_57_bar__plus_00_dot_62 loc_bar_6_bar_4_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_02_dot_54_bar__plus_00_dot_57_bar__minus_00_dot_13 loc_bar_6_bar_1_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_02_dot_54_bar__plus_00_dot_73_bar__plus_00_dot_62 loc_bar_7_bar_2_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_02_dot_54_bar__plus_00_dot_73_bar__minus_00_dot_13 loc_bar_7_bar__minus_1_bar_1_bar_45) + (receptacleAtLocation Dresser_bar__plus_02_dot_56_bar_00_dot_00_bar__plus_00_dot_25 loc_bar_7_bar_1_bar_1_bar_60) + (receptacleAtLocation GarbageCan_bar__minus_01_dot_36_bar__plus_00_dot_00_bar__minus_00_dot_94 loc_bar__minus_3_bar__minus_3_bar_3_bar_60) + (receptacleAtLocation Shelf_bar__plus_00_dot_53_bar__plus_00_dot_83_bar__minus_02_dot_41 loc_bar_2_bar__minus_7_bar_2_bar_45) + (receptacleAtLocation Shelf_bar__minus_00_dot_33_bar__plus_00_dot_04_bar__minus_01_dot_75 loc_bar_1_bar__minus_3_bar_2_bar_60) + (receptacleAtLocation Shelf_bar__minus_00_dot_45_bar__plus_00_dot_42_bar__minus_01_dot_75 loc_bar__minus_1_bar__minus_4_bar_2_bar_60) + (receptacleAtLocation Shelf_bar__minus_00_dot_45_bar__plus_00_dot_70_bar__minus_01_dot_75 loc_bar__minus_1_bar__minus_4_bar_2_bar_45) + (receptacleAtLocation Shelf_bar__minus_00_dot_62_bar__plus_00_dot_96_bar__minus_01_dot_75 loc_bar__minus_1_bar__minus_5_bar_2_bar_60) + (receptacleAtLocation Shelf_bar__minus_00_dot_72_bar__plus_00_dot_04_bar__minus_01_dot_75 loc_bar__minus_1_bar__minus_3_bar_2_bar_60) + (receptacleAtLocation Shelf_bar__minus_00_dot_81_bar__plus_00_dot_96_bar__minus_01_dot_75 loc_bar__minus_1_bar__minus_5_bar_3_bar_45) + (receptacleAtLocation Shelf_bar__minus_00_dot_91_bar__plus_00_dot_42_bar__minus_01_dot_75 loc_bar__minus_2_bar__minus_4_bar_2_bar_60) + (receptacleAtLocation Shelf_bar__minus_00_dot_91_bar__plus_00_dot_70_bar__minus_01_dot_75 loc_bar__minus_2_bar__minus_4_bar_2_bar_45) + (objectAtLocation AlarmClock_bar__plus_00_dot_42_bar__plus_00_dot_83_bar__minus_02_dot_38 loc_bar_2_bar__minus_7_bar_2_bar_45) + (objectAtLocation KeyChain_bar__plus_02_dot_52_bar__plus_00_dot_82_bar__minus_00_dot_32 loc_bar_7_bar_1_bar_1_bar_60) + (objectAtLocation CellPhone_bar__plus_02_dot_55_bar__plus_00_dot_52_bar__minus_00_dot_22 loc_bar_6_bar_1_bar_1_bar_45) + (objectAtLocation AlarmClock_bar__plus_02_dot_52_bar__plus_00_dot_82_bar__plus_00_dot_05 loc_bar_7_bar_1_bar_1_bar_60) + (objectAtLocation KeyChain_bar__plus_02_dot_70_bar__plus_00_dot_82_bar__minus_00_dot_32 loc_bar_7_bar_1_bar_1_bar_60) + (objectAtLocation CellPhone_bar__plus_02_dot_65_bar__plus_00_dot_03_bar__minus_00_dot_04 loc_bar_5_bar_2_bar_1_bar_45) + (objectAtLocation Box_bar__plus_00_dot_25_bar__plus_00_dot_23_bar__minus_02_dot_04 loc_bar_2_bar__minus_7_bar_2_bar_60) + (objectAtLocation Footstool_bar__plus_00_dot_80_bar__plus_00_dot_44_bar__minus_02_dot_11 loc_bar_2_bar__minus_7_bar_2_bar_60) + (objectAtLocation Book_bar__minus_00_dot_02_bar__plus_00_dot_73_bar__plus_00_dot_44 loc_bar_6_bar_3_bar_3_bar_45) + (objectAtLocation Statue_bar__plus_02_dot_52_bar__plus_00_dot_83_bar__plus_00_dot_43 loc_bar_7_bar_1_bar_1_bar_60) + (objectAtLocation CellPhone_bar__plus_02_dot_60_bar__plus_00_dot_68_bar__minus_00_dot_30 loc_bar_7_bar__minus_1_bar_1_bar_45) + (objectAtLocation Pillow_bar__plus_00_dot_15_bar__plus_00_dot_74_bar__plus_01_dot_74 loc_bar_6_bar_3_bar_3_bar_45) + (objectAtLocation Pillow_bar__minus_00_dot_02_bar__plus_00_dot_81_bar__plus_00_dot_97 loc_bar_6_bar_3_bar_3_bar_45) + (objectAtLocation BasketBall_bar__minus_01_dot_23_bar__plus_00_dot_12_bar__minus_00_dot_18 loc_bar__minus_4_bar__minus_2_bar_0_bar_60) + (objectAtLocation CreditCard_bar__plus_02_dot_60_bar__plus_00_dot_19_bar__plus_00_dot_44 loc_bar_6_bar_4_bar_1_bar_60) + (objectAtLocation KeyChain_bar__plus_02_dot_39_bar__plus_00_dot_82_bar__plus_00_dot_81 loc_bar_7_bar_1_bar_1_bar_60) + (objectAtLocation Pencil_bar__minus_00_dot_65_bar__plus_00_dot_05_bar__minus_01_dot_70 loc_bar__minus_1_bar__minus_3_bar_2_bar_60) + (objectAtLocation LightSwitch_bar__plus_00_dot_78_bar__plus_01_dot_27_bar__plus_02_dot_13 loc_bar_4_bar_6_bar_0_bar_30) + (objectAtLocation AlarmClock_bar__minus_00_dot_90_bar__plus_00_dot_71_bar__minus_01_dot_70 loc_bar__minus_2_bar__minus_4_bar_2_bar_45) + (objectAtLocation Painting_bar__plus_02_dot_06_bar__plus_01_dot_67_bar__minus_01_dot_87 loc_bar_8_bar__minus_4_bar_2_bar_0) + (objectAtLocation HousePlant_bar__minus_00_dot_80_bar__plus_00_dot_96_bar__minus_01_dot_73 loc_bar__minus_1_bar__minus_5_bar_3_bar_45) + (objectAtLocation Laptop_bar__minus_00_dot_54_bar__plus_00_dot_78_bar__plus_00_dot_40 loc_bar_6_bar_3_bar_3_bar_45) + (objectAtLocation Painting_bar__plus_01_dot_87_bar__plus_00_dot_39_bar__minus_01_dot_79 loc_bar_7_bar__minus_4_bar_2_bar_60) + (objectAtLocation Mirror_bar__plus_02_dot_84_bar__plus_01_dot_40_bar__plus_01_dot_38 loc_bar_9_bar_5_bar_1_bar_30) + (objectAtLocation DeskLamp_bar__plus_02_dot_68_bar__plus_00_dot_82_bar__plus_00_dot_88 loc_bar_7_bar_1_bar_1_bar_60) + (objectAtLocation CD_bar__plus_02_dot_65_bar__plus_00_dot_19_bar__plus_00_dot_88 loc_bar_6_bar_4_bar_1_bar_60) + (objectAtLocation Pen_bar__plus_02_dot_51_bar__plus_00_dot_04_bar__minus_00_dot_22 loc_bar_5_bar_2_bar_1_bar_45) + (objectAtLocation Window_bar__minus_01_dot_70_bar__plus_01_dot_44_bar__minus_00_dot_54 loc_bar__minus_4_bar__minus_2_bar_3_bar_15) + (objectAtLocation Window_bar__plus_00_dot_54_bar__plus_01_dot_41_bar__minus_02_dot_62 loc_bar_2_bar__minus_7_bar_2_bar_15) + (objectAtLocation Blinds_bar__plus_00_dot_54_bar__plus_02_dot_14_bar__minus_02_dot_55 loc_bar_2_bar__minus_7_bar_2_bar__minus_30) + (objectAtLocation Blinds_bar__minus_01_dot_65_bar__plus_02_dot_15_bar__minus_00_dot_55 loc_bar__minus_4_bar__minus_2_bar_3_bar__minus_30) + ) + + + (:goal + (and + (exists (?ot - object + ?r - receptacle + ?a - agent + ?l - location) + (and + (objectType ?ot DeskLampType) + (toggleable ?ot) + (isToggled ?ot) + (receptacleAtLocation ?r ?l) + (atLocation ?a ?l) + (inReceptacle ?ot ?r) + ) + ) + (exists (?o - object + ?a - agent) + (and + (objectType ?o PencilType) + (holds ?a ?o) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Pencil-None-DeskLamp-319/trial_T20190908_135102_644449/traj_data.json 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", + "Turn left, walk a bit, then turn left again and walk over to face the far left hand side of the dresser. ", + "Turn on the lamp that is on the side of the dresser." + ], + "task_desc": "Examine a pencil by the light of a lamp.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A3SFPSMFRSRTB3_3WS1NTTKE13O1WT0NVEPNK4VES80FK", + "high_descs": [ + "Turn left, go across room. Turn left and go to shelf.", + "Pick up pencil from bottom center shelf.", + "Go left until reach end of bed, turn left, proceed to wall. Turn right to go to wall, turn right to face dresser.", + "Turn on lamp on left side of dresser." + ], + "task_desc": "Pick up pencil from shelf, turn on dresser lamp.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A6U2C66WQ7QQN_3I3WADAZ9TVH2GSUJ43RR990N195OV", + "high_descs": [ + "Turn left, head across the room to the book shelf", + "Take the pencil from the shelf", + "Turn left, head to the corner", + "Turn on the lamp" + ], + "task_desc": "Take the pencil from the book shelf, turn on the lamp", + "votes": [ + 1, + 1, + 0 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-RemoteControl-None-FloorLamp-229/trial_T20190907_050007_247836/initial_state.pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-RemoteControl-None-FloorLamp-229/trial_T20190907_050007_247836/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..16002d8160c7346433eed3670407012b5b249e79 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-RemoteControl-None-FloorLamp-229/trial_T20190907_050007_247836/initial_state.pddl @@ -0,0 +1,594 @@ + +(define (problem plan_trial_T20190907_050007_247836) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Book_bar__minus_00_dot_34_bar__plus_00_dot_77_bar__plus_01_dot_38 - object + Book_bar__minus_05_dot_79_bar__plus_00_dot_73_bar__plus_02_dot_55 - object + Boots_bar__plus_00_dot_03_bar__plus_00_dot_02_bar__plus_03_dot_09 - object + Box_bar__minus_00_dot_23_bar__plus_00_dot_99_bar__plus_00_dot_46 - object + CellPhone_bar__minus_05_dot_72_bar__plus_00_dot_09_bar__plus_02_dot_62 - object + CellPhone_bar__minus_05_dot_93_bar__plus_00_dot_73_bar__plus_02_dot_10 - object + CellPhone_bar__minus_05_dot_93_bar__plus_00_dot_73_bar__plus_02_dot_40 - object + Chair_bar__minus_00_dot_73_bar__plus_00_dot_02_bar__plus_00_dot_50 - object + Chair_bar__minus_02_dot_16_bar__plus_00_dot_02_bar__plus_03_dot_88 - object + Chair_bar__minus_04_dot_01_bar__plus_00_dot_02_bar__plus_03_dot_90 - object + CreditCard_bar__minus_02_dot_90_bar__plus_00_dot_41_bar__plus_02_dot_44 - object + FloorLamp_bar__minus_00_dot_20_bar__plus_00_dot_02_bar__plus_04_dot_49 - object + HousePlant_bar__minus_05_dot_54_bar__plus_00_dot_72_bar__plus_00_dot_30 - object + KeyChain_bar__minus_03_dot_04_bar__plus_00_dot_42_bar__plus_02_dot_24 - object + KeyChain_bar__minus_03_dot_43_bar__plus_00_dot_41_bar__plus_00_dot_54 - object + KeyChain_bar__minus_04_dot_03_bar__plus_00_dot_42_bar__plus_00_dot_74 - object + Laptop_bar__minus_03_dot_43_bar__plus_00_dot_43_bar__plus_00_dot_54 - object + LightSwitch_bar__minus_02_dot_50_bar__plus_01_dot_53_bar__plus_04_dot_85 - object + Painting_bar__minus_00_dot_05_bar__plus_01_dot_22_bar__plus_00_dot_46 - object + Painting_bar__minus_00_dot_05_bar__plus_01_dot_87_bar__plus_00_dot_50 - object + Painting_bar__minus_01_dot_00_bar__plus_01_dot_70_bar__plus_00_dot_04 - object + Painting_bar__minus_03_dot_31_bar__plus_01_dot_67_bar__plus_00_dot_04 - object + Pencil_bar__minus_02_dot_90_bar__plus_00_dot_42_bar__plus_02_dot_24 - object + Pencil_bar__minus_03_dot_48_bar__plus_00_dot_42_bar__plus_02_dot_15 - object + Pencil_bar__minus_05_dot_42_bar__plus_00_dot_73_bar__plus_00_dot_19 - object + Pen_bar__minus_03_dot_04_bar__plus_00_dot_42_bar__plus_02_dot_53 - object + Pillow_bar__minus_02_dot_15_bar__plus_00_dot_62_bar__plus_00_dot_59 - object + RemoteControl_bar__minus_01_dot_37_bar__plus_00_dot_40_bar__plus_03_dot_69 - object + Statue_bar__minus_00_dot_27_bar__plus_00_dot_78_bar__plus_01_dot_66 - object + Statue_bar__minus_03_dot_48_bar__plus_00_dot_42_bar__plus_02_dot_53 - object + Television_bar__minus_05_dot_76_bar__plus_01_dot_21_bar__plus_02_dot_39 - object + TissueBox_bar__minus_02_dot_60_bar__plus_00_dot_42_bar__plus_02_dot_44 - object + TissueBox_bar__minus_02_dot_75_bar__plus_00_dot_42_bar__plus_02_dot_24 - object + TissueBox_bar__minus_03_dot_33_bar__plus_00_dot_41_bar__plus_02_dot_05 - object + WateringCan_bar__minus_05_dot_24_bar__plus_00_dot_02_bar__plus_00_dot_14 - object + Window_bar__plus_00_dot_13_bar__plus_02_dot_38_bar__plus_02_dot_42 - object + Window_bar__plus_00_dot_17_bar__plus_01_dot_02_bar__plus_02_dot_44 - object + Window_bar__plus_00_dot_17_bar__plus_01_dot_74_bar__plus_01_dot_38 - object + Window_bar__plus_00_dot_17_bar__plus_01_dot_74_bar__plus_03_dot_51 - object + ArmChair_bar__minus_01_dot_32_bar__plus_00_dot_00_bar__plus_03_dot_65 - receptacle + CoffeeTable_bar__minus_03_dot_04_bar__plus_00_dot_03_bar__plus_02_dot_34 - receptacle + Drawer_bar__minus_05_dot_58_bar__plus_00_dot_21_bar__plus_02_dot_13 - receptacle + Drawer_bar__minus_05_dot_58_bar__plus_00_dot_21_bar__plus_02_dot_68 - receptacle + Drawer_bar__minus_05_dot_58_bar__plus_00_dot_52_bar__plus_02_dot_13 - receptacle + Drawer_bar__minus_05_dot_58_bar__plus_00_dot_52_bar__plus_02_dot_68 - receptacle + Dresser_bar__minus_05_dot_77_bar__plus_00_dot_02_bar__plus_02_dot_40 - receptacle + GarbageCan_bar__minus_05_dot_82_bar__plus_00_dot_02_bar__plus_04_dot_66 - receptacle + SideTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_01_dot_52 - receptacle + SideTable_bar__minus_00_dot_31_bar__plus_00_dot_02_bar__plus_00_dot_62 - receptacle + SideTable_bar__minus_05_dot_57_bar__plus_00_dot_02_bar__plus_00_dot_29 - receptacle + Sofa_bar__minus_03_dot_13_bar__plus_00_dot_02_bar__plus_00_dot_41 - receptacle + loc_bar__minus_11_bar_17_bar_0_bar_15 - location + loc_bar__minus_20_bar_13_bar_2_bar_60 - location + loc_bar__minus_22_bar_17_bar_0_bar_60 - location + loc_bar__minus_5_bar_2_bar_1_bar_60 - location + loc_bar__minus_2_bar_10_bar_1_bar__minus_30 - location + loc_bar__minus_5_bar_2_bar_1_bar__minus_15 - location + loc_bar__minus_2_bar_10_bar_1_bar_45 - location + loc_bar__minus_17_bar_17_bar_2_bar_60 - location + loc_bar__minus_5_bar_2_bar_2_bar_0 - location + loc_bar__minus_21_bar_5_bar_2_bar_60 - location + loc_bar__minus_1_bar_13_bar_1_bar_60 - location + loc_bar__minus_21_bar_14_bar_2_bar_60 - location + loc_bar__minus_14_bar_6_bar_2_bar_60 - location + loc_bar__minus_1_bar_15_bar_0_bar_60 - location + loc_bar__minus_4_bar_7_bar_1_bar_60 - location + loc_bar__minus_19_bar_2_bar_3_bar_60 - location + loc_bar__minus_20_bar_10_bar_3_bar_60 - location + loc_bar__minus_21_bar_12_bar_2_bar_60 - location + loc_bar__minus_20_bar_15_bar_2_bar_60 - location + loc_bar__minus_5_bar_2_bar_1_bar_15 - location + loc_bar__minus_12_bar_14_bar_2_bar_60 - location + loc_bar__minus_11_bar_16_bar_1_bar_60 - location + loc_bar__minus_14_bar_5_bar_2_bar_60 - location + loc_bar__minus_2_bar_14_bar_1_bar_0 - location + loc_bar__minus_6_bar_11_bar_0_bar_60 - location + loc_bar__minus_3_bar_6_bar_1_bar_0 - location + loc_bar__minus_13_bar_5_bar_2_bar_0 - location + loc_bar__minus_8_bar_11_bar_0_bar_30 - location + ) + + +(:init + + + (receptacleType GarbageCan_bar__minus_05_dot_82_bar__plus_00_dot_02_bar__plus_04_dot_66 GarbageCanType) + (receptacleType ArmChair_bar__minus_01_dot_32_bar__plus_00_dot_00_bar__plus_03_dot_65 ArmChairType) + (receptacleType Sofa_bar__minus_03_dot_13_bar__plus_00_dot_02_bar__plus_00_dot_41 SofaType) + (receptacleType Drawer_bar__minus_05_dot_58_bar__plus_00_dot_21_bar__plus_02_dot_68 DrawerType) + (receptacleType Drawer_bar__minus_05_dot_58_bar__plus_00_dot_21_bar__plus_02_dot_13 DrawerType) + (receptacleType Drawer_bar__minus_05_dot_58_bar__plus_00_dot_52_bar__plus_02_dot_68 DrawerType) + (receptacleType CoffeeTable_bar__minus_03_dot_04_bar__plus_00_dot_03_bar__plus_02_dot_34 CoffeeTableType) + (receptacleType SideTable_bar__minus_00_dot_31_bar__plus_00_dot_02_bar__plus_00_dot_62 SideTableType) + (receptacleType SideTable_bar__minus_05_dot_57_bar__plus_00_dot_02_bar__plus_00_dot_29 SideTableType) + (receptacleType Drawer_bar__minus_05_dot_58_bar__plus_00_dot_52_bar__plus_02_dot_13 DrawerType) + (receptacleType SideTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_01_dot_52 SideTableType) + (receptacleType Dresser_bar__minus_05_dot_77_bar__plus_00_dot_02_bar__plus_02_dot_40 DresserType) + (objectType CellPhone_bar__minus_05_dot_93_bar__plus_00_dot_73_bar__plus_02_dot_40 CellPhoneType) + (objectType CellPhone_bar__minus_05_dot_72_bar__plus_00_dot_09_bar__plus_02_dot_62 CellPhoneType) + (objectType Chair_bar__minus_04_dot_01_bar__plus_00_dot_02_bar__plus_03_dot_90 ChairType) + (objectType Painting_bar__minus_03_dot_31_bar__plus_01_dot_67_bar__plus_00_dot_04 PaintingType) + (objectType Book_bar__minus_05_dot_79_bar__plus_00_dot_73_bar__plus_02_dot_55 BookType) + (objectType Pencil_bar__minus_03_dot_48_bar__plus_00_dot_42_bar__plus_02_dot_15 PencilType) + (objectType FloorLamp_bar__minus_00_dot_20_bar__plus_00_dot_02_bar__plus_04_dot_49 FloorLampType) + (objectType HousePlant_bar__minus_05_dot_54_bar__plus_00_dot_72_bar__plus_00_dot_30 HousePlantType) + (objectType CellPhone_bar__minus_05_dot_93_bar__plus_00_dot_73_bar__plus_02_dot_10 CellPhoneType) + (objectType Window_bar__plus_00_dot_17_bar__plus_01_dot_74_bar__plus_01_dot_38 WindowType) + (objectType KeyChain_bar__minus_03_dot_04_bar__plus_00_dot_42_bar__plus_02_dot_24 KeyChainType) + (objectType Statue_bar__minus_00_dot_27_bar__plus_00_dot_78_bar__plus_01_dot_66 StatueType) + (objectType Painting_bar__minus_00_dot_05_bar__plus_01_dot_87_bar__plus_00_dot_50 PaintingType) + (objectType Painting_bar__minus_00_dot_05_bar__plus_01_dot_22_bar__plus_00_dot_46 PaintingType) + (objectType Pen_bar__minus_03_dot_04_bar__plus_00_dot_42_bar__plus_02_dot_53 PenType) + (objectType Pencil_bar__minus_02_dot_90_bar__plus_00_dot_42_bar__plus_02_dot_24 PencilType) + (objectType Chair_bar__minus_02_dot_16_bar__plus_00_dot_02_bar__plus_03_dot_88 ChairType) + (objectType 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Window_bar__plus_00_dot_13_bar__plus_02_dot_38_bar__plus_02_dot_42 WindowType) + (objectType TissueBox_bar__minus_02_dot_60_bar__plus_00_dot_42_bar__plus_02_dot_44 TissueBoxType) + (objectType TissueBox_bar__minus_02_dot_75_bar__plus_00_dot_42_bar__plus_02_dot_24 TissueBoxType) + (objectType Boots_bar__plus_00_dot_03_bar__plus_00_dot_02_bar__plus_03_dot_09 BootsType) + (objectType WateringCan_bar__minus_05_dot_24_bar__plus_00_dot_02_bar__plus_00_dot_14 WateringCanType) + (objectType Chair_bar__minus_00_dot_73_bar__plus_00_dot_02_bar__plus_00_dot_50 ChairType) + (objectType Pencil_bar__minus_05_dot_42_bar__plus_00_dot_73_bar__plus_00_dot_19 PencilType) + (objectType KeyChain_bar__minus_03_dot_43_bar__plus_00_dot_41_bar__plus_00_dot_54 KeyChainType) + (objectType Window_bar__plus_00_dot_17_bar__plus_01_dot_02_bar__plus_02_dot_44 WindowType) + (objectType Statue_bar__minus_03_dot_48_bar__plus_00_dot_42_bar__plus_02_dot_53 StatueType) + (objectType 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(pickupable Box_bar__minus_00_dot_23_bar__plus_00_dot_99_bar__plus_00_dot_46) + (pickupable KeyChain_bar__minus_04_dot_03_bar__plus_00_dot_42_bar__plus_00_dot_74) + (pickupable Laptop_bar__minus_03_dot_43_bar__plus_00_dot_43_bar__plus_00_dot_54) + (pickupable TissueBox_bar__minus_02_dot_60_bar__plus_00_dot_42_bar__plus_02_dot_44) + (pickupable TissueBox_bar__minus_02_dot_75_bar__plus_00_dot_42_bar__plus_02_dot_24) + (pickupable Boots_bar__plus_00_dot_03_bar__plus_00_dot_02_bar__plus_03_dot_09) + (pickupable WateringCan_bar__minus_05_dot_24_bar__plus_00_dot_02_bar__plus_00_dot_14) + (pickupable Pencil_bar__minus_05_dot_42_bar__plus_00_dot_73_bar__plus_00_dot_19) + (pickupable KeyChain_bar__minus_03_dot_43_bar__plus_00_dot_41_bar__plus_00_dot_54) + (pickupable Statue_bar__minus_03_dot_48_bar__plus_00_dot_42_bar__plus_02_dot_53) + (pickupable RemoteControl_bar__minus_01_dot_37_bar__plus_00_dot_40_bar__plus_03_dot_69) + (isReceptacleObject Box_bar__minus_00_dot_23_bar__plus_00_dot_99_bar__plus_00_dot_46) + (openable Drawer_bar__minus_05_dot_58_bar__plus_00_dot_21_bar__plus_02_dot_68) + (openable Drawer_bar__minus_05_dot_58_bar__plus_00_dot_21_bar__plus_02_dot_13) + (openable Drawer_bar__minus_05_dot_58_bar__plus_00_dot_52_bar__plus_02_dot_68) + (openable Drawer_bar__minus_05_dot_58_bar__plus_00_dot_52_bar__plus_02_dot_13) + + (atLocation agent1 loc_bar__minus_8_bar_11_bar_0_bar_30) + + + + + + + + (toggleable FloorLamp_bar__minus_00_dot_20_bar__plus_00_dot_02_bar__plus_04_dot_49) + + + + + (inReceptacle CellPhone_bar__minus_05_dot_93_bar__plus_00_dot_73_bar__plus_02_dot_10 Dresser_bar__minus_05_dot_77_bar__plus_00_dot_02_bar__plus_02_dot_40) + (inReceptacle Book_bar__minus_05_dot_79_bar__plus_00_dot_73_bar__plus_02_dot_55 Dresser_bar__minus_05_dot_77_bar__plus_00_dot_02_bar__plus_02_dot_40) + (inReceptacle CellPhone_bar__minus_05_dot_93_bar__plus_00_dot_73_bar__plus_02_dot_40 Dresser_bar__minus_05_dot_77_bar__plus_00_dot_02_bar__plus_02_dot_40) + (inReceptacle Television_bar__minus_05_dot_76_bar__plus_01_dot_21_bar__plus_02_dot_39 Dresser_bar__minus_05_dot_77_bar__plus_00_dot_02_bar__plus_02_dot_40) + (inReceptacle RemoteControl_bar__minus_01_dot_37_bar__plus_00_dot_40_bar__plus_03_dot_69 ArmChair_bar__minus_01_dot_32_bar__plus_00_dot_00_bar__plus_03_dot_65) + (inReceptacle Book_bar__minus_00_dot_34_bar__plus_00_dot_77_bar__plus_01_dot_38 SideTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_01_dot_52) + (inReceptacle Statue_bar__minus_00_dot_27_bar__plus_00_dot_78_bar__plus_01_dot_66 SideTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_01_dot_52) + (inReceptacle TissueBox_bar__minus_02_dot_75_bar__plus_00_dot_42_bar__plus_02_dot_24 CoffeeTable_bar__minus_03_dot_04_bar__plus_00_dot_03_bar__plus_02_dot_34) + (inReceptacle KeyChain_bar__minus_03_dot_04_bar__plus_00_dot_42_bar__plus_02_dot_24 CoffeeTable_bar__minus_03_dot_04_bar__plus_00_dot_03_bar__plus_02_dot_34) + (inReceptacle CreditCard_bar__minus_02_dot_90_bar__plus_00_dot_41_bar__plus_02_dot_44 CoffeeTable_bar__minus_03_dot_04_bar__plus_00_dot_03_bar__plus_02_dot_34) + (inReceptacle Pen_bar__minus_03_dot_04_bar__plus_00_dot_42_bar__plus_02_dot_53 CoffeeTable_bar__minus_03_dot_04_bar__plus_00_dot_03_bar__plus_02_dot_34) + (inReceptacle TissueBox_bar__minus_03_dot_33_bar__plus_00_dot_41_bar__plus_02_dot_05 CoffeeTable_bar__minus_03_dot_04_bar__plus_00_dot_03_bar__plus_02_dot_34) + (inReceptacle Pencil_bar__minus_02_dot_90_bar__plus_00_dot_42_bar__plus_02_dot_24 CoffeeTable_bar__minus_03_dot_04_bar__plus_00_dot_03_bar__plus_02_dot_34) + (inReceptacle Statue_bar__minus_03_dot_48_bar__plus_00_dot_42_bar__plus_02_dot_53 CoffeeTable_bar__minus_03_dot_04_bar__plus_00_dot_03_bar__plus_02_dot_34) + (inReceptacle Pencil_bar__minus_03_dot_48_bar__plus_00_dot_42_bar__plus_02_dot_15 CoffeeTable_bar__minus_03_dot_04_bar__plus_00_dot_03_bar__plus_02_dot_34) + (inReceptacle TissueBox_bar__minus_02_dot_60_bar__plus_00_dot_42_bar__plus_02_dot_44 CoffeeTable_bar__minus_03_dot_04_bar__plus_00_dot_03_bar__plus_02_dot_34) + (inReceptacle HousePlant_bar__minus_05_dot_54_bar__plus_00_dot_72_bar__plus_00_dot_30 SideTable_bar__minus_05_dot_57_bar__plus_00_dot_02_bar__plus_00_dot_29) + (inReceptacle Pencil_bar__minus_05_dot_42_bar__plus_00_dot_73_bar__plus_00_dot_19 SideTable_bar__minus_05_dot_57_bar__plus_00_dot_02_bar__plus_00_dot_29) + (inReceptacle Pillow_bar__minus_02_dot_15_bar__plus_00_dot_62_bar__plus_00_dot_59 Sofa_bar__minus_03_dot_13_bar__plus_00_dot_02_bar__plus_00_dot_41) + (inReceptacle KeyChain_bar__minus_04_dot_03_bar__plus_00_dot_42_bar__plus_00_dot_74 Sofa_bar__minus_03_dot_13_bar__plus_00_dot_02_bar__plus_00_dot_41) + (inReceptacle Laptop_bar__minus_03_dot_43_bar__plus_00_dot_43_bar__plus_00_dot_54 Sofa_bar__minus_03_dot_13_bar__plus_00_dot_02_bar__plus_00_dot_41) + (inReceptacle CellPhone_bar__minus_05_dot_72_bar__plus_00_dot_09_bar__plus_02_dot_62 Drawer_bar__minus_05_dot_58_bar__plus_00_dot_21_bar__plus_02_dot_68) + (inReceptacle Box_bar__minus_00_dot_23_bar__plus_00_dot_99_bar__plus_00_dot_46 SideTable_bar__minus_00_dot_31_bar__plus_00_dot_02_bar__plus_00_dot_62) + + + (receptacleAtLocation ArmChair_bar__minus_01_dot_32_bar__plus_00_dot_00_bar__plus_03_dot_65 loc_bar__minus_6_bar_11_bar_0_bar_60) + (receptacleAtLocation CoffeeTable_bar__minus_03_dot_04_bar__plus_00_dot_03_bar__plus_02_dot_34 loc_bar__minus_12_bar_14_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__minus_05_dot_58_bar__plus_00_dot_21_bar__plus_02_dot_13 loc_bar__minus_20_bar_13_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__minus_05_dot_58_bar__plus_00_dot_21_bar__plus_02_dot_68 loc_bar__minus_20_bar_15_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__minus_05_dot_58_bar__plus_00_dot_52_bar__plus_02_dot_13 loc_bar__minus_21_bar_12_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__minus_05_dot_58_bar__plus_00_dot_52_bar__plus_02_dot_68 loc_bar__minus_21_bar_14_bar_2_bar_60) + (receptacleAtLocation Dresser_bar__minus_05_dot_77_bar__plus_00_dot_02_bar__plus_02_dot_40 loc_bar__minus_20_bar_10_bar_3_bar_60) + (receptacleAtLocation GarbageCan_bar__minus_05_dot_82_bar__plus_00_dot_02_bar__plus_04_dot_66 loc_bar__minus_22_bar_17_bar_0_bar_60) + (receptacleAtLocation SideTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_01_dot_52 loc_bar__minus_4_bar_7_bar_1_bar_60) + (receptacleAtLocation SideTable_bar__minus_00_dot_31_bar__plus_00_dot_02_bar__plus_00_dot_62 loc_bar__minus_5_bar_2_bar_1_bar_60) + (receptacleAtLocation SideTable_bar__minus_05_dot_57_bar__plus_00_dot_02_bar__plus_00_dot_29 loc_bar__minus_21_bar_5_bar_2_bar_60) + (receptacleAtLocation Sofa_bar__minus_03_dot_13_bar__plus_00_dot_02_bar__plus_00_dot_41 loc_bar__minus_14_bar_6_bar_2_bar_60) + (objectAtLocation Pencil_bar__minus_02_dot_90_bar__plus_00_dot_42_bar__plus_02_dot_24 loc_bar__minus_12_bar_14_bar_2_bar_60) + (objectAtLocation CellPhone_bar__minus_05_dot_72_bar__plus_00_dot_09_bar__plus_02_dot_62 loc_bar__minus_20_bar_15_bar_2_bar_60) + (objectAtLocation TissueBox_bar__minus_02_dot_75_bar__plus_00_dot_42_bar__plus_02_dot_24 loc_bar__minus_12_bar_14_bar_2_bar_60) + (objectAtLocation KeyChain_bar__minus_03_dot_43_bar__plus_00_dot_41_bar__plus_00_dot_54 loc_bar__minus_14_bar_5_bar_2_bar_60) + (objectAtLocation Book_bar__minus_05_dot_79_bar__plus_00_dot_73_bar__plus_02_dot_55 loc_bar__minus_20_bar_10_bar_3_bar_60) + (objectAtLocation CellPhone_bar__minus_05_dot_93_bar__plus_00_dot_73_bar__plus_02_dot_10 loc_bar__minus_20_bar_10_bar_3_bar_60) + (objectAtLocation KeyChain_bar__minus_04_dot_03_bar__plus_00_dot_42_bar__plus_00_dot_74 loc_bar__minus_14_bar_6_bar_2_bar_60) + (objectAtLocation Pencil_bar__minus_03_dot_48_bar__plus_00_dot_42_bar__plus_02_dot_15 loc_bar__minus_12_bar_14_bar_2_bar_60) + (objectAtLocation TissueBox_bar__minus_02_dot_60_bar__plus_00_dot_42_bar__plus_02_dot_44 loc_bar__minus_12_bar_14_bar_2_bar_60) + (objectAtLocation Chair_bar__minus_02_dot_16_bar__plus_00_dot_02_bar__plus_03_dot_88 loc_bar__minus_11_bar_16_bar_1_bar_60) + (objectAtLocation Chair_bar__minus_00_dot_73_bar__plus_00_dot_02_bar__plus_00_dot_50 loc_bar__minus_5_bar_2_bar_1_bar_60) + (objectAtLocation Book_bar__minus_00_dot_34_bar__plus_00_dot_77_bar__plus_01_dot_38 loc_bar__minus_4_bar_7_bar_1_bar_60) + (objectAtLocation Chair_bar__minus_04_dot_01_bar__plus_00_dot_02_bar__plus_03_dot_90 loc_bar__minus_17_bar_17_bar_2_bar_60) + (objectAtLocation Box_bar__minus_00_dot_23_bar__plus_00_dot_99_bar__plus_00_dot_46 loc_bar__minus_5_bar_2_bar_1_bar_60) + (objectAtLocation KeyChain_bar__minus_03_dot_04_bar__plus_00_dot_42_bar__plus_02_dot_24 loc_bar__minus_12_bar_14_bar_2_bar_60) + (objectAtLocation Pillow_bar__minus_02_dot_15_bar__plus_00_dot_62_bar__plus_00_dot_59 loc_bar__minus_14_bar_6_bar_2_bar_60) + (objectAtLocation FloorLamp_bar__minus_00_dot_20_bar__plus_00_dot_02_bar__plus_04_dot_49 loc_bar__minus_1_bar_15_bar_0_bar_60) + (objectAtLocation WateringCan_bar__minus_05_dot_24_bar__plus_00_dot_02_bar__plus_00_dot_14 loc_bar__minus_19_bar_2_bar_3_bar_60) + (objectAtLocation TissueBox_bar__minus_03_dot_33_bar__plus_00_dot_41_bar__plus_02_dot_05 loc_bar__minus_12_bar_14_bar_2_bar_60) + (objectAtLocation HousePlant_bar__minus_05_dot_54_bar__plus_00_dot_72_bar__plus_00_dot_30 loc_bar__minus_21_bar_5_bar_2_bar_60) + (objectAtLocation CreditCard_bar__minus_02_dot_90_bar__plus_00_dot_41_bar__plus_02_dot_44 loc_bar__minus_12_bar_14_bar_2_bar_60) + (objectAtLocation RemoteControl_bar__minus_01_dot_37_bar__plus_00_dot_40_bar__plus_03_dot_69 loc_bar__minus_6_bar_11_bar_0_bar_60) + (objectAtLocation Boots_bar__plus_00_dot_03_bar__plus_00_dot_02_bar__plus_03_dot_09 loc_bar__minus_1_bar_13_bar_1_bar_60) + (objectAtLocation LightSwitch_bar__minus_02_dot_50_bar__plus_01_dot_53_bar__plus_04_dot_85 loc_bar__minus_11_bar_17_bar_0_bar_15) + (objectAtLocation Window_bar__plus_00_dot_13_bar__plus_02_dot_38_bar__plus_02_dot_42 loc_bar__minus_2_bar_10_bar_1_bar__minus_30) + (objectAtLocation Painting_bar__minus_00_dot_05_bar__plus_01_dot_22_bar__plus_00_dot_46 loc_bar__minus_5_bar_2_bar_1_bar_15) + (objectAtLocation Painting_bar__minus_00_dot_05_bar__plus_01_dot_87_bar__plus_00_dot_50 loc_bar__minus_5_bar_2_bar_1_bar__minus_15) + (objectAtLocation CellPhone_bar__minus_05_dot_93_bar__plus_00_dot_73_bar__plus_02_dot_40 loc_bar__minus_20_bar_10_bar_3_bar_60) + (objectAtLocation Pen_bar__minus_03_dot_04_bar__plus_00_dot_42_bar__plus_02_dot_53 loc_bar__minus_12_bar_14_bar_2_bar_60) + (objectAtLocation Television_bar__minus_05_dot_76_bar__plus_01_dot_21_bar__plus_02_dot_39 loc_bar__minus_20_bar_10_bar_3_bar_60) + (objectAtLocation Laptop_bar__minus_03_dot_43_bar__plus_00_dot_43_bar__plus_00_dot_54 loc_bar__minus_14_bar_6_bar_2_bar_60) + (objectAtLocation Window_bar__plus_00_dot_17_bar__plus_01_dot_74_bar__plus_03_dot_51 loc_bar__minus_2_bar_14_bar_1_bar_0) + (objectAtLocation Window_bar__plus_00_dot_17_bar__plus_01_dot_74_bar__plus_01_dot_38 loc_bar__minus_3_bar_6_bar_1_bar_0) + (objectAtLocation Window_bar__plus_00_dot_17_bar__plus_01_dot_02_bar__plus_02_dot_44 loc_bar__minus_2_bar_10_bar_1_bar_45) + (objectAtLocation Painting_bar__minus_01_dot_00_bar__plus_01_dot_70_bar__plus_00_dot_04 loc_bar__minus_5_bar_2_bar_2_bar_0) + (objectAtLocation Painting_bar__minus_03_dot_31_bar__plus_01_dot_67_bar__plus_00_dot_04 loc_bar__minus_13_bar_5_bar_2_bar_0) + (objectAtLocation Pencil_bar__minus_05_dot_42_bar__plus_00_dot_73_bar__plus_00_dot_19 loc_bar__minus_21_bar_5_bar_2_bar_60) + (objectAtLocation Statue_bar__minus_00_dot_27_bar__plus_00_dot_78_bar__plus_01_dot_66 loc_bar__minus_4_bar_7_bar_1_bar_60) + (objectAtLocation Statue_bar__minus_03_dot_48_bar__plus_00_dot_42_bar__plus_02_dot_53 loc_bar__minus_12_bar_14_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 RemoteControlType) + (holds ?a ?o) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-RemoteControl-None-FloorLamp-229/trial_T20190907_050007_247836/traj_data.json b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-RemoteControl-None-FloorLamp-229/trial_T20190907_050007_247836/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..c0dd38d12f6f1338a7b2d88a6035eb34627ca220 --- /dev/null +++ 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"rotateOnTeleport": true, + "rotation": 0, + "x": -2.0, + "y": 0.922051549, + "z": 2.75 + }, + "object_poses": [ + { + "objectName": "TissueBox_a3f43f31", + "position": { + "x": -3.334636, + "y": 0.414699525, + "z": 2.05459356 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "TissueBox_a3f43f31", + "position": { + "x": -2.60298824, + "y": 0.418370247, + "z": 2.435374 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pencil_24adbade", + "position": { + "x": -5.42256355, + "y": 0.7316754, + "z": 0.194026351 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pencil_24adbade", + "position": { + "x": -3.48096561, + "y": 0.416675359, + "z": 2.14978886 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "KeyChain_5ef9825c", + "position": { + "x": -3.041977, + "y": 0.4182577, + "z": 2.244984 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, 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"rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "KeyChain_5ef9825c", + "position": { + "x": -3.42713547, + "y": 0.410601854, + "z": 0.535032332 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pillow_0e7ad8bb", + "position": { + "x": -2.147, + "y": 0.615, + "z": 0.59 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 42.94562 + } + }, + { + "objectName": "WateringCan_f71b5fc6", + "position": { + "x": -5.238764, + "y": 0.0201935917, + "z": 0.136437342 + }, + "rotation": { + "x": -0.002103566, + "y": 0.000306327129, + "z": 0.000320422638 + } + }, + { + "objectName": "TissueBox_a3f43f31", + "position": { + "x": -2.749318, + "y": 0.418370247, + "z": 2.244984 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "CreditCard_f698a6b5", + "position": { + "x": -2.89564753, + "y": 0.412995964, + "z": 2.435374 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "RemoteControl_1dea4742", + "position": { + "x": -1.36651659, + "y": 0.39988333, + "z": 3.685163 + }, + "rotation": { + "x": 0.0, + "y": 209.03656, + "z": 0.0 + } + }, + { + "objectName": "Boots_2407c22b", + "position": { + "x": 0.0340102427, + "y": 0.0217030942, + "z": 3.09199619 + }, + "rotation": { + "x": 359.987549, + "y": 259.598633, + "z": 359.9935 + } + }, + { + "objectName": "CellPhone_c0754d90", + "position": { + "x": -5.720118, + "y": 0.0947297, + "z": 2.62345481 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pen_f9493ff1", + "position": { + "x": -3.041977, + "y": 0.4186528, + "z": 2.530569 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Laptop_10eaeb6a", + "position": { + "x": -3.42713547, + "y": 0.4307963, + "z": 0.535032332 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + } + }, + { + "objectName": "Pencil_24adbade", + "position": { + "x": -2.89564753, + "y": 0.416675359, + "z": 2.244984 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Statue_b87ac3be", + "position": { + "x": -0.271113157, + "y": 0.780064, + "z": 1.66384363 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Statue_2bdb1f8f", + "position": { + "x": -3.48096561, + "y": 0.419679374, + "z": 2.530569 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [ + { + "isOn": false, + "objectType": "FloorLamp" + } + ], + "random_seed": 928531610, + "scene_num": 229 + }, + "task_id": "trial_T20190907_050007_247836", + "task_type": "look_at_obj_in_light", + "turk_annotations": { + "anns": [ + { + "assignment_id": "AD0NVUGLDYDYN_3UJ1CZ6IZK6OFJYPUDVJASZZQTGS5S", + "high_descs": [ + "turn right, walk around the chair", + "grab the remote from the sofa chair", + "turn left, walk to the corner with a floor lamp", + "turn on the floor lamp" + ], + "task_desc": "grab the remote from the sofa chair, turn on the floor lamp", + "votes": [ + 1, + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1P0XSCJ9XAV74_3YHH42UU5EW2GZHYDYS6HBPDHR7L0W", + "high_descs": [ + "Take a step towards the chairs and turn right. Walk towards the boots then turn left. Walk to the lamp and turn left. Turn to face the brown chair from behind.", + "Pick up the remote on the chair.", + "Turn to the left and go towards the lamp and make a right. Turn back towards the window. Turn right and back towards the window stepping closer. Turn left and raise the remote up to the lamp.", + "Turn on the lamp." + ], + "task_desc": "Taking the remote to turn on the lamp.", + "votes": [ + 1, + 1, + 1, + 1, + 0 + ] + }, + { + "assignment_id": "AUTYWXILTACCR_3R6BYFZZPATODXDDUZEFVC74U7DXFF", + "high_descs": [ + "Turn to your right, and walk to chair with the remote on it.", + "Pick up the remote from the chair.", + "Walk to lamp behind the chair.", + "Turn on the lamp." + ], + "task_desc": "Turn on a lamp while holding a remote.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-RemoteControl-None-FloorLamp-229/trial_T20190907_184408_159194/initial_state.pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-RemoteControl-None-FloorLamp-229/trial_T20190907_184408_159194/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..878f8ae2a114de12b294ed7b6230d6c6bbdb316a --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-RemoteControl-None-FloorLamp-229/trial_T20190907_184408_159194/initial_state.pddl @@ -0,0 +1,594 @@ + +(define (problem plan_trial_T20190907_184408_159194) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Book_bar__minus_00_dot_27_bar__plus_00_dot_77_bar__plus_01_dot_38 - object + Book_bar__minus_01_dot_51_bar__plus_00_dot_40_bar__plus_03_dot_55 - object + Book_bar__minus_05_dot_84_bar__plus_00_dot_73_bar__plus_02_dot_55 - object + Boots_bar__plus_00_dot_03_bar__plus_00_dot_02_bar__plus_03_dot_09 - object + Box_bar__minus_03_dot_43_bar__plus_00_dot_64_bar__plus_02_dot_44 - object + CellPhone_bar__minus_04_dot_03_bar__plus_00_dot_41_bar__plus_00_dot_40 - object + CellPhone_bar__minus_05_dot_74_bar__plus_00_dot_73_bar__plus_02_dot_10 - object + Chair_bar__minus_00_dot_73_bar__plus_00_dot_02_bar__plus_00_dot_50 - object + Chair_bar__minus_02_dot_16_bar__plus_00_dot_02_bar__plus_03_dot_88 - object + Chair_bar__minus_04_dot_01_bar__plus_00_dot_02_bar__plus_03_dot_90 - object + CreditCard_bar__minus_05_dot_70_bar__plus_00_dot_41_bar__plus_01_dot_95 - object + FloorLamp_bar__minus_00_dot_20_bar__plus_00_dot_02_bar__plus_04_dot_49 - object + HousePlant_bar__minus_05_dot_54_bar__plus_00_dot_72_bar__plus_00_dot_30 - object + KeyChain_bar__minus_05_dot_70_bar__plus_00_dot_73_bar__plus_02_dot_25 - object + Laptop_bar__minus_00_dot_33_bar__plus_00_dot_77_bar__plus_00_dot_72 - object + LightSwitch_bar__minus_02_dot_50_bar__plus_01_dot_53_bar__plus_04_dot_85 - object + Painting_bar__minus_00_dot_05_bar__plus_01_dot_22_bar__plus_00_dot_46 - object + Painting_bar__minus_00_dot_05_bar__plus_01_dot_87_bar__plus_00_dot_50 - object + Painting_bar__minus_01_dot_00_bar__plus_01_dot_70_bar__plus_00_dot_04 - object + Painting_bar__minus_03_dot_31_bar__plus_01_dot_67_bar__plus_00_dot_04 - object + Pencil_bar__minus_03_dot_04_bar__plus_00_dot_42_bar__plus_02_dot_24 - object + Pencil_bar__minus_03_dot_19_bar__plus_00_dot_42_bar__plus_02_dot_05 - object + Pen_bar__minus_02_dot_90_bar__plus_00_dot_42_bar__plus_02_dot_05 - object + Pen_bar__minus_02_dot_90_bar__plus_00_dot_42_bar__plus_02_dot_63 - object + Pen_bar__minus_03_dot_19_bar__plus_00_dot_42_bar__plus_02_dot_24 - object + Pillow_bar__minus_02_dot_15_bar__plus_00_dot_62_bar__plus_00_dot_59 - object + RemoteControl_bar__minus_00_dot_43_bar__plus_00_dot_77_bar__plus_00_dot_46 - object + RemoteControl_bar__minus_01_dot_26_bar__plus_00_dot_40_bar__plus_03_dot_63 - object + RemoteControl_bar__minus_02_dot_90_bar__plus_00_dot_41_bar__plus_02_dot_34 - object + Statue_bar__minus_00_dot_18_bar__plus_00_dot_76_bar__plus_01_dot_55 - object + Statue_bar__minus_02_dot_75_bar__plus_00_dot_43_bar__plus_02_dot_24 - object + Television_bar__minus_05_dot_76_bar__plus_01_dot_21_bar__plus_02_dot_39 - object + TissueBox_bar__minus_02_dot_60_bar__plus_00_dot_42_bar__plus_02_dot_63 - object + TissueBox_bar__minus_03_dot_19_bar__plus_00_dot_41_bar__plus_02_dot_53 - object + WateringCan_bar__minus_05_dot_24_bar__plus_00_dot_02_bar__plus_00_dot_14 - object + Window_bar__plus_00_dot_13_bar__plus_02_dot_38_bar__plus_02_dot_42 - object + Window_bar__plus_00_dot_17_bar__plus_01_dot_02_bar__plus_02_dot_44 - object + Window_bar__plus_00_dot_17_bar__plus_01_dot_74_bar__plus_01_dot_38 - object + Window_bar__plus_00_dot_17_bar__plus_01_dot_74_bar__plus_03_dot_51 - object + ArmChair_bar__minus_01_dot_32_bar__plus_00_dot_00_bar__plus_03_dot_65 - receptacle + CoffeeTable_bar__minus_03_dot_04_bar__plus_00_dot_03_bar__plus_02_dot_34 - receptacle + Drawer_bar__minus_05_dot_58_bar__plus_00_dot_21_bar__plus_02_dot_13 - receptacle + Drawer_bar__minus_05_dot_58_bar__plus_00_dot_21_bar__plus_02_dot_68 - receptacle + Drawer_bar__minus_05_dot_58_bar__plus_00_dot_52_bar__plus_02_dot_13 - receptacle + Drawer_bar__minus_05_dot_58_bar__plus_00_dot_52_bar__plus_02_dot_68 - receptacle + Dresser_bar__minus_05_dot_77_bar__plus_00_dot_02_bar__plus_02_dot_40 - receptacle + GarbageCan_bar__minus_05_dot_82_bar__plus_00_dot_02_bar__plus_04_dot_66 - receptacle + SideTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_01_dot_52 - receptacle + SideTable_bar__minus_00_dot_31_bar__plus_00_dot_02_bar__plus_00_dot_62 - receptacle + SideTable_bar__minus_05_dot_57_bar__plus_00_dot_02_bar__plus_00_dot_29 - receptacle + Sofa_bar__minus_03_dot_13_bar__plus_00_dot_02_bar__plus_00_dot_41 - receptacle + loc_bar__minus_11_bar_17_bar_0_bar_15 - location + loc_bar__minus_20_bar_13_bar_2_bar_60 - location + loc_bar__minus_22_bar_17_bar_0_bar_60 - location + loc_bar__minus_5_bar_2_bar_1_bar_60 - location + loc_bar__minus_2_bar_10_bar_1_bar__minus_30 - location + loc_bar__minus_5_bar_2_bar_1_bar__minus_15 - location + loc_bar__minus_2_bar_10_bar_1_bar_45 - location + loc_bar__minus_17_bar_17_bar_2_bar_60 - location + loc_bar__minus_5_bar_2_bar_2_bar_0 - location + loc_bar__minus_21_bar_5_bar_2_bar_60 - location + loc_bar__minus_1_bar_13_bar_1_bar_60 - location + loc_bar__minus_21_bar_14_bar_2_bar_60 - location + loc_bar__minus_14_bar_6_bar_2_bar_60 - location + loc_bar__minus_1_bar_15_bar_0_bar_60 - location + loc_bar__minus_4_bar_7_bar_1_bar_60 - location + loc_bar__minus_19_bar_2_bar_3_bar_60 - location + loc_bar__minus_20_bar_10_bar_3_bar_60 - location + loc_bar__minus_21_bar_12_bar_2_bar_60 - location + loc_bar__minus_20_bar_15_bar_2_bar_60 - location + loc_bar__minus_5_bar_2_bar_1_bar_15 - location + loc_bar__minus_12_bar_14_bar_2_bar_60 - location + loc_bar__minus_11_bar_16_bar_1_bar_60 - location + loc_bar__minus_2_bar_14_bar_1_bar_0 - location + loc_bar__minus_6_bar_11_bar_0_bar_60 - location + loc_bar__minus_3_bar_6_bar_1_bar_0 - location + loc_bar__minus_13_bar_5_bar_2_bar_0 - location + loc_bar__minus_10_bar_6_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType GarbageCan_bar__minus_05_dot_82_bar__plus_00_dot_02_bar__plus_04_dot_66 GarbageCanType) + (receptacleType ArmChair_bar__minus_01_dot_32_bar__plus_00_dot_00_bar__plus_03_dot_65 ArmChairType) + (receptacleType Sofa_bar__minus_03_dot_13_bar__plus_00_dot_02_bar__plus_00_dot_41 SofaType) + (receptacleType Drawer_bar__minus_05_dot_58_bar__plus_00_dot_21_bar__plus_02_dot_68 DrawerType) + (receptacleType Drawer_bar__minus_05_dot_58_bar__plus_00_dot_21_bar__plus_02_dot_13 DrawerType) + (receptacleType Drawer_bar__minus_05_dot_58_bar__plus_00_dot_52_bar__plus_02_dot_68 DrawerType) + (receptacleType CoffeeTable_bar__minus_03_dot_04_bar__plus_00_dot_03_bar__plus_02_dot_34 CoffeeTableType) + (receptacleType SideTable_bar__minus_00_dot_31_bar__plus_00_dot_02_bar__plus_00_dot_62 SideTableType) + (receptacleType SideTable_bar__minus_05_dot_57_bar__plus_00_dot_02_bar__plus_00_dot_29 SideTableType) + (receptacleType Drawer_bar__minus_05_dot_58_bar__plus_00_dot_52_bar__plus_02_dot_13 DrawerType) + (receptacleType SideTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_01_dot_52 SideTableType) + (receptacleType Dresser_bar__minus_05_dot_77_bar__plus_00_dot_02_bar__plus_02_dot_40 DresserType) + (objectType Pen_bar__minus_02_dot_90_bar__plus_00_dot_42_bar__plus_02_dot_63 PenType) + (objectType Chair_bar__minus_04_dot_01_bar__plus_00_dot_02_bar__plus_03_dot_90 ChairType) + (objectType RemoteControl_bar__minus_01_dot_26_bar__plus_00_dot_40_bar__plus_03_dot_63 RemoteControlType) + (objectType Painting_bar__minus_03_dot_31_bar__plus_01_dot_67_bar__plus_00_dot_04 PaintingType) + (objectType CreditCard_bar__minus_05_dot_70_bar__plus_00_dot_41_bar__plus_01_dot_95 CreditCardType) + (objectType Pencil_bar__minus_03_dot_19_bar__plus_00_dot_42_bar__plus_02_dot_05 PencilType) + (objectType Statue_bar__minus_00_dot_18_bar__plus_00_dot_76_bar__plus_01_dot_55 StatueType) + (objectType FloorLamp_bar__minus_00_dot_20_bar__plus_00_dot_02_bar__plus_04_dot_49 FloorLampType) + (objectType Box_bar__minus_03_dot_43_bar__plus_00_dot_64_bar__plus_02_dot_44 BoxType) + (objectType HousePlant_bar__minus_05_dot_54_bar__plus_00_dot_72_bar__plus_00_dot_30 HousePlantType) + (objectType TissueBox_bar__minus_03_dot_19_bar__plus_00_dot_41_bar__plus_02_dot_53 TissueBoxType) + (objectType TissueBox_bar__minus_02_dot_60_bar__plus_00_dot_42_bar__plus_02_dot_63 TissueBoxType) + (objectType Window_bar__plus_00_dot_17_bar__plus_01_dot_74_bar__plus_01_dot_38 WindowType) + (objectType Painting_bar__minus_00_dot_05_bar__plus_01_dot_87_bar__plus_00_dot_50 PaintingType) + (objectType Painting_bar__minus_00_dot_05_bar__plus_01_dot_22_bar__plus_00_dot_46 PaintingType) + (objectType Chair_bar__minus_02_dot_16_bar__plus_00_dot_02_bar__plus_03_dot_88 ChairType) + (objectType CellPhone_bar__minus_05_dot_74_bar__plus_00_dot_73_bar__plus_02_dot_10 CellPhoneType) + (objectType Pillow_bar__minus_02_dot_15_bar__plus_00_dot_62_bar__plus_00_dot_59 PillowType) + (objectType LightSwitch_bar__minus_02_dot_50_bar__plus_01_dot_53_bar__plus_04_dot_85 LightSwitchType) + (objectType Laptop_bar__minus_00_dot_33_bar__plus_00_dot_77_bar__plus_00_dot_72 LaptopType) + (objectType Painting_bar__minus_01_dot_00_bar__plus_01_dot_70_bar__plus_00_dot_04 PaintingType) + (objectType RemoteControl_bar__minus_00_dot_43_bar__plus_00_dot_77_bar__plus_00_dot_46 RemoteControlType) + (objectType Statue_bar__minus_02_dot_75_bar__plus_00_dot_43_bar__plus_02_dot_24 StatueType) + (objectType RemoteControl_bar__minus_02_dot_90_bar__plus_00_dot_41_bar__plus_02_dot_34 RemoteControlType) + (objectType Window_bar__plus_00_dot_17_bar__plus_01_dot_74_bar__plus_03_dot_51 WindowType) + (objectType Pen_bar__minus_02_dot_90_bar__plus_00_dot_42_bar__plus_02_dot_05 PenType) + (objectType Window_bar__plus_00_dot_13_bar__plus_02_dot_38_bar__plus_02_dot_42 WindowType) + (objectType Boots_bar__plus_00_dot_03_bar__plus_00_dot_02_bar__plus_03_dot_09 BootsType) + (objectType WateringCan_bar__minus_05_dot_24_bar__plus_00_dot_02_bar__plus_00_dot_14 WateringCanType) + (objectType Pen_bar__minus_03_dot_19_bar__plus_00_dot_42_bar__plus_02_dot_24 PenType) + (objectType Chair_bar__minus_00_dot_73_bar__plus_00_dot_02_bar__plus_00_dot_50 ChairType) + (objectType Book_bar__minus_01_dot_51_bar__plus_00_dot_40_bar__plus_03_dot_55 BookType) + (objectType Window_bar__plus_00_dot_17_bar__plus_01_dot_02_bar__plus_02_dot_44 WindowType) + (objectType CellPhone_bar__minus_04_dot_03_bar__plus_00_dot_41_bar__plus_00_dot_40 CellPhoneType) + (objectType Book_bar__minus_00_dot_27_bar__plus_00_dot_77_bar__plus_01_dot_38 BookType) + (objectType Pencil_bar__minus_03_dot_04_bar__plus_00_dot_42_bar__plus_02_dot_24 PencilType) + (objectType Book_bar__minus_05_dot_84_bar__plus_00_dot_73_bar__plus_02_dot_55 BookType) + (objectType Television_bar__minus_05_dot_76_bar__plus_01_dot_21_bar__plus_02_dot_39 TelevisionType) + (objectType KeyChain_bar__minus_05_dot_70_bar__plus_00_dot_73_bar__plus_02_dot_25 KeyChainType) + (canContain GarbageCanType PenType) + (canContain GarbageCanType PencilType) + (canContain GarbageCanType TissueBoxType) + (canContain ArmChairType BoxType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType BookType) + (canContain ArmChairType CellPhoneType) + (canContain ArmChairType PillowType) + (canContain ArmChairType RemoteControlType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType CreditCardType) + (canContain SofaType BoxType) + (canContain SofaType LaptopType) + (canContain SofaType BookType) + (canContain SofaType CellPhoneType) + (canContain SofaType PillowType) + (canContain SofaType RemoteControlType) + (canContain SofaType KeyChainType) + (canContain SofaType CreditCardType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType WateringCanType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType WateringCanType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType WateringCanType) + (canContain CoffeeTableType PenType) + (canContain CoffeeTableType BookType) + (canContain CoffeeTableType BoxType) + (canContain CoffeeTableType CellPhoneType) + (canContain CoffeeTableType KeyChainType) + (canContain CoffeeTableType CreditCardType) + (canContain CoffeeTableType LaptopType) + (canContain CoffeeTableType PencilType) + (canContain CoffeeTableType RemoteControlType) + (canContain CoffeeTableType TissueBoxType) + (canContain CoffeeTableType StatueType) + (canContain CoffeeTableType WateringCanType) + (canContain SideTableType PenType) + (canContain SideTableType BookType) + (canContain SideTableType BoxType) + (canContain SideTableType CellPhoneType) + (canContain SideTableType KeyChainType) + (canContain SideTableType CreditCardType) + (canContain SideTableType LaptopType) + (canContain SideTableType PencilType) + (canContain SideTableType RemoteControlType) + (canContain SideTableType TissueBoxType) + (canContain SideTableType StatueType) + (canContain SideTableType WateringCanType) + (canContain SideTableType PenType) + (canContain SideTableType BookType) + (canContain SideTableType BoxType) + (canContain SideTableType CellPhoneType) + (canContain SideTableType KeyChainType) + (canContain SideTableType CreditCardType) + (canContain SideTableType LaptopType) + (canContain SideTableType PencilType) + (canContain SideTableType RemoteControlType) + (canContain SideTableType TissueBoxType) + (canContain SideTableType StatueType) + (canContain SideTableType WateringCanType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType WateringCanType) + (canContain SideTableType PenType) + (canContain SideTableType BookType) + (canContain SideTableType BoxType) + (canContain SideTableType CellPhoneType) + (canContain SideTableType KeyChainType) + (canContain SideTableType CreditCardType) + (canContain SideTableType LaptopType) + (canContain SideTableType PencilType) + (canContain SideTableType RemoteControlType) + (canContain SideTableType TissueBoxType) + (canContain SideTableType StatueType) + (canContain SideTableType WateringCanType) + (canContain DresserType PenType) + (canContain DresserType BookType) + (canContain DresserType BoxType) + (canContain DresserType CellPhoneType) + (canContain DresserType KeyChainType) + (canContain DresserType CreditCardType) + (canContain DresserType LaptopType) + (canContain DresserType PencilType) + (canContain DresserType RemoteControlType) + (canContain DresserType TissueBoxType) + (canContain DresserType StatueType) + (canContain DresserType WateringCanType) + (pickupable Pen_bar__minus_02_dot_90_bar__plus_00_dot_42_bar__plus_02_dot_63) + (pickupable RemoteControl_bar__minus_01_dot_26_bar__plus_00_dot_40_bar__plus_03_dot_63) + (pickupable CreditCard_bar__minus_05_dot_70_bar__plus_00_dot_41_bar__plus_01_dot_95) + (pickupable Pencil_bar__minus_03_dot_19_bar__plus_00_dot_42_bar__plus_02_dot_05) + (pickupable Statue_bar__minus_00_dot_18_bar__plus_00_dot_76_bar__plus_01_dot_55) + (pickupable Box_bar__minus_03_dot_43_bar__plus_00_dot_64_bar__plus_02_dot_44) + (pickupable TissueBox_bar__minus_03_dot_19_bar__plus_00_dot_41_bar__plus_02_dot_53) + (pickupable TissueBox_bar__minus_02_dot_60_bar__plus_00_dot_42_bar__plus_02_dot_63) + (pickupable CellPhone_bar__minus_05_dot_74_bar__plus_00_dot_73_bar__plus_02_dot_10) + (pickupable Pillow_bar__minus_02_dot_15_bar__plus_00_dot_62_bar__plus_00_dot_59) + (pickupable Laptop_bar__minus_00_dot_33_bar__plus_00_dot_77_bar__plus_00_dot_72) + (pickupable RemoteControl_bar__minus_00_dot_43_bar__plus_00_dot_77_bar__plus_00_dot_46) + (pickupable Statue_bar__minus_02_dot_75_bar__plus_00_dot_43_bar__plus_02_dot_24) + (pickupable RemoteControl_bar__minus_02_dot_90_bar__plus_00_dot_41_bar__plus_02_dot_34) + (pickupable Pen_bar__minus_02_dot_90_bar__plus_00_dot_42_bar__plus_02_dot_05) + (pickupable Boots_bar__plus_00_dot_03_bar__plus_00_dot_02_bar__plus_03_dot_09) + (pickupable WateringCan_bar__minus_05_dot_24_bar__plus_00_dot_02_bar__plus_00_dot_14) + (pickupable Pen_bar__minus_03_dot_19_bar__plus_00_dot_42_bar__plus_02_dot_24) + (pickupable Book_bar__minus_01_dot_51_bar__plus_00_dot_40_bar__plus_03_dot_55) + (pickupable CellPhone_bar__minus_04_dot_03_bar__plus_00_dot_41_bar__plus_00_dot_40) + (pickupable Book_bar__minus_00_dot_27_bar__plus_00_dot_77_bar__plus_01_dot_38) + (pickupable Pencil_bar__minus_03_dot_04_bar__plus_00_dot_42_bar__plus_02_dot_24) + (pickupable Book_bar__minus_05_dot_84_bar__plus_00_dot_73_bar__plus_02_dot_55) + (pickupable KeyChain_bar__minus_05_dot_70_bar__plus_00_dot_73_bar__plus_02_dot_25) + (isReceptacleObject Box_bar__minus_03_dot_43_bar__plus_00_dot_64_bar__plus_02_dot_44) + (openable Drawer_bar__minus_05_dot_58_bar__plus_00_dot_21_bar__plus_02_dot_68) + (openable Drawer_bar__minus_05_dot_58_bar__plus_00_dot_21_bar__plus_02_dot_13) + (openable Drawer_bar__minus_05_dot_58_bar__plus_00_dot_52_bar__plus_02_dot_68) + (openable Drawer_bar__minus_05_dot_58_bar__plus_00_dot_52_bar__plus_02_dot_13) + + (atLocation agent1 loc_bar__minus_10_bar_6_bar_3_bar_30) + + + + + + + + (toggleable FloorLamp_bar__minus_00_dot_20_bar__plus_00_dot_02_bar__plus_04_dot_49) + + + + + (inReceptacle CellPhone_bar__minus_05_dot_74_bar__plus_00_dot_73_bar__plus_02_dot_10 Dresser_bar__minus_05_dot_77_bar__plus_00_dot_02_bar__plus_02_dot_40) + (inReceptacle Book_bar__minus_05_dot_84_bar__plus_00_dot_73_bar__plus_02_dot_55 Dresser_bar__minus_05_dot_77_bar__plus_00_dot_02_bar__plus_02_dot_40) + (inReceptacle Television_bar__minus_05_dot_76_bar__plus_01_dot_21_bar__plus_02_dot_39 Dresser_bar__minus_05_dot_77_bar__plus_00_dot_02_bar__plus_02_dot_40) + (inReceptacle KeyChain_bar__minus_05_dot_70_bar__plus_00_dot_73_bar__plus_02_dot_25 Dresser_bar__minus_05_dot_77_bar__plus_00_dot_02_bar__plus_02_dot_40) + (inReceptacle CreditCard_bar__minus_05_dot_70_bar__plus_00_dot_41_bar__plus_01_dot_95 Drawer_bar__minus_05_dot_58_bar__plus_00_dot_52_bar__plus_02_dot_13) + (inReceptacle RemoteControl_bar__minus_01_dot_26_bar__plus_00_dot_40_bar__plus_03_dot_63 ArmChair_bar__minus_01_dot_32_bar__plus_00_dot_00_bar__plus_03_dot_65) + (inReceptacle Book_bar__minus_01_dot_51_bar__plus_00_dot_40_bar__plus_03_dot_55 ArmChair_bar__minus_01_dot_32_bar__plus_00_dot_00_bar__plus_03_dot_65) + (inReceptacle Statue_bar__minus_00_dot_18_bar__plus_00_dot_76_bar__plus_01_dot_55 SideTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_01_dot_52) + (inReceptacle Book_bar__minus_00_dot_27_bar__plus_00_dot_77_bar__plus_01_dot_38 SideTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_01_dot_52) + (inReceptacle Pen_bar__minus_03_dot_19_bar__plus_00_dot_42_bar__plus_02_dot_24 CoffeeTable_bar__minus_03_dot_04_bar__plus_00_dot_03_bar__plus_02_dot_34) + (inReceptacle TissueBox_bar__minus_02_dot_60_bar__plus_00_dot_42_bar__plus_02_dot_63 CoffeeTable_bar__minus_03_dot_04_bar__plus_00_dot_03_bar__plus_02_dot_34) + (inReceptacle Pen_bar__minus_02_dot_90_bar__plus_00_dot_42_bar__plus_02_dot_63 CoffeeTable_bar__minus_03_dot_04_bar__plus_00_dot_03_bar__plus_02_dot_34) + (inReceptacle Statue_bar__minus_02_dot_75_bar__plus_00_dot_43_bar__plus_02_dot_24 CoffeeTable_bar__minus_03_dot_04_bar__plus_00_dot_03_bar__plus_02_dot_34) + (inReceptacle RemoteControl_bar__minus_02_dot_90_bar__plus_00_dot_41_bar__plus_02_dot_34 CoffeeTable_bar__minus_03_dot_04_bar__plus_00_dot_03_bar__plus_02_dot_34) + (inReceptacle Pencil_bar__minus_03_dot_19_bar__plus_00_dot_42_bar__plus_02_dot_05 CoffeeTable_bar__minus_03_dot_04_bar__plus_00_dot_03_bar__plus_02_dot_34) + (inReceptacle Pen_bar__minus_02_dot_90_bar__plus_00_dot_42_bar__plus_02_dot_05 CoffeeTable_bar__minus_03_dot_04_bar__plus_00_dot_03_bar__plus_02_dot_34) + (inReceptacle Pencil_bar__minus_03_dot_04_bar__plus_00_dot_42_bar__plus_02_dot_24 CoffeeTable_bar__minus_03_dot_04_bar__plus_00_dot_03_bar__plus_02_dot_34) + (inReceptacle Box_bar__minus_03_dot_43_bar__plus_00_dot_64_bar__plus_02_dot_44 CoffeeTable_bar__minus_03_dot_04_bar__plus_00_dot_03_bar__plus_02_dot_34) + (inReceptacle TissueBox_bar__minus_03_dot_19_bar__plus_00_dot_41_bar__plus_02_dot_53 CoffeeTable_bar__minus_03_dot_04_bar__plus_00_dot_03_bar__plus_02_dot_34) + (inReceptacle HousePlant_bar__minus_05_dot_54_bar__plus_00_dot_72_bar__plus_00_dot_30 SideTable_bar__minus_05_dot_57_bar__plus_00_dot_02_bar__plus_00_dot_29) + (inReceptacle Pillow_bar__minus_02_dot_15_bar__plus_00_dot_62_bar__plus_00_dot_59 Sofa_bar__minus_03_dot_13_bar__plus_00_dot_02_bar__plus_00_dot_41) + (inReceptacle CellPhone_bar__minus_04_dot_03_bar__plus_00_dot_41_bar__plus_00_dot_40 Sofa_bar__minus_03_dot_13_bar__plus_00_dot_02_bar__plus_00_dot_41) + (inReceptacle RemoteControl_bar__minus_00_dot_43_bar__plus_00_dot_77_bar__plus_00_dot_46 SideTable_bar__minus_00_dot_31_bar__plus_00_dot_02_bar__plus_00_dot_62) + (inReceptacle Laptop_bar__minus_00_dot_33_bar__plus_00_dot_77_bar__plus_00_dot_72 SideTable_bar__minus_00_dot_31_bar__plus_00_dot_02_bar__plus_00_dot_62) + + + (receptacleAtLocation ArmChair_bar__minus_01_dot_32_bar__plus_00_dot_00_bar__plus_03_dot_65 loc_bar__minus_6_bar_11_bar_0_bar_60) + (receptacleAtLocation CoffeeTable_bar__minus_03_dot_04_bar__plus_00_dot_03_bar__plus_02_dot_34 loc_bar__minus_12_bar_14_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__minus_05_dot_58_bar__plus_00_dot_21_bar__plus_02_dot_13 loc_bar__minus_20_bar_13_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__minus_05_dot_58_bar__plus_00_dot_21_bar__plus_02_dot_68 loc_bar__minus_20_bar_15_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__minus_05_dot_58_bar__plus_00_dot_52_bar__plus_02_dot_13 loc_bar__minus_21_bar_12_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__minus_05_dot_58_bar__plus_00_dot_52_bar__plus_02_dot_68 loc_bar__minus_21_bar_14_bar_2_bar_60) + (receptacleAtLocation Dresser_bar__minus_05_dot_77_bar__plus_00_dot_02_bar__plus_02_dot_40 loc_bar__minus_20_bar_10_bar_3_bar_60) + (receptacleAtLocation GarbageCan_bar__minus_05_dot_82_bar__plus_00_dot_02_bar__plus_04_dot_66 loc_bar__minus_22_bar_17_bar_0_bar_60) + (receptacleAtLocation SideTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_01_dot_52 loc_bar__minus_4_bar_7_bar_1_bar_60) + (receptacleAtLocation SideTable_bar__minus_00_dot_31_bar__plus_00_dot_02_bar__plus_00_dot_62 loc_bar__minus_5_bar_2_bar_1_bar_60) + (receptacleAtLocation SideTable_bar__minus_05_dot_57_bar__plus_00_dot_02_bar__plus_00_dot_29 loc_bar__minus_21_bar_5_bar_2_bar_60) + (receptacleAtLocation Sofa_bar__minus_03_dot_13_bar__plus_00_dot_02_bar__plus_00_dot_41 loc_bar__minus_14_bar_6_bar_2_bar_60) + (objectAtLocation Pencil_bar__minus_03_dot_04_bar__plus_00_dot_42_bar__plus_02_dot_24 loc_bar__minus_12_bar_14_bar_2_bar_60) + (objectAtLocation Pen_bar__minus_02_dot_90_bar__plus_00_dot_42_bar__plus_02_dot_05 loc_bar__minus_12_bar_14_bar_2_bar_60) + (objectAtLocation CellPhone_bar__minus_05_dot_74_bar__plus_00_dot_73_bar__plus_02_dot_10 loc_bar__minus_20_bar_10_bar_3_bar_60) + (objectAtLocation RemoteControl_bar__minus_02_dot_90_bar__plus_00_dot_41_bar__plus_02_dot_34 loc_bar__minus_12_bar_14_bar_2_bar_60) + (objectAtLocation TissueBox_bar__minus_03_dot_19_bar__plus_00_dot_41_bar__plus_02_dot_53 loc_bar__minus_12_bar_14_bar_2_bar_60) + (objectAtLocation Book_bar__minus_01_dot_51_bar__plus_00_dot_40_bar__plus_03_dot_55 loc_bar__minus_6_bar_11_bar_0_bar_60) + (objectAtLocation RemoteControl_bar__minus_00_dot_43_bar__plus_00_dot_77_bar__plus_00_dot_46 loc_bar__minus_5_bar_2_bar_1_bar_60) + (objectAtLocation Book_bar__minus_05_dot_84_bar__plus_00_dot_73_bar__plus_02_dot_55 loc_bar__minus_20_bar_10_bar_3_bar_60) + (objectAtLocation 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(objectAtLocation FloorLamp_bar__minus_00_dot_20_bar__plus_00_dot_02_bar__plus_04_dot_49 loc_bar__minus_1_bar_15_bar_0_bar_60) + (objectAtLocation WateringCan_bar__minus_05_dot_24_bar__plus_00_dot_02_bar__plus_00_dot_14 loc_bar__minus_19_bar_2_bar_3_bar_60) + (objectAtLocation TissueBox_bar__minus_02_dot_60_bar__plus_00_dot_42_bar__plus_02_dot_63 loc_bar__minus_12_bar_14_bar_2_bar_60) + (objectAtLocation HousePlant_bar__minus_05_dot_54_bar__plus_00_dot_72_bar__plus_00_dot_30 loc_bar__minus_21_bar_5_bar_2_bar_60) + (objectAtLocation CreditCard_bar__minus_05_dot_70_bar__plus_00_dot_41_bar__plus_01_dot_95 loc_bar__minus_21_bar_12_bar_2_bar_60) + (objectAtLocation RemoteControl_bar__minus_01_dot_26_bar__plus_00_dot_40_bar__plus_03_dot_63 loc_bar__minus_6_bar_11_bar_0_bar_60) + (objectAtLocation Boots_bar__plus_00_dot_03_bar__plus_00_dot_02_bar__plus_03_dot_09 loc_bar__minus_1_bar_13_bar_1_bar_60) + (objectAtLocation LightSwitch_bar__minus_02_dot_50_bar__plus_01_dot_53_bar__plus_04_dot_85 loc_bar__minus_11_bar_17_bar_0_bar_15) + (objectAtLocation Window_bar__plus_00_dot_13_bar__plus_02_dot_38_bar__plus_02_dot_42 loc_bar__minus_2_bar_10_bar_1_bar__minus_30) + (objectAtLocation Painting_bar__minus_00_dot_05_bar__plus_01_dot_22_bar__plus_00_dot_46 loc_bar__minus_5_bar_2_bar_1_bar_15) + (objectAtLocation Painting_bar__minus_00_dot_05_bar__plus_01_dot_87_bar__plus_00_dot_50 loc_bar__minus_5_bar_2_bar_1_bar__minus_15) + (objectAtLocation CellPhone_bar__minus_04_dot_03_bar__plus_00_dot_41_bar__plus_00_dot_40 loc_bar__minus_14_bar_6_bar_2_bar_60) + (objectAtLocation Pen_bar__minus_02_dot_90_bar__plus_00_dot_42_bar__plus_02_dot_63 loc_bar__minus_12_bar_14_bar_2_bar_60) + (objectAtLocation Television_bar__minus_05_dot_76_bar__plus_01_dot_21_bar__plus_02_dot_39 loc_bar__minus_20_bar_10_bar_3_bar_60) + (objectAtLocation Laptop_bar__minus_00_dot_33_bar__plus_00_dot_77_bar__plus_00_dot_72 loc_bar__minus_5_bar_2_bar_1_bar_60) + (objectAtLocation 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+ (and + (exists (?ot - object + ?r - receptacle + ?a - agent + ?l - location) + (and + (objectType ?ot FloorLampType) + (toggleable ?ot) + (isToggled ?ot) + (receptacleAtLocation ?r ?l) + (atLocation ?a ?l) + (inReceptacle ?ot ?r) + ) + ) + (exists (?o - object + ?a - agent) + (and + (objectType ?o RemoteControlType) + (holds ?a ?o) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-RemoteControl-None-FloorLamp-229/trial_T20190907_184408_159194/traj_data.json b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-RemoteControl-None-FloorLamp-229/trial_T20190907_184408_159194/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..2044565089324544ef4928c5b25cabe91f638989 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-RemoteControl-None-FloorLamp-229/trial_T20190907_184408_159194/traj_data.json @@ -0,0 +1,4293 @@ +{ + "images": [ + { + "high_idx": 0, + "image_name": 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"y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "CreditCard_f698a6b5", + "position": { + "x": -5.695654, + "y": 0.406397521, + "z": 1.9483645 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "RemoteControl_1dea4742", + "position": { + "x": -2.89564753, + "y": 0.414234132, + "z": 2.340179 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Boots_2407c22b", + "position": { + "x": 0.0340102427, + "y": 0.0217030942, + "z": 3.09199619 + }, + "rotation": { + "x": 359.987549, + "y": 259.598633, + "z": 359.9935 + } + }, + { + "objectName": "CellPhone_c0754d90", + "position": { + "x": -5.74257374, + "y": 0.726517856, + "z": 2.1000185 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pen_f9493ff1", + "position": { + "x": -2.89564753, + "y": 0.422323525, + "z": 2.05459356 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Laptop_10eaeb6a", + "position": { + "x": -0.334, + "y": 0.765, + "z": 0.722 + }, + "rotation": { + "x": 0.0, + "y": 296.906128, + "z": 0.0 + } + }, + { + "objectName": "Pencil_24adbade", + "position": { + "x": -3.041977, + "y": 0.416675359, + "z": 2.244984 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Statue_b87ac3be", + "position": { + "x": -2.749318, + "y": 0.4267347, + "z": 2.244984 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Statue_2bdb1f8f", + "position": { + "x": -0.1815925, + "y": 0.7597089, + "z": 1.552922 + }, + "rotation": { + "x": 0.0, + "y": 301.397, + "z": 0.0 + } + } + ], + "object_toggles": [ + { + "isOn": false, + "objectType": "FloorLamp" + } + ], + "random_seed": 1950308596, + "scene_num": 229 + }, + "task_id": "trial_T20190907_184408_159194", + "task_type": "look_at_obj_in_light", + "turk_annotations": { + "anns": [ + { + "assignment_id": "AJQGWGESKQT4Y_3DYGAII7POPGVD1VMOFSDYPFZBJPQL", + "high_descs": [ + "Turn around and go left to stand behind the brown chair.", + "Pick the remote up from the chair.", + "Turn to the left and face the lamp with the pink base.", + "Turn the lamp on." + ], + "task_desc": "Turn a lamp on with a remote in hand.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A272X64FOZFYLB_3ZAZR5XV04Z6FGTI4FCZKR2C5U8ZCS", + "high_descs": [ + "Turn around and walk to the back side of the chair containing the remote control.", + "Pick up the remote control from the chair.", + "Turn left and walk to the front of the floor lamp in the corner.", + "Turn on the lamp." + ], + "task_desc": "Examine a remote control by the light of a floor lamp.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "AWEPZMK7825JQ_33ISQZVXPS3T7NI8C1SR9T1RW8ACCM", + "high_descs": [ + "Turn around and walk toward the table, then move forward toward the chair, then turn left.", + "Pick up the remote that is laying on the chair.", + "Turn left and walk forward, then turn around to face the lamp.", + "Turn on the lamp. " + ], + "task_desc": "Turn on the lamp while holding the remote control.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3PPLDHC3CG0YN_39LOEL67OVM3IKWC2W1LE41E04V83X", + "high_descs": [ + "Turn to the right and walk behind the brown chair that's next to the wooden chair. ", + "Pick up the remote that's on the chair next to the magazine. ", + "Walk around the chair and face the lamp. ", + "Use the remote to turn the lamp on. " + ], + "task_desc": "To turn a lamp on using a remote. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A320QA9HJFUOZO_3OS46CRSLIG0QFF7TRATDLX6LTL6VT", + "high_descs": [ + "Turn right and walk around to the back side of the large brown arm chair", + "Pick up the remote from the chair", + "Turn around and face the floor lamp in the corner", + "Turn on the floor lamp" + ], + "task_desc": "Examine the remote under the light on the floor lamp", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A2BLQ1GVEHJR8T_3OVHNO1VE9IGK8ZW4B7A4XKUQUSDZE", + "high_descs": [ + "Turn to face the opposite direction and go counterclockwise around the room, until you are between the floor lamp and the brown upholstered chair, then turn left to face the back of the chair.", + "Pick up the remote control from the chair.", + "Turn to face the lamp behind you.", + "Turn on the lamp to look at the controller." + ], + "task_desc": "Examine a remote controller in the light of a corner lamp.", + "votes": [ + 1, + 1, + 0 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-RemoteControl-None-FloorLamp-229/trial_T20190907_184541_683415/initial_state.pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-RemoteControl-None-FloorLamp-229/trial_T20190907_184541_683415/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..4b69fd366d185e1520a3d3354f14cfabb7fa4b22 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-RemoteControl-None-FloorLamp-229/trial_T20190907_184541_683415/initial_state.pddl @@ -0,0 +1,589 @@ + +(define (problem plan_trial_T20190907_184541_683415) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_46_bar__plus_00_dot_40_bar__plus_03_dot_53 - object + Book_bar__minus_02_dot_90_bar__plus_00_dot_42_bar__plus_02_dot_53 - object + Book_bar__minus_05_dot_84_bar__plus_00_dot_72_bar__plus_02_dot_55 - object + Boots_bar__plus_00_dot_03_bar__plus_00_dot_02_bar__plus_03_dot_09 - object + Box_bar__minus_03_dot_43_bar__plus_00_dot_64_bar__plus_02_dot_44 - object + CellPhone_bar__minus_05_dot_65_bar__plus_00_dot_72_bar__plus_02_dot_10 - object + Chair_bar__minus_00_dot_73_bar__plus_00_dot_02_bar__plus_00_dot_50 - object + Chair_bar__minus_02_dot_16_bar__plus_00_dot_02_bar__plus_03_dot_88 - object + Chair_bar__minus_04_dot_01_bar__plus_00_dot_02_bar__plus_03_dot_90 - object + CreditCard_bar__minus_01_dot_53_bar__plus_00_dot_40_bar__plus_03_dot_64 - object + FloorLamp_bar__minus_00_dot_20_bar__plus_00_dot_02_bar__plus_04_dot_49 - object + HousePlant_bar__minus_05_dot_54_bar__plus_00_dot_72_bar__plus_00_dot_30 - object + KeyChain_bar__minus_00_dot_16_bar__plus_00_dot_77_bar__plus_01_dot_02 - object + KeyChain_bar__minus_02_dot_82_bar__plus_00_dot_43_bar__plus_00_dot_67 - object + KeyChain_bar__minus_05_dot_72_bar__plus_00_dot_10_bar__plus_02_dot_50 - object + Laptop_bar__minus_00_dot_33_bar__plus_00_dot_77_bar__plus_00_dot_72 - object + LightSwitch_bar__minus_02_dot_50_bar__plus_01_dot_53_bar__plus_04_dot_85 - object + Painting_bar__minus_00_dot_05_bar__plus_01_dot_22_bar__plus_00_dot_46 - object + Painting_bar__minus_00_dot_05_bar__plus_01_dot_87_bar__plus_00_dot_50 - object + Painting_bar__minus_01_dot_00_bar__plus_01_dot_70_bar__plus_00_dot_04 - object + Painting_bar__minus_03_dot_31_bar__plus_01_dot_67_bar__plus_00_dot_04 - object + Pencil_bar__minus_00_dot_07_bar__plus_00_dot_77_bar__plus_01_dot_74 - object + Pencil_bar__minus_03_dot_04_bar__plus_00_dot_42_bar__plus_02_dot_15 - object + Pencil_bar__minus_03_dot_19_bar__plus_00_dot_42_bar__plus_02_dot_63 - object + Pen_bar__minus_00_dot_34_bar__plus_00_dot_78_bar__plus_01_dot_66 - object + Pillow_bar__minus_02_dot_15_bar__plus_00_dot_62_bar__plus_00_dot_59 - object + RemoteControl_bar__minus_01_dot_26_bar__plus_00_dot_40_bar__plus_03_dot_63 - object + Statue_bar__minus_00_dot_18_bar__plus_00_dot_76_bar__plus_01_dot_55 - object + Statue_bar__minus_02_dot_98_bar__plus_00_dot_53_bar__plus_02_dot_36 - object + Television_bar__minus_05_dot_76_bar__plus_01_dot_21_bar__plus_02_dot_39 - object + TissueBox_bar__minus_00_dot_16_bar__plus_00_dot_77_bar__plus_00_dot_31 - object + TissueBox_bar__minus_03_dot_04_bar__plus_00_dot_41_bar__plus_02_dot_53 - object + TissueBox_bar__minus_03_dot_33_bar__plus_00_dot_41_bar__plus_02_dot_05 - object + WateringCan_bar__minus_05_dot_24_bar__plus_00_dot_02_bar__plus_00_dot_14 - object + Window_bar__plus_00_dot_13_bar__plus_02_dot_38_bar__plus_02_dot_42 - object + Window_bar__plus_00_dot_17_bar__plus_01_dot_02_bar__plus_02_dot_44 - object + Window_bar__plus_00_dot_17_bar__plus_01_dot_74_bar__plus_01_dot_38 - object + Window_bar__plus_00_dot_17_bar__plus_01_dot_74_bar__plus_03_dot_51 - object + ArmChair_bar__minus_01_dot_32_bar__plus_00_dot_00_bar__plus_03_dot_65 - receptacle + CoffeeTable_bar__minus_03_dot_04_bar__plus_00_dot_03_bar__plus_02_dot_34 - receptacle + Drawer_bar__minus_05_dot_58_bar__plus_00_dot_21_bar__plus_02_dot_13 - receptacle + Drawer_bar__minus_05_dot_58_bar__plus_00_dot_21_bar__plus_02_dot_68 - receptacle + Drawer_bar__minus_05_dot_58_bar__plus_00_dot_52_bar__plus_02_dot_13 - receptacle + Drawer_bar__minus_05_dot_58_bar__plus_00_dot_52_bar__plus_02_dot_68 - receptacle + Dresser_bar__minus_05_dot_77_bar__plus_00_dot_02_bar__plus_02_dot_40 - receptacle + GarbageCan_bar__minus_05_dot_82_bar__plus_00_dot_02_bar__plus_04_dot_66 - receptacle + SideTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_01_dot_52 - receptacle + SideTable_bar__minus_00_dot_31_bar__plus_00_dot_02_bar__plus_00_dot_62 - receptacle + SideTable_bar__minus_05_dot_57_bar__plus_00_dot_02_bar__plus_00_dot_29 - receptacle + Sofa_bar__minus_03_dot_13_bar__plus_00_dot_02_bar__plus_00_dot_41 - receptacle + loc_bar__minus_11_bar_17_bar_0_bar_15 - location + loc_bar__minus_20_bar_13_bar_2_bar_60 - location + loc_bar__minus_22_bar_17_bar_0_bar_60 - location + loc_bar__minus_5_bar_2_bar_1_bar_60 - location + loc_bar__minus_2_bar_10_bar_1_bar__minus_30 - location + loc_bar__minus_5_bar_2_bar_1_bar__minus_15 - location + loc_bar__minus_2_bar_10_bar_1_bar_45 - location + loc_bar__minus_17_bar_17_bar_2_bar_60 - location + loc_bar__minus_5_bar_2_bar_2_bar_0 - location + loc_bar__minus_21_bar_5_bar_2_bar_60 - location + loc_bar__minus_1_bar_13_bar_1_bar_60 - location + loc_bar__minus_21_bar_14_bar_2_bar_60 - location + loc_bar__minus_14_bar_6_bar_2_bar_60 - location + loc_bar__minus_1_bar_15_bar_0_bar_60 - location + loc_bar__minus_4_bar_7_bar_1_bar_60 - location + loc_bar__minus_19_bar_2_bar_3_bar_60 - location + loc_bar__minus_20_bar_10_bar_3_bar_60 - location + loc_bar__minus_21_bar_12_bar_2_bar_60 - location + loc_bar__minus_20_bar_15_bar_2_bar_60 - location + loc_bar__minus_5_bar_2_bar_1_bar_15 - location + loc_bar__minus_12_bar_14_bar_2_bar_60 - location + loc_bar__minus_11_bar_16_bar_1_bar_60 - location + loc_bar__minus_2_bar_14_bar_1_bar_0 - location + loc_bar__minus_6_bar_11_bar_0_bar_60 - location + loc_bar__minus_3_bar_6_bar_1_bar_0 - location + loc_bar__minus_12_bar_7_bar_0_bar_60 - location + loc_bar__minus_13_bar_5_bar_2_bar_0 - location + loc_bar__minus_14_bar_5_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType GarbageCan_bar__minus_05_dot_82_bar__plus_00_dot_02_bar__plus_04_dot_66 GarbageCanType) + (receptacleType ArmChair_bar__minus_01_dot_32_bar__plus_00_dot_00_bar__plus_03_dot_65 ArmChairType) + (receptacleType Sofa_bar__minus_03_dot_13_bar__plus_00_dot_02_bar__plus_00_dot_41 SofaType) + (receptacleType Drawer_bar__minus_05_dot_58_bar__plus_00_dot_21_bar__plus_02_dot_68 DrawerType) + (receptacleType Drawer_bar__minus_05_dot_58_bar__plus_00_dot_21_bar__plus_02_dot_13 DrawerType) + (receptacleType Drawer_bar__minus_05_dot_58_bar__plus_00_dot_52_bar__plus_02_dot_68 DrawerType) + (receptacleType CoffeeTable_bar__minus_03_dot_04_bar__plus_00_dot_03_bar__plus_02_dot_34 CoffeeTableType) + (receptacleType SideTable_bar__minus_00_dot_31_bar__plus_00_dot_02_bar__plus_00_dot_62 SideTableType) + (receptacleType SideTable_bar__minus_05_dot_57_bar__plus_00_dot_02_bar__plus_00_dot_29 SideTableType) + (receptacleType Drawer_bar__minus_05_dot_58_bar__plus_00_dot_52_bar__plus_02_dot_13 DrawerType) + (receptacleType SideTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_01_dot_52 SideTableType) + (receptacleType Dresser_bar__minus_05_dot_77_bar__plus_00_dot_02_bar__plus_02_dot_40 DresserType) + (objectType Book_bar__minus_01_dot_46_bar__plus_00_dot_40_bar__plus_03_dot_53 BookType) + (objectType Book_bar__minus_05_dot_84_bar__plus_00_dot_72_bar__plus_02_dot_55 BookType) + (objectType Chair_bar__minus_04_dot_01_bar__plus_00_dot_02_bar__plus_03_dot_90 ChairType) + (objectType RemoteControl_bar__minus_01_dot_26_bar__plus_00_dot_40_bar__plus_03_dot_63 RemoteControlType) + (objectType Painting_bar__minus_03_dot_31_bar__plus_01_dot_67_bar__plus_00_dot_04 PaintingType) + (objectType Book_bar__minus_02_dot_90_bar__plus_00_dot_42_bar__plus_02_dot_53 BookType) + (objectType Statue_bar__minus_00_dot_18_bar__plus_00_dot_76_bar__plus_01_dot_55 StatueType) + (objectType FloorLamp_bar__minus_00_dot_20_bar__plus_00_dot_02_bar__plus_04_dot_49 FloorLampType) + (objectType KeyChain_bar__minus_05_dot_72_bar__plus_00_dot_10_bar__plus_02_dot_50 KeyChainType) + (objectType HousePlant_bar__minus_05_dot_54_bar__plus_00_dot_72_bar__plus_00_dot_30 HousePlantType) + (objectType Box_bar__minus_03_dot_43_bar__plus_00_dot_64_bar__plus_02_dot_44 BoxType) + (objectType Window_bar__plus_00_dot_17_bar__plus_01_dot_74_bar__plus_01_dot_38 WindowType) + (objectType Painting_bar__minus_00_dot_05_bar__plus_01_dot_87_bar__plus_00_dot_50 PaintingType) + (objectType Painting_bar__minus_00_dot_05_bar__plus_01_dot_22_bar__plus_00_dot_46 PaintingType) + (objectType Pencil_bar__minus_00_dot_07_bar__plus_00_dot_77_bar__plus_01_dot_74 PencilType) + (objectType Chair_bar__minus_02_dot_16_bar__plus_00_dot_02_bar__plus_03_dot_88 ChairType) + (objectType Statue_bar__minus_02_dot_98_bar__plus_00_dot_53_bar__plus_02_dot_36 StatueType) + (objectType KeyChain_bar__minus_00_dot_16_bar__plus_00_dot_77_bar__plus_01_dot_02 KeyChainType) + (objectType Pillow_bar__minus_02_dot_15_bar__plus_00_dot_62_bar__plus_00_dot_59 PillowType) + (objectType TissueBox_bar__minus_00_dot_16_bar__plus_00_dot_77_bar__plus_00_dot_31 TissueBoxType) + (objectType LightSwitch_bar__minus_02_dot_50_bar__plus_01_dot_53_bar__plus_04_dot_85 LightSwitchType) + (objectType Laptop_bar__minus_00_dot_33_bar__plus_00_dot_77_bar__plus_00_dot_72 LaptopType) + (objectType Painting_bar__minus_01_dot_00_bar__plus_01_dot_70_bar__plus_00_dot_04 PaintingType) + (objectType CreditCard_bar__minus_01_dot_53_bar__plus_00_dot_40_bar__plus_03_dot_64 CreditCardType) + (objectType 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loc_bar__minus_19_bar_2_bar_3_bar_60) + (objectAtLocation TissueBox_bar__minus_03_dot_33_bar__plus_00_dot_41_bar__plus_02_dot_05 loc_bar__minus_12_bar_14_bar_2_bar_60) + (objectAtLocation HousePlant_bar__minus_05_dot_54_bar__plus_00_dot_72_bar__plus_00_dot_30 loc_bar__minus_21_bar_5_bar_2_bar_60) + (objectAtLocation CreditCard_bar__minus_01_dot_53_bar__plus_00_dot_40_bar__plus_03_dot_64 loc_bar__minus_6_bar_11_bar_0_bar_60) + (objectAtLocation RemoteControl_bar__minus_01_dot_26_bar__plus_00_dot_40_bar__plus_03_dot_63 loc_bar__minus_6_bar_11_bar_0_bar_60) + (objectAtLocation Boots_bar__plus_00_dot_03_bar__plus_00_dot_02_bar__plus_03_dot_09 loc_bar__minus_1_bar_13_bar_1_bar_60) + (objectAtLocation LightSwitch_bar__minus_02_dot_50_bar__plus_01_dot_53_bar__plus_04_dot_85 loc_bar__minus_11_bar_17_bar_0_bar_15) + (objectAtLocation Window_bar__plus_00_dot_13_bar__plus_02_dot_38_bar__plus_02_dot_42 loc_bar__minus_2_bar_10_bar_1_bar__minus_30) + (objectAtLocation Painting_bar__minus_00_dot_05_bar__plus_01_dot_22_bar__plus_00_dot_46 loc_bar__minus_5_bar_2_bar_1_bar_15) + (objectAtLocation Painting_bar__minus_00_dot_05_bar__plus_01_dot_87_bar__plus_00_dot_50 loc_bar__minus_5_bar_2_bar_1_bar__minus_15) + (objectAtLocation CellPhone_bar__minus_05_dot_65_bar__plus_00_dot_72_bar__plus_02_dot_10 loc_bar__minus_20_bar_10_bar_3_bar_60) + (objectAtLocation Pen_bar__minus_00_dot_34_bar__plus_00_dot_78_bar__plus_01_dot_66 loc_bar__minus_4_bar_7_bar_1_bar_60) + (objectAtLocation Television_bar__minus_05_dot_76_bar__plus_01_dot_21_bar__plus_02_dot_39 loc_bar__minus_20_bar_10_bar_3_bar_60) + (objectAtLocation Laptop_bar__minus_00_dot_33_bar__plus_00_dot_77_bar__plus_00_dot_72 loc_bar__minus_5_bar_2_bar_1_bar_60) + (objectAtLocation Window_bar__plus_00_dot_17_bar__plus_01_dot_74_bar__plus_03_dot_51 loc_bar__minus_2_bar_14_bar_1_bar_0) + (objectAtLocation Window_bar__plus_00_dot_17_bar__plus_01_dot_74_bar__plus_01_dot_38 loc_bar__minus_3_bar_6_bar_1_bar_0) + (objectAtLocation Window_bar__plus_00_dot_17_bar__plus_01_dot_02_bar__plus_02_dot_44 loc_bar__minus_2_bar_10_bar_1_bar_45) + (objectAtLocation Painting_bar__minus_01_dot_00_bar__plus_01_dot_70_bar__plus_00_dot_04 loc_bar__minus_5_bar_2_bar_2_bar_0) + (objectAtLocation Painting_bar__minus_03_dot_31_bar__plus_01_dot_67_bar__plus_00_dot_04 loc_bar__minus_13_bar_5_bar_2_bar_0) + (objectAtLocation Pencil_bar__minus_00_dot_07_bar__plus_00_dot_77_bar__plus_01_dot_74 loc_bar__minus_4_bar_7_bar_1_bar_60) + (objectAtLocation Statue_bar__minus_02_dot_98_bar__plus_00_dot_53_bar__plus_02_dot_36 loc_bar__minus_12_bar_7_bar_0_bar_60) + (objectAtLocation Statue_bar__minus_00_dot_18_bar__plus_00_dot_76_bar__plus_01_dot_55 loc_bar__minus_4_bar_7_bar_1_bar_60) + ) + + + (:goal + (and + (exists (?ot - object + ?r - receptacle + ?a - agent + ?l - location) + (and + (objectType ?ot FloorLampType) + (toggleable ?ot) + (isToggled ?ot) + (receptacleAtLocation ?r ?l) + (atLocation ?a ?l) + (inReceptacle ?ot ?r) + ) + ) + (exists (?o - object + ?a - agent) + (and + (objectType ?o RemoteControlType) + (holds ?a ?o) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-RemoteControl-None-FloorLamp-229/trial_T20190907_184541_683415/traj_data.json b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-RemoteControl-None-FloorLamp-229/trial_T20190907_184541_683415/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..582699bdd1cbc560c5567f05bb2ddab175b2332a --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-RemoteControl-None-FloorLamp-229/trial_T20190907_184541_683415/traj_data.json @@ -0,0 +1,4345 @@ +{ + "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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"z": 0.0 + } + }, + { + "objectName": "Pen_f9493ff1", + "position": { + "x": -0.3372263, + "y": 0.7756528, + "z": 1.66384363 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Laptop_10eaeb6a", + "position": { + "x": -0.334, + "y": 0.765, + "z": 0.722 + }, + "rotation": { + "x": 0.0, + "y": 296.906128, + "z": 0.0 + } + }, + { + "objectName": "Pencil_24adbade", + "position": { + "x": -3.041977, + "y": 0.416675359, + "z": 2.14978886 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Statue_b87ac3be", + "position": { + "x": -2.981728, + "y": 0.5270792, + "z": 2.361493 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Statue_2bdb1f8f", + "position": { + "x": -0.1815925, + "y": 0.7597089, + "z": 1.552922 + }, + "rotation": { + "x": 0.0, + "y": 301.397, + "z": 0.0 + } + } + ], + "object_toggles": [ + { + "isOn": false, + "objectType": "FloorLamp" + } + ], + "random_seed": 2513842576, + "scene_num": 229 + }, + "task_id": "trial_T20190907_184541_683415", + "task_type": "look_at_obj_in_light", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A3HL2LL0LEPZT8_3IHR8NYAMAI968EXOR8FAVOA3BS4PT", + "high_descs": [ + "Turn right, go straight, before the coffee table to right, go straight all the way, turn left, go straight to the wall past the brown chair. Go behind the brown chair and face the chair.", + "Take the remote control from the chair.", + "Turn left, go straight and to the right to the window, turn left to face the lamp.", + "Lift the remote control up and turn the lamp on." + ], + "task_desc": "Inspect a remote control near a lit lamp.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1GVTH5YS3WOK0_3L4PIM1GQWXAGS8WQQ0BVFSWZUBRYP", + "high_descs": [ + "Turn around, head towards the statue on the table, turn left towards the behind chair with the tv remote.", + "Pick up the tv remote on the chair.", + "Turn backwards to face the lamp.", + "Turn on the lamp." + ], + "task_desc": "Examine a tv remote next to the light of a tall lamp.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A2NGMLBFZ3YQP5_3NVC2EB65TGIXQNUF0ZFDHPGTGYY3V", + "high_descs": [ + "Turn right, then right again, cross the room, turn left to face the back of armchair.", + "Pick up remote control from seat of armchair.", + "Turn left, then left again to face lamp.", + "Use remote control to turn on the lamp" + ], + "task_desc": "Turn on lamp with remote control", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Watch-None-FloorLamp-209/trial_T20190907_033630_523510/initial_state.pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Watch-None-FloorLamp-209/trial_T20190907_033630_523510/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..2ae4f973757785bf11998ad66f2d4df501716993 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Watch-None-FloorLamp-209/trial_T20190907_033630_523510/initial_state.pddl @@ -0,0 +1,540 @@ + +(define (problem plan_trial_T20190907_033630_523510) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Book_bar__minus_02_dot_57_bar__plus_00_dot_59_bar__minus_02_dot_00 - object + Box_bar__minus_02_dot_36_bar__plus_00_dot_26_bar__minus_01_dot_65 - object + CreditCard_bar__minus_02_dot_47_bar__plus_00_dot_59_bar__minus_02_dot_49 - object + CreditCard_bar__minus_02_dot_93_bar__plus_00_dot_70_bar__minus_05_dot_19 - object + CreditCard_bar__minus_03_dot_32_bar__plus_00_dot_08_bar__minus_05_dot_07 - object + FloorLamp_bar__minus_04_dot_82_bar__plus_00_dot_00_bar__minus_05_dot_12 - object + HousePlant_bar__minus_05_dot_63_bar__plus_00_dot_48_bar__minus_05_dot_13 - object + KeyChain_bar__minus_03_dot_22_bar__plus_00_dot_70_bar__minus_05_dot_09 - object + KeyChain_bar__minus_04_dot_07_bar__plus_00_dot_70_bar__minus_05_dot_00 - object + Laptop_bar__minus_03_dot_50_bar__plus_00_dot_70_bar__minus_05_dot_09 - object + Laptop_bar__minus_04_dot_19_bar__plus_00_dot_33_bar__minus_03_dot_59 - object + LightSwitch_bar__minus_05_dot_76_bar__plus_01_dot_33_bar__plus_00_dot_01 - object + Mirror_bar__minus_03_dot_40_bar__plus_02_dot_03_bar__plus_00_dot_00 - object + Newspaper_bar__minus_04_dot_27_bar__plus_00_dot_34_bar__minus_02_dot_16 - object + Painting_bar__minus_03_dot_37_bar__plus_01_dot_80_bar__minus_05_dot_39 - object + Pen_bar__minus_02_dot_47_bar__plus_00_dot_59_bar__minus_02_dot_66 - object + Pen_bar__minus_02_dot_79_bar__plus_00_dot_59_bar__minus_02_dot_49 - object + Pen_bar__minus_04_dot_36_bar__plus_00_dot_71_bar__minus_05_dot_24 - object + Pillow_bar__minus_04_dot_28_bar__plus_00_dot_45_bar__minus_01_dot_74 - object + RemoteControl_bar__minus_04_dot_41_bar__plus_00_dot_34_bar__minus_03_dot_67 - object + Statue_bar__minus_02_dot_15_bar__plus_00_dot_59_bar__minus_02_dot_82 - object + Statue_bar__minus_02_dot_26_bar__plus_00_dot_59_bar__minus_02_dot_33 - object + Television_bar__minus_00_dot_61_bar__plus_01_dot_67_bar__minus_02_dot_60 - object + Vase_bar__minus_02_dot_15_bar__plus_00_dot_59_bar__minus_02_dot_00 - object + Vase_bar__minus_04_dot_22_bar__plus_00_dot_70_bar__minus_05_dot_05 - object + Vase_bar__minus_04_dot_48_bar__plus_00_dot_70_bar__minus_05_dot_08 - object + Vase_bar__minus_05_dot_22_bar__plus_00_dot_49_bar__minus_05_dot_13 - object + Watch_bar__minus_05_dot_52_bar__plus_00_dot_48_bar__minus_05_dot_00 - object + WateringCan_bar__minus_07_dot_99_bar__plus_00_dot_00_bar__minus_04_dot_63 - object + Window_bar__minus_08_dot_24_bar__plus_01_dot_41_bar__minus_01_dot_51 - object + Window_bar__minus_08_dot_24_bar__plus_01_dot_41_bar__minus_04_dot_08 - object + ArmChair_bar__minus_04_dot_39_bar__plus_00_dot_00_bar__minus_03_dot_55 - receptacle + CoffeeTable_bar__minus_02_dot_47_bar__plus_00_dot_00_bar__minus_02_dot_49 - receptacle + Drawer_bar__minus_02_dot_98_bar__plus_00_dot_17_bar__minus_05_dot_01 - receptacle + Drawer_bar__minus_02_dot_98_bar__plus_00_dot_48_bar__minus_05_dot_01 - receptacle + Drawer_bar__minus_04_dot_02_bar__plus_00_dot_17_bar__minus_05_dot_01 - receptacle + Drawer_bar__minus_04_dot_02_bar__plus_00_dot_48_bar__minus_05_dot_01 - receptacle + Dresser_bar__minus_03_dot_51_bar__plus_00_dot_00_bar__minus_05_dot_10 - receptacle + GarbageCan_bar__minus_00_dot_97_bar__plus_00_dot_00_bar__minus_05_dot_06 - receptacle + SideTable_bar__minus_02_dot_02_bar__minus_00_dot_01_bar__minus_05_dot_08 - receptacle + SideTable_bar__minus_05_dot_43_bar__minus_00_dot_01_bar__minus_05_dot_12 - receptacle + Sofa_bar__minus_04_dot_36_bar__plus_00_dot_00_bar__minus_02_dot_09 - receptacle + loc_bar__minus_31_bar__minus_6_bar_3_bar_30 - location + loc_bar__minus_7_bar__minus_18_bar_3_bar_45 - location + loc_bar__minus_16_bar__minus_18_bar_1_bar_45 - location + loc_bar__minus_18_bar__minus_18_bar_2_bar_60 - location + loc_bar__minus_31_bar__minus_16_bar_3_bar_30 - location + loc_bar__minus_8_bar__minus_6_bar_3_bar_60 - location + loc_bar__minus_6_bar__minus_19_bar_1_bar_60 - location + loc_bar__minus_31_bar__minus_17_bar_2_bar_60 - location + loc_bar__minus_13_bar__minus_15_bar_3_bar_60 - location + loc_bar__minus_23_bar__minus_17_bar_2_bar_60 - location + loc_bar__minus_13_bar__minus_17_bar_2_bar_60 - location + loc_bar__minus_13_bar__minus_8_bar_3_bar_60 - location + loc_bar__minus_14_bar__minus_3_bar_0_bar__minus_30 - location + loc_bar__minus_16_bar__minus_18_bar_2_bar_60 - location + loc_bar__minus_5_bar__minus_10_bar_1_bar_0 - location + loc_bar__minus_5_bar__minus_10_bar_3_bar_60 - location + loc_bar__minus_10_bar__minus_17_bar_2_bar_60 - location + loc_bar__minus_12_bar__minus_18_bar_3_bar_45 - location + loc_bar__minus_13_bar__minus_18_bar_2_bar__minus_15 - location + loc_bar__minus_23_bar__minus_2_bar_0_bar_30 - location + loc_bar__minus_10_bar__minus_18_bar_1_bar_30 - location + ) + + +(:init + + + (receptacleType ArmChair_bar__minus_04_dot_39_bar__plus_00_dot_00_bar__minus_03_dot_55 ArmChairType) + (receptacleType GarbageCan_bar__minus_00_dot_97_bar__plus_00_dot_00_bar__minus_05_dot_06 GarbageCanType) + (receptacleType Drawer_bar__minus_02_dot_98_bar__plus_00_dot_48_bar__minus_05_dot_01 DrawerType) + (receptacleType SideTable_bar__minus_02_dot_02_bar__minus_00_dot_01_bar__minus_05_dot_08 SideTableType) + (receptacleType SideTable_bar__minus_05_dot_43_bar__minus_00_dot_01_bar__minus_05_dot_12 SideTableType) + (receptacleType Drawer_bar__minus_04_dot_02_bar__plus_00_dot_48_bar__minus_05_dot_01 DrawerType) + (receptacleType Dresser_bar__minus_03_dot_51_bar__plus_00_dot_00_bar__minus_05_dot_10 DresserType) + (receptacleType Drawer_bar__minus_02_dot_98_bar__plus_00_dot_17_bar__minus_05_dot_01 DrawerType) + (receptacleType CoffeeTable_bar__minus_02_dot_47_bar__plus_00_dot_00_bar__minus_02_dot_49 CoffeeTableType) + (receptacleType Drawer_bar__minus_04_dot_02_bar__plus_00_dot_17_bar__minus_05_dot_01 DrawerType) + (receptacleType Sofa_bar__minus_04_dot_36_bar__plus_00_dot_00_bar__minus_02_dot_09 SofaType) + (objectType CreditCard_bar__minus_02_dot_93_bar__plus_00_dot_70_bar__minus_05_dot_19 CreditCardType) + (objectType Watch_bar__minus_05_dot_52_bar__plus_00_dot_48_bar__minus_05_dot_00 WatchType) + (objectType Newspaper_bar__minus_04_dot_27_bar__plus_00_dot_34_bar__minus_02_dot_16 NewspaperType) + (objectType LightSwitch_bar__minus_05_dot_76_bar__plus_01_dot_33_bar__plus_00_dot_01 LightSwitchType) + (objectType WateringCan_bar__minus_07_dot_99_bar__plus_00_dot_00_bar__minus_04_dot_63 WateringCanType) + (objectType Book_bar__minus_02_dot_57_bar__plus_00_dot_59_bar__minus_02_dot_00 BookType) + (objectType Laptop_bar__minus_04_dot_19_bar__plus_00_dot_33_bar__minus_03_dot_59 LaptopType) + (objectType Vase_bar__minus_04_dot_48_bar__plus_00_dot_70_bar__minus_05_dot_08 VaseType) + (objectType Pen_bar__minus_04_dot_36_bar__plus_00_dot_71_bar__minus_05_dot_24 PenType) + (objectType Pen_bar__minus_02_dot_79_bar__plus_00_dot_59_bar__minus_02_dot_49 PenType) + (objectType RemoteControl_bar__minus_04_dot_41_bar__plus_00_dot_34_bar__minus_03_dot_67 RemoteControlType) + (objectType CreditCard_bar__minus_03_dot_32_bar__plus_00_dot_08_bar__minus_05_dot_07 CreditCardType) + (objectType FloorLamp_bar__minus_04_dot_82_bar__plus_00_dot_00_bar__minus_05_dot_12 FloorLampType) + (objectType KeyChain_bar__minus_04_dot_07_bar__plus_00_dot_70_bar__minus_05_dot_00 KeyChainType) + (objectType Vase_bar__minus_02_dot_15_bar__plus_00_dot_59_bar__minus_02_dot_00 VaseType) + (objectType Window_bar__minus_08_dot_24_bar__plus_01_dot_41_bar__minus_01_dot_51 WindowType) + (objectType Television_bar__minus_00_dot_61_bar__plus_01_dot_67_bar__minus_02_dot_60 TelevisionType) + (objectType Box_bar__minus_02_dot_36_bar__plus_00_dot_26_bar__minus_01_dot_65 BoxType) + (objectType Mirror_bar__minus_03_dot_40_bar__plus_02_dot_03_bar__plus_00_dot_00 MirrorType) + (objectType Window_bar__minus_08_dot_24_bar__plus_01_dot_41_bar__minus_04_dot_08 WindowType) + (objectType Statue_bar__minus_02_dot_26_bar__plus_00_dot_59_bar__minus_02_dot_33 StatueType) + (objectType CreditCard_bar__minus_02_dot_47_bar__plus_00_dot_59_bar__minus_02_dot_49 CreditCardType) + (objectType HousePlant_bar__minus_05_dot_63_bar__plus_00_dot_48_bar__minus_05_dot_13 HousePlantType) + (objectType Statue_bar__minus_02_dot_15_bar__plus_00_dot_59_bar__minus_02_dot_82 StatueType) + (objectType Pillow_bar__minus_04_dot_28_bar__plus_00_dot_45_bar__minus_01_dot_74 PillowType) + (objectType Laptop_bar__minus_03_dot_50_bar__plus_00_dot_70_bar__minus_05_dot_09 LaptopType) + (objectType Pen_bar__minus_02_dot_47_bar__plus_00_dot_59_bar__minus_02_dot_66 PenType) + (objectType KeyChain_bar__minus_03_dot_22_bar__plus_00_dot_70_bar__minus_05_dot_09 KeyChainType) + (objectType Vase_bar__minus_04_dot_22_bar__plus_00_dot_70_bar__minus_05_dot_05 VaseType) + (objectType Vase_bar__minus_05_dot_22_bar__plus_00_dot_49_bar__minus_05_dot_13 VaseType) + (objectType Painting_bar__minus_03_dot_37_bar__plus_01_dot_80_bar__minus_05_dot_39 PaintingType) + (canContain ArmChairType BoxType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType BookType) + (canContain ArmChairType PillowType) + (canContain ArmChairType RemoteControlType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType NewspaperType) + (canContain ArmChairType CreditCardType) + (canContain GarbageCanType PenType) + (canContain GarbageCanType NewspaperType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType WatchType) + (canContain DrawerType NewspaperType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType WateringCanType) + (canContain SideTableType PenType) + (canContain SideTableType BookType) + (canContain SideTableType WatchType) + (canContain SideTableType NewspaperType) + (canContain SideTableType VaseType) + (canContain SideTableType BoxType) + (canContain SideTableType KeyChainType) + (canContain SideTableType CreditCardType) + (canContain SideTableType LaptopType) + (canContain SideTableType RemoteControlType) + (canContain SideTableType StatueType) + (canContain SideTableType WateringCanType) + (canContain SideTableType PenType) + (canContain SideTableType BookType) + (canContain SideTableType WatchType) + (canContain SideTableType NewspaperType) + (canContain SideTableType VaseType) + (canContain SideTableType BoxType) + (canContain SideTableType KeyChainType) + (canContain SideTableType CreditCardType) + (canContain SideTableType LaptopType) + (canContain SideTableType RemoteControlType) + (canContain SideTableType StatueType) + (canContain SideTableType WateringCanType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType WatchType) + (canContain DrawerType NewspaperType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType WateringCanType) + (canContain DresserType PenType) + (canContain DresserType BookType) + (canContain DresserType WatchType) + (canContain DresserType NewspaperType) + (canContain DresserType VaseType) + (canContain DresserType BoxType) + (canContain DresserType KeyChainType) + (canContain DresserType CreditCardType) + (canContain DresserType LaptopType) + (canContain DresserType RemoteControlType) + (canContain DresserType StatueType) + (canContain DresserType WateringCanType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType WatchType) + (canContain DrawerType NewspaperType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType WateringCanType) + (canContain CoffeeTableType PenType) + (canContain CoffeeTableType BookType) + (canContain CoffeeTableType WatchType) + (canContain CoffeeTableType NewspaperType) + (canContain CoffeeTableType VaseType) + (canContain CoffeeTableType BoxType) + (canContain CoffeeTableType KeyChainType) + (canContain CoffeeTableType CreditCardType) + (canContain CoffeeTableType LaptopType) + (canContain CoffeeTableType RemoteControlType) + (canContain CoffeeTableType StatueType) + (canContain CoffeeTableType WateringCanType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType WatchType) + (canContain DrawerType NewspaperType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType WateringCanType) + (canContain SofaType BoxType) + (canContain SofaType LaptopType) + (canContain SofaType BookType) + (canContain SofaType PillowType) + (canContain SofaType RemoteControlType) + (canContain SofaType KeyChainType) + (canContain SofaType NewspaperType) + (canContain SofaType CreditCardType) + (pickupable CreditCard_bar__minus_02_dot_93_bar__plus_00_dot_70_bar__minus_05_dot_19) + (pickupable Watch_bar__minus_05_dot_52_bar__plus_00_dot_48_bar__minus_05_dot_00) + (pickupable Newspaper_bar__minus_04_dot_27_bar__plus_00_dot_34_bar__minus_02_dot_16) + (pickupable WateringCan_bar__minus_07_dot_99_bar__plus_00_dot_00_bar__minus_04_dot_63) + (pickupable Book_bar__minus_02_dot_57_bar__plus_00_dot_59_bar__minus_02_dot_00) + (pickupable Laptop_bar__minus_04_dot_19_bar__plus_00_dot_33_bar__minus_03_dot_59) + (pickupable Vase_bar__minus_04_dot_48_bar__plus_00_dot_70_bar__minus_05_dot_08) + (pickupable Pen_bar__minus_04_dot_36_bar__plus_00_dot_71_bar__minus_05_dot_24) + (pickupable Pen_bar__minus_02_dot_79_bar__plus_00_dot_59_bar__minus_02_dot_49) + (pickupable RemoteControl_bar__minus_04_dot_41_bar__plus_00_dot_34_bar__minus_03_dot_67) + (pickupable CreditCard_bar__minus_03_dot_32_bar__plus_00_dot_08_bar__minus_05_dot_07) + (pickupable KeyChain_bar__minus_04_dot_07_bar__plus_00_dot_70_bar__minus_05_dot_00) + (pickupable Vase_bar__minus_02_dot_15_bar__plus_00_dot_59_bar__minus_02_dot_00) + (pickupable Box_bar__minus_02_dot_36_bar__plus_00_dot_26_bar__minus_01_dot_65) + (pickupable Statue_bar__minus_02_dot_26_bar__plus_00_dot_59_bar__minus_02_dot_33) + (pickupable CreditCard_bar__minus_02_dot_47_bar__plus_00_dot_59_bar__minus_02_dot_49) + (pickupable Statue_bar__minus_02_dot_15_bar__plus_00_dot_59_bar__minus_02_dot_82) + (pickupable Pillow_bar__minus_04_dot_28_bar__plus_00_dot_45_bar__minus_01_dot_74) + (pickupable Laptop_bar__minus_03_dot_50_bar__plus_00_dot_70_bar__minus_05_dot_09) + (pickupable Pen_bar__minus_02_dot_47_bar__plus_00_dot_59_bar__minus_02_dot_66) + (pickupable KeyChain_bar__minus_03_dot_22_bar__plus_00_dot_70_bar__minus_05_dot_09) + (pickupable Vase_bar__minus_04_dot_22_bar__plus_00_dot_70_bar__minus_05_dot_05) + (pickupable Vase_bar__minus_05_dot_22_bar__plus_00_dot_49_bar__minus_05_dot_13) + (isReceptacleObject Box_bar__minus_02_dot_36_bar__plus_00_dot_26_bar__minus_01_dot_65) + (openable Drawer_bar__minus_02_dot_98_bar__plus_00_dot_48_bar__minus_05_dot_01) + (openable Drawer_bar__minus_04_dot_02_bar__plus_00_dot_48_bar__minus_05_dot_01) + (openable Drawer_bar__minus_02_dot_98_bar__plus_00_dot_17_bar__minus_05_dot_01) + + (atLocation agent1 loc_bar__minus_10_bar__minus_18_bar_1_bar_30) + + + + + + + + (toggleable FloorLamp_bar__minus_04_dot_82_bar__plus_00_dot_00_bar__minus_05_dot_12) + + + + + (inReceptacle CreditCard_bar__minus_02_dot_93_bar__plus_00_dot_70_bar__minus_05_dot_19 Dresser_bar__minus_03_dot_51_bar__plus_00_dot_00_bar__minus_05_dot_10) + (inReceptacle KeyChain_bar__minus_04_dot_07_bar__plus_00_dot_70_bar__minus_05_dot_00 Dresser_bar__minus_03_dot_51_bar__plus_00_dot_00_bar__minus_05_dot_10) + (inReceptacle KeyChain_bar__minus_03_dot_22_bar__plus_00_dot_70_bar__minus_05_dot_09 Dresser_bar__minus_03_dot_51_bar__plus_00_dot_00_bar__minus_05_dot_10) + (inReceptacle Vase_bar__minus_04_dot_22_bar__plus_00_dot_70_bar__minus_05_dot_05 Dresser_bar__minus_03_dot_51_bar__plus_00_dot_00_bar__minus_05_dot_10) + (inReceptacle Laptop_bar__minus_03_dot_50_bar__plus_00_dot_70_bar__minus_05_dot_09 Dresser_bar__minus_03_dot_51_bar__plus_00_dot_00_bar__minus_05_dot_10) + (inReceptacle Vase_bar__minus_04_dot_48_bar__plus_00_dot_70_bar__minus_05_dot_08 Dresser_bar__minus_03_dot_51_bar__plus_00_dot_00_bar__minus_05_dot_10) + (inReceptacle Pen_bar__minus_04_dot_36_bar__plus_00_dot_71_bar__minus_05_dot_24 Dresser_bar__minus_03_dot_51_bar__plus_00_dot_00_bar__minus_05_dot_10) + (inReceptacle Watch_bar__minus_05_dot_52_bar__plus_00_dot_48_bar__minus_05_dot_00 SideTable_bar__minus_05_dot_43_bar__minus_00_dot_01_bar__minus_05_dot_12) + (inReceptacle Vase_bar__minus_05_dot_22_bar__plus_00_dot_49_bar__minus_05_dot_13 SideTable_bar__minus_05_dot_43_bar__minus_00_dot_01_bar__minus_05_dot_12) + (inReceptacle HousePlant_bar__minus_05_dot_63_bar__plus_00_dot_48_bar__minus_05_dot_13 SideTable_bar__minus_05_dot_43_bar__minus_00_dot_01_bar__minus_05_dot_12) + (inReceptacle Laptop_bar__minus_04_dot_19_bar__plus_00_dot_33_bar__minus_03_dot_59 ArmChair_bar__minus_04_dot_39_bar__plus_00_dot_00_bar__minus_03_dot_55) + (inReceptacle RemoteControl_bar__minus_04_dot_41_bar__plus_00_dot_34_bar__minus_03_dot_67 ArmChair_bar__minus_04_dot_39_bar__plus_00_dot_00_bar__minus_03_dot_55) + (inReceptacle Newspaper_bar__minus_04_dot_27_bar__plus_00_dot_34_bar__minus_02_dot_16 Sofa_bar__minus_04_dot_36_bar__plus_00_dot_00_bar__minus_02_dot_09) + (inReceptacle Pillow_bar__minus_04_dot_28_bar__plus_00_dot_45_bar__minus_01_dot_74 Sofa_bar__minus_04_dot_36_bar__plus_00_dot_00_bar__minus_02_dot_09) + (inReceptacle Statue_bar__minus_02_dot_26_bar__plus_00_dot_59_bar__minus_02_dot_33 CoffeeTable_bar__minus_02_dot_47_bar__plus_00_dot_00_bar__minus_02_dot_49) + (inReceptacle CreditCard_bar__minus_02_dot_47_bar__plus_00_dot_59_bar__minus_02_dot_49 CoffeeTable_bar__minus_02_dot_47_bar__plus_00_dot_00_bar__minus_02_dot_49) + (inReceptacle Book_bar__minus_02_dot_57_bar__plus_00_dot_59_bar__minus_02_dot_00 CoffeeTable_bar__minus_02_dot_47_bar__plus_00_dot_00_bar__minus_02_dot_49) + (inReceptacle Statue_bar__minus_02_dot_15_bar__plus_00_dot_59_bar__minus_02_dot_82 CoffeeTable_bar__minus_02_dot_47_bar__plus_00_dot_00_bar__minus_02_dot_49) + (inReceptacle Vase_bar__minus_02_dot_15_bar__plus_00_dot_59_bar__minus_02_dot_00 CoffeeTable_bar__minus_02_dot_47_bar__plus_00_dot_00_bar__minus_02_dot_49) + (inReceptacle Pen_bar__minus_02_dot_47_bar__plus_00_dot_59_bar__minus_02_dot_66 CoffeeTable_bar__minus_02_dot_47_bar__plus_00_dot_00_bar__minus_02_dot_49) + (inReceptacle Pen_bar__minus_02_dot_79_bar__plus_00_dot_59_bar__minus_02_dot_49 CoffeeTable_bar__minus_02_dot_47_bar__plus_00_dot_00_bar__minus_02_dot_49) + (inReceptacle CreditCard_bar__minus_03_dot_32_bar__plus_00_dot_08_bar__minus_05_dot_07 Drawer_bar__minus_02_dot_98_bar__plus_00_dot_17_bar__minus_05_dot_01) + + + (receptacleAtLocation ArmChair_bar__minus_04_dot_39_bar__plus_00_dot_00_bar__minus_03_dot_55 loc_bar__minus_13_bar__minus_15_bar_3_bar_60) + (receptacleAtLocation CoffeeTable_bar__minus_02_dot_47_bar__plus_00_dot_00_bar__minus_02_dot_49 loc_bar__minus_5_bar__minus_10_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_02_dot_98_bar__plus_00_dot_17_bar__minus_05_dot_01 loc_bar__minus_7_bar__minus_18_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__minus_02_dot_98_bar__plus_00_dot_48_bar__minus_05_dot_01 loc_bar__minus_16_bar__minus_18_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__minus_04_dot_02_bar__plus_00_dot_17_bar__minus_05_dot_01 loc_bar__minus_16_bar__minus_18_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__minus_04_dot_02_bar__plus_00_dot_48_bar__minus_05_dot_01 loc_bar__minus_12_bar__minus_18_bar_3_bar_45) + (receptacleAtLocation Dresser_bar__minus_03_dot_51_bar__plus_00_dot_00_bar__minus_05_dot_10 loc_bar__minus_13_bar__minus_17_bar_2_bar_60) + (receptacleAtLocation GarbageCan_bar__minus_00_dot_97_bar__plus_00_dot_00_bar__minus_05_dot_06 loc_bar__minus_6_bar__minus_19_bar_1_bar_60) + (receptacleAtLocation SideTable_bar__minus_02_dot_02_bar__minus_00_dot_01_bar__minus_05_dot_08 loc_bar__minus_10_bar__minus_17_bar_2_bar_60) + (receptacleAtLocation SideTable_bar__minus_05_dot_43_bar__minus_00_dot_01_bar__minus_05_dot_12 loc_bar__minus_23_bar__minus_17_bar_2_bar_60) + (receptacleAtLocation Sofa_bar__minus_04_dot_36_bar__plus_00_dot_00_bar__minus_02_dot_09 loc_bar__minus_13_bar__minus_8_bar_3_bar_60) + (objectAtLocation Statue_bar__minus_02_dot_26_bar__plus_00_dot_59_bar__minus_02_dot_33 loc_bar__minus_5_bar__minus_10_bar_3_bar_60) + (objectAtLocation Laptop_bar__minus_03_dot_50_bar__plus_00_dot_70_bar__minus_05_dot_09 loc_bar__minus_13_bar__minus_17_bar_2_bar_60) + (objectAtLocation KeyChain_bar__minus_04_dot_07_bar__plus_00_dot_70_bar__minus_05_dot_00 loc_bar__minus_13_bar__minus_17_bar_2_bar_60) + (objectAtLocation CreditCard_bar__minus_03_dot_32_bar__plus_00_dot_08_bar__minus_05_dot_07 loc_bar__minus_7_bar__minus_18_bar_3_bar_45) + (objectAtLocation Pen_bar__minus_02_dot_79_bar__plus_00_dot_59_bar__minus_02_dot_49 loc_bar__minus_5_bar__minus_10_bar_3_bar_60) + (objectAtLocation CreditCard_bar__minus_02_dot_93_bar__plus_00_dot_70_bar__minus_05_dot_19 loc_bar__minus_13_bar__minus_17_bar_2_bar_60) + (objectAtLocation Pen_bar__minus_02_dot_47_bar__plus_00_dot_59_bar__minus_02_dot_66 loc_bar__minus_5_bar__minus_10_bar_3_bar_60) + (objectAtLocation Box_bar__minus_02_dot_36_bar__plus_00_dot_26_bar__minus_01_dot_65 loc_bar__minus_8_bar__minus_6_bar_3_bar_60) + (objectAtLocation Book_bar__minus_02_dot_57_bar__plus_00_dot_59_bar__minus_02_dot_00 loc_bar__minus_5_bar__minus_10_bar_3_bar_60) + (objectAtLocation Mirror_bar__minus_03_dot_40_bar__plus_02_dot_03_bar__plus_00_dot_00 loc_bar__minus_14_bar__minus_3_bar_0_bar__minus_30) + (objectAtLocation Newspaper_bar__minus_04_dot_27_bar__plus_00_dot_34_bar__minus_02_dot_16 loc_bar__minus_13_bar__minus_8_bar_3_bar_60) + (objectAtLocation Watch_bar__minus_05_dot_52_bar__plus_00_dot_48_bar__minus_05_dot_00 loc_bar__minus_23_bar__minus_17_bar_2_bar_60) + (objectAtLocation Pen_bar__minus_04_dot_36_bar__plus_00_dot_71_bar__minus_05_dot_24 loc_bar__minus_13_bar__minus_17_bar_2_bar_60) + (objectAtLocation FloorLamp_bar__minus_04_dot_82_bar__plus_00_dot_00_bar__minus_05_dot_12 loc_bar__minus_18_bar__minus_18_bar_2_bar_60) + (objectAtLocation LightSwitch_bar__minus_05_dot_76_bar__plus_01_dot_33_bar__plus_00_dot_01 loc_bar__minus_23_bar__minus_2_bar_0_bar_30) + (objectAtLocation WateringCan_bar__minus_07_dot_99_bar__plus_00_dot_00_bar__minus_04_dot_63 loc_bar__minus_31_bar__minus_17_bar_2_bar_60) + (objectAtLocation Pillow_bar__minus_04_dot_28_bar__plus_00_dot_45_bar__minus_01_dot_74 loc_bar__minus_13_bar__minus_8_bar_3_bar_60) + (objectAtLocation CreditCard_bar__minus_02_dot_47_bar__plus_00_dot_59_bar__minus_02_dot_49 loc_bar__minus_5_bar__minus_10_bar_3_bar_60) + (objectAtLocation Vase_bar__minus_04_dot_48_bar__plus_00_dot_70_bar__minus_05_dot_08 loc_bar__minus_13_bar__minus_17_bar_2_bar_60) + (objectAtLocation KeyChain_bar__minus_03_dot_22_bar__plus_00_dot_70_bar__minus_05_dot_09 loc_bar__minus_13_bar__minus_17_bar_2_bar_60) + (objectAtLocation Vase_bar__minus_04_dot_22_bar__plus_00_dot_70_bar__minus_05_dot_05 loc_bar__minus_13_bar__minus_17_bar_2_bar_60) + (objectAtLocation Laptop_bar__minus_04_dot_19_bar__plus_00_dot_33_bar__minus_03_dot_59 loc_bar__minus_13_bar__minus_15_bar_3_bar_60) + (objectAtLocation HousePlant_bar__minus_05_dot_63_bar__plus_00_dot_48_bar__minus_05_dot_13 loc_bar__minus_23_bar__minus_17_bar_2_bar_60) + (objectAtLocation Statue_bar__minus_02_dot_15_bar__plus_00_dot_59_bar__minus_02_dot_82 loc_bar__minus_5_bar__minus_10_bar_3_bar_60) + (objectAtLocation Vase_bar__minus_05_dot_22_bar__plus_00_dot_49_bar__minus_05_dot_13 loc_bar__minus_23_bar__minus_17_bar_2_bar_60) + (objectAtLocation Painting_bar__minus_03_dot_37_bar__plus_01_dot_80_bar__minus_05_dot_39 loc_bar__minus_13_bar__minus_18_bar_2_bar__minus_15) + (objectAtLocation RemoteControl_bar__minus_04_dot_41_bar__plus_00_dot_34_bar__minus_03_dot_67 loc_bar__minus_13_bar__minus_15_bar_3_bar_60) + (objectAtLocation Television_bar__minus_00_dot_61_bar__plus_01_dot_67_bar__minus_02_dot_60 loc_bar__minus_5_bar__minus_10_bar_1_bar_0) + (objectAtLocation Vase_bar__minus_02_dot_15_bar__plus_00_dot_59_bar__minus_02_dot_00 loc_bar__minus_5_bar__minus_10_bar_3_bar_60) + (objectAtLocation Window_bar__minus_08_dot_24_bar__plus_01_dot_41_bar__minus_01_dot_51 loc_bar__minus_31_bar__minus_6_bar_3_bar_30) + (objectAtLocation Window_bar__minus_08_dot_24_bar__plus_01_dot_41_bar__minus_04_dot_08 loc_bar__minus_31_bar__minus_16_bar_3_bar_30) + ) + + + (:goal + (and + (exists (?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 WatchType) + (holds ?a ?o) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Watch-None-FloorLamp-209/trial_T20190907_033630_523510/traj_data.json b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Watch-None-FloorLamp-209/trial_T20190907_033630_523510/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..0400c0e2f9b4b4e476d5db748508d064ce2b5f09 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Watch-None-FloorLamp-209/trial_T20190907_033630_523510/traj_data.json @@ -0,0 +1,3597 @@ +{ + "images": [ + { + "high_idx": 0, + "image_name": "000000000.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": 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} + ], + "object_toggles": [ + { + "isOn": false, + "objectType": "FloorLamp" + } + ], + "random_seed": 3162515349, + "scene_num": 209 + }, + "task_id": "trial_T20190907_033630_523510", + "task_type": "look_at_obj_in_light", + "turk_annotations": { + "anns": [ + { + "assignment_id": "AD0NVUGLDYDYN_3C2NJ6JBKDYZ09NX4YCZDRMHJD1N2G", + "high_descs": [ + "Turn around, walk to the table with plant", + "Grab the watch from the table", + "Turn around, and turn around, facing the floor lamp", + "Turn on the floor lamp" + ], + "task_desc": "Grab the watch from the table, turn on the floor lamp", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1MKCTVKE7J0ZP_3D3VGR7TA3W90PB8157L5LWJQO53RA", + "high_descs": [ + "Turn around, move forward, then turn left at the end table, near the plant.", + "Take the wrist watch from the end table, near the plant.", + "Turn around, then go right, then go right again to face the lamp.", + "Turn on the lamp." + ], + "task_desc": "Look at a wrist watch in the light.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1HKHM4NVAO98H_3Y9N9SS8L1SFZFS3J4C10WFFBNE3D4", + "high_descs": [ + "turn around and walk nearly to the end of the room, but stop just short of the last desk on your left and turn to face it", + "grab the wrist watch off of the desk there", + "move to the left a bit, enough to face the center of the lamp to the left of that desk", + "turn on the lamp there" + ], + "task_desc": "turn on a lamp while holding a wrist watch", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Watch-None-FloorLamp-209/trial_T20190907_033654_950263/initial_state.pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Watch-None-FloorLamp-209/trial_T20190907_033654_950263/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..997989a42f248f21c7ab4bef3bd7cf69709410a3 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Watch-None-FloorLamp-209/trial_T20190907_033654_950263/initial_state.pddl @@ -0,0 +1,545 @@ + +(define (problem plan_trial_T20190907_033654_950263) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_03_dot_22_bar__plus_00_dot_70_bar__minus_05_dot_05 - object + Box_bar__minus_02_dot_36_bar__plus_00_dot_26_bar__minus_01_dot_65 - object + CreditCard_bar__minus_02_dot_64_bar__plus_00_dot_38_bar__minus_04_dot_98 - object + FloorLamp_bar__minus_04_dot_82_bar__plus_00_dot_00_bar__minus_05_dot_12 - object + HousePlant_bar__minus_05_dot_63_bar__plus_00_dot_48_bar__minus_05_dot_13 - object + KeyChain_bar__minus_02_dot_26_bar__plus_00_dot_59_bar__minus_02_dot_82 - object + KeyChain_bar__minus_04_dot_08_bar__plus_00_dot_34_bar__minus_01_dot_67 - object + Laptop_bar__minus_02_dot_57_bar__plus_00_dot_59_bar__minus_02_dot_00 - object + Laptop_bar__minus_04_dot_19_bar__plus_00_dot_33_bar__minus_03_dot_52 - object + LightSwitch_bar__minus_05_dot_76_bar__plus_01_dot_33_bar__plus_00_dot_01 - object + Mirror_bar__minus_03_dot_40_bar__plus_02_dot_03_bar__plus_00_dot_00 - object + Newspaper_bar__minus_02_dot_93_bar__plus_00_dot_71_bar__minus_05_dot_09 - object + Newspaper_bar__minus_04_dot_27_bar__plus_00_dot_34_bar__minus_02_dot_16 - object + Painting_bar__minus_03_dot_37_bar__plus_01_dot_80_bar__minus_05_dot_39 - object + Pen_bar__minus_02_dot_65_bar__plus_00_dot_71_bar__minus_05_dot_00 - object + Pen_bar__minus_05_dot_42_bar__plus_00_dot_49_bar__minus_05_dot_13 - object + Pillow_bar__minus_04_dot_28_bar__plus_00_dot_45_bar__minus_01_dot_74 - object + RemoteControl_bar__minus_04_dot_38_bar__plus_00_dot_34_bar__minus_01_dot_67 - object + Statue_bar__minus_02_dot_02_bar__plus_00_dot_48_bar__minus_05_dot_09 - object + Statue_bar__minus_02_dot_26_bar__plus_00_dot_59_bar__minus_02_dot_33 - object + Statue_bar__minus_02_dot_65_bar__plus_00_dot_71_bar__minus_05_dot_19 - object + Television_bar__minus_00_dot_61_bar__plus_01_dot_67_bar__minus_02_dot_60 - object + Vase_bar__minus_03_dot_50_bar__plus_00_dot_71_bar__minus_05_dot_09 - object + Vase_bar__minus_03_dot_79_bar__plus_00_dot_70_bar__minus_05_dot_19 - object + Vase_bar__minus_04_dot_22_bar__plus_00_dot_70_bar__minus_05_dot_05 - object + Vase_bar__minus_04_dot_48_bar__plus_00_dot_70_bar__minus_05_dot_08 - object + Watch_bar__minus_02_dot_57_bar__plus_00_dot_59_bar__minus_02_dot_33 - object + Watch_bar__minus_04_dot_25_bar__plus_00_dot_08_bar__minus_05_dot_03 - object + Watch_bar__minus_05_dot_22_bar__plus_00_dot_48_bar__minus_05_dot_26 - object + WateringCan_bar__minus_07_dot_99_bar__plus_00_dot_00_bar__minus_04_dot_63 - object + Window_bar__minus_08_dot_24_bar__plus_01_dot_41_bar__minus_01_dot_51 - object + Window_bar__minus_08_dot_24_bar__plus_01_dot_41_bar__minus_04_dot_08 - object + ArmChair_bar__minus_04_dot_39_bar__plus_00_dot_00_bar__minus_03_dot_55 - receptacle + CoffeeTable_bar__minus_02_dot_47_bar__plus_00_dot_00_bar__minus_02_dot_49 - receptacle + Drawer_bar__minus_02_dot_98_bar__plus_00_dot_17_bar__minus_05_dot_01 - receptacle + Drawer_bar__minus_02_dot_98_bar__plus_00_dot_48_bar__minus_05_dot_01 - receptacle + Drawer_bar__minus_04_dot_02_bar__plus_00_dot_17_bar__minus_05_dot_01 - receptacle + Drawer_bar__minus_04_dot_02_bar__plus_00_dot_48_bar__minus_05_dot_01 - receptacle + Dresser_bar__minus_03_dot_51_bar__plus_00_dot_00_bar__minus_05_dot_10 - receptacle + GarbageCan_bar__minus_00_dot_97_bar__plus_00_dot_00_bar__minus_05_dot_06 - receptacle + SideTable_bar__minus_02_dot_02_bar__minus_00_dot_01_bar__minus_05_dot_08 - receptacle + SideTable_bar__minus_05_dot_43_bar__minus_00_dot_01_bar__minus_05_dot_12 - receptacle + Sofa_bar__minus_04_dot_36_bar__plus_00_dot_00_bar__minus_02_dot_09 - receptacle + loc_bar__minus_31_bar__minus_6_bar_3_bar_30 - location + loc_bar__minus_7_bar__minus_18_bar_3_bar_45 - location + loc_bar__minus_16_bar__minus_18_bar_1_bar_45 - location + loc_bar__minus_18_bar__minus_18_bar_2_bar_60 - location + loc_bar__minus_31_bar__minus_16_bar_3_bar_30 - location + loc_bar__minus_8_bar__minus_6_bar_3_bar_60 - location + loc_bar__minus_6_bar__minus_19_bar_1_bar_60 - location + loc_bar__minus_31_bar__minus_17_bar_2_bar_60 - location + loc_bar__minus_13_bar__minus_15_bar_3_bar_60 - location + loc_bar__minus_23_bar__minus_17_bar_2_bar_60 - location + loc_bar__minus_13_bar__minus_17_bar_2_bar_60 - location + loc_bar__minus_13_bar__minus_8_bar_3_bar_60 - location + loc_bar__minus_14_bar__minus_3_bar_0_bar__minus_30 - location + loc_bar__minus_16_bar__minus_18_bar_2_bar_60 - location + loc_bar__minus_5_bar__minus_10_bar_1_bar_0 - location + loc_bar__minus_5_bar__minus_10_bar_3_bar_60 - location + loc_bar__minus_10_bar__minus_17_bar_2_bar_60 - location + loc_bar__minus_12_bar__minus_18_bar_3_bar_45 - location + loc_bar__minus_13_bar__minus_18_bar_2_bar__minus_15 - location + loc_bar__minus_23_bar__minus_2_bar_0_bar_30 - location + loc_bar__minus_25_bar__minus_17_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType ArmChair_bar__minus_04_dot_39_bar__plus_00_dot_00_bar__minus_03_dot_55 ArmChairType) + (receptacleType GarbageCan_bar__minus_00_dot_97_bar__plus_00_dot_00_bar__minus_05_dot_06 GarbageCanType) + (receptacleType Drawer_bar__minus_02_dot_98_bar__plus_00_dot_48_bar__minus_05_dot_01 DrawerType) + (receptacleType SideTable_bar__minus_02_dot_02_bar__minus_00_dot_01_bar__minus_05_dot_08 SideTableType) + (receptacleType SideTable_bar__minus_05_dot_43_bar__minus_00_dot_01_bar__minus_05_dot_12 SideTableType) + (receptacleType Drawer_bar__minus_04_dot_02_bar__plus_00_dot_48_bar__minus_05_dot_01 DrawerType) + (receptacleType Dresser_bar__minus_03_dot_51_bar__plus_00_dot_00_bar__minus_05_dot_10 DresserType) + (receptacleType Drawer_bar__minus_02_dot_98_bar__plus_00_dot_17_bar__minus_05_dot_01 DrawerType) + (receptacleType CoffeeTable_bar__minus_02_dot_47_bar__plus_00_dot_00_bar__minus_02_dot_49 CoffeeTableType) + (receptacleType Drawer_bar__minus_04_dot_02_bar__plus_00_dot_17_bar__minus_05_dot_01 DrawerType) + (receptacleType Sofa_bar__minus_04_dot_36_bar__plus_00_dot_00_bar__minus_02_dot_09 SofaType) + (objectType Laptop_bar__minus_04_dot_19_bar__plus_00_dot_33_bar__minus_03_dot_52 LaptopType) + (objectType LightSwitch_bar__minus_05_dot_76_bar__plus_01_dot_33_bar__plus_00_dot_01 LightSwitchType) + (objectType Newspaper_bar__minus_04_dot_27_bar__plus_00_dot_34_bar__minus_02_dot_16 NewspaperType) + (objectType KeyChain_bar__minus_04_dot_08_bar__plus_00_dot_34_bar__minus_01_dot_67 KeyChainType) + (objectType WateringCan_bar__minus_07_dot_99_bar__plus_00_dot_00_bar__minus_04_dot_63 WateringCanType) + (objectType CreditCard_bar__minus_02_dot_64_bar__plus_00_dot_38_bar__minus_04_dot_98 CreditCardType) + (objectType Vase_bar__minus_03_dot_79_bar__plus_00_dot_70_bar__minus_05_dot_19 VaseType) + (objectType Vase_bar__minus_04_dot_48_bar__plus_00_dot_70_bar__minus_05_dot_08 VaseType) + (objectType Pen_bar__minus_05_dot_42_bar__plus_00_dot_49_bar__minus_05_dot_13 PenType) + (objectType FloorLamp_bar__minus_04_dot_82_bar__plus_00_dot_00_bar__minus_05_dot_12 FloorLampType) + (objectType Statue_bar__minus_02_dot_65_bar__plus_00_dot_71_bar__minus_05_dot_19 StatueType) + (objectType Laptop_bar__minus_02_dot_57_bar__plus_00_dot_59_bar__minus_02_dot_00 LaptopType) + (objectType Window_bar__minus_08_dot_24_bar__plus_01_dot_41_bar__minus_01_dot_51 WindowType) + (objectType KeyChain_bar__minus_02_dot_26_bar__plus_00_dot_59_bar__minus_02_dot_82 KeyChainType) + (objectType Television_bar__minus_00_dot_61_bar__plus_01_dot_67_bar__minus_02_dot_60 TelevisionType) + (objectType Box_bar__minus_02_dot_36_bar__plus_00_dot_26_bar__minus_01_dot_65 BoxType) + (objectType Mirror_bar__minus_03_dot_40_bar__plus_02_dot_03_bar__plus_00_dot_00 MirrorType) + (objectType Window_bar__minus_08_dot_24_bar__plus_01_dot_41_bar__minus_04_dot_08 WindowType) + (objectType Statue_bar__minus_02_dot_26_bar__plus_00_dot_59_bar__minus_02_dot_33 StatueType) + (objectType Watch_bar__minus_04_dot_25_bar__plus_00_dot_08_bar__minus_05_dot_03 WatchType) + (objectType HousePlant_bar__minus_05_dot_63_bar__plus_00_dot_48_bar__minus_05_dot_13 HousePlantType) + (objectType Book_bar__minus_03_dot_22_bar__plus_00_dot_70_bar__minus_05_dot_05 BookType) + (objectType Watch_bar__minus_05_dot_22_bar__plus_00_dot_48_bar__minus_05_dot_26 WatchType) + (objectType Pillow_bar__minus_04_dot_28_bar__plus_00_dot_45_bar__minus_01_dot_74 PillowType) + (objectType Vase_bar__minus_03_dot_50_bar__plus_00_dot_71_bar__minus_05_dot_09 VaseType) + (objectType Statue_bar__minus_02_dot_02_bar__plus_00_dot_48_bar__minus_05_dot_09 StatueType) + (objectType Newspaper_bar__minus_02_dot_93_bar__plus_00_dot_71_bar__minus_05_dot_09 NewspaperType) + (objectType Watch_bar__minus_02_dot_57_bar__plus_00_dot_59_bar__minus_02_dot_33 WatchType) + (objectType RemoteControl_bar__minus_04_dot_38_bar__plus_00_dot_34_bar__minus_01_dot_67 RemoteControlType) + (objectType Vase_bar__minus_04_dot_22_bar__plus_00_dot_70_bar__minus_05_dot_05 VaseType) + (objectType Pen_bar__minus_02_dot_65_bar__plus_00_dot_71_bar__minus_05_dot_00 PenType) + (objectType Painting_bar__minus_03_dot_37_bar__plus_01_dot_80_bar__minus_05_dot_39 PaintingType) + (canContain ArmChairType BoxType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType BookType) + (canContain ArmChairType PillowType) + (canContain ArmChairType RemoteControlType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType NewspaperType) + (canContain ArmChairType CreditCardType) + (canContain GarbageCanType PenType) + (canContain GarbageCanType NewspaperType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType WatchType) + (canContain DrawerType NewspaperType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType WateringCanType) + (canContain SideTableType PenType) + (canContain SideTableType BookType) + (canContain SideTableType WatchType) + (canContain SideTableType NewspaperType) + (canContain SideTableType VaseType) + (canContain SideTableType BoxType) + (canContain SideTableType KeyChainType) + (canContain SideTableType CreditCardType) + (canContain SideTableType LaptopType) + (canContain SideTableType RemoteControlType) + (canContain SideTableType StatueType) + (canContain SideTableType WateringCanType) + (canContain SideTableType PenType) + (canContain SideTableType BookType) + (canContain SideTableType WatchType) + (canContain SideTableType NewspaperType) + (canContain SideTableType VaseType) + (canContain SideTableType BoxType) + (canContain SideTableType KeyChainType) + (canContain SideTableType CreditCardType) + (canContain SideTableType LaptopType) + (canContain SideTableType RemoteControlType) + (canContain SideTableType StatueType) + (canContain SideTableType WateringCanType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType WatchType) + (canContain DrawerType NewspaperType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType WateringCanType) + (canContain DresserType PenType) + (canContain DresserType BookType) + (canContain DresserType WatchType) + (canContain DresserType NewspaperType) + (canContain DresserType VaseType) + (canContain DresserType BoxType) + (canContain DresserType KeyChainType) + (canContain DresserType CreditCardType) + (canContain DresserType LaptopType) + (canContain DresserType RemoteControlType) + (canContain DresserType StatueType) + (canContain DresserType WateringCanType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType WatchType) + (canContain DrawerType NewspaperType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType WateringCanType) + (canContain CoffeeTableType PenType) + (canContain CoffeeTableType BookType) + (canContain CoffeeTableType WatchType) + (canContain CoffeeTableType NewspaperType) + (canContain CoffeeTableType VaseType) + (canContain CoffeeTableType BoxType) + (canContain CoffeeTableType KeyChainType) + (canContain CoffeeTableType CreditCardType) + (canContain CoffeeTableType LaptopType) + (canContain CoffeeTableType RemoteControlType) + (canContain CoffeeTableType StatueType) + (canContain CoffeeTableType WateringCanType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType WatchType) + (canContain DrawerType NewspaperType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType WateringCanType) + (canContain SofaType BoxType) + (canContain SofaType LaptopType) + (canContain SofaType BookType) + (canContain SofaType PillowType) + (canContain SofaType RemoteControlType) + (canContain SofaType KeyChainType) + (canContain SofaType NewspaperType) + (canContain SofaType CreditCardType) + (pickupable Laptop_bar__minus_04_dot_19_bar__plus_00_dot_33_bar__minus_03_dot_52) + (pickupable Newspaper_bar__minus_04_dot_27_bar__plus_00_dot_34_bar__minus_02_dot_16) + (pickupable KeyChain_bar__minus_04_dot_08_bar__plus_00_dot_34_bar__minus_01_dot_67) + (pickupable WateringCan_bar__minus_07_dot_99_bar__plus_00_dot_00_bar__minus_04_dot_63) + (pickupable CreditCard_bar__minus_02_dot_64_bar__plus_00_dot_38_bar__minus_04_dot_98) + (pickupable Vase_bar__minus_03_dot_79_bar__plus_00_dot_70_bar__minus_05_dot_19) + (pickupable Vase_bar__minus_04_dot_48_bar__plus_00_dot_70_bar__minus_05_dot_08) + (pickupable Pen_bar__minus_05_dot_42_bar__plus_00_dot_49_bar__minus_05_dot_13) + (pickupable Statue_bar__minus_02_dot_65_bar__plus_00_dot_71_bar__minus_05_dot_19) + (pickupable Laptop_bar__minus_02_dot_57_bar__plus_00_dot_59_bar__minus_02_dot_00) + (pickupable KeyChain_bar__minus_02_dot_26_bar__plus_00_dot_59_bar__minus_02_dot_82) + (pickupable Box_bar__minus_02_dot_36_bar__plus_00_dot_26_bar__minus_01_dot_65) + (pickupable Statue_bar__minus_02_dot_26_bar__plus_00_dot_59_bar__minus_02_dot_33) + (pickupable Watch_bar__minus_04_dot_25_bar__plus_00_dot_08_bar__minus_05_dot_03) + (pickupable Book_bar__minus_03_dot_22_bar__plus_00_dot_70_bar__minus_05_dot_05) + (pickupable Watch_bar__minus_05_dot_22_bar__plus_00_dot_48_bar__minus_05_dot_26) + (pickupable Pillow_bar__minus_04_dot_28_bar__plus_00_dot_45_bar__minus_01_dot_74) + (pickupable Vase_bar__minus_03_dot_50_bar__plus_00_dot_71_bar__minus_05_dot_09) + (pickupable Statue_bar__minus_02_dot_02_bar__plus_00_dot_48_bar__minus_05_dot_09) + (pickupable Newspaper_bar__minus_02_dot_93_bar__plus_00_dot_71_bar__minus_05_dot_09) + (pickupable Watch_bar__minus_02_dot_57_bar__plus_00_dot_59_bar__minus_02_dot_33) + (pickupable RemoteControl_bar__minus_04_dot_38_bar__plus_00_dot_34_bar__minus_01_dot_67) + (pickupable Vase_bar__minus_04_dot_22_bar__plus_00_dot_70_bar__minus_05_dot_05) + (pickupable Pen_bar__minus_02_dot_65_bar__plus_00_dot_71_bar__minus_05_dot_00) + (isReceptacleObject Box_bar__minus_02_dot_36_bar__plus_00_dot_26_bar__minus_01_dot_65) + (openable Drawer_bar__minus_02_dot_98_bar__plus_00_dot_48_bar__minus_05_dot_01) + (openable Drawer_bar__minus_04_dot_02_bar__plus_00_dot_48_bar__minus_05_dot_01) + (openable Drawer_bar__minus_02_dot_98_bar__plus_00_dot_17_bar__minus_05_dot_01) + + (atLocation agent1 loc_bar__minus_25_bar__minus_17_bar_3_bar_30) + + + + + + + + (toggleable FloorLamp_bar__minus_04_dot_82_bar__plus_00_dot_00_bar__minus_05_dot_12) + + + + + (inReceptacle Book_bar__minus_03_dot_22_bar__plus_00_dot_70_bar__minus_05_dot_05 Dresser_bar__minus_03_dot_51_bar__plus_00_dot_00_bar__minus_05_dot_10) + (inReceptacle Statue_bar__minus_02_dot_65_bar__plus_00_dot_71_bar__minus_05_dot_19 Dresser_bar__minus_03_dot_51_bar__plus_00_dot_00_bar__minus_05_dot_10) + (inReceptacle Vase_bar__minus_04_dot_22_bar__plus_00_dot_70_bar__minus_05_dot_05 Dresser_bar__minus_03_dot_51_bar__plus_00_dot_00_bar__minus_05_dot_10) + (inReceptacle Vase_bar__minus_03_dot_50_bar__plus_00_dot_71_bar__minus_05_dot_09 Dresser_bar__minus_03_dot_51_bar__plus_00_dot_00_bar__minus_05_dot_10) + (inReceptacle Pen_bar__minus_02_dot_65_bar__plus_00_dot_71_bar__minus_05_dot_00 Dresser_bar__minus_03_dot_51_bar__plus_00_dot_00_bar__minus_05_dot_10) + (inReceptacle Vase_bar__minus_03_dot_79_bar__plus_00_dot_70_bar__minus_05_dot_19 Dresser_bar__minus_03_dot_51_bar__plus_00_dot_00_bar__minus_05_dot_10) + (inReceptacle Vase_bar__minus_04_dot_48_bar__plus_00_dot_70_bar__minus_05_dot_08 Dresser_bar__minus_03_dot_51_bar__plus_00_dot_00_bar__minus_05_dot_10) + (inReceptacle Newspaper_bar__minus_02_dot_93_bar__plus_00_dot_71_bar__minus_05_dot_09 Dresser_bar__minus_03_dot_51_bar__plus_00_dot_00_bar__minus_05_dot_10) + (inReceptacle Watch_bar__minus_05_dot_22_bar__plus_00_dot_48_bar__minus_05_dot_26 SideTable_bar__minus_05_dot_43_bar__minus_00_dot_01_bar__minus_05_dot_12) + (inReceptacle Pen_bar__minus_05_dot_42_bar__plus_00_dot_49_bar__minus_05_dot_13 SideTable_bar__minus_05_dot_43_bar__minus_00_dot_01_bar__minus_05_dot_12) + (inReceptacle HousePlant_bar__minus_05_dot_63_bar__plus_00_dot_48_bar__minus_05_dot_13 SideTable_bar__minus_05_dot_43_bar__minus_00_dot_01_bar__minus_05_dot_12) + (inReceptacle Laptop_bar__minus_04_dot_19_bar__plus_00_dot_33_bar__minus_03_dot_52 ArmChair_bar__minus_04_dot_39_bar__plus_00_dot_00_bar__minus_03_dot_55) + (inReceptacle Watch_bar__minus_04_dot_25_bar__plus_00_dot_08_bar__minus_05_dot_03 Drawer_bar__minus_04_dot_02_bar__plus_00_dot_17_bar__minus_05_dot_01) + (inReceptacle CreditCard_bar__minus_02_dot_64_bar__plus_00_dot_38_bar__minus_04_dot_98 Drawer_bar__minus_02_dot_98_bar__plus_00_dot_48_bar__minus_05_dot_01) + (inReceptacle RemoteControl_bar__minus_04_dot_38_bar__plus_00_dot_34_bar__minus_01_dot_67 Sofa_bar__minus_04_dot_36_bar__plus_00_dot_00_bar__minus_02_dot_09) + (inReceptacle Newspaper_bar__minus_04_dot_27_bar__plus_00_dot_34_bar__minus_02_dot_16 Sofa_bar__minus_04_dot_36_bar__plus_00_dot_00_bar__minus_02_dot_09) + (inReceptacle KeyChain_bar__minus_04_dot_08_bar__plus_00_dot_34_bar__minus_01_dot_67 Sofa_bar__minus_04_dot_36_bar__plus_00_dot_00_bar__minus_02_dot_09) + (inReceptacle Pillow_bar__minus_04_dot_28_bar__plus_00_dot_45_bar__minus_01_dot_74 Sofa_bar__minus_04_dot_36_bar__plus_00_dot_00_bar__minus_02_dot_09) + (inReceptacle Laptop_bar__minus_02_dot_57_bar__plus_00_dot_59_bar__minus_02_dot_00 CoffeeTable_bar__minus_02_dot_47_bar__plus_00_dot_00_bar__minus_02_dot_49) + (inReceptacle Statue_bar__minus_02_dot_26_bar__plus_00_dot_59_bar__minus_02_dot_33 CoffeeTable_bar__minus_02_dot_47_bar__plus_00_dot_00_bar__minus_02_dot_49) + (inReceptacle KeyChain_bar__minus_02_dot_26_bar__plus_00_dot_59_bar__minus_02_dot_82 CoffeeTable_bar__minus_02_dot_47_bar__plus_00_dot_00_bar__minus_02_dot_49) + (inReceptacle Watch_bar__minus_02_dot_57_bar__plus_00_dot_59_bar__minus_02_dot_33 CoffeeTable_bar__minus_02_dot_47_bar__plus_00_dot_00_bar__minus_02_dot_49) + (inReceptacle Statue_bar__minus_02_dot_02_bar__plus_00_dot_48_bar__minus_05_dot_09 SideTable_bar__minus_02_dot_02_bar__minus_00_dot_01_bar__minus_05_dot_08) + + + (receptacleAtLocation ArmChair_bar__minus_04_dot_39_bar__plus_00_dot_00_bar__minus_03_dot_55 loc_bar__minus_13_bar__minus_15_bar_3_bar_60) + (receptacleAtLocation CoffeeTable_bar__minus_02_dot_47_bar__plus_00_dot_00_bar__minus_02_dot_49 loc_bar__minus_5_bar__minus_10_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_02_dot_98_bar__plus_00_dot_17_bar__minus_05_dot_01 loc_bar__minus_7_bar__minus_18_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__minus_02_dot_98_bar__plus_00_dot_48_bar__minus_05_dot_01 loc_bar__minus_16_bar__minus_18_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__minus_04_dot_02_bar__plus_00_dot_17_bar__minus_05_dot_01 loc_bar__minus_16_bar__minus_18_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__minus_04_dot_02_bar__plus_00_dot_48_bar__minus_05_dot_01 loc_bar__minus_12_bar__minus_18_bar_3_bar_45) + (receptacleAtLocation Dresser_bar__minus_03_dot_51_bar__plus_00_dot_00_bar__minus_05_dot_10 loc_bar__minus_13_bar__minus_17_bar_2_bar_60) + (receptacleAtLocation GarbageCan_bar__minus_00_dot_97_bar__plus_00_dot_00_bar__minus_05_dot_06 loc_bar__minus_6_bar__minus_19_bar_1_bar_60) + (receptacleAtLocation SideTable_bar__minus_02_dot_02_bar__minus_00_dot_01_bar__minus_05_dot_08 loc_bar__minus_10_bar__minus_17_bar_2_bar_60) + (receptacleAtLocation SideTable_bar__minus_05_dot_43_bar__minus_00_dot_01_bar__minus_05_dot_12 loc_bar__minus_23_bar__minus_17_bar_2_bar_60) + (receptacleAtLocation Sofa_bar__minus_04_dot_36_bar__plus_00_dot_00_bar__minus_02_dot_09 loc_bar__minus_13_bar__minus_8_bar_3_bar_60) + (objectAtLocation Statue_bar__minus_02_dot_02_bar__plus_00_dot_48_bar__minus_05_dot_09 loc_bar__minus_10_bar__minus_17_bar_2_bar_60) + (objectAtLocation Laptop_bar__minus_04_dot_19_bar__plus_00_dot_33_bar__minus_03_dot_52 loc_bar__minus_13_bar__minus_15_bar_3_bar_60) + (objectAtLocation KeyChain_bar__minus_02_dot_26_bar__plus_00_dot_59_bar__minus_02_dot_82 loc_bar__minus_5_bar__minus_10_bar_3_bar_60) + (objectAtLocation Pen_bar__minus_05_dot_42_bar__plus_00_dot_49_bar__minus_05_dot_13 loc_bar__minus_23_bar__minus_17_bar_2_bar_60) + (objectAtLocation Watch_bar__minus_04_dot_25_bar__plus_00_dot_08_bar__minus_05_dot_03 loc_bar__minus_16_bar__minus_18_bar_2_bar_60) + (objectAtLocation Newspaper_bar__minus_04_dot_27_bar__plus_00_dot_34_bar__minus_02_dot_16 loc_bar__minus_13_bar__minus_8_bar_3_bar_60) + (objectAtLocation Statue_bar__minus_02_dot_65_bar__plus_00_dot_71_bar__minus_05_dot_19 loc_bar__minus_13_bar__minus_17_bar_2_bar_60) + (objectAtLocation Watch_bar__minus_05_dot_22_bar__plus_00_dot_48_bar__minus_05_dot_26 loc_bar__minus_23_bar__minus_17_bar_2_bar_60) + (objectAtLocation Box_bar__minus_02_dot_36_bar__plus_00_dot_26_bar__minus_01_dot_65 loc_bar__minus_8_bar__minus_6_bar_3_bar_60) + (objectAtLocation Book_bar__minus_03_dot_22_bar__plus_00_dot_70_bar__minus_05_dot_05 loc_bar__minus_13_bar__minus_17_bar_2_bar_60) + (objectAtLocation Mirror_bar__minus_03_dot_40_bar__plus_02_dot_03_bar__plus_00_dot_00 loc_bar__minus_14_bar__minus_3_bar_0_bar__minus_30) + (objectAtLocation Newspaper_bar__minus_02_dot_93_bar__plus_00_dot_71_bar__minus_05_dot_09 loc_bar__minus_13_bar__minus_17_bar_2_bar_60) + (objectAtLocation Watch_bar__minus_02_dot_57_bar__plus_00_dot_59_bar__minus_02_dot_33 loc_bar__minus_5_bar__minus_10_bar_3_bar_60) + (objectAtLocation Pen_bar__minus_02_dot_65_bar__plus_00_dot_71_bar__minus_05_dot_00 loc_bar__minus_13_bar__minus_17_bar_2_bar_60) + (objectAtLocation FloorLamp_bar__minus_04_dot_82_bar__plus_00_dot_00_bar__minus_05_dot_12 loc_bar__minus_18_bar__minus_18_bar_2_bar_60) + (objectAtLocation LightSwitch_bar__minus_05_dot_76_bar__plus_01_dot_33_bar__plus_00_dot_01 loc_bar__minus_23_bar__minus_2_bar_0_bar_30) + (objectAtLocation WateringCan_bar__minus_07_dot_99_bar__plus_00_dot_00_bar__minus_04_dot_63 loc_bar__minus_31_bar__minus_17_bar_2_bar_60) + (objectAtLocation Pillow_bar__minus_04_dot_28_bar__plus_00_dot_45_bar__minus_01_dot_74 loc_bar__minus_13_bar__minus_8_bar_3_bar_60) + (objectAtLocation CreditCard_bar__minus_02_dot_64_bar__plus_00_dot_38_bar__minus_04_dot_98 loc_bar__minus_16_bar__minus_18_bar_1_bar_45) + (objectAtLocation Vase_bar__minus_04_dot_48_bar__plus_00_dot_70_bar__minus_05_dot_08 loc_bar__minus_13_bar__minus_17_bar_2_bar_60) + (objectAtLocation KeyChain_bar__minus_04_dot_08_bar__plus_00_dot_34_bar__minus_01_dot_67 loc_bar__minus_13_bar__minus_8_bar_3_bar_60) + (objectAtLocation Vase_bar__minus_04_dot_22_bar__plus_00_dot_70_bar__minus_05_dot_05 loc_bar__minus_13_bar__minus_17_bar_2_bar_60) + (objectAtLocation Laptop_bar__minus_02_dot_57_bar__plus_00_dot_59_bar__minus_02_dot_00 loc_bar__minus_5_bar__minus_10_bar_3_bar_60) + (objectAtLocation HousePlant_bar__minus_05_dot_63_bar__plus_00_dot_48_bar__minus_05_dot_13 loc_bar__minus_23_bar__minus_17_bar_2_bar_60) + (objectAtLocation Statue_bar__minus_02_dot_26_bar__plus_00_dot_59_bar__minus_02_dot_33 loc_bar__minus_5_bar__minus_10_bar_3_bar_60) + (objectAtLocation Vase_bar__minus_03_dot_50_bar__plus_00_dot_71_bar__minus_05_dot_09 loc_bar__minus_13_bar__minus_17_bar_2_bar_60) + (objectAtLocation Painting_bar__minus_03_dot_37_bar__plus_01_dot_80_bar__minus_05_dot_39 loc_bar__minus_13_bar__minus_18_bar_2_bar__minus_15) + (objectAtLocation RemoteControl_bar__minus_04_dot_38_bar__plus_00_dot_34_bar__minus_01_dot_67 loc_bar__minus_13_bar__minus_8_bar_3_bar_60) + (objectAtLocation Television_bar__minus_00_dot_61_bar__plus_01_dot_67_bar__minus_02_dot_60 loc_bar__minus_5_bar__minus_10_bar_1_bar_0) + (objectAtLocation Vase_bar__minus_03_dot_79_bar__plus_00_dot_70_bar__minus_05_dot_19 loc_bar__minus_13_bar__minus_17_bar_2_bar_60) + (objectAtLocation Window_bar__minus_08_dot_24_bar__plus_01_dot_41_bar__minus_01_dot_51 loc_bar__minus_31_bar__minus_6_bar_3_bar_30) + (objectAtLocation Window_bar__minus_08_dot_24_bar__plus_01_dot_41_bar__minus_04_dot_08 loc_bar__minus_31_bar__minus_16_bar_3_bar_30) + ) + + + (:goal + (and + (exists (?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 WatchType) + (holds ?a ?o) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Watch-None-FloorLamp-209/trial_T20190907_033654_950263/traj_data.json b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Watch-None-FloorLamp-209/trial_T20190907_033654_950263/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..a5fc5ed705c42c58a1019c3e2a94e1e9997b8d19 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Watch-None-FloorLamp-209/trial_T20190907_033654_950263/traj_data.json @@ -0,0 +1,4042 @@ +{ + "images": [ + { + "high_idx": 0, + "image_name": "000000000.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": 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+ "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "WateringCan_f1b704c3", + "position": { + "x": -7.991349, + "y": 0.0008428693, + "z": -4.629464 + }, + "rotation": { + "x": -0.000799632457, + "y": 296.796967, + "z": 0.00115881 + } + }, + { + "objectName": "Pillow_43f5ce75", + "position": { + "x": -4.2824, + "y": 0.4545, + "z": -1.736 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "CreditCard_d56c9394", + "position": { + "x": -2.637498, + "y": 0.384406984, + "z": -4.976478 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Vase_6a3e9901", + "position": { + "x": -4.477, + "y": 0.697854638, + "z": -5.076 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "KeyChain_66f96f55", + "position": { + "x": -2.25712681, + "y": 0.5881774, + "z": -2.82224584 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Vase_b321c4a8", + "position": { + "x": -4.218, + "y": 0.697854638, + "z": -5.046 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Laptop_fa6f33e1", + "position": { + "x": -4.187792, + "y": 0.3331213, + "z": -3.52039027 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + }, + { + "objectName": "Statue_e7eb2316", + "position": { + "x": -2.02043962, + "y": 0.47522217, + "z": -5.09493256 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Vase_9af66930", + "position": { + "x": -3.503513, + "y": 0.7100141, + "z": -5.09397364 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "RemoteControl_1c8f3660", + "position": { + "x": -4.384506, + "y": 0.339307129, + "z": -1.6701355 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Vase_eb5b21fb", + "position": { + "x": -3.7886095, + "y": 0.704698861, + "z": -5.188487 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [ + { + "isOn": false, + "objectType": "FloorLamp" + } + ], + "random_seed": 3692779378, + "scene_num": 209 + }, + "task_id": "trial_T20190907_033654_950263", + "task_type": "look_at_obj_in_light", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A272X64FOZFYLB_33L7PJKHCJF8H1U6HB7CWH5CTUB8TY", + "high_descs": [ + "Turn around and walk to the coffee table in the center of the room.", + "Pick up the watch from the coffee table.", + "Turn right and walk to the floor lamp next to the plant.", + "Turn on the lamp." + ], + "task_desc": "Examine a watch by the light of a floor lamp.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1NWXL4QO30M8U_3UN61F00HZ6CE4YCFOVEKIU34ML5RV", + "high_descs": [ + "Turn around and walk past the couch, then turn left and walk forward to the middle of the couch, then turn left to face the coffee table. ", + "Pick up the watch that is next to the laptop on the table. ", + "Turn to the right and walk across the room, then turn right and walk past the couch, then turn left to face the lamp. ", + "Turn the lamp on. " + ], + "task_desc": "To look at the watch in the light. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A320QA9HJFUOZO_3VSOLARPKEQ3WPFM7O7ZE0WPJ1939U", + "high_descs": [ + "Turn around and walk over to the coffee table in the living room", + "Pick up the watch from the coffee table", + "Turn right and walk over to the floor lamp just right of the long wooden cabinet", + "Turn on the floor lamp" + ], + "task_desc": "Examine the watch under the light of the 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-Watch-None-FloorLamp-209/trial_T20190907_033713_746926/initial_state.pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Watch-None-FloorLamp-209/trial_T20190907_033713_746926/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..56ba3b0d756ebe817cedf9b5bc301cdc68b5b7d4 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Watch-None-FloorLamp-209/trial_T20190907_033713_746926/initial_state.pddl @@ -0,0 +1,550 @@ + +(define (problem plan_trial_T20190907_033713_746926) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_03_dot_50_bar__plus_00_dot_70_bar__minus_05_dot_14 - object + Book_bar__minus_04_dot_41_bar__plus_00_dot_33_bar__minus_03_dot_59 - object + Box_bar__minus_02_dot_36_bar__plus_00_dot_26_bar__minus_01_dot_65 - object + CreditCard_bar__minus_02_dot_15_bar__plus_00_dot_48_bar__minus_05_dot_08 - object + FloorLamp_bar__minus_04_dot_82_bar__plus_00_dot_00_bar__minus_05_dot_12 - object + HousePlant_bar__minus_05_dot_63_bar__plus_00_dot_48_bar__minus_05_dot_13 - object + KeyChain_bar__minus_04_dot_15_bar__plus_00_dot_34_bar__minus_02_dot_50 - object + KeyChain_bar__minus_04_dot_25_bar__plus_00_dot_08_bar__minus_05_dot_07 - object + KeyChain_bar__minus_04_dot_34_bar__plus_00_dot_34_bar__minus_03_dot_30 - object + Laptop_bar__minus_02_dot_36_bar__plus_00_dot_59_bar__minus_02_dot_00 - object + Laptop_bar__minus_02_dot_36_bar__plus_00_dot_59_bar__minus_02_dot_99 - object + LightSwitch_bar__minus_05_dot_76_bar__plus_01_dot_33_bar__plus_00_dot_01 - object + Mirror_bar__minus_03_dot_40_bar__plus_02_dot_03_bar__plus_00_dot_00 - object + Newspaper_bar__minus_04_dot_27_bar__plus_00_dot_34_bar__minus_02_dot_16 - object + Painting_bar__minus_03_dot_37_bar__plus_01_dot_80_bar__minus_05_dot_39 - object + Pen_bar__minus_03_dot_22_bar__plus_00_dot_71_bar__minus_05_dot_24 - object + Pen_bar__minus_04_dot_07_bar__plus_00_dot_71_bar__minus_05_dot_05 - object + Pen_bar__minus_05_dot_22_bar__plus_00_dot_49_bar__minus_05_dot_00 - object + Pillow_bar__minus_04_dot_26_bar__plus_00_dot_44_bar__minus_03_dot_45 - object + Pillow_bar__minus_04_dot_28_bar__plus_00_dot_45_bar__minus_01_dot_74 - object + RemoteControl_bar__minus_02_dot_93_bar__plus_00_dot_71_bar__minus_05_dot_14 - object + RemoteControl_bar__minus_04_dot_38_bar__plus_00_dot_33_bar__minus_01_dot_46 - object + Statue_bar__minus_02_dot_15_bar__plus_00_dot_59_bar__minus_02_dot_66 - object + Statue_bar__minus_02_dot_68_bar__plus_00_dot_59_bar__minus_02_dot_66 - object + Television_bar__minus_00_dot_61_bar__plus_01_dot_67_bar__minus_02_dot_60 - object + Vase_bar__minus_02_dot_65_bar__plus_00_dot_70_bar__minus_05_dot_14 - object + Vase_bar__minus_03_dot_90_bar__plus_00_dot_70_bar__minus_05_dot_10 - object + Vase_bar__minus_04_dot_22_bar__plus_00_dot_70_bar__minus_05_dot_05 - object + Vase_bar__minus_04_dot_48_bar__plus_00_dot_70_bar__minus_05_dot_08 - object + Watch_bar__minus_02_dot_79_bar__plus_00_dot_59_bar__minus_02_dot_49 - object + WateringCan_bar__minus_07_dot_99_bar__plus_00_dot_00_bar__minus_04_dot_63 - object + Window_bar__minus_08_dot_24_bar__plus_01_dot_41_bar__minus_01_dot_51 - object + Window_bar__minus_08_dot_24_bar__plus_01_dot_41_bar__minus_04_dot_08 - object + ArmChair_bar__minus_04_dot_39_bar__plus_00_dot_00_bar__minus_03_dot_55 - receptacle + CoffeeTable_bar__minus_02_dot_47_bar__plus_00_dot_00_bar__minus_02_dot_49 - receptacle + Drawer_bar__minus_02_dot_98_bar__plus_00_dot_17_bar__minus_05_dot_01 - receptacle + Drawer_bar__minus_02_dot_98_bar__plus_00_dot_48_bar__minus_05_dot_01 - receptacle + Drawer_bar__minus_04_dot_02_bar__plus_00_dot_17_bar__minus_05_dot_01 - receptacle + Drawer_bar__minus_04_dot_02_bar__plus_00_dot_48_bar__minus_05_dot_01 - receptacle + Dresser_bar__minus_03_dot_51_bar__plus_00_dot_00_bar__minus_05_dot_10 - receptacle + GarbageCan_bar__minus_00_dot_97_bar__plus_00_dot_00_bar__minus_05_dot_06 - receptacle + SideTable_bar__minus_02_dot_02_bar__minus_00_dot_01_bar__minus_05_dot_08 - receptacle + SideTable_bar__minus_05_dot_43_bar__minus_00_dot_01_bar__minus_05_dot_12 - receptacle + Sofa_bar__minus_04_dot_36_bar__plus_00_dot_00_bar__minus_02_dot_09 - receptacle + loc_bar__minus_31_bar__minus_6_bar_3_bar_30 - location + loc_bar__minus_7_bar__minus_18_bar_3_bar_45 - location + loc_bar__minus_16_bar__minus_18_bar_1_bar_45 - location + loc_bar__minus_18_bar__minus_18_bar_2_bar_60 - location + loc_bar__minus_31_bar__minus_16_bar_3_bar_30 - location + loc_bar__minus_8_bar__minus_6_bar_3_bar_60 - location + loc_bar__minus_6_bar__minus_19_bar_1_bar_60 - location + loc_bar__minus_31_bar__minus_17_bar_2_bar_60 - location + loc_bar__minus_15_bar__minus_13_bar_3_bar_60 - location + loc_bar__minus_13_bar__minus_15_bar_3_bar_60 - location + loc_bar__minus_23_bar__minus_17_bar_2_bar_60 - location + loc_bar__minus_13_bar__minus_17_bar_2_bar_60 - location + loc_bar__minus_13_bar__minus_8_bar_3_bar_60 - location + loc_bar__minus_14_bar__minus_3_bar_0_bar__minus_30 - location + loc_bar__minus_16_bar__minus_18_bar_2_bar_60 - location + loc_bar__minus_5_bar__minus_10_bar_1_bar_0 - location + loc_bar__minus_5_bar__minus_10_bar_3_bar_60 - location + loc_bar__minus_10_bar__minus_17_bar_2_bar_60 - location + loc_bar__minus_12_bar__minus_18_bar_3_bar_45 - location + loc_bar__minus_13_bar__minus_18_bar_2_bar__minus_15 - location + loc_bar__minus_23_bar__minus_2_bar_0_bar_30 - location + loc_bar__minus_7_bar__minus_17_bar_0_bar_30 - location + ) + + +(:init + + + (receptacleType ArmChair_bar__minus_04_dot_39_bar__plus_00_dot_00_bar__minus_03_dot_55 ArmChairType) + (receptacleType GarbageCan_bar__minus_00_dot_97_bar__plus_00_dot_00_bar__minus_05_dot_06 GarbageCanType) + (receptacleType Drawer_bar__minus_02_dot_98_bar__plus_00_dot_48_bar__minus_05_dot_01 DrawerType) + (receptacleType SideTable_bar__minus_02_dot_02_bar__minus_00_dot_01_bar__minus_05_dot_08 SideTableType) + (receptacleType SideTable_bar__minus_05_dot_43_bar__minus_00_dot_01_bar__minus_05_dot_12 SideTableType) + (receptacleType Drawer_bar__minus_04_dot_02_bar__plus_00_dot_48_bar__minus_05_dot_01 DrawerType) + (receptacleType Dresser_bar__minus_03_dot_51_bar__plus_00_dot_00_bar__minus_05_dot_10 DresserType) + (receptacleType Drawer_bar__minus_02_dot_98_bar__plus_00_dot_17_bar__minus_05_dot_01 DrawerType) + (receptacleType CoffeeTable_bar__minus_02_dot_47_bar__plus_00_dot_00_bar__minus_02_dot_49 CoffeeTableType) + (receptacleType Drawer_bar__minus_04_dot_02_bar__plus_00_dot_17_bar__minus_05_dot_01 DrawerType) + (receptacleType Sofa_bar__minus_04_dot_36_bar__plus_00_dot_00_bar__minus_02_dot_09 SofaType) + (objectType LightSwitch_bar__minus_05_dot_76_bar__plus_01_dot_33_bar__plus_00_dot_01 LightSwitchType) + (objectType Newspaper_bar__minus_04_dot_27_bar__plus_00_dot_34_bar__minus_02_dot_16 NewspaperType) + (objectType CreditCard_bar__minus_02_dot_15_bar__plus_00_dot_48_bar__minus_05_dot_08 CreditCardType) + (objectType WateringCan_bar__minus_07_dot_99_bar__plus_00_dot_00_bar__minus_04_dot_63 WateringCanType) + (objectType Vase_bar__minus_04_dot_48_bar__plus_00_dot_70_bar__minus_05_dot_08 VaseType) + (objectType Vase_bar__minus_03_dot_90_bar__plus_00_dot_70_bar__minus_05_dot_10 VaseType) + (objectType KeyChain_bar__minus_04_dot_15_bar__plus_00_dot_34_bar__minus_02_dot_50 KeyChainType) + (objectType Watch_bar__minus_02_dot_79_bar__plus_00_dot_59_bar__minus_02_dot_49 WatchType) + (objectType FloorLamp_bar__minus_04_dot_82_bar__plus_00_dot_00_bar__minus_05_dot_12 FloorLampType) + (objectType RemoteControl_bar__minus_02_dot_93_bar__plus_00_dot_71_bar__minus_05_dot_14 RemoteControlType) + (objectType KeyChain_bar__minus_04_dot_25_bar__plus_00_dot_08_bar__minus_05_dot_07 KeyChainType) + (objectType Window_bar__minus_08_dot_24_bar__plus_01_dot_41_bar__minus_01_dot_51 WindowType) + (objectType Laptop_bar__minus_02_dot_36_bar__plus_00_dot_59_bar__minus_02_dot_00 LaptopType) + (objectType Television_bar__minus_00_dot_61_bar__plus_01_dot_67_bar__minus_02_dot_60 TelevisionType) + (objectType Statue_bar__minus_02_dot_15_bar__plus_00_dot_59_bar__minus_02_dot_66 StatueType) + (objectType Box_bar__minus_02_dot_36_bar__plus_00_dot_26_bar__minus_01_dot_65 BoxType) + (objectType Mirror_bar__minus_03_dot_40_bar__plus_02_dot_03_bar__plus_00_dot_00 MirrorType) + (objectType Window_bar__minus_08_dot_24_bar__plus_01_dot_41_bar__minus_04_dot_08 WindowType) + (objectType KeyChain_bar__minus_04_dot_34_bar__plus_00_dot_34_bar__minus_03_dot_30 KeyChainType) + (objectType Pen_bar__minus_05_dot_22_bar__plus_00_dot_49_bar__minus_05_dot_00 PenType) + (objectType Pillow_bar__minus_04_dot_26_bar__plus_00_dot_44_bar__minus_03_dot_45 PillowType) + (objectType HousePlant_bar__minus_05_dot_63_bar__plus_00_dot_48_bar__minus_05_dot_13 HousePlantType) + (objectType Book_bar__minus_04_dot_41_bar__plus_00_dot_33_bar__minus_03_dot_59 BookType) + (objectType Pillow_bar__minus_04_dot_28_bar__plus_00_dot_45_bar__minus_01_dot_74 PillowType) + (objectType RemoteControl_bar__minus_04_dot_38_bar__plus_00_dot_33_bar__minus_01_dot_46 RemoteControlType) + (objectType Statue_bar__minus_02_dot_68_bar__plus_00_dot_59_bar__minus_02_dot_66 StatueType) + (objectType Pen_bar__minus_04_dot_07_bar__plus_00_dot_71_bar__minus_05_dot_05 PenType) + (objectType Laptop_bar__minus_02_dot_36_bar__plus_00_dot_59_bar__minus_02_dot_99 LaptopType) + (objectType Vase_bar__minus_04_dot_22_bar__plus_00_dot_70_bar__minus_05_dot_05 VaseType) + (objectType Pen_bar__minus_03_dot_22_bar__plus_00_dot_71_bar__minus_05_dot_24 PenType) + (objectType Painting_bar__minus_03_dot_37_bar__plus_01_dot_80_bar__minus_05_dot_39 PaintingType) + (objectType Vase_bar__minus_02_dot_65_bar__plus_00_dot_70_bar__minus_05_dot_14 VaseType) + (objectType Book_bar__minus_03_dot_50_bar__plus_00_dot_70_bar__minus_05_dot_14 BookType) + (canContain ArmChairType BoxType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType BookType) + (canContain ArmChairType PillowType) + (canContain ArmChairType RemoteControlType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType NewspaperType) + (canContain ArmChairType CreditCardType) + (canContain GarbageCanType PenType) + (canContain GarbageCanType NewspaperType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType WatchType) + (canContain DrawerType NewspaperType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType WateringCanType) + (canContain SideTableType PenType) + (canContain SideTableType BookType) + (canContain SideTableType WatchType) + (canContain SideTableType NewspaperType) + (canContain SideTableType VaseType) + (canContain SideTableType BoxType) + (canContain SideTableType KeyChainType) + (canContain SideTableType CreditCardType) + (canContain SideTableType LaptopType) + (canContain SideTableType RemoteControlType) + (canContain SideTableType StatueType) + (canContain SideTableType WateringCanType) + (canContain SideTableType PenType) + (canContain SideTableType BookType) + (canContain SideTableType WatchType) + (canContain SideTableType NewspaperType) + (canContain SideTableType VaseType) + (canContain SideTableType BoxType) + (canContain SideTableType KeyChainType) + (canContain SideTableType CreditCardType) + (canContain SideTableType LaptopType) + (canContain SideTableType RemoteControlType) + (canContain SideTableType StatueType) + (canContain SideTableType WateringCanType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType WatchType) + (canContain DrawerType NewspaperType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType WateringCanType) + (canContain DresserType PenType) + (canContain DresserType BookType) + (canContain DresserType WatchType) + (canContain DresserType NewspaperType) + (canContain DresserType VaseType) + (canContain DresserType BoxType) + (canContain DresserType KeyChainType) + (canContain DresserType CreditCardType) + (canContain DresserType LaptopType) + (canContain DresserType RemoteControlType) + (canContain DresserType StatueType) + (canContain DresserType WateringCanType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType WatchType) + (canContain DrawerType NewspaperType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType WateringCanType) + (canContain CoffeeTableType PenType) + (canContain CoffeeTableType BookType) + (canContain CoffeeTableType WatchType) + (canContain CoffeeTableType NewspaperType) + (canContain CoffeeTableType VaseType) + (canContain CoffeeTableType BoxType) + (canContain CoffeeTableType KeyChainType) + (canContain CoffeeTableType CreditCardType) + (canContain CoffeeTableType LaptopType) + (canContain CoffeeTableType RemoteControlType) + (canContain CoffeeTableType StatueType) + (canContain CoffeeTableType WateringCanType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType WatchType) + (canContain DrawerType NewspaperType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType WateringCanType) + (canContain SofaType BoxType) + (canContain SofaType LaptopType) + (canContain SofaType BookType) + (canContain SofaType PillowType) + (canContain SofaType RemoteControlType) + (canContain SofaType KeyChainType) + (canContain SofaType NewspaperType) + (canContain SofaType CreditCardType) + (pickupable Newspaper_bar__minus_04_dot_27_bar__plus_00_dot_34_bar__minus_02_dot_16) + (pickupable CreditCard_bar__minus_02_dot_15_bar__plus_00_dot_48_bar__minus_05_dot_08) + (pickupable WateringCan_bar__minus_07_dot_99_bar__plus_00_dot_00_bar__minus_04_dot_63) + (pickupable Vase_bar__minus_04_dot_48_bar__plus_00_dot_70_bar__minus_05_dot_08) + (pickupable Vase_bar__minus_03_dot_90_bar__plus_00_dot_70_bar__minus_05_dot_10) + (pickupable KeyChain_bar__minus_04_dot_15_bar__plus_00_dot_34_bar__minus_02_dot_50) + (pickupable Watch_bar__minus_02_dot_79_bar__plus_00_dot_59_bar__minus_02_dot_49) + (pickupable RemoteControl_bar__minus_02_dot_93_bar__plus_00_dot_71_bar__minus_05_dot_14) + (pickupable KeyChain_bar__minus_04_dot_25_bar__plus_00_dot_08_bar__minus_05_dot_07) + (pickupable Laptop_bar__minus_02_dot_36_bar__plus_00_dot_59_bar__minus_02_dot_00) + (pickupable Statue_bar__minus_02_dot_15_bar__plus_00_dot_59_bar__minus_02_dot_66) + (pickupable Box_bar__minus_02_dot_36_bar__plus_00_dot_26_bar__minus_01_dot_65) + (pickupable KeyChain_bar__minus_04_dot_34_bar__plus_00_dot_34_bar__minus_03_dot_30) + (pickupable Pen_bar__minus_05_dot_22_bar__plus_00_dot_49_bar__minus_05_dot_00) + (pickupable Pillow_bar__minus_04_dot_26_bar__plus_00_dot_44_bar__minus_03_dot_45) + (pickupable Book_bar__minus_04_dot_41_bar__plus_00_dot_33_bar__minus_03_dot_59) + (pickupable Pillow_bar__minus_04_dot_28_bar__plus_00_dot_45_bar__minus_01_dot_74) + (pickupable RemoteControl_bar__minus_04_dot_38_bar__plus_00_dot_33_bar__minus_01_dot_46) + (pickupable Statue_bar__minus_02_dot_68_bar__plus_00_dot_59_bar__minus_02_dot_66) + (pickupable Pen_bar__minus_04_dot_07_bar__plus_00_dot_71_bar__minus_05_dot_05) + (pickupable Laptop_bar__minus_02_dot_36_bar__plus_00_dot_59_bar__minus_02_dot_99) + (pickupable Vase_bar__minus_04_dot_22_bar__plus_00_dot_70_bar__minus_05_dot_05) + (pickupable Pen_bar__minus_03_dot_22_bar__plus_00_dot_71_bar__minus_05_dot_24) + (pickupable Vase_bar__minus_02_dot_65_bar__plus_00_dot_70_bar__minus_05_dot_14) + (pickupable Book_bar__minus_03_dot_50_bar__plus_00_dot_70_bar__minus_05_dot_14) + (isReceptacleObject Box_bar__minus_02_dot_36_bar__plus_00_dot_26_bar__minus_01_dot_65) + (openable Drawer_bar__minus_02_dot_98_bar__plus_00_dot_48_bar__minus_05_dot_01) + (openable Drawer_bar__minus_04_dot_02_bar__plus_00_dot_48_bar__minus_05_dot_01) + (openable Drawer_bar__minus_02_dot_98_bar__plus_00_dot_17_bar__minus_05_dot_01) + + (atLocation agent1 loc_bar__minus_7_bar__minus_17_bar_0_bar_30) + + + + + + + + (toggleable FloorLamp_bar__minus_04_dot_82_bar__plus_00_dot_00_bar__minus_05_dot_12) + + + + + (inReceptacle Pen_bar__minus_04_dot_07_bar__plus_00_dot_71_bar__minus_05_dot_05 Dresser_bar__minus_03_dot_51_bar__plus_00_dot_00_bar__minus_05_dot_10) + (inReceptacle RemoteControl_bar__minus_02_dot_93_bar__plus_00_dot_71_bar__minus_05_dot_14 Dresser_bar__minus_03_dot_51_bar__plus_00_dot_00_bar__minus_05_dot_10) + (inReceptacle Vase_bar__minus_04_dot_22_bar__plus_00_dot_70_bar__minus_05_dot_05 Dresser_bar__minus_03_dot_51_bar__plus_00_dot_00_bar__minus_05_dot_10) + (inReceptacle Vase_bar__minus_03_dot_90_bar__plus_00_dot_70_bar__minus_05_dot_10 Dresser_bar__minus_03_dot_51_bar__plus_00_dot_00_bar__minus_05_dot_10) + (inReceptacle Pen_bar__minus_03_dot_22_bar__plus_00_dot_71_bar__minus_05_dot_24 Dresser_bar__minus_03_dot_51_bar__plus_00_dot_00_bar__minus_05_dot_10) + (inReceptacle Vase_bar__minus_02_dot_65_bar__plus_00_dot_70_bar__minus_05_dot_14 Dresser_bar__minus_03_dot_51_bar__plus_00_dot_00_bar__minus_05_dot_10) + (inReceptacle Vase_bar__minus_04_dot_48_bar__plus_00_dot_70_bar__minus_05_dot_08 Dresser_bar__minus_03_dot_51_bar__plus_00_dot_00_bar__minus_05_dot_10) + (inReceptacle Book_bar__minus_03_dot_50_bar__plus_00_dot_70_bar__minus_05_dot_14 Dresser_bar__minus_03_dot_51_bar__plus_00_dot_00_bar__minus_05_dot_10) + (inReceptacle HousePlant_bar__minus_05_dot_63_bar__plus_00_dot_48_bar__minus_05_dot_13 SideTable_bar__minus_05_dot_43_bar__minus_00_dot_01_bar__minus_05_dot_12) + (inReceptacle Pen_bar__minus_05_dot_22_bar__plus_00_dot_49_bar__minus_05_dot_00 SideTable_bar__minus_05_dot_43_bar__minus_00_dot_01_bar__minus_05_dot_12) + (inReceptacle Book_bar__minus_04_dot_41_bar__plus_00_dot_33_bar__minus_03_dot_59 ArmChair_bar__minus_04_dot_39_bar__plus_00_dot_00_bar__minus_03_dot_55) + (inReceptacle Pillow_bar__minus_04_dot_26_bar__plus_00_dot_44_bar__minus_03_dot_45 ArmChair_bar__minus_04_dot_39_bar__plus_00_dot_00_bar__minus_03_dot_55) + (inReceptacle KeyChain_bar__minus_04_dot_25_bar__plus_00_dot_08_bar__minus_05_dot_07 Drawer_bar__minus_04_dot_02_bar__plus_00_dot_17_bar__minus_05_dot_01) + (inReceptacle KeyChain_bar__minus_04_dot_15_bar__plus_00_dot_34_bar__minus_02_dot_50 Sofa_bar__minus_04_dot_36_bar__plus_00_dot_00_bar__minus_02_dot_09) + (inReceptacle Pillow_bar__minus_04_dot_28_bar__plus_00_dot_45_bar__minus_01_dot_74 Sofa_bar__minus_04_dot_36_bar__plus_00_dot_00_bar__minus_02_dot_09) + (inReceptacle RemoteControl_bar__minus_04_dot_38_bar__plus_00_dot_33_bar__minus_01_dot_46 Sofa_bar__minus_04_dot_36_bar__plus_00_dot_00_bar__minus_02_dot_09) + (inReceptacle Newspaper_bar__minus_04_dot_27_bar__plus_00_dot_34_bar__minus_02_dot_16 Sofa_bar__minus_04_dot_36_bar__plus_00_dot_00_bar__minus_02_dot_09) + (inReceptacle Watch_bar__minus_02_dot_79_bar__plus_00_dot_59_bar__minus_02_dot_49 CoffeeTable_bar__minus_02_dot_47_bar__plus_00_dot_00_bar__minus_02_dot_49) + (inReceptacle Laptop_bar__minus_02_dot_36_bar__plus_00_dot_59_bar__minus_02_dot_99 CoffeeTable_bar__minus_02_dot_47_bar__plus_00_dot_00_bar__minus_02_dot_49) + (inReceptacle Laptop_bar__minus_02_dot_36_bar__plus_00_dot_59_bar__minus_02_dot_00 CoffeeTable_bar__minus_02_dot_47_bar__plus_00_dot_00_bar__minus_02_dot_49) + (inReceptacle Statue_bar__minus_02_dot_15_bar__plus_00_dot_59_bar__minus_02_dot_66 CoffeeTable_bar__minus_02_dot_47_bar__plus_00_dot_00_bar__minus_02_dot_49) + (inReceptacle Statue_bar__minus_02_dot_68_bar__plus_00_dot_59_bar__minus_02_dot_66 CoffeeTable_bar__minus_02_dot_47_bar__plus_00_dot_00_bar__minus_02_dot_49) + (inReceptacle CreditCard_bar__minus_02_dot_15_bar__plus_00_dot_48_bar__minus_05_dot_08 SideTable_bar__minus_02_dot_02_bar__minus_00_dot_01_bar__minus_05_dot_08) + + + (receptacleAtLocation ArmChair_bar__minus_04_dot_39_bar__plus_00_dot_00_bar__minus_03_dot_55 loc_bar__minus_13_bar__minus_15_bar_3_bar_60) + (receptacleAtLocation CoffeeTable_bar__minus_02_dot_47_bar__plus_00_dot_00_bar__minus_02_dot_49 loc_bar__minus_5_bar__minus_10_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_02_dot_98_bar__plus_00_dot_17_bar__minus_05_dot_01 loc_bar__minus_7_bar__minus_18_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__minus_02_dot_98_bar__plus_00_dot_48_bar__minus_05_dot_01 loc_bar__minus_16_bar__minus_18_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__minus_04_dot_02_bar__plus_00_dot_17_bar__minus_05_dot_01 loc_bar__minus_16_bar__minus_18_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__minus_04_dot_02_bar__plus_00_dot_48_bar__minus_05_dot_01 loc_bar__minus_12_bar__minus_18_bar_3_bar_45) + (receptacleAtLocation Dresser_bar__minus_03_dot_51_bar__plus_00_dot_00_bar__minus_05_dot_10 loc_bar__minus_13_bar__minus_17_bar_2_bar_60) + (receptacleAtLocation GarbageCan_bar__minus_00_dot_97_bar__plus_00_dot_00_bar__minus_05_dot_06 loc_bar__minus_6_bar__minus_19_bar_1_bar_60) + (receptacleAtLocation SideTable_bar__minus_02_dot_02_bar__minus_00_dot_01_bar__minus_05_dot_08 loc_bar__minus_10_bar__minus_17_bar_2_bar_60) + (receptacleAtLocation SideTable_bar__minus_05_dot_43_bar__minus_00_dot_01_bar__minus_05_dot_12 loc_bar__minus_23_bar__minus_17_bar_2_bar_60) + (receptacleAtLocation Sofa_bar__minus_04_dot_36_bar__plus_00_dot_00_bar__minus_02_dot_09 loc_bar__minus_13_bar__minus_8_bar_3_bar_60) + (objectAtLocation RemoteControl_bar__minus_04_dot_38_bar__plus_00_dot_33_bar__minus_01_dot_46 loc_bar__minus_13_bar__minus_8_bar_3_bar_60) + (objectAtLocation Statue_bar__minus_02_dot_15_bar__plus_00_dot_59_bar__minus_02_dot_66 loc_bar__minus_5_bar__minus_10_bar_3_bar_60) + (objectAtLocation Laptop_bar__minus_02_dot_36_bar__plus_00_dot_59_bar__minus_02_dot_00 loc_bar__minus_5_bar__minus_10_bar_3_bar_60) + (objectAtLocation KeyChain_bar__minus_04_dot_15_bar__plus_00_dot_34_bar__minus_02_dot_50 loc_bar__minus_13_bar__minus_8_bar_3_bar_60) + (objectAtLocation Pillow_bar__minus_04_dot_28_bar__plus_00_dot_45_bar__minus_01_dot_74 loc_bar__minus_13_bar__minus_8_bar_3_bar_60) + (objectAtLocation Pen_bar__minus_05_dot_22_bar__plus_00_dot_49_bar__minus_05_dot_00 loc_bar__minus_23_bar__minus_17_bar_2_bar_60) + (objectAtLocation Book_bar__minus_04_dot_41_bar__plus_00_dot_33_bar__minus_03_dot_59 loc_bar__minus_13_bar__minus_15_bar_3_bar_60) + (objectAtLocation KeyChain_bar__minus_04_dot_25_bar__plus_00_dot_08_bar__minus_05_dot_07 loc_bar__minus_16_bar__minus_18_bar_2_bar_60) + (objectAtLocation Pen_bar__minus_03_dot_22_bar__plus_00_dot_71_bar__minus_05_dot_24 loc_bar__minus_13_bar__minus_17_bar_2_bar_60) + (objectAtLocation Box_bar__minus_02_dot_36_bar__plus_00_dot_26_bar__minus_01_dot_65 loc_bar__minus_8_bar__minus_6_bar_3_bar_60) + (objectAtLocation Book_bar__minus_03_dot_50_bar__plus_00_dot_70_bar__minus_05_dot_14 loc_bar__minus_13_bar__minus_17_bar_2_bar_60) + (objectAtLocation Mirror_bar__minus_03_dot_40_bar__plus_02_dot_03_bar__plus_00_dot_00 loc_bar__minus_14_bar__minus_3_bar_0_bar__minus_30) + (objectAtLocation Newspaper_bar__minus_04_dot_27_bar__plus_00_dot_34_bar__minus_02_dot_16 loc_bar__minus_13_bar__minus_8_bar_3_bar_60) + (objectAtLocation Watch_bar__minus_02_dot_79_bar__plus_00_dot_59_bar__minus_02_dot_49 loc_bar__minus_5_bar__minus_10_bar_3_bar_60) + (objectAtLocation Pen_bar__minus_04_dot_07_bar__plus_00_dot_71_bar__minus_05_dot_05 loc_bar__minus_13_bar__minus_17_bar_2_bar_60) + (objectAtLocation FloorLamp_bar__minus_04_dot_82_bar__plus_00_dot_00_bar__minus_05_dot_12 loc_bar__minus_18_bar__minus_18_bar_2_bar_60) + (objectAtLocation LightSwitch_bar__minus_05_dot_76_bar__plus_01_dot_33_bar__plus_00_dot_01 loc_bar__minus_23_bar__minus_2_bar_0_bar_30) + (objectAtLocation WateringCan_bar__minus_07_dot_99_bar__plus_00_dot_00_bar__minus_04_dot_63 loc_bar__minus_31_bar__minus_17_bar_2_bar_60) + (objectAtLocation Pillow_bar__minus_04_dot_26_bar__plus_00_dot_44_bar__minus_03_dot_45 loc_bar__minus_13_bar__minus_15_bar_3_bar_60) + (objectAtLocation CreditCard_bar__minus_02_dot_15_bar__plus_00_dot_48_bar__minus_05_dot_08 loc_bar__minus_10_bar__minus_17_bar_2_bar_60) + (objectAtLocation Vase_bar__minus_04_dot_48_bar__plus_00_dot_70_bar__minus_05_dot_08 loc_bar__minus_13_bar__minus_17_bar_2_bar_60) + (objectAtLocation KeyChain_bar__minus_04_dot_34_bar__plus_00_dot_34_bar__minus_03_dot_30 loc_bar__minus_15_bar__minus_13_bar_3_bar_60) + (objectAtLocation Vase_bar__minus_04_dot_22_bar__plus_00_dot_70_bar__minus_05_dot_05 loc_bar__minus_13_bar__minus_17_bar_2_bar_60) + (objectAtLocation Laptop_bar__minus_02_dot_36_bar__plus_00_dot_59_bar__minus_02_dot_99 loc_bar__minus_5_bar__minus_10_bar_3_bar_60) + (objectAtLocation HousePlant_bar__minus_05_dot_63_bar__plus_00_dot_48_bar__minus_05_dot_13 loc_bar__minus_23_bar__minus_17_bar_2_bar_60) + (objectAtLocation Statue_bar__minus_02_dot_68_bar__plus_00_dot_59_bar__minus_02_dot_66 loc_bar__minus_5_bar__minus_10_bar_3_bar_60) + (objectAtLocation Vase_bar__minus_03_dot_90_bar__plus_00_dot_70_bar__minus_05_dot_10 loc_bar__minus_13_bar__minus_17_bar_2_bar_60) + (objectAtLocation Painting_bar__minus_03_dot_37_bar__plus_01_dot_80_bar__minus_05_dot_39 loc_bar__minus_13_bar__minus_18_bar_2_bar__minus_15) + (objectAtLocation RemoteControl_bar__minus_02_dot_93_bar__plus_00_dot_71_bar__minus_05_dot_14 loc_bar__minus_13_bar__minus_17_bar_2_bar_60) + (objectAtLocation Television_bar__minus_00_dot_61_bar__plus_01_dot_67_bar__minus_02_dot_60 loc_bar__minus_5_bar__minus_10_bar_1_bar_0) + (objectAtLocation Vase_bar__minus_02_dot_65_bar__plus_00_dot_70_bar__minus_05_dot_14 loc_bar__minus_13_bar__minus_17_bar_2_bar_60) + (objectAtLocation Window_bar__minus_08_dot_24_bar__plus_01_dot_41_bar__minus_01_dot_51 loc_bar__minus_31_bar__minus_6_bar_3_bar_30) + (objectAtLocation Window_bar__minus_08_dot_24_bar__plus_01_dot_41_bar__minus_04_dot_08 loc_bar__minus_31_bar__minus_16_bar_3_bar_30) + ) + + + (:goal + (and + (exists (?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 WatchType) + (holds ?a ?o) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Watch-None-FloorLamp-209/trial_T20190907_033713_746926/traj_data.json 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} + ], + "object_toggles": [ + { + "isOn": false, + "objectType": "FloorLamp" + } + ], + "random_seed": 3063007209, + "scene_num": 209 + }, + "task_id": "trial_T20190907_033713_746926", + "task_type": "look_at_obj_in_light", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A2M7VEYAS1405L_35GMH2SV3HY9DAZPYX7DUHVB6UOEOO", + "high_descs": [ + "turn left and cross the room to the grey chair, then turn right, and go forward until you are near the middle of the coffee table. Stop and face the table", + "take the watch from the table", + "turn right and cross the room to the bureau, then turn right and cross the room to the floor lamp. Stop and face the lamp.", + "Turn on the lamp." + ], + "task_desc": "Look at the watch by the light of the floor lamp", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A2A4UAFZ5LW71K_37ZHEEHM6Z3ZI6RTSR9F045JPGK73W", + "high_descs": [ + "turn left, walk around to the other side of coffee table in front of couch, face the coffee table", + "pick up watch that is on coffee table", + "turn right, walk past couch, turn right, turn to face floor lamp on the left", + "turn lamp on, hold watch up to light" + ], + "task_desc": "take watch to the lamp to examine it in the light ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AM2KK02JXXW48_3BF51CHDTYR0U3Y8MDD8PJW604S0HM", + "high_descs": [ + "Move to the couch, turn around and face the table.", + "Pick up the watch on the table. ", + "Turn to the right and bring the watch to the tall lamp in between the two tables. ", + "Turn on the tall lamp on the floor. " + ], + "task_desc": "Examine the watch 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/pick_and_place_simple-AppleSliced-None-Microwave-14/trial_T20190908_171151_027975/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-AppleSliced-None-Microwave-14/trial_T20190908_171151_027975/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..d77f9587e4434cd9b940ba45c1d7822c2b7fa6ff --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-AppleSliced-None-Microwave-14/trial_T20190908_171151_027975/initial_state.pddl @@ -0,0 +1,824 @@ + +(define (problem plan_trial_T20190908_171151_027975) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + 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{ + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + }, + { + "objectName": "Bowl_7266264e", + "position": { + "x": 1.80513167, + "y": 1.64456487, + "z": -1.72470021 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_f9995e03", + "position": { + "x": -0.5958035, + "y": 1.08652008, + "z": -1.55943775 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 2102293249, + "scene_num": 14 + }, + "task_id": "trial_T20190908_171151_027975", + "task_type": "pick_and_place_simple", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A1O3TWBUDONVLO_33FBRBDW6RQZG9ETRX138TPA0IR8CD", + "high_descs": [ + "Walk across the room to the left to face the sink.", + "Pick up the apple in the sink.", + "Turn to the left to face the microwave.", + "Place the apple in the microwave.", + "Turn to the right to face the sink.", + "Pick up the knife on the counter.", + "Turn left to face the microwave.", + "Cut the apple in the microwave into three pieces." + ], + "task_desc": "To place an apple in the microwave and cut it into three slices.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3PPLDHC3CG0YN_3VBEN272MNQUG5977H3RFBAQA5FGSM", + "high_descs": [ + "Turn left, walk to the stove, turn right, and walk to the sink. ", + "Pick up the apple from the sink. ", + "Turn left and face the microwave. ", + "Open the microwave door, place the apple inside of the microwave, close the door. ", + "Turn right and face the sink. ", + "Pick up the sharp knife to the left of the sink. ", + "Turn left to face the microwave. ", + "Open the microwave door, slice the apple in the microwave, close the door. " + ], + "task_desc": "To put an apple in the microwave and cut it into slices. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1S1K7134S2VUC_3ZPBJO59KSS2ECL0UXQK5C0RO0GHDM", + "high_descs": [ + "Turn left, move to the counter in front of the sink.", + "Pick up the apple from the sink.", + "Turn left, move to the counter in front of the microwave.", + "Put the apple in the microwave.", + "Turn right, move to the counter in front of the sink.", + "Pick up the knife from the counter.", + "Turn left, move to the counter in front of the microwave.", + "Slice the apple in the microwave." + ], + "task_desc": "Slice an apple in the microwave.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-AppleSliced-None-Microwave-14/trial_T20190908_171220_804585/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-AppleSliced-None-Microwave-14/trial_T20190908_171220_804585/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..e77066bdcf3df110e1725d30e9197acb9ecd5dac --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-AppleSliced-None-Microwave-14/trial_T20190908_171220_804585/initial_state.pddl @@ -0,0 +1,845 @@ + +(define (problem plan_trial_T20190908_171220_804585) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + 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_45_bar__plus_00_dot_97_bar__plus_00_dot_42 - object + Apple_bar__plus_01_dot_80_bar__plus_00_dot_13_bar__plus_01_dot_64 - object + Apple_bar__plus_01_dot_84_bar__plus_01_dot_07_bar__minus_00_dot_89 - object + Apple_bar__minus_00_dot_69_bar__plus_00_dot_81_bar__minus_01_dot_52 - object + Bowl_bar__plus_00_dot_48_bar__plus_00_dot_91_bar__plus_01_dot_18 - object + Bread_bar__plus_01_dot_25_bar__plus_00_dot_99_bar__plus_01_dot_09 - object + ButterKnife_bar__plus_00_dot_99_bar__plus_00_dot_91_bar__plus_00_dot_83 - object + 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DishSponge_bar__plus_01_dot_77_bar__plus_02_dot_14_bar__plus_00_dot_81 loc_bar_4_bar_1_bar_1_bar__minus_30) + (objectAtLocation Spoon_bar__plus_00_dot_89_bar__plus_00_dot_76_bar__minus_01_dot_65 loc_bar_4_bar__minus_3_bar_2_bar_45) + (objectAtLocation Bowl_bar__plus_00_dot_48_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_50_bar__plus_00_dot_94_bar__minus_01_dot_46 loc_bar_2_bar__minus_3_bar_2_bar_45) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object + ?ko - object) + (and + (sliceable ?o) + (isSliced ?o) + (objectType ?o AppleType) + (inReceptacle ?o ?r) + (receptacleType ?r MicrowaveType) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-AppleSliced-None-Microwave-14/trial_T20190908_171220_804585/traj_data.json 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"task_type": "pick_and_place_simple", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A3F7G1FSFWQPLE_34Q075JO104XBHZSGWZ4YI01DNG10L", + "high_descs": [ + "Walk over to the microwave, then turn right to face the sink.", + "Pick up the butter knife that is in the sink basin.", + "Turn left to face the microwave.", + "Open the microwave and slice up the apple in the microwave, then close the microwave door." + ], + "task_desc": "Use a butter knife to slice up an apple that is in the microwave.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1RLO9LNUJIW5S_3PB5A5BD0YX8X7PFJE5GKKEUNQ4G7Z", + "high_descs": [ + "Walk to the microwave then turn right.", + "Pick up the butter knife that's in front of you in the middle of the sink.", + "Turn left to face the microwave.", + "Open the microwave and cut the object in the back right corner into slices and close the door. " + ], + "task_desc": "Cut a potato in the microwave.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3R19ZA45J8915_3V0Z7YWSI1RKT3I42XN7OU0WZP9V2Q", + "high_descs": [ + "Walk forward to the microwave, then turn right to face the kitchen sink. ", + "Pick up the butter knife that is in the sink.", + "Turn to the left to face the microwave. ", + "Slice the apple that is in the microwave and close the microwave door. " + ], + "task_desc": "Slice an apple that is in the microwave. ", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-AppleSliced-None-Microwave-14/trial_T20190908_171329_509999/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-AppleSliced-None-Microwave-14/trial_T20190908_171329_509999/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..e71a4d70ddc22be1012c68818a0c2ca2d6c169de --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-AppleSliced-None-Microwave-14/trial_T20190908_171329_509999/initial_state.pddl @@ -0,0 +1,805 @@ + +(define (problem plan_trial_T20190908_171329_509999) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + 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_97_bar__plus_01_dot_27 - object + Apple_bar__plus_01_dot_74_bar__plus_01_dot_07_bar__minus_00_dot_89 - object + 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that is on the counter to the left of the stove", + "turn right, walk forward, turn left to face the microwave", + "open microwave, slice the apple, close the microwave" + ], + "task_desc": "slice a cooked apple", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1NWXL4QO30M8U_3P59JYT76OB5GBEFX2NSNCCB24A2TY", + "high_descs": [ + "Take two steps, then turn left and walk to the counter.", + "Pick up the knife that is directly to the left of the stove.", + "Turn right and take two steps, then turn left to face the counter.", + "Open the microwave and cut the apple with the knife. " + ], + "task_desc": "Use the knife to cut the apple in the microwave.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A22ON3MIIG0IJA_3JZQSN0I3T1LC04L1X3S8CRBLE8FGN", + "high_descs": [ + "Walk to the end of the counter then turn left and walk to the corner.", + "Pick up the knife from the counter.", + "Turn right and walk to the microwave.", + "Open the microwave and cut a slice off of the apple inside." + ], + "task_desc": "Cut a slice from an apple that is inside the microwave.", + "votes": [ + 0, + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-Laptop-None-Ottoman-203/trial_T20190908_110606_176017/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Laptop-None-Ottoman-203/trial_T20190908_110606_176017/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..716a1a808218743393db4d52660200089b767d72 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Laptop-None-Ottoman-203/trial_T20190908_110606_176017/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\n\\n#task#\"\n }\n ],\n\n \"notImplemented\": [\n {\n \"rhs\": \"TODO\"\n }\n ],\n\n \"task\": [\n {\n \"rhs\": \"Your task is to: put a laptop in ottoman.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using 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_110606_176017)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Book_bar__plus_00_dot_49_bar__plus_00_dot_55_bar__plus_02_dot_61 - object\n Book_bar__minus_00_dot_97_bar__plus_00_dot_45_bar__plus_02_dot_09 - object\n Boots_bar__minus_06_dot_31_bar__plus_00_dot_01_bar__plus_01_dot_25 - object\n Bowl_bar__minus_04_dot_66_bar__plus_00_dot_76_bar__minus_00_dot_38 - object\n Box_bar__plus_00_dot_96_bar__plus_00_dot_29_bar__plus_06_dot_19 - object\n CellPhone_bar__minus_01_dot_03_bar__plus_00_dot_88_bar__plus_00_dot_10 - object\n Chair_bar__minus_03_dot_43_bar__plus_00_dot_02_bar__minus_00_dot_32 - object\n Chair_bar__minus_03_dot_90_bar__plus_00_dot_02_bar__minus_00_dot_83 - object\n Chair_bar__minus_04_dot_00_bar__plus_00_dot_02_bar__plus_00_dot_09 - object\n Chair_bar__minus_04_dot_57_bar__plus_00_dot_02_bar__minus_00_dot_83 - object\n Chair_bar__minus_04_dot_66_bar__plus_00_dot_02_bar__plus_00_dot_16 - object\n Chair_bar__minus_04_dot_99_bar__plus_00_dot_02_bar__minus_00_dot_41 - object\n CreditCard_bar__minus_01_dot_20_bar__plus_00_dot_45_bar__plus_02_dot_56 - object\n CreditCard_bar__minus_01_dot_22_bar__plus_00_dot_77_bar__plus_00_dot_25 - object\n FloorLamp_bar__plus_01_dot_11_bar__plus_00_dot_01_bar__plus_06_dot_81 - object\n HousePlant_bar__minus_00_dot_75_bar__plus_00_dot_87_bar__plus_00_dot_21 - object\n KeyChain_bar__plus_00_dot_39_bar__plus_00_dot_43_bar__plus_04_dot_12 - object\n KeyChain_bar__plus_00_dot_59_bar__plus_00_dot_04_bar__plus_02_dot_35 - object\n KeyChain_bar__minus_01_dot_34_bar__plus_00_dot_88_bar__plus_00_dot_06 - object\n Laptop_bar__plus_00_dot_49_bar__plus_00_dot_55_bar__plus_02_dot_15 - object\n Laptop_bar__minus_04_dot_66_bar__plus_00_dot_75_bar__minus_00_dot_63 - object\n LightSwitch_bar__minus_06_dot_50_bar__plus_01_dot_50_bar__plus_01_dot_35 - object\n Newspaper_bar__minus_01_dot_32_bar__plus_00_dot_46_bar__plus_03_dot_03 - object\n Newspaper_bar__minus_03_dot_75_bar__plus_00_dot_76_bar__minus_00_dot_63 - object\n Painting_bar__plus_00_dot_70_bar__plus_01_dot_78_bar__plus_00_dot_78 - object\n Painting_bar__minus_06_dot_50_bar__plus_01_dot_76_bar__minus_00_dot_34 - object\n Pencil_bar__minus_06_dot_09_bar__plus_00_dot_06_bar__plus_02_dot_80 - object\n Pillow_bar__plus_00_dot_44_bar__plus_00_dot_58_bar__plus_05_dot_16 - object\n Plate_bar__minus_03_dot_93_bar__plus_00_dot_76_bar__minus_00_dot_38 - object\n Plate_bar__minus_04_dot_04_bar__plus_00_dot_75_bar__minus_00_dot_08 - object\n RemoteControl_bar__plus_00_dot_23_bar__plus_00_dot_20_bar__plus_02_dot_86 - object\n RemoteControl_bar__plus_00_dot_58_bar__plus_00_dot_55_bar__plus_02_dot_91 - object\n RemoteControl_bar__minus_04_dot_11_bar__plus_00_dot_76_bar__minus_00_dot_75 - object\n Television_bar__plus_01_dot_50_bar__plus_01_dot_69_bar__plus_02_dot_56 - object\n TissueBox_bar__minus_00_dot_99_bar__plus_00_dot_87_bar__plus_00_dot_24 - object\n Vase_bar__minus_04_dot_27_bar__plus_00_dot_75_bar__minus_00_dot_44 - object\n Watch_bar__plus_00_dot_32_bar__plus_00_dot_55_bar__plus_03_dot_06 - object\n Watch_bar__plus_00_dot_52_bar__plus_00_dot_04_bar__plus_02_dot_73 - object\n WateringCan_bar__minus_00_dot_82_bar__plus_00_dot_01_bar__plus_00_dot_19 - object\n Window_bar__plus_01_dot_50_bar__plus_01_dot_71_bar__plus_04_dot_46 - object\n Window_bar__minus_04_dot_21_bar__plus_01_dot_58_bar__minus_01_dot_98 - object\n ArmChair_bar__plus_00_dot_42_bar_00_dot_00_bar__plus_05_dot_13 - receptacle\n CoffeeTable_bar__plus_00_dot_41_bar__plus_00_dot_01_bar__plus_02_dot_61 - receptacle\n DiningTable_bar__minus_04_dot_30_bar__plus_00_dot_01_bar__minus_00_dot_38 - receptacle\n Drawer_bar__plus_00_dot_21_bar__plus_00_dot_07_bar__plus_02_dot_61 - receptacle\n Drawer_bar__plus_00_dot_21_bar__plus_00_dot_23_bar__plus_02_dot_61 - receptacle\n Drawer_bar__plus_00_dot_21_bar__plus_00_dot_39_bar__plus_02_dot_61 - receptacle\n Drawer_bar__plus_00_dot_60_bar__plus_00_dot_07_bar__plus_02_dot_61 - receptacle\n Drawer_bar__plus_00_dot_60_bar__plus_00_dot_23_bar__plus_02_dot_61 - receptacle\n Drawer_bar__plus_00_dot_60_bar__plus_00_dot_39_bar__plus_02_dot_61 - receptacle\n Drawer_bar__minus_01_dot_03_bar__plus_00_dot_78_bar__plus_00_dot_24 - receptacle\n GarbageCan_bar__minus_06_dot_13_bar__plus_00_dot_01_bar__plus_02_dot_80 - receptacle\n Ottoman_bar__plus_00_dot_49_bar__plus_00_dot_00_bar__plus_04_dot_31 - receptacle\n SideTable_bar__minus_01_dot_03_bar__plus_00_dot_01_bar__plus_00_dot_16 - receptacle\n Sofa_bar__minus_01_dot_53_bar__plus_00_dot_02_bar__plus_02_dot_56 - receptacle\n loc_bar__minus_13_bar__minus_3_bar_3_bar_60 - location\n loc_bar__minus_5_bar_3_bar_2_bar_60 - location\n loc_bar_4_bar_7_bar_0_bar_60 - location\n loc_bar__minus_2_bar_10_bar_1_bar_60 - location\n loc_bar__minus_24_bar__minus_1_bar_3_bar__minus_15 - location\n loc_bar__minus_1_bar_10_bar_3_bar_45 - location\n loc_bar__minus_2_bar_6_bar_0_bar_45 - location\n loc_bar_4_bar_15_bar_0_bar_0 - location\n loc_bar_2_bar_25_bar_2_bar_60 - location\n loc_bar_4_bar_10_bar_3_bar_60 - location\n loc_bar_4_bar_10_bar_1_bar_0 - location\n loc_bar__minus_1_bar_2_bar_3_bar_60 - location\n loc_bar__minus_24_bar_9_bar_0_bar_60 - location\n loc_bar__minus_17_bar__minus_5_bar_2_bar_0 - location\n loc_bar__minus_2_bar_5_bar_0_bar_45 - location\n loc_bar__minus_3_bar_4_bar_0_bar_45 - location\n loc_bar__minus_24_bar_5_bar_3_bar_15 - location\n loc_bar_4_bar_15_bar_2_bar_45 - location\n loc_bar_2_bar_25_bar_1_bar_60 - location\n loc_bar__minus_2_bar_4_bar_2_bar_45 - location\n loc_bar__minus_13_bar__minus_3_bar_0_bar_60 - location\n loc_bar__minus_21_bar_1_bar_1_bar_60 - location\n loc_bar__minus_16_bar_3_bar_2_bar_60 - location\n loc_bar_3_bar_26_bar_1_bar_60 - location\n loc_bar__minus_24_bar_5_bar_3_bar_60 - location\n loc_bar__minus_17_bar__minus_5_bar_0_bar_60 - location\n loc_bar_0_bar_4_bar_1_bar__minus_15 - location\n loc_bar__minus_18_bar__minus_6_bar_0_bar_60 - location\n loc_bar__minus_22_bar__minus_2_bar_1_bar_60 - location\n loc_bar_4_bar_12_bar_0_bar_45 - location\n loc_bar__minus_12_bar__minus_4_bar_0_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Drawer_bar__plus_00_dot_60_bar__plus_00_dot_07_bar__plus_02_dot_61 DrawerType)\n (receptacleType ArmChair_bar__plus_00_dot_42_bar_00_dot_00_bar__plus_05_dot_13 ArmChairType)\n (receptacleType Sofa_bar__minus_01_dot_53_bar__plus_00_dot_02_bar__plus_02_dot_56 SofaType)\n (receptacleType Drawer_bar__plus_00_dot_21_bar__plus_00_dot_23_bar__plus_02_dot_61 DrawerType)\n (receptacleType CoffeeTable_bar__plus_00_dot_41_bar__plus_00_dot_01_bar__plus_02_dot_61 CoffeeTableType)\n (receptacleType Drawer_bar__plus_00_dot_60_bar__plus_00_dot_23_bar__plus_02_dot_61 DrawerType)\n (receptacleType SideTable_bar__minus_01_dot_03_bar__plus_00_dot_01_bar__plus_00_dot_16 SideTableType)\n (receptacleType Drawer_bar__plus_00_dot_21_bar__plus_00_dot_39_bar__plus_02_dot_61 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_03_bar__plus_00_dot_78_bar__plus_00_dot_24 DrawerType)\n (receptacleType Ottoman_bar__plus_00_dot_49_bar__plus_00_dot_00_bar__plus_04_dot_31 OttomanType)\n (receptacleType Drawer_bar__plus_00_dot_60_bar__plus_00_dot_39_bar__plus_02_dot_61 DrawerType)\n (receptacleType GarbageCan_bar__minus_06_dot_13_bar__plus_00_dot_01_bar__plus_02_dot_80 GarbageCanType)\n (receptacleType DiningTable_bar__minus_04_dot_30_bar__plus_00_dot_01_bar__minus_00_dot_38 DiningTableType)\n (receptacleType Drawer_bar__plus_00_dot_21_bar__plus_00_dot_07_bar__plus_02_dot_61 DrawerType)\n (objectType WateringCan_bar__minus_00_dot_82_bar__plus_00_dot_01_bar__plus_00_dot_19 WateringCanType)\n (objectType TissueBox_bar__minus_00_dot_99_bar__plus_00_dot_87_bar__plus_00_dot_24 TissueBoxType)\n (objectType Vase_bar__minus_04_dot_27_bar__plus_00_dot_75_bar__minus_00_dot_44 VaseType)\n (objectType Book_bar__minus_00_dot_97_bar__plus_00_dot_45_bar__plus_02_dot_09 BookType)\n (objectType Plate_bar__minus_03_dot_93_bar__plus_00_dot_76_bar__minus_00_dot_38 PlateType)\n (objectType HousePlant_bar__minus_00_dot_75_bar__plus_00_dot_87_bar__plus_00_dot_21 HousePlantType)\n (objectType Laptop_bar__plus_00_dot_49_bar__plus_00_dot_55_bar__plus_02_dot_15 LaptopType)\n (objectType LightSwitch_bar__minus_06_dot_50_bar__plus_01_dot_50_bar__plus_01_dot_35 LightSwitchType)\n (objectType Chair_bar__minus_04_dot_00_bar__plus_00_dot_02_bar__plus_00_dot_09 ChairType)\n (objectType Chair_bar__minus_04_dot_66_bar__plus_00_dot_02_bar__plus_00_dot_16 ChairType)\n (objectType KeyChain_bar__plus_00_dot_39_bar__plus_00_dot_43_bar__plus_04_dot_12 KeyChainType)\n (objectType Laptop_bar__minus_04_dot_66_bar__plus_00_dot_75_bar__minus_00_dot_63 LaptopType)\n (objectType KeyChain_bar__minus_01_dot_34_bar__plus_00_dot_88_bar__plus_00_dot_06 KeyChainType)\n (objectType RemoteControl_bar__plus_00_dot_23_bar__plus_00_dot_20_bar__plus_02_dot_86 RemoteControlType)\n (objectType RemoteControl_bar__minus_04_dot_11_bar__plus_00_dot_76_bar__minus_00_dot_75 RemoteControlType)\n (objectType Book_bar__plus_00_dot_49_bar__plus_00_dot_55_bar__plus_02_dot_61 BookType)\n (objectType Newspaper_bar__minus_03_dot_75_bar__plus_00_dot_76_bar__minus_00_dot_63 NewspaperType)\n (objectType CreditCard_bar__minus_01_dot_20_bar__plus_00_dot_45_bar__plus_02_dot_56 CreditCardType)\n (objectType FloorLamp_bar__plus_01_dot_11_bar__plus_00_dot_01_bar__plus_06_dot_81 FloorLampType)\n (objectType CellPhone_bar__minus_01_dot_03_bar__plus_00_dot_88_bar__plus_00_dot_10 CellPhoneType)\n (objectType Painting_bar__minus_06_dot_50_bar__plus_01_dot_76_bar__minus_00_dot_34 PaintingType)\n (objectType Painting_bar__plus_00_dot_70_bar__plus_01_dot_78_bar__plus_00_dot_78 PaintingType)\n (objectType Newspaper_bar__minus_01_dot_32_bar__plus_00_dot_46_bar__plus_03_dot_03 NewspaperType)\n (objectType Window_bar__minus_04_dot_21_bar__plus_01_dot_58_bar__minus_01_dot_98 WindowType)\n (objectType Bowl_bar__minus_04_dot_66_bar__plus_00_dot_76_bar__minus_00_dot_38 BowlType)\n (objectType CreditCard_bar__minus_01_dot_22_bar__plus_00_dot_77_bar__plus_00_dot_25 CreditCardType)\n (objectType Television_bar__plus_01_dot_50_bar__plus_01_dot_69_bar__plus_02_dot_56 TelevisionType)\n (objectType Watch_bar__plus_00_dot_52_bar__plus_00_dot_04_bar__plus_02_dot_73 WatchType)\n (objectType Chair_bar__minus_03_dot_43_bar__plus_00_dot_02_bar__minus_00_dot_32 ChairType)\n (objectType Watch_bar__plus_00_dot_32_bar__plus_00_dot_55_bar__plus_03_dot_06 WatchType)\n (objectType Pencil_bar__minus_06_dot_09_bar__plus_00_dot_06_bar__plus_02_dot_80 PencilType)\n (objectType Chair_bar__minus_04_dot_57_bar__plus_00_dot_02_bar__minus_00_dot_83 ChairType)\n (objectType Chair_bar__minus_04_dot_99_bar__plus_00_dot_02_bar__minus_00_dot_41 ChairType)\n (objectType Window_bar__plus_01_dot_50_bar__plus_01_dot_71_bar__plus_04_dot_46 WindowType)\n (objectType RemoteControl_bar__plus_00_dot_58_bar__plus_00_dot_55_bar__plus_02_dot_91 RemoteControlType)\n (objectType Plate_bar__minus_04_dot_04_bar__plus_00_dot_75_bar__minus_00_dot_08 PlateType)\n (objectType Chair_bar__minus_03_dot_90_bar__plus_00_dot_02_bar__minus_00_dot_83 ChairType)\n (objectType Boots_bar__minus_06_dot_31_bar__plus_00_dot_01_bar__plus_01_dot_25 BootsType)\n (objectType Pillow_bar__plus_00_dot_44_bar__plus_00_dot_58_bar__plus_05_dot_16 PillowType)\n (objectType KeyChain_bar__plus_00_dot_59_bar__plus_00_dot_04_bar__plus_02_dot_35 KeyChainType)\n (objectType Box_bar__plus_00_dot_96_bar__plus_00_dot_29_bar__plus_06_dot_19 BoxType)\n (canContain DrawerType BookType)\n (canContain DrawerType WatchType)\n (canContain DrawerType NewspaperType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType WateringCanType)\n (canContain ArmChairType BoxType)\n (canContain ArmChairType LaptopType)\n (canContain ArmChairType BookType)\n (canContain ArmChairType CellPhoneType)\n (canContain ArmChairType PillowType)\n (canContain ArmChairType RemoteControlType)\n (canContain ArmChairType KeyChainType)\n (canContain ArmChairType NewspaperType)\n (canContain ArmChairType CreditCardType)\n (canContain SofaType BoxType)\n (canContain SofaType LaptopType)\n (canContain SofaType BookType)\n (canContain SofaType CellPhoneType)\n (canContain SofaType PillowType)\n (canContain SofaType RemoteControlType)\n (canContain SofaType KeyChainType)\n (canContain SofaType NewspaperType)\n (canContain SofaType CreditCardType)\n (canContain DrawerType BookType)\n (canContain DrawerType WatchType)\n (canContain DrawerType NewspaperType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType WateringCanType)\n (canContain CoffeeTableType BookType)\n (canContain CoffeeTableType WatchType)\n (canContain CoffeeTableType NewspaperType)\n (canContain CoffeeTableType BowlType)\n (canContain CoffeeTableType VaseType)\n (canContain CoffeeTableType BoxType)\n (canContain CoffeeTableType CellPhoneType)\n (canContain CoffeeTableType KeyChainType)\n (canContain CoffeeTableType CreditCardType)\n (canContain CoffeeTableType LaptopType)\n (canContain CoffeeTableType PencilType)\n (canContain CoffeeTableType PlateType)\n (canContain CoffeeTableType RemoteControlType)\n (canContain CoffeeTableType TissueBoxType)\n (canContain CoffeeTableType WateringCanType)\n (canContain DrawerType BookType)\n (canContain DrawerType WatchType)\n (canContain DrawerType NewspaperType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType WateringCanType)\n (canContain SideTableType BookType)\n (canContain SideTableType WatchType)\n (canContain SideTableType NewspaperType)\n (canContain SideTableType BowlType)\n (canContain SideTableType VaseType)\n (canContain SideTableType BoxType)\n (canContain SideTableType CellPhoneType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType PencilType)\n (canContain SideTableType PlateType)\n (canContain SideTableType RemoteControlType)\n (canContain SideTableType TissueBoxType)\n (canContain SideTableType WateringCanType)\n (canContain DrawerType BookType)\n (canContain DrawerType WatchType)\n (canContain DrawerType NewspaperType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType WateringCanType)\n (canContain DrawerType BookType)\n (canContain DrawerType WatchType)\n (canContain DrawerType NewspaperType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType 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NewspaperType)\n (canContain GarbageCanType PencilType)\n (canContain GarbageCanType TissueBoxType)\n (canContain DiningTableType BookType)\n (canContain DiningTableType WatchType)\n (canContain DiningTableType NewspaperType)\n (canContain DiningTableType BowlType)\n (canContain DiningTableType VaseType)\n (canContain DiningTableType BoxType)\n (canContain DiningTableType CellPhoneType)\n (canContain DiningTableType KeyChainType)\n (canContain DiningTableType CreditCardType)\n (canContain DiningTableType LaptopType)\n (canContain DiningTableType PencilType)\n (canContain DiningTableType PlateType)\n (canContain DiningTableType RemoteControlType)\n (canContain DiningTableType TissueBoxType)\n (canContain DiningTableType WateringCanType)\n (canContain DrawerType BookType)\n (canContain DrawerType WatchType)\n (canContain DrawerType NewspaperType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType WateringCanType)\n (pickupable WateringCan_bar__minus_00_dot_82_bar__plus_00_dot_01_bar__plus_00_dot_19)\n (pickupable TissueBox_bar__minus_00_dot_99_bar__plus_00_dot_87_bar__plus_00_dot_24)\n (pickupable Vase_bar__minus_04_dot_27_bar__plus_00_dot_75_bar__minus_00_dot_44)\n (pickupable Book_bar__minus_00_dot_97_bar__plus_00_dot_45_bar__plus_02_dot_09)\n (pickupable Plate_bar__minus_03_dot_93_bar__plus_00_dot_76_bar__minus_00_dot_38)\n (pickupable Laptop_bar__plus_00_dot_49_bar__plus_00_dot_55_bar__plus_02_dot_15)\n (pickupable KeyChain_bar__plus_00_dot_39_bar__plus_00_dot_43_bar__plus_04_dot_12)\n (pickupable Laptop_bar__minus_04_dot_66_bar__plus_00_dot_75_bar__minus_00_dot_63)\n (pickupable KeyChain_bar__minus_01_dot_34_bar__plus_00_dot_88_bar__plus_00_dot_06)\n (pickupable RemoteControl_bar__plus_00_dot_23_bar__plus_00_dot_20_bar__plus_02_dot_86)\n (pickupable RemoteControl_bar__minus_04_dot_11_bar__plus_00_dot_76_bar__minus_00_dot_75)\n (pickupable Book_bar__plus_00_dot_49_bar__plus_00_dot_55_bar__plus_02_dot_61)\n (pickupable Newspaper_bar__minus_03_dot_75_bar__plus_00_dot_76_bar__minus_00_dot_63)\n (pickupable CreditCard_bar__minus_01_dot_20_bar__plus_00_dot_45_bar__plus_02_dot_56)\n (pickupable CellPhone_bar__minus_01_dot_03_bar__plus_00_dot_88_bar__plus_00_dot_10)\n (pickupable Newspaper_bar__minus_01_dot_32_bar__plus_00_dot_46_bar__plus_03_dot_03)\n (pickupable Bowl_bar__minus_04_dot_66_bar__plus_00_dot_76_bar__minus_00_dot_38)\n (pickupable CreditCard_bar__minus_01_dot_22_bar__plus_00_dot_77_bar__plus_00_dot_25)\n (pickupable Watch_bar__plus_00_dot_52_bar__plus_00_dot_04_bar__plus_02_dot_73)\n (pickupable Watch_bar__plus_00_dot_32_bar__plus_00_dot_55_bar__plus_03_dot_06)\n (pickupable Pencil_bar__minus_06_dot_09_bar__plus_00_dot_06_bar__plus_02_dot_80)\n (pickupable 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Bowl_bar__minus_04_dot_66_bar__plus_00_dot_76_bar__minus_00_dot_38)\n (coolable Plate_bar__minus_04_dot_04_bar__plus_00_dot_75_bar__minus_00_dot_08)\n \n \n (toggleable FloorLamp_bar__plus_01_dot_11_bar__plus_00_dot_01_bar__plus_06_dot_81)\n \n \n \n \n (inReceptacle CreditCard_bar__minus_01_dot_22_bar__plus_00_dot_77_bar__plus_00_dot_25 Drawer_bar__minus_01_dot_03_bar__plus_00_dot_78_bar__plus_00_dot_24)\n (inReceptacle Vase_bar__minus_04_dot_27_bar__plus_00_dot_75_bar__minus_00_dot_44 DiningTable_bar__minus_04_dot_30_bar__plus_00_dot_01_bar__minus_00_dot_38)\n (inReceptacle Plate_bar__minus_03_dot_93_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)\n (inReceptacle Laptop_bar__minus_04_dot_66_bar__plus_00_dot_75_bar__minus_00_dot_63 DiningTable_bar__minus_04_dot_30_bar__plus_00_dot_01_bar__minus_00_dot_38)\n (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)\n (inReceptacle Bowl_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)\n (inReceptacle RemoteControl_bar__minus_04_dot_11_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)\n (inReceptacle Newspaper_bar__minus_03_dot_75_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)\n (inReceptacle CreditCard_bar__minus_01_dot_20_bar__plus_00_dot_45_bar__plus_02_dot_56 Sofa_bar__minus_01_dot_53_bar__plus_00_dot_02_bar__plus_02_dot_56)\n (inReceptacle Book_bar__minus_00_dot_97_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)\n (inReceptacle Newspaper_bar__minus_01_dot_32_bar__plus_00_dot_46_bar__plus_03_dot_03 Sofa_bar__minus_01_dot_53_bar__plus_00_dot_02_bar__plus_02_dot_56)\n (inReceptacle KeyChain_bar__plus_00_dot_59_bar__plus_00_dot_04_bar__plus_02_dot_35 Drawer_bar__plus_00_dot_60_bar__plus_00_dot_07_bar__plus_02_dot_61)\n (inReceptacle Watch_bar__plus_00_dot_52_bar__plus_00_dot_04_bar__plus_02_dot_73 Drawer_bar__plus_00_dot_60_bar__plus_00_dot_07_bar__plus_02_dot_61)\n (inReceptacle KeyChain_bar__plus_00_dot_39_bar__plus_00_dot_43_bar__plus_04_dot_12 Ottoman_bar__plus_00_dot_49_bar__plus_00_dot_00_bar__plus_04_dot_31)\n (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)\n (inReceptacle RemoteControl_bar__plus_00_dot_23_bar__plus_00_dot_20_bar__plus_02_dot_86 Drawer_bar__plus_00_dot_21_bar__plus_00_dot_23_bar__plus_02_dot_61)\n (inReceptacle CellPhone_bar__minus_01_dot_03_bar__plus_00_dot_88_bar__plus_00_dot_10 SideTable_bar__minus_01_dot_03_bar__plus_00_dot_01_bar__plus_00_dot_16)\n (inReceptacle TissueBox_bar__minus_00_dot_99_bar__plus_00_dot_87_bar__plus_00_dot_24 SideTable_bar__minus_01_dot_03_bar__plus_00_dot_01_bar__plus_00_dot_16)\n (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)\n (inReceptacle KeyChain_bar__minus_01_dot_34_bar__plus_00_dot_88_bar__plus_00_dot_06 SideTable_bar__minus_01_dot_03_bar__plus_00_dot_01_bar__plus_00_dot_16)\n (inReceptacle Book_bar__plus_00_dot_49_bar__plus_00_dot_55_bar__plus_02_dot_61 CoffeeTable_bar__plus_00_dot_41_bar__plus_00_dot_01_bar__plus_02_dot_61)\n (inReceptacle Watch_bar__plus_00_dot_32_bar__plus_00_dot_55_bar__plus_03_dot_06 CoffeeTable_bar__plus_00_dot_41_bar__plus_00_dot_01_bar__plus_02_dot_61)\n (inReceptacle Laptop_bar__plus_00_dot_49_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)\n (inReceptacle RemoteControl_bar__plus_00_dot_58_bar__plus_00_dot_55_bar__plus_02_dot_91 CoffeeTable_bar__plus_00_dot_41_bar__plus_00_dot_01_bar__plus_02_dot_61)\n \n \n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (objectAtLocation Watch_bar__plus_00_dot_52_bar__plus_00_dot_04_bar__plus_02_dot_73 loc_bar_4_bar_10_bar_3_bar_60)\n (objectAtLocation RemoteControl_bar__plus_00_dot_23_bar__plus_00_dot_20_bar__plus_02_dot_86 loc_bar__minus_2_bar_5_bar_0_bar_45)\n (objectAtLocation Laptop_bar__plus_00_dot_49_bar__plus_00_dot_55_bar__plus_02_dot_15 loc_bar__minus_2_bar_10_bar_1_bar_60)\n (objectAtLocation KeyChain_bar__plus_00_dot_39_bar__plus_00_dot_43_bar__plus_04_dot_12 loc_bar_4_bar_12_bar_0_bar_45)\n (objectAtLocation CreditCard_bar__minus_01_dot_20_bar__plus_00_dot_45_bar__plus_02_dot_56 loc_bar__minus_1_bar_10_bar_3_bar_45)\n (objectAtLocation Newspaper_bar__minus_03_dot_75_bar__plus_00_dot_76_bar__minus_00_dot_63 loc_bar__minus_17_bar__minus_5_bar_0_bar_60)\n (objectAtLocation Book_bar__plus_00_dot_49_bar__plus_00_dot_55_bar__plus_02_dot_61 loc_bar__minus_2_bar_10_bar_1_bar_60)\n (objectAtLocation RemoteControl_bar__plus_00_dot_58_bar__plus_00_dot_55_bar__plus_02_dot_91 loc_bar__minus_2_bar_10_bar_1_bar_60)\n (objectAtLocation KeyChain_bar__minus_01_dot_34_bar__plus_00_dot_88_bar__plus_00_dot_06 loc_bar__minus_5_bar_3_bar_2_bar_60)\n (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)\n (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)\n (objectAtLocation Book_bar__minus_00_dot_97_bar__plus_00_dot_45_bar__plus_02_dot_09 loc_bar__minus_1_bar_10_bar_3_bar_45)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (objectAtLocation Bowl_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)\n (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)\n (objectAtLocation TissueBox_bar__minus_00_dot_99_bar__plus_00_dot_87_bar__plus_00_dot_24 loc_bar__minus_5_bar_3_bar_2_bar_60)\n (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)\n (objectAtLocation Newspaper_bar__minus_01_dot_32_bar__plus_00_dot_46_bar__plus_03_dot_03 loc_bar__minus_1_bar_10_bar_3_bar_45)\n (objectAtLocation CreditCard_bar__minus_01_dot_22_bar__plus_00_dot_77_bar__plus_00_dot_25 loc_bar__minus_2_bar_4_bar_2_bar_45)\n (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)\n (objectAtLocation KeyChain_bar__plus_00_dot_59_bar__plus_00_dot_04_bar__plus_02_dot_35 loc_bar_4_bar_10_bar_3_bar_60)\n (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)\n (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)\n (objectAtLocation Pencil_bar__minus_06_dot_09_bar__plus_00_dot_06_bar__plus_02_dot_80 loc_bar__minus_24_bar_9_bar_0_bar_60)\n (objectAtLocation Laptop_bar__minus_04_dot_66_bar__plus_00_dot_75_bar__minus_00_dot_63 loc_bar__minus_17_bar__minus_5_bar_0_bar_60)\n (objectAtLocation Vase_bar__minus_04_dot_27_bar__plus_00_dot_75_bar__minus_00_dot_44 loc_bar__minus_17_bar__minus_5_bar_0_bar_60)\n (objectAtLocation RemoteControl_bar__minus_04_dot_11_bar__plus_00_dot_76_bar__minus_00_dot_75 loc_bar__minus_17_bar__minus_5_bar_0_bar_60)\n (objectAtLocation Watch_bar__plus_00_dot_32_bar__plus_00_dot_55_bar__plus_03_dot_06 loc_bar__minus_2_bar_10_bar_1_bar_60)\n (objectAtLocation CellPhone_bar__minus_01_dot_03_bar__plus_00_dot_88_bar__plus_00_dot_10 loc_bar__minus_5_bar_3_bar_2_bar_60)\n (objectAtLocation Plate_bar__minus_03_dot_93_bar__plus_00_dot_76_bar__minus_00_dot_38 loc_bar__minus_17_bar__minus_5_bar_0_bar_60)\n (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)\n (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)\n (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)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (inReceptacle ?o ?r)\n (objectType ?o LaptopType)\n (receptacleType ?r OttomanType)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to diningtable 1", "take laptop 2 from diningtable 1", "go to ottoman 1", "move laptop 2 to ottoman 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-Laptop-None-Ottoman-203/trial_T20190908_110606_176017/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Laptop-None-Ottoman-203/trial_T20190908_110606_176017/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..d803a9be81d0ca0b3de60b6f0fd99fabad2d8896 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Laptop-None-Ottoman-203/trial_T20190908_110606_176017/initial_state.pddl @@ -0,0 +1,642 @@ + +(define (problem plan_trial_T20190908_110606_176017) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_49_bar__plus_00_dot_55_bar__plus_02_dot_61 - object + Book_bar__minus_00_dot_97_bar__plus_00_dot_45_bar__plus_02_dot_09 - object + Boots_bar__minus_06_dot_31_bar__plus_00_dot_01_bar__plus_01_dot_25 - object + Bowl_bar__minus_04_dot_66_bar__plus_00_dot_76_bar__minus_00_dot_38 - object + Box_bar__plus_00_dot_96_bar__plus_00_dot_29_bar__plus_06_dot_19 - object + CellPhone_bar__minus_01_dot_03_bar__plus_00_dot_88_bar__plus_00_dot_10 - 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__minus_01_dot_20_bar__plus_00_dot_45_bar__plus_02_dot_56 - object + CreditCard_bar__minus_01_dot_22_bar__plus_00_dot_77_bar__plus_00_dot_25 - 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_39_bar__plus_00_dot_43_bar__plus_04_dot_12 - object + KeyChain_bar__plus_00_dot_59_bar__plus_00_dot_04_bar__plus_02_dot_35 - object + KeyChain_bar__minus_01_dot_34_bar__plus_00_dot_88_bar__plus_00_dot_06 - object + Laptop_bar__plus_00_dot_49_bar__plus_00_dot_55_bar__plus_02_dot_15 - object + Laptop_bar__minus_04_dot_66_bar__plus_00_dot_75_bar__minus_00_dot_63 - object + LightSwitch_bar__minus_06_dot_50_bar__plus_01_dot_50_bar__plus_01_dot_35 - object + Newspaper_bar__minus_01_dot_32_bar__plus_00_dot_46_bar__plus_03_dot_03 - object + Newspaper_bar__minus_03_dot_75_bar__plus_00_dot_76_bar__minus_00_dot_63 - 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_06_dot_09_bar__plus_00_dot_06_bar__plus_02_dot_80 - object + Pillow_bar__plus_00_dot_44_bar__plus_00_dot_58_bar__plus_05_dot_16 - object + Plate_bar__minus_03_dot_93_bar__plus_00_dot_76_bar__minus_00_dot_38 - object + Plate_bar__minus_04_dot_04_bar__plus_00_dot_75_bar__minus_00_dot_08 - object + RemoteControl_bar__plus_00_dot_23_bar__plus_00_dot_20_bar__plus_02_dot_86 - object + RemoteControl_bar__plus_00_dot_58_bar__plus_00_dot_55_bar__plus_02_dot_91 - object + RemoteControl_bar__minus_04_dot_11_bar__plus_00_dot_76_bar__minus_00_dot_75 - object + Television_bar__plus_01_dot_50_bar__plus_01_dot_69_bar__plus_02_dot_56 - object + TissueBox_bar__minus_00_dot_99_bar__plus_00_dot_87_bar__plus_00_dot_24 - object + Vase_bar__minus_04_dot_27_bar__plus_00_dot_75_bar__minus_00_dot_44 - object + Watch_bar__plus_00_dot_32_bar__plus_00_dot_55_bar__plus_03_dot_06 - object + Watch_bar__plus_00_dot_52_bar__plus_00_dot_04_bar__plus_02_dot_73 - 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_12_bar__minus_4_bar_0_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 TissueBox_bar__minus_00_dot_99_bar__plus_00_dot_87_bar__plus_00_dot_24 TissueBoxType) + (objectType Vase_bar__minus_04_dot_27_bar__plus_00_dot_75_bar__minus_00_dot_44 VaseType) + (objectType Book_bar__minus_00_dot_97_bar__plus_00_dot_45_bar__plus_02_dot_09 BookType) + (objectType Plate_bar__minus_03_dot_93_bar__plus_00_dot_76_bar__minus_00_dot_38 PlateType) + (objectType HousePlant_bar__minus_00_dot_75_bar__plus_00_dot_87_bar__plus_00_dot_21 HousePlantType) + (objectType Laptop_bar__plus_00_dot_49_bar__plus_00_dot_55_bar__plus_02_dot_15 LaptopType) + (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_39_bar__plus_00_dot_43_bar__plus_04_dot_12 KeyChainType) + (objectType Laptop_bar__minus_04_dot_66_bar__plus_00_dot_75_bar__minus_00_dot_63 LaptopType) + (objectType KeyChain_bar__minus_01_dot_34_bar__plus_00_dot_88_bar__plus_00_dot_06 KeyChainType) + (objectType RemoteControl_bar__plus_00_dot_23_bar__plus_00_dot_20_bar__plus_02_dot_86 RemoteControlType) + (objectType RemoteControl_bar__minus_04_dot_11_bar__plus_00_dot_76_bar__minus_00_dot_75 RemoteControlType) + (objectType Book_bar__plus_00_dot_49_bar__plus_00_dot_55_bar__plus_02_dot_61 BookType) + (objectType Newspaper_bar__minus_03_dot_75_bar__plus_00_dot_76_bar__minus_00_dot_63 NewspaperType) + (objectType CreditCard_bar__minus_01_dot_20_bar__plus_00_dot_45_bar__plus_02_dot_56 CreditCardType) + (objectType FloorLamp_bar__plus_01_dot_11_bar__plus_00_dot_01_bar__plus_06_dot_81 FloorLampType) + (objectType CellPhone_bar__minus_01_dot_03_bar__plus_00_dot_88_bar__plus_00_dot_10 CellPhoneType) + (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 Newspaper_bar__minus_01_dot_32_bar__plus_00_dot_46_bar__plus_03_dot_03 NewspaperType) + (objectType Window_bar__minus_04_dot_21_bar__plus_01_dot_58_bar__minus_01_dot_98 WindowType) + (objectType Bowl_bar__minus_04_dot_66_bar__plus_00_dot_76_bar__minus_00_dot_38 BowlType) + (objectType CreditCard_bar__minus_01_dot_22_bar__plus_00_dot_77_bar__plus_00_dot_25 CreditCardType) + (objectType Television_bar__plus_01_dot_50_bar__plus_01_dot_69_bar__plus_02_dot_56 TelevisionType) + (objectType Watch_bar__plus_00_dot_52_bar__plus_00_dot_04_bar__plus_02_dot_73 WatchType) + (objectType Chair_bar__minus_03_dot_43_bar__plus_00_dot_02_bar__minus_00_dot_32 ChairType) + (objectType Watch_bar__plus_00_dot_32_bar__plus_00_dot_55_bar__plus_03_dot_06 WatchType) + (objectType Pencil_bar__minus_06_dot_09_bar__plus_00_dot_06_bar__plus_02_dot_80 PencilType) + (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 RemoteControl_bar__plus_00_dot_58_bar__plus_00_dot_55_bar__plus_02_dot_91 RemoteControlType) + (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 Pillow_bar__plus_00_dot_44_bar__plus_00_dot_58_bar__plus_05_dot_16 PillowType) + (objectType KeyChain_bar__plus_00_dot_59_bar__plus_00_dot_04_bar__plus_02_dot_35 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 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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 TissueBox_bar__minus_00_dot_99_bar__plus_00_dot_87_bar__plus_00_dot_24) + (pickupable Vase_bar__minus_04_dot_27_bar__plus_00_dot_75_bar__minus_00_dot_44) + (pickupable Book_bar__minus_00_dot_97_bar__plus_00_dot_45_bar__plus_02_dot_09) + (pickupable Plate_bar__minus_03_dot_93_bar__plus_00_dot_76_bar__minus_00_dot_38) + (pickupable Laptop_bar__plus_00_dot_49_bar__plus_00_dot_55_bar__plus_02_dot_15) + (pickupable KeyChain_bar__plus_00_dot_39_bar__plus_00_dot_43_bar__plus_04_dot_12) + (pickupable Laptop_bar__minus_04_dot_66_bar__plus_00_dot_75_bar__minus_00_dot_63) + (pickupable KeyChain_bar__minus_01_dot_34_bar__plus_00_dot_88_bar__plus_00_dot_06) + (pickupable RemoteControl_bar__plus_00_dot_23_bar__plus_00_dot_20_bar__plus_02_dot_86) + 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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_38 DiningTable_bar__minus_04_dot_30_bar__plus_00_dot_01_bar__minus_00_dot_38) + (inReceptacle RemoteControl_bar__minus_04_dot_11_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 Newspaper_bar__minus_03_dot_75_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 CreditCard_bar__minus_01_dot_20_bar__plus_00_dot_45_bar__plus_02_dot_56 Sofa_bar__minus_01_dot_53_bar__plus_00_dot_02_bar__plus_02_dot_56) + (inReceptacle Book_bar__minus_00_dot_97_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 Newspaper_bar__minus_01_dot_32_bar__plus_00_dot_46_bar__plus_03_dot_03 Sofa_bar__minus_01_dot_53_bar__plus_00_dot_02_bar__plus_02_dot_56) + (inReceptacle KeyChain_bar__plus_00_dot_59_bar__plus_00_dot_04_bar__plus_02_dot_35 Drawer_bar__plus_00_dot_60_bar__plus_00_dot_07_bar__plus_02_dot_61) + (inReceptacle Watch_bar__plus_00_dot_52_bar__plus_00_dot_04_bar__plus_02_dot_73 Drawer_bar__plus_00_dot_60_bar__plus_00_dot_07_bar__plus_02_dot_61) + (inReceptacle KeyChain_bar__plus_00_dot_39_bar__plus_00_dot_43_bar__plus_04_dot_12 Ottoman_bar__plus_00_dot_49_bar__plus_00_dot_00_bar__plus_04_dot_31) + (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 RemoteControl_bar__plus_00_dot_23_bar__plus_00_dot_20_bar__plus_02_dot_86 Drawer_bar__plus_00_dot_21_bar__plus_00_dot_23_bar__plus_02_dot_61) + (inReceptacle CellPhone_bar__minus_01_dot_03_bar__plus_00_dot_88_bar__plus_00_dot_10 SideTable_bar__minus_01_dot_03_bar__plus_00_dot_01_bar__plus_00_dot_16) + 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RemoteControl_bar__plus_00_dot_58_bar__plus_00_dot_55_bar__plus_02_dot_91 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) + 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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 (?r - receptacle) + (exists (?o - object) + (and + (inReceptacle ?o ?r) + (objectType ?o LaptopType) + (receptacleType ?r OttomanType) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-Laptop-None-Ottoman-203/trial_T20190908_110606_176017/traj_data.json b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Laptop-None-Ottoman-203/trial_T20190908_110606_176017/traj_data.json new file mode 100644 index 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"scene_num": 203 + }, + "task_id": "trial_T20190908_110606_176017", + "task_type": "pick_and_place_simple", + "turk_annotations": { + "anns": [ + { + "assignment_id": "AM2KK02JXXW48_3LWJHTCVCFDCPPYZ4T842QVDRX1FQU", + "high_descs": [ + "Move forward, head around the corner to the right, to the side side of the coffee table with the computer on it.", + "Pick up the computer on the coffee table. ", + "Bring the computer forward to the purple ottoman.", + "Put the computer on the ottoman, to the right of the keys. " + ], + "task_desc": "Put a computer on the ottoman. ", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "AISNLDPD2DFEG_3OVHNO1VE9SO5XLU0JWR5J4WKNGZD7", + "high_descs": [ + "Turn right, go to the wall, turn left, go forward, turn right at the couch, go forward, turn left and go to the coffee table", + "Close the laptop on the coffee table and pick it up", + "Go to the chair on the other side of the coffee table", + "Put the laptop on the leg rest in front of the chair" + ], + "task_desc": "Bring the laptop to the leg rest", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A2871R3LEPWMMK_3C6FJU71TTKAH9MBQSKX1CZI0T6UYK", + "high_descs": [ + "Turn right, hang a left at the wall, turn right at the couch and turn left at the fireplace to walk to the wooden coffee table ahead.", + "Close the lid of the laptop computer and pick it up from the table.", + "Turn right, hang a left at the wall and walk to the ottoman of the black chair ahead.", + "Put the laptop computer on the right side of the ottoman near the chair." + ], + "task_desc": "Place a laptop computer on an ottoman.", + "votes": [ + 1, + 0, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-Laptop-None-Ottoman-203/trial_T20190908_110656_971485/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Laptop-None-Ottoman-203/trial_T20190908_110656_971485/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..b0eb8b79d2356ab0bf315f6e3c9e250abcea56c2 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Laptop-None-Ottoman-203/trial_T20190908_110656_971485/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\n\\n#task#\"\n }\n ],\n\n \"notImplemented\": [\n {\n \"rhs\": \"TODO\"\n }\n ],\n\n \"task\": [\n {\n \"rhs\": \"Your task is to: put a laptop in ottoman.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using 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_110656_971485)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Book_bar__minus_00_dot_97_bar__plus_00_dot_46_bar__plus_01_dot_85 - object\n Book_bar__minus_01_dot_44_bar__plus_00_dot_45_bar__plus_01_dot_85 - object\n Book_bar__minus_04_dot_84_bar__plus_00_dot_76_bar__minus_00_dot_63 - object\n Boots_bar__minus_06_dot_31_bar__plus_00_dot_01_bar__plus_01_dot_25 - object\n Bowl_bar__plus_00_dot_58_bar__plus_00_dot_55_bar__plus_03_dot_06 - object\n Bowl_bar__minus_01_dot_03_bar__plus_00_dot_88_bar__plus_00_dot_22 - object\n Box_bar__plus_00_dot_96_bar__plus_00_dot_29_bar__plus_06_dot_19 - object\n CellPhone_bar__plus_00_dot_19_bar__plus_00_dot_04_bar__plus_02_dot_22 - object\n CellPhone_bar__plus_00_dot_71_bar__plus_00_dot_42_bar__plus_04_dot_31 - object\n CellPhone_bar__minus_01_dot_34_bar__plus_00_dot_88_bar__plus_00_dot_22 - object\n Chair_bar__minus_03_dot_43_bar__plus_00_dot_02_bar__minus_00_dot_32 - object\n Chair_bar__minus_03_dot_90_bar__plus_00_dot_02_bar__minus_00_dot_83 - object\n Chair_bar__minus_04_dot_00_bar__plus_00_dot_02_bar__plus_00_dot_09 - object\n Chair_bar__minus_04_dot_57_bar__plus_00_dot_02_bar__minus_00_dot_83 - object\n Chair_bar__minus_04_dot_66_bar__plus_00_dot_02_bar__plus_00_dot_16 - object\n Chair_bar__minus_04_dot_99_bar__plus_00_dot_02_bar__minus_00_dot_41 - object\n CreditCard_bar__plus_00_dot_41_bar__plus_00_dot_55_bar__plus_02_dot_76 - object\n FloorLamp_bar__plus_01_dot_11_bar__plus_00_dot_01_bar__plus_06_dot_81 - object\n HousePlant_bar__minus_00_dot_75_bar__plus_00_dot_87_bar__plus_00_dot_21 - object\n KeyChain_bar__plus_00_dot_23_bar__plus_00_dot_55_bar__plus_03_dot_06 - object\n KeyChain_bar__minus_04_dot_66_bar__plus_00_dot_76_bar__minus_00_dot_63 - object\n Laptop_bar__plus_00_dot_32_bar__plus_00_dot_55_bar__plus_02_dot_30 - object\n LightSwitch_bar__minus_06_dot_50_bar__plus_01_dot_50_bar__plus_01_dot_35 - object\n Newspaper_bar__minus_01_dot_32_bar__plus_00_dot_46_bar__plus_03_dot_03 - object\n Newspaper_bar__minus_03_dot_75_bar__plus_00_dot_75_bar__minus_00_dot_01 - object\n Painting_bar__plus_00_dot_70_bar__plus_01_dot_78_bar__plus_00_dot_78 - object\n Painting_bar__minus_06_dot_50_bar__plus_01_dot_76_bar__minus_00_dot_34 - object\n Pencil_bar__plus_00_dot_41_bar__plus_00_dot_56_bar__plus_02_dot_91 - object\n Pencil_bar__plus_00_dot_41_bar__plus_00_dot_56_bar__plus_03_dot_06 - object\n Pillow_bar__plus_00_dot_44_bar__plus_00_dot_58_bar__plus_05_dot_16 - object\n Plate_bar__minus_04_dot_05_bar__plus_00_dot_75_bar__minus_00_dot_08 - object\n RemoteControl_bar__plus_00_dot_49_bar__plus_00_dot_55_bar__plus_02_dot_61 - object\n RemoteControl_bar__plus_00_dot_63_bar__plus_00_dot_43_bar__plus_05_dot_17 - object\n RemoteControl_bar__minus_01_dot_44_bar__plus_00_dot_45_bar__plus_02_dot_32 - object\n Television_bar__plus_01_dot_50_bar__plus_01_dot_69_bar__plus_02_dot_56 - object\n TissueBox_bar__minus_03_dot_75_bar__plus_00_dot_76_bar__minus_00_dot_38 - object\n TissueBox_bar__minus_04_dot_48_bar__plus_00_dot_76_bar__minus_00_dot_63 - object\n Vase_bar__plus_00_dot_66_bar__plus_00_dot_55_bar__plus_02_dot_15 - object\n Watch_bar__plus_00_dot_16_bar__plus_00_dot_36_bar__plus_02_dot_61 - object\n WateringCan_bar__minus_00_dot_82_bar__plus_00_dot_01_bar__plus_00_dot_19 - object\n Window_bar__plus_01_dot_50_bar__plus_01_dot_71_bar__plus_04_dot_46 - object\n Window_bar__minus_04_dot_21_bar__plus_01_dot_58_bar__minus_01_dot_98 - object\n ArmChair_bar__plus_00_dot_42_bar_00_dot_00_bar__plus_05_dot_13 - receptacle\n CoffeeTable_bar__plus_00_dot_41_bar__plus_00_dot_01_bar__plus_02_dot_61 - receptacle\n DiningTable_bar__minus_04_dot_30_bar__plus_00_dot_01_bar__minus_00_dot_38 - receptacle\n Drawer_bar__plus_00_dot_21_bar__plus_00_dot_07_bar__plus_02_dot_61 - receptacle\n Drawer_bar__plus_00_dot_21_bar__plus_00_dot_23_bar__plus_02_dot_61 - receptacle\n Drawer_bar__plus_00_dot_21_bar__plus_00_dot_39_bar__plus_02_dot_61 - receptacle\n Drawer_bar__plus_00_dot_60_bar__plus_00_dot_07_bar__plus_02_dot_61 - receptacle\n Drawer_bar__plus_00_dot_60_bar__plus_00_dot_23_bar__plus_02_dot_61 - receptacle\n Drawer_bar__plus_00_dot_60_bar__plus_00_dot_39_bar__plus_02_dot_61 - receptacle\n Drawer_bar__minus_01_dot_03_bar__plus_00_dot_78_bar__plus_00_dot_24 - receptacle\n GarbageCan_bar__minus_06_dot_13_bar__plus_00_dot_01_bar__plus_02_dot_80 - receptacle\n Ottoman_bar__plus_00_dot_49_bar__plus_00_dot_00_bar__plus_04_dot_31 - receptacle\n SideTable_bar__minus_01_dot_03_bar__plus_00_dot_01_bar__plus_00_dot_16 - receptacle\n Sofa_bar__minus_01_dot_53_bar__plus_00_dot_02_bar__plus_02_dot_56 - receptacle\n loc_bar__minus_13_bar__minus_3_bar_3_bar_60 - location\n loc_bar__minus_5_bar_3_bar_2_bar_60 - location\n loc_bar_4_bar_7_bar_0_bar_60 - location\n loc_bar__minus_2_bar_10_bar_1_bar_60 - location\n loc_bar__minus_24_bar__minus_1_bar_3_bar__minus_15 - location\n loc_bar__minus_1_bar_10_bar_3_bar_45 - location\n loc_bar__minus_2_bar_6_bar_0_bar_45 - location\n loc_bar_4_bar_15_bar_0_bar_0 - location\n loc_bar_2_bar_25_bar_2_bar_60 - location\n loc_bar_4_bar_10_bar_3_bar_60 - location\n loc_bar_4_bar_10_bar_1_bar_0 - location\n loc_bar__minus_1_bar_2_bar_3_bar_60 - location\n loc_bar__minus_24_bar_9_bar_0_bar_60 - location\n loc_bar__minus_17_bar__minus_5_bar_2_bar_0 - location\n loc_bar__minus_2_bar_5_bar_0_bar_45 - location\n loc_bar__minus_3_bar_4_bar_0_bar_45 - location\n loc_bar__minus_24_bar_5_bar_3_bar_15 - location\n loc_bar_4_bar_15_bar_2_bar_45 - location\n loc_bar_2_bar_25_bar_1_bar_60 - location\n loc_bar__minus_2_bar_4_bar_2_bar_45 - location\n loc_bar__minus_13_bar__minus_3_bar_0_bar_60 - location\n loc_bar__minus_21_bar_1_bar_1_bar_60 - location\n loc_bar__minus_16_bar_3_bar_2_bar_60 - location\n loc_bar_3_bar_26_bar_1_bar_60 - location\n loc_bar__minus_24_bar_5_bar_3_bar_60 - location\n loc_bar__minus_17_bar__minus_5_bar_0_bar_60 - location\n loc_bar_0_bar_4_bar_1_bar__minus_15 - location\n loc_bar__minus_18_bar__minus_6_bar_0_bar_60 - location\n loc_bar__minus_22_bar__minus_2_bar_1_bar_60 - location\n loc_bar_4_bar_12_bar_0_bar_45 - location\n loc_bar_2_bar_5_bar_2_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Drawer_bar__plus_00_dot_60_bar__plus_00_dot_07_bar__plus_02_dot_61 DrawerType)\n (receptacleType ArmChair_bar__plus_00_dot_42_bar_00_dot_00_bar__plus_05_dot_13 ArmChairType)\n (receptacleType Sofa_bar__minus_01_dot_53_bar__plus_00_dot_02_bar__plus_02_dot_56 SofaType)\n (receptacleType Drawer_bar__plus_00_dot_21_bar__plus_00_dot_23_bar__plus_02_dot_61 DrawerType)\n (receptacleType CoffeeTable_bar__plus_00_dot_41_bar__plus_00_dot_01_bar__plus_02_dot_61 CoffeeTableType)\n (receptacleType Drawer_bar__plus_00_dot_60_bar__plus_00_dot_23_bar__plus_02_dot_61 DrawerType)\n (receptacleType SideTable_bar__minus_01_dot_03_bar__plus_00_dot_01_bar__plus_00_dot_16 SideTableType)\n (receptacleType Drawer_bar__plus_00_dot_21_bar__plus_00_dot_39_bar__plus_02_dot_61 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_03_bar__plus_00_dot_78_bar__plus_00_dot_24 DrawerType)\n (receptacleType Ottoman_bar__plus_00_dot_49_bar__plus_00_dot_00_bar__plus_04_dot_31 OttomanType)\n (receptacleType Drawer_bar__plus_00_dot_60_bar__plus_00_dot_39_bar__plus_02_dot_61 DrawerType)\n (receptacleType GarbageCan_bar__minus_06_dot_13_bar__plus_00_dot_01_bar__plus_02_dot_80 GarbageCanType)\n (receptacleType DiningTable_bar__minus_04_dot_30_bar__plus_00_dot_01_bar__minus_00_dot_38 DiningTableType)\n (receptacleType Drawer_bar__plus_00_dot_21_bar__plus_00_dot_07_bar__plus_02_dot_61 DrawerType)\n (objectType WateringCan_bar__minus_00_dot_82_bar__plus_00_dot_01_bar__plus_00_dot_19 WateringCanType)\n (objectType HousePlant_bar__minus_00_dot_75_bar__plus_00_dot_87_bar__plus_00_dot_21 HousePlantType)\n (objectType RemoteControl_bar__plus_00_dot_63_bar__plus_00_dot_43_bar__plus_05_dot_17 RemoteControlType)\n (objectType Newspaper_bar__minus_03_dot_75_bar__plus_00_dot_75_bar__minus_00_dot_01 NewspaperType)\n (objectType Bowl_bar__plus_00_dot_58_bar__plus_00_dot_55_bar__plus_03_dot_06 BowlType)\n (objectType LightSwitch_bar__minus_06_dot_50_bar__plus_01_dot_50_bar__plus_01_dot_35 LightSwitchType)\n (objectType Chair_bar__minus_04_dot_00_bar__plus_00_dot_02_bar__plus_00_dot_09 ChairType)\n (objectType Chair_bar__minus_04_dot_66_bar__plus_00_dot_02_bar__plus_00_dot_16 ChairType)\n (objectType Plate_bar__minus_04_dot_05_bar__plus_00_dot_75_bar__minus_00_dot_08 PlateType)\n (objectType Pencil_bar__plus_00_dot_41_bar__plus_00_dot_56_bar__plus_02_dot_91 PencilType)\n (objectType TissueBox_bar__minus_03_dot_75_bar__plus_00_dot_76_bar__minus_00_dot_38 TissueBoxType)\n (objectType CellPhone_bar__plus_00_dot_71_bar__plus_00_dot_42_bar__plus_04_dot_31 CellPhoneType)\n (objectType Book_bar__minus_00_dot_97_bar__plus_00_dot_46_bar__plus_01_dot_85 BookType)\n (objectType CreditCard_bar__plus_00_dot_41_bar__plus_00_dot_55_bar__plus_02_dot_76 CreditCardType)\n (objectType Bowl_bar__minus_01_dot_03_bar__plus_00_dot_88_bar__plus_00_dot_22 BowlType)\n (objectType RemoteControl_bar__minus_01_dot_44_bar__plus_00_dot_45_bar__plus_02_dot_32 RemoteControlType)\n (objectType FloorLamp_bar__plus_01_dot_11_bar__plus_00_dot_01_bar__plus_06_dot_81 FloorLampType)\n (objectType Watch_bar__plus_00_dot_16_bar__plus_00_dot_36_bar__plus_02_dot_61 WatchType)\n (objectType KeyChain_bar__plus_00_dot_23_bar__plus_00_dot_55_bar__plus_03_dot_06 KeyChainType)\n (objectType Painting_bar__minus_06_dot_50_bar__plus_01_dot_76_bar__minus_00_dot_34 PaintingType)\n (objectType Painting_bar__plus_00_dot_70_bar__plus_01_dot_78_bar__plus_00_dot_78 PaintingType)\n (objectType Newspaper_bar__minus_01_dot_32_bar__plus_00_dot_46_bar__plus_03_dot_03 NewspaperType)\n (objectType Window_bar__minus_04_dot_21_bar__plus_01_dot_58_bar__minus_01_dot_98 WindowType)\n (objectType KeyChain_bar__minus_04_dot_66_bar__plus_00_dot_76_bar__minus_00_dot_63 KeyChainType)\n (objectType Book_bar__minus_04_dot_84_bar__plus_00_dot_76_bar__minus_00_dot_63 BookType)\n (objectType Television_bar__plus_01_dot_50_bar__plus_01_dot_69_bar__plus_02_dot_56 TelevisionType)\n (objectType CellPhone_bar__minus_01_dot_34_bar__plus_00_dot_88_bar__plus_00_dot_22 CellPhoneType)\n (objectType Book_bar__minus_01_dot_44_bar__plus_00_dot_45_bar__plus_01_dot_85 BookType)\n (objectType RemoteControl_bar__plus_00_dot_49_bar__plus_00_dot_55_bar__plus_02_dot_61 RemoteControlType)\n (objectType TissueBox_bar__minus_04_dot_48_bar__plus_00_dot_76_bar__minus_00_dot_63 TissueBoxType)\n (objectType Laptop_bar__plus_00_dot_32_bar__plus_00_dot_55_bar__plus_02_dot_30 LaptopType)\n (objectType Chair_bar__minus_03_dot_43_bar__plus_00_dot_02_bar__minus_00_dot_32 ChairType)\n (objectType Pencil_bar__plus_00_dot_41_bar__plus_00_dot_56_bar__plus_03_dot_06 PencilType)\n (objectType Chair_bar__minus_04_dot_57_bar__plus_00_dot_02_bar__minus_00_dot_83 ChairType)\n (objectType Chair_bar__minus_04_dot_99_bar__plus_00_dot_02_bar__minus_00_dot_41 ChairType)\n (objectType Window_bar__plus_01_dot_50_bar__plus_01_dot_71_bar__plus_04_dot_46 WindowType)\n (objectType Chair_bar__minus_03_dot_90_bar__plus_00_dot_02_bar__minus_00_dot_83 ChairType)\n (objectType Boots_bar__minus_06_dot_31_bar__plus_00_dot_01_bar__plus_01_dot_25 BootsType)\n (objectType Pillow_bar__plus_00_dot_44_bar__plus_00_dot_58_bar__plus_05_dot_16 PillowType)\n (objectType Vase_bar__plus_00_dot_66_bar__plus_00_dot_55_bar__plus_02_dot_15 VaseType)\n (objectType CellPhone_bar__plus_00_dot_19_bar__plus_00_dot_04_bar__plus_02_dot_22 CellPhoneType)\n (objectType Box_bar__plus_00_dot_96_bar__plus_00_dot_29_bar__plus_06_dot_19 BoxType)\n (canContain DrawerType BookType)\n (canContain DrawerType WatchType)\n (canContain DrawerType NewspaperType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType WateringCanType)\n (canContain ArmChairType BoxType)\n (canContain ArmChairType LaptopType)\n (canContain ArmChairType BookType)\n (canContain ArmChairType CellPhoneType)\n (canContain ArmChairType PillowType)\n (canContain ArmChairType RemoteControlType)\n (canContain ArmChairType KeyChainType)\n (canContain ArmChairType NewspaperType)\n (canContain ArmChairType CreditCardType)\n (canContain SofaType BoxType)\n (canContain SofaType LaptopType)\n (canContain SofaType BookType)\n (canContain SofaType CellPhoneType)\n (canContain SofaType PillowType)\n (canContain SofaType RemoteControlType)\n (canContain SofaType KeyChainType)\n (canContain SofaType NewspaperType)\n (canContain SofaType CreditCardType)\n (canContain DrawerType BookType)\n (canContain DrawerType WatchType)\n (canContain DrawerType NewspaperType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType WateringCanType)\n (canContain CoffeeTableType BookType)\n (canContain CoffeeTableType WatchType)\n (canContain CoffeeTableType NewspaperType)\n (canContain CoffeeTableType BowlType)\n (canContain CoffeeTableType VaseType)\n (canContain CoffeeTableType BoxType)\n (canContain CoffeeTableType CellPhoneType)\n (canContain CoffeeTableType KeyChainType)\n (canContain CoffeeTableType CreditCardType)\n (canContain CoffeeTableType LaptopType)\n (canContain CoffeeTableType PencilType)\n (canContain CoffeeTableType PlateType)\n (canContain CoffeeTableType RemoteControlType)\n (canContain CoffeeTableType TissueBoxType)\n (canContain CoffeeTableType WateringCanType)\n (canContain DrawerType BookType)\n (canContain DrawerType WatchType)\n (canContain DrawerType NewspaperType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType WateringCanType)\n (canContain SideTableType BookType)\n (canContain SideTableType WatchType)\n (canContain SideTableType NewspaperType)\n (canContain SideTableType BowlType)\n (canContain SideTableType VaseType)\n (canContain SideTableType BoxType)\n (canContain SideTableType CellPhoneType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType PencilType)\n (canContain SideTableType PlateType)\n (canContain SideTableType RemoteControlType)\n (canContain SideTableType TissueBoxType)\n (canContain SideTableType WateringCanType)\n (canContain DrawerType BookType)\n (canContain DrawerType WatchType)\n (canContain DrawerType NewspaperType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType WateringCanType)\n (canContain DrawerType BookType)\n (canContain DrawerType WatchType)\n (canContain DrawerType NewspaperType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType WateringCanType)\n (canContain OttomanType BoxType)\n (canContain OttomanType LaptopType)\n (canContain OttomanType BookType)\n (canContain OttomanType CellPhoneType)\n (canContain OttomanType PillowType)\n (canContain OttomanType RemoteControlType)\n (canContain OttomanType KeyChainType)\n (canContain OttomanType NewspaperType)\n (canContain OttomanType CreditCardType)\n (canContain DrawerType BookType)\n (canContain DrawerType WatchType)\n (canContain DrawerType NewspaperType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType WateringCanType)\n (canContain GarbageCanType NewspaperType)\n (canContain GarbageCanType PencilType)\n (canContain GarbageCanType TissueBoxType)\n (canContain DiningTableType BookType)\n (canContain DiningTableType WatchType)\n (canContain DiningTableType NewspaperType)\n (canContain DiningTableType BowlType)\n (canContain DiningTableType VaseType)\n (canContain DiningTableType BoxType)\n (canContain DiningTableType CellPhoneType)\n (canContain DiningTableType KeyChainType)\n (canContain DiningTableType CreditCardType)\n (canContain DiningTableType LaptopType)\n (canContain DiningTableType PencilType)\n (canContain DiningTableType PlateType)\n (canContain DiningTableType RemoteControlType)\n (canContain DiningTableType TissueBoxType)\n (canContain DiningTableType WateringCanType)\n (canContain DrawerType BookType)\n (canContain DrawerType WatchType)\n (canContain DrawerType NewspaperType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType WateringCanType)\n (pickupable WateringCan_bar__minus_00_dot_82_bar__plus_00_dot_01_bar__plus_00_dot_19)\n (pickupable RemoteControl_bar__plus_00_dot_63_bar__plus_00_dot_43_bar__plus_05_dot_17)\n (pickupable Newspaper_bar__minus_03_dot_75_bar__plus_00_dot_75_bar__minus_00_dot_01)\n (pickupable Bowl_bar__plus_00_dot_58_bar__plus_00_dot_55_bar__plus_03_dot_06)\n (pickupable Plate_bar__minus_04_dot_05_bar__plus_00_dot_75_bar__minus_00_dot_08)\n (pickupable Pencil_bar__plus_00_dot_41_bar__plus_00_dot_56_bar__plus_02_dot_91)\n (pickupable TissueBox_bar__minus_03_dot_75_bar__plus_00_dot_76_bar__minus_00_dot_38)\n (pickupable CellPhone_bar__plus_00_dot_71_bar__plus_00_dot_42_bar__plus_04_dot_31)\n (pickupable Book_bar__minus_00_dot_97_bar__plus_00_dot_46_bar__plus_01_dot_85)\n (pickupable CreditCard_bar__plus_00_dot_41_bar__plus_00_dot_55_bar__plus_02_dot_76)\n (pickupable Bowl_bar__minus_01_dot_03_bar__plus_00_dot_88_bar__plus_00_dot_22)\n (pickupable RemoteControl_bar__minus_01_dot_44_bar__plus_00_dot_45_bar__plus_02_dot_32)\n (pickupable Watch_bar__plus_00_dot_16_bar__plus_00_dot_36_bar__plus_02_dot_61)\n (pickupable KeyChain_bar__plus_00_dot_23_bar__plus_00_dot_55_bar__plus_03_dot_06)\n (pickupable Newspaper_bar__minus_01_dot_32_bar__plus_00_dot_46_bar__plus_03_dot_03)\n (pickupable KeyChain_bar__minus_04_dot_66_bar__plus_00_dot_76_bar__minus_00_dot_63)\n (pickupable Book_bar__minus_04_dot_84_bar__plus_00_dot_76_bar__minus_00_dot_63)\n (pickupable CellPhone_bar__minus_01_dot_34_bar__plus_00_dot_88_bar__plus_00_dot_22)\n (pickupable Book_bar__minus_01_dot_44_bar__plus_00_dot_45_bar__plus_01_dot_85)\n (pickupable RemoteControl_bar__plus_00_dot_49_bar__plus_00_dot_55_bar__plus_02_dot_61)\n (pickupable TissueBox_bar__minus_04_dot_48_bar__plus_00_dot_76_bar__minus_00_dot_63)\n (pickupable Laptop_bar__plus_00_dot_32_bar__plus_00_dot_55_bar__plus_02_dot_30)\n (pickupable Pencil_bar__plus_00_dot_41_bar__plus_00_dot_56_bar__plus_03_dot_06)\n (pickupable Boots_bar__minus_06_dot_31_bar__plus_00_dot_01_bar__plus_01_dot_25)\n (pickupable Pillow_bar__plus_00_dot_44_bar__plus_00_dot_58_bar__plus_05_dot_16)\n (pickupable Vase_bar__plus_00_dot_66_bar__plus_00_dot_55_bar__plus_02_dot_15)\n (pickupable CellPhone_bar__plus_00_dot_19_bar__plus_00_dot_04_bar__plus_02_dot_22)\n (pickupable Box_bar__plus_00_dot_96_bar__plus_00_dot_29_bar__plus_06_dot_19)\n (isReceptacleObject Bowl_bar__plus_00_dot_58_bar__plus_00_dot_55_bar__plus_03_dot_06)\n (isReceptacleObject Plate_bar__minus_04_dot_05_bar__plus_00_dot_75_bar__minus_00_dot_08)\n (isReceptacleObject Bowl_bar__minus_01_dot_03_bar__plus_00_dot_88_bar__plus_00_dot_22)\n (isReceptacleObject Box_bar__plus_00_dot_96_bar__plus_00_dot_29_bar__plus_06_dot_19)\n (openable Drawer_bar__plus_00_dot_21_bar__plus_00_dot_23_bar__plus_02_dot_61)\n (openable Drawer_bar__plus_00_dot_60_bar__plus_00_dot_23_bar__plus_02_dot_61)\n (openable Drawer_bar__plus_00_dot_21_bar__plus_00_dot_39_bar__plus_02_dot_61)\n (openable Drawer_bar__minus_01_dot_03_bar__plus_00_dot_78_bar__plus_00_dot_24)\n (openable Drawer_bar__plus_00_dot_60_bar__plus_00_dot_39_bar__plus_02_dot_61)\n (openable Drawer_bar__plus_00_dot_21_bar__plus_00_dot_07_bar__plus_02_dot_61)\n \n (atLocation agent1 loc_bar_2_bar_5_bar_2_bar_30)\n \n (cleanable Bowl_bar__plus_00_dot_58_bar__plus_00_dot_55_bar__plus_03_dot_06)\n (cleanable Plate_bar__minus_04_dot_05_bar__plus_00_dot_75_bar__minus_00_dot_08)\n (cleanable Bowl_bar__minus_01_dot_03_bar__plus_00_dot_88_bar__plus_00_dot_22)\n \n (heatable Plate_bar__minus_04_dot_05_bar__plus_00_dot_75_bar__minus_00_dot_08)\n (coolable Bowl_bar__plus_00_dot_58_bar__plus_00_dot_55_bar__plus_03_dot_06)\n (coolable Plate_bar__minus_04_dot_05_bar__plus_00_dot_75_bar__minus_00_dot_08)\n (coolable Bowl_bar__minus_01_dot_03_bar__plus_00_dot_88_bar__plus_00_dot_22)\n \n \n (toggleable FloorLamp_bar__plus_01_dot_11_bar__plus_00_dot_01_bar__plus_06_dot_81)\n \n \n \n \n (inReceptacle Newspaper_bar__minus_03_dot_75_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)\n (inReceptacle KeyChain_bar__minus_04_dot_66_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)\n (inReceptacle Book_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)\n (inReceptacle TissueBox_bar__minus_04_dot_48_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)\n (inReceptacle Plate_bar__minus_04_dot_05_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)\n (inReceptacle TissueBox_bar__minus_03_dot_75_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)\n (inReceptacle Book_bar__minus_01_dot_44_bar__plus_00_dot_45_bar__plus_01_dot_85 Sofa_bar__minus_01_dot_53_bar__plus_00_dot_02_bar__plus_02_dot_56)\n (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)\n (inReceptacle Book_bar__minus_00_dot_97_bar__plus_00_dot_46_bar__plus_01_dot_85 Sofa_bar__minus_01_dot_53_bar__plus_00_dot_02_bar__plus_02_dot_56)\n (inReceptacle Newspaper_bar__minus_01_dot_32_bar__plus_00_dot_46_bar__plus_03_dot_03 Sofa_bar__minus_01_dot_53_bar__plus_00_dot_02_bar__plus_02_dot_56)\n (inReceptacle CellPhone_bar__plus_00_dot_19_bar__plus_00_dot_04_bar__plus_02_dot_22 Drawer_bar__plus_00_dot_21_bar__plus_00_dot_07_bar__plus_02_dot_61)\n (inReceptacle CellPhone_bar__plus_00_dot_71_bar__plus_00_dot_42_bar__plus_04_dot_31 Ottoman_bar__plus_00_dot_49_bar__plus_00_dot_00_bar__plus_04_dot_31)\n (inReceptacle Watch_bar__plus_00_dot_16_bar__plus_00_dot_36_bar__plus_02_dot_61 Drawer_bar__plus_00_dot_21_bar__plus_00_dot_39_bar__plus_02_dot_61)\n (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)\n (inReceptacle RemoteControl_bar__plus_00_dot_63_bar__plus_00_dot_43_bar__plus_05_dot_17 ArmChair_bar__plus_00_dot_42_bar_00_dot_00_bar__plus_05_dot_13)\n (inReceptacle Bowl_bar__minus_01_dot_03_bar__plus_00_dot_88_bar__plus_00_dot_22 SideTable_bar__minus_01_dot_03_bar__plus_00_dot_01_bar__plus_00_dot_16)\n (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)\n (inReceptacle CellPhone_bar__minus_01_dot_34_bar__plus_00_dot_88_bar__plus_00_dot_22 SideTable_bar__minus_01_dot_03_bar__plus_00_dot_01_bar__plus_00_dot_16)\n (inReceptacle Pencil_bar__plus_00_dot_41_bar__plus_00_dot_56_bar__plus_03_dot_06 CoffeeTable_bar__plus_00_dot_41_bar__plus_00_dot_01_bar__plus_02_dot_61)\n (inReceptacle KeyChain_bar__plus_00_dot_23_bar__plus_00_dot_55_bar__plus_03_dot_06 CoffeeTable_bar__plus_00_dot_41_bar__plus_00_dot_01_bar__plus_02_dot_61)\n (inReceptacle CreditCard_bar__plus_00_dot_41_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)\n (inReceptacle Bowl_bar__plus_00_dot_58_bar__plus_00_dot_55_bar__plus_03_dot_06 CoffeeTable_bar__plus_00_dot_41_bar__plus_00_dot_01_bar__plus_02_dot_61)\n (inReceptacle Vase_bar__plus_00_dot_66_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)\n (inReceptacle RemoteControl_bar__plus_00_dot_49_bar__plus_00_dot_55_bar__plus_02_dot_61 CoffeeTable_bar__plus_00_dot_41_bar__plus_00_dot_01_bar__plus_02_dot_61)\n (inReceptacle Laptop_bar__plus_00_dot_32_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)\n (inReceptacle Pencil_bar__plus_00_dot_41_bar__plus_00_dot_56_bar__plus_02_dot_91 CoffeeTable_bar__plus_00_dot_41_bar__plus_00_dot_01_bar__plus_02_dot_61)\n \n \n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (objectAtLocation CellPhone_bar__plus_00_dot_71_bar__plus_00_dot_42_bar__plus_04_dot_31 loc_bar_4_bar_12_bar_0_bar_45)\n (objectAtLocation RemoteControl_bar__plus_00_dot_49_bar__plus_00_dot_55_bar__plus_02_dot_61 loc_bar__minus_2_bar_10_bar_1_bar_60)\n (objectAtLocation Pencil_bar__plus_00_dot_41_bar__plus_00_dot_56_bar__plus_02_dot_91 loc_bar__minus_2_bar_10_bar_1_bar_60)\n (objectAtLocation KeyChain_bar__plus_00_dot_23_bar__plus_00_dot_55_bar__plus_03_dot_06 loc_bar__minus_2_bar_10_bar_1_bar_60)\n (objectAtLocation Newspaper_bar__minus_03_dot_75_bar__plus_00_dot_75_bar__minus_00_dot_01 loc_bar__minus_17_bar__minus_5_bar_0_bar_60)\n (objectAtLocation TissueBox_bar__minus_03_dot_75_bar__plus_00_dot_76_bar__minus_00_dot_38 loc_bar__minus_17_bar__minus_5_bar_0_bar_60)\n (objectAtLocation Bowl_bar__minus_01_dot_03_bar__plus_00_dot_88_bar__plus_00_dot_22 loc_bar__minus_5_bar_3_bar_2_bar_60)\n (objectAtLocation Book_bar__minus_04_dot_84_bar__plus_00_dot_76_bar__minus_00_dot_63 loc_bar__minus_17_bar__minus_5_bar_0_bar_60)\n (objectAtLocation RemoteControl_bar__plus_00_dot_63_bar__plus_00_dot_43_bar__plus_05_dot_17 loc_bar_2_bar_25_bar_2_bar_60)\n (objectAtLocation CellPhone_bar__plus_00_dot_19_bar__plus_00_dot_04_bar__plus_02_dot_22 loc_bar__minus_3_bar_4_bar_0_bar_45)\n (objectAtLocation Book_bar__minus_01_dot_44_bar__plus_00_dot_45_bar__plus_01_dot_85 loc_bar__minus_1_bar_10_bar_3_bar_45)\n (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)\n (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)\n (objectAtLocation Book_bar__minus_00_dot_97_bar__plus_00_dot_46_bar__plus_01_dot_85 loc_bar__minus_1_bar_10_bar_3_bar_45)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (objectAtLocation Bowl_bar__plus_00_dot_58_bar__plus_00_dot_55_bar__plus_03_dot_06 loc_bar__minus_2_bar_10_bar_1_bar_60)\n (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)\n (objectAtLocation TissueBox_bar__minus_04_dot_48_bar__plus_00_dot_76_bar__minus_00_dot_63 loc_bar__minus_17_bar__minus_5_bar_0_bar_60)\n (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)\n (objectAtLocation Newspaper_bar__minus_01_dot_32_bar__plus_00_dot_46_bar__plus_03_dot_03 loc_bar__minus_1_bar_10_bar_3_bar_45)\n (objectAtLocation CreditCard_bar__plus_00_dot_41_bar__plus_00_dot_55_bar__plus_02_dot_76 loc_bar__minus_2_bar_10_bar_1_bar_60)\n (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)\n (objectAtLocation KeyChain_bar__minus_04_dot_66_bar__plus_00_dot_76_bar__minus_00_dot_63 loc_bar__minus_17_bar__minus_5_bar_0_bar_60)\n (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)\n (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)\n (objectAtLocation Pencil_bar__plus_00_dot_41_bar__plus_00_dot_56_bar__plus_03_dot_06 loc_bar__minus_2_bar_10_bar_1_bar_60)\n (objectAtLocation Laptop_bar__plus_00_dot_32_bar__plus_00_dot_55_bar__plus_02_dot_30 loc_bar__minus_2_bar_10_bar_1_bar_60)\n (objectAtLocation Vase_bar__plus_00_dot_66_bar__plus_00_dot_55_bar__plus_02_dot_15 loc_bar__minus_2_bar_10_bar_1_bar_60)\n (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)\n (objectAtLocation Watch_bar__plus_00_dot_16_bar__plus_00_dot_36_bar__plus_02_dot_61 loc_bar__minus_2_bar_6_bar_0_bar_45)\n (objectAtLocation CellPhone_bar__minus_01_dot_34_bar__plus_00_dot_88_bar__plus_00_dot_22 loc_bar__minus_5_bar_3_bar_2_bar_60)\n (objectAtLocation Plate_bar__minus_04_dot_05_bar__plus_00_dot_75_bar__minus_00_dot_08 loc_bar__minus_17_bar__minus_5_bar_0_bar_60)\n (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)\n (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)\n (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)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (inReceptacle ?o ?r)\n (objectType ?o LaptopType)\n (receptacleType ?r OttomanType)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to coffeetable 1", "take laptop 1 from coffeetable 1", "go to ottoman 1", "move laptop 1 to ottoman 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-Laptop-None-Ottoman-203/trial_T20190908_110656_971485/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Laptop-None-Ottoman-203/trial_T20190908_110656_971485/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..1d660ca4a7b0e7b564522d3bb7b67f64bf96250a --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Laptop-None-Ottoman-203/trial_T20190908_110656_971485/initial_state.pddl @@ -0,0 +1,647 @@ + +(define (problem plan_trial_T20190908_110656_971485) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Book_bar__minus_00_dot_97_bar__plus_00_dot_46_bar__plus_01_dot_85 - object + Book_bar__minus_01_dot_44_bar__plus_00_dot_45_bar__plus_01_dot_85 - object + Book_bar__minus_04_dot_84_bar__plus_00_dot_76_bar__minus_00_dot_63 - 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_03_dot_06 - object + Bowl_bar__minus_01_dot_03_bar__plus_00_dot_88_bar__plus_00_dot_22 - object + Box_bar__plus_00_dot_96_bar__plus_00_dot_29_bar__plus_06_dot_19 - object + CellPhone_bar__plus_00_dot_19_bar__plus_00_dot_04_bar__plus_02_dot_22 - object + CellPhone_bar__plus_00_dot_71_bar__plus_00_dot_42_bar__plus_04_dot_31 - object + CellPhone_bar__minus_01_dot_34_bar__plus_00_dot_88_bar__plus_00_dot_22 - 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_41_bar__plus_00_dot_55_bar__plus_02_dot_76 - 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_23_bar__plus_00_dot_55_bar__plus_03_dot_06 - object + KeyChain_bar__minus_04_dot_66_bar__plus_00_dot_76_bar__minus_00_dot_63 - object + Laptop_bar__plus_00_dot_32_bar__plus_00_dot_55_bar__plus_02_dot_30 - object + LightSwitch_bar__minus_06_dot_50_bar__plus_01_dot_50_bar__plus_01_dot_35 - object + Newspaper_bar__minus_01_dot_32_bar__plus_00_dot_46_bar__plus_03_dot_03 - object + Newspaper_bar__minus_03_dot_75_bar__plus_00_dot_75_bar__minus_00_dot_01 - 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_41_bar__plus_00_dot_56_bar__plus_02_dot_91 - object + Pencil_bar__plus_00_dot_41_bar__plus_00_dot_56_bar__plus_03_dot_06 - object + Pillow_bar__plus_00_dot_44_bar__plus_00_dot_58_bar__plus_05_dot_16 - object + Plate_bar__minus_04_dot_05_bar__plus_00_dot_75_bar__minus_00_dot_08 - object + RemoteControl_bar__plus_00_dot_49_bar__plus_00_dot_55_bar__plus_02_dot_61 - object + RemoteControl_bar__plus_00_dot_63_bar__plus_00_dot_43_bar__plus_05_dot_17 - object + RemoteControl_bar__minus_01_dot_44_bar__plus_00_dot_45_bar__plus_02_dot_32 - object + Television_bar__plus_01_dot_50_bar__plus_01_dot_69_bar__plus_02_dot_56 - object + TissueBox_bar__minus_03_dot_75_bar__plus_00_dot_76_bar__minus_00_dot_38 - object + TissueBox_bar__minus_04_dot_48_bar__plus_00_dot_76_bar__minus_00_dot_63 - object + Vase_bar__plus_00_dot_66_bar__plus_00_dot_55_bar__plus_02_dot_15 - object + Watch_bar__plus_00_dot_16_bar__plus_00_dot_36_bar__plus_02_dot_61 - 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_2_bar_5_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 WateringCan_bar__minus_00_dot_82_bar__plus_00_dot_01_bar__plus_00_dot_19 WateringCanType) + (objectType HousePlant_bar__minus_00_dot_75_bar__plus_00_dot_87_bar__plus_00_dot_21 HousePlantType) + (objectType RemoteControl_bar__plus_00_dot_63_bar__plus_00_dot_43_bar__plus_05_dot_17 RemoteControlType) + (objectType Newspaper_bar__minus_03_dot_75_bar__plus_00_dot_75_bar__minus_00_dot_01 NewspaperType) + (objectType Bowl_bar__plus_00_dot_58_bar__plus_00_dot_55_bar__plus_03_dot_06 BowlType) + (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 Plate_bar__minus_04_dot_05_bar__plus_00_dot_75_bar__minus_00_dot_08 PlateType) + (objectType Pencil_bar__plus_00_dot_41_bar__plus_00_dot_56_bar__plus_02_dot_91 PencilType) + (objectType TissueBox_bar__minus_03_dot_75_bar__plus_00_dot_76_bar__minus_00_dot_38 TissueBoxType) + (objectType CellPhone_bar__plus_00_dot_71_bar__plus_00_dot_42_bar__plus_04_dot_31 CellPhoneType) + (objectType Book_bar__minus_00_dot_97_bar__plus_00_dot_46_bar__plus_01_dot_85 BookType) + (objectType CreditCard_bar__plus_00_dot_41_bar__plus_00_dot_55_bar__plus_02_dot_76 CreditCardType) + (objectType Bowl_bar__minus_01_dot_03_bar__plus_00_dot_88_bar__plus_00_dot_22 BowlType) + (objectType RemoteControl_bar__minus_01_dot_44_bar__plus_00_dot_45_bar__plus_02_dot_32 RemoteControlType) + (objectType FloorLamp_bar__plus_01_dot_11_bar__plus_00_dot_01_bar__plus_06_dot_81 FloorLampType) + (objectType Watch_bar__plus_00_dot_16_bar__plus_00_dot_36_bar__plus_02_dot_61 WatchType) + (objectType KeyChain_bar__plus_00_dot_23_bar__plus_00_dot_55_bar__plus_03_dot_06 KeyChainType) + (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 Newspaper_bar__minus_01_dot_32_bar__plus_00_dot_46_bar__plus_03_dot_03 NewspaperType) + (objectType Window_bar__minus_04_dot_21_bar__plus_01_dot_58_bar__minus_01_dot_98 WindowType) + (objectType KeyChain_bar__minus_04_dot_66_bar__plus_00_dot_76_bar__minus_00_dot_63 KeyChainType) + (objectType Book_bar__minus_04_dot_84_bar__plus_00_dot_76_bar__minus_00_dot_63 BookType) + (objectType Television_bar__plus_01_dot_50_bar__plus_01_dot_69_bar__plus_02_dot_56 TelevisionType) + (objectType CellPhone_bar__minus_01_dot_34_bar__plus_00_dot_88_bar__plus_00_dot_22 CellPhoneType) + (objectType Book_bar__minus_01_dot_44_bar__plus_00_dot_45_bar__plus_01_dot_85 BookType) + (objectType RemoteControl_bar__plus_00_dot_49_bar__plus_00_dot_55_bar__plus_02_dot_61 RemoteControlType) + (objectType TissueBox_bar__minus_04_dot_48_bar__plus_00_dot_76_bar__minus_00_dot_63 TissueBoxType) + (objectType Laptop_bar__plus_00_dot_32_bar__plus_00_dot_55_bar__plus_02_dot_30 LaptopType) + (objectType Chair_bar__minus_03_dot_43_bar__plus_00_dot_02_bar__minus_00_dot_32 ChairType) + (objectType Pencil_bar__plus_00_dot_41_bar__plus_00_dot_56_bar__plus_03_dot_06 PencilType) + (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 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 Pillow_bar__plus_00_dot_44_bar__plus_00_dot_58_bar__plus_05_dot_16 PillowType) + (objectType Vase_bar__plus_00_dot_66_bar__plus_00_dot_55_bar__plus_02_dot_15 VaseType) + (objectType CellPhone_bar__plus_00_dot_19_bar__plus_00_dot_04_bar__plus_02_dot_22 CellPhoneType) + (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 WateringCan_bar__minus_00_dot_82_bar__plus_00_dot_01_bar__plus_00_dot_19) + (pickupable RemoteControl_bar__plus_00_dot_63_bar__plus_00_dot_43_bar__plus_05_dot_17) + (pickupable Newspaper_bar__minus_03_dot_75_bar__plus_00_dot_75_bar__minus_00_dot_01) + (pickupable Bowl_bar__plus_00_dot_58_bar__plus_00_dot_55_bar__plus_03_dot_06) + (pickupable Plate_bar__minus_04_dot_05_bar__plus_00_dot_75_bar__minus_00_dot_08) + (pickupable Pencil_bar__plus_00_dot_41_bar__plus_00_dot_56_bar__plus_02_dot_91) + (pickupable TissueBox_bar__minus_03_dot_75_bar__plus_00_dot_76_bar__minus_00_dot_38) + (pickupable CellPhone_bar__plus_00_dot_71_bar__plus_00_dot_42_bar__plus_04_dot_31) + (pickupable Book_bar__minus_00_dot_97_bar__plus_00_dot_46_bar__plus_01_dot_85) + (pickupable CreditCard_bar__plus_00_dot_41_bar__plus_00_dot_55_bar__plus_02_dot_76) + (pickupable Bowl_bar__minus_01_dot_03_bar__plus_00_dot_88_bar__plus_00_dot_22) + (pickupable RemoteControl_bar__minus_01_dot_44_bar__plus_00_dot_45_bar__plus_02_dot_32) + (pickupable Watch_bar__plus_00_dot_16_bar__plus_00_dot_36_bar__plus_02_dot_61) + (pickupable KeyChain_bar__plus_00_dot_23_bar__plus_00_dot_55_bar__plus_03_dot_06) + (pickupable Newspaper_bar__minus_01_dot_32_bar__plus_00_dot_46_bar__plus_03_dot_03) + (pickupable KeyChain_bar__minus_04_dot_66_bar__plus_00_dot_76_bar__minus_00_dot_63) + (pickupable Book_bar__minus_04_dot_84_bar__plus_00_dot_76_bar__minus_00_dot_63) + (pickupable CellPhone_bar__minus_01_dot_34_bar__plus_00_dot_88_bar__plus_00_dot_22) + (pickupable Book_bar__minus_01_dot_44_bar__plus_00_dot_45_bar__plus_01_dot_85) + (pickupable RemoteControl_bar__plus_00_dot_49_bar__plus_00_dot_55_bar__plus_02_dot_61) + (pickupable TissueBox_bar__minus_04_dot_48_bar__plus_00_dot_76_bar__minus_00_dot_63) + (pickupable Laptop_bar__plus_00_dot_32_bar__plus_00_dot_55_bar__plus_02_dot_30) + (pickupable Pencil_bar__plus_00_dot_41_bar__plus_00_dot_56_bar__plus_03_dot_06) + (pickupable Boots_bar__minus_06_dot_31_bar__plus_00_dot_01_bar__plus_01_dot_25) + (pickupable Pillow_bar__plus_00_dot_44_bar__plus_00_dot_58_bar__plus_05_dot_16) + (pickupable Vase_bar__plus_00_dot_66_bar__plus_00_dot_55_bar__plus_02_dot_15) + (pickupable CellPhone_bar__plus_00_dot_19_bar__plus_00_dot_04_bar__plus_02_dot_22) + (pickupable 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_03_dot_06) + (isReceptacleObject Plate_bar__minus_04_dot_05_bar__plus_00_dot_75_bar__minus_00_dot_08) + (isReceptacleObject Bowl_bar__minus_01_dot_03_bar__plus_00_dot_88_bar__plus_00_dot_22) + (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_2_bar_5_bar_2_bar_30) + + (cleanable Bowl_bar__plus_00_dot_58_bar__plus_00_dot_55_bar__plus_03_dot_06) + (cleanable Plate_bar__minus_04_dot_05_bar__plus_00_dot_75_bar__minus_00_dot_08) + (cleanable Bowl_bar__minus_01_dot_03_bar__plus_00_dot_88_bar__plus_00_dot_22) + + (heatable Plate_bar__minus_04_dot_05_bar__plus_00_dot_75_bar__minus_00_dot_08) + (coolable Bowl_bar__plus_00_dot_58_bar__plus_00_dot_55_bar__plus_03_dot_06) + (coolable Plate_bar__minus_04_dot_05_bar__plus_00_dot_75_bar__minus_00_dot_08) + (coolable Bowl_bar__minus_01_dot_03_bar__plus_00_dot_88_bar__plus_00_dot_22) + + + (toggleable FloorLamp_bar__plus_01_dot_11_bar__plus_00_dot_01_bar__plus_06_dot_81) + + + + + (inReceptacle Newspaper_bar__minus_03_dot_75_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 KeyChain_bar__minus_04_dot_66_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 Book_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_63 DiningTable_bar__minus_04_dot_30_bar__plus_00_dot_01_bar__minus_00_dot_38) + (inReceptacle Plate_bar__minus_04_dot_05_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 TissueBox_bar__minus_03_dot_75_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 Book_bar__minus_01_dot_44_bar__plus_00_dot_45_bar__plus_01_dot_85 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_00_dot_97_bar__plus_00_dot_46_bar__plus_01_dot_85 Sofa_bar__minus_01_dot_53_bar__plus_00_dot_02_bar__plus_02_dot_56) + (inReceptacle Newspaper_bar__minus_01_dot_32_bar__plus_00_dot_46_bar__plus_03_dot_03 Sofa_bar__minus_01_dot_53_bar__plus_00_dot_02_bar__plus_02_dot_56) + (inReceptacle CellPhone_bar__plus_00_dot_19_bar__plus_00_dot_04_bar__plus_02_dot_22 Drawer_bar__plus_00_dot_21_bar__plus_00_dot_07_bar__plus_02_dot_61) + (inReceptacle CellPhone_bar__plus_00_dot_71_bar__plus_00_dot_42_bar__plus_04_dot_31 Ottoman_bar__plus_00_dot_49_bar__plus_00_dot_00_bar__plus_04_dot_31) + (inReceptacle Watch_bar__plus_00_dot_16_bar__plus_00_dot_36_bar__plus_02_dot_61 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 RemoteControl_bar__plus_00_dot_63_bar__plus_00_dot_43_bar__plus_05_dot_17 ArmChair_bar__plus_00_dot_42_bar_00_dot_00_bar__plus_05_dot_13) + (inReceptacle Bowl_bar__minus_01_dot_03_bar__plus_00_dot_88_bar__plus_00_dot_22 SideTable_bar__minus_01_dot_03_bar__plus_00_dot_01_bar__plus_00_dot_16) + (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 CellPhone_bar__minus_01_dot_34_bar__plus_00_dot_88_bar__plus_00_dot_22 SideTable_bar__minus_01_dot_03_bar__plus_00_dot_01_bar__plus_00_dot_16) + (inReceptacle Pencil_bar__plus_00_dot_41_bar__plus_00_dot_56_bar__plus_03_dot_06 CoffeeTable_bar__plus_00_dot_41_bar__plus_00_dot_01_bar__plus_02_dot_61) + (inReceptacle KeyChain_bar__plus_00_dot_23_bar__plus_00_dot_55_bar__plus_03_dot_06 CoffeeTable_bar__plus_00_dot_41_bar__plus_00_dot_01_bar__plus_02_dot_61) + (inReceptacle CreditCard_bar__plus_00_dot_41_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 Bowl_bar__plus_00_dot_58_bar__plus_00_dot_55_bar__plus_03_dot_06 CoffeeTable_bar__plus_00_dot_41_bar__plus_00_dot_01_bar__plus_02_dot_61) + (inReceptacle Vase_bar__plus_00_dot_66_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 RemoteControl_bar__plus_00_dot_49_bar__plus_00_dot_55_bar__plus_02_dot_61 CoffeeTable_bar__plus_00_dot_41_bar__plus_00_dot_01_bar__plus_02_dot_61) + (inReceptacle Laptop_bar__plus_00_dot_32_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 Pencil_bar__plus_00_dot_41_bar__plus_00_dot_56_bar__plus_02_dot_91 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_71_bar__plus_00_dot_42_bar__plus_04_dot_31 loc_bar_4_bar_12_bar_0_bar_45) + (objectAtLocation RemoteControl_bar__plus_00_dot_49_bar__plus_00_dot_55_bar__plus_02_dot_61 loc_bar__minus_2_bar_10_bar_1_bar_60) + (objectAtLocation Pencil_bar__plus_00_dot_41_bar__plus_00_dot_56_bar__plus_02_dot_91 loc_bar__minus_2_bar_10_bar_1_bar_60) + (objectAtLocation KeyChain_bar__plus_00_dot_23_bar__plus_00_dot_55_bar__plus_03_dot_06 loc_bar__minus_2_bar_10_bar_1_bar_60) + (objectAtLocation Newspaper_bar__minus_03_dot_75_bar__plus_00_dot_75_bar__minus_00_dot_01 loc_bar__minus_17_bar__minus_5_bar_0_bar_60) + (objectAtLocation TissueBox_bar__minus_03_dot_75_bar__plus_00_dot_76_bar__minus_00_dot_38 loc_bar__minus_17_bar__minus_5_bar_0_bar_60) + (objectAtLocation Bowl_bar__minus_01_dot_03_bar__plus_00_dot_88_bar__plus_00_dot_22 loc_bar__minus_5_bar_3_bar_2_bar_60) + (objectAtLocation Book_bar__minus_04_dot_84_bar__plus_00_dot_76_bar__minus_00_dot_63 loc_bar__minus_17_bar__minus_5_bar_0_bar_60) + (objectAtLocation RemoteControl_bar__plus_00_dot_63_bar__plus_00_dot_43_bar__plus_05_dot_17 loc_bar_2_bar_25_bar_2_bar_60) + (objectAtLocation CellPhone_bar__plus_00_dot_19_bar__plus_00_dot_04_bar__plus_02_dot_22 loc_bar__minus_3_bar_4_bar_0_bar_45) + (objectAtLocation Book_bar__minus_01_dot_44_bar__plus_00_dot_45_bar__plus_01_dot_85 loc_bar__minus_1_bar_10_bar_3_bar_45) + (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_00_dot_97_bar__plus_00_dot_46_bar__plus_01_dot_85 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_03_dot_06 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_48_bar__plus_00_dot_76_bar__minus_00_dot_63 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__minus_01_dot_32_bar__plus_00_dot_46_bar__plus_03_dot_03 loc_bar__minus_1_bar_10_bar_3_bar_45) + (objectAtLocation CreditCard_bar__plus_00_dot_41_bar__plus_00_dot_55_bar__plus_02_dot_76 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_04_dot_66_bar__plus_00_dot_76_bar__minus_00_dot_63 loc_bar__minus_17_bar__minus_5_bar_0_bar_60) + (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__plus_00_dot_41_bar__plus_00_dot_56_bar__plus_03_dot_06 loc_bar__minus_2_bar_10_bar_1_bar_60) + (objectAtLocation Laptop_bar__plus_00_dot_32_bar__plus_00_dot_55_bar__plus_02_dot_30 loc_bar__minus_2_bar_10_bar_1_bar_60) + (objectAtLocation Vase_bar__plus_00_dot_66_bar__plus_00_dot_55_bar__plus_02_dot_15 loc_bar__minus_2_bar_10_bar_1_bar_60) + (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 Watch_bar__plus_00_dot_16_bar__plus_00_dot_36_bar__plus_02_dot_61 loc_bar__minus_2_bar_6_bar_0_bar_45) + (objectAtLocation CellPhone_bar__minus_01_dot_34_bar__plus_00_dot_88_bar__plus_00_dot_22 loc_bar__minus_5_bar_3_bar_2_bar_60) + (objectAtLocation Plate_bar__minus_04_dot_05_bar__plus_00_dot_75_bar__minus_00_dot_08 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 (?r - receptacle) + (exists (?o - object) + (and + (inReceptacle ?o ?r) + (objectType ?o LaptopType) + (receptacleType ?r OttomanType) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-Laptop-None-Ottoman-203/trial_T20190908_110656_971485/traj_data.json 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" + ], + "task_desc": "Put a computer on the ottoman. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A2KAGFQU28JY43_3DHE4R9OCZ21B6S9D2OLOTXMC6QG2J", + "high_descs": [ + "Turn around and go to the end of the coffee table, behind you. ", + "Shut the laptop closed and pick it up from the coffee table. ", + "Go to the ottoman in front of you, on the other side of the coffee table. ", + "Place the laptop on the ottoman, to the left of the cell phone. " + ], + "task_desc": "Put the laptop on the ottoman. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1NWXL4QO30M8U_3OS4RQUCRC6PLJWALBBE710E5XMBF0", + "high_descs": [ + "Turn right and take one step then turn right and walk to the table.", + "Close the laptop and then pick up the laptop from the table. ", + "Turn right and take one step then turn left and walk to the purple chair. ", + "Put the laptop down to the left of the red cell phone on the purple chair." + ], + "task_desc": "Move the laptop to the chair.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-Laptop-None-Ottoman-203/trial_T20190908_110713_350931/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Laptop-None-Ottoman-203/trial_T20190908_110713_350931/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..bc0c07c361c3b10fbbc0bb4d86d95bf9bb319c2b --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Laptop-None-Ottoman-203/trial_T20190908_110713_350931/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\n\\n#task#\"\n }\n ],\n\n \"notImplemented\": [\n {\n \"rhs\": \"TODO\"\n }\n ],\n\n \"task\": [\n {\n \"rhs\": \"Your task is to: put some laptop on ottoman.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using 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_110713_350931)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Book_bar__minus_01_dot_55_bar__plus_00_dot_45_bar__plus_03_dot_03 - object\n Boots_bar__minus_06_dot_31_bar__plus_00_dot_01_bar__plus_01_dot_25 - object\n Bowl_bar__minus_04_dot_48_bar__plus_00_dot_76_bar__minus_00_dot_75 - object\n Box_bar__plus_00_dot_96_bar__plus_00_dot_29_bar__plus_06_dot_19 - object\n CellPhone_bar__plus_00_dot_66_bar__plus_00_dot_55_bar__plus_02_dot_45 - object\n CellPhone_bar__minus_04_dot_66_bar__plus_00_dot_75_bar__minus_00_dot_26 - object\n Chair_bar__minus_03_dot_43_bar__plus_00_dot_02_bar__minus_00_dot_32 - object\n Chair_bar__minus_03_dot_90_bar__plus_00_dot_02_bar__minus_00_dot_83 - object\n Chair_bar__minus_04_dot_00_bar__plus_00_dot_02_bar__plus_00_dot_09 - object\n Chair_bar__minus_04_dot_57_bar__plus_00_dot_02_bar__minus_00_dot_83 - object\n Chair_bar__minus_04_dot_66_bar__plus_00_dot_02_bar__plus_00_dot_16 - object\n Chair_bar__minus_04_dot_99_bar__plus_00_dot_02_bar__minus_00_dot_41 - object\n CreditCard_bar__plus_00_dot_49_bar__plus_00_dot_42_bar__plus_04_dot_50 - object\n CreditCard_bar__plus_00_dot_63_bar__plus_00_dot_43_bar__plus_05_dot_17 - object\n FloorLamp_bar__plus_01_dot_11_bar__plus_00_dot_01_bar__plus_06_dot_81 - object\n HousePlant_bar__minus_00_dot_75_bar__plus_00_dot_87_bar__plus_00_dot_21 - object\n KeyChain_bar__plus_00_dot_71_bar__plus_00_dot_42_bar__plus_04_dot_31 - object\n Laptop_bar__minus_01_dot_09_bar__plus_00_dot_45_bar__plus_01_dot_85 - object\n Laptop_bar__minus_01_dot_09_bar__plus_00_dot_45_bar__plus_03_dot_03 - object\n LightSwitch_bar__minus_06_dot_50_bar__plus_01_dot_50_bar__plus_01_dot_35 - object\n Newspaper_bar__plus_00_dot_49_bar__plus_00_dot_56_bar__plus_03_dot_06 - object\n Painting_bar__plus_00_dot_70_bar__plus_01_dot_78_bar__plus_00_dot_78 - object\n Painting_bar__minus_06_dot_50_bar__plus_01_dot_76_bar__minus_00_dot_34 - object\n Pencil_bar__plus_00_dot_23_bar__plus_00_dot_20_bar__plus_02_dot_99 - object\n Pillow_bar__plus_00_dot_44_bar__plus_00_dot_58_bar__plus_05_dot_16 - object\n Plate_bar__plus_00_dot_23_bar__plus_00_dot_56_bar__plus_02_dot_76 - object\n RemoteControl_bar__plus_00_dot_32_bar__plus_00_dot_43_bar__plus_05_dot_17 - object\n RemoteControl_bar__minus_01_dot_20_bar__plus_00_dot_45_bar__plus_02_dot_56 - object\n RemoteControl_bar__minus_01_dot_24_bar__plus_00_dot_88_bar__plus_00_dot_26 - object\n Television_bar__plus_01_dot_50_bar__plus_01_dot_69_bar__plus_02_dot_56 - object\n TissueBox_bar__plus_00_dot_49_bar__plus_00_dot_55_bar__plus_02_dot_61 - object\n TissueBox_bar__minus_03_dot_93_bar__plus_00_dot_76_bar__minus_00_dot_50 - object\n TissueBox_bar__minus_04_dot_84_bar__plus_00_dot_76_bar__minus_00_dot_75 - object\n Vase_bar__plus_00_dot_23_bar__plus_00_dot_55_bar__plus_02_dot_15 - object\n Vase_bar__minus_01_dot_34_bar__plus_00_dot_88_bar__plus_00_dot_14 - object\n Watch_bar__plus_00_dot_66_bar__plus_00_dot_55_bar__plus_02_dot_76 - object\n WateringCan_bar__minus_00_dot_82_bar__plus_00_dot_01_bar__plus_00_dot_19 - object\n Window_bar__plus_01_dot_50_bar__plus_01_dot_71_bar__plus_04_dot_46 - object\n Window_bar__minus_04_dot_21_bar__plus_01_dot_58_bar__minus_01_dot_98 - object\n ArmChair_bar__plus_00_dot_42_bar_00_dot_00_bar__plus_05_dot_13 - receptacle\n CoffeeTable_bar__plus_00_dot_41_bar__plus_00_dot_01_bar__plus_02_dot_61 - receptacle\n DiningTable_bar__minus_04_dot_30_bar__plus_00_dot_01_bar__minus_00_dot_38 - receptacle\n Drawer_bar__plus_00_dot_21_bar__plus_00_dot_07_bar__plus_02_dot_61 - receptacle\n Drawer_bar__plus_00_dot_21_bar__plus_00_dot_23_bar__plus_02_dot_61 - receptacle\n Drawer_bar__plus_00_dot_21_bar__plus_00_dot_39_bar__plus_02_dot_61 - receptacle\n Drawer_bar__plus_00_dot_60_bar__plus_00_dot_07_bar__plus_02_dot_61 - receptacle\n Drawer_bar__plus_00_dot_60_bar__plus_00_dot_23_bar__plus_02_dot_61 - receptacle\n Drawer_bar__plus_00_dot_60_bar__plus_00_dot_39_bar__plus_02_dot_61 - receptacle\n Drawer_bar__minus_01_dot_03_bar__plus_00_dot_78_bar__plus_00_dot_24 - receptacle\n GarbageCan_bar__minus_06_dot_13_bar__plus_00_dot_01_bar__plus_02_dot_80 - receptacle\n Ottoman_bar__plus_00_dot_49_bar__plus_00_dot_00_bar__plus_04_dot_31 - receptacle\n SideTable_bar__minus_01_dot_03_bar__plus_00_dot_01_bar__plus_00_dot_16 - receptacle\n Sofa_bar__minus_01_dot_53_bar__plus_00_dot_02_bar__plus_02_dot_56 - receptacle\n loc_bar__minus_13_bar__minus_3_bar_3_bar_60 - location\n loc_bar__minus_5_bar_3_bar_2_bar_60 - location\n loc_bar_4_bar_7_bar_0_bar_60 - location\n loc_bar__minus_2_bar_10_bar_1_bar_60 - location\n loc_bar__minus_24_bar__minus_1_bar_3_bar__minus_15 - location\n loc_bar__minus_1_bar_10_bar_3_bar_45 - location\n loc_bar__minus_2_bar_6_bar_0_bar_45 - location\n loc_bar_4_bar_15_bar_0_bar_0 - location\n loc_bar_2_bar_25_bar_2_bar_60 - location\n loc_bar_4_bar_10_bar_3_bar_60 - location\n loc_bar_4_bar_10_bar_1_bar_0 - location\n loc_bar__minus_1_bar_2_bar_3_bar_60 - location\n loc_bar__minus_24_bar_9_bar_0_bar_60 - location\n loc_bar__minus_17_bar__minus_5_bar_2_bar_0 - location\n loc_bar__minus_2_bar_5_bar_0_bar_45 - location\n loc_bar__minus_3_bar_4_bar_0_bar_45 - location\n loc_bar__minus_24_bar_5_bar_3_bar_15 - location\n loc_bar_4_bar_15_bar_2_bar_45 - location\n loc_bar_2_bar_25_bar_1_bar_60 - location\n loc_bar__minus_2_bar_4_bar_2_bar_45 - location\n loc_bar__minus_13_bar__minus_3_bar_0_bar_60 - location\n loc_bar__minus_21_bar_1_bar_1_bar_60 - location\n loc_bar__minus_16_bar_3_bar_2_bar_60 - location\n loc_bar_3_bar_26_bar_1_bar_60 - location\n loc_bar__minus_24_bar_5_bar_3_bar_60 - location\n loc_bar__minus_17_bar__minus_5_bar_0_bar_60 - location\n loc_bar_0_bar_4_bar_1_bar__minus_15 - location\n loc_bar__minus_18_bar__minus_6_bar_0_bar_60 - location\n loc_bar__minus_22_bar__minus_2_bar_1_bar_60 - location\n loc_bar_4_bar_12_bar_0_bar_45 - location\n loc_bar__minus_3_bar_18_bar_2_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Drawer_bar__plus_00_dot_60_bar__plus_00_dot_07_bar__plus_02_dot_61 DrawerType)\n (receptacleType ArmChair_bar__plus_00_dot_42_bar_00_dot_00_bar__plus_05_dot_13 ArmChairType)\n (receptacleType Sofa_bar__minus_01_dot_53_bar__plus_00_dot_02_bar__plus_02_dot_56 SofaType)\n (receptacleType Drawer_bar__plus_00_dot_21_bar__plus_00_dot_23_bar__plus_02_dot_61 DrawerType)\n (receptacleType CoffeeTable_bar__plus_00_dot_41_bar__plus_00_dot_01_bar__plus_02_dot_61 CoffeeTableType)\n (receptacleType Drawer_bar__plus_00_dot_60_bar__plus_00_dot_23_bar__plus_02_dot_61 DrawerType)\n (receptacleType SideTable_bar__minus_01_dot_03_bar__plus_00_dot_01_bar__plus_00_dot_16 SideTableType)\n (receptacleType Drawer_bar__plus_00_dot_21_bar__plus_00_dot_39_bar__plus_02_dot_61 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_03_bar__plus_00_dot_78_bar__plus_00_dot_24 DrawerType)\n (receptacleType Ottoman_bar__plus_00_dot_49_bar__plus_00_dot_00_bar__plus_04_dot_31 OttomanType)\n (receptacleType Drawer_bar__plus_00_dot_60_bar__plus_00_dot_39_bar__plus_02_dot_61 DrawerType)\n (receptacleType GarbageCan_bar__minus_06_dot_13_bar__plus_00_dot_01_bar__plus_02_dot_80 GarbageCanType)\n (receptacleType DiningTable_bar__minus_04_dot_30_bar__plus_00_dot_01_bar__minus_00_dot_38 DiningTableType)\n (receptacleType Drawer_bar__plus_00_dot_21_bar__plus_00_dot_07_bar__plus_02_dot_61 DrawerType)\n (objectType WateringCan_bar__minus_00_dot_82_bar__plus_00_dot_01_bar__plus_00_dot_19 WateringCanType)\n (objectType TissueBox_bar__minus_04_dot_84_bar__plus_00_dot_76_bar__minus_00_dot_75 TissueBoxType)\n (objectType HousePlant_bar__minus_00_dot_75_bar__plus_00_dot_87_bar__plus_00_dot_21 HousePlantType)\n (objectType LightSwitch_bar__minus_06_dot_50_bar__plus_01_dot_50_bar__plus_01_dot_35 LightSwitchType)\n (objectType Chair_bar__minus_04_dot_00_bar__plus_00_dot_02_bar__plus_00_dot_09 ChairType)\n (objectType Chair_bar__minus_04_dot_66_bar__plus_00_dot_02_bar__plus_00_dot_16 ChairType)\n (objectType CreditCard_bar__plus_00_dot_63_bar__plus_00_dot_43_bar__plus_05_dot_17 CreditCardType)\n (objectType Newspaper_bar__plus_00_dot_49_bar__plus_00_dot_56_bar__plus_03_dot_06 NewspaperType)\n (objectType Vase_bar__minus_01_dot_34_bar__plus_00_dot_88_bar__plus_00_dot_14 VaseType)\n (objectType Vase_bar__plus_00_dot_23_bar__plus_00_dot_55_bar__plus_02_dot_15 VaseType)\n (objectType KeyChain_bar__plus_00_dot_71_bar__plus_00_dot_42_bar__plus_04_dot_31 KeyChainType)\n (objectType Plate_bar__plus_00_dot_23_bar__plus_00_dot_56_bar__plus_02_dot_76 PlateType)\n (objectType CellPhone_bar__plus_00_dot_66_bar__plus_00_dot_55_bar__plus_02_dot_45 CellPhoneType)\n (objectType RemoteControl_bar__minus_01_dot_24_bar__plus_00_dot_88_bar__plus_00_dot_26 RemoteControlType)\n (objectType Bowl_bar__minus_04_dot_48_bar__plus_00_dot_76_bar__minus_00_dot_75 BowlType)\n (objectType FloorLamp_bar__plus_01_dot_11_bar__plus_00_dot_01_bar__plus_06_dot_81 FloorLampType)\n (objectType Watch_bar__plus_00_dot_66_bar__plus_00_dot_55_bar__plus_02_dot_76 WatchType)\n (objectType Book_bar__minus_01_dot_55_bar__plus_00_dot_45_bar__plus_03_dot_03 BookType)\n (objectType Painting_bar__minus_06_dot_50_bar__plus_01_dot_76_bar__minus_00_dot_34 PaintingType)\n (objectType Painting_bar__plus_00_dot_70_bar__plus_01_dot_78_bar__plus_00_dot_78 PaintingType)\n (objectType Window_bar__minus_04_dot_21_bar__plus_01_dot_58_bar__minus_01_dot_98 WindowType)\n (objectType CreditCard_bar__plus_00_dot_49_bar__plus_00_dot_42_bar__plus_04_dot_50 CreditCardType)\n (objectType Television_bar__plus_01_dot_50_bar__plus_01_dot_69_bar__plus_02_dot_56 TelevisionType)\n (objectType RemoteControl_bar__plus_00_dot_32_bar__plus_00_dot_43_bar__plus_05_dot_17 RemoteControlType)\n (objectType Laptop_bar__minus_01_dot_09_bar__plus_00_dot_45_bar__plus_03_dot_03 LaptopType)\n (objectType TissueBox_bar__plus_00_dot_49_bar__plus_00_dot_55_bar__plus_02_dot_61 TissueBoxType)\n (objectType Chair_bar__minus_03_dot_43_bar__plus_00_dot_02_bar__minus_00_dot_32 ChairType)\n (objectType Pencil_bar__plus_00_dot_23_bar__plus_00_dot_20_bar__plus_02_dot_99 PencilType)\n (objectType CellPhone_bar__minus_04_dot_66_bar__plus_00_dot_75_bar__minus_00_dot_26 CellPhoneType)\n (objectType Chair_bar__minus_04_dot_57_bar__plus_00_dot_02_bar__minus_00_dot_83 ChairType)\n (objectType Chair_bar__minus_04_dot_99_bar__plus_00_dot_02_bar__minus_00_dot_41 ChairType)\n (objectType Window_bar__plus_01_dot_50_bar__plus_01_dot_71_bar__plus_04_dot_46 WindowType)\n (objectType Chair_bar__minus_03_dot_90_bar__plus_00_dot_02_bar__minus_00_dot_83 ChairType)\n (objectType RemoteControl_bar__minus_01_dot_20_bar__plus_00_dot_45_bar__plus_02_dot_56 RemoteControlType)\n (objectType Boots_bar__minus_06_dot_31_bar__plus_00_dot_01_bar__plus_01_dot_25 BootsType)\n (objectType Laptop_bar__minus_01_dot_09_bar__plus_00_dot_45_bar__plus_01_dot_85 LaptopType)\n (objectType Pillow_bar__plus_00_dot_44_bar__plus_00_dot_58_bar__plus_05_dot_16 PillowType)\n (objectType Box_bar__plus_00_dot_96_bar__plus_00_dot_29_bar__plus_06_dot_19 BoxType)\n (objectType TissueBox_bar__minus_03_dot_93_bar__plus_00_dot_76_bar__minus_00_dot_50 TissueBoxType)\n (canContain DrawerType BookType)\n (canContain DrawerType WatchType)\n (canContain DrawerType NewspaperType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType WateringCanType)\n (canContain ArmChairType BoxType)\n (canContain ArmChairType LaptopType)\n (canContain ArmChairType BookType)\n (canContain ArmChairType CellPhoneType)\n (canContain ArmChairType PillowType)\n (canContain ArmChairType RemoteControlType)\n (canContain ArmChairType KeyChainType)\n (canContain ArmChairType NewspaperType)\n (canContain ArmChairType CreditCardType)\n (canContain SofaType BoxType)\n (canContain SofaType LaptopType)\n (canContain SofaType BookType)\n (canContain SofaType CellPhoneType)\n (canContain SofaType PillowType)\n (canContain SofaType RemoteControlType)\n (canContain SofaType KeyChainType)\n (canContain SofaType NewspaperType)\n (canContain SofaType CreditCardType)\n (canContain DrawerType BookType)\n (canContain DrawerType WatchType)\n (canContain DrawerType NewspaperType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType WateringCanType)\n (canContain CoffeeTableType BookType)\n (canContain CoffeeTableType WatchType)\n (canContain CoffeeTableType NewspaperType)\n (canContain CoffeeTableType BowlType)\n (canContain CoffeeTableType VaseType)\n (canContain CoffeeTableType BoxType)\n (canContain CoffeeTableType CellPhoneType)\n (canContain CoffeeTableType KeyChainType)\n (canContain CoffeeTableType CreditCardType)\n (canContain CoffeeTableType LaptopType)\n (canContain CoffeeTableType PencilType)\n (canContain CoffeeTableType PlateType)\n (canContain CoffeeTableType RemoteControlType)\n (canContain CoffeeTableType TissueBoxType)\n (canContain CoffeeTableType WateringCanType)\n (canContain DrawerType BookType)\n (canContain DrawerType WatchType)\n (canContain DrawerType NewspaperType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType WateringCanType)\n (canContain SideTableType BookType)\n (canContain SideTableType WatchType)\n (canContain SideTableType NewspaperType)\n (canContain SideTableType BowlType)\n (canContain SideTableType VaseType)\n (canContain SideTableType BoxType)\n (canContain SideTableType CellPhoneType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType PencilType)\n (canContain SideTableType PlateType)\n (canContain SideTableType RemoteControlType)\n (canContain SideTableType TissueBoxType)\n (canContain SideTableType WateringCanType)\n (canContain DrawerType BookType)\n (canContain DrawerType WatchType)\n (canContain DrawerType NewspaperType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType WateringCanType)\n (canContain DrawerType BookType)\n (canContain DrawerType WatchType)\n (canContain DrawerType NewspaperType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType WateringCanType)\n (canContain OttomanType BoxType)\n (canContain OttomanType LaptopType)\n (canContain OttomanType BookType)\n (canContain OttomanType CellPhoneType)\n (canContain OttomanType PillowType)\n (canContain OttomanType RemoteControlType)\n (canContain OttomanType KeyChainType)\n (canContain OttomanType NewspaperType)\n (canContain OttomanType CreditCardType)\n (canContain DrawerType BookType)\n (canContain DrawerType WatchType)\n (canContain DrawerType NewspaperType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType WateringCanType)\n (canContain GarbageCanType NewspaperType)\n (canContain GarbageCanType PencilType)\n (canContain GarbageCanType TissueBoxType)\n (canContain DiningTableType BookType)\n (canContain DiningTableType WatchType)\n (canContain DiningTableType NewspaperType)\n (canContain DiningTableType BowlType)\n (canContain DiningTableType VaseType)\n (canContain DiningTableType BoxType)\n (canContain DiningTableType CellPhoneType)\n (canContain DiningTableType KeyChainType)\n (canContain DiningTableType CreditCardType)\n (canContain DiningTableType LaptopType)\n (canContain DiningTableType PencilType)\n (canContain DiningTableType PlateType)\n (canContain DiningTableType RemoteControlType)\n (canContain DiningTableType TissueBoxType)\n (canContain DiningTableType WateringCanType)\n (canContain DrawerType BookType)\n (canContain DrawerType WatchType)\n (canContain DrawerType NewspaperType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType WateringCanType)\n (pickupable WateringCan_bar__minus_00_dot_82_bar__plus_00_dot_01_bar__plus_00_dot_19)\n (pickupable TissueBox_bar__minus_04_dot_84_bar__plus_00_dot_76_bar__minus_00_dot_75)\n (pickupable CreditCard_bar__plus_00_dot_63_bar__plus_00_dot_43_bar__plus_05_dot_17)\n (pickupable Newspaper_bar__plus_00_dot_49_bar__plus_00_dot_56_bar__plus_03_dot_06)\n (pickupable Vase_bar__minus_01_dot_34_bar__plus_00_dot_88_bar__plus_00_dot_14)\n (pickupable Vase_bar__plus_00_dot_23_bar__plus_00_dot_55_bar__plus_02_dot_15)\n (pickupable KeyChain_bar__plus_00_dot_71_bar__plus_00_dot_42_bar__plus_04_dot_31)\n (pickupable Plate_bar__plus_00_dot_23_bar__plus_00_dot_56_bar__plus_02_dot_76)\n (pickupable CellPhone_bar__plus_00_dot_66_bar__plus_00_dot_55_bar__plus_02_dot_45)\n (pickupable RemoteControl_bar__minus_01_dot_24_bar__plus_00_dot_88_bar__plus_00_dot_26)\n (pickupable Bowl_bar__minus_04_dot_48_bar__plus_00_dot_76_bar__minus_00_dot_75)\n (pickupable Watch_bar__plus_00_dot_66_bar__plus_00_dot_55_bar__plus_02_dot_76)\n (pickupable Book_bar__minus_01_dot_55_bar__plus_00_dot_45_bar__plus_03_dot_03)\n (pickupable CreditCard_bar__plus_00_dot_49_bar__plus_00_dot_42_bar__plus_04_dot_50)\n (pickupable RemoteControl_bar__plus_00_dot_32_bar__plus_00_dot_43_bar__plus_05_dot_17)\n (pickupable Laptop_bar__minus_01_dot_09_bar__plus_00_dot_45_bar__plus_03_dot_03)\n (pickupable TissueBox_bar__plus_00_dot_49_bar__plus_00_dot_55_bar__plus_02_dot_61)\n (pickupable Pencil_bar__plus_00_dot_23_bar__plus_00_dot_20_bar__plus_02_dot_99)\n (pickupable CellPhone_bar__minus_04_dot_66_bar__plus_00_dot_75_bar__minus_00_dot_26)\n (pickupable RemoteControl_bar__minus_01_dot_20_bar__plus_00_dot_45_bar__plus_02_dot_56)\n (pickupable Boots_bar__minus_06_dot_31_bar__plus_00_dot_01_bar__plus_01_dot_25)\n (pickupable Laptop_bar__minus_01_dot_09_bar__plus_00_dot_45_bar__plus_01_dot_85)\n (pickupable Pillow_bar__plus_00_dot_44_bar__plus_00_dot_58_bar__plus_05_dot_16)\n (pickupable Box_bar__plus_00_dot_96_bar__plus_00_dot_29_bar__plus_06_dot_19)\n (pickupable TissueBox_bar__minus_03_dot_93_bar__plus_00_dot_76_bar__minus_00_dot_50)\n (isReceptacleObject Plate_bar__plus_00_dot_23_bar__plus_00_dot_56_bar__plus_02_dot_76)\n (isReceptacleObject Bowl_bar__minus_04_dot_48_bar__plus_00_dot_76_bar__minus_00_dot_75)\n (isReceptacleObject Box_bar__plus_00_dot_96_bar__plus_00_dot_29_bar__plus_06_dot_19)\n (openable Drawer_bar__plus_00_dot_21_bar__plus_00_dot_23_bar__plus_02_dot_61)\n (openable Drawer_bar__plus_00_dot_60_bar__plus_00_dot_23_bar__plus_02_dot_61)\n (openable Drawer_bar__plus_00_dot_21_bar__plus_00_dot_39_bar__plus_02_dot_61)\n (openable Drawer_bar__minus_01_dot_03_bar__plus_00_dot_78_bar__plus_00_dot_24)\n (openable Drawer_bar__plus_00_dot_60_bar__plus_00_dot_39_bar__plus_02_dot_61)\n (openable Drawer_bar__plus_00_dot_21_bar__plus_00_dot_07_bar__plus_02_dot_61)\n \n (atLocation agent1 loc_bar__minus_3_bar_18_bar_2_bar_30)\n \n (cleanable Plate_bar__plus_00_dot_23_bar__plus_00_dot_56_bar__plus_02_dot_76)\n (cleanable Bowl_bar__minus_04_dot_48_bar__plus_00_dot_76_bar__minus_00_dot_75)\n \n (heatable Plate_bar__plus_00_dot_23_bar__plus_00_dot_56_bar__plus_02_dot_76)\n (coolable Plate_bar__plus_00_dot_23_bar__plus_00_dot_56_bar__plus_02_dot_76)\n (coolable Bowl_bar__minus_04_dot_48_bar__plus_00_dot_76_bar__minus_00_dot_75)\n \n \n (toggleable FloorLamp_bar__plus_01_dot_11_bar__plus_00_dot_01_bar__plus_06_dot_81)\n \n \n \n \n (inReceptacle CellPhone_bar__minus_04_dot_66_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)\n (inReceptacle TissueBox_bar__minus_03_dot_93_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)\n (inReceptacle Bowl_bar__minus_04_dot_48_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)\n (inReceptacle TissueBox_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)\n (inReceptacle RemoteControl_bar__minus_01_dot_20_bar__plus_00_dot_45_bar__plus_02_dot_56 Sofa_bar__minus_01_dot_53_bar__plus_00_dot_02_bar__plus_02_dot_56)\n (inReceptacle Laptop_bar__minus_01_dot_09_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)\n (inReceptacle Laptop_bar__minus_01_dot_09_bar__plus_00_dot_45_bar__plus_01_dot_85 Sofa_bar__minus_01_dot_53_bar__plus_00_dot_02_bar__plus_02_dot_56)\n (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)\n (inReceptacle KeyChain_bar__plus_00_dot_71_bar__plus_00_dot_42_bar__plus_04_dot_31 Ottoman_bar__plus_00_dot_49_bar__plus_00_dot_00_bar__plus_04_dot_31)\n (inReceptacle CreditCard_bar__plus_00_dot_49_bar__plus_00_dot_42_bar__plus_04_dot_50 Ottoman_bar__plus_00_dot_49_bar__plus_00_dot_00_bar__plus_04_dot_31)\n (inReceptacle RemoteControl_bar__plus_00_dot_32_bar__plus_00_dot_43_bar__plus_05_dot_17 ArmChair_bar__plus_00_dot_42_bar_00_dot_00_bar__plus_05_dot_13)\n (inReceptacle CreditCard_bar__plus_00_dot_63_bar__plus_00_dot_43_bar__plus_05_dot_17 ArmChair_bar__plus_00_dot_42_bar_00_dot_00_bar__plus_05_dot_13)\n (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)\n (inReceptacle Pencil_bar__plus_00_dot_23_bar__plus_00_dot_20_bar__plus_02_dot_99 Drawer_bar__plus_00_dot_21_bar__plus_00_dot_23_bar__plus_02_dot_61)\n (inReceptacle Vase_bar__minus_01_dot_34_bar__plus_00_dot_88_bar__plus_00_dot_14 SideTable_bar__minus_01_dot_03_bar__plus_00_dot_01_bar__plus_00_dot_16)\n (inReceptacle RemoteControl_bar__minus_01_dot_24_bar__plus_00_dot_88_bar__plus_00_dot_26 SideTable_bar__minus_01_dot_03_bar__plus_00_dot_01_bar__plus_00_dot_16)\n (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)\n (inReceptacle Watch_bar__plus_00_dot_66_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)\n (inReceptacle Vase_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)\n (inReceptacle Plate_bar__plus_00_dot_23_bar__plus_00_dot_56_bar__plus_02_dot_76 CoffeeTable_bar__plus_00_dot_41_bar__plus_00_dot_01_bar__plus_02_dot_61)\n (inReceptacle CellPhone_bar__plus_00_dot_66_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)\n (inReceptacle Newspaper_bar__plus_00_dot_49_bar__plus_00_dot_56_bar__plus_03_dot_06 CoffeeTable_bar__plus_00_dot_41_bar__plus_00_dot_01_bar__plus_02_dot_61)\n (inReceptacle TissueBox_bar__plus_00_dot_49_bar__plus_00_dot_55_bar__plus_02_dot_61 CoffeeTable_bar__plus_00_dot_41_bar__plus_00_dot_01_bar__plus_02_dot_61)\n \n \n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (objectAtLocation CellPhone_bar__plus_00_dot_66_bar__plus_00_dot_55_bar__plus_02_dot_45 loc_bar__minus_2_bar_10_bar_1_bar_60)\n (objectAtLocation RemoteControl_bar__minus_01_dot_20_bar__plus_00_dot_45_bar__plus_02_dot_56 loc_bar__minus_1_bar_10_bar_3_bar_45)\n (objectAtLocation Vase_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)\n (objectAtLocation Laptop_bar__minus_01_dot_09_bar__plus_00_dot_45_bar__plus_03_dot_03 loc_bar__minus_1_bar_10_bar_3_bar_45)\n (objectAtLocation CreditCard_bar__plus_00_dot_63_bar__plus_00_dot_43_bar__plus_05_dot_17 loc_bar_2_bar_25_bar_2_bar_60)\n (objectAtLocation TissueBox_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)\n (objectAtLocation RemoteControl_bar__plus_00_dot_32_bar__plus_00_dot_43_bar__plus_05_dot_17 loc_bar_2_bar_25_bar_2_bar_60)\n (objectAtLocation TissueBox_bar__minus_03_dot_93_bar__plus_00_dot_76_bar__minus_00_dot_50 loc_bar__minus_17_bar__minus_5_bar_0_bar_60)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (objectAtLocation Bowl_bar__minus_04_dot_48_bar__plus_00_dot_76_bar__minus_00_dot_75 loc_bar__minus_17_bar__minus_5_bar_0_bar_60)\n (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)\n (objectAtLocation TissueBox_bar__plus_00_dot_49_bar__plus_00_dot_55_bar__plus_02_dot_61 loc_bar__minus_2_bar_10_bar_1_bar_60)\n (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)\n (objectAtLocation Newspaper_bar__plus_00_dot_49_bar__plus_00_dot_56_bar__plus_03_dot_06 loc_bar__minus_2_bar_10_bar_1_bar_60)\n (objectAtLocation CreditCard_bar__plus_00_dot_49_bar__plus_00_dot_42_bar__plus_04_dot_50 loc_bar_4_bar_12_bar_0_bar_45)\n (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)\n (objectAtLocation KeyChain_bar__plus_00_dot_71_bar__plus_00_dot_42_bar__plus_04_dot_31 loc_bar_4_bar_12_bar_0_bar_45)\n (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)\n (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)\n (objectAtLocation Pencil_bar__plus_00_dot_23_bar__plus_00_dot_20_bar__plus_02_dot_99 loc_bar__minus_2_bar_5_bar_0_bar_45)\n (objectAtLocation Laptop_bar__minus_01_dot_09_bar__plus_00_dot_45_bar__plus_01_dot_85 loc_bar__minus_1_bar_10_bar_3_bar_45)\n (objectAtLocation Vase_bar__minus_01_dot_34_bar__plus_00_dot_88_bar__plus_00_dot_14 loc_bar__minus_5_bar_3_bar_2_bar_60)\n (objectAtLocation RemoteControl_bar__minus_01_dot_24_bar__plus_00_dot_88_bar__plus_00_dot_26 loc_bar__minus_5_bar_3_bar_2_bar_60)\n (objectAtLocation Watch_bar__plus_00_dot_66_bar__plus_00_dot_55_bar__plus_02_dot_76 loc_bar__minus_2_bar_10_bar_1_bar_60)\n (objectAtLocation CellPhone_bar__minus_04_dot_66_bar__plus_00_dot_75_bar__minus_00_dot_26 loc_bar__minus_17_bar__minus_5_bar_0_bar_60)\n (objectAtLocation Plate_bar__plus_00_dot_23_bar__plus_00_dot_56_bar__plus_02_dot_76 loc_bar__minus_2_bar_10_bar_1_bar_60)\n (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)\n (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)\n (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)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (inReceptacle ?o ?r)\n (objectType ?o LaptopType)\n (receptacleType ?r OttomanType)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to sofa 1", "take laptop 2 from sofa 1", "go to ottoman 1", "move laptop 2 to ottoman 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-Laptop-None-Ottoman-203/trial_T20190908_110713_350931/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Laptop-None-Ottoman-203/trial_T20190908_110713_350931/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..65e45edcb9d4f3f364fd4f073dc3d59b4d3ed66c --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Laptop-None-Ottoman-203/trial_T20190908_110713_350931/initial_state.pddl @@ -0,0 +1,629 @@ + +(define (problem plan_trial_T20190908_110713_350931) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_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_04_dot_48_bar__plus_00_dot_76_bar__minus_00_dot_75 - object + Box_bar__plus_00_dot_96_bar__plus_00_dot_29_bar__plus_06_dot_19 - object + CellPhone_bar__plus_00_dot_66_bar__plus_00_dot_55_bar__plus_02_dot_45 - object + CellPhone_bar__minus_04_dot_66_bar__plus_00_dot_75_bar__minus_00_dot_26 - 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 + 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Pencil_bar__plus_00_dot_23_bar__plus_00_dot_20_bar__plus_02_dot_99 - object + Pillow_bar__plus_00_dot_44_bar__plus_00_dot_58_bar__plus_05_dot_16 - object + Plate_bar__plus_00_dot_23_bar__plus_00_dot_56_bar__plus_02_dot_76 - object + RemoteControl_bar__plus_00_dot_32_bar__plus_00_dot_43_bar__plus_05_dot_17 - object + RemoteControl_bar__minus_01_dot_20_bar__plus_00_dot_45_bar__plus_02_dot_56 - object + RemoteControl_bar__minus_01_dot_24_bar__plus_00_dot_88_bar__plus_00_dot_26 - object + Television_bar__plus_01_dot_50_bar__plus_01_dot_69_bar__plus_02_dot_56 - object + TissueBox_bar__plus_00_dot_49_bar__plus_00_dot_55_bar__plus_02_dot_61 - object + TissueBox_bar__minus_03_dot_93_bar__plus_00_dot_76_bar__minus_00_dot_50 - object + TissueBox_bar__minus_04_dot_84_bar__plus_00_dot_76_bar__minus_00_dot_75 - object + Vase_bar__plus_00_dot_23_bar__plus_00_dot_55_bar__plus_02_dot_15 - object + Vase_bar__minus_01_dot_34_bar__plus_00_dot_88_bar__plus_00_dot_14 - object + 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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_3_bar_18_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 WateringCan_bar__minus_00_dot_82_bar__plus_00_dot_01_bar__plus_00_dot_19 WateringCanType) + (objectType TissueBox_bar__minus_04_dot_84_bar__plus_00_dot_76_bar__minus_00_dot_75 TissueBoxType) + (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 CreditCard_bar__plus_00_dot_63_bar__plus_00_dot_43_bar__plus_05_dot_17 CreditCardType) + (objectType Newspaper_bar__plus_00_dot_49_bar__plus_00_dot_56_bar__plus_03_dot_06 NewspaperType) + (objectType Vase_bar__minus_01_dot_34_bar__plus_00_dot_88_bar__plus_00_dot_14 VaseType) + (objectType Vase_bar__plus_00_dot_23_bar__plus_00_dot_55_bar__plus_02_dot_15 VaseType) + (objectType KeyChain_bar__plus_00_dot_71_bar__plus_00_dot_42_bar__plus_04_dot_31 KeyChainType) + (objectType Plate_bar__plus_00_dot_23_bar__plus_00_dot_56_bar__plus_02_dot_76 PlateType) + (objectType CellPhone_bar__plus_00_dot_66_bar__plus_00_dot_55_bar__plus_02_dot_45 CellPhoneType) + (objectType RemoteControl_bar__minus_01_dot_24_bar__plus_00_dot_88_bar__plus_00_dot_26 RemoteControlType) + (objectType Bowl_bar__minus_04_dot_48_bar__plus_00_dot_76_bar__minus_00_dot_75 BowlType) + (objectType 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(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 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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 TissueBox_bar__minus_04_dot_84_bar__plus_00_dot_76_bar__minus_00_dot_75) + (pickupable CreditCard_bar__plus_00_dot_63_bar__plus_00_dot_43_bar__plus_05_dot_17) + (pickupable Newspaper_bar__plus_00_dot_49_bar__plus_00_dot_56_bar__plus_03_dot_06) + (pickupable Vase_bar__minus_01_dot_34_bar__plus_00_dot_88_bar__plus_00_dot_14) + (pickupable Vase_bar__plus_00_dot_23_bar__plus_00_dot_55_bar__plus_02_dot_15) + (pickupable KeyChain_bar__plus_00_dot_71_bar__plus_00_dot_42_bar__plus_04_dot_31) + (pickupable Plate_bar__plus_00_dot_23_bar__plus_00_dot_56_bar__plus_02_dot_76) + (pickupable CellPhone_bar__plus_00_dot_66_bar__plus_00_dot_55_bar__plus_02_dot_45) + (pickupable RemoteControl_bar__minus_01_dot_24_bar__plus_00_dot_88_bar__plus_00_dot_26) + (pickupable Bowl_bar__minus_04_dot_48_bar__plus_00_dot_76_bar__minus_00_dot_75) + (pickupable Watch_bar__plus_00_dot_66_bar__plus_00_dot_55_bar__plus_02_dot_76) + (pickupable Book_bar__minus_01_dot_55_bar__plus_00_dot_45_bar__plus_03_dot_03) + (pickupable CreditCard_bar__plus_00_dot_49_bar__plus_00_dot_42_bar__plus_04_dot_50) + (pickupable RemoteControl_bar__plus_00_dot_32_bar__plus_00_dot_43_bar__plus_05_dot_17) + (pickupable Laptop_bar__minus_01_dot_09_bar__plus_00_dot_45_bar__plus_03_dot_03) + (pickupable TissueBox_bar__plus_00_dot_49_bar__plus_00_dot_55_bar__plus_02_dot_61) + (pickupable Pencil_bar__plus_00_dot_23_bar__plus_00_dot_20_bar__plus_02_dot_99) + (pickupable CellPhone_bar__minus_04_dot_66_bar__plus_00_dot_75_bar__minus_00_dot_26) + (pickupable RemoteControl_bar__minus_01_dot_20_bar__plus_00_dot_45_bar__plus_02_dot_56) + (pickupable Boots_bar__minus_06_dot_31_bar__plus_00_dot_01_bar__plus_01_dot_25) + (pickupable Laptop_bar__minus_01_dot_09_bar__plus_00_dot_45_bar__plus_01_dot_85) + (pickupable Pillow_bar__plus_00_dot_44_bar__plus_00_dot_58_bar__plus_05_dot_16) + (pickupable Box_bar__plus_00_dot_96_bar__plus_00_dot_29_bar__plus_06_dot_19) + (pickupable TissueBox_bar__minus_03_dot_93_bar__plus_00_dot_76_bar__minus_00_dot_50) + (isReceptacleObject Plate_bar__plus_00_dot_23_bar__plus_00_dot_56_bar__plus_02_dot_76) + (isReceptacleObject Bowl_bar__minus_04_dot_48_bar__plus_00_dot_76_bar__minus_00_dot_75) + (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_3_bar_18_bar_2_bar_30) + + (cleanable Plate_bar__plus_00_dot_23_bar__plus_00_dot_56_bar__plus_02_dot_76) + (cleanable Bowl_bar__minus_04_dot_48_bar__plus_00_dot_76_bar__minus_00_dot_75) + + (heatable Plate_bar__plus_00_dot_23_bar__plus_00_dot_56_bar__plus_02_dot_76) + (coolable Plate_bar__plus_00_dot_23_bar__plus_00_dot_56_bar__plus_02_dot_76) + (coolable Bowl_bar__minus_04_dot_48_bar__plus_00_dot_76_bar__minus_00_dot_75) + + + (toggleable FloorLamp_bar__plus_01_dot_11_bar__plus_00_dot_01_bar__plus_06_dot_81) + + + + + (inReceptacle CellPhone_bar__minus_04_dot_66_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 TissueBox_bar__minus_03_dot_93_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_04_dot_48_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 TissueBox_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 RemoteControl_bar__minus_01_dot_20_bar__plus_00_dot_45_bar__plus_02_dot_56 Sofa_bar__minus_01_dot_53_bar__plus_00_dot_02_bar__plus_02_dot_56) + (inReceptacle Laptop_bar__minus_01_dot_09_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 Laptop_bar__minus_01_dot_09_bar__plus_00_dot_45_bar__plus_01_dot_85 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__plus_00_dot_71_bar__plus_00_dot_42_bar__plus_04_dot_31 Ottoman_bar__plus_00_dot_49_bar__plus_00_dot_00_bar__plus_04_dot_31) + (inReceptacle CreditCard_bar__plus_00_dot_49_bar__plus_00_dot_42_bar__plus_04_dot_50 Ottoman_bar__plus_00_dot_49_bar__plus_00_dot_00_bar__plus_04_dot_31) + (inReceptacle RemoteControl_bar__plus_00_dot_32_bar__plus_00_dot_43_bar__plus_05_dot_17 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_17 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 Pencil_bar__plus_00_dot_23_bar__plus_00_dot_20_bar__plus_02_dot_99 Drawer_bar__plus_00_dot_21_bar__plus_00_dot_23_bar__plus_02_dot_61) + (inReceptacle Vase_bar__minus_01_dot_34_bar__plus_00_dot_88_bar__plus_00_dot_14 SideTable_bar__minus_01_dot_03_bar__plus_00_dot_01_bar__plus_00_dot_16) + (inReceptacle RemoteControl_bar__minus_01_dot_24_bar__plus_00_dot_88_bar__plus_00_dot_26 SideTable_bar__minus_01_dot_03_bar__plus_00_dot_01_bar__plus_00_dot_16) + (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 Watch_bar__plus_00_dot_66_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 Vase_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 Plate_bar__plus_00_dot_23_bar__plus_00_dot_56_bar__plus_02_dot_76 CoffeeTable_bar__plus_00_dot_41_bar__plus_00_dot_01_bar__plus_02_dot_61) + (inReceptacle CellPhone_bar__plus_00_dot_66_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 Newspaper_bar__plus_00_dot_49_bar__plus_00_dot_56_bar__plus_03_dot_06 CoffeeTable_bar__plus_00_dot_41_bar__plus_00_dot_01_bar__plus_02_dot_61) + (inReceptacle TissueBox_bar__plus_00_dot_49_bar__plus_00_dot_55_bar__plus_02_dot_61 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_66_bar__plus_00_dot_55_bar__plus_02_dot_45 loc_bar__minus_2_bar_10_bar_1_bar_60) + (objectAtLocation RemoteControl_bar__minus_01_dot_20_bar__plus_00_dot_45_bar__plus_02_dot_56 loc_bar__minus_1_bar_10_bar_3_bar_45) + (objectAtLocation Vase_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 Laptop_bar__minus_01_dot_09_bar__plus_00_dot_45_bar__plus_03_dot_03 loc_bar__minus_1_bar_10_bar_3_bar_45) + (objectAtLocation CreditCard_bar__plus_00_dot_63_bar__plus_00_dot_43_bar__plus_05_dot_17 loc_bar_2_bar_25_bar_2_bar_60) + (objectAtLocation TissueBox_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 RemoteControl_bar__plus_00_dot_32_bar__plus_00_dot_43_bar__plus_05_dot_17 loc_bar_2_bar_25_bar_2_bar_60) + (objectAtLocation TissueBox_bar__minus_03_dot_93_bar__plus_00_dot_76_bar__minus_00_dot_50 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_48_bar__plus_00_dot_76_bar__minus_00_dot_75 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__plus_00_dot_49_bar__plus_00_dot_55_bar__plus_02_dot_61 loc_bar__minus_2_bar_10_bar_1_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_49_bar__plus_00_dot_56_bar__plus_03_dot_06 loc_bar__minus_2_bar_10_bar_1_bar_60) + (objectAtLocation CreditCard_bar__plus_00_dot_49_bar__plus_00_dot_42_bar__plus_04_dot_50 loc_bar_4_bar_12_bar_0_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__plus_00_dot_71_bar__plus_00_dot_42_bar__plus_04_dot_31 loc_bar_4_bar_12_bar_0_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__plus_00_dot_23_bar__plus_00_dot_20_bar__plus_02_dot_99 loc_bar__minus_2_bar_5_bar_0_bar_45) + (objectAtLocation Laptop_bar__minus_01_dot_09_bar__plus_00_dot_45_bar__plus_01_dot_85 loc_bar__minus_1_bar_10_bar_3_bar_45) + (objectAtLocation Vase_bar__minus_01_dot_34_bar__plus_00_dot_88_bar__plus_00_dot_14 loc_bar__minus_5_bar_3_bar_2_bar_60) + (objectAtLocation RemoteControl_bar__minus_01_dot_24_bar__plus_00_dot_88_bar__plus_00_dot_26 loc_bar__minus_5_bar_3_bar_2_bar_60) + (objectAtLocation Watch_bar__plus_00_dot_66_bar__plus_00_dot_55_bar__plus_02_dot_76 loc_bar__minus_2_bar_10_bar_1_bar_60) + (objectAtLocation CellPhone_bar__minus_04_dot_66_bar__plus_00_dot_75_bar__minus_00_dot_26 loc_bar__minus_17_bar__minus_5_bar_0_bar_60) + (objectAtLocation Plate_bar__plus_00_dot_23_bar__plus_00_dot_56_bar__plus_02_dot_76 loc_bar__minus_2_bar_10_bar_1_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 (?r - receptacle) + (exists (?o - object) + (and + (inReceptacle ?o ?r) + (objectType ?o LaptopType) + (receptacleType ?r OttomanType) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-Laptop-None-Ottoman-203/trial_T20190908_110713_350931/traj_data.json b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Laptop-None-Ottoman-203/trial_T20190908_110713_350931/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..639a34990f9efc459a7b15e28d0c804a235f5768 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Laptop-None-Ottoman-203/trial_T20190908_110713_350931/traj_data.json @@ -0,0 +1,2968 @@ +{ + "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 + }, 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"ARB8SJAWXUWTD_3M0BCWMB8YNRW5I5B0LEBPME0Z4BWO", + "high_descs": [ + "Go to the sofa", + "Pick up the laptop from the sofa", + "Go to the footrest in front of the couch", + "Put the laptop down on the footrest" + ], + "task_desc": "Move a laptop to a footrest", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AJQGWGESKQT4Y_3RJSC4XJ13LWZZ0BHJ1G18DIPY805F", + "high_descs": [ + "Go forward and turn to the right to face the couch.", + "Close the computer and pick it up from the couch.", + "Turn around and face the purple ottoman.", + "Put the computer down on the ottoman." + ], + "task_desc": "Put a computer down on an ottoman.", + "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-Desk-307/trial_T20190909_075126_209289/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Pencil-None-Desk-307/trial_T20190909_075126_209289/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..50400358ca3b19f0a13e6f6dd776787b6ebda522 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Pencil-None-Desk-307/trial_T20190909_075126_209289/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\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 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_T20190909_075126_209289)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\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_36_bar__plus_00_dot_81_bar__minus_02_dot_37 - object\n AlarmClock_bar__plus_00_dot_36_bar__plus_00_dot_81_bar__minus_02_dot_51 - object\n AlarmClock_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__minus_02_dot_37 - object\n Blinds_bar__plus_01_dot_70_bar__plus_02_dot_10_bar__minus_01_dot_58 - object\n Book_bar__minus_01_dot_23_bar__plus_00_dot_65_bar__minus_02_dot_33 - object\n Bowl_bar__minus_00_dot_39_bar__plus_00_dot_86_bar__minus_02_dot_44 - object\n CD_bar__plus_00_dot_56_bar__plus_00_dot_81_bar__minus_02_dot_51 - object\n CD_bar__plus_01_dot_52_bar__plus_00_dot_82_bar__minus_01_dot_73 - object\n CD_bar__minus_01_dot_67_bar__plus_00_dot_37_bar__minus_02_dot_40 - object\n CellPhone_bar__minus_01_dot_23_bar__plus_00_dot_09_bar__minus_02_dot_29 - object\n CellPhone_bar__minus_01_dot_49_bar__plus_00_dot_09_bar__minus_02_dot_33 - object\n CellPhone_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__minus_02_dot_56 - object\n Chair_bar__plus_00_dot_22_bar__plus_00_dot_00_bar__minus_02_dot_21 - object\n Chair_bar__minus_00_dot_63_bar__plus_00_dot_00_bar__minus_02_dot_20 - object\n Cloth_bar__plus_01_dot_27_bar__plus_00_dot_00_bar__minus_00_dot_97 - object\n Cloth_bar__plus_01_dot_30_bar__plus_00_dot_00_bar__minus_00_dot_70 - object\n CreditCard_bar__plus_01_dot_47_bar__plus_00_dot_82_bar__minus_01_dot_57 - object\n CreditCard_bar__minus_01_dot_23_bar__plus_00_dot_37_bar__minus_02_dot_36 - object\n DeskLamp_bar__plus_00_dot_05_bar__plus_00_dot_81_bar__minus_02_dot_48 - object\n KeyChain_bar__plus_01_dot_49_bar__plus_00_dot_82_bar__minus_01_dot_26 - object\n KeyChain_bar__plus_01_dot_55_bar__plus_00_dot_82_bar__minus_01_dot_47 - object\n Laptop_bar__minus_00_dot_62_bar__plus_00_dot_77_bar__plus_01_dot_50 - object\n Laptop_bar__minus_01_dot_00_bar__plus_00_dot_86_bar__minus_02_dot_40 - object\n LaundryHamperLid_bar__minus_01_dot_44_bar__plus_00_dot_48_bar__plus_01_dot_76 - object\n LightSwitch_bar__minus_01_dot_80_bar__plus_01_dot_21_bar__plus_00_dot_68 - object\n Mirror_bar__plus_01_dot_50_bar__plus_01_dot_36_bar__minus_00_dot_54 - object\n Painting_bar__plus_00_dot_49_bar__plus_01_dot_68_bar__minus_02_dot_63 - object\n Pencil_bar__plus_00_dot_46_bar__plus_00_dot_82_bar__minus_02_dot_30 - object\n Pencil_bar__minus_00_dot_06_bar__plus_00_dot_82_bar__minus_02_dot_30 - object\n Pen_bar__minus_01_dot_19_bar__plus_00_dot_87_bar__minus_02_dot_25 - object\n Pen_bar__minus_01_dot_39_bar__plus_00_dot_87_bar__minus_02_dot_44 - object\n Pen_bar__minus_01_dot_49_bar__plus_00_dot_38_bar__minus_02_dot_33 - object\n Pillow_bar__plus_00_dot_53_bar__plus_00_dot_90_bar__plus_01_dot_01 - object\n Pillow_bar__plus_01_dot_07_bar__plus_00_dot_88_bar__plus_01_dot_33 - object\n Pillow_bar__minus_00_dot_05_bar__plus_00_dot_90_bar__plus_01_dot_34 - object\n Poster_bar__minus_01_dot_80_bar__plus_01_dot_69_bar__minus_01_dot_49 - object\n RemoteControl_bar__minus_00_dot_39_bar__plus_00_dot_86_bar__minus_02_dot_56 - object\n Television_bar__minus_01_dot_70_bar__plus_01_dot_47_bar__minus_00_dot_90 - object\n TennisRacket_bar__minus_01_dot_70_bar__plus_00_dot_35_bar__plus_01_dot_74 - object\n Window_bar__plus_01_dot_72_bar__plus_01_dot_37_bar__minus_01_dot_60 - object\n Bed_bar__plus_00_dot_27_bar__plus_00_dot_00_bar__plus_01_dot_33 - receptacle\n Desk_bar__minus_00_dot_87_bar__minus_00_dot_01_bar__minus_02_dot_44 - receptacle\n Drawer_bar__minus_01_dot_41_bar__plus_00_dot_20_bar__minus_02_dot_32 - receptacle\n Drawer_bar__minus_01_dot_41_bar__plus_00_dot_48_bar__minus_02_dot_32 - receptacle\n Drawer_bar__minus_01_dot_41_bar__plus_00_dot_73_bar__minus_02_dot_32 - receptacle\n GarbageCan_bar__plus_01_dot_32_bar__plus_00_dot_00_bar__minus_02_dot_47 - receptacle\n LaundryHamper_bar__minus_01_dot_44_bar__plus_00_dot_01_bar__plus_01_dot_77 - receptacle\n Shelf_bar__plus_01_dot_49_bar__plus_00_dot_82_bar__minus_01_dot_48 - receptacle\n Shelf_bar__minus_01_dot_02_bar__plus_01_dot_35_bar__minus_02_dot_54 - receptacle\n SideTable_bar__plus_00_dot_25_bar_00_dot_00_bar__minus_02_dot_38 - receptacle\n loc_bar_4_bar__minus_8_bar_2_bar_60 - location\n loc_bar__minus_4_bar__minus_4_bar_3_bar_15 - location\n loc_bar_4_bar__minus_8_bar_0_bar_60 - location\n loc_bar__minus_3_bar__minus_7_bar_2_bar_60 - location\n loc_bar__minus_4_bar__minus_7_bar_2_bar_15 - location\n loc_bar_4_bar__minus_3_bar_1_bar_60 - location\n loc_bar__minus_5_bar__minus_6_bar_3_bar_0 - location\n loc_bar__minus_1_bar__minus_7_bar_3_bar_45 - location\n loc_bar_1_bar__minus_7_bar_2_bar_60 - location\n loc_bar_2_bar__minus_7_bar_2_bar_0 - location\n loc_bar__minus_1_bar__minus_7_bar_2_bar_45 - location\n loc_bar__minus_5_bar__minus_7_bar_2_bar_60 - location\n loc_bar_4_bar__minus_4_bar_1_bar_60 - location\n loc_bar__minus_1_bar_0_bar_0_bar_45 - location\n loc_bar_4_bar__minus_2_bar_1_bar_30 - location\n loc_bar__minus_3_bar__minus_7_bar_3_bar_60 - location\n loc_bar__minus_5_bar_5_bar_0_bar_60 - location\n loc_bar_4_bar__minus_6_bar_1_bar__minus_30 - location\n loc_bar__minus_5_bar_3_bar_3_bar_45 - location\n loc_bar_4_bar__minus_6_bar_1_bar_15 - location\n loc_bar_3_bar__minus_2_bar_1_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Shelf_bar__plus_01_dot_49_bar__plus_00_dot_82_bar__minus_01_dot_48 ShelfType)\n (receptacleType Drawer_bar__minus_01_dot_41_bar__plus_00_dot_48_bar__minus_02_dot_32 DrawerType)\n (receptacleType Shelf_bar__minus_01_dot_02_bar__plus_01_dot_35_bar__minus_02_dot_54 ShelfType)\n (receptacleType Bed_bar__plus_00_dot_27_bar__plus_00_dot_00_bar__plus_01_dot_33 BedType)\n (receptacleType SideTable_bar__plus_00_dot_25_bar_00_dot_00_bar__minus_02_dot_38 SideTableType)\n (receptacleType LaundryHamper_bar__minus_01_dot_44_bar__plus_00_dot_01_bar__plus_01_dot_77 LaundryHamperType)\n (receptacleType Drawer_bar__minus_01_dot_41_bar__plus_00_dot_73_bar__minus_02_dot_32 DrawerType)\n (receptacleType GarbageCan_bar__plus_01_dot_32_bar__plus_00_dot_00_bar__minus_02_dot_47 GarbageCanType)\n (receptacleType Drawer_bar__minus_01_dot_41_bar__plus_00_dot_20_bar__minus_02_dot_32 DrawerType)\n (receptacleType Desk_bar__minus_00_dot_87_bar__minus_00_dot_01_bar__minus_02_dot_44 DeskType)\n (objectType TennisRacket_bar__minus_01_dot_70_bar__plus_00_dot_35_bar__plus_01_dot_74 TennisRacketType)\n (objectType Chair_bar__minus_00_dot_63_bar__plus_00_dot_00_bar__minus_02_dot_20 ChairType)\n (objectType Pillow_bar__plus_00_dot_53_bar__plus_00_dot_90_bar__plus_01_dot_01 PillowType)\n (objectType CellPhone_bar__minus_01_dot_23_bar__plus_00_dot_09_bar__minus_02_dot_29 CellPhoneType)\n (objectType Book_bar__minus_01_dot_23_bar__plus_00_dot_65_bar__minus_02_dot_33 BookType)\n (objectType AlarmClock_bar__plus_00_dot_36_bar__plus_00_dot_81_bar__minus_02_dot_51 AlarmClockType)\n (objectType LightSwitch_bar__minus_01_dot_80_bar__plus_01_dot_21_bar__plus_00_dot_68 LightSwitchType)\n (objectType Television_bar__minus_01_dot_70_bar__plus_01_dot_47_bar__minus_00_dot_90 TelevisionType)\n (objectType Pen_bar__minus_01_dot_49_bar__plus_00_dot_38_bar__minus_02_dot_33 PenType)\n (objectType CellPhone_bar__minus_01_dot_49_bar__plus_00_dot_09_bar__minus_02_dot_33 CellPhoneType)\n (objectType LaundryHamperLid_bar__minus_01_dot_44_bar__plus_00_dot_48_bar__plus_01_dot_76 LaundryHamperLidType)\n (objectType Painting_bar__plus_00_dot_49_bar__plus_01_dot_68_bar__minus_02_dot_63 PaintingType)\n (objectType AlarmClock_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__minus_02_dot_37 AlarmClockType)\n (objectType Cloth_bar__plus_01_dot_30_bar__plus_00_dot_00_bar__minus_00_dot_70 ClothType)\n (objectType KeyChain_bar__plus_01_dot_49_bar__plus_00_dot_82_bar__minus_01_dot_26 KeyChainType)\n (objectType Pencil_bar__plus_00_dot_46_bar__plus_00_dot_82_bar__minus_02_dot_30 PencilType)\n (objectType Pillow_bar__plus_01_dot_07_bar__plus_00_dot_88_bar__plus_01_dot_33 PillowType)\n (objectType Mirror_bar__plus_01_dot_50_bar__plus_01_dot_36_bar__minus_00_dot_54 MirrorType)\n (objectType Poster_bar__minus_01_dot_80_bar__plus_01_dot_69_bar__minus_01_dot_49 PosterType)\n (objectType Window_bar__plus_01_dot_72_bar__plus_01_dot_37_bar__minus_01_dot_60 WindowType)\n (objectType Blinds_bar__plus_01_dot_70_bar__plus_02_dot_10_bar__minus_01_dot_58 BlindsType)\n (objectType Cloth_bar__plus_01_dot_27_bar__plus_00_dot_00_bar__minus_00_dot_97 ClothType)\n (objectType RemoteControl_bar__minus_00_dot_39_bar__plus_00_dot_86_bar__minus_02_dot_56 RemoteControlType)\n (objectType Pen_bar__minus_01_dot_39_bar__plus_00_dot_87_bar__minus_02_dot_44 PenType)\n (objectType Pillow_bar__minus_00_dot_05_bar__plus_00_dot_90_bar__plus_01_dot_34 PillowType)\n (objectType Pen_bar__minus_01_dot_19_bar__plus_00_dot_87_bar__minus_02_dot_25 PenType)\n (objectType KeyChain_bar__plus_01_dot_55_bar__plus_00_dot_82_bar__minus_01_dot_47 KeyChainType)\n (objectType AlarmClock_bar__plus_00_dot_36_bar__plus_00_dot_81_bar__minus_02_dot_37 AlarmClockType)\n (objectType CellPhone_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__minus_02_dot_56 CellPhoneType)\n (objectType CD_bar__minus_01_dot_67_bar__plus_00_dot_37_bar__minus_02_dot_40 CDType)\n (objectType Laptop_bar__minus_01_dot_00_bar__plus_00_dot_86_bar__minus_02_dot_40 LaptopType)\n (objectType Pencil_bar__minus_00_dot_06_bar__plus_00_dot_82_bar__minus_02_dot_30 PencilType)\n (objectType DeskLamp_bar__plus_00_dot_05_bar__plus_00_dot_81_bar__minus_02_dot_48 DeskLampType)\n (objectType CreditCard_bar__plus_01_dot_47_bar__plus_00_dot_82_bar__minus_01_dot_57 CreditCardType)\n (objectType Laptop_bar__minus_00_dot_62_bar__plus_00_dot_77_bar__plus_01_dot_50 LaptopType)\n (objectType Chair_bar__plus_00_dot_22_bar__plus_00_dot_00_bar__minus_02_dot_21 ChairType)\n (objectType CreditCard_bar__minus_01_dot_23_bar__plus_00_dot_37_bar__minus_02_dot_36 CreditCardType)\n (objectType Bowl_bar__minus_00_dot_39_bar__plus_00_dot_86_bar__minus_02_dot_44 BowlType)\n (objectType CD_bar__plus_01_dot_52_bar__plus_00_dot_82_bar__minus_01_dot_73 CDType)\n (objectType CD_bar__plus_00_dot_56_bar__plus_00_dot_81_bar__minus_02_dot_51 CDType)\n (canContain ShelfType PenType)\n (canContain ShelfType BookType)\n (canContain ShelfType BowlType)\n (canContain ShelfType CDType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType ClothType)\n (canContain ShelfType PencilType)\n (canContain ShelfType RemoteControlType)\n (canContain ShelfType AlarmClockType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType ClothType)\n (canContain DrawerType PencilType)\n (canContain DrawerType RemoteControlType)\n (canContain ShelfType PenType)\n (canContain ShelfType BookType)\n (canContain ShelfType BowlType)\n (canContain ShelfType CDType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType ClothType)\n (canContain ShelfType PencilType)\n (canContain ShelfType RemoteControlType)\n (canContain ShelfType AlarmClockType)\n (canContain BedType TennisRacketType)\n (canContain BedType LaptopType)\n (canContain BedType BookType)\n (canContain BedType CellPhoneType)\n (canContain BedType PillowType)\n (canContain SideTableType PenType)\n (canContain SideTableType BookType)\n (canContain SideTableType BowlType)\n (canContain SideTableType CDType)\n (canContain SideTableType CellPhoneType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType TennisRacketType)\n (canContain SideTableType ClothType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType PencilType)\n (canContain SideTableType RemoteControlType)\n (canContain SideTableType AlarmClockType)\n (canContain LaundryHamperType 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 RemoteControlType)\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 RemoteControlType)\n (canContain DeskType PenType)\n (canContain DeskType BookType)\n (canContain DeskType BowlType)\n (canContain DeskType CDType)\n (canContain DeskType CellPhoneType)\n (canContain DeskType KeyChainType)\n (canContain DeskType CreditCardType)\n (canContain DeskType TennisRacketType)\n (canContain DeskType ClothType)\n (canContain DeskType LaptopType)\n (canContain DeskType PencilType)\n (canContain DeskType RemoteControlType)\n (canContain DeskType AlarmClockType)\n (pickupable TennisRacket_bar__minus_01_dot_70_bar__plus_00_dot_35_bar__plus_01_dot_74)\n (pickupable Pillow_bar__plus_00_dot_53_bar__plus_00_dot_90_bar__plus_01_dot_01)\n (pickupable CellPhone_bar__minus_01_dot_23_bar__plus_00_dot_09_bar__minus_02_dot_29)\n (pickupable Book_bar__minus_01_dot_23_bar__plus_00_dot_65_bar__minus_02_dot_33)\n (pickupable AlarmClock_bar__plus_00_dot_36_bar__plus_00_dot_81_bar__minus_02_dot_51)\n (pickupable Pen_bar__minus_01_dot_49_bar__plus_00_dot_38_bar__minus_02_dot_33)\n (pickupable CellPhone_bar__minus_01_dot_49_bar__plus_00_dot_09_bar__minus_02_dot_33)\n (pickupable AlarmClock_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__minus_02_dot_37)\n (pickupable Cloth_bar__plus_01_dot_30_bar__plus_00_dot_00_bar__minus_00_dot_70)\n (pickupable KeyChain_bar__plus_01_dot_49_bar__plus_00_dot_82_bar__minus_01_dot_26)\n (pickupable Pencil_bar__plus_00_dot_46_bar__plus_00_dot_82_bar__minus_02_dot_30)\n (pickupable Pillow_bar__plus_01_dot_07_bar__plus_00_dot_88_bar__plus_01_dot_33)\n (pickupable Cloth_bar__plus_01_dot_27_bar__plus_00_dot_00_bar__minus_00_dot_97)\n (pickupable RemoteControl_bar__minus_00_dot_39_bar__plus_00_dot_86_bar__minus_02_dot_56)\n (pickupable Pen_bar__minus_01_dot_39_bar__plus_00_dot_87_bar__minus_02_dot_44)\n (pickupable Pillow_bar__minus_00_dot_05_bar__plus_00_dot_90_bar__plus_01_dot_34)\n (pickupable Pen_bar__minus_01_dot_19_bar__plus_00_dot_87_bar__minus_02_dot_25)\n (pickupable KeyChain_bar__plus_01_dot_55_bar__plus_00_dot_82_bar__minus_01_dot_47)\n (pickupable AlarmClock_bar__plus_00_dot_36_bar__plus_00_dot_81_bar__minus_02_dot_37)\n (pickupable CellPhone_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__minus_02_dot_56)\n (pickupable CD_bar__minus_01_dot_67_bar__plus_00_dot_37_bar__minus_02_dot_40)\n (pickupable Laptop_bar__minus_01_dot_00_bar__plus_00_dot_86_bar__minus_02_dot_40)\n (pickupable Pencil_bar__minus_00_dot_06_bar__plus_00_dot_82_bar__minus_02_dot_30)\n (pickupable CreditCard_bar__plus_01_dot_47_bar__plus_00_dot_82_bar__minus_01_dot_57)\n (pickupable Laptop_bar__minus_00_dot_62_bar__plus_00_dot_77_bar__plus_01_dot_50)\n (pickupable CreditCard_bar__minus_01_dot_23_bar__plus_00_dot_37_bar__minus_02_dot_36)\n (pickupable Bowl_bar__minus_00_dot_39_bar__plus_00_dot_86_bar__minus_02_dot_44)\n (pickupable CD_bar__plus_01_dot_52_bar__plus_00_dot_82_bar__minus_01_dot_73)\n (pickupable CD_bar__plus_00_dot_56_bar__plus_00_dot_81_bar__minus_02_dot_51)\n (isReceptacleObject Bowl_bar__minus_00_dot_39_bar__plus_00_dot_86_bar__minus_02_dot_44)\n (openable Drawer_bar__minus_01_dot_41_bar__plus_00_dot_48_bar__minus_02_dot_32)\n (openable Drawer_bar__minus_01_dot_41_bar__plus_00_dot_73_bar__minus_02_dot_32)\n (openable Drawer_bar__minus_01_dot_41_bar__plus_00_dot_20_bar__minus_02_dot_32)\n \n (atLocation agent1 loc_bar_3_bar__minus_2_bar_1_bar_30)\n \n (cleanable Cloth_bar__plus_01_dot_30_bar__plus_00_dot_00_bar__minus_00_dot_70)\n (cleanable Cloth_bar__plus_01_dot_27_bar__plus_00_dot_00_bar__minus_00_dot_97)\n (cleanable Bowl_bar__minus_00_dot_39_bar__plus_00_dot_86_bar__minus_02_dot_44)\n \n \n (coolable Bowl_bar__minus_00_dot_39_bar__plus_00_dot_86_bar__minus_02_dot_44)\n \n \n (toggleable DeskLamp_bar__plus_00_dot_05_bar__plus_00_dot_81_bar__minus_02_dot_48)\n \n \n \n \n (inReceptacle CellPhone_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__minus_02_dot_56 Desk_bar__minus_00_dot_87_bar__minus_00_dot_01_bar__minus_02_dot_44)\n (inReceptacle Laptop_bar__minus_01_dot_00_bar__plus_00_dot_86_bar__minus_02_dot_40 Desk_bar__minus_00_dot_87_bar__minus_00_dot_01_bar__minus_02_dot_44)\n (inReceptacle RemoteControl_bar__minus_00_dot_39_bar__plus_00_dot_86_bar__minus_02_dot_56 Desk_bar__minus_00_dot_87_bar__minus_00_dot_01_bar__minus_02_dot_44)\n (inReceptacle Bowl_bar__minus_00_dot_39_bar__plus_00_dot_86_bar__minus_02_dot_44 Desk_bar__minus_00_dot_87_bar__minus_00_dot_01_bar__minus_02_dot_44)\n (inReceptacle Pen_bar__minus_01_dot_39_bar__plus_00_dot_87_bar__minus_02_dot_44 Desk_bar__minus_00_dot_87_bar__minus_00_dot_01_bar__minus_02_dot_44)\n (inReceptacle AlarmClock_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__minus_02_dot_37 Desk_bar__minus_00_dot_87_bar__minus_00_dot_01_bar__minus_02_dot_44)\n (inReceptacle Pen_bar__minus_01_dot_19_bar__plus_00_dot_87_bar__minus_02_dot_25 Desk_bar__minus_00_dot_87_bar__minus_00_dot_01_bar__minus_02_dot_44)\n (inReceptacle AlarmClock_bar__plus_00_dot_36_bar__plus_00_dot_81_bar__minus_02_dot_37 SideTable_bar__plus_00_dot_25_bar_00_dot_00_bar__minus_02_dot_38)\n (inReceptacle AlarmClock_bar__plus_00_dot_36_bar__plus_00_dot_81_bar__minus_02_dot_51 SideTable_bar__plus_00_dot_25_bar_00_dot_00_bar__minus_02_dot_38)\n (inReceptacle Pencil_bar__minus_00_dot_06_bar__plus_00_dot_82_bar__minus_02_dot_30 SideTable_bar__plus_00_dot_25_bar_00_dot_00_bar__minus_02_dot_38)\n (inReceptacle DeskLamp_bar__plus_00_dot_05_bar__plus_00_dot_81_bar__minus_02_dot_48 SideTable_bar__plus_00_dot_25_bar_00_dot_00_bar__minus_02_dot_38)\n (inReceptacle CD_bar__plus_00_dot_56_bar__plus_00_dot_81_bar__minus_02_dot_51 SideTable_bar__plus_00_dot_25_bar_00_dot_00_bar__minus_02_dot_38)\n (inReceptacle Pencil_bar__plus_00_dot_46_bar__plus_00_dot_82_bar__minus_02_dot_30 SideTable_bar__plus_00_dot_25_bar_00_dot_00_bar__minus_02_dot_38)\n (inReceptacle Pen_bar__minus_01_dot_49_bar__plus_00_dot_38_bar__minus_02_dot_33 Drawer_bar__minus_01_dot_41_bar__plus_00_dot_48_bar__minus_02_dot_32)\n (inReceptacle CreditCard_bar__minus_01_dot_23_bar__plus_00_dot_37_bar__minus_02_dot_36 Drawer_bar__minus_01_dot_41_bar__plus_00_dot_48_bar__minus_02_dot_32)\n (inReceptacle CD_bar__minus_01_dot_67_bar__plus_00_dot_37_bar__minus_02_dot_40 Drawer_bar__minus_01_dot_41_bar__plus_00_dot_48_bar__minus_02_dot_32)\n (inReceptacle Book_bar__minus_01_dot_23_bar__plus_00_dot_65_bar__minus_02_dot_33 Drawer_bar__minus_01_dot_41_bar__plus_00_dot_73_bar__minus_02_dot_32)\n (inReceptacle CellPhone_bar__minus_01_dot_23_bar__plus_00_dot_09_bar__minus_02_dot_29 Drawer_bar__minus_01_dot_41_bar__plus_00_dot_20_bar__minus_02_dot_32)\n (inReceptacle CellPhone_bar__minus_01_dot_49_bar__plus_00_dot_09_bar__minus_02_dot_33 Drawer_bar__minus_01_dot_41_bar__plus_00_dot_20_bar__minus_02_dot_32)\n (inReceptacle Pillow_bar__plus_01_dot_07_bar__plus_00_dot_88_bar__plus_01_dot_33 Bed_bar__plus_00_dot_27_bar__plus_00_dot_00_bar__plus_01_dot_33)\n (inReceptacle Pillow_bar__plus_00_dot_53_bar__plus_00_dot_90_bar__plus_01_dot_01 Bed_bar__plus_00_dot_27_bar__plus_00_dot_00_bar__plus_01_dot_33)\n (inReceptacle Pillow_bar__minus_00_dot_05_bar__plus_00_dot_90_bar__plus_01_dot_34 Bed_bar__plus_00_dot_27_bar__plus_00_dot_00_bar__plus_01_dot_33)\n (inReceptacle Laptop_bar__minus_00_dot_62_bar__plus_00_dot_77_bar__plus_01_dot_50 Bed_bar__plus_00_dot_27_bar__plus_00_dot_00_bar__plus_01_dot_33)\n (inReceptacle KeyChain_bar__plus_01_dot_55_bar__plus_00_dot_82_bar__minus_01_dot_47 Shelf_bar__plus_01_dot_49_bar__plus_00_dot_82_bar__minus_01_dot_48)\n (inReceptacle KeyChain_bar__plus_01_dot_49_bar__plus_00_dot_82_bar__minus_01_dot_26 Shelf_bar__plus_01_dot_49_bar__plus_00_dot_82_bar__minus_01_dot_48)\n (inReceptacle CreditCard_bar__plus_01_dot_47_bar__plus_00_dot_82_bar__minus_01_dot_57 Shelf_bar__plus_01_dot_49_bar__plus_00_dot_82_bar__minus_01_dot_48)\n (inReceptacle CD_bar__plus_01_dot_52_bar__plus_00_dot_82_bar__minus_01_dot_73 Shelf_bar__plus_01_dot_49_bar__plus_00_dot_82_bar__minus_01_dot_48)\n (inReceptacleObject RemoteControl_bar__minus_00_dot_39_bar__plus_00_dot_86_bar__minus_02_dot_56 Bowl_bar__minus_00_dot_39_bar__plus_00_dot_86_bar__minus_02_dot_44)\n \n \n (receptacleAtLocation Bed_bar__plus_00_dot_27_bar__plus_00_dot_00_bar__plus_01_dot_33 loc_bar__minus_1_bar_0_bar_0_bar_45)\n (receptacleAtLocation Desk_bar__minus_00_dot_87_bar__minus_00_dot_01_bar__minus_02_dot_44 loc_bar__minus_5_bar__minus_7_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_41_bar__plus_00_dot_20_bar__minus_02_dot_32 loc_bar__minus_1_bar__minus_7_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_41_bar__plus_00_dot_48_bar__minus_02_dot_32 loc_bar__minus_1_bar__minus_7_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_41_bar__plus_00_dot_73_bar__minus_02_dot_32 loc_bar__minus_3_bar__minus_7_bar_3_bar_60)\n (receptacleAtLocation GarbageCan_bar__plus_01_dot_32_bar__plus_00_dot_00_bar__minus_02_dot_47 loc_bar_4_bar__minus_8_bar_2_bar_60)\n (receptacleAtLocation LaundryHamper_bar__minus_01_dot_44_bar__plus_00_dot_01_bar__plus_01_dot_77 loc_bar__minus_5_bar_5_bar_0_bar_60)\n (receptacleAtLocation Shelf_bar__plus_01_dot_49_bar__plus_00_dot_82_bar__minus_01_dot_48 loc_bar_4_bar__minus_8_bar_0_bar_60)\n (receptacleAtLocation Shelf_bar__minus_01_dot_02_bar__plus_01_dot_35_bar__minus_02_dot_54 loc_bar__minus_4_bar__minus_7_bar_2_bar_15)\n (receptacleAtLocation SideTable_bar__plus_00_dot_25_bar_00_dot_00_bar__minus_02_dot_38 loc_bar_1_bar__minus_7_bar_2_bar_60)\n (objectAtLocation Pen_bar__minus_01_dot_49_bar__plus_00_dot_38_bar__minus_02_dot_33 loc_bar__minus_1_bar__minus_7_bar_3_bar_45)\n (objectAtLocation Pillow_bar__plus_01_dot_07_bar__plus_00_dot_88_bar__plus_01_dot_33 loc_bar__minus_1_bar_0_bar_0_bar_45)\n (objectAtLocation KeyChain_bar__plus_01_dot_55_bar__plus_00_dot_82_bar__minus_01_dot_47 loc_bar_4_bar__minus_8_bar_0_bar_60)\n (objectAtLocation CreditCard_bar__minus_01_dot_23_bar__plus_00_dot_37_bar__minus_02_dot_36 loc_bar__minus_1_bar__minus_7_bar_3_bar_45)\n (objectAtLocation AlarmClock_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__minus_02_dot_37 loc_bar__minus_5_bar__minus_7_bar_2_bar_60)\n (objectAtLocation Laptop_bar__minus_01_dot_00_bar__plus_00_dot_86_bar__minus_02_dot_40 loc_bar__minus_5_bar__minus_7_bar_2_bar_60)\n (objectAtLocation Pencil_bar__minus_00_dot_06_bar__plus_00_dot_82_bar__minus_02_dot_30 loc_bar_1_bar__minus_7_bar_2_bar_60)\n (objectAtLocation CellPhone_bar__minus_01_dot_23_bar__plus_00_dot_09_bar__minus_02_dot_29 loc_bar__minus_1_bar__minus_7_bar_3_bar_45)\n (objectAtLocation AlarmClock_bar__plus_00_dot_36_bar__plus_00_dot_81_bar__minus_02_dot_51 loc_bar_1_bar__minus_7_bar_2_bar_60)\n (objectAtLocation Pillow_bar__plus_00_dot_53_bar__plus_00_dot_90_bar__plus_01_dot_01 loc_bar__minus_1_bar_0_bar_0_bar_45)\n (objectAtLocation Pen_bar__minus_01_dot_19_bar__plus_00_dot_87_bar__minus_02_dot_25 loc_bar__minus_5_bar__minus_7_bar_2_bar_60)\n (objectAtLocation CellPhone_bar__minus_01_dot_49_bar__plus_00_dot_09_bar__minus_02_dot_33 loc_bar__minus_1_bar__minus_7_bar_3_bar_45)\n (objectAtLocation Book_bar__minus_01_dot_23_bar__plus_00_dot_65_bar__minus_02_dot_33 loc_bar__minus_3_bar__minus_7_bar_3_bar_60)\n (objectAtLocation LaundryHamperLid_bar__minus_01_dot_44_bar__plus_00_dot_48_bar__plus_01_dot_76 loc_bar__minus_5_bar_5_bar_0_bar_60)\n (objectAtLocation Chair_bar__minus_00_dot_63_bar__plus_00_dot_00_bar__minus_02_dot_20 loc_bar__minus_3_bar__minus_7_bar_2_bar_60)\n (objectAtLocation Chair_bar__plus_00_dot_22_bar__plus_00_dot_00_bar__minus_02_dot_21 loc_bar_1_bar__minus_7_bar_2_bar_60)\n (objectAtLocation Cloth_bar__plus_01_dot_30_bar__plus_00_dot_00_bar__minus_00_dot_70 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Cloth_bar__plus_01_dot_27_bar__plus_00_dot_00_bar__minus_00_dot_97 loc_bar_4_bar__minus_4_bar_1_bar_60)\n (objectAtLocation CellPhone_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__minus_02_dot_56 loc_bar__minus_5_bar__minus_7_bar_2_bar_60)\n (objectAtLocation Television_bar__minus_01_dot_70_bar__plus_01_dot_47_bar__minus_00_dot_90 loc_bar__minus_4_bar__minus_4_bar_3_bar_15)\n (objectAtLocation Pencil_bar__plus_00_dot_46_bar__plus_00_dot_82_bar__minus_02_dot_30 loc_bar_1_bar__minus_7_bar_2_bar_60)\n (objectAtLocation DeskLamp_bar__plus_00_dot_05_bar__plus_00_dot_81_bar__minus_02_dot_48 loc_bar_1_bar__minus_7_bar_2_bar_60)\n (objectAtLocation Laptop_bar__minus_00_dot_62_bar__plus_00_dot_77_bar__plus_01_dot_50 loc_bar__minus_1_bar_0_bar_0_bar_45)\n (objectAtLocation LightSwitch_bar__minus_01_dot_80_bar__plus_01_dot_21_bar__plus_00_dot_68 loc_bar__minus_5_bar_3_bar_3_bar_45)\n (objectAtLocation AlarmClock_bar__plus_00_dot_36_bar__plus_00_dot_81_bar__minus_02_dot_37 loc_bar_1_bar__minus_7_bar_2_bar_60)\n (objectAtLocation CreditCard_bar__plus_01_dot_47_bar__plus_00_dot_82_bar__minus_01_dot_57 loc_bar_4_bar__minus_8_bar_0_bar_60)\n (objectAtLocation KeyChain_bar__plus_01_dot_49_bar__plus_00_dot_82_bar__minus_01_dot_26 loc_bar_4_bar__minus_8_bar_0_bar_60)\n (objectAtLocation TennisRacket_bar__minus_01_dot_70_bar__plus_00_dot_35_bar__plus_01_dot_74 loc_bar__minus_5_bar_5_bar_0_bar_60)\n (objectAtLocation Painting_bar__plus_00_dot_49_bar__plus_01_dot_68_bar__minus_02_dot_63 loc_bar_2_bar__minus_7_bar_2_bar_0)\n (objectAtLocation RemoteControl_bar__minus_00_dot_39_bar__plus_00_dot_86_bar__minus_02_dot_56 loc_bar__minus_1_bar__minus_7_bar_2_bar_45)\n (objectAtLocation Pillow_bar__minus_00_dot_05_bar__plus_00_dot_90_bar__plus_01_dot_34 loc_bar__minus_1_bar_0_bar_0_bar_45)\n (objectAtLocation Poster_bar__minus_01_dot_80_bar__plus_01_dot_69_bar__minus_01_dot_49 loc_bar__minus_5_bar__minus_6_bar_3_bar_0)\n (objectAtLocation Mirror_bar__plus_01_dot_50_bar__plus_01_dot_36_bar__minus_00_dot_54 loc_bar_4_bar__minus_2_bar_1_bar_30)\n (objectAtLocation CD_bar__plus_01_dot_52_bar__plus_00_dot_82_bar__minus_01_dot_73 loc_bar_4_bar__minus_8_bar_0_bar_60)\n (objectAtLocation CD_bar__minus_01_dot_67_bar__plus_00_dot_37_bar__minus_02_dot_40 loc_bar__minus_1_bar__minus_7_bar_3_bar_45)\n (objectAtLocation CD_bar__plus_00_dot_56_bar__plus_00_dot_81_bar__minus_02_dot_51 loc_bar_1_bar__minus_7_bar_2_bar_60)\n (objectAtLocation Pen_bar__minus_01_dot_39_bar__plus_00_dot_87_bar__minus_02_dot_44 loc_bar__minus_5_bar__minus_7_bar_2_bar_60)\n (objectAtLocation Window_bar__plus_01_dot_72_bar__plus_01_dot_37_bar__minus_01_dot_60 loc_bar_4_bar__minus_6_bar_1_bar_15)\n (objectAtLocation Blinds_bar__plus_01_dot_70_bar__plus_02_dot_10_bar__minus_01_dot_58 loc_bar_4_bar__minus_6_bar_1_bar__minus_30)\n (objectAtLocation Bowl_bar__minus_00_dot_39_bar__plus_00_dot_86_bar__minus_02_dot_44 loc_bar__minus_5_bar__minus_7_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 PencilType)\n (receptacleType ?r DeskType)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to sidetable 1", "take pencil 2 from sidetable 1", "go to desk 1", "move pencil 2 to desk 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-Pencil-None-Desk-307/trial_T20190909_075126_209289/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Pencil-None-Desk-307/trial_T20190909_075126_209289/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..38fd1f50210e374d3b40800437b2137136c87120 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Pencil-None-Desk-307/trial_T20190909_075126_209289/initial_state.pddl @@ -0,0 +1,554 @@ + +(define (problem plan_trial_T20190909_075126_209289) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_36_bar__plus_00_dot_81_bar__minus_02_dot_37 - object + AlarmClock_bar__plus_00_dot_36_bar__plus_00_dot_81_bar__minus_02_dot_51 - object + AlarmClock_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__minus_02_dot_37 - object + Blinds_bar__plus_01_dot_70_bar__plus_02_dot_10_bar__minus_01_dot_58 - object + Book_bar__minus_01_dot_23_bar__plus_00_dot_65_bar__minus_02_dot_33 - object + Bowl_bar__minus_00_dot_39_bar__plus_00_dot_86_bar__minus_02_dot_44 - object + CD_bar__plus_00_dot_56_bar__plus_00_dot_81_bar__minus_02_dot_51 - object + CD_bar__plus_01_dot_52_bar__plus_00_dot_82_bar__minus_01_dot_73 - object + CD_bar__minus_01_dot_67_bar__plus_00_dot_37_bar__minus_02_dot_40 - object + CellPhone_bar__minus_01_dot_23_bar__plus_00_dot_09_bar__minus_02_dot_29 - object + CellPhone_bar__minus_01_dot_49_bar__plus_00_dot_09_bar__minus_02_dot_33 - object + CellPhone_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__minus_02_dot_56 - object + Chair_bar__plus_00_dot_22_bar__plus_00_dot_00_bar__minus_02_dot_21 - object + Chair_bar__minus_00_dot_63_bar__plus_00_dot_00_bar__minus_02_dot_20 - object + Cloth_bar__plus_01_dot_27_bar__plus_00_dot_00_bar__minus_00_dot_97 - object + Cloth_bar__plus_01_dot_30_bar__plus_00_dot_00_bar__minus_00_dot_70 - object + CreditCard_bar__plus_01_dot_47_bar__plus_00_dot_82_bar__minus_01_dot_57 - object + CreditCard_bar__minus_01_dot_23_bar__plus_00_dot_37_bar__minus_02_dot_36 - object + DeskLamp_bar__plus_00_dot_05_bar__plus_00_dot_81_bar__minus_02_dot_48 - object + KeyChain_bar__plus_01_dot_49_bar__plus_00_dot_82_bar__minus_01_dot_26 - object + KeyChain_bar__plus_01_dot_55_bar__plus_00_dot_82_bar__minus_01_dot_47 - object + Laptop_bar__minus_00_dot_62_bar__plus_00_dot_77_bar__plus_01_dot_50 - object + Laptop_bar__minus_01_dot_00_bar__plus_00_dot_86_bar__minus_02_dot_40 - object + LaundryHamperLid_bar__minus_01_dot_44_bar__plus_00_dot_48_bar__plus_01_dot_76 - object + LightSwitch_bar__minus_01_dot_80_bar__plus_01_dot_21_bar__plus_00_dot_68 - object + Mirror_bar__plus_01_dot_50_bar__plus_01_dot_36_bar__minus_00_dot_54 - object + Painting_bar__plus_00_dot_49_bar__plus_01_dot_68_bar__minus_02_dot_63 - object + Pencil_bar__plus_00_dot_46_bar__plus_00_dot_82_bar__minus_02_dot_30 - object + Pencil_bar__minus_00_dot_06_bar__plus_00_dot_82_bar__minus_02_dot_30 - object + Pen_bar__minus_01_dot_19_bar__plus_00_dot_87_bar__minus_02_dot_25 - object + Pen_bar__minus_01_dot_39_bar__plus_00_dot_87_bar__minus_02_dot_44 - object + Pen_bar__minus_01_dot_49_bar__plus_00_dot_38_bar__minus_02_dot_33 - object + Pillow_bar__plus_00_dot_53_bar__plus_00_dot_90_bar__plus_01_dot_01 - object + Pillow_bar__plus_01_dot_07_bar__plus_00_dot_88_bar__plus_01_dot_33 - object + Pillow_bar__minus_00_dot_05_bar__plus_00_dot_90_bar__plus_01_dot_34 - object + Poster_bar__minus_01_dot_80_bar__plus_01_dot_69_bar__minus_01_dot_49 - object + RemoteControl_bar__minus_00_dot_39_bar__plus_00_dot_86_bar__minus_02_dot_56 - object + Television_bar__minus_01_dot_70_bar__plus_01_dot_47_bar__minus_00_dot_90 - object + TennisRacket_bar__minus_01_dot_70_bar__plus_00_dot_35_bar__plus_01_dot_74 - object + Window_bar__plus_01_dot_72_bar__plus_01_dot_37_bar__minus_01_dot_60 - object + Bed_bar__plus_00_dot_27_bar__plus_00_dot_00_bar__plus_01_dot_33 - receptacle + Desk_bar__minus_00_dot_87_bar__minus_00_dot_01_bar__minus_02_dot_44 - receptacle + Drawer_bar__minus_01_dot_41_bar__plus_00_dot_20_bar__minus_02_dot_32 - receptacle + Drawer_bar__minus_01_dot_41_bar__plus_00_dot_48_bar__minus_02_dot_32 - receptacle + Drawer_bar__minus_01_dot_41_bar__plus_00_dot_73_bar__minus_02_dot_32 - receptacle + GarbageCan_bar__plus_01_dot_32_bar__plus_00_dot_00_bar__minus_02_dot_47 - receptacle + LaundryHamper_bar__minus_01_dot_44_bar__plus_00_dot_01_bar__plus_01_dot_77 - receptacle + Shelf_bar__plus_01_dot_49_bar__plus_00_dot_82_bar__minus_01_dot_48 - receptacle + Shelf_bar__minus_01_dot_02_bar__plus_01_dot_35_bar__minus_02_dot_54 - receptacle + SideTable_bar__plus_00_dot_25_bar_00_dot_00_bar__minus_02_dot_38 - receptacle + loc_bar_4_bar__minus_8_bar_2_bar_60 - location + loc_bar__minus_4_bar__minus_4_bar_3_bar_15 - location + loc_bar_4_bar__minus_8_bar_0_bar_60 - location + loc_bar__minus_3_bar__minus_7_bar_2_bar_60 - location + loc_bar__minus_4_bar__minus_7_bar_2_bar_15 - location + loc_bar_4_bar__minus_3_bar_1_bar_60 - location + loc_bar__minus_5_bar__minus_6_bar_3_bar_0 - location + loc_bar__minus_1_bar__minus_7_bar_3_bar_45 - location + loc_bar_1_bar__minus_7_bar_2_bar_60 - location + loc_bar_2_bar__minus_7_bar_2_bar_0 - location + loc_bar__minus_1_bar__minus_7_bar_2_bar_45 - location + loc_bar__minus_5_bar__minus_7_bar_2_bar_60 - location + loc_bar_4_bar__minus_4_bar_1_bar_60 - location + loc_bar__minus_1_bar_0_bar_0_bar_45 - location + loc_bar_4_bar__minus_2_bar_1_bar_30 - location + loc_bar__minus_3_bar__minus_7_bar_3_bar_60 - location + loc_bar__minus_5_bar_5_bar_0_bar_60 - location + loc_bar_4_bar__minus_6_bar_1_bar__minus_30 - location + loc_bar__minus_5_bar_3_bar_3_bar_45 - location + loc_bar_4_bar__minus_6_bar_1_bar_15 - location + loc_bar_3_bar__minus_2_bar_1_bar_30 - location + ) + + +(:init + + + (receptacleType Shelf_bar__plus_01_dot_49_bar__plus_00_dot_82_bar__minus_01_dot_48 ShelfType) + (receptacleType Drawer_bar__minus_01_dot_41_bar__plus_00_dot_48_bar__minus_02_dot_32 DrawerType) + (receptacleType Shelf_bar__minus_01_dot_02_bar__plus_01_dot_35_bar__minus_02_dot_54 ShelfType) + (receptacleType Bed_bar__plus_00_dot_27_bar__plus_00_dot_00_bar__plus_01_dot_33 BedType) + (receptacleType SideTable_bar__plus_00_dot_25_bar_00_dot_00_bar__minus_02_dot_38 SideTableType) + (receptacleType LaundryHamper_bar__minus_01_dot_44_bar__plus_00_dot_01_bar__plus_01_dot_77 LaundryHamperType) + (receptacleType Drawer_bar__minus_01_dot_41_bar__plus_00_dot_73_bar__minus_02_dot_32 DrawerType) + (receptacleType GarbageCan_bar__plus_01_dot_32_bar__plus_00_dot_00_bar__minus_02_dot_47 GarbageCanType) + (receptacleType Drawer_bar__minus_01_dot_41_bar__plus_00_dot_20_bar__minus_02_dot_32 DrawerType) + (receptacleType Desk_bar__minus_00_dot_87_bar__minus_00_dot_01_bar__minus_02_dot_44 DeskType) + (objectType TennisRacket_bar__minus_01_dot_70_bar__plus_00_dot_35_bar__plus_01_dot_74 TennisRacketType) + (objectType Chair_bar__minus_00_dot_63_bar__plus_00_dot_00_bar__minus_02_dot_20 ChairType) + (objectType Pillow_bar__plus_00_dot_53_bar__plus_00_dot_90_bar__plus_01_dot_01 PillowType) + (objectType CellPhone_bar__minus_01_dot_23_bar__plus_00_dot_09_bar__minus_02_dot_29 CellPhoneType) + (objectType Book_bar__minus_01_dot_23_bar__plus_00_dot_65_bar__minus_02_dot_33 BookType) + (objectType AlarmClock_bar__plus_00_dot_36_bar__plus_00_dot_81_bar__minus_02_dot_51 AlarmClockType) + (objectType LightSwitch_bar__minus_01_dot_80_bar__plus_01_dot_21_bar__plus_00_dot_68 LightSwitchType) + (objectType Television_bar__minus_01_dot_70_bar__plus_01_dot_47_bar__minus_00_dot_90 TelevisionType) + (objectType Pen_bar__minus_01_dot_49_bar__plus_00_dot_38_bar__minus_02_dot_33 PenType) + (objectType CellPhone_bar__minus_01_dot_49_bar__plus_00_dot_09_bar__minus_02_dot_33 CellPhoneType) + (objectType LaundryHamperLid_bar__minus_01_dot_44_bar__plus_00_dot_48_bar__plus_01_dot_76 LaundryHamperLidType) + (objectType Painting_bar__plus_00_dot_49_bar__plus_01_dot_68_bar__minus_02_dot_63 PaintingType) + (objectType AlarmClock_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__minus_02_dot_37 AlarmClockType) + (objectType Cloth_bar__plus_01_dot_30_bar__plus_00_dot_00_bar__minus_00_dot_70 ClothType) + (objectType KeyChain_bar__plus_01_dot_49_bar__plus_00_dot_82_bar__minus_01_dot_26 KeyChainType) + (objectType Pencil_bar__plus_00_dot_46_bar__plus_00_dot_82_bar__minus_02_dot_30 PencilType) + (objectType Pillow_bar__plus_01_dot_07_bar__plus_00_dot_88_bar__plus_01_dot_33 PillowType) + (objectType Mirror_bar__plus_01_dot_50_bar__plus_01_dot_36_bar__minus_00_dot_54 MirrorType) + (objectType Poster_bar__minus_01_dot_80_bar__plus_01_dot_69_bar__minus_01_dot_49 PosterType) + (objectType Window_bar__plus_01_dot_72_bar__plus_01_dot_37_bar__minus_01_dot_60 WindowType) + (objectType Blinds_bar__plus_01_dot_70_bar__plus_02_dot_10_bar__minus_01_dot_58 BlindsType) + (objectType Cloth_bar__plus_01_dot_27_bar__plus_00_dot_00_bar__minus_00_dot_97 ClothType) + (objectType RemoteControl_bar__minus_00_dot_39_bar__plus_00_dot_86_bar__minus_02_dot_56 RemoteControlType) + (objectType Pen_bar__minus_01_dot_39_bar__plus_00_dot_87_bar__minus_02_dot_44 PenType) + (objectType Pillow_bar__minus_00_dot_05_bar__plus_00_dot_90_bar__plus_01_dot_34 PillowType) + (objectType Pen_bar__minus_01_dot_19_bar__plus_00_dot_87_bar__minus_02_dot_25 PenType) + (objectType KeyChain_bar__plus_01_dot_55_bar__plus_00_dot_82_bar__minus_01_dot_47 KeyChainType) + (objectType AlarmClock_bar__plus_00_dot_36_bar__plus_00_dot_81_bar__minus_02_dot_37 AlarmClockType) + (objectType CellPhone_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__minus_02_dot_56 CellPhoneType) + (objectType CD_bar__minus_01_dot_67_bar__plus_00_dot_37_bar__minus_02_dot_40 CDType) + (objectType Laptop_bar__minus_01_dot_00_bar__plus_00_dot_86_bar__minus_02_dot_40 LaptopType) + (objectType Pencil_bar__minus_00_dot_06_bar__plus_00_dot_82_bar__minus_02_dot_30 PencilType) + (objectType DeskLamp_bar__plus_00_dot_05_bar__plus_00_dot_81_bar__minus_02_dot_48 DeskLampType) + (objectType CreditCard_bar__plus_01_dot_47_bar__plus_00_dot_82_bar__minus_01_dot_57 CreditCardType) + (objectType Laptop_bar__minus_00_dot_62_bar__plus_00_dot_77_bar__plus_01_dot_50 LaptopType) + (objectType Chair_bar__plus_00_dot_22_bar__plus_00_dot_00_bar__minus_02_dot_21 ChairType) + (objectType CreditCard_bar__minus_01_dot_23_bar__plus_00_dot_37_bar__minus_02_dot_36 CreditCardType) + (objectType Bowl_bar__minus_00_dot_39_bar__plus_00_dot_86_bar__minus_02_dot_44 BowlType) + (objectType CD_bar__plus_01_dot_52_bar__plus_00_dot_82_bar__minus_01_dot_73 CDType) + (objectType CD_bar__plus_00_dot_56_bar__plus_00_dot_81_bar__minus_02_dot_51 CDType) + (canContain ShelfType PenType) + (canContain ShelfType BookType) + (canContain ShelfType BowlType) + (canContain ShelfType CDType) + (canContain ShelfType CellPhoneType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType ClothType) + (canContain ShelfType PencilType) + (canContain ShelfType RemoteControlType) + (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 DrawerType RemoteControlType) + (canContain ShelfType PenType) + (canContain ShelfType BookType) + (canContain ShelfType BowlType) + (canContain ShelfType CDType) + (canContain ShelfType CellPhoneType) + (canContain 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(pickupable CD_bar__minus_01_dot_67_bar__plus_00_dot_37_bar__minus_02_dot_40) + (pickupable Laptop_bar__minus_01_dot_00_bar__plus_00_dot_86_bar__minus_02_dot_40) + (pickupable Pencil_bar__minus_00_dot_06_bar__plus_00_dot_82_bar__minus_02_dot_30) + (pickupable CreditCard_bar__plus_01_dot_47_bar__plus_00_dot_82_bar__minus_01_dot_57) + (pickupable Laptop_bar__minus_00_dot_62_bar__plus_00_dot_77_bar__plus_01_dot_50) + (pickupable CreditCard_bar__minus_01_dot_23_bar__plus_00_dot_37_bar__minus_02_dot_36) + (pickupable Bowl_bar__minus_00_dot_39_bar__plus_00_dot_86_bar__minus_02_dot_44) + (pickupable CD_bar__plus_01_dot_52_bar__plus_00_dot_82_bar__minus_01_dot_73) + (pickupable CD_bar__plus_00_dot_56_bar__plus_00_dot_81_bar__minus_02_dot_51) + (isReceptacleObject Bowl_bar__minus_00_dot_39_bar__plus_00_dot_86_bar__minus_02_dot_44) + (openable Drawer_bar__minus_01_dot_41_bar__plus_00_dot_48_bar__minus_02_dot_32) + (openable Drawer_bar__minus_01_dot_41_bar__plus_00_dot_73_bar__minus_02_dot_32) + (openable Drawer_bar__minus_01_dot_41_bar__plus_00_dot_20_bar__minus_02_dot_32) + + (atLocation agent1 loc_bar_3_bar__minus_2_bar_1_bar_30) + + (cleanable Cloth_bar__plus_01_dot_30_bar__plus_00_dot_00_bar__minus_00_dot_70) + (cleanable Cloth_bar__plus_01_dot_27_bar__plus_00_dot_00_bar__minus_00_dot_97) + (cleanable Bowl_bar__minus_00_dot_39_bar__plus_00_dot_86_bar__minus_02_dot_44) + + + (coolable Bowl_bar__minus_00_dot_39_bar__plus_00_dot_86_bar__minus_02_dot_44) + + + (toggleable DeskLamp_bar__plus_00_dot_05_bar__plus_00_dot_81_bar__minus_02_dot_48) + + + + + (inReceptacle CellPhone_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__minus_02_dot_56 Desk_bar__minus_00_dot_87_bar__minus_00_dot_01_bar__minus_02_dot_44) + (inReceptacle Laptop_bar__minus_01_dot_00_bar__plus_00_dot_86_bar__minus_02_dot_40 Desk_bar__minus_00_dot_87_bar__minus_00_dot_01_bar__minus_02_dot_44) + (inReceptacle RemoteControl_bar__minus_00_dot_39_bar__plus_00_dot_86_bar__minus_02_dot_56 Desk_bar__minus_00_dot_87_bar__minus_00_dot_01_bar__minus_02_dot_44) + (inReceptacle Bowl_bar__minus_00_dot_39_bar__plus_00_dot_86_bar__minus_02_dot_44 Desk_bar__minus_00_dot_87_bar__minus_00_dot_01_bar__minus_02_dot_44) + (inReceptacle Pen_bar__minus_01_dot_39_bar__plus_00_dot_87_bar__minus_02_dot_44 Desk_bar__minus_00_dot_87_bar__minus_00_dot_01_bar__minus_02_dot_44) + (inReceptacle AlarmClock_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__minus_02_dot_37 Desk_bar__minus_00_dot_87_bar__minus_00_dot_01_bar__minus_02_dot_44) + (inReceptacle Pen_bar__minus_01_dot_19_bar__plus_00_dot_87_bar__minus_02_dot_25 Desk_bar__minus_00_dot_87_bar__minus_00_dot_01_bar__minus_02_dot_44) + (inReceptacle AlarmClock_bar__plus_00_dot_36_bar__plus_00_dot_81_bar__minus_02_dot_37 SideTable_bar__plus_00_dot_25_bar_00_dot_00_bar__minus_02_dot_38) + (inReceptacle AlarmClock_bar__plus_00_dot_36_bar__plus_00_dot_81_bar__minus_02_dot_51 SideTable_bar__plus_00_dot_25_bar_00_dot_00_bar__minus_02_dot_38) + (inReceptacle Pencil_bar__minus_00_dot_06_bar__plus_00_dot_82_bar__minus_02_dot_30 SideTable_bar__plus_00_dot_25_bar_00_dot_00_bar__minus_02_dot_38) + (inReceptacle DeskLamp_bar__plus_00_dot_05_bar__plus_00_dot_81_bar__minus_02_dot_48 SideTable_bar__plus_00_dot_25_bar_00_dot_00_bar__minus_02_dot_38) + (inReceptacle CD_bar__plus_00_dot_56_bar__plus_00_dot_81_bar__minus_02_dot_51 SideTable_bar__plus_00_dot_25_bar_00_dot_00_bar__minus_02_dot_38) + (inReceptacle Pencil_bar__plus_00_dot_46_bar__plus_00_dot_82_bar__minus_02_dot_30 SideTable_bar__plus_00_dot_25_bar_00_dot_00_bar__minus_02_dot_38) + (inReceptacle Pen_bar__minus_01_dot_49_bar__plus_00_dot_38_bar__minus_02_dot_33 Drawer_bar__minus_01_dot_41_bar__plus_00_dot_48_bar__minus_02_dot_32) + (inReceptacle CreditCard_bar__minus_01_dot_23_bar__plus_00_dot_37_bar__minus_02_dot_36 Drawer_bar__minus_01_dot_41_bar__plus_00_dot_48_bar__minus_02_dot_32) + (inReceptacle CD_bar__minus_01_dot_67_bar__plus_00_dot_37_bar__minus_02_dot_40 Drawer_bar__minus_01_dot_41_bar__plus_00_dot_48_bar__minus_02_dot_32) + (inReceptacle Book_bar__minus_01_dot_23_bar__plus_00_dot_65_bar__minus_02_dot_33 Drawer_bar__minus_01_dot_41_bar__plus_00_dot_73_bar__minus_02_dot_32) + (inReceptacle CellPhone_bar__minus_01_dot_23_bar__plus_00_dot_09_bar__minus_02_dot_29 Drawer_bar__minus_01_dot_41_bar__plus_00_dot_20_bar__minus_02_dot_32) + (inReceptacle CellPhone_bar__minus_01_dot_49_bar__plus_00_dot_09_bar__minus_02_dot_33 Drawer_bar__minus_01_dot_41_bar__plus_00_dot_20_bar__minus_02_dot_32) + (inReceptacle Pillow_bar__plus_01_dot_07_bar__plus_00_dot_88_bar__plus_01_dot_33 Bed_bar__plus_00_dot_27_bar__plus_00_dot_00_bar__plus_01_dot_33) + (inReceptacle Pillow_bar__plus_00_dot_53_bar__plus_00_dot_90_bar__plus_01_dot_01 Bed_bar__plus_00_dot_27_bar__plus_00_dot_00_bar__plus_01_dot_33) + (inReceptacle Pillow_bar__minus_00_dot_05_bar__plus_00_dot_90_bar__plus_01_dot_34 Bed_bar__plus_00_dot_27_bar__plus_00_dot_00_bar__plus_01_dot_33) + (inReceptacle Laptop_bar__minus_00_dot_62_bar__plus_00_dot_77_bar__plus_01_dot_50 Bed_bar__plus_00_dot_27_bar__plus_00_dot_00_bar__plus_01_dot_33) + (inReceptacle KeyChain_bar__plus_01_dot_55_bar__plus_00_dot_82_bar__minus_01_dot_47 Shelf_bar__plus_01_dot_49_bar__plus_00_dot_82_bar__minus_01_dot_48) + (inReceptacle KeyChain_bar__plus_01_dot_49_bar__plus_00_dot_82_bar__minus_01_dot_26 Shelf_bar__plus_01_dot_49_bar__plus_00_dot_82_bar__minus_01_dot_48) + (inReceptacle CreditCard_bar__plus_01_dot_47_bar__plus_00_dot_82_bar__minus_01_dot_57 Shelf_bar__plus_01_dot_49_bar__plus_00_dot_82_bar__minus_01_dot_48) + (inReceptacle CD_bar__plus_01_dot_52_bar__plus_00_dot_82_bar__minus_01_dot_73 Shelf_bar__plus_01_dot_49_bar__plus_00_dot_82_bar__minus_01_dot_48) + (inReceptacleObject RemoteControl_bar__minus_00_dot_39_bar__plus_00_dot_86_bar__minus_02_dot_56 Bowl_bar__minus_00_dot_39_bar__plus_00_dot_86_bar__minus_02_dot_44) + + + (receptacleAtLocation Bed_bar__plus_00_dot_27_bar__plus_00_dot_00_bar__plus_01_dot_33 loc_bar__minus_1_bar_0_bar_0_bar_45) + (receptacleAtLocation Desk_bar__minus_00_dot_87_bar__minus_00_dot_01_bar__minus_02_dot_44 loc_bar__minus_5_bar__minus_7_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__minus_01_dot_41_bar__plus_00_dot_20_bar__minus_02_dot_32 loc_bar__minus_1_bar__minus_7_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_41_bar__plus_00_dot_48_bar__minus_02_dot_32 loc_bar__minus_1_bar__minus_7_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_41_bar__plus_00_dot_73_bar__minus_02_dot_32 loc_bar__minus_3_bar__minus_7_bar_3_bar_60) + (receptacleAtLocation GarbageCan_bar__plus_01_dot_32_bar__plus_00_dot_00_bar__minus_02_dot_47 loc_bar_4_bar__minus_8_bar_2_bar_60) + (receptacleAtLocation LaundryHamper_bar__minus_01_dot_44_bar__plus_00_dot_01_bar__plus_01_dot_77 loc_bar__minus_5_bar_5_bar_0_bar_60) + (receptacleAtLocation Shelf_bar__plus_01_dot_49_bar__plus_00_dot_82_bar__minus_01_dot_48 loc_bar_4_bar__minus_8_bar_0_bar_60) + (receptacleAtLocation Shelf_bar__minus_01_dot_02_bar__plus_01_dot_35_bar__minus_02_dot_54 loc_bar__minus_4_bar__minus_7_bar_2_bar_15) + (receptacleAtLocation SideTable_bar__plus_00_dot_25_bar_00_dot_00_bar__minus_02_dot_38 loc_bar_1_bar__minus_7_bar_2_bar_60) + (objectAtLocation Pen_bar__minus_01_dot_49_bar__plus_00_dot_38_bar__minus_02_dot_33 loc_bar__minus_1_bar__minus_7_bar_3_bar_45) + (objectAtLocation Pillow_bar__plus_01_dot_07_bar__plus_00_dot_88_bar__plus_01_dot_33 loc_bar__minus_1_bar_0_bar_0_bar_45) + (objectAtLocation KeyChain_bar__plus_01_dot_55_bar__plus_00_dot_82_bar__minus_01_dot_47 loc_bar_4_bar__minus_8_bar_0_bar_60) + (objectAtLocation CreditCard_bar__minus_01_dot_23_bar__plus_00_dot_37_bar__minus_02_dot_36 loc_bar__minus_1_bar__minus_7_bar_3_bar_45) + (objectAtLocation AlarmClock_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__minus_02_dot_37 loc_bar__minus_5_bar__minus_7_bar_2_bar_60) + (objectAtLocation Laptop_bar__minus_01_dot_00_bar__plus_00_dot_86_bar__minus_02_dot_40 loc_bar__minus_5_bar__minus_7_bar_2_bar_60) + (objectAtLocation Pencil_bar__minus_00_dot_06_bar__plus_00_dot_82_bar__minus_02_dot_30 loc_bar_1_bar__minus_7_bar_2_bar_60) + (objectAtLocation CellPhone_bar__minus_01_dot_23_bar__plus_00_dot_09_bar__minus_02_dot_29 loc_bar__minus_1_bar__minus_7_bar_3_bar_45) + (objectAtLocation AlarmClock_bar__plus_00_dot_36_bar__plus_00_dot_81_bar__minus_02_dot_51 loc_bar_1_bar__minus_7_bar_2_bar_60) + (objectAtLocation Pillow_bar__plus_00_dot_53_bar__plus_00_dot_90_bar__plus_01_dot_01 loc_bar__minus_1_bar_0_bar_0_bar_45) + (objectAtLocation Pen_bar__minus_01_dot_19_bar__plus_00_dot_87_bar__minus_02_dot_25 loc_bar__minus_5_bar__minus_7_bar_2_bar_60) + (objectAtLocation CellPhone_bar__minus_01_dot_49_bar__plus_00_dot_09_bar__minus_02_dot_33 loc_bar__minus_1_bar__minus_7_bar_3_bar_45) + (objectAtLocation Book_bar__minus_01_dot_23_bar__plus_00_dot_65_bar__minus_02_dot_33 loc_bar__minus_3_bar__minus_7_bar_3_bar_60) + (objectAtLocation LaundryHamperLid_bar__minus_01_dot_44_bar__plus_00_dot_48_bar__plus_01_dot_76 loc_bar__minus_5_bar_5_bar_0_bar_60) + (objectAtLocation Chair_bar__minus_00_dot_63_bar__plus_00_dot_00_bar__minus_02_dot_20 loc_bar__minus_3_bar__minus_7_bar_2_bar_60) + (objectAtLocation Chair_bar__plus_00_dot_22_bar__plus_00_dot_00_bar__minus_02_dot_21 loc_bar_1_bar__minus_7_bar_2_bar_60) + (objectAtLocation Cloth_bar__plus_01_dot_30_bar__plus_00_dot_00_bar__minus_00_dot_70 loc_bar_4_bar__minus_3_bar_1_bar_60) + (objectAtLocation Cloth_bar__plus_01_dot_27_bar__plus_00_dot_00_bar__minus_00_dot_97 loc_bar_4_bar__minus_4_bar_1_bar_60) + (objectAtLocation CellPhone_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__minus_02_dot_56 loc_bar__minus_5_bar__minus_7_bar_2_bar_60) + (objectAtLocation Television_bar__minus_01_dot_70_bar__plus_01_dot_47_bar__minus_00_dot_90 loc_bar__minus_4_bar__minus_4_bar_3_bar_15) + (objectAtLocation Pencil_bar__plus_00_dot_46_bar__plus_00_dot_82_bar__minus_02_dot_30 loc_bar_1_bar__minus_7_bar_2_bar_60) + (objectAtLocation DeskLamp_bar__plus_00_dot_05_bar__plus_00_dot_81_bar__minus_02_dot_48 loc_bar_1_bar__minus_7_bar_2_bar_60) + (objectAtLocation Laptop_bar__minus_00_dot_62_bar__plus_00_dot_77_bar__plus_01_dot_50 loc_bar__minus_1_bar_0_bar_0_bar_45) + (objectAtLocation LightSwitch_bar__minus_01_dot_80_bar__plus_01_dot_21_bar__plus_00_dot_68 loc_bar__minus_5_bar_3_bar_3_bar_45) + (objectAtLocation AlarmClock_bar__plus_00_dot_36_bar__plus_00_dot_81_bar__minus_02_dot_37 loc_bar_1_bar__minus_7_bar_2_bar_60) + (objectAtLocation CreditCard_bar__plus_01_dot_47_bar__plus_00_dot_82_bar__minus_01_dot_57 loc_bar_4_bar__minus_8_bar_0_bar_60) + (objectAtLocation KeyChain_bar__plus_01_dot_49_bar__plus_00_dot_82_bar__minus_01_dot_26 loc_bar_4_bar__minus_8_bar_0_bar_60) + (objectAtLocation TennisRacket_bar__minus_01_dot_70_bar__plus_00_dot_35_bar__plus_01_dot_74 loc_bar__minus_5_bar_5_bar_0_bar_60) + (objectAtLocation Painting_bar__plus_00_dot_49_bar__plus_01_dot_68_bar__minus_02_dot_63 loc_bar_2_bar__minus_7_bar_2_bar_0) + (objectAtLocation RemoteControl_bar__minus_00_dot_39_bar__plus_00_dot_86_bar__minus_02_dot_56 loc_bar__minus_1_bar__minus_7_bar_2_bar_45) + (objectAtLocation Pillow_bar__minus_00_dot_05_bar__plus_00_dot_90_bar__plus_01_dot_34 loc_bar__minus_1_bar_0_bar_0_bar_45) + (objectAtLocation Poster_bar__minus_01_dot_80_bar__plus_01_dot_69_bar__minus_01_dot_49 loc_bar__minus_5_bar__minus_6_bar_3_bar_0) + (objectAtLocation Mirror_bar__plus_01_dot_50_bar__plus_01_dot_36_bar__minus_00_dot_54 loc_bar_4_bar__minus_2_bar_1_bar_30) + (objectAtLocation CD_bar__plus_01_dot_52_bar__plus_00_dot_82_bar__minus_01_dot_73 loc_bar_4_bar__minus_8_bar_0_bar_60) + (objectAtLocation CD_bar__minus_01_dot_67_bar__plus_00_dot_37_bar__minus_02_dot_40 loc_bar__minus_1_bar__minus_7_bar_3_bar_45) + (objectAtLocation CD_bar__plus_00_dot_56_bar__plus_00_dot_81_bar__minus_02_dot_51 loc_bar_1_bar__minus_7_bar_2_bar_60) + (objectAtLocation Pen_bar__minus_01_dot_39_bar__plus_00_dot_87_bar__minus_02_dot_44 loc_bar__minus_5_bar__minus_7_bar_2_bar_60) + (objectAtLocation Window_bar__plus_01_dot_72_bar__plus_01_dot_37_bar__minus_01_dot_60 loc_bar_4_bar__minus_6_bar_1_bar_15) + (objectAtLocation Blinds_bar__plus_01_dot_70_bar__plus_02_dot_10_bar__minus_01_dot_58 loc_bar_4_bar__minus_6_bar_1_bar__minus_30) + (objectAtLocation Bowl_bar__minus_00_dot_39_bar__plus_00_dot_86_bar__minus_02_dot_44 loc_bar__minus_5_bar__minus_7_bar_2_bar_60) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (inReceptacle ?o ?r) + (objectType ?o PencilType) + (receptacleType ?r DeskType) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-Pencil-None-Desk-307/trial_T20190909_075126_209289/traj_data.json b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Pencil-None-Desk-307/trial_T20190909_075126_209289/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..87af16c74b7967a3b57bcc3580192921ead35a33 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Pencil-None-Desk-307/trial_T20190909_075126_209289/traj_data.json @@ -0,0 +1,3172 @@ +{ + "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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", + "Step to the right and go to the other desk. ", + "Place the pencil on top of the desk." + ], + "task_desc": "Move a pencil to a different desk. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A2KAGFQU28JY43_3IXQG4FA2WPGK95XIPBMX5E326E9B7", + "high_descs": [ + "Turn to your right and go across the room to the small desk across from you. ", + "Pick up the pencil in front of the lamp, on the small desk. ", + "Move over to the far, left end of the large desk. ", + "Place the pencil on the large desk, to the right of the laptop. " + ], + "task_desc": "Put a pencil on the large desk. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A22ON3MIIG0IJA_3XCC1ODXDO29SF38VO8YJF9WUSMRQP", + "high_descs": [ + "Turn around and walk to the middle of the room then turn left and walk to the desk.", + "Pick up the yellow pencil from in front of the white lamp.", + "Turn right and walk to the map then turn left to face the desk.", + "Put the pencil on the desk next to the right side of the laptop." + ], + "task_desc": "Put a pencil next to a laptop.", + "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-Desk-307/trial_T20190909_075150_052392/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Pencil-None-Desk-307/trial_T20190909_075150_052392/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..d42d25eb6787e8bb566992566a5b47b87da42da9 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Pencil-None-Desk-307/trial_T20190909_075150_052392/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\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 pencil 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_T20190909_075150_052392)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\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_36_bar__plus_00_dot_81_bar__minus_02_dot_30 - object\n AlarmClock_bar__plus_00_dot_46_bar__plus_00_dot_81_bar__minus_02_dot_51 - object\n Blinds_bar__plus_01_dot_70_bar__plus_02_dot_10_bar__minus_01_dot_58 - object\n Book_bar__plus_00_dot_53_bar__plus_00_dot_77_bar__plus_00_dot_85 - object\n Book_bar__minus_01_dot_32_bar__plus_00_dot_65_bar__minus_02_dot_33 - object\n Bowl_bar__plus_00_dot_25_bar__plus_00_dot_81_bar__minus_02_dot_51 - object\n Bowl_bar__minus_00_dot_99_bar__plus_00_dot_86_bar__minus_02_dot_37 - object\n CD_bar__minus_00_dot_59_bar__plus_00_dot_86_bar__minus_02_dot_25 - object\n CD_bar__minus_00_dot_81_bar__plus_01_dot_36_bar__minus_02_dot_47 - object\n CD_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__minus_02_dot_31 - object\n CellPhone_bar__minus_01_dot_23_bar__plus_00_dot_37_bar__minus_02_dot_36 - object\n CellPhone_bar__minus_01_dot_58_bar__plus_00_dot_37_bar__minus_02_dot_29 - object\n Chair_bar__plus_00_dot_22_bar__plus_00_dot_00_bar__minus_02_dot_21 - object\n Chair_bar__minus_00_dot_63_bar__plus_00_dot_00_bar__minus_02_dot_20 - object\n Cloth_bar__plus_01_dot_27_bar__plus_00_dot_00_bar__minus_00_dot_97 - object\n Cloth_bar__plus_01_dot_30_bar__plus_00_dot_00_bar__minus_00_dot_70 - object\n CreditCard_bar__minus_01_dot_32_bar__plus_00_dot_09_bar__minus_02_dot_33 - object\n CreditCard_bar__minus_01_dot_67_bar__plus_00_dot_65_bar__minus_02_dot_33 - object\n DeskLamp_bar__plus_00_dot_05_bar__plus_00_dot_81_bar__minus_02_dot_48 - object\n KeyChain_bar__minus_00_dot_06_bar__plus_00_dot_81_bar__minus_02_dot_30 - object\n KeyChain_bar__minus_00_dot_99_bar__plus_00_dot_86_bar__minus_02_dot_56 - object\n Laptop_bar__minus_00_dot_05_bar__plus_00_dot_77_bar__plus_01_dot_34 - object\n LaundryHamperLid_bar__minus_01_dot_44_bar__plus_00_dot_48_bar__plus_01_dot_76 - object\n LightSwitch_bar__minus_01_dot_80_bar__plus_01_dot_21_bar__plus_00_dot_68 - object\n Mirror_bar__plus_01_dot_50_bar__plus_01_dot_36_bar__minus_00_dot_54 - object\n Painting_bar__plus_00_dot_49_bar__plus_01_dot_68_bar__minus_02_dot_63 - object\n Pencil_bar__plus_00_dot_04_bar__plus_00_dot_82_bar__minus_02_dot_17 - object\n Pencil_bar__plus_00_dot_15_bar__plus_00_dot_82_bar__minus_02_dot_37 - object\n Pen_bar__plus_00_dot_46_bar__plus_00_dot_82_bar__minus_02_dot_24 - object\n Pen_bar__plus_01_dot_49_bar__plus_00_dot_83_bar__minus_01_dot_57 - object\n Pillow_bar__plus_00_dot_53_bar__plus_00_dot_90_bar__plus_01_dot_17 - object\n Poster_bar__minus_01_dot_80_bar__plus_01_dot_69_bar__minus_01_dot_49 - object\n RemoteControl_bar__minus_01_dot_39_bar__plus_00_dot_86_bar__minus_02_dot_50 - object\n RemoteControl_bar__minus_01_dot_49_bar__plus_00_dot_65_bar__minus_02_dot_29 - object\n Television_bar__minus_01_dot_70_bar__plus_01_dot_47_bar__minus_00_dot_90 - object\n TennisRacket_bar__minus_01_dot_70_bar__plus_00_dot_35_bar__plus_01_dot_74 - object\n Window_bar__plus_01_dot_72_bar__plus_01_dot_37_bar__minus_01_dot_60 - object\n Bed_bar__plus_00_dot_27_bar__plus_00_dot_00_bar__plus_01_dot_33 - receptacle\n Desk_bar__minus_00_dot_87_bar__minus_00_dot_01_bar__minus_02_dot_44 - receptacle\n Drawer_bar__minus_01_dot_41_bar__plus_00_dot_20_bar__minus_02_dot_32 - receptacle\n Drawer_bar__minus_01_dot_41_bar__plus_00_dot_48_bar__minus_02_dot_32 - receptacle\n Drawer_bar__minus_01_dot_41_bar__plus_00_dot_73_bar__minus_02_dot_32 - receptacle\n GarbageCan_bar__plus_01_dot_32_bar__plus_00_dot_00_bar__minus_02_dot_47 - receptacle\n LaundryHamper_bar__minus_01_dot_44_bar__plus_00_dot_01_bar__plus_01_dot_77 - receptacle\n Shelf_bar__plus_01_dot_49_bar__plus_00_dot_82_bar__minus_01_dot_48 - receptacle\n Shelf_bar__minus_01_dot_02_bar__plus_01_dot_35_bar__minus_02_dot_54 - receptacle\n SideTable_bar__plus_00_dot_25_bar_00_dot_00_bar__minus_02_dot_38 - receptacle\n loc_bar_4_bar__minus_8_bar_2_bar_60 - location\n loc_bar__minus_4_bar__minus_4_bar_3_bar_15 - location\n loc_bar_4_bar__minus_8_bar_0_bar_60 - location\n loc_bar__minus_3_bar__minus_7_bar_2_bar_60 - location\n loc_bar__minus_4_bar__minus_7_bar_2_bar_15 - location\n loc_bar_4_bar__minus_3_bar_1_bar_60 - location\n loc_bar__minus_5_bar__minus_6_bar_3_bar_0 - location\n loc_bar__minus_1_bar__minus_7_bar_3_bar_45 - location\n loc_bar_1_bar__minus_7_bar_2_bar_60 - location\n loc_bar_2_bar__minus_7_bar_2_bar_0 - location\n loc_bar__minus_5_bar__minus_7_bar_2_bar_60 - location\n loc_bar_4_bar__minus_4_bar_1_bar_60 - location\n loc_bar__minus_1_bar_0_bar_0_bar_45 - location\n loc_bar_4_bar__minus_2_bar_1_bar_30 - location\n loc_bar__minus_3_bar__minus_7_bar_3_bar_60 - location\n loc_bar__minus_5_bar_5_bar_0_bar_60 - location\n loc_bar_4_bar__minus_6_bar_1_bar__minus_30 - location\n loc_bar__minus_5_bar_3_bar_3_bar_45 - location\n loc_bar_4_bar__minus_6_bar_1_bar_15 - location\n loc_bar__minus_1_bar__minus_1_bar_3_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Shelf_bar__plus_01_dot_49_bar__plus_00_dot_82_bar__minus_01_dot_48 ShelfType)\n (receptacleType Drawer_bar__minus_01_dot_41_bar__plus_00_dot_48_bar__minus_02_dot_32 DrawerType)\n (receptacleType Shelf_bar__minus_01_dot_02_bar__plus_01_dot_35_bar__minus_02_dot_54 ShelfType)\n (receptacleType Bed_bar__plus_00_dot_27_bar__plus_00_dot_00_bar__plus_01_dot_33 BedType)\n (receptacleType SideTable_bar__plus_00_dot_25_bar_00_dot_00_bar__minus_02_dot_38 SideTableType)\n (receptacleType LaundryHamper_bar__minus_01_dot_44_bar__plus_00_dot_01_bar__plus_01_dot_77 LaundryHamperType)\n (receptacleType Drawer_bar__minus_01_dot_41_bar__plus_00_dot_73_bar__minus_02_dot_32 DrawerType)\n (receptacleType GarbageCan_bar__plus_01_dot_32_bar__plus_00_dot_00_bar__minus_02_dot_47 GarbageCanType)\n (receptacleType Drawer_bar__minus_01_dot_41_bar__plus_00_dot_20_bar__minus_02_dot_32 DrawerType)\n (receptacleType Desk_bar__minus_00_dot_87_bar__minus_00_dot_01_bar__minus_02_dot_44 DeskType)\n (objectType TennisRacket_bar__minus_01_dot_70_bar__plus_00_dot_35_bar__plus_01_dot_74 TennisRacketType)\n (objectType Chair_bar__minus_00_dot_63_bar__plus_00_dot_00_bar__minus_02_dot_20 ChairType)\n (objectType KeyChain_bar__minus_00_dot_06_bar__plus_00_dot_81_bar__minus_02_dot_30 KeyChainType)\n (objectType RemoteControl_bar__minus_01_dot_49_bar__plus_00_dot_65_bar__minus_02_dot_29 RemoteControlType)\n (objectType AlarmClock_bar__plus_00_dot_36_bar__plus_00_dot_81_bar__minus_02_dot_30 AlarmClockType)\n (objectType LightSwitch_bar__minus_01_dot_80_bar__plus_01_dot_21_bar__plus_00_dot_68 LightSwitchType)\n (objectType Television_bar__minus_01_dot_70_bar__plus_01_dot_47_bar__minus_00_dot_90 TelevisionType)\n (objectType CD_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__minus_02_dot_31 CDType)\n (objectType CD_bar__minus_00_dot_59_bar__plus_00_dot_86_bar__minus_02_dot_25 CDType)\n (objectType Laptop_bar__minus_00_dot_05_bar__plus_00_dot_77_bar__plus_01_dot_34 LaptopType)\n (objectType LaundryHamperLid_bar__minus_01_dot_44_bar__plus_00_dot_48_bar__plus_01_dot_76 LaundryHamperLidType)\n (objectType Painting_bar__plus_00_dot_49_bar__plus_01_dot_68_bar__minus_02_dot_63 PaintingType)\n (objectType Pencil_bar__plus_00_dot_04_bar__plus_00_dot_82_bar__minus_02_dot_17 PencilType)\n (objectType Cloth_bar__plus_01_dot_30_bar__plus_00_dot_00_bar__minus_00_dot_70 ClothType)\n (objectType KeyChain_bar__minus_00_dot_99_bar__plus_00_dot_86_bar__minus_02_dot_56 KeyChainType)\n (objectType Pillow_bar__plus_00_dot_53_bar__plus_00_dot_90_bar__plus_01_dot_17 PillowType)\n (objectType Bowl_bar__plus_00_dot_25_bar__plus_00_dot_81_bar__minus_02_dot_51 BowlType)\n (objectType RemoteControl_bar__minus_01_dot_39_bar__plus_00_dot_86_bar__minus_02_dot_50 RemoteControlType)\n (objectType CellPhone_bar__minus_01_dot_23_bar__plus_00_dot_37_bar__minus_02_dot_36 CellPhoneType)\n (objectType Mirror_bar__plus_01_dot_50_bar__plus_01_dot_36_bar__minus_00_dot_54 MirrorType)\n (objectType Book_bar__minus_01_dot_32_bar__plus_00_dot_65_bar__minus_02_dot_33 BookType)\n (objectType Pen_bar__plus_01_dot_49_bar__plus_00_dot_83_bar__minus_01_dot_57 PenType)\n (objectType Pen_bar__plus_00_dot_46_bar__plus_00_dot_82_bar__minus_02_dot_24 PenType)\n (objectType AlarmClock_bar__plus_00_dot_46_bar__plus_00_dot_81_bar__minus_02_dot_51 AlarmClockType)\n (objectType Poster_bar__minus_01_dot_80_bar__plus_01_dot_69_bar__minus_01_dot_49 PosterType)\n (objectType Window_bar__plus_01_dot_72_bar__plus_01_dot_37_bar__minus_01_dot_60 WindowType)\n (objectType Bowl_bar__minus_00_dot_99_bar__plus_00_dot_86_bar__minus_02_dot_37 BowlType)\n (objectType Blinds_bar__plus_01_dot_70_bar__plus_02_dot_10_bar__minus_01_dot_58 BlindsType)\n (objectType CD_bar__minus_00_dot_81_bar__plus_01_dot_36_bar__minus_02_dot_47 CDType)\n (objectType Cloth_bar__plus_01_dot_27_bar__plus_00_dot_00_bar__minus_00_dot_97 ClothType)\n (objectType Book_bar__plus_00_dot_53_bar__plus_00_dot_77_bar__plus_00_dot_85 BookType)\n (objectType CellPhone_bar__minus_01_dot_58_bar__plus_00_dot_37_bar__minus_02_dot_29 CellPhoneType)\n (objectType Pencil_bar__plus_00_dot_15_bar__plus_00_dot_82_bar__minus_02_dot_37 PencilType)\n (objectType CreditCard_bar__minus_01_dot_32_bar__plus_00_dot_09_bar__minus_02_dot_33 CreditCardType)\n (objectType CreditCard_bar__minus_01_dot_67_bar__plus_00_dot_65_bar__minus_02_dot_33 CreditCardType)\n (objectType DeskLamp_bar__plus_00_dot_05_bar__plus_00_dot_81_bar__minus_02_dot_48 DeskLampType)\n (objectType Chair_bar__plus_00_dot_22_bar__plus_00_dot_00_bar__minus_02_dot_21 ChairType)\n (canContain ShelfType PenType)\n (canContain ShelfType BookType)\n (canContain ShelfType BowlType)\n (canContain ShelfType CDType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType ClothType)\n (canContain ShelfType PencilType)\n (canContain ShelfType RemoteControlType)\n (canContain ShelfType AlarmClockType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType ClothType)\n (canContain DrawerType PencilType)\n (canContain DrawerType RemoteControlType)\n (canContain ShelfType PenType)\n (canContain ShelfType BookType)\n (canContain ShelfType BowlType)\n (canContain ShelfType CDType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType ClothType)\n (canContain ShelfType PencilType)\n (canContain ShelfType RemoteControlType)\n (canContain ShelfType AlarmClockType)\n (canContain BedType TennisRacketType)\n (canContain BedType LaptopType)\n (canContain BedType BookType)\n (canContain BedType CellPhoneType)\n (canContain BedType PillowType)\n (canContain SideTableType PenType)\n (canContain SideTableType BookType)\n (canContain SideTableType BowlType)\n (canContain SideTableType CDType)\n (canContain SideTableType CellPhoneType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType TennisRacketType)\n (canContain SideTableType ClothType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType PencilType)\n (canContain SideTableType RemoteControlType)\n (canContain SideTableType AlarmClockType)\n (canContain LaundryHamperType 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 RemoteControlType)\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 RemoteControlType)\n (canContain DeskType PenType)\n (canContain DeskType BookType)\n (canContain DeskType BowlType)\n (canContain DeskType CDType)\n (canContain DeskType CellPhoneType)\n (canContain DeskType KeyChainType)\n (canContain DeskType CreditCardType)\n (canContain DeskType TennisRacketType)\n (canContain DeskType ClothType)\n (canContain DeskType LaptopType)\n (canContain DeskType PencilType)\n (canContain DeskType RemoteControlType)\n (canContain DeskType AlarmClockType)\n (pickupable TennisRacket_bar__minus_01_dot_70_bar__plus_00_dot_35_bar__plus_01_dot_74)\n (pickupable KeyChain_bar__minus_00_dot_06_bar__plus_00_dot_81_bar__minus_02_dot_30)\n (pickupable RemoteControl_bar__minus_01_dot_49_bar__plus_00_dot_65_bar__minus_02_dot_29)\n (pickupable AlarmClock_bar__plus_00_dot_36_bar__plus_00_dot_81_bar__minus_02_dot_30)\n (pickupable CD_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__minus_02_dot_31)\n (pickupable CD_bar__minus_00_dot_59_bar__plus_00_dot_86_bar__minus_02_dot_25)\n (pickupable Laptop_bar__minus_00_dot_05_bar__plus_00_dot_77_bar__plus_01_dot_34)\n (pickupable Pencil_bar__plus_00_dot_04_bar__plus_00_dot_82_bar__minus_02_dot_17)\n (pickupable Cloth_bar__plus_01_dot_30_bar__plus_00_dot_00_bar__minus_00_dot_70)\n (pickupable KeyChain_bar__minus_00_dot_99_bar__plus_00_dot_86_bar__minus_02_dot_56)\n (pickupable Pillow_bar__plus_00_dot_53_bar__plus_00_dot_90_bar__plus_01_dot_17)\n (pickupable Bowl_bar__plus_00_dot_25_bar__plus_00_dot_81_bar__minus_02_dot_51)\n (pickupable RemoteControl_bar__minus_01_dot_39_bar__plus_00_dot_86_bar__minus_02_dot_50)\n (pickupable CellPhone_bar__minus_01_dot_23_bar__plus_00_dot_37_bar__minus_02_dot_36)\n (pickupable Book_bar__minus_01_dot_32_bar__plus_00_dot_65_bar__minus_02_dot_33)\n (pickupable Pen_bar__plus_01_dot_49_bar__plus_00_dot_83_bar__minus_01_dot_57)\n (pickupable Pen_bar__plus_00_dot_46_bar__plus_00_dot_82_bar__minus_02_dot_24)\n (pickupable AlarmClock_bar__plus_00_dot_46_bar__plus_00_dot_81_bar__minus_02_dot_51)\n (pickupable Bowl_bar__minus_00_dot_99_bar__plus_00_dot_86_bar__minus_02_dot_37)\n (pickupable CD_bar__minus_00_dot_81_bar__plus_01_dot_36_bar__minus_02_dot_47)\n (pickupable Cloth_bar__plus_01_dot_27_bar__plus_00_dot_00_bar__minus_00_dot_97)\n (pickupable Book_bar__plus_00_dot_53_bar__plus_00_dot_77_bar__plus_00_dot_85)\n (pickupable CellPhone_bar__minus_01_dot_58_bar__plus_00_dot_37_bar__minus_02_dot_29)\n (pickupable Pencil_bar__plus_00_dot_15_bar__plus_00_dot_82_bar__minus_02_dot_37)\n (pickupable CreditCard_bar__minus_01_dot_32_bar__plus_00_dot_09_bar__minus_02_dot_33)\n (pickupable CreditCard_bar__minus_01_dot_67_bar__plus_00_dot_65_bar__minus_02_dot_33)\n (isReceptacleObject Bowl_bar__plus_00_dot_25_bar__plus_00_dot_81_bar__minus_02_dot_51)\n (isReceptacleObject Bowl_bar__minus_00_dot_99_bar__plus_00_dot_86_bar__minus_02_dot_37)\n (openable Drawer_bar__minus_01_dot_41_bar__plus_00_dot_48_bar__minus_02_dot_32)\n (openable Drawer_bar__minus_01_dot_41_bar__plus_00_dot_73_bar__minus_02_dot_32)\n (openable Drawer_bar__minus_01_dot_41_bar__plus_00_dot_20_bar__minus_02_dot_32)\n \n (atLocation agent1 loc_bar__minus_1_bar__minus_1_bar_3_bar_30)\n \n (cleanable Cloth_bar__plus_01_dot_30_bar__plus_00_dot_00_bar__minus_00_dot_70)\n (cleanable Bowl_bar__plus_00_dot_25_bar__plus_00_dot_81_bar__minus_02_dot_51)\n (cleanable Bowl_bar__minus_00_dot_99_bar__plus_00_dot_86_bar__minus_02_dot_37)\n (cleanable Cloth_bar__plus_01_dot_27_bar__plus_00_dot_00_bar__minus_00_dot_97)\n \n \n (coolable Bowl_bar__plus_00_dot_25_bar__plus_00_dot_81_bar__minus_02_dot_51)\n (coolable Bowl_bar__minus_00_dot_99_bar__plus_00_dot_86_bar__minus_02_dot_37)\n \n \n (toggleable DeskLamp_bar__plus_00_dot_05_bar__plus_00_dot_81_bar__minus_02_dot_48)\n \n \n \n \n (inReceptacle CD_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__minus_02_dot_31 Desk_bar__minus_00_dot_87_bar__minus_00_dot_01_bar__minus_02_dot_44)\n (inReceptacle RemoteControl_bar__minus_01_dot_39_bar__plus_00_dot_86_bar__minus_02_dot_50 Desk_bar__minus_00_dot_87_bar__minus_00_dot_01_bar__minus_02_dot_44)\n (inReceptacle CD_bar__minus_00_dot_59_bar__plus_00_dot_86_bar__minus_02_dot_25 Desk_bar__minus_00_dot_87_bar__minus_00_dot_01_bar__minus_02_dot_44)\n (inReceptacle Bowl_bar__minus_00_dot_99_bar__plus_00_dot_86_bar__minus_02_dot_37 Desk_bar__minus_00_dot_87_bar__minus_00_dot_01_bar__minus_02_dot_44)\n (inReceptacle KeyChain_bar__minus_00_dot_99_bar__plus_00_dot_86_bar__minus_02_dot_56 Desk_bar__minus_00_dot_87_bar__minus_00_dot_01_bar__minus_02_dot_44)\n (inReceptacle KeyChain_bar__minus_00_dot_06_bar__plus_00_dot_81_bar__minus_02_dot_30 SideTable_bar__plus_00_dot_25_bar_00_dot_00_bar__minus_02_dot_38)\n (inReceptacle AlarmClock_bar__plus_00_dot_36_bar__plus_00_dot_81_bar__minus_02_dot_30 SideTable_bar__plus_00_dot_25_bar_00_dot_00_bar__minus_02_dot_38)\n (inReceptacle DeskLamp_bar__plus_00_dot_05_bar__plus_00_dot_81_bar__minus_02_dot_48 SideTable_bar__plus_00_dot_25_bar_00_dot_00_bar__minus_02_dot_38)\n (inReceptacle Bowl_bar__plus_00_dot_25_bar__plus_00_dot_81_bar__minus_02_dot_51 SideTable_bar__plus_00_dot_25_bar_00_dot_00_bar__minus_02_dot_38)\n (inReceptacle Pencil_bar__plus_00_dot_15_bar__plus_00_dot_82_bar__minus_02_dot_37 SideTable_bar__plus_00_dot_25_bar_00_dot_00_bar__minus_02_dot_38)\n (inReceptacle Pen_bar__plus_00_dot_46_bar__plus_00_dot_82_bar__minus_02_dot_24 SideTable_bar__plus_00_dot_25_bar_00_dot_00_bar__minus_02_dot_38)\n (inReceptacle AlarmClock_bar__plus_00_dot_46_bar__plus_00_dot_81_bar__minus_02_dot_51 SideTable_bar__plus_00_dot_25_bar_00_dot_00_bar__minus_02_dot_38)\n (inReceptacle Pencil_bar__plus_00_dot_04_bar__plus_00_dot_82_bar__minus_02_dot_17 SideTable_bar__plus_00_dot_25_bar_00_dot_00_bar__minus_02_dot_38)\n (inReceptacle CellPhone_bar__minus_01_dot_23_bar__plus_00_dot_37_bar__minus_02_dot_36 Drawer_bar__minus_01_dot_41_bar__plus_00_dot_48_bar__minus_02_dot_32)\n (inReceptacle CellPhone_bar__minus_01_dot_58_bar__plus_00_dot_37_bar__minus_02_dot_29 Drawer_bar__minus_01_dot_41_bar__plus_00_dot_48_bar__minus_02_dot_32)\n (inReceptacle Book_bar__minus_01_dot_32_bar__plus_00_dot_65_bar__minus_02_dot_33 Drawer_bar__minus_01_dot_41_bar__plus_00_dot_73_bar__minus_02_dot_32)\n (inReceptacle CreditCard_bar__minus_01_dot_67_bar__plus_00_dot_65_bar__minus_02_dot_33 Drawer_bar__minus_01_dot_41_bar__plus_00_dot_73_bar__minus_02_dot_32)\n (inReceptacle RemoteControl_bar__minus_01_dot_49_bar__plus_00_dot_65_bar__minus_02_dot_29 Drawer_bar__minus_01_dot_41_bar__plus_00_dot_73_bar__minus_02_dot_32)\n (inReceptacle CreditCard_bar__minus_01_dot_32_bar__plus_00_dot_09_bar__minus_02_dot_33 Drawer_bar__minus_01_dot_41_bar__plus_00_dot_20_bar__minus_02_dot_32)\n (inReceptacle Laptop_bar__minus_00_dot_05_bar__plus_00_dot_77_bar__plus_01_dot_34 Bed_bar__plus_00_dot_27_bar__plus_00_dot_00_bar__plus_01_dot_33)\n (inReceptacle Pillow_bar__plus_00_dot_53_bar__plus_00_dot_90_bar__plus_01_dot_17 Bed_bar__plus_00_dot_27_bar__plus_00_dot_00_bar__plus_01_dot_33)\n (inReceptacle Book_bar__plus_00_dot_53_bar__plus_00_dot_77_bar__plus_00_dot_85 Bed_bar__plus_00_dot_27_bar__plus_00_dot_00_bar__plus_01_dot_33)\n (inReceptacle Pen_bar__plus_01_dot_49_bar__plus_00_dot_83_bar__minus_01_dot_57 Shelf_bar__plus_01_dot_49_bar__plus_00_dot_82_bar__minus_01_dot_48)\n (inReceptacle CD_bar__minus_00_dot_81_bar__plus_01_dot_36_bar__minus_02_dot_47 Shelf_bar__minus_01_dot_02_bar__plus_01_dot_35_bar__minus_02_dot_54)\n \n \n (receptacleAtLocation Bed_bar__plus_00_dot_27_bar__plus_00_dot_00_bar__plus_01_dot_33 loc_bar__minus_1_bar_0_bar_0_bar_45)\n (receptacleAtLocation Desk_bar__minus_00_dot_87_bar__minus_00_dot_01_bar__minus_02_dot_44 loc_bar__minus_5_bar__minus_7_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_41_bar__plus_00_dot_20_bar__minus_02_dot_32 loc_bar__minus_1_bar__minus_7_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_41_bar__plus_00_dot_48_bar__minus_02_dot_32 loc_bar__minus_1_bar__minus_7_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_41_bar__plus_00_dot_73_bar__minus_02_dot_32 loc_bar__minus_3_bar__minus_7_bar_3_bar_60)\n (receptacleAtLocation GarbageCan_bar__plus_01_dot_32_bar__plus_00_dot_00_bar__minus_02_dot_47 loc_bar_4_bar__minus_8_bar_2_bar_60)\n (receptacleAtLocation LaundryHamper_bar__minus_01_dot_44_bar__plus_00_dot_01_bar__plus_01_dot_77 loc_bar__minus_5_bar_5_bar_0_bar_60)\n (receptacleAtLocation Shelf_bar__plus_01_dot_49_bar__plus_00_dot_82_bar__minus_01_dot_48 loc_bar_4_bar__minus_8_bar_0_bar_60)\n (receptacleAtLocation Shelf_bar__minus_01_dot_02_bar__plus_01_dot_35_bar__minus_02_dot_54 loc_bar__minus_4_bar__minus_7_bar_2_bar_15)\n (receptacleAtLocation SideTable_bar__plus_00_dot_25_bar_00_dot_00_bar__minus_02_dot_38 loc_bar_1_bar__minus_7_bar_2_bar_60)\n (objectAtLocation Bowl_bar__plus_00_dot_25_bar__plus_00_dot_81_bar__minus_02_dot_51 loc_bar_1_bar__minus_7_bar_2_bar_60)\n (objectAtLocation Pen_bar__plus_00_dot_46_bar__plus_00_dot_82_bar__minus_02_dot_24 loc_bar_1_bar__minus_7_bar_2_bar_60)\n (objectAtLocation RemoteControl_bar__minus_01_dot_39_bar__plus_00_dot_86_bar__minus_02_dot_50 loc_bar__minus_5_bar__minus_7_bar_2_bar_60)\n (objectAtLocation KeyChain_bar__minus_00_dot_06_bar__plus_00_dot_81_bar__minus_02_dot_30 loc_bar_1_bar__minus_7_bar_2_bar_60)\n (objectAtLocation CreditCard_bar__minus_01_dot_32_bar__plus_00_dot_09_bar__minus_02_dot_33 loc_bar__minus_1_bar__minus_7_bar_3_bar_45)\n (objectAtLocation AlarmClock_bar__plus_00_dot_36_bar__plus_00_dot_81_bar__minus_02_dot_30 loc_bar_1_bar__minus_7_bar_2_bar_60)\n (objectAtLocation Pencil_bar__plus_00_dot_04_bar__plus_00_dot_82_bar__minus_02_dot_17 loc_bar_1_bar__minus_7_bar_2_bar_60)\n (objectAtLocation CellPhone_bar__minus_01_dot_23_bar__plus_00_dot_37_bar__minus_02_dot_36 loc_bar__minus_1_bar__minus_7_bar_3_bar_45)\n (objectAtLocation Book_bar__plus_00_dot_53_bar__plus_00_dot_77_bar__plus_00_dot_85 loc_bar__minus_1_bar_0_bar_0_bar_45)\n (objectAtLocation Book_bar__minus_01_dot_32_bar__plus_00_dot_65_bar__minus_02_dot_33 loc_bar__minus_3_bar__minus_7_bar_3_bar_60)\n (objectAtLocation LaundryHamperLid_bar__minus_01_dot_44_bar__plus_00_dot_48_bar__plus_01_dot_76 loc_bar__minus_5_bar_5_bar_0_bar_60)\n (objectAtLocation Chair_bar__minus_00_dot_63_bar__plus_00_dot_00_bar__minus_02_dot_20 loc_bar__minus_3_bar__minus_7_bar_2_bar_60)\n (objectAtLocation Chair_bar__plus_00_dot_22_bar__plus_00_dot_00_bar__minus_02_dot_21 loc_bar_1_bar__minus_7_bar_2_bar_60)\n (objectAtLocation Cloth_bar__plus_01_dot_30_bar__plus_00_dot_00_bar__minus_00_dot_70 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Cloth_bar__plus_01_dot_27_bar__plus_00_dot_00_bar__minus_00_dot_97 loc_bar_4_bar__minus_4_bar_1_bar_60)\n (objectAtLocation CellPhone_bar__minus_01_dot_58_bar__plus_00_dot_37_bar__minus_02_dot_29 loc_bar__minus_1_bar__minus_7_bar_3_bar_45)\n (objectAtLocation Television_bar__minus_01_dot_70_bar__plus_01_dot_47_bar__minus_00_dot_90 loc_bar__minus_4_bar__minus_4_bar_3_bar_15)\n (objectAtLocation Pencil_bar__plus_00_dot_15_bar__plus_00_dot_82_bar__minus_02_dot_37 loc_bar_1_bar__minus_7_bar_2_bar_60)\n (objectAtLocation DeskLamp_bar__plus_00_dot_05_bar__plus_00_dot_81_bar__minus_02_dot_48 loc_bar_1_bar__minus_7_bar_2_bar_60)\n (objectAtLocation Laptop_bar__minus_00_dot_05_bar__plus_00_dot_77_bar__plus_01_dot_34 loc_bar__minus_1_bar_0_bar_0_bar_45)\n (objectAtLocation LightSwitch_bar__minus_01_dot_80_bar__plus_01_dot_21_bar__plus_00_dot_68 loc_bar__minus_5_bar_3_bar_3_bar_45)\n (objectAtLocation AlarmClock_bar__plus_00_dot_46_bar__plus_00_dot_81_bar__minus_02_dot_51 loc_bar_1_bar__minus_7_bar_2_bar_60)\n (objectAtLocation CreditCard_bar__minus_01_dot_67_bar__plus_00_dot_65_bar__minus_02_dot_33 loc_bar__minus_3_bar__minus_7_bar_3_bar_60)\n (objectAtLocation KeyChain_bar__minus_00_dot_99_bar__plus_00_dot_86_bar__minus_02_dot_56 loc_bar__minus_5_bar__minus_7_bar_2_bar_60)\n (objectAtLocation TennisRacket_bar__minus_01_dot_70_bar__plus_00_dot_35_bar__plus_01_dot_74 loc_bar__minus_5_bar_5_bar_0_bar_60)\n (objectAtLocation Painting_bar__plus_00_dot_49_bar__plus_01_dot_68_bar__minus_02_dot_63 loc_bar_2_bar__minus_7_bar_2_bar_0)\n (objectAtLocation RemoteControl_bar__minus_01_dot_49_bar__plus_00_dot_65_bar__minus_02_dot_29 loc_bar__minus_3_bar__minus_7_bar_3_bar_60)\n (objectAtLocation Pillow_bar__plus_00_dot_53_bar__plus_00_dot_90_bar__plus_01_dot_17 loc_bar__minus_1_bar_0_bar_0_bar_45)\n (objectAtLocation Poster_bar__minus_01_dot_80_bar__plus_01_dot_69_bar__minus_01_dot_49 loc_bar__minus_5_bar__minus_6_bar_3_bar_0)\n (objectAtLocation Mirror_bar__plus_01_dot_50_bar__plus_01_dot_36_bar__minus_00_dot_54 loc_bar_4_bar__minus_2_bar_1_bar_30)\n (objectAtLocation CD_bar__minus_00_dot_59_bar__plus_00_dot_86_bar__minus_02_dot_25 loc_bar__minus_5_bar__minus_7_bar_2_bar_60)\n (objectAtLocation CD_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__minus_02_dot_31 loc_bar__minus_5_bar__minus_7_bar_2_bar_60)\n (objectAtLocation CD_bar__minus_00_dot_81_bar__plus_01_dot_36_bar__minus_02_dot_47 loc_bar__minus_4_bar__minus_7_bar_2_bar_15)\n (objectAtLocation Pen_bar__plus_01_dot_49_bar__plus_00_dot_83_bar__minus_01_dot_57 loc_bar_4_bar__minus_8_bar_0_bar_60)\n (objectAtLocation Window_bar__plus_01_dot_72_bar__plus_01_dot_37_bar__minus_01_dot_60 loc_bar_4_bar__minus_6_bar_1_bar_15)\n (objectAtLocation Blinds_bar__plus_01_dot_70_bar__plus_02_dot_10_bar__minus_01_dot_58 loc_bar_4_bar__minus_6_bar_1_bar__minus_30)\n (objectAtLocation Bowl_bar__minus_00_dot_99_bar__plus_00_dot_86_bar__minus_02_dot_37 loc_bar__minus_5_bar__minus_7_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 PencilType)\n (receptacleType ?r DeskType)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to sidetable 1", "take pencil 2 from sidetable 1", "go to desk 1", "move pencil 2 to desk 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-Pencil-None-Desk-307/trial_T20190909_075150_052392/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Pencil-None-Desk-307/trial_T20190909_075150_052392/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..bef6403d840b54686784d7ab79d9411e52bb45a1 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Pencil-None-Desk-307/trial_T20190909_075150_052392/initial_state.pddl @@ -0,0 +1,540 @@ + +(define (problem plan_trial_T20190909_075150_052392) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_36_bar__plus_00_dot_81_bar__minus_02_dot_30 - object + AlarmClock_bar__plus_00_dot_46_bar__plus_00_dot_81_bar__minus_02_dot_51 - object + Blinds_bar__plus_01_dot_70_bar__plus_02_dot_10_bar__minus_01_dot_58 - object + Book_bar__plus_00_dot_53_bar__plus_00_dot_77_bar__plus_00_dot_85 - object + Book_bar__minus_01_dot_32_bar__plus_00_dot_65_bar__minus_02_dot_33 - object + Bowl_bar__plus_00_dot_25_bar__plus_00_dot_81_bar__minus_02_dot_51 - object + Bowl_bar__minus_00_dot_99_bar__plus_00_dot_86_bar__minus_02_dot_37 - object + CD_bar__minus_00_dot_59_bar__plus_00_dot_86_bar__minus_02_dot_25 - object + CD_bar__minus_00_dot_81_bar__plus_01_dot_36_bar__minus_02_dot_47 - object + CD_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__minus_02_dot_31 - object + CellPhone_bar__minus_01_dot_23_bar__plus_00_dot_37_bar__minus_02_dot_36 - object + CellPhone_bar__minus_01_dot_58_bar__plus_00_dot_37_bar__minus_02_dot_29 - object + Chair_bar__plus_00_dot_22_bar__plus_00_dot_00_bar__minus_02_dot_21 - object + Chair_bar__minus_00_dot_63_bar__plus_00_dot_00_bar__minus_02_dot_20 - object + Cloth_bar__plus_01_dot_27_bar__plus_00_dot_00_bar__minus_00_dot_97 - object + Cloth_bar__plus_01_dot_30_bar__plus_00_dot_00_bar__minus_00_dot_70 - object + CreditCard_bar__minus_01_dot_32_bar__plus_00_dot_09_bar__minus_02_dot_33 - object + CreditCard_bar__minus_01_dot_67_bar__plus_00_dot_65_bar__minus_02_dot_33 - object + DeskLamp_bar__plus_00_dot_05_bar__plus_00_dot_81_bar__minus_02_dot_48 - object + KeyChain_bar__minus_00_dot_06_bar__plus_00_dot_81_bar__minus_02_dot_30 - object + KeyChain_bar__minus_00_dot_99_bar__plus_00_dot_86_bar__minus_02_dot_56 - object + Laptop_bar__minus_00_dot_05_bar__plus_00_dot_77_bar__plus_01_dot_34 - object + LaundryHamperLid_bar__minus_01_dot_44_bar__plus_00_dot_48_bar__plus_01_dot_76 - object + LightSwitch_bar__minus_01_dot_80_bar__plus_01_dot_21_bar__plus_00_dot_68 - object + Mirror_bar__plus_01_dot_50_bar__plus_01_dot_36_bar__minus_00_dot_54 - object + Painting_bar__plus_00_dot_49_bar__plus_01_dot_68_bar__minus_02_dot_63 - object + Pencil_bar__plus_00_dot_04_bar__plus_00_dot_82_bar__minus_02_dot_17 - object + Pencil_bar__plus_00_dot_15_bar__plus_00_dot_82_bar__minus_02_dot_37 - object + Pen_bar__plus_00_dot_46_bar__plus_00_dot_82_bar__minus_02_dot_24 - object + Pen_bar__plus_01_dot_49_bar__plus_00_dot_83_bar__minus_01_dot_57 - object + Pillow_bar__plus_00_dot_53_bar__plus_00_dot_90_bar__plus_01_dot_17 - object + Poster_bar__minus_01_dot_80_bar__plus_01_dot_69_bar__minus_01_dot_49 - object + RemoteControl_bar__minus_01_dot_39_bar__plus_00_dot_86_bar__minus_02_dot_50 - object + RemoteControl_bar__minus_01_dot_49_bar__plus_00_dot_65_bar__minus_02_dot_29 - object + Television_bar__minus_01_dot_70_bar__plus_01_dot_47_bar__minus_00_dot_90 - object + TennisRacket_bar__minus_01_dot_70_bar__plus_00_dot_35_bar__plus_01_dot_74 - object + Window_bar__plus_01_dot_72_bar__plus_01_dot_37_bar__minus_01_dot_60 - object + Bed_bar__plus_00_dot_27_bar__plus_00_dot_00_bar__plus_01_dot_33 - receptacle + Desk_bar__minus_00_dot_87_bar__minus_00_dot_01_bar__minus_02_dot_44 - receptacle + Drawer_bar__minus_01_dot_41_bar__plus_00_dot_20_bar__minus_02_dot_32 - receptacle + Drawer_bar__minus_01_dot_41_bar__plus_00_dot_48_bar__minus_02_dot_32 - receptacle + Drawer_bar__minus_01_dot_41_bar__plus_00_dot_73_bar__minus_02_dot_32 - receptacle + GarbageCan_bar__plus_01_dot_32_bar__plus_00_dot_00_bar__minus_02_dot_47 - receptacle + LaundryHamper_bar__minus_01_dot_44_bar__plus_00_dot_01_bar__plus_01_dot_77 - receptacle + Shelf_bar__plus_01_dot_49_bar__plus_00_dot_82_bar__minus_01_dot_48 - receptacle + Shelf_bar__minus_01_dot_02_bar__plus_01_dot_35_bar__minus_02_dot_54 - receptacle + SideTable_bar__plus_00_dot_25_bar_00_dot_00_bar__minus_02_dot_38 - receptacle + loc_bar_4_bar__minus_8_bar_2_bar_60 - location + loc_bar__minus_4_bar__minus_4_bar_3_bar_15 - location + loc_bar_4_bar__minus_8_bar_0_bar_60 - location + loc_bar__minus_3_bar__minus_7_bar_2_bar_60 - location + loc_bar__minus_4_bar__minus_7_bar_2_bar_15 - location + loc_bar_4_bar__minus_3_bar_1_bar_60 - location + loc_bar__minus_5_bar__minus_6_bar_3_bar_0 - location + loc_bar__minus_1_bar__minus_7_bar_3_bar_45 - location + loc_bar_1_bar__minus_7_bar_2_bar_60 - location + loc_bar_2_bar__minus_7_bar_2_bar_0 - location + loc_bar__minus_5_bar__minus_7_bar_2_bar_60 - location + loc_bar_4_bar__minus_4_bar_1_bar_60 - location + loc_bar__minus_1_bar_0_bar_0_bar_45 - location + loc_bar_4_bar__minus_2_bar_1_bar_30 - location + loc_bar__minus_3_bar__minus_7_bar_3_bar_60 - location + loc_bar__minus_5_bar_5_bar_0_bar_60 - location + loc_bar_4_bar__minus_6_bar_1_bar__minus_30 - location + loc_bar__minus_5_bar_3_bar_3_bar_45 - location + loc_bar_4_bar__minus_6_bar_1_bar_15 - location + loc_bar__minus_1_bar__minus_1_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType Shelf_bar__plus_01_dot_49_bar__plus_00_dot_82_bar__minus_01_dot_48 ShelfType) + (receptacleType Drawer_bar__minus_01_dot_41_bar__plus_00_dot_48_bar__minus_02_dot_32 DrawerType) + (receptacleType Shelf_bar__minus_01_dot_02_bar__plus_01_dot_35_bar__minus_02_dot_54 ShelfType) + (receptacleType Bed_bar__plus_00_dot_27_bar__plus_00_dot_00_bar__plus_01_dot_33 BedType) + (receptacleType SideTable_bar__plus_00_dot_25_bar_00_dot_00_bar__minus_02_dot_38 SideTableType) + (receptacleType LaundryHamper_bar__minus_01_dot_44_bar__plus_00_dot_01_bar__plus_01_dot_77 LaundryHamperType) + (receptacleType Drawer_bar__minus_01_dot_41_bar__plus_00_dot_73_bar__minus_02_dot_32 DrawerType) + (receptacleType GarbageCan_bar__plus_01_dot_32_bar__plus_00_dot_00_bar__minus_02_dot_47 GarbageCanType) + (receptacleType Drawer_bar__minus_01_dot_41_bar__plus_00_dot_20_bar__minus_02_dot_32 DrawerType) + (receptacleType Desk_bar__minus_00_dot_87_bar__minus_00_dot_01_bar__minus_02_dot_44 DeskType) + (objectType TennisRacket_bar__minus_01_dot_70_bar__plus_00_dot_35_bar__plus_01_dot_74 TennisRacketType) + (objectType Chair_bar__minus_00_dot_63_bar__plus_00_dot_00_bar__minus_02_dot_20 ChairType) + (objectType KeyChain_bar__minus_00_dot_06_bar__plus_00_dot_81_bar__minus_02_dot_30 KeyChainType) + (objectType RemoteControl_bar__minus_01_dot_49_bar__plus_00_dot_65_bar__minus_02_dot_29 RemoteControlType) + (objectType AlarmClock_bar__plus_00_dot_36_bar__plus_00_dot_81_bar__minus_02_dot_30 AlarmClockType) + (objectType LightSwitch_bar__minus_01_dot_80_bar__plus_01_dot_21_bar__plus_00_dot_68 LightSwitchType) + (objectType Television_bar__minus_01_dot_70_bar__plus_01_dot_47_bar__minus_00_dot_90 TelevisionType) + (objectType CD_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__minus_02_dot_31 CDType) + (objectType CD_bar__minus_00_dot_59_bar__plus_00_dot_86_bar__minus_02_dot_25 CDType) + (objectType Laptop_bar__minus_00_dot_05_bar__plus_00_dot_77_bar__plus_01_dot_34 LaptopType) + (objectType LaundryHamperLid_bar__minus_01_dot_44_bar__plus_00_dot_48_bar__plus_01_dot_76 LaundryHamperLidType) + (objectType Painting_bar__plus_00_dot_49_bar__plus_01_dot_68_bar__minus_02_dot_63 PaintingType) + (objectType Pencil_bar__plus_00_dot_04_bar__plus_00_dot_82_bar__minus_02_dot_17 PencilType) + (objectType Cloth_bar__plus_01_dot_30_bar__plus_00_dot_00_bar__minus_00_dot_70 ClothType) + (objectType KeyChain_bar__minus_00_dot_99_bar__plus_00_dot_86_bar__minus_02_dot_56 KeyChainType) + (objectType Pillow_bar__plus_00_dot_53_bar__plus_00_dot_90_bar__plus_01_dot_17 PillowType) + (objectType Bowl_bar__plus_00_dot_25_bar__plus_00_dot_81_bar__minus_02_dot_51 BowlType) + (objectType RemoteControl_bar__minus_01_dot_39_bar__plus_00_dot_86_bar__minus_02_dot_50 RemoteControlType) + (objectType CellPhone_bar__minus_01_dot_23_bar__plus_00_dot_37_bar__minus_02_dot_36 CellPhoneType) + (objectType Mirror_bar__plus_01_dot_50_bar__plus_01_dot_36_bar__minus_00_dot_54 MirrorType) + (objectType Book_bar__minus_01_dot_32_bar__plus_00_dot_65_bar__minus_02_dot_33 BookType) + (objectType Pen_bar__plus_01_dot_49_bar__plus_00_dot_83_bar__minus_01_dot_57 PenType) + (objectType Pen_bar__plus_00_dot_46_bar__plus_00_dot_82_bar__minus_02_dot_24 PenType) + (objectType AlarmClock_bar__plus_00_dot_46_bar__plus_00_dot_81_bar__minus_02_dot_51 AlarmClockType) + (objectType Poster_bar__minus_01_dot_80_bar__plus_01_dot_69_bar__minus_01_dot_49 PosterType) + (objectType Window_bar__plus_01_dot_72_bar__plus_01_dot_37_bar__minus_01_dot_60 WindowType) + (objectType Bowl_bar__minus_00_dot_99_bar__plus_00_dot_86_bar__minus_02_dot_37 BowlType) + (objectType Blinds_bar__plus_01_dot_70_bar__plus_02_dot_10_bar__minus_01_dot_58 BlindsType) + (objectType CD_bar__minus_00_dot_81_bar__plus_01_dot_36_bar__minus_02_dot_47 CDType) + (objectType Cloth_bar__plus_01_dot_27_bar__plus_00_dot_00_bar__minus_00_dot_97 ClothType) + (objectType Book_bar__plus_00_dot_53_bar__plus_00_dot_77_bar__plus_00_dot_85 BookType) + (objectType CellPhone_bar__minus_01_dot_58_bar__plus_00_dot_37_bar__minus_02_dot_29 CellPhoneType) + (objectType Pencil_bar__plus_00_dot_15_bar__plus_00_dot_82_bar__minus_02_dot_37 PencilType) + (objectType CreditCard_bar__minus_01_dot_32_bar__plus_00_dot_09_bar__minus_02_dot_33 CreditCardType) + (objectType CreditCard_bar__minus_01_dot_67_bar__plus_00_dot_65_bar__minus_02_dot_33 CreditCardType) + (objectType DeskLamp_bar__plus_00_dot_05_bar__plus_00_dot_81_bar__minus_02_dot_48 DeskLampType) + (objectType Chair_bar__plus_00_dot_22_bar__plus_00_dot_00_bar__minus_02_dot_21 ChairType) + (canContain ShelfType PenType) + (canContain ShelfType BookType) + (canContain ShelfType BowlType) + (canContain ShelfType CDType) + (canContain ShelfType CellPhoneType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType ClothType) + (canContain ShelfType PencilType) + (canContain ShelfType RemoteControlType) + (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 DrawerType RemoteControlType) + (canContain ShelfType PenType) + (canContain ShelfType BookType) + (canContain ShelfType BowlType) + (canContain ShelfType CDType) + (canContain ShelfType CellPhoneType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType ClothType) + (canContain ShelfType PencilType) + (canContain ShelfType RemoteControlType) + (canContain ShelfType AlarmClockType) + (canContain BedType TennisRacketType) + (canContain BedType LaptopType) + (canContain BedType BookType) + (canContain BedType CellPhoneType) + (canContain BedType PillowType) + (canContain SideTableType PenType) + (canContain SideTableType BookType) + (canContain SideTableType BowlType) + (canContain SideTableType CDType) + (canContain SideTableType CellPhoneType) + (canContain SideTableType KeyChainType) + (canContain SideTableType CreditCardType) + (canContain SideTableType TennisRacketType) + (canContain SideTableType ClothType) + (canContain SideTableType LaptopType) + (canContain SideTableType PencilType) + (canContain SideTableType RemoteControlType) + (canContain SideTableType AlarmClockType) + (canContain LaundryHamperType 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 RemoteControlType) + (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 RemoteControlType) + (canContain DeskType PenType) + (canContain DeskType BookType) + (canContain DeskType BowlType) + (canContain DeskType CDType) + (canContain DeskType CellPhoneType) + (canContain DeskType KeyChainType) + (canContain DeskType CreditCardType) + (canContain DeskType TennisRacketType) + (canContain DeskType ClothType) + (canContain DeskType LaptopType) + (canContain DeskType PencilType) + (canContain DeskType RemoteControlType) + (canContain DeskType AlarmClockType) + (pickupable TennisRacket_bar__minus_01_dot_70_bar__plus_00_dot_35_bar__plus_01_dot_74) + (pickupable KeyChain_bar__minus_00_dot_06_bar__plus_00_dot_81_bar__minus_02_dot_30) + (pickupable RemoteControl_bar__minus_01_dot_49_bar__plus_00_dot_65_bar__minus_02_dot_29) + (pickupable AlarmClock_bar__plus_00_dot_36_bar__plus_00_dot_81_bar__minus_02_dot_30) + (pickupable CD_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__minus_02_dot_31) + (pickupable CD_bar__minus_00_dot_59_bar__plus_00_dot_86_bar__minus_02_dot_25) + (pickupable Laptop_bar__minus_00_dot_05_bar__plus_00_dot_77_bar__plus_01_dot_34) + (pickupable Pencil_bar__plus_00_dot_04_bar__plus_00_dot_82_bar__minus_02_dot_17) + (pickupable Cloth_bar__plus_01_dot_30_bar__plus_00_dot_00_bar__minus_00_dot_70) + (pickupable KeyChain_bar__minus_00_dot_99_bar__plus_00_dot_86_bar__minus_02_dot_56) + (pickupable Pillow_bar__plus_00_dot_53_bar__plus_00_dot_90_bar__plus_01_dot_17) + (pickupable Bowl_bar__plus_00_dot_25_bar__plus_00_dot_81_bar__minus_02_dot_51) + (pickupable RemoteControl_bar__minus_01_dot_39_bar__plus_00_dot_86_bar__minus_02_dot_50) + (pickupable CellPhone_bar__minus_01_dot_23_bar__plus_00_dot_37_bar__minus_02_dot_36) + (pickupable Book_bar__minus_01_dot_32_bar__plus_00_dot_65_bar__minus_02_dot_33) + (pickupable Pen_bar__plus_01_dot_49_bar__plus_00_dot_83_bar__minus_01_dot_57) + (pickupable Pen_bar__plus_00_dot_46_bar__plus_00_dot_82_bar__minus_02_dot_24) + (pickupable AlarmClock_bar__plus_00_dot_46_bar__plus_00_dot_81_bar__minus_02_dot_51) + (pickupable Bowl_bar__minus_00_dot_99_bar__plus_00_dot_86_bar__minus_02_dot_37) + (pickupable CD_bar__minus_00_dot_81_bar__plus_01_dot_36_bar__minus_02_dot_47) + (pickupable Cloth_bar__plus_01_dot_27_bar__plus_00_dot_00_bar__minus_00_dot_97) + (pickupable Book_bar__plus_00_dot_53_bar__plus_00_dot_77_bar__plus_00_dot_85) + (pickupable CellPhone_bar__minus_01_dot_58_bar__plus_00_dot_37_bar__minus_02_dot_29) + (pickupable Pencil_bar__plus_00_dot_15_bar__plus_00_dot_82_bar__minus_02_dot_37) + (pickupable CreditCard_bar__minus_01_dot_32_bar__plus_00_dot_09_bar__minus_02_dot_33) + (pickupable CreditCard_bar__minus_01_dot_67_bar__plus_00_dot_65_bar__minus_02_dot_33) + (isReceptacleObject Bowl_bar__plus_00_dot_25_bar__plus_00_dot_81_bar__minus_02_dot_51) + (isReceptacleObject Bowl_bar__minus_00_dot_99_bar__plus_00_dot_86_bar__minus_02_dot_37) + (openable Drawer_bar__minus_01_dot_41_bar__plus_00_dot_48_bar__minus_02_dot_32) + (openable Drawer_bar__minus_01_dot_41_bar__plus_00_dot_73_bar__minus_02_dot_32) + (openable Drawer_bar__minus_01_dot_41_bar__plus_00_dot_20_bar__minus_02_dot_32) + + (atLocation agent1 loc_bar__minus_1_bar__minus_1_bar_3_bar_30) + + (cleanable Cloth_bar__plus_01_dot_30_bar__plus_00_dot_00_bar__minus_00_dot_70) + (cleanable Bowl_bar__plus_00_dot_25_bar__plus_00_dot_81_bar__minus_02_dot_51) + (cleanable Bowl_bar__minus_00_dot_99_bar__plus_00_dot_86_bar__minus_02_dot_37) + (cleanable Cloth_bar__plus_01_dot_27_bar__plus_00_dot_00_bar__minus_00_dot_97) + + + (coolable Bowl_bar__plus_00_dot_25_bar__plus_00_dot_81_bar__minus_02_dot_51) + (coolable Bowl_bar__minus_00_dot_99_bar__plus_00_dot_86_bar__minus_02_dot_37) + + + (toggleable DeskLamp_bar__plus_00_dot_05_bar__plus_00_dot_81_bar__minus_02_dot_48) + + + + + (inReceptacle CD_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__minus_02_dot_31 Desk_bar__minus_00_dot_87_bar__minus_00_dot_01_bar__minus_02_dot_44) + (inReceptacle RemoteControl_bar__minus_01_dot_39_bar__plus_00_dot_86_bar__minus_02_dot_50 Desk_bar__minus_00_dot_87_bar__minus_00_dot_01_bar__minus_02_dot_44) + (inReceptacle CD_bar__minus_00_dot_59_bar__plus_00_dot_86_bar__minus_02_dot_25 Desk_bar__minus_00_dot_87_bar__minus_00_dot_01_bar__minus_02_dot_44) + (inReceptacle Bowl_bar__minus_00_dot_99_bar__plus_00_dot_86_bar__minus_02_dot_37 Desk_bar__minus_00_dot_87_bar__minus_00_dot_01_bar__minus_02_dot_44) + (inReceptacle KeyChain_bar__minus_00_dot_99_bar__plus_00_dot_86_bar__minus_02_dot_56 Desk_bar__minus_00_dot_87_bar__minus_00_dot_01_bar__minus_02_dot_44) + (inReceptacle KeyChain_bar__minus_00_dot_06_bar__plus_00_dot_81_bar__minus_02_dot_30 SideTable_bar__plus_00_dot_25_bar_00_dot_00_bar__minus_02_dot_38) + (inReceptacle AlarmClock_bar__plus_00_dot_36_bar__plus_00_dot_81_bar__minus_02_dot_30 SideTable_bar__plus_00_dot_25_bar_00_dot_00_bar__minus_02_dot_38) + (inReceptacle DeskLamp_bar__plus_00_dot_05_bar__plus_00_dot_81_bar__minus_02_dot_48 SideTable_bar__plus_00_dot_25_bar_00_dot_00_bar__minus_02_dot_38) + (inReceptacle Bowl_bar__plus_00_dot_25_bar__plus_00_dot_81_bar__minus_02_dot_51 SideTable_bar__plus_00_dot_25_bar_00_dot_00_bar__minus_02_dot_38) + (inReceptacle Pencil_bar__plus_00_dot_15_bar__plus_00_dot_82_bar__minus_02_dot_37 SideTable_bar__plus_00_dot_25_bar_00_dot_00_bar__minus_02_dot_38) + (inReceptacle Pen_bar__plus_00_dot_46_bar__plus_00_dot_82_bar__minus_02_dot_24 SideTable_bar__plus_00_dot_25_bar_00_dot_00_bar__minus_02_dot_38) + (inReceptacle AlarmClock_bar__plus_00_dot_46_bar__plus_00_dot_81_bar__minus_02_dot_51 SideTable_bar__plus_00_dot_25_bar_00_dot_00_bar__minus_02_dot_38) + (inReceptacle Pencil_bar__plus_00_dot_04_bar__plus_00_dot_82_bar__minus_02_dot_17 SideTable_bar__plus_00_dot_25_bar_00_dot_00_bar__minus_02_dot_38) + (inReceptacle CellPhone_bar__minus_01_dot_23_bar__plus_00_dot_37_bar__minus_02_dot_36 Drawer_bar__minus_01_dot_41_bar__plus_00_dot_48_bar__minus_02_dot_32) + (inReceptacle CellPhone_bar__minus_01_dot_58_bar__plus_00_dot_37_bar__minus_02_dot_29 Drawer_bar__minus_01_dot_41_bar__plus_00_dot_48_bar__minus_02_dot_32) + (inReceptacle Book_bar__minus_01_dot_32_bar__plus_00_dot_65_bar__minus_02_dot_33 Drawer_bar__minus_01_dot_41_bar__plus_00_dot_73_bar__minus_02_dot_32) + (inReceptacle CreditCard_bar__minus_01_dot_67_bar__plus_00_dot_65_bar__minus_02_dot_33 Drawer_bar__minus_01_dot_41_bar__plus_00_dot_73_bar__minus_02_dot_32) + (inReceptacle RemoteControl_bar__minus_01_dot_49_bar__plus_00_dot_65_bar__minus_02_dot_29 Drawer_bar__minus_01_dot_41_bar__plus_00_dot_73_bar__minus_02_dot_32) + (inReceptacle CreditCard_bar__minus_01_dot_32_bar__plus_00_dot_09_bar__minus_02_dot_33 Drawer_bar__minus_01_dot_41_bar__plus_00_dot_20_bar__minus_02_dot_32) + (inReceptacle Laptop_bar__minus_00_dot_05_bar__plus_00_dot_77_bar__plus_01_dot_34 Bed_bar__plus_00_dot_27_bar__plus_00_dot_00_bar__plus_01_dot_33) + (inReceptacle Pillow_bar__plus_00_dot_53_bar__plus_00_dot_90_bar__plus_01_dot_17 Bed_bar__plus_00_dot_27_bar__plus_00_dot_00_bar__plus_01_dot_33) + (inReceptacle Book_bar__plus_00_dot_53_bar__plus_00_dot_77_bar__plus_00_dot_85 Bed_bar__plus_00_dot_27_bar__plus_00_dot_00_bar__plus_01_dot_33) + (inReceptacle Pen_bar__plus_01_dot_49_bar__plus_00_dot_83_bar__minus_01_dot_57 Shelf_bar__plus_01_dot_49_bar__plus_00_dot_82_bar__minus_01_dot_48) + (inReceptacle CD_bar__minus_00_dot_81_bar__plus_01_dot_36_bar__minus_02_dot_47 Shelf_bar__minus_01_dot_02_bar__plus_01_dot_35_bar__minus_02_dot_54) + + + (receptacleAtLocation Bed_bar__plus_00_dot_27_bar__plus_00_dot_00_bar__plus_01_dot_33 loc_bar__minus_1_bar_0_bar_0_bar_45) + (receptacleAtLocation Desk_bar__minus_00_dot_87_bar__minus_00_dot_01_bar__minus_02_dot_44 loc_bar__minus_5_bar__minus_7_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__minus_01_dot_41_bar__plus_00_dot_20_bar__minus_02_dot_32 loc_bar__minus_1_bar__minus_7_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_41_bar__plus_00_dot_48_bar__minus_02_dot_32 loc_bar__minus_1_bar__minus_7_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_41_bar__plus_00_dot_73_bar__minus_02_dot_32 loc_bar__minus_3_bar__minus_7_bar_3_bar_60) + (receptacleAtLocation GarbageCan_bar__plus_01_dot_32_bar__plus_00_dot_00_bar__minus_02_dot_47 loc_bar_4_bar__minus_8_bar_2_bar_60) + (receptacleAtLocation LaundryHamper_bar__minus_01_dot_44_bar__plus_00_dot_01_bar__plus_01_dot_77 loc_bar__minus_5_bar_5_bar_0_bar_60) + (receptacleAtLocation Shelf_bar__plus_01_dot_49_bar__plus_00_dot_82_bar__minus_01_dot_48 loc_bar_4_bar__minus_8_bar_0_bar_60) + (receptacleAtLocation Shelf_bar__minus_01_dot_02_bar__plus_01_dot_35_bar__minus_02_dot_54 loc_bar__minus_4_bar__minus_7_bar_2_bar_15) + (receptacleAtLocation SideTable_bar__plus_00_dot_25_bar_00_dot_00_bar__minus_02_dot_38 loc_bar_1_bar__minus_7_bar_2_bar_60) + (objectAtLocation Bowl_bar__plus_00_dot_25_bar__plus_00_dot_81_bar__minus_02_dot_51 loc_bar_1_bar__minus_7_bar_2_bar_60) + (objectAtLocation Pen_bar__plus_00_dot_46_bar__plus_00_dot_82_bar__minus_02_dot_24 loc_bar_1_bar__minus_7_bar_2_bar_60) + (objectAtLocation RemoteControl_bar__minus_01_dot_39_bar__plus_00_dot_86_bar__minus_02_dot_50 loc_bar__minus_5_bar__minus_7_bar_2_bar_60) + (objectAtLocation KeyChain_bar__minus_00_dot_06_bar__plus_00_dot_81_bar__minus_02_dot_30 loc_bar_1_bar__minus_7_bar_2_bar_60) + (objectAtLocation CreditCard_bar__minus_01_dot_32_bar__plus_00_dot_09_bar__minus_02_dot_33 loc_bar__minus_1_bar__minus_7_bar_3_bar_45) + (objectAtLocation AlarmClock_bar__plus_00_dot_36_bar__plus_00_dot_81_bar__minus_02_dot_30 loc_bar_1_bar__minus_7_bar_2_bar_60) + (objectAtLocation Pencil_bar__plus_00_dot_04_bar__plus_00_dot_82_bar__minus_02_dot_17 loc_bar_1_bar__minus_7_bar_2_bar_60) + (objectAtLocation CellPhone_bar__minus_01_dot_23_bar__plus_00_dot_37_bar__minus_02_dot_36 loc_bar__minus_1_bar__minus_7_bar_3_bar_45) + (objectAtLocation Book_bar__plus_00_dot_53_bar__plus_00_dot_77_bar__plus_00_dot_85 loc_bar__minus_1_bar_0_bar_0_bar_45) + (objectAtLocation Book_bar__minus_01_dot_32_bar__plus_00_dot_65_bar__minus_02_dot_33 loc_bar__minus_3_bar__minus_7_bar_3_bar_60) + (objectAtLocation LaundryHamperLid_bar__minus_01_dot_44_bar__plus_00_dot_48_bar__plus_01_dot_76 loc_bar__minus_5_bar_5_bar_0_bar_60) + (objectAtLocation Chair_bar__minus_00_dot_63_bar__plus_00_dot_00_bar__minus_02_dot_20 loc_bar__minus_3_bar__minus_7_bar_2_bar_60) + (objectAtLocation Chair_bar__plus_00_dot_22_bar__plus_00_dot_00_bar__minus_02_dot_21 loc_bar_1_bar__minus_7_bar_2_bar_60) + (objectAtLocation Cloth_bar__plus_01_dot_30_bar__plus_00_dot_00_bar__minus_00_dot_70 loc_bar_4_bar__minus_3_bar_1_bar_60) + (objectAtLocation Cloth_bar__plus_01_dot_27_bar__plus_00_dot_00_bar__minus_00_dot_97 loc_bar_4_bar__minus_4_bar_1_bar_60) + (objectAtLocation CellPhone_bar__minus_01_dot_58_bar__plus_00_dot_37_bar__minus_02_dot_29 loc_bar__minus_1_bar__minus_7_bar_3_bar_45) + (objectAtLocation Television_bar__minus_01_dot_70_bar__plus_01_dot_47_bar__minus_00_dot_90 loc_bar__minus_4_bar__minus_4_bar_3_bar_15) + (objectAtLocation Pencil_bar__plus_00_dot_15_bar__plus_00_dot_82_bar__minus_02_dot_37 loc_bar_1_bar__minus_7_bar_2_bar_60) + (objectAtLocation DeskLamp_bar__plus_00_dot_05_bar__plus_00_dot_81_bar__minus_02_dot_48 loc_bar_1_bar__minus_7_bar_2_bar_60) + (objectAtLocation Laptop_bar__minus_00_dot_05_bar__plus_00_dot_77_bar__plus_01_dot_34 loc_bar__minus_1_bar_0_bar_0_bar_45) + (objectAtLocation LightSwitch_bar__minus_01_dot_80_bar__plus_01_dot_21_bar__plus_00_dot_68 loc_bar__minus_5_bar_3_bar_3_bar_45) + (objectAtLocation AlarmClock_bar__plus_00_dot_46_bar__plus_00_dot_81_bar__minus_02_dot_51 loc_bar_1_bar__minus_7_bar_2_bar_60) + (objectAtLocation CreditCard_bar__minus_01_dot_67_bar__plus_00_dot_65_bar__minus_02_dot_33 loc_bar__minus_3_bar__minus_7_bar_3_bar_60) + (objectAtLocation KeyChain_bar__minus_00_dot_99_bar__plus_00_dot_86_bar__minus_02_dot_56 loc_bar__minus_5_bar__minus_7_bar_2_bar_60) + (objectAtLocation TennisRacket_bar__minus_01_dot_70_bar__plus_00_dot_35_bar__plus_01_dot_74 loc_bar__minus_5_bar_5_bar_0_bar_60) + (objectAtLocation Painting_bar__plus_00_dot_49_bar__plus_01_dot_68_bar__minus_02_dot_63 loc_bar_2_bar__minus_7_bar_2_bar_0) + (objectAtLocation RemoteControl_bar__minus_01_dot_49_bar__plus_00_dot_65_bar__minus_02_dot_29 loc_bar__minus_3_bar__minus_7_bar_3_bar_60) + (objectAtLocation Pillow_bar__plus_00_dot_53_bar__plus_00_dot_90_bar__plus_01_dot_17 loc_bar__minus_1_bar_0_bar_0_bar_45) + (objectAtLocation Poster_bar__minus_01_dot_80_bar__plus_01_dot_69_bar__minus_01_dot_49 loc_bar__minus_5_bar__minus_6_bar_3_bar_0) + (objectAtLocation Mirror_bar__plus_01_dot_50_bar__plus_01_dot_36_bar__minus_00_dot_54 loc_bar_4_bar__minus_2_bar_1_bar_30) + (objectAtLocation CD_bar__minus_00_dot_59_bar__plus_00_dot_86_bar__minus_02_dot_25 loc_bar__minus_5_bar__minus_7_bar_2_bar_60) + (objectAtLocation CD_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__minus_02_dot_31 loc_bar__minus_5_bar__minus_7_bar_2_bar_60) + (objectAtLocation CD_bar__minus_00_dot_81_bar__plus_01_dot_36_bar__minus_02_dot_47 loc_bar__minus_4_bar__minus_7_bar_2_bar_15) + (objectAtLocation Pen_bar__plus_01_dot_49_bar__plus_00_dot_83_bar__minus_01_dot_57 loc_bar_4_bar__minus_8_bar_0_bar_60) + (objectAtLocation Window_bar__plus_01_dot_72_bar__plus_01_dot_37_bar__minus_01_dot_60 loc_bar_4_bar__minus_6_bar_1_bar_15) + (objectAtLocation Blinds_bar__plus_01_dot_70_bar__plus_02_dot_10_bar__minus_01_dot_58 loc_bar_4_bar__minus_6_bar_1_bar__minus_30) + (objectAtLocation Bowl_bar__minus_00_dot_99_bar__plus_00_dot_86_bar__minus_02_dot_37 loc_bar__minus_5_bar__minus_7_bar_2_bar_60) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (inReceptacle ?o ?r) + (objectType ?o PencilType) + (receptacleType ?r DeskType) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-Pencil-None-Desk-307/trial_T20190909_075150_052392/traj_data.json b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Pencil-None-Desk-307/trial_T20190909_075150_052392/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..c3dc4430db6f2f455095191570ad6f1617a5afe4 --- /dev/null +++ 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+ "x": 0.2510138, + "y": 0.813631058, + "z": -2.50782871 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 224728316, + "scene_num": 307 + }, + "task_id": "trial_T20190909_075150_052392", + "task_type": "pick_and_place_simple", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A3F7G1FSFWQPLE_3NC5L260MRD94DLJPGG0DL0DC3ROFH", + "high_descs": [ + "Turn around and walk towards the wall, then turn right and walk u to the wooden table.", + "Pick up the closest pencil off of the table in front of you.", + "Turn around and walk towards the bed, then hang a left and walk up to the wall, turn left again and walk over to the right side of the wooden desk.", + "Put the pencil on the wooden desk." + ], + "task_desc": "Move a pencil from a table to a desk.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A31681CCEVDIH3_3R8YZBNQ9K9ZAWJTMAASEYIWTGI7QW", + "high_descs": [ + "Turn around and make a right to walk towards the desk on the left.", + "Pick up the pencil on the desk closest to the chair.", + "Make a right to walk to the desk on the right side.", + "Set the pencil down on the desk." + ], + "task_desc": "Move a pencil from the desk on the left side to the one on the right.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1CY7IOJ9YH136_3GFK2QRXXC8P7P1WAQU183MMQB9W5F", + "high_descs": [ + "turn left, go to desk on the left with two clocks and lamp", + "pick up yellow pencil in front of keys on desk", + "go to desk to the right", + "place pencil on desk in between square bowl and remote" + ], + "task_desc": "place yellow pencil on desk with square bowl", + "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-225/trial_T20190908_104554_100496/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Pillow-None-ArmChair-225/trial_T20190908_104554_100496/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..e98303cf19452a69eed8cef5ca30ad706aec9e9d --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Pillow-None-ArmChair-225/trial_T20190908_104554_100496/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\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_104554_100496)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Box_bar__minus_01_dot_63_bar__plus_00_dot_52_bar__plus_04_dot_57 - object\n Chair_bar__minus_04_dot_56_bar_00_dot_00_bar__plus_03_dot_87 - object\n CreditCard_bar__minus_00_dot_78_bar__plus_00_dot_38_bar__plus_00_dot_50 - object\n CreditCard_bar__minus_01_dot_88_bar__plus_00_dot_40_bar__plus_04_dot_49 - object\n DeskLamp_bar__minus_04_dot_66_bar__plus_00_dot_51_bar__plus_03_dot_32 - object\n FloorLamp_bar__minus_04_dot_64_bar__plus_00_dot_01_bar__plus_00_dot_36 - object\n HousePlant_bar__minus_03_dot_13_bar__plus_01_dot_50_bar__plus_00_dot_12 - object\n KeyChain_bar__minus_00_dot_25_bar__plus_00_dot_77_bar__plus_02_dot_68 - object\n KeyChain_bar__minus_01_dot_38_bar__plus_00_dot_40_bar__plus_04_dot_49 - object\n KeyChain_bar__minus_04_dot_66_bar__plus_00_dot_40_bar__plus_02_dot_15 - object\n Laptop_bar__minus_00_dot_34_bar__plus_00_dot_76_bar__plus_02_dot_38 - object\n LightSwitch_bar__minus_03_dot_23_bar__plus_01_dot_34_bar__plus_05_dot_00 - object\n Newspaper_bar__minus_04_dot_27_bar__plus_00_dot_42_bar__plus_02_dot_15 - object\n Painting_bar__minus_02_dot_51_bar__plus_01_dot_82_bar__plus_00_dot_11 - object\n Pillow_bar__minus_02_dot_37_bar__plus_00_dot_48_bar__plus_04_dot_41 - object\n Pillow_bar__minus_04_dot_42_bar__plus_00_dot_48_bar__plus_02_dot_39 - object\n RemoteControl_bar__minus_00_dot_25_bar__plus_00_dot_77_bar__plus_02_dot_98 - object\n RemoteControl_bar__minus_01_dot_82_bar__plus_00_dot_20_bar__plus_02_dot_99 - object\n Statue_bar__minus_00_dot_39_bar__plus_00_dot_50_bar__plus_02_dot_36 - object\n Statue_bar__minus_00_dot_40_bar__plus_00_dot_77_bar__plus_03_dot_13 - object\n Statue_bar__minus_01_dot_82_bar__plus_00_dot_21_bar__plus_02_dot_64 - object\n Television_bar__plus_00_dot_00_bar__plus_01_dot_38_bar__plus_02_dot_66 - object\n TissueBox_bar__minus_00_dot_18_bar__plus_00_dot_77_bar__plus_03_dot_13 - object\n TissueBox_bar__minus_00_dot_53_bar__plus_00_dot_18_bar__plus_02_dot_99 - object\n TissueBox_bar__minus_00_dot_55_bar__plus_00_dot_77_bar__plus_02_dot_83 - object\n Vase_bar__minus_02_dot_88_bar__plus_01_dot_52_bar__plus_00_dot_14 - object\n Watch_bar__minus_02_dot_20_bar__plus_00_dot_20_bar__plus_02_dot_41 - object\n Watch_bar__minus_04_dot_52_bar__plus_00_dot_51_bar__plus_03_dot_21 - object\n Watch_bar__minus_04_dot_53_bar__plus_00_dot_42_bar__plus_03_dot_41 - object\n Window_bar__minus_01_dot_01_bar__plus_01_dot_39_bar__plus_00_dot_03 - object\n Window_bar__minus_03_dot_90_bar__plus_01_dot_39_bar__plus_00_dot_03 - object\n ArmChair_bar__minus_00_dot_88_bar__minus_00_dot_03_bar__plus_00_dot_57 - receptacle\n CoffeeTable_bar__minus_01_dot_97_bar__plus_00_dot_00_bar__plus_02_dot_62 - receptacle\n Drawer_bar__minus_04_dot_43_bar__plus_00_dot_47_bar__plus_03_dot_34 - receptacle\n GarbageCan_bar__minus_00_dot_23_bar__plus_00_dot_01_bar__plus_04_dot_78 - receptacle\n Shelf_bar__minus_00_dot_34_bar__plus_00_dot_18_bar__plus_02_dot_67 - receptacle\n Shelf_bar__minus_00_dot_46_bar__plus_00_dot_17_bar__plus_03_dot_04 - receptacle\n Shelf_bar__minus_00_dot_46_bar__plus_00_dot_42_bar__plus_03_dot_04 - receptacle\n Shelf_bar__minus_00_dot_46_bar__plus_00_dot_48_bar__plus_02_dot_30 - receptacle\n Shelf_bar__minus_00_dot_46_bar__plus_00_dot_57_bar__plus_03_dot_04 - receptacle\n Shelf_bar__minus_00_dot_47_bar__plus_00_dot_18_bar__plus_02_dot_30 - receptacle\n SideTable_bar__minus_04_dot_61_bar__plus_00_dot_01_bar__plus_03_dot_35 - receptacle\n Sofa_bar__minus_02_dot_13_bar_00_dot_00_bar__plus_04_dot_56 - receptacle\n Sofa_bar__minus_04_dot_57_bar_00_dot_00_bar__plus_01_dot_90 - receptacle\n TVStand_bar__minus_00_dot_34_bar__plus_00_dot_01_bar__plus_02_dot_68 - receptacle\n loc_bar__minus_15_bar_17_bar_2_bar_60 - location\n loc_bar__minus_4_bar_5_bar_2_bar_15 - location\n loc_bar__minus_6_bar_8_bar_1_bar_45 - location\n loc_bar__minus_4_bar_11_bar_1_bar_15 - location\n loc_bar__minus_4_bar_7_bar_2_bar_60 - location\n loc_bar__minus_16_bar_15_bar_3_bar_60 - location\n loc_bar__minus_16_bar_2_bar_2_bar_30 - location\n loc_bar__minus_17_bar_17_bar_2_bar_60 - location\n loc_bar__minus_15_bar_18_bar_1_bar_30 - location\n loc_bar__minus_6_bar_14_bar_1_bar_60 - location\n loc_bar__minus_10_bar_13_bar_0_bar_45 - location\n loc_bar__minus_16_bar_2_bar_3_bar_60 - location\n loc_bar__minus_12_bar_3_bar_2_bar_15 - location\n loc_bar__minus_4_bar_11_bar_3_bar_60 - location\n loc_bar__minus_13_bar_8_bar_3_bar_45 - location\n loc_bar__minus_2_bar_17_bar_0_bar_60 - location\n loc_bar__minus_6_bar_15_bar_0_bar_60 - location\n loc_bar__minus_10_bar_3_bar_2_bar__minus_15 - location\n loc_bar__minus_15_bar_9_bar_3_bar_60 - location\n loc_bar__minus_6_bar_14_bar_1_bar_45 - location\n loc_bar__minus_13_bar_3_bar_2_bar_15 - location\n loc_bar__minus_5_bar_11_bar_1_bar_60 - location\n loc_bar__minus_5_bar_14_bar_1_bar_60 - location\n loc_bar__minus_6_bar_7_bar_1_bar_60 - location\n loc_bar__minus_10_bar_9_bar_2_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType ArmChair_bar__minus_00_dot_88_bar__minus_00_dot_03_bar__plus_00_dot_57 ArmChairType)\n (receptacleType Sofa_bar__minus_02_dot_13_bar_00_dot_00_bar__plus_04_dot_56 SofaType)\n (receptacleType Drawer_bar__minus_04_dot_43_bar__plus_00_dot_47_bar__plus_03_dot_34 DrawerType)\n (receptacleType Shelf_bar__minus_00_dot_46_bar__plus_00_dot_17_bar__plus_03_dot_04 ShelfType)\n (receptacleType Shelf_bar__minus_00_dot_46_bar__plus_00_dot_57_bar__plus_03_dot_04 ShelfType)\n (receptacleType Shelf_bar__minus_00_dot_46_bar__plus_00_dot_48_bar__plus_02_dot_30 ShelfType)\n (receptacleType CoffeeTable_bar__minus_01_dot_97_bar__plus_00_dot_00_bar__plus_02_dot_62 CoffeeTableType)\n (receptacleType Shelf_bar__minus_00_dot_34_bar__plus_00_dot_18_bar__plus_02_dot_67 ShelfType)\n (receptacleType Shelf_bar__minus_00_dot_46_bar__plus_00_dot_42_bar__plus_03_dot_04 ShelfType)\n (receptacleType Shelf_bar__minus_00_dot_47_bar__plus_00_dot_18_bar__plus_02_dot_30 ShelfType)\n (receptacleType GarbageCan_bar__minus_00_dot_23_bar__plus_00_dot_01_bar__plus_04_dot_78 GarbageCanType)\n (receptacleType TVStand_bar__minus_00_dot_34_bar__plus_00_dot_01_bar__plus_02_dot_68 TVStandType)\n (receptacleType Sofa_bar__minus_04_dot_57_bar_00_dot_00_bar__plus_01_dot_90 SofaType)\n (receptacleType SideTable_bar__minus_04_dot_61_bar__plus_00_dot_01_bar__plus_03_dot_35 SideTableType)\n (objectType RemoteControl_bar__minus_00_dot_25_bar__plus_00_dot_77_bar__plus_02_dot_98 RemoteControlType)\n (objectType TissueBox_bar__minus_00_dot_55_bar__plus_00_dot_77_bar__plus_02_dot_83 TissueBoxType)\n (objectType KeyChain_bar__minus_01_dot_38_bar__plus_00_dot_40_bar__plus_04_dot_49 KeyChainType)\n (objectType Watch_bar__minus_02_dot_20_bar__plus_00_dot_20_bar__plus_02_dot_41 WatchType)\n (objectType Painting_bar__minus_02_dot_51_bar__plus_01_dot_82_bar__plus_00_dot_11 PaintingType)\n (objectType Pillow_bar__minus_02_dot_37_bar__plus_00_dot_48_bar__plus_04_dot_41 PillowType)\n (objectType Window_bar__minus_03_dot_90_bar__plus_01_dot_39_bar__plus_00_dot_03 WindowType)\n (objectType LightSwitch_bar__minus_03_dot_23_bar__plus_01_dot_34_bar__plus_05_dot_00 LightSwitchType)\n (objectType Watch_bar__minus_04_dot_53_bar__plus_00_dot_42_bar__plus_03_dot_41 WatchType)\n (objectType TissueBox_bar__minus_00_dot_18_bar__plus_00_dot_77_bar__plus_03_dot_13 TissueBoxType)\n (objectType RemoteControl_bar__minus_01_dot_82_bar__plus_00_dot_20_bar__plus_02_dot_99 RemoteControlType)\n (objectType DeskLamp_bar__minus_04_dot_66_bar__plus_00_dot_51_bar__plus_03_dot_32 DeskLampType)\n (objectType CreditCard_bar__minus_00_dot_78_bar__plus_00_dot_38_bar__plus_00_dot_50 CreditCardType)\n (objectType Television_bar__plus_00_dot_00_bar__plus_01_dot_38_bar__plus_02_dot_66 TelevisionType)\n (objectType FloorLamp_bar__minus_04_dot_64_bar__plus_00_dot_01_bar__plus_00_dot_36 FloorLampType)\n (objectType Pillow_bar__minus_04_dot_42_bar__plus_00_dot_48_bar__plus_02_dot_39 PillowType)\n (objectType Vase_bar__minus_02_dot_88_bar__plus_01_dot_52_bar__plus_00_dot_14 VaseType)\n (objectType HousePlant_bar__minus_03_dot_13_bar__plus_01_dot_50_bar__plus_00_dot_12 HousePlantType)\n (objectType Chair_bar__minus_04_dot_56_bar_00_dot_00_bar__plus_03_dot_87 ChairType)\n (objectType KeyChain_bar__minus_04_dot_66_bar__plus_00_dot_40_bar__plus_02_dot_15 KeyChainType)\n (objectType Statue_bar__minus_00_dot_39_bar__plus_00_dot_50_bar__plus_02_dot_36 StatueType)\n (objectType Newspaper_bar__minus_04_dot_27_bar__plus_00_dot_42_bar__plus_02_dot_15 NewspaperType)\n (objectType Window_bar__minus_01_dot_01_bar__plus_01_dot_39_bar__plus_00_dot_03 WindowType)\n (objectType Watch_bar__minus_04_dot_52_bar__plus_00_dot_51_bar__plus_03_dot_21 WatchType)\n (objectType Laptop_bar__minus_00_dot_34_bar__plus_00_dot_76_bar__plus_02_dot_38 LaptopType)\n (objectType Statue_bar__minus_01_dot_82_bar__plus_00_dot_21_bar__plus_02_dot_64 StatueType)\n (objectType KeyChain_bar__minus_00_dot_25_bar__plus_00_dot_77_bar__plus_02_dot_68 KeyChainType)\n (objectType Box_bar__minus_01_dot_63_bar__plus_00_dot_52_bar__plus_04_dot_57 BoxType)\n (objectType Statue_bar__minus_00_dot_40_bar__plus_00_dot_77_bar__plus_03_dot_13 StatueType)\n (objectType TissueBox_bar__minus_00_dot_53_bar__plus_00_dot_18_bar__plus_02_dot_99 TissueBoxType)\n (objectType CreditCard_bar__minus_01_dot_88_bar__plus_00_dot_40_bar__plus_04_dot_49 CreditCardType)\n (canContain ArmChairType BoxType)\n (canContain ArmChairType LaptopType)\n (canContain ArmChairType PillowType)\n (canContain ArmChairType RemoteControlType)\n (canContain ArmChairType KeyChainType)\n (canContain ArmChairType NewspaperType)\n (canContain ArmChairType CreditCardType)\n (canContain SofaType BoxType)\n (canContain SofaType LaptopType)\n (canContain SofaType PillowType)\n (canContain SofaType RemoteControlType)\n (canContain SofaType KeyChainType)\n (canContain SofaType NewspaperType)\n (canContain SofaType CreditCardType)\n (canContain DrawerType WatchType)\n (canContain DrawerType NewspaperType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType TissueBoxType)\n (canContain ShelfType WatchType)\n (canContain ShelfType NewspaperType)\n (canContain ShelfType VaseType)\n (canContain ShelfType BoxType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType RemoteControlType)\n (canContain ShelfType TissueBoxType)\n (canContain ShelfType StatueType)\n (canContain ShelfType WatchType)\n (canContain ShelfType NewspaperType)\n (canContain ShelfType VaseType)\n (canContain ShelfType BoxType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType RemoteControlType)\n (canContain ShelfType TissueBoxType)\n (canContain ShelfType StatueType)\n (canContain ShelfType WatchType)\n (canContain ShelfType NewspaperType)\n (canContain ShelfType VaseType)\n (canContain ShelfType BoxType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType RemoteControlType)\n (canContain ShelfType TissueBoxType)\n (canContain ShelfType StatueType)\n (canContain CoffeeTableType WatchType)\n (canContain CoffeeTableType NewspaperType)\n (canContain CoffeeTableType VaseType)\n (canContain CoffeeTableType BoxType)\n (canContain CoffeeTableType KeyChainType)\n (canContain CoffeeTableType CreditCardType)\n (canContain CoffeeTableType LaptopType)\n (canContain CoffeeTableType RemoteControlType)\n (canContain CoffeeTableType TissueBoxType)\n (canContain CoffeeTableType StatueType)\n (canContain ShelfType WatchType)\n (canContain ShelfType NewspaperType)\n (canContain ShelfType VaseType)\n (canContain ShelfType BoxType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType RemoteControlType)\n (canContain ShelfType TissueBoxType)\n (canContain ShelfType StatueType)\n (canContain ShelfType WatchType)\n (canContain ShelfType NewspaperType)\n (canContain ShelfType VaseType)\n (canContain ShelfType BoxType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType RemoteControlType)\n (canContain ShelfType TissueBoxType)\n (canContain ShelfType StatueType)\n (canContain ShelfType WatchType)\n (canContain ShelfType NewspaperType)\n (canContain ShelfType VaseType)\n (canContain ShelfType BoxType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType RemoteControlType)\n (canContain ShelfType TissueBoxType)\n (canContain ShelfType StatueType)\n (canContain GarbageCanType NewspaperType)\n (canContain GarbageCanType TissueBoxType)\n (canContain TVStandType TissueBoxType)\n (canContain SofaType BoxType)\n (canContain SofaType LaptopType)\n (canContain SofaType PillowType)\n (canContain SofaType RemoteControlType)\n (canContain SofaType KeyChainType)\n (canContain SofaType NewspaperType)\n (canContain SofaType CreditCardType)\n (canContain SideTableType WatchType)\n (canContain SideTableType NewspaperType)\n (canContain SideTableType VaseType)\n (canContain SideTableType BoxType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType RemoteControlType)\n (canContain SideTableType TissueBoxType)\n (canContain SideTableType StatueType)\n (pickupable RemoteControl_bar__minus_00_dot_25_bar__plus_00_dot_77_bar__plus_02_dot_98)\n (pickupable TissueBox_bar__minus_00_dot_55_bar__plus_00_dot_77_bar__plus_02_dot_83)\n (pickupable KeyChain_bar__minus_01_dot_38_bar__plus_00_dot_40_bar__plus_04_dot_49)\n (pickupable Watch_bar__minus_02_dot_20_bar__plus_00_dot_20_bar__plus_02_dot_41)\n (pickupable Pillow_bar__minus_02_dot_37_bar__plus_00_dot_48_bar__plus_04_dot_41)\n (pickupable Watch_bar__minus_04_dot_53_bar__plus_00_dot_42_bar__plus_03_dot_41)\n (pickupable TissueBox_bar__minus_00_dot_18_bar__plus_00_dot_77_bar__plus_03_dot_13)\n (pickupable RemoteControl_bar__minus_01_dot_82_bar__plus_00_dot_20_bar__plus_02_dot_99)\n (pickupable CreditCard_bar__minus_00_dot_78_bar__plus_00_dot_38_bar__plus_00_dot_50)\n (pickupable Pillow_bar__minus_04_dot_42_bar__plus_00_dot_48_bar__plus_02_dot_39)\n (pickupable Vase_bar__minus_02_dot_88_bar__plus_01_dot_52_bar__plus_00_dot_14)\n (pickupable KeyChain_bar__minus_04_dot_66_bar__plus_00_dot_40_bar__plus_02_dot_15)\n (pickupable Statue_bar__minus_00_dot_39_bar__plus_00_dot_50_bar__plus_02_dot_36)\n (pickupable Newspaper_bar__minus_04_dot_27_bar__plus_00_dot_42_bar__plus_02_dot_15)\n (pickupable Watch_bar__minus_04_dot_52_bar__plus_00_dot_51_bar__plus_03_dot_21)\n (pickupable Laptop_bar__minus_00_dot_34_bar__plus_00_dot_76_bar__plus_02_dot_38)\n (pickupable Statue_bar__minus_01_dot_82_bar__plus_00_dot_21_bar__plus_02_dot_64)\n (pickupable KeyChain_bar__minus_00_dot_25_bar__plus_00_dot_77_bar__plus_02_dot_68)\n (pickupable Box_bar__minus_01_dot_63_bar__plus_00_dot_52_bar__plus_04_dot_57)\n (pickupable Statue_bar__minus_00_dot_40_bar__plus_00_dot_77_bar__plus_03_dot_13)\n (pickupable TissueBox_bar__minus_00_dot_53_bar__plus_00_dot_18_bar__plus_02_dot_99)\n (pickupable CreditCard_bar__minus_01_dot_88_bar__plus_00_dot_40_bar__plus_04_dot_49)\n (isReceptacleObject Box_bar__minus_01_dot_63_bar__plus_00_dot_52_bar__plus_04_dot_57)\n (openable Drawer_bar__minus_04_dot_43_bar__plus_00_dot_47_bar__plus_03_dot_34)\n \n (atLocation agent1 loc_bar__minus_10_bar_9_bar_2_bar_30)\n \n \n \n \n \n \n \n (toggleable DeskLamp_bar__minus_04_dot_66_bar__plus_00_dot_51_bar__plus_03_dot_32)\n (toggleable FloorLamp_bar__minus_04_dot_64_bar__plus_00_dot_01_bar__plus_00_dot_36)\n \n \n \n \n (inReceptacle TissueBox_bar__minus_00_dot_53_bar__plus_00_dot_18_bar__plus_02_dot_99 Shelf_bar__minus_00_dot_46_bar__plus_00_dot_17_bar__plus_03_dot_04)\n (inReceptacle Watch_bar__minus_04_dot_52_bar__plus_00_dot_51_bar__plus_03_dot_21 SideTable_bar__minus_04_dot_61_bar__plus_00_dot_01_bar__plus_03_dot_35)\n (inReceptacle DeskLamp_bar__minus_04_dot_66_bar__plus_00_dot_51_bar__plus_03_dot_32 SideTable_bar__minus_04_dot_61_bar__plus_00_dot_01_bar__plus_03_dot_35)\n (inReceptacle Box_bar__minus_01_dot_63_bar__plus_00_dot_52_bar__plus_04_dot_57 Sofa_bar__minus_02_dot_13_bar_00_dot_00_bar__plus_04_dot_56)\n (inReceptacle Pillow_bar__minus_02_dot_37_bar__plus_00_dot_48_bar__plus_04_dot_41 Sofa_bar__minus_02_dot_13_bar_00_dot_00_bar__plus_04_dot_56)\n (inReceptacle CreditCard_bar__minus_01_dot_88_bar__plus_00_dot_40_bar__plus_04_dot_49 Sofa_bar__minus_02_dot_13_bar_00_dot_00_bar__plus_04_dot_56)\n (inReceptacle Statue_bar__minus_00_dot_39_bar__plus_00_dot_50_bar__plus_02_dot_36 Shelf_bar__minus_00_dot_46_bar__plus_00_dot_48_bar__plus_02_dot_30)\n (inReceptacle Statue_bar__minus_01_dot_82_bar__plus_00_dot_21_bar__plus_02_dot_64 CoffeeTable_bar__minus_01_dot_97_bar__plus_00_dot_00_bar__plus_02_dot_62)\n (inReceptacle RemoteControl_bar__minus_01_dot_82_bar__plus_00_dot_20_bar__plus_02_dot_99 CoffeeTable_bar__minus_01_dot_97_bar__plus_00_dot_00_bar__plus_02_dot_62)\n (inReceptacle Watch_bar__minus_02_dot_20_bar__plus_00_dot_20_bar__plus_02_dot_41 CoffeeTable_bar__minus_01_dot_97_bar__plus_00_dot_00_bar__plus_02_dot_62)\n (inReceptacle Watch_bar__minus_04_dot_53_bar__plus_00_dot_42_bar__plus_03_dot_41 Drawer_bar__minus_04_dot_43_bar__plus_00_dot_47_bar__plus_03_dot_34)\n (inReceptacle Pillow_bar__minus_04_dot_42_bar__plus_00_dot_48_bar__plus_02_dot_39 Sofa_bar__minus_04_dot_57_bar_00_dot_00_bar__plus_01_dot_90)\n (inReceptacle Newspaper_bar__minus_04_dot_27_bar__plus_00_dot_42_bar__plus_02_dot_15 Sofa_bar__minus_04_dot_57_bar_00_dot_00_bar__plus_01_dot_90)\n (inReceptacle CreditCard_bar__minus_00_dot_78_bar__plus_00_dot_38_bar__plus_00_dot_50 ArmChair_bar__minus_00_dot_88_bar__minus_00_dot_03_bar__plus_00_dot_57)\n (inReceptacle RemoteControl_bar__minus_00_dot_25_bar__plus_00_dot_77_bar__plus_02_dot_98 TVStand_bar__minus_00_dot_34_bar__plus_00_dot_01_bar__plus_02_dot_68)\n (inReceptacle Laptop_bar__minus_00_dot_34_bar__plus_00_dot_76_bar__plus_02_dot_38 TVStand_bar__minus_00_dot_34_bar__plus_00_dot_01_bar__plus_02_dot_68)\n (inReceptacle TissueBox_bar__minus_00_dot_55_bar__plus_00_dot_77_bar__plus_02_dot_83 TVStand_bar__minus_00_dot_34_bar__plus_00_dot_01_bar__plus_02_dot_68)\n (inReceptacle KeyChain_bar__minus_00_dot_25_bar__plus_00_dot_77_bar__plus_02_dot_68 TVStand_bar__minus_00_dot_34_bar__plus_00_dot_01_bar__plus_02_dot_68)\n (inReceptacle Statue_bar__minus_00_dot_40_bar__plus_00_dot_77_bar__plus_03_dot_13 TVStand_bar__minus_00_dot_34_bar__plus_00_dot_01_bar__plus_02_dot_68)\n (inReceptacle TissueBox_bar__minus_00_dot_18_bar__plus_00_dot_77_bar__plus_03_dot_13 TVStand_bar__minus_00_dot_34_bar__plus_00_dot_01_bar__plus_02_dot_68)\n \n \n (receptacleAtLocation ArmChair_bar__minus_00_dot_88_bar__minus_00_dot_03_bar__plus_00_dot_57 loc_bar__minus_4_bar_7_bar_2_bar_60)\n (receptacleAtLocation CoffeeTable_bar__minus_01_dot_97_bar__plus_00_dot_00_bar__plus_02_dot_62 loc_bar__minus_4_bar_11_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_04_dot_43_bar__plus_00_dot_47_bar__plus_03_dot_34 loc_bar__minus_15_bar_17_bar_2_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_00_dot_23_bar__plus_00_dot_01_bar__plus_04_dot_78 loc_bar__minus_2_bar_17_bar_0_bar_60)\n (receptacleAtLocation Shelf_bar__minus_00_dot_34_bar__plus_00_dot_18_bar__plus_02_dot_67 loc_bar__minus_6_bar_8_bar_1_bar_45)\n (receptacleAtLocation Shelf_bar__minus_00_dot_46_bar__plus_00_dot_17_bar__plus_03_dot_04 loc_bar__minus_6_bar_14_bar_1_bar_60)\n (receptacleAtLocation Shelf_bar__minus_00_dot_46_bar__plus_00_dot_42_bar__plus_03_dot_04 loc_bar__minus_6_bar_14_bar_1_bar_45)\n (receptacleAtLocation Shelf_bar__minus_00_dot_46_bar__plus_00_dot_48_bar__plus_02_dot_30 loc_bar__minus_5_bar_11_bar_1_bar_60)\n (receptacleAtLocation Shelf_bar__minus_00_dot_46_bar__plus_00_dot_57_bar__plus_03_dot_04 loc_bar__minus_5_bar_14_bar_1_bar_60)\n (receptacleAtLocation Shelf_bar__minus_00_dot_47_bar__plus_00_dot_18_bar__plus_02_dot_30 loc_bar__minus_6_bar_7_bar_1_bar_60)\n (receptacleAtLocation SideTable_bar__minus_04_dot_61_bar__plus_00_dot_01_bar__plus_03_dot_35 loc_bar__minus_17_bar_17_bar_2_bar_60)\n (receptacleAtLocation Sofa_bar__minus_02_dot_13_bar_00_dot_00_bar__plus_04_dot_56 loc_bar__minus_10_bar_13_bar_0_bar_45)\n (receptacleAtLocation Sofa_bar__minus_04_dot_57_bar_00_dot_00_bar__plus_01_dot_90 loc_bar__minus_13_bar_8_bar_3_bar_45)\n (receptacleAtLocation TVStand_bar__minus_00_dot_34_bar__plus_00_dot_01_bar__plus_02_dot_68 loc_bar__minus_5_bar_11_bar_1_bar_60)\n (objectAtLocation Statue_bar__minus_01_dot_82_bar__plus_00_dot_21_bar__plus_02_dot_64 loc_bar__minus_4_bar_11_bar_3_bar_60)\n (objectAtLocation Watch_bar__minus_04_dot_53_bar__plus_00_dot_42_bar__plus_03_dot_41 loc_bar__minus_15_bar_17_bar_2_bar_60)\n (objectAtLocation KeyChain_bar__minus_00_dot_25_bar__plus_00_dot_77_bar__plus_02_dot_68 loc_bar__minus_5_bar_11_bar_1_bar_60)\n (objectAtLocation Pillow_bar__minus_02_dot_37_bar__plus_00_dot_48_bar__plus_04_dot_41 loc_bar__minus_10_bar_13_bar_0_bar_45)\n (objectAtLocation RemoteControl_bar__minus_00_dot_25_bar__plus_00_dot_77_bar__plus_02_dot_98 loc_bar__minus_5_bar_11_bar_1_bar_60)\n (objectAtLocation TissueBox_bar__minus_00_dot_18_bar__plus_00_dot_77_bar__plus_03_dot_13 loc_bar__minus_5_bar_11_bar_1_bar_60)\n (objectAtLocation CreditCard_bar__minus_00_dot_78_bar__plus_00_dot_38_bar__plus_00_dot_50 loc_bar__minus_4_bar_7_bar_2_bar_60)\n (objectAtLocation KeyChain_bar__minus_01_dot_38_bar__plus_00_dot_40_bar__plus_04_dot_49 loc_bar__minus_6_bar_15_bar_0_bar_60)\n (objectAtLocation Watch_bar__minus_04_dot_52_bar__plus_00_dot_51_bar__plus_03_dot_21 loc_bar__minus_17_bar_17_bar_2_bar_60)\n (objectAtLocation TissueBox_bar__minus_00_dot_55_bar__plus_00_dot_77_bar__plus_02_dot_83 loc_bar__minus_5_bar_11_bar_1_bar_60)\n (objectAtLocation Chair_bar__minus_04_dot_56_bar_00_dot_00_bar__plus_03_dot_87 loc_bar__minus_16_bar_15_bar_3_bar_60)\n (objectAtLocation Box_bar__minus_01_dot_63_bar__plus_00_dot_52_bar__plus_04_dot_57 loc_bar__minus_10_bar_13_bar_0_bar_45)\n (objectAtLocation HousePlant_bar__minus_03_dot_13_bar__plus_01_dot_50_bar__plus_00_dot_12 loc_bar__minus_13_bar_3_bar_2_bar_15)\n (objectAtLocation CreditCard_bar__minus_01_dot_88_bar__plus_00_dot_40_bar__plus_04_dot_49 loc_bar__minus_10_bar_13_bar_0_bar_45)\n (objectAtLocation Television_bar__plus_00_dot_00_bar__plus_01_dot_38_bar__plus_02_dot_66 loc_bar__minus_4_bar_11_bar_1_bar_15)\n (objectAtLocation DeskLamp_bar__minus_04_dot_66_bar__plus_00_dot_51_bar__plus_03_dot_32 loc_bar__minus_17_bar_17_bar_2_bar_60)\n (objectAtLocation TissueBox_bar__minus_00_dot_53_bar__plus_00_dot_18_bar__plus_02_dot_99 loc_bar__minus_6_bar_14_bar_1_bar_60)\n (objectAtLocation Laptop_bar__minus_00_dot_34_bar__plus_00_dot_76_bar__plus_02_dot_38 loc_bar__minus_5_bar_11_bar_1_bar_60)\n (objectAtLocation Vase_bar__minus_02_dot_88_bar__plus_01_dot_52_bar__plus_00_dot_14 loc_bar__minus_12_bar_3_bar_2_bar_15)\n (objectAtLocation RemoteControl_bar__minus_01_dot_82_bar__plus_00_dot_20_bar__plus_02_dot_99 loc_bar__minus_4_bar_11_bar_3_bar_60)\n (objectAtLocation Painting_bar__minus_02_dot_51_bar__plus_01_dot_82_bar__plus_00_dot_11 loc_bar__minus_10_bar_3_bar_2_bar__minus_15)\n (objectAtLocation Pillow_bar__minus_04_dot_42_bar__plus_00_dot_48_bar__plus_02_dot_39 loc_bar__minus_13_bar_8_bar_3_bar_45)\n (objectAtLocation FloorLamp_bar__minus_04_dot_64_bar__plus_00_dot_01_bar__plus_00_dot_36 loc_bar__minus_16_bar_2_bar_3_bar_60)\n (objectAtLocation KeyChain_bar__minus_04_dot_66_bar__plus_00_dot_40_bar__plus_02_dot_15 loc_bar__minus_15_bar_9_bar_3_bar_60)\n (objectAtLocation Watch_bar__minus_02_dot_20_bar__plus_00_dot_20_bar__plus_02_dot_41 loc_bar__minus_4_bar_11_bar_3_bar_60)\n (objectAtLocation LightSwitch_bar__minus_03_dot_23_bar__plus_01_dot_34_bar__plus_05_dot_00 loc_bar__minus_15_bar_18_bar_1_bar_30)\n (objectAtLocation Newspaper_bar__minus_04_dot_27_bar__plus_00_dot_42_bar__plus_02_dot_15 loc_bar__minus_13_bar_8_bar_3_bar_45)\n (objectAtLocation Window_bar__minus_01_dot_01_bar__plus_01_dot_39_bar__plus_00_dot_03 loc_bar__minus_4_bar_5_bar_2_bar_15)\n (objectAtLocation Window_bar__minus_03_dot_90_bar__plus_01_dot_39_bar__plus_00_dot_03 loc_bar__minus_16_bar_2_bar_2_bar_30)\n (objectAtLocation Statue_bar__minus_00_dot_40_bar__plus_00_dot_77_bar__plus_03_dot_13 loc_bar__minus_5_bar_11_bar_1_bar_60)\n (objectAtLocation Statue_bar__minus_00_dot_39_bar__plus_00_dot_50_bar__plus_02_dot_36 loc_bar__minus_5_bar_11_bar_1_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (inReceptacle ?o ?r)\n (objectType ?o PillowType)\n (receptacleType ?r ArmChairType)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to sofa 2", "take pillow 2 from sofa 2", "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-225/trial_T20190908_104554_100496/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Pillow-None-ArmChair-225/trial_T20190908_104554_100496/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..d46b5ce9ebc049407bc86904795023ddbe843dae --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Pillow-None-ArmChair-225/trial_T20190908_104554_100496/initial_state.pddl @@ -0,0 +1,544 @@ + +(define (problem plan_trial_T20190908_104554_100496) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_63_bar__plus_00_dot_52_bar__plus_04_dot_57 - object + Chair_bar__minus_04_dot_56_bar_00_dot_00_bar__plus_03_dot_87 - object + CreditCard_bar__minus_00_dot_78_bar__plus_00_dot_38_bar__plus_00_dot_50 - object + CreditCard_bar__minus_01_dot_88_bar__plus_00_dot_40_bar__plus_04_dot_49 - object + DeskLamp_bar__minus_04_dot_66_bar__plus_00_dot_51_bar__plus_03_dot_32 - object + FloorLamp_bar__minus_04_dot_64_bar__plus_00_dot_01_bar__plus_00_dot_36 - object + HousePlant_bar__minus_03_dot_13_bar__plus_01_dot_50_bar__plus_00_dot_12 - object + KeyChain_bar__minus_00_dot_25_bar__plus_00_dot_77_bar__plus_02_dot_68 - object + KeyChain_bar__minus_01_dot_38_bar__plus_00_dot_40_bar__plus_04_dot_49 - object + KeyChain_bar__minus_04_dot_66_bar__plus_00_dot_40_bar__plus_02_dot_15 - object + Laptop_bar__minus_00_dot_34_bar__plus_00_dot_76_bar__plus_02_dot_38 - object + LightSwitch_bar__minus_03_dot_23_bar__plus_01_dot_34_bar__plus_05_dot_00 - object + Newspaper_bar__minus_04_dot_27_bar__plus_00_dot_42_bar__plus_02_dot_15 - object + Painting_bar__minus_02_dot_51_bar__plus_01_dot_82_bar__plus_00_dot_11 - object + Pillow_bar__minus_02_dot_37_bar__plus_00_dot_48_bar__plus_04_dot_41 - object + Pillow_bar__minus_04_dot_42_bar__plus_00_dot_48_bar__plus_02_dot_39 - object + RemoteControl_bar__minus_00_dot_25_bar__plus_00_dot_77_bar__plus_02_dot_98 - object + RemoteControl_bar__minus_01_dot_82_bar__plus_00_dot_20_bar__plus_02_dot_99 - object + Statue_bar__minus_00_dot_39_bar__plus_00_dot_50_bar__plus_02_dot_36 - object + Statue_bar__minus_00_dot_40_bar__plus_00_dot_77_bar__plus_03_dot_13 - object + Statue_bar__minus_01_dot_82_bar__plus_00_dot_21_bar__plus_02_dot_64 - object + Television_bar__plus_00_dot_00_bar__plus_01_dot_38_bar__plus_02_dot_66 - object + TissueBox_bar__minus_00_dot_18_bar__plus_00_dot_77_bar__plus_03_dot_13 - object + TissueBox_bar__minus_00_dot_53_bar__plus_00_dot_18_bar__plus_02_dot_99 - object + TissueBox_bar__minus_00_dot_55_bar__plus_00_dot_77_bar__plus_02_dot_83 - object + Vase_bar__minus_02_dot_88_bar__plus_01_dot_52_bar__plus_00_dot_14 - object + Watch_bar__minus_02_dot_20_bar__plus_00_dot_20_bar__plus_02_dot_41 - object + Watch_bar__minus_04_dot_52_bar__plus_00_dot_51_bar__plus_03_dot_21 - object + Watch_bar__minus_04_dot_53_bar__plus_00_dot_42_bar__plus_03_dot_41 - object + Window_bar__minus_01_dot_01_bar__plus_01_dot_39_bar__plus_00_dot_03 - object + Window_bar__minus_03_dot_90_bar__plus_01_dot_39_bar__plus_00_dot_03 - object + ArmChair_bar__minus_00_dot_88_bar__minus_00_dot_03_bar__plus_00_dot_57 - receptacle + CoffeeTable_bar__minus_01_dot_97_bar__plus_00_dot_00_bar__plus_02_dot_62 - receptacle + Drawer_bar__minus_04_dot_43_bar__plus_00_dot_47_bar__plus_03_dot_34 - receptacle + GarbageCan_bar__minus_00_dot_23_bar__plus_00_dot_01_bar__plus_04_dot_78 - receptacle + Shelf_bar__minus_00_dot_34_bar__plus_00_dot_18_bar__plus_02_dot_67 - receptacle + Shelf_bar__minus_00_dot_46_bar__plus_00_dot_17_bar__plus_03_dot_04 - receptacle + Shelf_bar__minus_00_dot_46_bar__plus_00_dot_42_bar__plus_03_dot_04 - receptacle + Shelf_bar__minus_00_dot_46_bar__plus_00_dot_48_bar__plus_02_dot_30 - receptacle + Shelf_bar__minus_00_dot_46_bar__plus_00_dot_57_bar__plus_03_dot_04 - receptacle + Shelf_bar__minus_00_dot_47_bar__plus_00_dot_18_bar__plus_02_dot_30 - receptacle + SideTable_bar__minus_04_dot_61_bar__plus_00_dot_01_bar__plus_03_dot_35 - receptacle + Sofa_bar__minus_02_dot_13_bar_00_dot_00_bar__plus_04_dot_56 - receptacle + Sofa_bar__minus_04_dot_57_bar_00_dot_00_bar__plus_01_dot_90 - receptacle + TVStand_bar__minus_00_dot_34_bar__plus_00_dot_01_bar__plus_02_dot_68 - receptacle + loc_bar__minus_15_bar_17_bar_2_bar_60 - location + loc_bar__minus_4_bar_5_bar_2_bar_15 - location + loc_bar__minus_6_bar_8_bar_1_bar_45 - location + loc_bar__minus_4_bar_11_bar_1_bar_15 - location + loc_bar__minus_4_bar_7_bar_2_bar_60 - location + loc_bar__minus_16_bar_15_bar_3_bar_60 - location + loc_bar__minus_16_bar_2_bar_2_bar_30 - location + loc_bar__minus_17_bar_17_bar_2_bar_60 - location + loc_bar__minus_15_bar_18_bar_1_bar_30 - location + loc_bar__minus_6_bar_14_bar_1_bar_60 - location + loc_bar__minus_10_bar_13_bar_0_bar_45 - location + loc_bar__minus_16_bar_2_bar_3_bar_60 - location + loc_bar__minus_12_bar_3_bar_2_bar_15 - location + loc_bar__minus_4_bar_11_bar_3_bar_60 - location + loc_bar__minus_13_bar_8_bar_3_bar_45 - location + loc_bar__minus_2_bar_17_bar_0_bar_60 - location + loc_bar__minus_6_bar_15_bar_0_bar_60 - location + loc_bar__minus_10_bar_3_bar_2_bar__minus_15 - location + loc_bar__minus_15_bar_9_bar_3_bar_60 - location + loc_bar__minus_6_bar_14_bar_1_bar_45 - location + loc_bar__minus_13_bar_3_bar_2_bar_15 - location + loc_bar__minus_5_bar_11_bar_1_bar_60 - location + loc_bar__minus_5_bar_14_bar_1_bar_60 - location + loc_bar__minus_6_bar_7_bar_1_bar_60 - location + loc_bar__minus_10_bar_9_bar_2_bar_30 - location + ) + + +(:init + + + (receptacleType ArmChair_bar__minus_00_dot_88_bar__minus_00_dot_03_bar__plus_00_dot_57 ArmChairType) + (receptacleType Sofa_bar__minus_02_dot_13_bar_00_dot_00_bar__plus_04_dot_56 SofaType) + (receptacleType Drawer_bar__minus_04_dot_43_bar__plus_00_dot_47_bar__plus_03_dot_34 DrawerType) + (receptacleType Shelf_bar__minus_00_dot_46_bar__plus_00_dot_17_bar__plus_03_dot_04 ShelfType) + (receptacleType Shelf_bar__minus_00_dot_46_bar__plus_00_dot_57_bar__plus_03_dot_04 ShelfType) + (receptacleType Shelf_bar__minus_00_dot_46_bar__plus_00_dot_48_bar__plus_02_dot_30 ShelfType) + (receptacleType CoffeeTable_bar__minus_01_dot_97_bar__plus_00_dot_00_bar__plus_02_dot_62 CoffeeTableType) + (receptacleType Shelf_bar__minus_00_dot_34_bar__plus_00_dot_18_bar__plus_02_dot_67 ShelfType) + (receptacleType Shelf_bar__minus_00_dot_46_bar__plus_00_dot_42_bar__plus_03_dot_04 ShelfType) + (receptacleType Shelf_bar__minus_00_dot_47_bar__plus_00_dot_18_bar__plus_02_dot_30 ShelfType) + (receptacleType GarbageCan_bar__minus_00_dot_23_bar__plus_00_dot_01_bar__plus_04_dot_78 GarbageCanType) + (receptacleType TVStand_bar__minus_00_dot_34_bar__plus_00_dot_01_bar__plus_02_dot_68 TVStandType) + (receptacleType Sofa_bar__minus_04_dot_57_bar_00_dot_00_bar__plus_01_dot_90 SofaType) + (receptacleType SideTable_bar__minus_04_dot_61_bar__plus_00_dot_01_bar__plus_03_dot_35 SideTableType) + (objectType RemoteControl_bar__minus_00_dot_25_bar__plus_00_dot_77_bar__plus_02_dot_98 RemoteControlType) + (objectType TissueBox_bar__minus_00_dot_55_bar__plus_00_dot_77_bar__plus_02_dot_83 TissueBoxType) + (objectType KeyChain_bar__minus_01_dot_38_bar__plus_00_dot_40_bar__plus_04_dot_49 KeyChainType) + (objectType Watch_bar__minus_02_dot_20_bar__plus_00_dot_20_bar__plus_02_dot_41 WatchType) + (objectType Painting_bar__minus_02_dot_51_bar__plus_01_dot_82_bar__plus_00_dot_11 PaintingType) + (objectType Pillow_bar__minus_02_dot_37_bar__plus_00_dot_48_bar__plus_04_dot_41 PillowType) + (objectType Window_bar__minus_03_dot_90_bar__plus_01_dot_39_bar__plus_00_dot_03 WindowType) + (objectType LightSwitch_bar__minus_03_dot_23_bar__plus_01_dot_34_bar__plus_05_dot_00 LightSwitchType) + (objectType Watch_bar__minus_04_dot_53_bar__plus_00_dot_42_bar__plus_03_dot_41 WatchType) + (objectType TissueBox_bar__minus_00_dot_18_bar__plus_00_dot_77_bar__plus_03_dot_13 TissueBoxType) + (objectType RemoteControl_bar__minus_01_dot_82_bar__plus_00_dot_20_bar__plus_02_dot_99 RemoteControlType) + (objectType DeskLamp_bar__minus_04_dot_66_bar__plus_00_dot_51_bar__plus_03_dot_32 DeskLampType) + (objectType CreditCard_bar__minus_00_dot_78_bar__plus_00_dot_38_bar__plus_00_dot_50 CreditCardType) + (objectType Television_bar__plus_00_dot_00_bar__plus_01_dot_38_bar__plus_02_dot_66 TelevisionType) + (objectType FloorLamp_bar__minus_04_dot_64_bar__plus_00_dot_01_bar__plus_00_dot_36 FloorLampType) + (objectType Pillow_bar__minus_04_dot_42_bar__plus_00_dot_48_bar__plus_02_dot_39 PillowType) + (objectType Vase_bar__minus_02_dot_88_bar__plus_01_dot_52_bar__plus_00_dot_14 VaseType) + (objectType HousePlant_bar__minus_03_dot_13_bar__plus_01_dot_50_bar__plus_00_dot_12 HousePlantType) + (objectType Chair_bar__minus_04_dot_56_bar_00_dot_00_bar__plus_03_dot_87 ChairType) + (objectType KeyChain_bar__minus_04_dot_66_bar__plus_00_dot_40_bar__plus_02_dot_15 KeyChainType) + (objectType Statue_bar__minus_00_dot_39_bar__plus_00_dot_50_bar__plus_02_dot_36 StatueType) + (objectType Newspaper_bar__minus_04_dot_27_bar__plus_00_dot_42_bar__plus_02_dot_15 NewspaperType) + (objectType Window_bar__minus_01_dot_01_bar__plus_01_dot_39_bar__plus_00_dot_03 WindowType) + (objectType Watch_bar__minus_04_dot_52_bar__plus_00_dot_51_bar__plus_03_dot_21 WatchType) + (objectType Laptop_bar__minus_00_dot_34_bar__plus_00_dot_76_bar__plus_02_dot_38 LaptopType) + (objectType Statue_bar__minus_01_dot_82_bar__plus_00_dot_21_bar__plus_02_dot_64 StatueType) + (objectType KeyChain_bar__minus_00_dot_25_bar__plus_00_dot_77_bar__plus_02_dot_68 KeyChainType) + (objectType Box_bar__minus_01_dot_63_bar__plus_00_dot_52_bar__plus_04_dot_57 BoxType) + (objectType Statue_bar__minus_00_dot_40_bar__plus_00_dot_77_bar__plus_03_dot_13 StatueType) + (objectType TissueBox_bar__minus_00_dot_53_bar__plus_00_dot_18_bar__plus_02_dot_99 TissueBoxType) + (objectType CreditCard_bar__minus_01_dot_88_bar__plus_00_dot_40_bar__plus_04_dot_49 CreditCardType) + (canContain ArmChairType BoxType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType PillowType) + (canContain ArmChairType RemoteControlType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType NewspaperType) + (canContain ArmChairType CreditCardType) + (canContain SofaType BoxType) + (canContain SofaType LaptopType) + (canContain SofaType PillowType) + (canContain SofaType RemoteControlType) + (canContain SofaType KeyChainType) + (canContain SofaType NewspaperType) + (canContain SofaType CreditCardType) + (canContain DrawerType WatchType) + (canContain DrawerType NewspaperType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType TissueBoxType) + (canContain ShelfType WatchType) + (canContain ShelfType NewspaperType) + (canContain ShelfType VaseType) + (canContain ShelfType BoxType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType RemoteControlType) + (canContain ShelfType TissueBoxType) + (canContain ShelfType StatueType) + (canContain ShelfType WatchType) + (canContain ShelfType NewspaperType) + (canContain ShelfType VaseType) + (canContain ShelfType BoxType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType RemoteControlType) + (canContain ShelfType TissueBoxType) + (canContain ShelfType StatueType) + (canContain ShelfType WatchType) + (canContain ShelfType NewspaperType) + (canContain ShelfType VaseType) + (canContain ShelfType BoxType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType RemoteControlType) + (canContain ShelfType TissueBoxType) + (canContain ShelfType StatueType) + (canContain CoffeeTableType WatchType) + (canContain CoffeeTableType NewspaperType) + (canContain CoffeeTableType VaseType) + (canContain CoffeeTableType BoxType) + (canContain CoffeeTableType KeyChainType) + (canContain CoffeeTableType CreditCardType) + (canContain CoffeeTableType LaptopType) + (canContain CoffeeTableType RemoteControlType) + (canContain CoffeeTableType TissueBoxType) + (canContain CoffeeTableType StatueType) + (canContain ShelfType WatchType) + (canContain ShelfType NewspaperType) + (canContain ShelfType VaseType) + (canContain ShelfType BoxType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType RemoteControlType) + (canContain ShelfType TissueBoxType) + (canContain ShelfType StatueType) + (canContain ShelfType WatchType) + (canContain ShelfType NewspaperType) + (canContain ShelfType VaseType) + (canContain ShelfType BoxType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType RemoteControlType) + (canContain ShelfType TissueBoxType) + (canContain ShelfType StatueType) + (canContain ShelfType WatchType) + (canContain ShelfType NewspaperType) + (canContain ShelfType VaseType) + (canContain ShelfType BoxType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType RemoteControlType) + (canContain ShelfType TissueBoxType) + (canContain ShelfType StatueType) + (canContain GarbageCanType NewspaperType) + (canContain GarbageCanType TissueBoxType) + (canContain TVStandType TissueBoxType) + (canContain SofaType BoxType) + (canContain SofaType LaptopType) + (canContain SofaType PillowType) + (canContain SofaType RemoteControlType) + (canContain SofaType KeyChainType) + (canContain SofaType NewspaperType) + (canContain SofaType CreditCardType) + (canContain SideTableType WatchType) + (canContain SideTableType NewspaperType) + (canContain SideTableType VaseType) + (canContain SideTableType BoxType) + (canContain SideTableType KeyChainType) + (canContain SideTableType CreditCardType) + (canContain SideTableType LaptopType) + (canContain SideTableType RemoteControlType) + (canContain SideTableType TissueBoxType) + (canContain SideTableType StatueType) + (pickupable RemoteControl_bar__minus_00_dot_25_bar__plus_00_dot_77_bar__plus_02_dot_98) + (pickupable TissueBox_bar__minus_00_dot_55_bar__plus_00_dot_77_bar__plus_02_dot_83) + (pickupable KeyChain_bar__minus_01_dot_38_bar__plus_00_dot_40_bar__plus_04_dot_49) + (pickupable Watch_bar__minus_02_dot_20_bar__plus_00_dot_20_bar__plus_02_dot_41) + (pickupable Pillow_bar__minus_02_dot_37_bar__plus_00_dot_48_bar__plus_04_dot_41) + (pickupable Watch_bar__minus_04_dot_53_bar__plus_00_dot_42_bar__plus_03_dot_41) + (pickupable TissueBox_bar__minus_00_dot_18_bar__plus_00_dot_77_bar__plus_03_dot_13) + (pickupable RemoteControl_bar__minus_01_dot_82_bar__plus_00_dot_20_bar__plus_02_dot_99) + (pickupable CreditCard_bar__minus_00_dot_78_bar__plus_00_dot_38_bar__plus_00_dot_50) + (pickupable Pillow_bar__minus_04_dot_42_bar__plus_00_dot_48_bar__plus_02_dot_39) + (pickupable Vase_bar__minus_02_dot_88_bar__plus_01_dot_52_bar__plus_00_dot_14) + (pickupable KeyChain_bar__minus_04_dot_66_bar__plus_00_dot_40_bar__plus_02_dot_15) + (pickupable Statue_bar__minus_00_dot_39_bar__plus_00_dot_50_bar__plus_02_dot_36) + (pickupable Newspaper_bar__minus_04_dot_27_bar__plus_00_dot_42_bar__plus_02_dot_15) + (pickupable Watch_bar__minus_04_dot_52_bar__plus_00_dot_51_bar__plus_03_dot_21) + (pickupable Laptop_bar__minus_00_dot_34_bar__plus_00_dot_76_bar__plus_02_dot_38) + (pickupable Statue_bar__minus_01_dot_82_bar__plus_00_dot_21_bar__plus_02_dot_64) + (pickupable KeyChain_bar__minus_00_dot_25_bar__plus_00_dot_77_bar__plus_02_dot_68) + (pickupable Box_bar__minus_01_dot_63_bar__plus_00_dot_52_bar__plus_04_dot_57) + (pickupable Statue_bar__minus_00_dot_40_bar__plus_00_dot_77_bar__plus_03_dot_13) + (pickupable TissueBox_bar__minus_00_dot_53_bar__plus_00_dot_18_bar__plus_02_dot_99) + (pickupable CreditCard_bar__minus_01_dot_88_bar__plus_00_dot_40_bar__plus_04_dot_49) + (isReceptacleObject Box_bar__minus_01_dot_63_bar__plus_00_dot_52_bar__plus_04_dot_57) + (openable Drawer_bar__minus_04_dot_43_bar__plus_00_dot_47_bar__plus_03_dot_34) + + (atLocation agent1 loc_bar__minus_10_bar_9_bar_2_bar_30) + + + + + + + + (toggleable DeskLamp_bar__minus_04_dot_66_bar__plus_00_dot_51_bar__plus_03_dot_32) + (toggleable FloorLamp_bar__minus_04_dot_64_bar__plus_00_dot_01_bar__plus_00_dot_36) + + + + + (inReceptacle TissueBox_bar__minus_00_dot_53_bar__plus_00_dot_18_bar__plus_02_dot_99 Shelf_bar__minus_00_dot_46_bar__plus_00_dot_17_bar__plus_03_dot_04) + (inReceptacle Watch_bar__minus_04_dot_52_bar__plus_00_dot_51_bar__plus_03_dot_21 SideTable_bar__minus_04_dot_61_bar__plus_00_dot_01_bar__plus_03_dot_35) + (inReceptacle DeskLamp_bar__minus_04_dot_66_bar__plus_00_dot_51_bar__plus_03_dot_32 SideTable_bar__minus_04_dot_61_bar__plus_00_dot_01_bar__plus_03_dot_35) + (inReceptacle Box_bar__minus_01_dot_63_bar__plus_00_dot_52_bar__plus_04_dot_57 Sofa_bar__minus_02_dot_13_bar_00_dot_00_bar__plus_04_dot_56) + (inReceptacle Pillow_bar__minus_02_dot_37_bar__plus_00_dot_48_bar__plus_04_dot_41 Sofa_bar__minus_02_dot_13_bar_00_dot_00_bar__plus_04_dot_56) + (inReceptacle CreditCard_bar__minus_01_dot_88_bar__plus_00_dot_40_bar__plus_04_dot_49 Sofa_bar__minus_02_dot_13_bar_00_dot_00_bar__plus_04_dot_56) + (inReceptacle Statue_bar__minus_00_dot_39_bar__plus_00_dot_50_bar__plus_02_dot_36 Shelf_bar__minus_00_dot_46_bar__plus_00_dot_48_bar__plus_02_dot_30) + (inReceptacle Statue_bar__minus_01_dot_82_bar__plus_00_dot_21_bar__plus_02_dot_64 CoffeeTable_bar__minus_01_dot_97_bar__plus_00_dot_00_bar__plus_02_dot_62) + (inReceptacle RemoteControl_bar__minus_01_dot_82_bar__plus_00_dot_20_bar__plus_02_dot_99 CoffeeTable_bar__minus_01_dot_97_bar__plus_00_dot_00_bar__plus_02_dot_62) + (inReceptacle Watch_bar__minus_02_dot_20_bar__plus_00_dot_20_bar__plus_02_dot_41 CoffeeTable_bar__minus_01_dot_97_bar__plus_00_dot_00_bar__plus_02_dot_62) + (inReceptacle Watch_bar__minus_04_dot_53_bar__plus_00_dot_42_bar__plus_03_dot_41 Drawer_bar__minus_04_dot_43_bar__plus_00_dot_47_bar__plus_03_dot_34) + (inReceptacle Pillow_bar__minus_04_dot_42_bar__plus_00_dot_48_bar__plus_02_dot_39 Sofa_bar__minus_04_dot_57_bar_00_dot_00_bar__plus_01_dot_90) + (inReceptacle Newspaper_bar__minus_04_dot_27_bar__plus_00_dot_42_bar__plus_02_dot_15 Sofa_bar__minus_04_dot_57_bar_00_dot_00_bar__plus_01_dot_90) + (inReceptacle CreditCard_bar__minus_00_dot_78_bar__plus_00_dot_38_bar__plus_00_dot_50 ArmChair_bar__minus_00_dot_88_bar__minus_00_dot_03_bar__plus_00_dot_57) + (inReceptacle RemoteControl_bar__minus_00_dot_25_bar__plus_00_dot_77_bar__plus_02_dot_98 TVStand_bar__minus_00_dot_34_bar__plus_00_dot_01_bar__plus_02_dot_68) + (inReceptacle Laptop_bar__minus_00_dot_34_bar__plus_00_dot_76_bar__plus_02_dot_38 TVStand_bar__minus_00_dot_34_bar__plus_00_dot_01_bar__plus_02_dot_68) + (inReceptacle TissueBox_bar__minus_00_dot_55_bar__plus_00_dot_77_bar__plus_02_dot_83 TVStand_bar__minus_00_dot_34_bar__plus_00_dot_01_bar__plus_02_dot_68) + (inReceptacle KeyChain_bar__minus_00_dot_25_bar__plus_00_dot_77_bar__plus_02_dot_68 TVStand_bar__minus_00_dot_34_bar__plus_00_dot_01_bar__plus_02_dot_68) + (inReceptacle Statue_bar__minus_00_dot_40_bar__plus_00_dot_77_bar__plus_03_dot_13 TVStand_bar__minus_00_dot_34_bar__plus_00_dot_01_bar__plus_02_dot_68) + (inReceptacle TissueBox_bar__minus_00_dot_18_bar__plus_00_dot_77_bar__plus_03_dot_13 TVStand_bar__minus_00_dot_34_bar__plus_00_dot_01_bar__plus_02_dot_68) + + + (receptacleAtLocation ArmChair_bar__minus_00_dot_88_bar__minus_00_dot_03_bar__plus_00_dot_57 loc_bar__minus_4_bar_7_bar_2_bar_60) + (receptacleAtLocation CoffeeTable_bar__minus_01_dot_97_bar__plus_00_dot_00_bar__plus_02_dot_62 loc_bar__minus_4_bar_11_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_04_dot_43_bar__plus_00_dot_47_bar__plus_03_dot_34 loc_bar__minus_15_bar_17_bar_2_bar_60) + (receptacleAtLocation GarbageCan_bar__minus_00_dot_23_bar__plus_00_dot_01_bar__plus_04_dot_78 loc_bar__minus_2_bar_17_bar_0_bar_60) + (receptacleAtLocation Shelf_bar__minus_00_dot_34_bar__plus_00_dot_18_bar__plus_02_dot_67 loc_bar__minus_6_bar_8_bar_1_bar_45) + (receptacleAtLocation Shelf_bar__minus_00_dot_46_bar__plus_00_dot_17_bar__plus_03_dot_04 loc_bar__minus_6_bar_14_bar_1_bar_60) + (receptacleAtLocation Shelf_bar__minus_00_dot_46_bar__plus_00_dot_42_bar__plus_03_dot_04 loc_bar__minus_6_bar_14_bar_1_bar_45) + (receptacleAtLocation Shelf_bar__minus_00_dot_46_bar__plus_00_dot_48_bar__plus_02_dot_30 loc_bar__minus_5_bar_11_bar_1_bar_60) + (receptacleAtLocation Shelf_bar__minus_00_dot_46_bar__plus_00_dot_57_bar__plus_03_dot_04 loc_bar__minus_5_bar_14_bar_1_bar_60) + (receptacleAtLocation Shelf_bar__minus_00_dot_47_bar__plus_00_dot_18_bar__plus_02_dot_30 loc_bar__minus_6_bar_7_bar_1_bar_60) + (receptacleAtLocation SideTable_bar__minus_04_dot_61_bar__plus_00_dot_01_bar__plus_03_dot_35 loc_bar__minus_17_bar_17_bar_2_bar_60) + (receptacleAtLocation Sofa_bar__minus_02_dot_13_bar_00_dot_00_bar__plus_04_dot_56 loc_bar__minus_10_bar_13_bar_0_bar_45) + (receptacleAtLocation Sofa_bar__minus_04_dot_57_bar_00_dot_00_bar__plus_01_dot_90 loc_bar__minus_13_bar_8_bar_3_bar_45) + (receptacleAtLocation TVStand_bar__minus_00_dot_34_bar__plus_00_dot_01_bar__plus_02_dot_68 loc_bar__minus_5_bar_11_bar_1_bar_60) + (objectAtLocation Statue_bar__minus_01_dot_82_bar__plus_00_dot_21_bar__plus_02_dot_64 loc_bar__minus_4_bar_11_bar_3_bar_60) + (objectAtLocation Watch_bar__minus_04_dot_53_bar__plus_00_dot_42_bar__plus_03_dot_41 loc_bar__minus_15_bar_17_bar_2_bar_60) + (objectAtLocation KeyChain_bar__minus_00_dot_25_bar__plus_00_dot_77_bar__plus_02_dot_68 loc_bar__minus_5_bar_11_bar_1_bar_60) + (objectAtLocation Pillow_bar__minus_02_dot_37_bar__plus_00_dot_48_bar__plus_04_dot_41 loc_bar__minus_10_bar_13_bar_0_bar_45) + (objectAtLocation RemoteControl_bar__minus_00_dot_25_bar__plus_00_dot_77_bar__plus_02_dot_98 loc_bar__minus_5_bar_11_bar_1_bar_60) + (objectAtLocation TissueBox_bar__minus_00_dot_18_bar__plus_00_dot_77_bar__plus_03_dot_13 loc_bar__minus_5_bar_11_bar_1_bar_60) + (objectAtLocation CreditCard_bar__minus_00_dot_78_bar__plus_00_dot_38_bar__plus_00_dot_50 loc_bar__minus_4_bar_7_bar_2_bar_60) + (objectAtLocation KeyChain_bar__minus_01_dot_38_bar__plus_00_dot_40_bar__plus_04_dot_49 loc_bar__minus_6_bar_15_bar_0_bar_60) + (objectAtLocation Watch_bar__minus_04_dot_52_bar__plus_00_dot_51_bar__plus_03_dot_21 loc_bar__minus_17_bar_17_bar_2_bar_60) + (objectAtLocation TissueBox_bar__minus_00_dot_55_bar__plus_00_dot_77_bar__plus_02_dot_83 loc_bar__minus_5_bar_11_bar_1_bar_60) + (objectAtLocation Chair_bar__minus_04_dot_56_bar_00_dot_00_bar__plus_03_dot_87 loc_bar__minus_16_bar_15_bar_3_bar_60) + (objectAtLocation Box_bar__minus_01_dot_63_bar__plus_00_dot_52_bar__plus_04_dot_57 loc_bar__minus_10_bar_13_bar_0_bar_45) + (objectAtLocation HousePlant_bar__minus_03_dot_13_bar__plus_01_dot_50_bar__plus_00_dot_12 loc_bar__minus_13_bar_3_bar_2_bar_15) + (objectAtLocation CreditCard_bar__minus_01_dot_88_bar__plus_00_dot_40_bar__plus_04_dot_49 loc_bar__minus_10_bar_13_bar_0_bar_45) + (objectAtLocation Television_bar__plus_00_dot_00_bar__plus_01_dot_38_bar__plus_02_dot_66 loc_bar__minus_4_bar_11_bar_1_bar_15) + (objectAtLocation DeskLamp_bar__minus_04_dot_66_bar__plus_00_dot_51_bar__plus_03_dot_32 loc_bar__minus_17_bar_17_bar_2_bar_60) + (objectAtLocation TissueBox_bar__minus_00_dot_53_bar__plus_00_dot_18_bar__plus_02_dot_99 loc_bar__minus_6_bar_14_bar_1_bar_60) + (objectAtLocation Laptop_bar__minus_00_dot_34_bar__plus_00_dot_76_bar__plus_02_dot_38 loc_bar__minus_5_bar_11_bar_1_bar_60) + (objectAtLocation Vase_bar__minus_02_dot_88_bar__plus_01_dot_52_bar__plus_00_dot_14 loc_bar__minus_12_bar_3_bar_2_bar_15) + (objectAtLocation RemoteControl_bar__minus_01_dot_82_bar__plus_00_dot_20_bar__plus_02_dot_99 loc_bar__minus_4_bar_11_bar_3_bar_60) + (objectAtLocation Painting_bar__minus_02_dot_51_bar__plus_01_dot_82_bar__plus_00_dot_11 loc_bar__minus_10_bar_3_bar_2_bar__minus_15) + (objectAtLocation Pillow_bar__minus_04_dot_42_bar__plus_00_dot_48_bar__plus_02_dot_39 loc_bar__minus_13_bar_8_bar_3_bar_45) + (objectAtLocation FloorLamp_bar__minus_04_dot_64_bar__plus_00_dot_01_bar__plus_00_dot_36 loc_bar__minus_16_bar_2_bar_3_bar_60) + (objectAtLocation KeyChain_bar__minus_04_dot_66_bar__plus_00_dot_40_bar__plus_02_dot_15 loc_bar__minus_15_bar_9_bar_3_bar_60) + (objectAtLocation Watch_bar__minus_02_dot_20_bar__plus_00_dot_20_bar__plus_02_dot_41 loc_bar__minus_4_bar_11_bar_3_bar_60) + (objectAtLocation LightSwitch_bar__minus_03_dot_23_bar__plus_01_dot_34_bar__plus_05_dot_00 loc_bar__minus_15_bar_18_bar_1_bar_30) + (objectAtLocation Newspaper_bar__minus_04_dot_27_bar__plus_00_dot_42_bar__plus_02_dot_15 loc_bar__minus_13_bar_8_bar_3_bar_45) + (objectAtLocation Window_bar__minus_01_dot_01_bar__plus_01_dot_39_bar__plus_00_dot_03 loc_bar__minus_4_bar_5_bar_2_bar_15) + (objectAtLocation Window_bar__minus_03_dot_90_bar__plus_01_dot_39_bar__plus_00_dot_03 loc_bar__minus_16_bar_2_bar_2_bar_30) + (objectAtLocation Statue_bar__minus_00_dot_40_bar__plus_00_dot_77_bar__plus_03_dot_13 loc_bar__minus_5_bar_11_bar_1_bar_60) + (objectAtLocation Statue_bar__minus_00_dot_39_bar__plus_00_dot_50_bar__plus_02_dot_36 loc_bar__minus_5_bar_11_bar_1_bar_60) + ) + + + (: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-225/trial_T20190908_104554_100496/traj_data.json b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Pillow-None-ArmChair-225/trial_T20190908_104554_100496/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..1e7435a97390220ddc59dc8c487f6a350f98bfbb --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Pillow-None-ArmChair-225/trial_T20190908_104554_100496/traj_data.json @@ -0,0 +1,2697 @@ +{ + "images": [ + { + "high_idx": 0, + "image_name": "000000000.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000001.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000002.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000003.png", + "low_idx": 0 + 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"y": 270.000183, + "z": 0.0 + } + }, + { + "objectName": "Watch_42f358fb", + "position": { + "x": -4.531169, + "y": 0.424936771, + "z": 3.40779448 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Newspaper_820f3c89", + "position": { + "x": -4.26614237, + "y": 0.4212053, + "z": 2.14667535 + }, + "rotation": { + "x": 0.0, + "y": 270.000153, + "z": 0.0 + } + }, + { + "objectName": "Statue_3402f015", + "position": { + "x": -1.81669569, + "y": 0.205818534, + "z": 2.643005 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Statue_5d099de8", + "position": { + "x": -0.393272042, + "y": 0.495397955, + "z": 2.362742 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 416137157, + "scene_num": 225 + }, + "task_id": "trial_T20190908_104554_100496", + "task_type": "pick_and_place_simple", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A1NWXL4QO30M8U_35USIKEBNU7V3ZSWN8DJ4QNVTMS6NA", + "high_descs": [ + "Turn around and take one step, then turn left and walk to the couch. ", + "Pick up the orange pillow that is near the newspaper on the couch.", + "Turn around and walk across the room, then turn right. ", + "Put the orange pillow down on the chair. " + ], + "task_desc": "To move the pillow.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AJQGWGESKQT4Y_3T111IHZ5HH30GMMEMXCXKJ7KKP9RC", + "high_descs": [ + "Turn to the right and face the black couch with the newspaper and pillow on it.", + "Pick the pillow up from the couch.", + "Turn around and cross the room and turn to the right to face the black chair with a credit card on it.", + "Put the pillow on the chair." + ], + "task_desc": "Put a pillow on a chair.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A2KAGFQU28JY43_3UOUJI6MTG5LH4W1LWYVIYS9YMEXUH", + "high_descs": [ + "Turn to your right and go to the couch across from you. ", + "Pick up the orange pillow on the right end of the couch. ", + "Turn around and walk across the living room to the arm chair on your right. ", + "Place the pillow on the seat of the arm chair." + ], + "task_desc": "Put a pillow on one of the chairs.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-Pillow-None-ArmChair-225/trial_T20190908_104612_718251/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Pillow-None-ArmChair-225/trial_T20190908_104612_718251/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..d828ffeefa292d01d7d90336f9ee4e727c7d2c51 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Pillow-None-ArmChair-225/trial_T20190908_104612_718251/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\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_104612_718251)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Box_bar__minus_00_dot_33_bar__plus_00_dot_86_bar__plus_02_dot_68 - object\n Chair_bar__minus_04_dot_56_bar_00_dot_00_bar__plus_03_dot_87 - object\n CreditCard_bar__minus_00_dot_33_bar__plus_00_dot_76_bar__plus_02_dot_83 - object\n CreditCard_bar__minus_01_dot_63_bar__plus_00_dot_40_bar__plus_04_dot_25 - object\n CreditCard_bar__minus_02_dot_12_bar__plus_00_dot_20_bar__plus_02_dot_64 - object\n DeskLamp_bar__minus_04_dot_66_bar__plus_00_dot_51_bar__plus_03_dot_32 - object\n FloorLamp_bar__minus_04_dot_64_bar__plus_00_dot_01_bar__plus_00_dot_36 - object\n HousePlant_bar__minus_03_dot_13_bar__plus_01_dot_50_bar__plus_00_dot_12 - object\n KeyChain_bar__minus_00_dot_55_bar__plus_00_dot_77_bar__plus_02_dot_98 - object\n KeyChain_bar__minus_02_dot_87_bar__plus_00_dot_40_bar__plus_04_dot_41 - object\n KeyChain_bar__minus_04_dot_52_bar__plus_00_dot_51_bar__plus_03_dot_39 - object\n Laptop_bar__minus_04_dot_42_bar__plus_00_dot_42_bar__plus_01_dot_65 - object\n LightSwitch_bar__minus_03_dot_23_bar__plus_01_dot_34_bar__plus_05_dot_00 - object\n Newspaper_bar__minus_00_dot_50_bar__plus_00_dot_43_bar__plus_03_dot_05 - object\n Newspaper_bar__minus_00_dot_88_bar__plus_00_dot_38_bar__plus_00_dot_71 - object\n Newspaper_bar__minus_02_dot_12_bar__plus_00_dot_20_bar__plus_02_dot_87 - object\n Painting_bar__minus_02_dot_51_bar__plus_01_dot_82_bar__plus_00_dot_11 - object\n Pillow_bar__minus_02_dot_37_bar__plus_00_dot_48_bar__plus_04_dot_41 - object\n Pillow_bar__minus_04_dot_50_bar__plus_00_dot_48_bar__plus_02_dot_39 - object\n RemoteControl_bar__minus_00_dot_25_bar__plus_00_dot_76_bar__plus_02_dot_23 - object\n RemoteControl_bar__minus_01_dot_38_bar__plus_00_dot_42_bar__plus_04_dot_65 - object\n Statue_bar__minus_00_dot_18_bar__plus_00_dot_77_bar__plus_02_dot_98 - object\n Statue_bar__minus_01_dot_87_bar__plus_01_dot_52_bar__plus_00_dot_15 - object\n Television_bar__plus_00_dot_00_bar__plus_01_dot_38_bar__plus_02_dot_66 - object\n TissueBox_bar__minus_00_dot_40_bar__plus_00_dot_77_bar__plus_02_dot_98 - object\n TissueBox_bar__minus_01_dot_82_bar__plus_00_dot_20_bar__plus_02_dot_41 - object\n Vase_bar__minus_02_dot_88_bar__plus_01_dot_52_bar__plus_00_dot_14 - object\n Watch_bar__minus_00_dot_18_bar__plus_00_dot_77_bar__plus_02_dot_38 - object\n Watch_bar__minus_00_dot_55_bar__plus_00_dot_76_bar__plus_03_dot_13 - object\n Watch_bar__minus_04_dot_61_bar__plus_00_dot_51_bar__plus_03_dot_48 - object\n Window_bar__minus_01_dot_01_bar__plus_01_dot_39_bar__plus_00_dot_03 - object\n Window_bar__minus_03_dot_90_bar__plus_01_dot_39_bar__plus_00_dot_03 - object\n ArmChair_bar__minus_00_dot_88_bar__minus_00_dot_03_bar__plus_00_dot_57 - receptacle\n CoffeeTable_bar__minus_01_dot_97_bar__plus_00_dot_00_bar__plus_02_dot_62 - receptacle\n Drawer_bar__minus_04_dot_43_bar__plus_00_dot_47_bar__plus_03_dot_34 - receptacle\n GarbageCan_bar__minus_00_dot_23_bar__plus_00_dot_01_bar__plus_04_dot_78 - receptacle\n Shelf_bar__minus_00_dot_34_bar__plus_00_dot_18_bar__plus_02_dot_67 - receptacle\n Shelf_bar__minus_00_dot_46_bar__plus_00_dot_17_bar__plus_03_dot_04 - receptacle\n Shelf_bar__minus_00_dot_46_bar__plus_00_dot_42_bar__plus_03_dot_04 - receptacle\n Shelf_bar__minus_00_dot_46_bar__plus_00_dot_48_bar__plus_02_dot_30 - receptacle\n Shelf_bar__minus_00_dot_46_bar__plus_00_dot_57_bar__plus_03_dot_04 - receptacle\n Shelf_bar__minus_00_dot_47_bar__plus_00_dot_18_bar__plus_02_dot_30 - receptacle\n SideTable_bar__minus_04_dot_61_bar__plus_00_dot_01_bar__plus_03_dot_35 - receptacle\n Sofa_bar__minus_02_dot_13_bar_00_dot_00_bar__plus_04_dot_56 - receptacle\n Sofa_bar__minus_04_dot_57_bar_00_dot_00_bar__plus_01_dot_90 - receptacle\n TVStand_bar__minus_00_dot_34_bar__plus_00_dot_01_bar__plus_02_dot_68 - receptacle\n loc_bar__minus_15_bar_17_bar_2_bar_60 - location\n loc_bar__minus_4_bar_5_bar_2_bar_15 - location\n loc_bar__minus_6_bar_8_bar_1_bar_45 - location\n loc_bar__minus_4_bar_11_bar_1_bar_15 - location\n loc_bar__minus_4_bar_7_bar_2_bar_60 - location\n loc_bar__minus_16_bar_15_bar_3_bar_60 - location\n loc_bar__minus_16_bar_2_bar_2_bar_30 - location\n loc_bar__minus_17_bar_17_bar_2_bar_60 - location\n loc_bar__minus_15_bar_18_bar_1_bar_30 - location\n loc_bar__minus_6_bar_14_bar_1_bar_60 - location\n loc_bar__minus_10_bar_13_bar_0_bar_45 - location\n loc_bar__minus_16_bar_2_bar_3_bar_60 - location\n loc_bar__minus_12_bar_3_bar_2_bar_15 - location\n loc_bar__minus_4_bar_11_bar_3_bar_60 - location\n loc_bar__minus_13_bar_8_bar_3_bar_45 - location\n loc_bar__minus_2_bar_17_bar_0_bar_60 - location\n loc_bar__minus_10_bar_3_bar_2_bar__minus_15 - location\n loc_bar__minus_11_bar_15_bar_0_bar_60 - location\n loc_bar__minus_6_bar_14_bar_1_bar_45 - location\n loc_bar__minus_13_bar_3_bar_2_bar_15 - location\n loc_bar__minus_5_bar_11_bar_1_bar_60 - location\n loc_bar__minus_5_bar_14_bar_1_bar_60 - location\n loc_bar__minus_7_bar_3_bar_2_bar_15 - location\n loc_bar__minus_6_bar_7_bar_1_bar_60 - location\n loc_bar__minus_6_bar_8_bar_1_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType ArmChair_bar__minus_00_dot_88_bar__minus_00_dot_03_bar__plus_00_dot_57 ArmChairType)\n (receptacleType Sofa_bar__minus_02_dot_13_bar_00_dot_00_bar__plus_04_dot_56 SofaType)\n (receptacleType Drawer_bar__minus_04_dot_43_bar__plus_00_dot_47_bar__plus_03_dot_34 DrawerType)\n (receptacleType Shelf_bar__minus_00_dot_46_bar__plus_00_dot_17_bar__plus_03_dot_04 ShelfType)\n (receptacleType Shelf_bar__minus_00_dot_46_bar__plus_00_dot_57_bar__plus_03_dot_04 ShelfType)\n (receptacleType Shelf_bar__minus_00_dot_46_bar__plus_00_dot_48_bar__plus_02_dot_30 ShelfType)\n (receptacleType CoffeeTable_bar__minus_01_dot_97_bar__plus_00_dot_00_bar__plus_02_dot_62 CoffeeTableType)\n (receptacleType Shelf_bar__minus_00_dot_34_bar__plus_00_dot_18_bar__plus_02_dot_67 ShelfType)\n (receptacleType Shelf_bar__minus_00_dot_46_bar__plus_00_dot_42_bar__plus_03_dot_04 ShelfType)\n (receptacleType Shelf_bar__minus_00_dot_47_bar__plus_00_dot_18_bar__plus_02_dot_30 ShelfType)\n (receptacleType GarbageCan_bar__minus_00_dot_23_bar__plus_00_dot_01_bar__plus_04_dot_78 GarbageCanType)\n (receptacleType TVStand_bar__minus_00_dot_34_bar__plus_00_dot_01_bar__plus_02_dot_68 TVStandType)\n (receptacleType Sofa_bar__minus_04_dot_57_bar_00_dot_00_bar__plus_01_dot_90 SofaType)\n (receptacleType SideTable_bar__minus_04_dot_61_bar__plus_00_dot_01_bar__plus_03_dot_35 SideTableType)\n (objectType CreditCard_bar__minus_01_dot_63_bar__plus_00_dot_40_bar__plus_04_dot_25 CreditCardType)\n (objectType Box_bar__minus_00_dot_33_bar__plus_00_dot_86_bar__plus_02_dot_68 BoxType)\n (objectType RemoteControl_bar__minus_01_dot_38_bar__plus_00_dot_42_bar__plus_04_dot_65 RemoteControlType)\n (objectType Painting_bar__minus_02_dot_51_bar__plus_01_dot_82_bar__plus_00_dot_11 PaintingType)\n (objectType Pillow_bar__minus_02_dot_37_bar__plus_00_dot_48_bar__plus_04_dot_41 PillowType)\n (objectType CreditCard_bar__minus_02_dot_12_bar__plus_00_dot_20_bar__plus_02_dot_64 CreditCardType)\n (objectType Window_bar__minus_03_dot_90_bar__plus_01_dot_39_bar__plus_00_dot_03 WindowType)\n (objectType LightSwitch_bar__minus_03_dot_23_bar__plus_01_dot_34_bar__plus_05_dot_00 LightSwitchType)\n (objectType Statue_bar__minus_00_dot_18_bar__plus_00_dot_77_bar__plus_02_dot_98 StatueType)\n (objectType TissueBox_bar__minus_00_dot_40_bar__plus_00_dot_77_bar__plus_02_dot_98 TissueBoxType)\n (objectType KeyChain_bar__minus_00_dot_55_bar__plus_00_dot_77_bar__plus_02_dot_98 KeyChainType)\n (objectType CreditCard_bar__minus_00_dot_33_bar__plus_00_dot_76_bar__plus_02_dot_83 CreditCardType)\n (objectType Newspaper_bar__minus_00_dot_88_bar__plus_00_dot_38_bar__plus_00_dot_71 NewspaperType)\n (objectType Watch_bar__minus_00_dot_18_bar__plus_00_dot_77_bar__plus_02_dot_38 WatchType)\n (objectType DeskLamp_bar__minus_04_dot_66_bar__plus_00_dot_51_bar__plus_03_dot_32 DeskLampType)\n (objectType Newspaper_bar__minus_00_dot_50_bar__plus_00_dot_43_bar__plus_03_dot_05 NewspaperType)\n (objectType Television_bar__plus_00_dot_00_bar__plus_01_dot_38_bar__plus_02_dot_66 TelevisionType)\n (objectType FloorLamp_bar__minus_04_dot_64_bar__plus_00_dot_01_bar__plus_00_dot_36 FloorLampType)\n (objectType KeyChain_bar__minus_04_dot_52_bar__plus_00_dot_51_bar__plus_03_dot_39 KeyChainType)\n (objectType Statue_bar__minus_01_dot_87_bar__plus_01_dot_52_bar__plus_00_dot_15 StatueType)\n (objectType Vase_bar__minus_02_dot_88_bar__plus_01_dot_52_bar__plus_00_dot_14 VaseType)\n (objectType HousePlant_bar__minus_03_dot_13_bar__plus_01_dot_50_bar__plus_00_dot_12 HousePlantType)\n (objectType Laptop_bar__minus_04_dot_42_bar__plus_00_dot_42_bar__plus_01_dot_65 LaptopType)\n (objectType Chair_bar__minus_04_dot_56_bar_00_dot_00_bar__plus_03_dot_87 ChairType)\n (objectType RemoteControl_bar__minus_00_dot_25_bar__plus_00_dot_76_bar__plus_02_dot_23 RemoteControlType)\n (objectType KeyChain_bar__minus_02_dot_87_bar__plus_00_dot_40_bar__plus_04_dot_41 KeyChainType)\n (objectType Watch_bar__minus_04_dot_61_bar__plus_00_dot_51_bar__plus_03_dot_48 WatchType)\n (objectType Watch_bar__minus_00_dot_55_bar__plus_00_dot_76_bar__plus_03_dot_13 WatchType)\n (objectType Newspaper_bar__minus_02_dot_12_bar__plus_00_dot_20_bar__plus_02_dot_87 NewspaperType)\n (objectType Window_bar__minus_01_dot_01_bar__plus_01_dot_39_bar__plus_00_dot_03 WindowType)\n (objectType TissueBox_bar__minus_01_dot_82_bar__plus_00_dot_20_bar__plus_02_dot_41 TissueBoxType)\n (objectType Pillow_bar__minus_04_dot_50_bar__plus_00_dot_48_bar__plus_02_dot_39 PillowType)\n (canContain ArmChairType BoxType)\n (canContain ArmChairType LaptopType)\n (canContain ArmChairType PillowType)\n (canContain ArmChairType RemoteControlType)\n (canContain ArmChairType KeyChainType)\n (canContain ArmChairType NewspaperType)\n (canContain ArmChairType CreditCardType)\n (canContain SofaType BoxType)\n (canContain SofaType LaptopType)\n (canContain SofaType PillowType)\n (canContain SofaType RemoteControlType)\n (canContain SofaType KeyChainType)\n (canContain SofaType NewspaperType)\n (canContain SofaType CreditCardType)\n (canContain DrawerType WatchType)\n (canContain DrawerType NewspaperType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType TissueBoxType)\n (canContain ShelfType WatchType)\n (canContain ShelfType NewspaperType)\n (canContain ShelfType VaseType)\n (canContain ShelfType BoxType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType RemoteControlType)\n (canContain ShelfType TissueBoxType)\n (canContain ShelfType StatueType)\n (canContain ShelfType WatchType)\n (canContain ShelfType NewspaperType)\n (canContain ShelfType VaseType)\n (canContain ShelfType BoxType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType RemoteControlType)\n (canContain ShelfType TissueBoxType)\n (canContain ShelfType StatueType)\n (canContain ShelfType WatchType)\n (canContain ShelfType NewspaperType)\n (canContain ShelfType VaseType)\n (canContain ShelfType BoxType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType RemoteControlType)\n (canContain ShelfType TissueBoxType)\n (canContain ShelfType StatueType)\n (canContain CoffeeTableType WatchType)\n (canContain CoffeeTableType NewspaperType)\n (canContain CoffeeTableType VaseType)\n (canContain CoffeeTableType BoxType)\n (canContain CoffeeTableType KeyChainType)\n (canContain CoffeeTableType CreditCardType)\n (canContain CoffeeTableType LaptopType)\n (canContain CoffeeTableType RemoteControlType)\n (canContain CoffeeTableType TissueBoxType)\n (canContain CoffeeTableType StatueType)\n (canContain ShelfType WatchType)\n (canContain ShelfType NewspaperType)\n (canContain ShelfType VaseType)\n (canContain ShelfType BoxType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType RemoteControlType)\n (canContain ShelfType TissueBoxType)\n (canContain ShelfType StatueType)\n (canContain ShelfType WatchType)\n (canContain ShelfType NewspaperType)\n (canContain ShelfType VaseType)\n (canContain ShelfType BoxType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType RemoteControlType)\n (canContain ShelfType TissueBoxType)\n (canContain ShelfType StatueType)\n (canContain ShelfType WatchType)\n (canContain ShelfType NewspaperType)\n (canContain ShelfType VaseType)\n (canContain ShelfType BoxType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType RemoteControlType)\n (canContain ShelfType TissueBoxType)\n (canContain ShelfType StatueType)\n (canContain GarbageCanType NewspaperType)\n (canContain GarbageCanType TissueBoxType)\n (canContain TVStandType TissueBoxType)\n (canContain SofaType BoxType)\n (canContain SofaType LaptopType)\n (canContain SofaType PillowType)\n (canContain SofaType RemoteControlType)\n (canContain SofaType KeyChainType)\n (canContain SofaType NewspaperType)\n (canContain SofaType CreditCardType)\n (canContain SideTableType WatchType)\n (canContain SideTableType NewspaperType)\n (canContain SideTableType VaseType)\n (canContain SideTableType BoxType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType RemoteControlType)\n (canContain SideTableType TissueBoxType)\n (canContain SideTableType StatueType)\n (pickupable CreditCard_bar__minus_01_dot_63_bar__plus_00_dot_40_bar__plus_04_dot_25)\n (pickupable Box_bar__minus_00_dot_33_bar__plus_00_dot_86_bar__plus_02_dot_68)\n (pickupable RemoteControl_bar__minus_01_dot_38_bar__plus_00_dot_42_bar__plus_04_dot_65)\n (pickupable Pillow_bar__minus_02_dot_37_bar__plus_00_dot_48_bar__plus_04_dot_41)\n (pickupable CreditCard_bar__minus_02_dot_12_bar__plus_00_dot_20_bar__plus_02_dot_64)\n (pickupable Statue_bar__minus_00_dot_18_bar__plus_00_dot_77_bar__plus_02_dot_98)\n (pickupable TissueBox_bar__minus_00_dot_40_bar__plus_00_dot_77_bar__plus_02_dot_98)\n (pickupable KeyChain_bar__minus_00_dot_55_bar__plus_00_dot_77_bar__plus_02_dot_98)\n (pickupable CreditCard_bar__minus_00_dot_33_bar__plus_00_dot_76_bar__plus_02_dot_83)\n (pickupable Newspaper_bar__minus_00_dot_88_bar__plus_00_dot_38_bar__plus_00_dot_71)\n (pickupable Watch_bar__minus_00_dot_18_bar__plus_00_dot_77_bar__plus_02_dot_38)\n (pickupable Newspaper_bar__minus_00_dot_50_bar__plus_00_dot_43_bar__plus_03_dot_05)\n (pickupable KeyChain_bar__minus_04_dot_52_bar__plus_00_dot_51_bar__plus_03_dot_39)\n (pickupable Statue_bar__minus_01_dot_87_bar__plus_01_dot_52_bar__plus_00_dot_15)\n (pickupable Vase_bar__minus_02_dot_88_bar__plus_01_dot_52_bar__plus_00_dot_14)\n (pickupable Laptop_bar__minus_04_dot_42_bar__plus_00_dot_42_bar__plus_01_dot_65)\n (pickupable RemoteControl_bar__minus_00_dot_25_bar__plus_00_dot_76_bar__plus_02_dot_23)\n (pickupable KeyChain_bar__minus_02_dot_87_bar__plus_00_dot_40_bar__plus_04_dot_41)\n (pickupable Watch_bar__minus_04_dot_61_bar__plus_00_dot_51_bar__plus_03_dot_48)\n (pickupable Watch_bar__minus_00_dot_55_bar__plus_00_dot_76_bar__plus_03_dot_13)\n (pickupable Newspaper_bar__minus_02_dot_12_bar__plus_00_dot_20_bar__plus_02_dot_87)\n (pickupable TissueBox_bar__minus_01_dot_82_bar__plus_00_dot_20_bar__plus_02_dot_41)\n (pickupable Pillow_bar__minus_04_dot_50_bar__plus_00_dot_48_bar__plus_02_dot_39)\n (isReceptacleObject Box_bar__minus_00_dot_33_bar__plus_00_dot_86_bar__plus_02_dot_68)\n (openable Drawer_bar__minus_04_dot_43_bar__plus_00_dot_47_bar__plus_03_dot_34)\n \n (atLocation agent1 loc_bar__minus_6_bar_8_bar_1_bar_30)\n \n \n \n \n \n \n \n (toggleable DeskLamp_bar__minus_04_dot_66_bar__plus_00_dot_51_bar__plus_03_dot_32)\n (toggleable FloorLamp_bar__minus_04_dot_64_bar__plus_00_dot_01_bar__plus_00_dot_36)\n \n \n \n \n (inReceptacle KeyChain_bar__minus_04_dot_52_bar__plus_00_dot_51_bar__plus_03_dot_39 SideTable_bar__minus_04_dot_61_bar__plus_00_dot_01_bar__plus_03_dot_35)\n (inReceptacle Watch_bar__minus_04_dot_61_bar__plus_00_dot_51_bar__plus_03_dot_48 SideTable_bar__minus_04_dot_61_bar__plus_00_dot_01_bar__plus_03_dot_35)\n (inReceptacle DeskLamp_bar__minus_04_dot_66_bar__plus_00_dot_51_bar__plus_03_dot_32 SideTable_bar__minus_04_dot_61_bar__plus_00_dot_01_bar__plus_03_dot_35)\n (inReceptacle CreditCard_bar__minus_01_dot_63_bar__plus_00_dot_40_bar__plus_04_dot_25 Sofa_bar__minus_02_dot_13_bar_00_dot_00_bar__plus_04_dot_56)\n (inReceptacle RemoteControl_bar__minus_01_dot_38_bar__plus_00_dot_42_bar__plus_04_dot_65 Sofa_bar__minus_02_dot_13_bar_00_dot_00_bar__plus_04_dot_56)\n (inReceptacle Pillow_bar__minus_02_dot_37_bar__plus_00_dot_48_bar__plus_04_dot_41 Sofa_bar__minus_02_dot_13_bar_00_dot_00_bar__plus_04_dot_56)\n (inReceptacle Newspaper_bar__minus_00_dot_50_bar__plus_00_dot_43_bar__plus_03_dot_05 Shelf_bar__minus_00_dot_46_bar__plus_00_dot_42_bar__plus_03_dot_04)\n (inReceptacle Newspaper_bar__minus_02_dot_12_bar__plus_00_dot_20_bar__plus_02_dot_87 CoffeeTable_bar__minus_01_dot_97_bar__plus_00_dot_00_bar__plus_02_dot_62)\n (inReceptacle CreditCard_bar__minus_02_dot_12_bar__plus_00_dot_20_bar__plus_02_dot_64 CoffeeTable_bar__minus_01_dot_97_bar__plus_00_dot_00_bar__plus_02_dot_62)\n (inReceptacle TissueBox_bar__minus_01_dot_82_bar__plus_00_dot_20_bar__plus_02_dot_41 CoffeeTable_bar__minus_01_dot_97_bar__plus_00_dot_00_bar__plus_02_dot_62)\n (inReceptacle Laptop_bar__minus_04_dot_42_bar__plus_00_dot_42_bar__plus_01_dot_65 Sofa_bar__minus_04_dot_57_bar_00_dot_00_bar__plus_01_dot_90)\n (inReceptacle Pillow_bar__minus_04_dot_50_bar__plus_00_dot_48_bar__plus_02_dot_39 Sofa_bar__minus_04_dot_57_bar_00_dot_00_bar__plus_01_dot_90)\n (inReceptacle Newspaper_bar__minus_00_dot_88_bar__plus_00_dot_38_bar__plus_00_dot_71 ArmChair_bar__minus_00_dot_88_bar__minus_00_dot_03_bar__plus_00_dot_57)\n (inReceptacle RemoteControl_bar__minus_00_dot_25_bar__plus_00_dot_76_bar__plus_02_dot_23 TVStand_bar__minus_00_dot_34_bar__plus_00_dot_01_bar__plus_02_dot_68)\n (inReceptacle Watch_bar__minus_00_dot_18_bar__plus_00_dot_77_bar__plus_02_dot_38 TVStand_bar__minus_00_dot_34_bar__plus_00_dot_01_bar__plus_02_dot_68)\n (inReceptacle Watch_bar__minus_00_dot_55_bar__plus_00_dot_76_bar__plus_03_dot_13 TVStand_bar__minus_00_dot_34_bar__plus_00_dot_01_bar__plus_02_dot_68)\n (inReceptacle Box_bar__minus_00_dot_33_bar__plus_00_dot_86_bar__plus_02_dot_68 TVStand_bar__minus_00_dot_34_bar__plus_00_dot_01_bar__plus_02_dot_68)\n (inReceptacle Statue_bar__minus_00_dot_18_bar__plus_00_dot_77_bar__plus_02_dot_98 TVStand_bar__minus_00_dot_34_bar__plus_00_dot_01_bar__plus_02_dot_68)\n (inReceptacle KeyChain_bar__minus_00_dot_55_bar__plus_00_dot_77_bar__plus_02_dot_98 TVStand_bar__minus_00_dot_34_bar__plus_00_dot_01_bar__plus_02_dot_68)\n (inReceptacle TissueBox_bar__minus_00_dot_40_bar__plus_00_dot_77_bar__plus_02_dot_98 TVStand_bar__minus_00_dot_34_bar__plus_00_dot_01_bar__plus_02_dot_68)\n (inReceptacle CreditCard_bar__minus_00_dot_33_bar__plus_00_dot_76_bar__plus_02_dot_83 TVStand_bar__minus_00_dot_34_bar__plus_00_dot_01_bar__plus_02_dot_68)\n \n \n (receptacleAtLocation ArmChair_bar__minus_00_dot_88_bar__minus_00_dot_03_bar__plus_00_dot_57 loc_bar__minus_4_bar_7_bar_2_bar_60)\n (receptacleAtLocation CoffeeTable_bar__minus_01_dot_97_bar__plus_00_dot_00_bar__plus_02_dot_62 loc_bar__minus_4_bar_11_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_04_dot_43_bar__plus_00_dot_47_bar__plus_03_dot_34 loc_bar__minus_15_bar_17_bar_2_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_00_dot_23_bar__plus_00_dot_01_bar__plus_04_dot_78 loc_bar__minus_2_bar_17_bar_0_bar_60)\n (receptacleAtLocation Shelf_bar__minus_00_dot_34_bar__plus_00_dot_18_bar__plus_02_dot_67 loc_bar__minus_6_bar_8_bar_1_bar_45)\n (receptacleAtLocation Shelf_bar__minus_00_dot_46_bar__plus_00_dot_17_bar__plus_03_dot_04 loc_bar__minus_6_bar_14_bar_1_bar_60)\n (receptacleAtLocation Shelf_bar__minus_00_dot_46_bar__plus_00_dot_42_bar__plus_03_dot_04 loc_bar__minus_6_bar_14_bar_1_bar_45)\n (receptacleAtLocation Shelf_bar__minus_00_dot_46_bar__plus_00_dot_48_bar__plus_02_dot_30 loc_bar__minus_5_bar_11_bar_1_bar_60)\n (receptacleAtLocation Shelf_bar__minus_00_dot_46_bar__plus_00_dot_57_bar__plus_03_dot_04 loc_bar__minus_5_bar_14_bar_1_bar_60)\n (receptacleAtLocation Shelf_bar__minus_00_dot_47_bar__plus_00_dot_18_bar__plus_02_dot_30 loc_bar__minus_6_bar_7_bar_1_bar_60)\n (receptacleAtLocation SideTable_bar__minus_04_dot_61_bar__plus_00_dot_01_bar__plus_03_dot_35 loc_bar__minus_17_bar_17_bar_2_bar_60)\n (receptacleAtLocation Sofa_bar__minus_02_dot_13_bar_00_dot_00_bar__plus_04_dot_56 loc_bar__minus_10_bar_13_bar_0_bar_45)\n (receptacleAtLocation Sofa_bar__minus_04_dot_57_bar_00_dot_00_bar__plus_01_dot_90 loc_bar__minus_13_bar_8_bar_3_bar_45)\n (receptacleAtLocation TVStand_bar__minus_00_dot_34_bar__plus_00_dot_01_bar__plus_02_dot_68 loc_bar__minus_5_bar_11_bar_1_bar_60)\n (objectAtLocation Newspaper_bar__minus_02_dot_12_bar__plus_00_dot_20_bar__plus_02_dot_87 loc_bar__minus_4_bar_11_bar_3_bar_60)\n (objectAtLocation Watch_bar__minus_04_dot_61_bar__plus_00_dot_51_bar__plus_03_dot_48 loc_bar__minus_17_bar_17_bar_2_bar_60)\n (objectAtLocation KeyChain_bar__minus_02_dot_87_bar__plus_00_dot_40_bar__plus_04_dot_41 loc_bar__minus_11_bar_15_bar_0_bar_60)\n (objectAtLocation Pillow_bar__minus_02_dot_37_bar__plus_00_dot_48_bar__plus_04_dot_41 loc_bar__minus_10_bar_13_bar_0_bar_45)\n (objectAtLocation RemoteControl_bar__minus_01_dot_38_bar__plus_00_dot_42_bar__plus_04_dot_65 loc_bar__minus_10_bar_13_bar_0_bar_45)\n (objectAtLocation TissueBox_bar__minus_00_dot_40_bar__plus_00_dot_77_bar__plus_02_dot_98 loc_bar__minus_5_bar_11_bar_1_bar_60)\n (objectAtLocation CreditCard_bar__minus_01_dot_63_bar__plus_00_dot_40_bar__plus_04_dot_25 loc_bar__minus_10_bar_13_bar_0_bar_45)\n (objectAtLocation CreditCard_bar__minus_00_dot_33_bar__plus_00_dot_76_bar__plus_02_dot_83 loc_bar__minus_5_bar_11_bar_1_bar_60)\n (objectAtLocation KeyChain_bar__minus_00_dot_55_bar__plus_00_dot_77_bar__plus_02_dot_98 loc_bar__minus_5_bar_11_bar_1_bar_60)\n (objectAtLocation Newspaper_bar__minus_00_dot_50_bar__plus_00_dot_43_bar__plus_03_dot_05 loc_bar__minus_6_bar_14_bar_1_bar_45)\n (objectAtLocation Watch_bar__minus_00_dot_18_bar__plus_00_dot_77_bar__plus_02_dot_38 loc_bar__minus_5_bar_11_bar_1_bar_60)\n (objectAtLocation Chair_bar__minus_04_dot_56_bar_00_dot_00_bar__plus_03_dot_87 loc_bar__minus_16_bar_15_bar_3_bar_60)\n (objectAtLocation Box_bar__minus_00_dot_33_bar__plus_00_dot_86_bar__plus_02_dot_68 loc_bar__minus_5_bar_11_bar_1_bar_60)\n (objectAtLocation HousePlant_bar__minus_03_dot_13_bar__plus_01_dot_50_bar__plus_00_dot_12 loc_bar__minus_13_bar_3_bar_2_bar_15)\n (objectAtLocation CreditCard_bar__minus_02_dot_12_bar__plus_00_dot_20_bar__plus_02_dot_64 loc_bar__minus_4_bar_11_bar_3_bar_60)\n (objectAtLocation Television_bar__plus_00_dot_00_bar__plus_01_dot_38_bar__plus_02_dot_66 loc_bar__minus_4_bar_11_bar_1_bar_15)\n (objectAtLocation DeskLamp_bar__minus_04_dot_66_bar__plus_00_dot_51_bar__plus_03_dot_32 loc_bar__minus_17_bar_17_bar_2_bar_60)\n (objectAtLocation TissueBox_bar__minus_01_dot_82_bar__plus_00_dot_20_bar__plus_02_dot_41 loc_bar__minus_4_bar_11_bar_3_bar_60)\n (objectAtLocation Laptop_bar__minus_04_dot_42_bar__plus_00_dot_42_bar__plus_01_dot_65 loc_bar__minus_13_bar_8_bar_3_bar_45)\n (objectAtLocation Vase_bar__minus_02_dot_88_bar__plus_01_dot_52_bar__plus_00_dot_14 loc_bar__minus_12_bar_3_bar_2_bar_15)\n (objectAtLocation RemoteControl_bar__minus_00_dot_25_bar__plus_00_dot_76_bar__plus_02_dot_23 loc_bar__minus_5_bar_11_bar_1_bar_60)\n (objectAtLocation Painting_bar__minus_02_dot_51_bar__plus_01_dot_82_bar__plus_00_dot_11 loc_bar__minus_10_bar_3_bar_2_bar__minus_15)\n (objectAtLocation Pillow_bar__minus_04_dot_50_bar__plus_00_dot_48_bar__plus_02_dot_39 loc_bar__minus_13_bar_8_bar_3_bar_45)\n (objectAtLocation FloorLamp_bar__minus_04_dot_64_bar__plus_00_dot_01_bar__plus_00_dot_36 loc_bar__minus_16_bar_2_bar_3_bar_60)\n (objectAtLocation KeyChain_bar__minus_04_dot_52_bar__plus_00_dot_51_bar__plus_03_dot_39 loc_bar__minus_17_bar_17_bar_2_bar_60)\n (objectAtLocation Watch_bar__minus_00_dot_55_bar__plus_00_dot_76_bar__plus_03_dot_13 loc_bar__minus_5_bar_11_bar_1_bar_60)\n (objectAtLocation LightSwitch_bar__minus_03_dot_23_bar__plus_01_dot_34_bar__plus_05_dot_00 loc_bar__minus_15_bar_18_bar_1_bar_30)\n (objectAtLocation Newspaper_bar__minus_00_dot_88_bar__plus_00_dot_38_bar__plus_00_dot_71 loc_bar__minus_4_bar_7_bar_2_bar_60)\n (objectAtLocation Window_bar__minus_01_dot_01_bar__plus_01_dot_39_bar__plus_00_dot_03 loc_bar__minus_4_bar_5_bar_2_bar_15)\n (objectAtLocation Window_bar__minus_03_dot_90_bar__plus_01_dot_39_bar__plus_00_dot_03 loc_bar__minus_16_bar_2_bar_2_bar_30)\n (objectAtLocation Statue_bar__minus_00_dot_18_bar__plus_00_dot_77_bar__plus_02_dot_98 loc_bar__minus_5_bar_11_bar_1_bar_60)\n (objectAtLocation Statue_bar__minus_01_dot_87_bar__plus_01_dot_52_bar__plus_00_dot_15 loc_bar__minus_7_bar_3_bar_2_bar_15)\n )\n \n\n (:goal\n (and\n (exists (?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 sofa 2", "take pillow 2 from sofa 2", "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-225/trial_T20190908_104612_718251/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Pillow-None-ArmChair-225/trial_T20190908_104612_718251/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..c3289638ca478f08b4a1bb7b3c32928f9f1e6ede --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Pillow-None-ArmChair-225/trial_T20190908_104612_718251/initial_state.pddl @@ -0,0 +1,549 @@ + +(define (problem plan_trial_T20190908_104612_718251) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_33_bar__plus_00_dot_86_bar__plus_02_dot_68 - object + Chair_bar__minus_04_dot_56_bar_00_dot_00_bar__plus_03_dot_87 - object + CreditCard_bar__minus_00_dot_33_bar__plus_00_dot_76_bar__plus_02_dot_83 - object + CreditCard_bar__minus_01_dot_63_bar__plus_00_dot_40_bar__plus_04_dot_25 - object + CreditCard_bar__minus_02_dot_12_bar__plus_00_dot_20_bar__plus_02_dot_64 - object + DeskLamp_bar__minus_04_dot_66_bar__plus_00_dot_51_bar__plus_03_dot_32 - object + FloorLamp_bar__minus_04_dot_64_bar__plus_00_dot_01_bar__plus_00_dot_36 - object + HousePlant_bar__minus_03_dot_13_bar__plus_01_dot_50_bar__plus_00_dot_12 - object + KeyChain_bar__minus_00_dot_55_bar__plus_00_dot_77_bar__plus_02_dot_98 - object + KeyChain_bar__minus_02_dot_87_bar__plus_00_dot_40_bar__plus_04_dot_41 - object + KeyChain_bar__minus_04_dot_52_bar__plus_00_dot_51_bar__plus_03_dot_39 - object + Laptop_bar__minus_04_dot_42_bar__plus_00_dot_42_bar__plus_01_dot_65 - object + LightSwitch_bar__minus_03_dot_23_bar__plus_01_dot_34_bar__plus_05_dot_00 - object + Newspaper_bar__minus_00_dot_50_bar__plus_00_dot_43_bar__plus_03_dot_05 - object + Newspaper_bar__minus_00_dot_88_bar__plus_00_dot_38_bar__plus_00_dot_71 - object + Newspaper_bar__minus_02_dot_12_bar__plus_00_dot_20_bar__plus_02_dot_87 - object + Painting_bar__minus_02_dot_51_bar__plus_01_dot_82_bar__plus_00_dot_11 - object + Pillow_bar__minus_02_dot_37_bar__plus_00_dot_48_bar__plus_04_dot_41 - object + Pillow_bar__minus_04_dot_50_bar__plus_00_dot_48_bar__plus_02_dot_39 - object + RemoteControl_bar__minus_00_dot_25_bar__plus_00_dot_76_bar__plus_02_dot_23 - object + RemoteControl_bar__minus_01_dot_38_bar__plus_00_dot_42_bar__plus_04_dot_65 - object + Statue_bar__minus_00_dot_18_bar__plus_00_dot_77_bar__plus_02_dot_98 - object + Statue_bar__minus_01_dot_87_bar__plus_01_dot_52_bar__plus_00_dot_15 - object + Television_bar__plus_00_dot_00_bar__plus_01_dot_38_bar__plus_02_dot_66 - object + TissueBox_bar__minus_00_dot_40_bar__plus_00_dot_77_bar__plus_02_dot_98 - object + TissueBox_bar__minus_01_dot_82_bar__plus_00_dot_20_bar__plus_02_dot_41 - object + Vase_bar__minus_02_dot_88_bar__plus_01_dot_52_bar__plus_00_dot_14 - object + Watch_bar__minus_00_dot_18_bar__plus_00_dot_77_bar__plus_02_dot_38 - object + Watch_bar__minus_00_dot_55_bar__plus_00_dot_76_bar__plus_03_dot_13 - object + Watch_bar__minus_04_dot_61_bar__plus_00_dot_51_bar__plus_03_dot_48 - object + Window_bar__minus_01_dot_01_bar__plus_01_dot_39_bar__plus_00_dot_03 - object + Window_bar__minus_03_dot_90_bar__plus_01_dot_39_bar__plus_00_dot_03 - object + ArmChair_bar__minus_00_dot_88_bar__minus_00_dot_03_bar__plus_00_dot_57 - receptacle + CoffeeTable_bar__minus_01_dot_97_bar__plus_00_dot_00_bar__plus_02_dot_62 - receptacle + Drawer_bar__minus_04_dot_43_bar__plus_00_dot_47_bar__plus_03_dot_34 - receptacle + GarbageCan_bar__minus_00_dot_23_bar__plus_00_dot_01_bar__plus_04_dot_78 - receptacle + Shelf_bar__minus_00_dot_34_bar__plus_00_dot_18_bar__plus_02_dot_67 - receptacle + Shelf_bar__minus_00_dot_46_bar__plus_00_dot_17_bar__plus_03_dot_04 - receptacle + Shelf_bar__minus_00_dot_46_bar__plus_00_dot_42_bar__plus_03_dot_04 - receptacle + Shelf_bar__minus_00_dot_46_bar__plus_00_dot_48_bar__plus_02_dot_30 - receptacle + Shelf_bar__minus_00_dot_46_bar__plus_00_dot_57_bar__plus_03_dot_04 - receptacle + Shelf_bar__minus_00_dot_47_bar__plus_00_dot_18_bar__plus_02_dot_30 - receptacle + SideTable_bar__minus_04_dot_61_bar__plus_00_dot_01_bar__plus_03_dot_35 - receptacle + Sofa_bar__minus_02_dot_13_bar_00_dot_00_bar__plus_04_dot_56 - receptacle + Sofa_bar__minus_04_dot_57_bar_00_dot_00_bar__plus_01_dot_90 - receptacle + TVStand_bar__minus_00_dot_34_bar__plus_00_dot_01_bar__plus_02_dot_68 - receptacle + loc_bar__minus_15_bar_17_bar_2_bar_60 - location + loc_bar__minus_4_bar_5_bar_2_bar_15 - location + loc_bar__minus_6_bar_8_bar_1_bar_45 - location + loc_bar__minus_4_bar_11_bar_1_bar_15 - location + loc_bar__minus_4_bar_7_bar_2_bar_60 - location + loc_bar__minus_16_bar_15_bar_3_bar_60 - location + loc_bar__minus_16_bar_2_bar_2_bar_30 - location + loc_bar__minus_17_bar_17_bar_2_bar_60 - location + loc_bar__minus_15_bar_18_bar_1_bar_30 - location + loc_bar__minus_6_bar_14_bar_1_bar_60 - location + loc_bar__minus_10_bar_13_bar_0_bar_45 - location + loc_bar__minus_16_bar_2_bar_3_bar_60 - location + loc_bar__minus_12_bar_3_bar_2_bar_15 - location + loc_bar__minus_4_bar_11_bar_3_bar_60 - location + loc_bar__minus_13_bar_8_bar_3_bar_45 - location + loc_bar__minus_2_bar_17_bar_0_bar_60 - location + loc_bar__minus_10_bar_3_bar_2_bar__minus_15 - location + loc_bar__minus_11_bar_15_bar_0_bar_60 - location + loc_bar__minus_6_bar_14_bar_1_bar_45 - location + loc_bar__minus_13_bar_3_bar_2_bar_15 - location + loc_bar__minus_5_bar_11_bar_1_bar_60 - location + loc_bar__minus_5_bar_14_bar_1_bar_60 - location + loc_bar__minus_7_bar_3_bar_2_bar_15 - location + loc_bar__minus_6_bar_7_bar_1_bar_60 - location + loc_bar__minus_6_bar_8_bar_1_bar_30 - location + ) + + +(:init + + + (receptacleType ArmChair_bar__minus_00_dot_88_bar__minus_00_dot_03_bar__plus_00_dot_57 ArmChairType) + (receptacleType Sofa_bar__minus_02_dot_13_bar_00_dot_00_bar__plus_04_dot_56 SofaType) + (receptacleType Drawer_bar__minus_04_dot_43_bar__plus_00_dot_47_bar__plus_03_dot_34 DrawerType) + (receptacleType Shelf_bar__minus_00_dot_46_bar__plus_00_dot_17_bar__plus_03_dot_04 ShelfType) + (receptacleType Shelf_bar__minus_00_dot_46_bar__plus_00_dot_57_bar__plus_03_dot_04 ShelfType) + (receptacleType Shelf_bar__minus_00_dot_46_bar__plus_00_dot_48_bar__plus_02_dot_30 ShelfType) + (receptacleType CoffeeTable_bar__minus_01_dot_97_bar__plus_00_dot_00_bar__plus_02_dot_62 CoffeeTableType) + (receptacleType Shelf_bar__minus_00_dot_34_bar__plus_00_dot_18_bar__plus_02_dot_67 ShelfType) + (receptacleType Shelf_bar__minus_00_dot_46_bar__plus_00_dot_42_bar__plus_03_dot_04 ShelfType) + (receptacleType Shelf_bar__minus_00_dot_47_bar__plus_00_dot_18_bar__plus_02_dot_30 ShelfType) + (receptacleType GarbageCan_bar__minus_00_dot_23_bar__plus_00_dot_01_bar__plus_04_dot_78 GarbageCanType) + (receptacleType TVStand_bar__minus_00_dot_34_bar__plus_00_dot_01_bar__plus_02_dot_68 TVStandType) + (receptacleType Sofa_bar__minus_04_dot_57_bar_00_dot_00_bar__plus_01_dot_90 SofaType) + (receptacleType SideTable_bar__minus_04_dot_61_bar__plus_00_dot_01_bar__plus_03_dot_35 SideTableType) + (objectType CreditCard_bar__minus_01_dot_63_bar__plus_00_dot_40_bar__plus_04_dot_25 CreditCardType) + (objectType Box_bar__minus_00_dot_33_bar__plus_00_dot_86_bar__plus_02_dot_68 BoxType) + (objectType RemoteControl_bar__minus_01_dot_38_bar__plus_00_dot_42_bar__plus_04_dot_65 RemoteControlType) + (objectType Painting_bar__minus_02_dot_51_bar__plus_01_dot_82_bar__plus_00_dot_11 PaintingType) + (objectType Pillow_bar__minus_02_dot_37_bar__plus_00_dot_48_bar__plus_04_dot_41 PillowType) + (objectType CreditCard_bar__minus_02_dot_12_bar__plus_00_dot_20_bar__plus_02_dot_64 CreditCardType) + (objectType Window_bar__minus_03_dot_90_bar__plus_01_dot_39_bar__plus_00_dot_03 WindowType) + (objectType LightSwitch_bar__minus_03_dot_23_bar__plus_01_dot_34_bar__plus_05_dot_00 LightSwitchType) + (objectType Statue_bar__minus_00_dot_18_bar__plus_00_dot_77_bar__plus_02_dot_98 StatueType) + (objectType TissueBox_bar__minus_00_dot_40_bar__plus_00_dot_77_bar__plus_02_dot_98 TissueBoxType) + (objectType KeyChain_bar__minus_00_dot_55_bar__plus_00_dot_77_bar__plus_02_dot_98 KeyChainType) + (objectType CreditCard_bar__minus_00_dot_33_bar__plus_00_dot_76_bar__plus_02_dot_83 CreditCardType) + (objectType Newspaper_bar__minus_00_dot_88_bar__plus_00_dot_38_bar__plus_00_dot_71 NewspaperType) + (objectType Watch_bar__minus_00_dot_18_bar__plus_00_dot_77_bar__plus_02_dot_38 WatchType) + (objectType DeskLamp_bar__minus_04_dot_66_bar__plus_00_dot_51_bar__plus_03_dot_32 DeskLampType) + (objectType Newspaper_bar__minus_00_dot_50_bar__plus_00_dot_43_bar__plus_03_dot_05 NewspaperType) + (objectType Television_bar__plus_00_dot_00_bar__plus_01_dot_38_bar__plus_02_dot_66 TelevisionType) + (objectType FloorLamp_bar__minus_04_dot_64_bar__plus_00_dot_01_bar__plus_00_dot_36 FloorLampType) + (objectType KeyChain_bar__minus_04_dot_52_bar__plus_00_dot_51_bar__plus_03_dot_39 KeyChainType) + (objectType Statue_bar__minus_01_dot_87_bar__plus_01_dot_52_bar__plus_00_dot_15 StatueType) + (objectType Vase_bar__minus_02_dot_88_bar__plus_01_dot_52_bar__plus_00_dot_14 VaseType) + (objectType HousePlant_bar__minus_03_dot_13_bar__plus_01_dot_50_bar__plus_00_dot_12 HousePlantType) + (objectType Laptop_bar__minus_04_dot_42_bar__plus_00_dot_42_bar__plus_01_dot_65 LaptopType) + (objectType Chair_bar__minus_04_dot_56_bar_00_dot_00_bar__plus_03_dot_87 ChairType) + (objectType RemoteControl_bar__minus_00_dot_25_bar__plus_00_dot_76_bar__plus_02_dot_23 RemoteControlType) + (objectType KeyChain_bar__minus_02_dot_87_bar__plus_00_dot_40_bar__plus_04_dot_41 KeyChainType) + (objectType Watch_bar__minus_04_dot_61_bar__plus_00_dot_51_bar__plus_03_dot_48 WatchType) + (objectType Watch_bar__minus_00_dot_55_bar__plus_00_dot_76_bar__plus_03_dot_13 WatchType) + (objectType Newspaper_bar__minus_02_dot_12_bar__plus_00_dot_20_bar__plus_02_dot_87 NewspaperType) + (objectType Window_bar__minus_01_dot_01_bar__plus_01_dot_39_bar__plus_00_dot_03 WindowType) + (objectType TissueBox_bar__minus_01_dot_82_bar__plus_00_dot_20_bar__plus_02_dot_41 TissueBoxType) + (objectType Pillow_bar__minus_04_dot_50_bar__plus_00_dot_48_bar__plus_02_dot_39 PillowType) + (canContain ArmChairType BoxType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType PillowType) + (canContain ArmChairType RemoteControlType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType NewspaperType) + (canContain ArmChairType CreditCardType) + (canContain SofaType BoxType) + (canContain SofaType LaptopType) + (canContain SofaType PillowType) + (canContain SofaType RemoteControlType) + (canContain SofaType KeyChainType) + (canContain SofaType NewspaperType) + (canContain SofaType CreditCardType) + (canContain DrawerType WatchType) + (canContain DrawerType NewspaperType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType TissueBoxType) + (canContain ShelfType WatchType) + (canContain ShelfType NewspaperType) + (canContain ShelfType VaseType) + (canContain ShelfType BoxType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType RemoteControlType) + (canContain ShelfType TissueBoxType) + (canContain ShelfType StatueType) + (canContain ShelfType WatchType) + (canContain ShelfType NewspaperType) + (canContain ShelfType VaseType) + (canContain ShelfType BoxType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType RemoteControlType) + (canContain ShelfType TissueBoxType) + (canContain ShelfType StatueType) + (canContain ShelfType WatchType) + (canContain ShelfType NewspaperType) + (canContain ShelfType VaseType) + (canContain ShelfType BoxType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType RemoteControlType) + (canContain ShelfType TissueBoxType) + (canContain ShelfType StatueType) + (canContain CoffeeTableType WatchType) + (canContain CoffeeTableType NewspaperType) + (canContain CoffeeTableType VaseType) + (canContain CoffeeTableType BoxType) + (canContain CoffeeTableType KeyChainType) + (canContain CoffeeTableType CreditCardType) + (canContain CoffeeTableType LaptopType) + (canContain CoffeeTableType RemoteControlType) + (canContain CoffeeTableType TissueBoxType) + (canContain CoffeeTableType StatueType) + (canContain ShelfType WatchType) + (canContain ShelfType NewspaperType) + (canContain ShelfType VaseType) + (canContain ShelfType BoxType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType RemoteControlType) + (canContain ShelfType TissueBoxType) + (canContain ShelfType StatueType) + (canContain ShelfType WatchType) + (canContain ShelfType NewspaperType) + (canContain ShelfType VaseType) + (canContain ShelfType BoxType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType RemoteControlType) + (canContain ShelfType TissueBoxType) + (canContain ShelfType StatueType) + (canContain ShelfType WatchType) + (canContain ShelfType NewspaperType) + (canContain ShelfType VaseType) + (canContain ShelfType BoxType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType RemoteControlType) + (canContain ShelfType TissueBoxType) + (canContain ShelfType StatueType) + (canContain GarbageCanType NewspaperType) + (canContain GarbageCanType TissueBoxType) + (canContain TVStandType TissueBoxType) + (canContain SofaType BoxType) + (canContain SofaType LaptopType) + (canContain SofaType PillowType) + (canContain SofaType RemoteControlType) + (canContain SofaType KeyChainType) + (canContain SofaType NewspaperType) + (canContain SofaType CreditCardType) + (canContain SideTableType WatchType) + (canContain SideTableType NewspaperType) + (canContain SideTableType VaseType) + (canContain SideTableType BoxType) + (canContain SideTableType KeyChainType) + (canContain SideTableType CreditCardType) + (canContain SideTableType LaptopType) + (canContain SideTableType RemoteControlType) + (canContain SideTableType TissueBoxType) + (canContain SideTableType StatueType) + (pickupable CreditCard_bar__minus_01_dot_63_bar__plus_00_dot_40_bar__plus_04_dot_25) + (pickupable Box_bar__minus_00_dot_33_bar__plus_00_dot_86_bar__plus_02_dot_68) + (pickupable RemoteControl_bar__minus_01_dot_38_bar__plus_00_dot_42_bar__plus_04_dot_65) + (pickupable Pillow_bar__minus_02_dot_37_bar__plus_00_dot_48_bar__plus_04_dot_41) + (pickupable CreditCard_bar__minus_02_dot_12_bar__plus_00_dot_20_bar__plus_02_dot_64) + (pickupable Statue_bar__minus_00_dot_18_bar__plus_00_dot_77_bar__plus_02_dot_98) + (pickupable TissueBox_bar__minus_00_dot_40_bar__plus_00_dot_77_bar__plus_02_dot_98) + (pickupable KeyChain_bar__minus_00_dot_55_bar__plus_00_dot_77_bar__plus_02_dot_98) + (pickupable CreditCard_bar__minus_00_dot_33_bar__plus_00_dot_76_bar__plus_02_dot_83) + (pickupable Newspaper_bar__minus_00_dot_88_bar__plus_00_dot_38_bar__plus_00_dot_71) + (pickupable Watch_bar__minus_00_dot_18_bar__plus_00_dot_77_bar__plus_02_dot_38) + (pickupable Newspaper_bar__minus_00_dot_50_bar__plus_00_dot_43_bar__plus_03_dot_05) + (pickupable KeyChain_bar__minus_04_dot_52_bar__plus_00_dot_51_bar__plus_03_dot_39) + (pickupable Statue_bar__minus_01_dot_87_bar__plus_01_dot_52_bar__plus_00_dot_15) + (pickupable Vase_bar__minus_02_dot_88_bar__plus_01_dot_52_bar__plus_00_dot_14) + (pickupable Laptop_bar__minus_04_dot_42_bar__plus_00_dot_42_bar__plus_01_dot_65) + (pickupable RemoteControl_bar__minus_00_dot_25_bar__plus_00_dot_76_bar__plus_02_dot_23) + (pickupable KeyChain_bar__minus_02_dot_87_bar__plus_00_dot_40_bar__plus_04_dot_41) + (pickupable Watch_bar__minus_04_dot_61_bar__plus_00_dot_51_bar__plus_03_dot_48) + (pickupable Watch_bar__minus_00_dot_55_bar__plus_00_dot_76_bar__plus_03_dot_13) + (pickupable Newspaper_bar__minus_02_dot_12_bar__plus_00_dot_20_bar__plus_02_dot_87) + (pickupable TissueBox_bar__minus_01_dot_82_bar__plus_00_dot_20_bar__plus_02_dot_41) + (pickupable Pillow_bar__minus_04_dot_50_bar__plus_00_dot_48_bar__plus_02_dot_39) + (isReceptacleObject Box_bar__minus_00_dot_33_bar__plus_00_dot_86_bar__plus_02_dot_68) + (openable Drawer_bar__minus_04_dot_43_bar__plus_00_dot_47_bar__plus_03_dot_34) + + (atLocation agent1 loc_bar__minus_6_bar_8_bar_1_bar_30) + + + + + + + + (toggleable DeskLamp_bar__minus_04_dot_66_bar__plus_00_dot_51_bar__plus_03_dot_32) + (toggleable FloorLamp_bar__minus_04_dot_64_bar__plus_00_dot_01_bar__plus_00_dot_36) + + + + + (inReceptacle KeyChain_bar__minus_04_dot_52_bar__plus_00_dot_51_bar__plus_03_dot_39 SideTable_bar__minus_04_dot_61_bar__plus_00_dot_01_bar__plus_03_dot_35) + (inReceptacle Watch_bar__minus_04_dot_61_bar__plus_00_dot_51_bar__plus_03_dot_48 SideTable_bar__minus_04_dot_61_bar__plus_00_dot_01_bar__plus_03_dot_35) + (inReceptacle DeskLamp_bar__minus_04_dot_66_bar__plus_00_dot_51_bar__plus_03_dot_32 SideTable_bar__minus_04_dot_61_bar__plus_00_dot_01_bar__plus_03_dot_35) + (inReceptacle CreditCard_bar__minus_01_dot_63_bar__plus_00_dot_40_bar__plus_04_dot_25 Sofa_bar__minus_02_dot_13_bar_00_dot_00_bar__plus_04_dot_56) + (inReceptacle RemoteControl_bar__minus_01_dot_38_bar__plus_00_dot_42_bar__plus_04_dot_65 Sofa_bar__minus_02_dot_13_bar_00_dot_00_bar__plus_04_dot_56) + (inReceptacle Pillow_bar__minus_02_dot_37_bar__plus_00_dot_48_bar__plus_04_dot_41 Sofa_bar__minus_02_dot_13_bar_00_dot_00_bar__plus_04_dot_56) + (inReceptacle Newspaper_bar__minus_00_dot_50_bar__plus_00_dot_43_bar__plus_03_dot_05 Shelf_bar__minus_00_dot_46_bar__plus_00_dot_42_bar__plus_03_dot_04) + (inReceptacle Newspaper_bar__minus_02_dot_12_bar__plus_00_dot_20_bar__plus_02_dot_87 CoffeeTable_bar__minus_01_dot_97_bar__plus_00_dot_00_bar__plus_02_dot_62) + (inReceptacle CreditCard_bar__minus_02_dot_12_bar__plus_00_dot_20_bar__plus_02_dot_64 CoffeeTable_bar__minus_01_dot_97_bar__plus_00_dot_00_bar__plus_02_dot_62) + (inReceptacle TissueBox_bar__minus_01_dot_82_bar__plus_00_dot_20_bar__plus_02_dot_41 CoffeeTable_bar__minus_01_dot_97_bar__plus_00_dot_00_bar__plus_02_dot_62) + (inReceptacle Laptop_bar__minus_04_dot_42_bar__plus_00_dot_42_bar__plus_01_dot_65 Sofa_bar__minus_04_dot_57_bar_00_dot_00_bar__plus_01_dot_90) + (inReceptacle Pillow_bar__minus_04_dot_50_bar__plus_00_dot_48_bar__plus_02_dot_39 Sofa_bar__minus_04_dot_57_bar_00_dot_00_bar__plus_01_dot_90) + (inReceptacle Newspaper_bar__minus_00_dot_88_bar__plus_00_dot_38_bar__plus_00_dot_71 ArmChair_bar__minus_00_dot_88_bar__minus_00_dot_03_bar__plus_00_dot_57) + (inReceptacle RemoteControl_bar__minus_00_dot_25_bar__plus_00_dot_76_bar__plus_02_dot_23 TVStand_bar__minus_00_dot_34_bar__plus_00_dot_01_bar__plus_02_dot_68) + (inReceptacle Watch_bar__minus_00_dot_18_bar__plus_00_dot_77_bar__plus_02_dot_38 TVStand_bar__minus_00_dot_34_bar__plus_00_dot_01_bar__plus_02_dot_68) + (inReceptacle Watch_bar__minus_00_dot_55_bar__plus_00_dot_76_bar__plus_03_dot_13 TVStand_bar__minus_00_dot_34_bar__plus_00_dot_01_bar__plus_02_dot_68) + (inReceptacle Box_bar__minus_00_dot_33_bar__plus_00_dot_86_bar__plus_02_dot_68 TVStand_bar__minus_00_dot_34_bar__plus_00_dot_01_bar__plus_02_dot_68) + (inReceptacle Statue_bar__minus_00_dot_18_bar__plus_00_dot_77_bar__plus_02_dot_98 TVStand_bar__minus_00_dot_34_bar__plus_00_dot_01_bar__plus_02_dot_68) + (inReceptacle KeyChain_bar__minus_00_dot_55_bar__plus_00_dot_77_bar__plus_02_dot_98 TVStand_bar__minus_00_dot_34_bar__plus_00_dot_01_bar__plus_02_dot_68) + (inReceptacle TissueBox_bar__minus_00_dot_40_bar__plus_00_dot_77_bar__plus_02_dot_98 TVStand_bar__minus_00_dot_34_bar__plus_00_dot_01_bar__plus_02_dot_68) + (inReceptacle CreditCard_bar__minus_00_dot_33_bar__plus_00_dot_76_bar__plus_02_dot_83 TVStand_bar__minus_00_dot_34_bar__plus_00_dot_01_bar__plus_02_dot_68) + + + (receptacleAtLocation ArmChair_bar__minus_00_dot_88_bar__minus_00_dot_03_bar__plus_00_dot_57 loc_bar__minus_4_bar_7_bar_2_bar_60) + (receptacleAtLocation CoffeeTable_bar__minus_01_dot_97_bar__plus_00_dot_00_bar__plus_02_dot_62 loc_bar__minus_4_bar_11_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_04_dot_43_bar__plus_00_dot_47_bar__plus_03_dot_34 loc_bar__minus_15_bar_17_bar_2_bar_60) + (receptacleAtLocation GarbageCan_bar__minus_00_dot_23_bar__plus_00_dot_01_bar__plus_04_dot_78 loc_bar__minus_2_bar_17_bar_0_bar_60) + (receptacleAtLocation Shelf_bar__minus_00_dot_34_bar__plus_00_dot_18_bar__plus_02_dot_67 loc_bar__minus_6_bar_8_bar_1_bar_45) + (receptacleAtLocation Shelf_bar__minus_00_dot_46_bar__plus_00_dot_17_bar__plus_03_dot_04 loc_bar__minus_6_bar_14_bar_1_bar_60) + (receptacleAtLocation Shelf_bar__minus_00_dot_46_bar__plus_00_dot_42_bar__plus_03_dot_04 loc_bar__minus_6_bar_14_bar_1_bar_45) + (receptacleAtLocation Shelf_bar__minus_00_dot_46_bar__plus_00_dot_48_bar__plus_02_dot_30 loc_bar__minus_5_bar_11_bar_1_bar_60) + (receptacleAtLocation Shelf_bar__minus_00_dot_46_bar__plus_00_dot_57_bar__plus_03_dot_04 loc_bar__minus_5_bar_14_bar_1_bar_60) + (receptacleAtLocation Shelf_bar__minus_00_dot_47_bar__plus_00_dot_18_bar__plus_02_dot_30 loc_bar__minus_6_bar_7_bar_1_bar_60) + (receptacleAtLocation SideTable_bar__minus_04_dot_61_bar__plus_00_dot_01_bar__plus_03_dot_35 loc_bar__minus_17_bar_17_bar_2_bar_60) + (receptacleAtLocation Sofa_bar__minus_02_dot_13_bar_00_dot_00_bar__plus_04_dot_56 loc_bar__minus_10_bar_13_bar_0_bar_45) + (receptacleAtLocation Sofa_bar__minus_04_dot_57_bar_00_dot_00_bar__plus_01_dot_90 loc_bar__minus_13_bar_8_bar_3_bar_45) + (receptacleAtLocation TVStand_bar__minus_00_dot_34_bar__plus_00_dot_01_bar__plus_02_dot_68 loc_bar__minus_5_bar_11_bar_1_bar_60) + (objectAtLocation Newspaper_bar__minus_02_dot_12_bar__plus_00_dot_20_bar__plus_02_dot_87 loc_bar__minus_4_bar_11_bar_3_bar_60) + (objectAtLocation Watch_bar__minus_04_dot_61_bar__plus_00_dot_51_bar__plus_03_dot_48 loc_bar__minus_17_bar_17_bar_2_bar_60) + (objectAtLocation KeyChain_bar__minus_02_dot_87_bar__plus_00_dot_40_bar__plus_04_dot_41 loc_bar__minus_11_bar_15_bar_0_bar_60) + (objectAtLocation Pillow_bar__minus_02_dot_37_bar__plus_00_dot_48_bar__plus_04_dot_41 loc_bar__minus_10_bar_13_bar_0_bar_45) + (objectAtLocation RemoteControl_bar__minus_01_dot_38_bar__plus_00_dot_42_bar__plus_04_dot_65 loc_bar__minus_10_bar_13_bar_0_bar_45) + (objectAtLocation TissueBox_bar__minus_00_dot_40_bar__plus_00_dot_77_bar__plus_02_dot_98 loc_bar__minus_5_bar_11_bar_1_bar_60) + (objectAtLocation CreditCard_bar__minus_01_dot_63_bar__plus_00_dot_40_bar__plus_04_dot_25 loc_bar__minus_10_bar_13_bar_0_bar_45) + (objectAtLocation CreditCard_bar__minus_00_dot_33_bar__plus_00_dot_76_bar__plus_02_dot_83 loc_bar__minus_5_bar_11_bar_1_bar_60) + (objectAtLocation KeyChain_bar__minus_00_dot_55_bar__plus_00_dot_77_bar__plus_02_dot_98 loc_bar__minus_5_bar_11_bar_1_bar_60) + (objectAtLocation Newspaper_bar__minus_00_dot_50_bar__plus_00_dot_43_bar__plus_03_dot_05 loc_bar__minus_6_bar_14_bar_1_bar_45) + (objectAtLocation Watch_bar__minus_00_dot_18_bar__plus_00_dot_77_bar__plus_02_dot_38 loc_bar__minus_5_bar_11_bar_1_bar_60) + (objectAtLocation Chair_bar__minus_04_dot_56_bar_00_dot_00_bar__plus_03_dot_87 loc_bar__minus_16_bar_15_bar_3_bar_60) + (objectAtLocation Box_bar__minus_00_dot_33_bar__plus_00_dot_86_bar__plus_02_dot_68 loc_bar__minus_5_bar_11_bar_1_bar_60) + (objectAtLocation HousePlant_bar__minus_03_dot_13_bar__plus_01_dot_50_bar__plus_00_dot_12 loc_bar__minus_13_bar_3_bar_2_bar_15) + (objectAtLocation CreditCard_bar__minus_02_dot_12_bar__plus_00_dot_20_bar__plus_02_dot_64 loc_bar__minus_4_bar_11_bar_3_bar_60) + (objectAtLocation Television_bar__plus_00_dot_00_bar__plus_01_dot_38_bar__plus_02_dot_66 loc_bar__minus_4_bar_11_bar_1_bar_15) + (objectAtLocation DeskLamp_bar__minus_04_dot_66_bar__plus_00_dot_51_bar__plus_03_dot_32 loc_bar__minus_17_bar_17_bar_2_bar_60) + (objectAtLocation TissueBox_bar__minus_01_dot_82_bar__plus_00_dot_20_bar__plus_02_dot_41 loc_bar__minus_4_bar_11_bar_3_bar_60) + (objectAtLocation Laptop_bar__minus_04_dot_42_bar__plus_00_dot_42_bar__plus_01_dot_65 loc_bar__minus_13_bar_8_bar_3_bar_45) + (objectAtLocation Vase_bar__minus_02_dot_88_bar__plus_01_dot_52_bar__plus_00_dot_14 loc_bar__minus_12_bar_3_bar_2_bar_15) + (objectAtLocation RemoteControl_bar__minus_00_dot_25_bar__plus_00_dot_76_bar__plus_02_dot_23 loc_bar__minus_5_bar_11_bar_1_bar_60) + (objectAtLocation Painting_bar__minus_02_dot_51_bar__plus_01_dot_82_bar__plus_00_dot_11 loc_bar__minus_10_bar_3_bar_2_bar__minus_15) + (objectAtLocation Pillow_bar__minus_04_dot_50_bar__plus_00_dot_48_bar__plus_02_dot_39 loc_bar__minus_13_bar_8_bar_3_bar_45) + (objectAtLocation FloorLamp_bar__minus_04_dot_64_bar__plus_00_dot_01_bar__plus_00_dot_36 loc_bar__minus_16_bar_2_bar_3_bar_60) + (objectAtLocation KeyChain_bar__minus_04_dot_52_bar__plus_00_dot_51_bar__plus_03_dot_39 loc_bar__minus_17_bar_17_bar_2_bar_60) + (objectAtLocation Watch_bar__minus_00_dot_55_bar__plus_00_dot_76_bar__plus_03_dot_13 loc_bar__minus_5_bar_11_bar_1_bar_60) + (objectAtLocation LightSwitch_bar__minus_03_dot_23_bar__plus_01_dot_34_bar__plus_05_dot_00 loc_bar__minus_15_bar_18_bar_1_bar_30) + (objectAtLocation Newspaper_bar__minus_00_dot_88_bar__plus_00_dot_38_bar__plus_00_dot_71 loc_bar__minus_4_bar_7_bar_2_bar_60) + (objectAtLocation Window_bar__minus_01_dot_01_bar__plus_01_dot_39_bar__plus_00_dot_03 loc_bar__minus_4_bar_5_bar_2_bar_15) + (objectAtLocation Window_bar__minus_03_dot_90_bar__plus_01_dot_39_bar__plus_00_dot_03 loc_bar__minus_16_bar_2_bar_2_bar_30) + (objectAtLocation Statue_bar__minus_00_dot_18_bar__plus_00_dot_77_bar__plus_02_dot_98 loc_bar__minus_5_bar_11_bar_1_bar_60) + (objectAtLocation Statue_bar__minus_01_dot_87_bar__plus_01_dot_52_bar__plus_00_dot_15 loc_bar__minus_7_bar_3_bar_2_bar_15) + ) + + + (:goal + (and + (exists (?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-225/trial_T20190908_104612_718251/traj_data.json b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Pillow-None-ArmChair-225/trial_T20190908_104612_718251/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..358b893bdde910ed09a2577194b6dcf91932e4eb --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Pillow-None-ArmChair-225/trial_T20190908_104612_718251/traj_data.json @@ -0,0 +1,2965 @@ +{ + "images": [ + { + "high_idx": 0, + "image_name": "000000000.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": 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across the room from you. ", + "Pick up the orange throw pillow, on the right side of the couch. ", + "Turn back around and go across then turn right and go to the arm chair in the corner. ", + "Place the pillow on top of the newspaper, on the cushion of the chair. " + ], + "task_desc": "Put a throw pillow on the a chair. ", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A2RUHO7I7Y4XFA_3HYA4D452UAVX6WE2II368XABQE2FS", + "high_descs": [ + "Circle right around the table until you get to the black couch with an orange pillow on it.", + "Pick up the orange pillow on the black couch.", + "Turn left and go to the black chair in the corner.", + "Put the orange pillow on the black chair." + ], + "task_desc": "Pick up the orange pillow and put it on the black chair.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1MKCTVKE7J0ZP_3WMINLGALEUDZX78OVLH4KV5Q1DACV", + "high_descs": [ + "Turn around and go to the couch up ahead.", + "Pick up the pillow on the couch.", + "Turn left, move forward, then turn left and go toward the door, then turn right to face the chair.", + "Put the pillow on the chair." + ], + "task_desc": "Put a pillow on the chair.", + "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-225/trial_T20190908_142357_753395/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Pillow-None-ArmChair-225/trial_T20190908_142357_753395/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..cf6e8f49e9e944b5c8bc68558777985d1ec5e810 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Pillow-None-ArmChair-225/trial_T20190908_142357_753395/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\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_142357_753395)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Box_bar__minus_02_dot_11_bar__plus_00_dot_29_bar__plus_02_dot_93 - object\n Chair_bar__minus_04_dot_56_bar_00_dot_00_bar__plus_03_dot_87 - object\n CreditCard_bar__minus_00_dot_33_bar__plus_00_dot_76_bar__plus_02_dot_23 - object\n CreditCard_bar__minus_00_dot_50_bar__plus_00_dot_49_bar__plus_02_dot_26 - object\n CreditCard_bar__minus_01_dot_97_bar__plus_00_dot_20_bar__plus_02_dot_87 - object\n DeskLamp_bar__minus_04_dot_66_bar__plus_00_dot_51_bar__plus_03_dot_32 - object\n FloorLamp_bar__minus_04_dot_64_bar__plus_00_dot_01_bar__plus_00_dot_36 - object\n HousePlant_bar__minus_03_dot_13_bar__plus_01_dot_50_bar__plus_00_dot_12 - object\n KeyChain_bar__minus_00_dot_25_bar__plus_00_dot_77_bar__plus_02_dot_38 - object\n KeyChain_bar__minus_00_dot_47_bar__plus_00_dot_18_bar__plus_02_dot_78 - object\n KeyChain_bar__minus_04_dot_48_bar__plus_00_dot_51_bar__plus_03_dot_34 - object\n Laptop_bar__minus_00_dot_40_bar__plus_00_dot_76_bar__plus_02_dot_83 - object\n Laptop_bar__minus_02_dot_87_bar__plus_00_dot_42_bar__plus_04_dot_41 - object\n Laptop_bar__minus_04_dot_50_bar__plus_00_dot_42_bar__plus_02_dot_15 - object\n LightSwitch_bar__minus_03_dot_23_bar__plus_01_dot_34_bar__plus_05_dot_00 - object\n Newspaper_bar__minus_00_dot_29_bar__plus_00_dot_06_bar__plus_04_dot_78 - object\n Newspaper_bar__minus_01_dot_06_bar__plus_00_dot_38_bar__plus_00_dot_64 - object\n Newspaper_bar__minus_02_dot_37_bar__plus_00_dot_42_bar__plus_04_dot_49 - object\n Painting_bar__minus_02_dot_51_bar__plus_01_dot_82_bar__plus_00_dot_11 - object\n Pillow_bar__minus_04_dot_50_bar__plus_00_dot_48_bar__plus_01_dot_41 - object\n RemoteControl_bar__minus_00_dot_33_bar__plus_00_dot_76_bar__plus_03_dot_13 - object\n Statue_bar__minus_00_dot_27_bar__plus_00_dot_19_bar__plus_02_dot_65 - object\n Statue_bar__minus_00_dot_47_bar__plus_00_dot_19_bar__plus_02_dot_36 - object\n Statue_bar__minus_01_dot_82_bar__plus_00_dot_21_bar__plus_02_dot_53 - object\n Television_bar__plus_00_dot_00_bar__plus_01_dot_38_bar__plus_02_dot_66 - object\n TissueBox_bar__minus_00_dot_25_bar__plus_00_dot_77_bar__plus_02_dot_53 - object\n TissueBox_bar__minus_00_dot_48_bar__plus_00_dot_77_bar__plus_02_dot_38 - object\n Vase_bar__minus_02_dot_88_bar__plus_01_dot_52_bar__plus_00_dot_14 - object\n Watch_bar__minus_01_dot_74_bar__plus_00_dot_20_bar__plus_02_dot_41 - object\n Watch_bar__minus_01_dot_97_bar__plus_00_dot_20_bar__plus_02_dot_76 - object\n Window_bar__minus_01_dot_01_bar__plus_01_dot_39_bar__plus_00_dot_03 - object\n Window_bar__minus_03_dot_90_bar__plus_01_dot_39_bar__plus_00_dot_03 - object\n ArmChair_bar__minus_00_dot_88_bar__minus_00_dot_03_bar__plus_00_dot_57 - receptacle\n CoffeeTable_bar__minus_01_dot_97_bar__plus_00_dot_00_bar__plus_02_dot_62 - receptacle\n Drawer_bar__minus_04_dot_43_bar__plus_00_dot_47_bar__plus_03_dot_34 - receptacle\n GarbageCan_bar__minus_00_dot_23_bar__plus_00_dot_01_bar__plus_04_dot_78 - receptacle\n Shelf_bar__minus_00_dot_34_bar__plus_00_dot_18_bar__plus_02_dot_67 - receptacle\n Shelf_bar__minus_00_dot_46_bar__plus_00_dot_17_bar__plus_03_dot_04 - receptacle\n Shelf_bar__minus_00_dot_46_bar__plus_00_dot_42_bar__plus_03_dot_04 - receptacle\n Shelf_bar__minus_00_dot_46_bar__plus_00_dot_48_bar__plus_02_dot_30 - receptacle\n Shelf_bar__minus_00_dot_46_bar__plus_00_dot_57_bar__plus_03_dot_04 - receptacle\n Shelf_bar__minus_00_dot_47_bar__plus_00_dot_18_bar__plus_02_dot_30 - receptacle\n SideTable_bar__minus_04_dot_61_bar__plus_00_dot_01_bar__plus_03_dot_35 - receptacle\n Sofa_bar__minus_02_dot_13_bar_00_dot_00_bar__plus_04_dot_56 - receptacle\n Sofa_bar__minus_04_dot_57_bar_00_dot_00_bar__plus_01_dot_90 - receptacle\n TVStand_bar__minus_00_dot_34_bar__plus_00_dot_01_bar__plus_02_dot_68 - receptacle\n loc_bar__minus_15_bar_17_bar_2_bar_60 - location\n loc_bar__minus_4_bar_5_bar_2_bar_15 - location\n loc_bar__minus_6_bar_8_bar_1_bar_45 - location\n loc_bar__minus_4_bar_11_bar_1_bar_15 - location\n loc_bar__minus_4_bar_7_bar_2_bar_60 - location\n loc_bar__minus_16_bar_15_bar_3_bar_60 - location\n loc_bar__minus_16_bar_2_bar_2_bar_30 - location\n loc_bar__minus_17_bar_17_bar_2_bar_60 - location\n loc_bar__minus_15_bar_18_bar_1_bar_30 - location\n loc_bar__minus_6_bar_14_bar_1_bar_60 - location\n loc_bar__minus_10_bar_13_bar_0_bar_45 - location\n loc_bar__minus_16_bar_2_bar_3_bar_60 - location\n loc_bar__minus_12_bar_3_bar_2_bar_15 - location\n loc_bar__minus_4_bar_11_bar_3_bar_60 - location\n loc_bar__minus_13_bar_8_bar_3_bar_45 - location\n loc_bar__minus_2_bar_17_bar_0_bar_60 - location\n loc_bar__minus_8_bar_14_bar_2_bar_60 - location\n loc_bar__minus_10_bar_3_bar_2_bar__minus_15 - location\n loc_bar__minus_6_bar_14_bar_1_bar_45 - location\n loc_bar__minus_13_bar_3_bar_2_bar_15 - location\n loc_bar__minus_5_bar_11_bar_1_bar_60 - location\n loc_bar__minus_5_bar_14_bar_1_bar_60 - location\n loc_bar__minus_6_bar_7_bar_1_bar_60 - location\n loc_bar__minus_9_bar_6_bar_3_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType ArmChair_bar__minus_00_dot_88_bar__minus_00_dot_03_bar__plus_00_dot_57 ArmChairType)\n (receptacleType Sofa_bar__minus_02_dot_13_bar_00_dot_00_bar__plus_04_dot_56 SofaType)\n (receptacleType Drawer_bar__minus_04_dot_43_bar__plus_00_dot_47_bar__plus_03_dot_34 DrawerType)\n (receptacleType Shelf_bar__minus_00_dot_46_bar__plus_00_dot_17_bar__plus_03_dot_04 ShelfType)\n (receptacleType Shelf_bar__minus_00_dot_46_bar__plus_00_dot_57_bar__plus_03_dot_04 ShelfType)\n (receptacleType Shelf_bar__minus_00_dot_46_bar__plus_00_dot_48_bar__plus_02_dot_30 ShelfType)\n (receptacleType CoffeeTable_bar__minus_01_dot_97_bar__plus_00_dot_00_bar__plus_02_dot_62 CoffeeTableType)\n (receptacleType Shelf_bar__minus_00_dot_34_bar__plus_00_dot_18_bar__plus_02_dot_67 ShelfType)\n (receptacleType Shelf_bar__minus_00_dot_46_bar__plus_00_dot_42_bar__plus_03_dot_04 ShelfType)\n (receptacleType Shelf_bar__minus_00_dot_47_bar__plus_00_dot_18_bar__plus_02_dot_30 ShelfType)\n (receptacleType GarbageCan_bar__minus_00_dot_23_bar__plus_00_dot_01_bar__plus_04_dot_78 GarbageCanType)\n (receptacleType TVStand_bar__minus_00_dot_34_bar__plus_00_dot_01_bar__plus_02_dot_68 TVStandType)\n (receptacleType Sofa_bar__minus_04_dot_57_bar_00_dot_00_bar__plus_01_dot_90 SofaType)\n (receptacleType SideTable_bar__minus_04_dot_61_bar__plus_00_dot_01_bar__plus_03_dot_35 SideTableType)\n (objectType Statue_bar__minus_01_dot_82_bar__plus_00_dot_21_bar__plus_02_dot_53 StatueType)\n (objectType Pillow_bar__minus_04_dot_50_bar__plus_00_dot_48_bar__plus_01_dot_41 PillowType)\n (objectType Box_bar__minus_02_dot_11_bar__plus_00_dot_29_bar__plus_02_dot_93 BoxType)\n (objectType RemoteControl_bar__minus_00_dot_33_bar__plus_00_dot_76_bar__plus_03_dot_13 RemoteControlType)\n (objectType Newspaper_bar__minus_02_dot_37_bar__plus_00_dot_42_bar__plus_04_dot_49 NewspaperType)\n (objectType Painting_bar__minus_02_dot_51_bar__plus_01_dot_82_bar__plus_00_dot_11 PaintingType)\n (objectType Window_bar__minus_03_dot_90_bar__plus_01_dot_39_bar__plus_00_dot_03 WindowType)\n (objectType LightSwitch_bar__minus_03_dot_23_bar__plus_01_dot_34_bar__plus_05_dot_00 LightSwitchType)\n (objectType Newspaper_bar__minus_01_dot_06_bar__plus_00_dot_38_bar__plus_00_dot_64 NewspaperType)\n (objectType CreditCard_bar__minus_01_dot_97_bar__plus_00_dot_20_bar__plus_02_dot_87 CreditCardType)\n (objectType Watch_bar__minus_01_dot_97_bar__plus_00_dot_20_bar__plus_02_dot_76 WatchType)\n (objectType DeskLamp_bar__minus_04_dot_66_bar__plus_00_dot_51_bar__plus_03_dot_32 DeskLampType)\n (objectType KeyChain_bar__minus_04_dot_48_bar__plus_00_dot_51_bar__plus_03_dot_34 KeyChainType)\n (objectType Television_bar__plus_00_dot_00_bar__plus_01_dot_38_bar__plus_02_dot_66 TelevisionType)\n (objectType FloorLamp_bar__minus_04_dot_64_bar__plus_00_dot_01_bar__plus_00_dot_36 FloorLampType)\n (objectType Vase_bar__minus_02_dot_88_bar__plus_01_dot_52_bar__plus_00_dot_14 VaseType)\n (objectType HousePlant_bar__minus_03_dot_13_bar__plus_01_dot_50_bar__plus_00_dot_12 HousePlantType)\n (objectType KeyChain_bar__minus_00_dot_25_bar__plus_00_dot_77_bar__plus_02_dot_38 KeyChainType)\n (objectType Newspaper_bar__minus_00_dot_29_bar__plus_00_dot_06_bar__plus_04_dot_78 NewspaperType)\n (objectType CreditCard_bar__minus_00_dot_50_bar__plus_00_dot_49_bar__plus_02_dot_26 CreditCardType)\n (objectType Chair_bar__minus_04_dot_56_bar_00_dot_00_bar__plus_03_dot_87 ChairType)\n (objectType Laptop_bar__minus_00_dot_40_bar__plus_00_dot_76_bar__plus_02_dot_83 LaptopType)\n (objectType Laptop_bar__minus_02_dot_87_bar__plus_00_dot_42_bar__plus_04_dot_41 LaptopType)\n (objectType Laptop_bar__minus_04_dot_50_bar__plus_00_dot_42_bar__plus_02_dot_15 LaptopType)\n (objectType Window_bar__minus_01_dot_01_bar__plus_01_dot_39_bar__plus_00_dot_03 WindowType)\n (objectType CreditCard_bar__minus_00_dot_33_bar__plus_00_dot_76_bar__plus_02_dot_23 CreditCardType)\n (objectType Statue_bar__minus_00_dot_27_bar__plus_00_dot_19_bar__plus_02_dot_65 StatueType)\n (objectType Watch_bar__minus_01_dot_74_bar__plus_00_dot_20_bar__plus_02_dot_41 WatchType)\n (objectType Statue_bar__minus_00_dot_47_bar__plus_00_dot_19_bar__plus_02_dot_36 StatueType)\n (objectType KeyChain_bar__minus_00_dot_47_bar__plus_00_dot_18_bar__plus_02_dot_78 KeyChainType)\n (objectType TissueBox_bar__minus_00_dot_25_bar__plus_00_dot_77_bar__plus_02_dot_53 TissueBoxType)\n (objectType TissueBox_bar__minus_00_dot_48_bar__plus_00_dot_77_bar__plus_02_dot_38 TissueBoxType)\n (canContain ArmChairType BoxType)\n (canContain ArmChairType LaptopType)\n (canContain ArmChairType PillowType)\n (canContain ArmChairType RemoteControlType)\n (canContain ArmChairType KeyChainType)\n (canContain ArmChairType NewspaperType)\n (canContain ArmChairType CreditCardType)\n (canContain SofaType BoxType)\n (canContain SofaType LaptopType)\n (canContain SofaType PillowType)\n (canContain SofaType RemoteControlType)\n (canContain SofaType KeyChainType)\n (canContain SofaType NewspaperType)\n (canContain SofaType CreditCardType)\n (canContain DrawerType WatchType)\n (canContain DrawerType NewspaperType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType TissueBoxType)\n (canContain ShelfType WatchType)\n (canContain ShelfType NewspaperType)\n (canContain ShelfType VaseType)\n (canContain ShelfType BoxType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType RemoteControlType)\n (canContain ShelfType TissueBoxType)\n (canContain ShelfType StatueType)\n (canContain ShelfType WatchType)\n (canContain ShelfType NewspaperType)\n (canContain ShelfType VaseType)\n (canContain ShelfType BoxType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType RemoteControlType)\n (canContain ShelfType TissueBoxType)\n (canContain ShelfType StatueType)\n (canContain ShelfType WatchType)\n (canContain ShelfType NewspaperType)\n (canContain ShelfType VaseType)\n (canContain ShelfType BoxType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType RemoteControlType)\n (canContain ShelfType TissueBoxType)\n (canContain ShelfType StatueType)\n (canContain CoffeeTableType WatchType)\n (canContain CoffeeTableType NewspaperType)\n (canContain CoffeeTableType VaseType)\n (canContain CoffeeTableType BoxType)\n (canContain CoffeeTableType KeyChainType)\n (canContain CoffeeTableType CreditCardType)\n (canContain CoffeeTableType LaptopType)\n (canContain CoffeeTableType RemoteControlType)\n (canContain CoffeeTableType TissueBoxType)\n (canContain CoffeeTableType StatueType)\n (canContain ShelfType WatchType)\n (canContain ShelfType NewspaperType)\n (canContain ShelfType VaseType)\n (canContain ShelfType BoxType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType RemoteControlType)\n (canContain ShelfType TissueBoxType)\n (canContain ShelfType StatueType)\n (canContain ShelfType WatchType)\n (canContain ShelfType NewspaperType)\n (canContain ShelfType VaseType)\n (canContain ShelfType BoxType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType RemoteControlType)\n (canContain ShelfType TissueBoxType)\n (canContain ShelfType StatueType)\n (canContain ShelfType WatchType)\n (canContain ShelfType NewspaperType)\n (canContain ShelfType VaseType)\n (canContain ShelfType BoxType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType RemoteControlType)\n (canContain ShelfType TissueBoxType)\n (canContain ShelfType StatueType)\n (canContain GarbageCanType NewspaperType)\n (canContain GarbageCanType TissueBoxType)\n (canContain TVStandType TissueBoxType)\n (canContain SofaType BoxType)\n (canContain SofaType LaptopType)\n (canContain SofaType PillowType)\n (canContain SofaType RemoteControlType)\n (canContain SofaType KeyChainType)\n (canContain SofaType NewspaperType)\n (canContain SofaType CreditCardType)\n (canContain SideTableType WatchType)\n (canContain SideTableType NewspaperType)\n (canContain SideTableType VaseType)\n (canContain SideTableType BoxType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType RemoteControlType)\n (canContain SideTableType TissueBoxType)\n (canContain SideTableType StatueType)\n (pickupable Statue_bar__minus_01_dot_82_bar__plus_00_dot_21_bar__plus_02_dot_53)\n (pickupable Pillow_bar__minus_04_dot_50_bar__plus_00_dot_48_bar__plus_01_dot_41)\n (pickupable Box_bar__minus_02_dot_11_bar__plus_00_dot_29_bar__plus_02_dot_93)\n (pickupable RemoteControl_bar__minus_00_dot_33_bar__plus_00_dot_76_bar__plus_03_dot_13)\n (pickupable Newspaper_bar__minus_02_dot_37_bar__plus_00_dot_42_bar__plus_04_dot_49)\n (pickupable Newspaper_bar__minus_01_dot_06_bar__plus_00_dot_38_bar__plus_00_dot_64)\n (pickupable CreditCard_bar__minus_01_dot_97_bar__plus_00_dot_20_bar__plus_02_dot_87)\n (pickupable Watch_bar__minus_01_dot_97_bar__plus_00_dot_20_bar__plus_02_dot_76)\n (pickupable KeyChain_bar__minus_04_dot_48_bar__plus_00_dot_51_bar__plus_03_dot_34)\n (pickupable Vase_bar__minus_02_dot_88_bar__plus_01_dot_52_bar__plus_00_dot_14)\n (pickupable KeyChain_bar__minus_00_dot_25_bar__plus_00_dot_77_bar__plus_02_dot_38)\n (pickupable Newspaper_bar__minus_00_dot_29_bar__plus_00_dot_06_bar__plus_04_dot_78)\n (pickupable CreditCard_bar__minus_00_dot_50_bar__plus_00_dot_49_bar__plus_02_dot_26)\n (pickupable Laptop_bar__minus_00_dot_40_bar__plus_00_dot_76_bar__plus_02_dot_83)\n (pickupable Laptop_bar__minus_02_dot_87_bar__plus_00_dot_42_bar__plus_04_dot_41)\n (pickupable Laptop_bar__minus_04_dot_50_bar__plus_00_dot_42_bar__plus_02_dot_15)\n (pickupable CreditCard_bar__minus_00_dot_33_bar__plus_00_dot_76_bar__plus_02_dot_23)\n (pickupable Statue_bar__minus_00_dot_27_bar__plus_00_dot_19_bar__plus_02_dot_65)\n (pickupable Watch_bar__minus_01_dot_74_bar__plus_00_dot_20_bar__plus_02_dot_41)\n (pickupable Statue_bar__minus_00_dot_47_bar__plus_00_dot_19_bar__plus_02_dot_36)\n (pickupable KeyChain_bar__minus_00_dot_47_bar__plus_00_dot_18_bar__plus_02_dot_78)\n (pickupable TissueBox_bar__minus_00_dot_25_bar__plus_00_dot_77_bar__plus_02_dot_53)\n (pickupable TissueBox_bar__minus_00_dot_48_bar__plus_00_dot_77_bar__plus_02_dot_38)\n (isReceptacleObject Box_bar__minus_02_dot_11_bar__plus_00_dot_29_bar__plus_02_dot_93)\n (openable Drawer_bar__minus_04_dot_43_bar__plus_00_dot_47_bar__plus_03_dot_34)\n \n (atLocation agent1 loc_bar__minus_9_bar_6_bar_3_bar_30)\n \n \n \n \n \n \n \n (toggleable DeskLamp_bar__minus_04_dot_66_bar__plus_00_dot_51_bar__plus_03_dot_32)\n (toggleable FloorLamp_bar__minus_04_dot_64_bar__plus_00_dot_01_bar__plus_00_dot_36)\n \n \n \n \n (inReceptacle DeskLamp_bar__minus_04_dot_66_bar__plus_00_dot_51_bar__plus_03_dot_32 SideTable_bar__minus_04_dot_61_bar__plus_00_dot_01_bar__plus_03_dot_35)\n (inReceptacle KeyChain_bar__minus_04_dot_48_bar__plus_00_dot_51_bar__plus_03_dot_34 SideTable_bar__minus_04_dot_61_bar__plus_00_dot_01_bar__plus_03_dot_35)\n (inReceptacle Statue_bar__minus_00_dot_27_bar__plus_00_dot_19_bar__plus_02_dot_65 Shelf_bar__minus_00_dot_34_bar__plus_00_dot_18_bar__plus_02_dot_67)\n (inReceptacle KeyChain_bar__minus_00_dot_47_bar__plus_00_dot_18_bar__plus_02_dot_78 Shelf_bar__minus_00_dot_34_bar__plus_00_dot_18_bar__plus_02_dot_67)\n (inReceptacle Laptop_bar__minus_02_dot_87_bar__plus_00_dot_42_bar__plus_04_dot_41 Sofa_bar__minus_02_dot_13_bar_00_dot_00_bar__plus_04_dot_56)\n (inReceptacle Newspaper_bar__minus_02_dot_37_bar__plus_00_dot_42_bar__plus_04_dot_49 Sofa_bar__minus_02_dot_13_bar_00_dot_00_bar__plus_04_dot_56)\n (inReceptacle CreditCard_bar__minus_00_dot_50_bar__plus_00_dot_49_bar__plus_02_dot_26 Shelf_bar__minus_00_dot_46_bar__plus_00_dot_48_bar__plus_02_dot_30)\n (inReceptacle Watch_bar__minus_01_dot_74_bar__plus_00_dot_20_bar__plus_02_dot_41 CoffeeTable_bar__minus_01_dot_97_bar__plus_00_dot_00_bar__plus_02_dot_62)\n (inReceptacle Watch_bar__minus_01_dot_97_bar__plus_00_dot_20_bar__plus_02_dot_76 CoffeeTable_bar__minus_01_dot_97_bar__plus_00_dot_00_bar__plus_02_dot_62)\n (inReceptacle CreditCard_bar__minus_01_dot_97_bar__plus_00_dot_20_bar__plus_02_dot_87 CoffeeTable_bar__minus_01_dot_97_bar__plus_00_dot_00_bar__plus_02_dot_62)\n (inReceptacle Statue_bar__minus_01_dot_82_bar__plus_00_dot_21_bar__plus_02_dot_53 CoffeeTable_bar__minus_01_dot_97_bar__plus_00_dot_00_bar__plus_02_dot_62)\n (inReceptacle Box_bar__minus_02_dot_11_bar__plus_00_dot_29_bar__plus_02_dot_93 CoffeeTable_bar__minus_01_dot_97_bar__plus_00_dot_00_bar__plus_02_dot_62)\n (inReceptacleObject Watch_bar__minus_01_dot_97_bar__plus_00_dot_20_bar__plus_02_dot_76 Box_bar__minus_02_dot_11_bar__plus_00_dot_29_bar__plus_02_dot_93)\n (inReceptacle Statue_bar__minus_00_dot_47_bar__plus_00_dot_19_bar__plus_02_dot_36 Shelf_bar__minus_00_dot_47_bar__plus_00_dot_18_bar__plus_02_dot_30)\n (inReceptacle Laptop_bar__minus_04_dot_50_bar__plus_00_dot_42_bar__plus_02_dot_15 Sofa_bar__minus_04_dot_57_bar_00_dot_00_bar__plus_01_dot_90)\n (inReceptacle Pillow_bar__minus_04_dot_50_bar__plus_00_dot_48_bar__plus_01_dot_41 Sofa_bar__minus_04_dot_57_bar_00_dot_00_bar__plus_01_dot_90)\n (inReceptacle Newspaper_bar__minus_01_dot_06_bar__plus_00_dot_38_bar__plus_00_dot_64 ArmChair_bar__minus_00_dot_88_bar__minus_00_dot_03_bar__plus_00_dot_57)\n (inReceptacle RemoteControl_bar__minus_00_dot_33_bar__plus_00_dot_76_bar__plus_03_dot_13 TVStand_bar__minus_00_dot_34_bar__plus_00_dot_01_bar__plus_02_dot_68)\n (inReceptacle Laptop_bar__minus_00_dot_40_bar__plus_00_dot_76_bar__plus_02_dot_83 TVStand_bar__minus_00_dot_34_bar__plus_00_dot_01_bar__plus_02_dot_68)\n (inReceptacle TissueBox_bar__minus_00_dot_25_bar__plus_00_dot_77_bar__plus_02_dot_53 TVStand_bar__minus_00_dot_34_bar__plus_00_dot_01_bar__plus_02_dot_68)\n (inReceptacle TissueBox_bar__minus_00_dot_48_bar__plus_00_dot_77_bar__plus_02_dot_38 TVStand_bar__minus_00_dot_34_bar__plus_00_dot_01_bar__plus_02_dot_68)\n (inReceptacle KeyChain_bar__minus_00_dot_25_bar__plus_00_dot_77_bar__plus_02_dot_38 TVStand_bar__minus_00_dot_34_bar__plus_00_dot_01_bar__plus_02_dot_68)\n (inReceptacle CreditCard_bar__minus_00_dot_33_bar__plus_00_dot_76_bar__plus_02_dot_23 TVStand_bar__minus_00_dot_34_bar__plus_00_dot_01_bar__plus_02_dot_68)\n (inReceptacle Newspaper_bar__minus_00_dot_29_bar__plus_00_dot_06_bar__plus_04_dot_78 GarbageCan_bar__minus_00_dot_23_bar__plus_00_dot_01_bar__plus_04_dot_78)\n \n \n (receptacleAtLocation ArmChair_bar__minus_00_dot_88_bar__minus_00_dot_03_bar__plus_00_dot_57 loc_bar__minus_4_bar_7_bar_2_bar_60)\n (receptacleAtLocation CoffeeTable_bar__minus_01_dot_97_bar__plus_00_dot_00_bar__plus_02_dot_62 loc_bar__minus_4_bar_11_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_04_dot_43_bar__plus_00_dot_47_bar__plus_03_dot_34 loc_bar__minus_15_bar_17_bar_2_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_00_dot_23_bar__plus_00_dot_01_bar__plus_04_dot_78 loc_bar__minus_2_bar_17_bar_0_bar_60)\n (receptacleAtLocation Shelf_bar__minus_00_dot_34_bar__plus_00_dot_18_bar__plus_02_dot_67 loc_bar__minus_6_bar_8_bar_1_bar_45)\n (receptacleAtLocation Shelf_bar__minus_00_dot_46_bar__plus_00_dot_17_bar__plus_03_dot_04 loc_bar__minus_6_bar_14_bar_1_bar_60)\n (receptacleAtLocation Shelf_bar__minus_00_dot_46_bar__plus_00_dot_42_bar__plus_03_dot_04 loc_bar__minus_6_bar_14_bar_1_bar_45)\n (receptacleAtLocation Shelf_bar__minus_00_dot_46_bar__plus_00_dot_48_bar__plus_02_dot_30 loc_bar__minus_5_bar_11_bar_1_bar_60)\n (receptacleAtLocation Shelf_bar__minus_00_dot_46_bar__plus_00_dot_57_bar__plus_03_dot_04 loc_bar__minus_5_bar_14_bar_1_bar_60)\n (receptacleAtLocation Shelf_bar__minus_00_dot_47_bar__plus_00_dot_18_bar__plus_02_dot_30 loc_bar__minus_6_bar_7_bar_1_bar_60)\n (receptacleAtLocation SideTable_bar__minus_04_dot_61_bar__plus_00_dot_01_bar__plus_03_dot_35 loc_bar__minus_17_bar_17_bar_2_bar_60)\n (receptacleAtLocation Sofa_bar__minus_02_dot_13_bar_00_dot_00_bar__plus_04_dot_56 loc_bar__minus_10_bar_13_bar_0_bar_45)\n (receptacleAtLocation Sofa_bar__minus_04_dot_57_bar_00_dot_00_bar__plus_01_dot_90 loc_bar__minus_13_bar_8_bar_3_bar_45)\n (receptacleAtLocation TVStand_bar__minus_00_dot_34_bar__plus_00_dot_01_bar__plus_02_dot_68 loc_bar__minus_5_bar_11_bar_1_bar_60)\n (objectAtLocation Statue_bar__minus_00_dot_27_bar__plus_00_dot_19_bar__plus_02_dot_65 loc_bar__minus_6_bar_8_bar_1_bar_45)\n (objectAtLocation Newspaper_bar__minus_00_dot_29_bar__plus_00_dot_06_bar__plus_04_dot_78 loc_bar__minus_2_bar_17_bar_0_bar_60)\n (objectAtLocation Watch_bar__minus_01_dot_74_bar__plus_00_dot_20_bar__plus_02_dot_41 loc_bar__minus_4_bar_11_bar_3_bar_60)\n (objectAtLocation KeyChain_bar__minus_04_dot_48_bar__plus_00_dot_51_bar__plus_03_dot_34 loc_bar__minus_17_bar_17_bar_2_bar_60)\n (objectAtLocation Laptop_bar__minus_04_dot_50_bar__plus_00_dot_42_bar__plus_02_dot_15 loc_bar__minus_13_bar_8_bar_3_bar_45)\n (objectAtLocation TissueBox_bar__minus_00_dot_48_bar__plus_00_dot_77_bar__plus_02_dot_38 loc_bar__minus_5_bar_11_bar_1_bar_60)\n (objectAtLocation CreditCard_bar__minus_00_dot_50_bar__plus_00_dot_49_bar__plus_02_dot_26 loc_bar__minus_5_bar_11_bar_1_bar_60)\n (objectAtLocation Laptop_bar__minus_02_dot_87_bar__plus_00_dot_42_bar__plus_04_dot_41 loc_bar__minus_10_bar_13_bar_0_bar_45)\n (objectAtLocation CreditCard_bar__minus_01_dot_97_bar__plus_00_dot_20_bar__plus_02_dot_87 loc_bar__minus_4_bar_11_bar_3_bar_60)\n (objectAtLocation KeyChain_bar__minus_00_dot_47_bar__plus_00_dot_18_bar__plus_02_dot_78 loc_bar__minus_6_bar_8_bar_1_bar_45)\n (objectAtLocation Newspaper_bar__minus_02_dot_37_bar__plus_00_dot_42_bar__plus_04_dot_49 loc_bar__minus_10_bar_13_bar_0_bar_45)\n (objectAtLocation Chair_bar__minus_04_dot_56_bar_00_dot_00_bar__plus_03_dot_87 loc_bar__minus_16_bar_15_bar_3_bar_60)\n (objectAtLocation Box_bar__minus_02_dot_11_bar__plus_00_dot_29_bar__plus_02_dot_93 loc_bar__minus_4_bar_11_bar_3_bar_60)\n (objectAtLocation HousePlant_bar__minus_03_dot_13_bar__plus_01_dot_50_bar__plus_00_dot_12 loc_bar__minus_13_bar_3_bar_2_bar_15)\n (objectAtLocation CreditCard_bar__minus_00_dot_33_bar__plus_00_dot_76_bar__plus_02_dot_23 loc_bar__minus_5_bar_11_bar_1_bar_60)\n (objectAtLocation Television_bar__plus_00_dot_00_bar__plus_01_dot_38_bar__plus_02_dot_66 loc_bar__minus_4_bar_11_bar_1_bar_15)\n (objectAtLocation DeskLamp_bar__minus_04_dot_66_bar__plus_00_dot_51_bar__plus_03_dot_32 loc_bar__minus_17_bar_17_bar_2_bar_60)\n (objectAtLocation TissueBox_bar__minus_00_dot_25_bar__plus_00_dot_77_bar__plus_02_dot_53 loc_bar__minus_5_bar_11_bar_1_bar_60)\n (objectAtLocation Laptop_bar__minus_00_dot_40_bar__plus_00_dot_76_bar__plus_02_dot_83 loc_bar__minus_5_bar_11_bar_1_bar_60)\n (objectAtLocation Vase_bar__minus_02_dot_88_bar__plus_01_dot_52_bar__plus_00_dot_14 loc_bar__minus_12_bar_3_bar_2_bar_15)\n (objectAtLocation RemoteControl_bar__minus_00_dot_33_bar__plus_00_dot_76_bar__plus_03_dot_13 loc_bar__minus_5_bar_11_bar_1_bar_60)\n (objectAtLocation Painting_bar__minus_02_dot_51_bar__plus_01_dot_82_bar__plus_00_dot_11 loc_bar__minus_10_bar_3_bar_2_bar__minus_15)\n (objectAtLocation Pillow_bar__minus_04_dot_50_bar__plus_00_dot_48_bar__plus_01_dot_41 loc_bar__minus_13_bar_8_bar_3_bar_45)\n (objectAtLocation FloorLamp_bar__minus_04_dot_64_bar__plus_00_dot_01_bar__plus_00_dot_36 loc_bar__minus_16_bar_2_bar_3_bar_60)\n (objectAtLocation KeyChain_bar__minus_00_dot_25_bar__plus_00_dot_77_bar__plus_02_dot_38 loc_bar__minus_5_bar_11_bar_1_bar_60)\n (objectAtLocation Watch_bar__minus_01_dot_97_bar__plus_00_dot_20_bar__plus_02_dot_76 loc_bar__minus_8_bar_14_bar_2_bar_60)\n (objectAtLocation LightSwitch_bar__minus_03_dot_23_bar__plus_01_dot_34_bar__plus_05_dot_00 loc_bar__minus_15_bar_18_bar_1_bar_30)\n (objectAtLocation Newspaper_bar__minus_01_dot_06_bar__plus_00_dot_38_bar__plus_00_dot_64 loc_bar__minus_4_bar_7_bar_2_bar_60)\n (objectAtLocation Window_bar__minus_01_dot_01_bar__plus_01_dot_39_bar__plus_00_dot_03 loc_bar__minus_4_bar_5_bar_2_bar_15)\n (objectAtLocation Window_bar__minus_03_dot_90_bar__plus_01_dot_39_bar__plus_00_dot_03 loc_bar__minus_16_bar_2_bar_2_bar_30)\n (objectAtLocation Statue_bar__minus_01_dot_82_bar__plus_00_dot_21_bar__plus_02_dot_53 loc_bar__minus_4_bar_11_bar_3_bar_60)\n (objectAtLocation Statue_bar__minus_00_dot_47_bar__plus_00_dot_19_bar__plus_02_dot_36 loc_bar__minus_6_bar_7_bar_1_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (inReceptacle ?o ?r)\n (objectType ?o PillowType)\n (receptacleType ?r ArmChairType)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to sofa 1", "take pillow 1 from sofa 1", "go to armchair 1", "move pillow 1 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-225/trial_T20190908_142357_753395/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Pillow-None-ArmChair-225/trial_T20190908_142357_753395/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..d8009d6d8efc2e30c5b6c7b7f1ebe909b438bce7 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Pillow-None-ArmChair-225/trial_T20190908_142357_753395/initial_state.pddl @@ -0,0 +1,551 @@ + +(define (problem plan_trial_T20190908_142357_753395) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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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Laptop_bar__minus_02_dot_87_bar__plus_00_dot_42_bar__plus_04_dot_41 - object + Laptop_bar__minus_04_dot_50_bar__plus_00_dot_42_bar__plus_02_dot_15 - object + LightSwitch_bar__minus_03_dot_23_bar__plus_01_dot_34_bar__plus_05_dot_00 - object + Newspaper_bar__minus_00_dot_29_bar__plus_00_dot_06_bar__plus_04_dot_78 - object + Newspaper_bar__minus_01_dot_06_bar__plus_00_dot_38_bar__plus_00_dot_64 - object + Newspaper_bar__minus_02_dot_37_bar__plus_00_dot_42_bar__plus_04_dot_49 - object + Painting_bar__minus_02_dot_51_bar__plus_01_dot_82_bar__plus_00_dot_11 - object + Pillow_bar__minus_04_dot_50_bar__plus_00_dot_48_bar__plus_01_dot_41 - object + RemoteControl_bar__minus_00_dot_33_bar__plus_00_dot_76_bar__plus_03_dot_13 - object + Statue_bar__minus_00_dot_27_bar__plus_00_dot_19_bar__plus_02_dot_65 - object + Statue_bar__minus_00_dot_47_bar__plus_00_dot_19_bar__plus_02_dot_36 - object + Statue_bar__minus_01_dot_82_bar__plus_00_dot_21_bar__plus_02_dot_53 - object + Television_bar__plus_00_dot_00_bar__plus_01_dot_38_bar__plus_02_dot_66 - object + TissueBox_bar__minus_00_dot_25_bar__plus_00_dot_77_bar__plus_02_dot_53 - object + TissueBox_bar__minus_00_dot_48_bar__plus_00_dot_77_bar__plus_02_dot_38 - object + Vase_bar__minus_02_dot_88_bar__plus_01_dot_52_bar__plus_00_dot_14 - object + Watch_bar__minus_01_dot_74_bar__plus_00_dot_20_bar__plus_02_dot_41 - object + Watch_bar__minus_01_dot_97_bar__plus_00_dot_20_bar__plus_02_dot_76 - object + Window_bar__minus_01_dot_01_bar__plus_01_dot_39_bar__plus_00_dot_03 - object + Window_bar__minus_03_dot_90_bar__plus_01_dot_39_bar__plus_00_dot_03 - object + ArmChair_bar__minus_00_dot_88_bar__minus_00_dot_03_bar__plus_00_dot_57 - receptacle + CoffeeTable_bar__minus_01_dot_97_bar__plus_00_dot_00_bar__plus_02_dot_62 - receptacle + Drawer_bar__minus_04_dot_43_bar__plus_00_dot_47_bar__plus_03_dot_34 - receptacle + GarbageCan_bar__minus_00_dot_23_bar__plus_00_dot_01_bar__plus_04_dot_78 - receptacle + Shelf_bar__minus_00_dot_34_bar__plus_00_dot_18_bar__plus_02_dot_67 - receptacle + Shelf_bar__minus_00_dot_46_bar__plus_00_dot_17_bar__plus_03_dot_04 - receptacle + Shelf_bar__minus_00_dot_46_bar__plus_00_dot_42_bar__plus_03_dot_04 - receptacle + Shelf_bar__minus_00_dot_46_bar__plus_00_dot_48_bar__plus_02_dot_30 - receptacle + Shelf_bar__minus_00_dot_46_bar__plus_00_dot_57_bar__plus_03_dot_04 - receptacle + Shelf_bar__minus_00_dot_47_bar__plus_00_dot_18_bar__plus_02_dot_30 - receptacle + SideTable_bar__minus_04_dot_61_bar__plus_00_dot_01_bar__plus_03_dot_35 - receptacle + Sofa_bar__minus_02_dot_13_bar_00_dot_00_bar__plus_04_dot_56 - receptacle + Sofa_bar__minus_04_dot_57_bar_00_dot_00_bar__plus_01_dot_90 - receptacle + TVStand_bar__minus_00_dot_34_bar__plus_00_dot_01_bar__plus_02_dot_68 - receptacle + loc_bar__minus_15_bar_17_bar_2_bar_60 - location + loc_bar__minus_4_bar_5_bar_2_bar_15 - location + loc_bar__minus_6_bar_8_bar_1_bar_45 - location + loc_bar__minus_4_bar_11_bar_1_bar_15 - location + loc_bar__minus_4_bar_7_bar_2_bar_60 - location + loc_bar__minus_16_bar_15_bar_3_bar_60 - location + loc_bar__minus_16_bar_2_bar_2_bar_30 - location + loc_bar__minus_17_bar_17_bar_2_bar_60 - location + loc_bar__minus_15_bar_18_bar_1_bar_30 - location + loc_bar__minus_6_bar_14_bar_1_bar_60 - location + loc_bar__minus_10_bar_13_bar_0_bar_45 - location + loc_bar__minus_16_bar_2_bar_3_bar_60 - location + loc_bar__minus_12_bar_3_bar_2_bar_15 - location + loc_bar__minus_4_bar_11_bar_3_bar_60 - location + loc_bar__minus_13_bar_8_bar_3_bar_45 - location + loc_bar__minus_2_bar_17_bar_0_bar_60 - location + loc_bar__minus_8_bar_14_bar_2_bar_60 - location + loc_bar__minus_10_bar_3_bar_2_bar__minus_15 - location + loc_bar__minus_6_bar_14_bar_1_bar_45 - location + loc_bar__minus_13_bar_3_bar_2_bar_15 - location + loc_bar__minus_5_bar_11_bar_1_bar_60 - location + loc_bar__minus_5_bar_14_bar_1_bar_60 - location + loc_bar__minus_6_bar_7_bar_1_bar_60 - location + loc_bar__minus_9_bar_6_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType ArmChair_bar__minus_00_dot_88_bar__minus_00_dot_03_bar__plus_00_dot_57 ArmChairType) + (receptacleType Sofa_bar__minus_02_dot_13_bar_00_dot_00_bar__plus_04_dot_56 SofaType) + (receptacleType Drawer_bar__minus_04_dot_43_bar__plus_00_dot_47_bar__plus_03_dot_34 DrawerType) + (receptacleType Shelf_bar__minus_00_dot_46_bar__plus_00_dot_17_bar__plus_03_dot_04 ShelfType) + (receptacleType Shelf_bar__minus_00_dot_46_bar__plus_00_dot_57_bar__plus_03_dot_04 ShelfType) + (receptacleType Shelf_bar__minus_00_dot_46_bar__plus_00_dot_48_bar__plus_02_dot_30 ShelfType) + (receptacleType CoffeeTable_bar__minus_01_dot_97_bar__plus_00_dot_00_bar__plus_02_dot_62 CoffeeTableType) + (receptacleType Shelf_bar__minus_00_dot_34_bar__plus_00_dot_18_bar__plus_02_dot_67 ShelfType) + (receptacleType Shelf_bar__minus_00_dot_46_bar__plus_00_dot_42_bar__plus_03_dot_04 ShelfType) + (receptacleType Shelf_bar__minus_00_dot_47_bar__plus_00_dot_18_bar__plus_02_dot_30 ShelfType) + (receptacleType GarbageCan_bar__minus_00_dot_23_bar__plus_00_dot_01_bar__plus_04_dot_78 GarbageCanType) + (receptacleType TVStand_bar__minus_00_dot_34_bar__plus_00_dot_01_bar__plus_02_dot_68 TVStandType) + (receptacleType Sofa_bar__minus_04_dot_57_bar_00_dot_00_bar__plus_01_dot_90 SofaType) + (receptacleType SideTable_bar__minus_04_dot_61_bar__plus_00_dot_01_bar__plus_03_dot_35 SideTableType) + (objectType Statue_bar__minus_01_dot_82_bar__plus_00_dot_21_bar__plus_02_dot_53 StatueType) + (objectType Pillow_bar__minus_04_dot_50_bar__plus_00_dot_48_bar__plus_01_dot_41 PillowType) + (objectType Box_bar__minus_02_dot_11_bar__plus_00_dot_29_bar__plus_02_dot_93 BoxType) + (objectType RemoteControl_bar__minus_00_dot_33_bar__plus_00_dot_76_bar__plus_03_dot_13 RemoteControlType) + (objectType Newspaper_bar__minus_02_dot_37_bar__plus_00_dot_42_bar__plus_04_dot_49 NewspaperType) + (objectType Painting_bar__minus_02_dot_51_bar__plus_01_dot_82_bar__plus_00_dot_11 PaintingType) + (objectType Window_bar__minus_03_dot_90_bar__plus_01_dot_39_bar__plus_00_dot_03 WindowType) + (objectType LightSwitch_bar__minus_03_dot_23_bar__plus_01_dot_34_bar__plus_05_dot_00 LightSwitchType) + (objectType Newspaper_bar__minus_01_dot_06_bar__plus_00_dot_38_bar__plus_00_dot_64 NewspaperType) + (objectType CreditCard_bar__minus_01_dot_97_bar__plus_00_dot_20_bar__plus_02_dot_87 CreditCardType) + (objectType Watch_bar__minus_01_dot_97_bar__plus_00_dot_20_bar__plus_02_dot_76 WatchType) + (objectType DeskLamp_bar__minus_04_dot_66_bar__plus_00_dot_51_bar__plus_03_dot_32 DeskLampType) + (objectType KeyChain_bar__minus_04_dot_48_bar__plus_00_dot_51_bar__plus_03_dot_34 KeyChainType) + (objectType Television_bar__plus_00_dot_00_bar__plus_01_dot_38_bar__plus_02_dot_66 TelevisionType) + (objectType FloorLamp_bar__minus_04_dot_64_bar__plus_00_dot_01_bar__plus_00_dot_36 FloorLampType) + (objectType Vase_bar__minus_02_dot_88_bar__plus_01_dot_52_bar__plus_00_dot_14 VaseType) + (objectType HousePlant_bar__minus_03_dot_13_bar__plus_01_dot_50_bar__plus_00_dot_12 HousePlantType) + (objectType KeyChain_bar__minus_00_dot_25_bar__plus_00_dot_77_bar__plus_02_dot_38 KeyChainType) + (objectType Newspaper_bar__minus_00_dot_29_bar__plus_00_dot_06_bar__plus_04_dot_78 NewspaperType) + (objectType CreditCard_bar__minus_00_dot_50_bar__plus_00_dot_49_bar__plus_02_dot_26 CreditCardType) + (objectType Chair_bar__minus_04_dot_56_bar_00_dot_00_bar__plus_03_dot_87 ChairType) + (objectType Laptop_bar__minus_00_dot_40_bar__plus_00_dot_76_bar__plus_02_dot_83 LaptopType) + (objectType Laptop_bar__minus_02_dot_87_bar__plus_00_dot_42_bar__plus_04_dot_41 LaptopType) + (objectType Laptop_bar__minus_04_dot_50_bar__plus_00_dot_42_bar__plus_02_dot_15 LaptopType) + (objectType Window_bar__minus_01_dot_01_bar__plus_01_dot_39_bar__plus_00_dot_03 WindowType) + (objectType CreditCard_bar__minus_00_dot_33_bar__plus_00_dot_76_bar__plus_02_dot_23 CreditCardType) + (objectType Statue_bar__minus_00_dot_27_bar__plus_00_dot_19_bar__plus_02_dot_65 StatueType) + (objectType Watch_bar__minus_01_dot_74_bar__plus_00_dot_20_bar__plus_02_dot_41 WatchType) + (objectType Statue_bar__minus_00_dot_47_bar__plus_00_dot_19_bar__plus_02_dot_36 StatueType) + (objectType KeyChain_bar__minus_00_dot_47_bar__plus_00_dot_18_bar__plus_02_dot_78 KeyChainType) + (objectType TissueBox_bar__minus_00_dot_25_bar__plus_00_dot_77_bar__plus_02_dot_53 TissueBoxType) + (objectType TissueBox_bar__minus_00_dot_48_bar__plus_00_dot_77_bar__plus_02_dot_38 TissueBoxType) + (canContain ArmChairType BoxType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType PillowType) + (canContain ArmChairType RemoteControlType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType NewspaperType) + (canContain ArmChairType CreditCardType) + (canContain SofaType BoxType) + (canContain 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DeskLamp_bar__minus_04_dot_66_bar__plus_00_dot_51_bar__plus_03_dot_32) + (toggleable FloorLamp_bar__minus_04_dot_64_bar__plus_00_dot_01_bar__plus_00_dot_36) + + + + + (inReceptacle DeskLamp_bar__minus_04_dot_66_bar__plus_00_dot_51_bar__plus_03_dot_32 SideTable_bar__minus_04_dot_61_bar__plus_00_dot_01_bar__plus_03_dot_35) + (inReceptacle KeyChain_bar__minus_04_dot_48_bar__plus_00_dot_51_bar__plus_03_dot_34 SideTable_bar__minus_04_dot_61_bar__plus_00_dot_01_bar__plus_03_dot_35) + (inReceptacle Statue_bar__minus_00_dot_27_bar__plus_00_dot_19_bar__plus_02_dot_65 Shelf_bar__minus_00_dot_34_bar__plus_00_dot_18_bar__plus_02_dot_67) + (inReceptacle KeyChain_bar__minus_00_dot_47_bar__plus_00_dot_18_bar__plus_02_dot_78 Shelf_bar__minus_00_dot_34_bar__plus_00_dot_18_bar__plus_02_dot_67) + (inReceptacle Laptop_bar__minus_02_dot_87_bar__plus_00_dot_42_bar__plus_04_dot_41 Sofa_bar__minus_02_dot_13_bar_00_dot_00_bar__plus_04_dot_56) + (inReceptacle Newspaper_bar__minus_02_dot_37_bar__plus_00_dot_42_bar__plus_04_dot_49 Sofa_bar__minus_02_dot_13_bar_00_dot_00_bar__plus_04_dot_56) + (inReceptacle CreditCard_bar__minus_00_dot_50_bar__plus_00_dot_49_bar__plus_02_dot_26 Shelf_bar__minus_00_dot_46_bar__plus_00_dot_48_bar__plus_02_dot_30) + (inReceptacle Watch_bar__minus_01_dot_74_bar__plus_00_dot_20_bar__plus_02_dot_41 CoffeeTable_bar__minus_01_dot_97_bar__plus_00_dot_00_bar__plus_02_dot_62) + (inReceptacle Watch_bar__minus_01_dot_97_bar__plus_00_dot_20_bar__plus_02_dot_76 CoffeeTable_bar__minus_01_dot_97_bar__plus_00_dot_00_bar__plus_02_dot_62) + (inReceptacle CreditCard_bar__minus_01_dot_97_bar__plus_00_dot_20_bar__plus_02_dot_87 CoffeeTable_bar__minus_01_dot_97_bar__plus_00_dot_00_bar__plus_02_dot_62) + (inReceptacle Statue_bar__minus_01_dot_82_bar__plus_00_dot_21_bar__plus_02_dot_53 CoffeeTable_bar__minus_01_dot_97_bar__plus_00_dot_00_bar__plus_02_dot_62) + (inReceptacle Box_bar__minus_02_dot_11_bar__plus_00_dot_29_bar__plus_02_dot_93 CoffeeTable_bar__minus_01_dot_97_bar__plus_00_dot_00_bar__plus_02_dot_62) + (inReceptacleObject Watch_bar__minus_01_dot_97_bar__plus_00_dot_20_bar__plus_02_dot_76 Box_bar__minus_02_dot_11_bar__plus_00_dot_29_bar__plus_02_dot_93) + (inReceptacle Statue_bar__minus_00_dot_47_bar__plus_00_dot_19_bar__plus_02_dot_36 Shelf_bar__minus_00_dot_47_bar__plus_00_dot_18_bar__plus_02_dot_30) + (inReceptacle Laptop_bar__minus_04_dot_50_bar__plus_00_dot_42_bar__plus_02_dot_15 Sofa_bar__minus_04_dot_57_bar_00_dot_00_bar__plus_01_dot_90) + (inReceptacle Pillow_bar__minus_04_dot_50_bar__plus_00_dot_48_bar__plus_01_dot_41 Sofa_bar__minus_04_dot_57_bar_00_dot_00_bar__plus_01_dot_90) + (inReceptacle Newspaper_bar__minus_01_dot_06_bar__plus_00_dot_38_bar__plus_00_dot_64 ArmChair_bar__minus_00_dot_88_bar__minus_00_dot_03_bar__plus_00_dot_57) + (inReceptacle RemoteControl_bar__minus_00_dot_33_bar__plus_00_dot_76_bar__plus_03_dot_13 TVStand_bar__minus_00_dot_34_bar__plus_00_dot_01_bar__plus_02_dot_68) + (inReceptacle Laptop_bar__minus_00_dot_40_bar__plus_00_dot_76_bar__plus_02_dot_83 TVStand_bar__minus_00_dot_34_bar__plus_00_dot_01_bar__plus_02_dot_68) + (inReceptacle TissueBox_bar__minus_00_dot_25_bar__plus_00_dot_77_bar__plus_02_dot_53 TVStand_bar__minus_00_dot_34_bar__plus_00_dot_01_bar__plus_02_dot_68) + (inReceptacle TissueBox_bar__minus_00_dot_48_bar__plus_00_dot_77_bar__plus_02_dot_38 TVStand_bar__minus_00_dot_34_bar__plus_00_dot_01_bar__plus_02_dot_68) + (inReceptacle KeyChain_bar__minus_00_dot_25_bar__plus_00_dot_77_bar__plus_02_dot_38 TVStand_bar__minus_00_dot_34_bar__plus_00_dot_01_bar__plus_02_dot_68) + (inReceptacle CreditCard_bar__minus_00_dot_33_bar__plus_00_dot_76_bar__plus_02_dot_23 TVStand_bar__minus_00_dot_34_bar__plus_00_dot_01_bar__plus_02_dot_68) + (inReceptacle Newspaper_bar__minus_00_dot_29_bar__plus_00_dot_06_bar__plus_04_dot_78 GarbageCan_bar__minus_00_dot_23_bar__plus_00_dot_01_bar__plus_04_dot_78) + + + (receptacleAtLocation ArmChair_bar__minus_00_dot_88_bar__minus_00_dot_03_bar__plus_00_dot_57 loc_bar__minus_4_bar_7_bar_2_bar_60) + (receptacleAtLocation CoffeeTable_bar__minus_01_dot_97_bar__plus_00_dot_00_bar__plus_02_dot_62 loc_bar__minus_4_bar_11_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_04_dot_43_bar__plus_00_dot_47_bar__plus_03_dot_34 loc_bar__minus_15_bar_17_bar_2_bar_60) + (receptacleAtLocation GarbageCan_bar__minus_00_dot_23_bar__plus_00_dot_01_bar__plus_04_dot_78 loc_bar__minus_2_bar_17_bar_0_bar_60) + (receptacleAtLocation Shelf_bar__minus_00_dot_34_bar__plus_00_dot_18_bar__plus_02_dot_67 loc_bar__minus_6_bar_8_bar_1_bar_45) + (receptacleAtLocation Shelf_bar__minus_00_dot_46_bar__plus_00_dot_17_bar__plus_03_dot_04 loc_bar__minus_6_bar_14_bar_1_bar_60) + (receptacleAtLocation Shelf_bar__minus_00_dot_46_bar__plus_00_dot_42_bar__plus_03_dot_04 loc_bar__minus_6_bar_14_bar_1_bar_45) + (receptacleAtLocation Shelf_bar__minus_00_dot_46_bar__plus_00_dot_48_bar__plus_02_dot_30 loc_bar__minus_5_bar_11_bar_1_bar_60) + (receptacleAtLocation Shelf_bar__minus_00_dot_46_bar__plus_00_dot_57_bar__plus_03_dot_04 loc_bar__minus_5_bar_14_bar_1_bar_60) + (receptacleAtLocation Shelf_bar__minus_00_dot_47_bar__plus_00_dot_18_bar__plus_02_dot_30 loc_bar__minus_6_bar_7_bar_1_bar_60) + (receptacleAtLocation SideTable_bar__minus_04_dot_61_bar__plus_00_dot_01_bar__plus_03_dot_35 loc_bar__minus_17_bar_17_bar_2_bar_60) + (receptacleAtLocation Sofa_bar__minus_02_dot_13_bar_00_dot_00_bar__plus_04_dot_56 loc_bar__minus_10_bar_13_bar_0_bar_45) + (receptacleAtLocation Sofa_bar__minus_04_dot_57_bar_00_dot_00_bar__plus_01_dot_90 loc_bar__minus_13_bar_8_bar_3_bar_45) + (receptacleAtLocation TVStand_bar__minus_00_dot_34_bar__plus_00_dot_01_bar__plus_02_dot_68 loc_bar__minus_5_bar_11_bar_1_bar_60) + (objectAtLocation Statue_bar__minus_00_dot_27_bar__plus_00_dot_19_bar__plus_02_dot_65 loc_bar__minus_6_bar_8_bar_1_bar_45) + (objectAtLocation Newspaper_bar__minus_00_dot_29_bar__plus_00_dot_06_bar__plus_04_dot_78 loc_bar__minus_2_bar_17_bar_0_bar_60) + (objectAtLocation Watch_bar__minus_01_dot_74_bar__plus_00_dot_20_bar__plus_02_dot_41 loc_bar__minus_4_bar_11_bar_3_bar_60) + (objectAtLocation KeyChain_bar__minus_04_dot_48_bar__plus_00_dot_51_bar__plus_03_dot_34 loc_bar__minus_17_bar_17_bar_2_bar_60) + (objectAtLocation Laptop_bar__minus_04_dot_50_bar__plus_00_dot_42_bar__plus_02_dot_15 loc_bar__minus_13_bar_8_bar_3_bar_45) + (objectAtLocation TissueBox_bar__minus_00_dot_48_bar__plus_00_dot_77_bar__plus_02_dot_38 loc_bar__minus_5_bar_11_bar_1_bar_60) + (objectAtLocation CreditCard_bar__minus_00_dot_50_bar__plus_00_dot_49_bar__plus_02_dot_26 loc_bar__minus_5_bar_11_bar_1_bar_60) + (objectAtLocation Laptop_bar__minus_02_dot_87_bar__plus_00_dot_42_bar__plus_04_dot_41 loc_bar__minus_10_bar_13_bar_0_bar_45) + (objectAtLocation CreditCard_bar__minus_01_dot_97_bar__plus_00_dot_20_bar__plus_02_dot_87 loc_bar__minus_4_bar_11_bar_3_bar_60) + (objectAtLocation KeyChain_bar__minus_00_dot_47_bar__plus_00_dot_18_bar__plus_02_dot_78 loc_bar__minus_6_bar_8_bar_1_bar_45) + (objectAtLocation Newspaper_bar__minus_02_dot_37_bar__plus_00_dot_42_bar__plus_04_dot_49 loc_bar__minus_10_bar_13_bar_0_bar_45) + (objectAtLocation Chair_bar__minus_04_dot_56_bar_00_dot_00_bar__plus_03_dot_87 loc_bar__minus_16_bar_15_bar_3_bar_60) + (objectAtLocation Box_bar__minus_02_dot_11_bar__plus_00_dot_29_bar__plus_02_dot_93 loc_bar__minus_4_bar_11_bar_3_bar_60) + (objectAtLocation HousePlant_bar__minus_03_dot_13_bar__plus_01_dot_50_bar__plus_00_dot_12 loc_bar__minus_13_bar_3_bar_2_bar_15) + (objectAtLocation CreditCard_bar__minus_00_dot_33_bar__plus_00_dot_76_bar__plus_02_dot_23 loc_bar__minus_5_bar_11_bar_1_bar_60) + (objectAtLocation Television_bar__plus_00_dot_00_bar__plus_01_dot_38_bar__plus_02_dot_66 loc_bar__minus_4_bar_11_bar_1_bar_15) + (objectAtLocation DeskLamp_bar__minus_04_dot_66_bar__plus_00_dot_51_bar__plus_03_dot_32 loc_bar__minus_17_bar_17_bar_2_bar_60) + (objectAtLocation TissueBox_bar__minus_00_dot_25_bar__plus_00_dot_77_bar__plus_02_dot_53 loc_bar__minus_5_bar_11_bar_1_bar_60) + (objectAtLocation Laptop_bar__minus_00_dot_40_bar__plus_00_dot_76_bar__plus_02_dot_83 loc_bar__minus_5_bar_11_bar_1_bar_60) + (objectAtLocation Vase_bar__minus_02_dot_88_bar__plus_01_dot_52_bar__plus_00_dot_14 loc_bar__minus_12_bar_3_bar_2_bar_15) + (objectAtLocation RemoteControl_bar__minus_00_dot_33_bar__plus_00_dot_76_bar__plus_03_dot_13 loc_bar__minus_5_bar_11_bar_1_bar_60) + (objectAtLocation Painting_bar__minus_02_dot_51_bar__plus_01_dot_82_bar__plus_00_dot_11 loc_bar__minus_10_bar_3_bar_2_bar__minus_15) + (objectAtLocation Pillow_bar__minus_04_dot_50_bar__plus_00_dot_48_bar__plus_01_dot_41 loc_bar__minus_13_bar_8_bar_3_bar_45) + (objectAtLocation FloorLamp_bar__minus_04_dot_64_bar__plus_00_dot_01_bar__plus_00_dot_36 loc_bar__minus_16_bar_2_bar_3_bar_60) + (objectAtLocation KeyChain_bar__minus_00_dot_25_bar__plus_00_dot_77_bar__plus_02_dot_38 loc_bar__minus_5_bar_11_bar_1_bar_60) + (objectAtLocation Watch_bar__minus_01_dot_97_bar__plus_00_dot_20_bar__plus_02_dot_76 loc_bar__minus_8_bar_14_bar_2_bar_60) + (objectAtLocation LightSwitch_bar__minus_03_dot_23_bar__plus_01_dot_34_bar__plus_05_dot_00 loc_bar__minus_15_bar_18_bar_1_bar_30) + (objectAtLocation Newspaper_bar__minus_01_dot_06_bar__plus_00_dot_38_bar__plus_00_dot_64 loc_bar__minus_4_bar_7_bar_2_bar_60) + (objectAtLocation Window_bar__minus_01_dot_01_bar__plus_01_dot_39_bar__plus_00_dot_03 loc_bar__minus_4_bar_5_bar_2_bar_15) + (objectAtLocation Window_bar__minus_03_dot_90_bar__plus_01_dot_39_bar__plus_00_dot_03 loc_bar__minus_16_bar_2_bar_2_bar_30) + (objectAtLocation Statue_bar__minus_01_dot_82_bar__plus_00_dot_21_bar__plus_02_dot_53 loc_bar__minus_4_bar_11_bar_3_bar_60) + (objectAtLocation Statue_bar__minus_00_dot_47_bar__plus_00_dot_19_bar__plus_02_dot_36 loc_bar__minus_6_bar_7_bar_1_bar_60) + ) + + + (: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-225/trial_T20190908_142357_753395/traj_data.json b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Pillow-None-ArmChair-225/trial_T20190908_142357_753395/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..1bfca1205173e7cacea8bcc778a674d4ec1af3d5 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Pillow-None-ArmChair-225/trial_T20190908_142357_753395/traj_data.json @@ -0,0 +1,2484 @@ +{ + "images": [ + { + "high_idx": 0, + "image_name": "000000000.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": 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"y": 0.0001673396, + "z": 0.0 + } + }, + { + "objectName": "Laptop_5f0b3468", + "position": { + "x": -2.86502767, + "y": 0.417465478, + "z": 4.41238832 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Box_2bae2fa3", + "position": { + "x": -2.11128521, + "y": 0.2932, + "z": 2.9309 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "CreditCard_2cd7c66d", + "position": { + "x": -0.495615482, + "y": 0.485329956, + "z": 2.25987244 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + }, + { + "objectName": "TissueBox_005cb9a3", + "position": { + "x": -0.478330851, + "y": 0.7667832, + "z": 2.3782382 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + }, + { + "objectName": "Laptop_5f0b3468", + "position": { + "x": -4.50351, + "y": 0.417489, + "z": 2.14667583 + }, + "rotation": { + "x": 0.0, + "y": 270.000153, + "z": 0.0 + } + }, + { + "objectName": "Vase_cc78c04e", + "position": { + "x": -2.88048768, + "y": 1.518822, + "z": 0.144867167 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "RemoteControl_f0cfe9e7", + "position": { + "x": -0.328192234, + "y": 0.763234138, + "z": 3.128971 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + }, + { + "objectName": "Pillow_d438b869", + "position": { + "x": -4.503512, + "y": 0.48437953, + "z": 1.40664768 + }, + "rotation": { + "x": 0.0, + "y": 270.000153, + "z": 0.0 + } + }, + { + "objectName": "KeyChain_3fa28733", + "position": { + "x": -4.479134, + "y": 0.512347043, + "z": 3.34472656 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Watch_42f358fb", + "position": { + "x": -1.74051118, + "y": 0.195872664, + "z": 2.41380882 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + } + }, + { + "objectName": "Newspaper_820f3c89", + "position": { + "x": -0.293986738, + "y": 0.06110424, + "z": 4.77884769 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Statue_3402f015", + "position": { + "x": -0.270510733, + "y": 0.19147557, + "z": 2.64593625 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + }, + { + "objectName": "Statue_5d099de8", + "position": { + "x": -0.465000749, + "y": 0.193044841, + "z": 2.36323261 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 2040683501, + "scene_num": 225 + }, + "task_id": "trial_T20190908_142357_753395", + "task_type": "pick_and_place_simple", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A6U2C66WQ7QQN_35H6S234SDRRDAMQJ8HXA9N920165R", + "high_descs": [ + "Walk straight to the couch", + "Take the orange pillow from the couch", + "Turn around, walk across the room", + "Put the pillow on the black arm chair" + ], + "task_desc": "Take the pillow from the couch, put it on the arm chair", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1ELPYAFO7MANS_3TMFV4NEPB58U7KY8O14KNWDSSQW8F", + "high_descs": [ + "Walk ahead to the couch.", + "Pick up the pillow on the couch.", + "Turn around and walk to the wall, then face the chair on the right.", + "Place the pillow on the chair cushion." + ], + "task_desc": "Place a pillow on a chair.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1M682B2WUSYJP_3STRJBFXOZI0XRI5M8TWN8Y5JY2TK5", + "high_descs": [ + "Walk forward until you reach the couch.", + "Pick up the orange pillow from the couch.", + "Turn around and walk to the door. ", + "Turn right, and place the pillow on the chair." + ], + "task_desc": "Move the pillow to the chair by the door.", + "votes": [ + 1, + 0, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-TissueBox-None-Dresser-301/trial_T20190906_221445_679815/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-TissueBox-None-Dresser-301/trial_T20190906_221445_679815/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..d40a9dbe0e506e548f7bb5155da7b9acef3058fc --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-TissueBox-None-Dresser-301/trial_T20190906_221445_679815/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\n\\n#task#\"\n }\n ],\n\n \"notImplemented\": [\n {\n \"rhs\": \"TODO\"\n }\n ],\n\n \"task\": [\n {\n \"rhs\": \"Your task is to: put some tissuebox on 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_T20190906_221445_679815)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\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_19 - object\n AlarmClock_bar__minus_01_dot_35_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_29_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_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_02_dot_59_bar__plus_00_dot_80_bar__minus_01_dot_25 - object\n CD_bar__minus_01_dot_25_bar__plus_01_dot_23_bar__minus_00_dot_55 - object\n CD_bar__minus_01_dot_25_bar__plus_01_dot_23_bar__minus_00_dot_84 - object\n CellPhone_bar__minus_00_dot_98_bar__plus_00_dot_57_bar__plus_00_dot_85 - object\n CellPhone_bar__minus_01_dot_15_bar__plus_00_dot_57_bar__plus_00_dot_36 - object\n CellPhone_bar__minus_01_dot_25_bar__plus_01_dot_24_bar__minus_00_dot_46 - object\n Chair_bar__plus_02_dot_40_bar__plus_00_dot_00_bar__minus_01_dot_08 - object\n CreditCard_bar__plus_01_dot_52_bar__plus_00_dot_80_bar__minus_01_dot_38 - object\n CreditCard_bar__plus_01_dot_91_bar__plus_00_dot_35_bar__minus_01_dot_16 - object\n CreditCard_bar__minus_01_dot_25_bar__plus_01_dot_23_bar__minus_00_dot_65 - object\n DeskLamp_bar__minus_01_dot_31_bar__plus_01_dot_23_bar__minus_00_dot_99 - object\n KeyChain_bar__plus_01_dot_65_bar__plus_00_dot_80_bar__minus_01_dot_15 - object\n KeyChain_bar__minus_01_dot_35_bar__plus_00_dot_68_bar__minus_00_dot_65 - object\n Laptop_bar__minus_00_dot_46_bar__plus_00_dot_56_bar__plus_01_dot_09 - object\n Laptop_bar__minus_00_dot_98_bar__plus_00_dot_68_bar__plus_01_dot_58 - object\n LightSwitch_bar__plus_02_dot_66_bar__plus_01_dot_28_bar__plus_01_dot_90 - object\n Mirror_bar__plus_01_dot_99_bar__plus_01_dot_38_bar__plus_01_dot_88 - object\n Mug_bar__plus_02_dot_82_bar__plus_00_dot_79_bar__minus_01_dot_22 - object\n Pencil_bar__plus_01_dot_76_bar__plus_00_dot_81_bar__minus_01_dot_37 - object\n Pen_bar__plus_02_dot_59_bar__plus_01_dot_05_bar__minus_01_dot_37 - object\n Pen_bar__minus_01_dot_39_bar__plus_01_dot_24_bar__minus_00_dot_75 - object\n Pillow_bar__minus_00_dot_63_bar__plus_00_dot_63_bar__plus_01_dot_61 - object\n Pillow_bar__minus_00_dot_98_bar__plus_00_dot_64_bar__plus_00_dot_11 - object\n Statue_bar__plus_01_dot_82_bar__plus_01_dot_04_bar__minus_01_dot_42 - object\n TissueBox_bar__minus_01_dot_29_bar__plus_00_dot_97_bar__minus_00_dot_95 - object\n Watch_bar__plus_01_dot_84_bar__plus_00_dot_80_bar__minus_01_dot_25 - object\n Watch_bar__plus_01_dot_96_bar__plus_01_dot_05_bar__minus_01_dot_43 - object\n Watch_bar__plus_01_dot_98_bar__plus_00_dot_13_bar__minus_01_dot_25 - 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_3_bar_2_bar_3_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__plus_01_dot_52_bar__plus_00_dot_80_bar__minus_01_dot_38 CreditCardType)\n (objectType Watch_bar__plus_01_dot_96_bar__plus_01_dot_05_bar__minus_01_dot_43 WatchType)\n (objectType TissueBox_bar__minus_01_dot_29_bar__plus_00_dot_97_bar__minus_00_dot_95 TissueBoxType)\n (objectType CD_bar__minus_01_dot_25_bar__plus_01_dot_23_bar__minus_00_dot_55 CDType)\n (objectType Pen_bar__minus_01_dot_39_bar__plus_01_dot_24_bar__minus_00_dot_75 PenType)\n (objectType CreditCard_bar__minus_01_dot_25_bar__plus_01_dot_23_bar__minus_00_dot_65 CreditCardType)\n (objectType CellPhone_bar__minus_01_dot_25_bar__plus_01_dot_24_bar__minus_00_dot_46 CellPhoneType)\n (objectType CD_bar__plus_02_dot_59_bar__plus_00_dot_80_bar__minus_01_dot_25 CDType)\n (objectType Bowl_bar__plus_02_dot_45_bar__plus_00_dot_79_bar__minus_01_dot_21 BowlType)\n (objectType Watch_bar__plus_01_dot_84_bar__plus_00_dot_80_bar__minus_01_dot_25 WatchType)\n (objectType Book_bar__minus_00_dot_29_bar__plus_00_dot_57_bar__plus_00_dot_36 BookType)\n (objectType BaseballBat_bar__plus_02_dot_85_bar__plus_00_dot_64_bar__plus_01_dot_84 BaseballBatType)\n (objectType Mug_bar__plus_02_dot_82_bar__plus_00_dot_79_bar__minus_01_dot_22 MugType)\n (objectType Box_bar__plus_02_dot_73_bar__plus_00_dot_20_bar__plus_00_dot_89 BoxType)\n (objectType Boots_bar__minus_01_dot_28_bar__plus_00_dot_00_bar__minus_01_dot_34 BootsType)\n (objectType BasketBall_bar__plus_01_dot_02_bar__plus_00_dot_33_bar__minus_00_dot_98 BasketBallType)\n (objectType Window_bar__plus_00_dot_12_bar__plus_01_dot_50_bar__minus_01_dot_59 WindowType)\n (objectType Statue_bar__plus_01_dot_82_bar__plus_01_dot_04_bar__minus_01_dot_42 StatueType)\n (objectType CellPhone_bar__minus_00_dot_98_bar__plus_00_dot_57_bar__plus_00_dot_85 CellPhoneType)\n (objectType DeskLamp_bar__minus_01_dot_31_bar__plus_01_dot_23_bar__minus_00_dot_99 DeskLampType)\n (objectType Watch_bar__plus_01_dot_98_bar__plus_00_dot_13_bar__minus_01_dot_25 WatchType)\n (objectType CellPhone_bar__minus_01_dot_15_bar__plus_00_dot_57_bar__plus_00_dot_36 CellPhoneType)\n (objectType CD_bar__minus_01_dot_25_bar__plus_01_dot_23_bar__minus_00_dot_84 CDType)\n (objectType KeyChain_bar__minus_01_dot_35_bar__plus_00_dot_68_bar__minus_00_dot_65 KeyChainType)\n (objectType Laptop_bar__minus_00_dot_98_bar__plus_00_dot_68_bar__plus_01_dot_58 LaptopType)\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 AlarmClock_bar__minus_01_dot_35_bar__plus_01_dot_23_bar__minus_00_dot_65 AlarmClockType)\n (objectType Mirror_bar__plus_01_dot_99_bar__plus_01_dot_38_bar__plus_01_dot_88 MirrorType)\n (objectType Laptop_bar__minus_00_dot_46_bar__plus_00_dot_56_bar__plus_01_dot_09 LaptopType)\n (objectType AlarmClock_bar__plus_02_dot_22_bar__plus_00_dot_80_bar__minus_01_dot_19 AlarmClockType)\n (objectType Pen_bar__plus_02_dot_59_bar__plus_01_dot_05_bar__minus_01_dot_37 PenType)\n (objectType Chair_bar__plus_02_dot_40_bar__plus_00_dot_00_bar__minus_01_dot_08 ChairType)\n (objectType Pillow_bar__minus_00_dot_98_bar__plus_00_dot_64_bar__plus_00_dot_11 PillowType)\n (objectType Blinds_bar__plus_00_dot_11_bar__plus_02_dot_34_bar__minus_01_dot_44 BlindsType)\n (objectType CreditCard_bar__plus_01_dot_91_bar__plus_00_dot_35_bar__minus_01_dot_16 CreditCardType)\n (objectType Pencil_bar__plus_01_dot_76_bar__plus_00_dot_81_bar__minus_01_dot_37 PencilType)\n (objectType Pillow_bar__minus_00_dot_63_bar__plus_00_dot_63_bar__plus_01_dot_61 PillowType)\n (objectType KeyChain_bar__plus_01_dot_65_bar__plus_00_dot_80_bar__minus_01_dot_15 KeyChainType)\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 CreditCard_bar__plus_01_dot_52_bar__plus_00_dot_80_bar__minus_01_dot_38)\n (pickupable Watch_bar__plus_01_dot_96_bar__plus_01_dot_05_bar__minus_01_dot_43)\n (pickupable TissueBox_bar__minus_01_dot_29_bar__plus_00_dot_97_bar__minus_00_dot_95)\n (pickupable CD_bar__minus_01_dot_25_bar__plus_01_dot_23_bar__minus_00_dot_55)\n (pickupable Pen_bar__minus_01_dot_39_bar__plus_01_dot_24_bar__minus_00_dot_75)\n (pickupable CreditCard_bar__minus_01_dot_25_bar__plus_01_dot_23_bar__minus_00_dot_65)\n (pickupable CellPhone_bar__minus_01_dot_25_bar__plus_01_dot_24_bar__minus_00_dot_46)\n (pickupable CD_bar__plus_02_dot_59_bar__plus_00_dot_80_bar__minus_01_dot_25)\n (pickupable Bowl_bar__plus_02_dot_45_bar__plus_00_dot_79_bar__minus_01_dot_21)\n (pickupable Watch_bar__plus_01_dot_84_bar__plus_00_dot_80_bar__minus_01_dot_25)\n (pickupable Book_bar__minus_00_dot_29_bar__plus_00_dot_57_bar__plus_00_dot_36)\n (pickupable BaseballBat_bar__plus_02_dot_85_bar__plus_00_dot_64_bar__plus_01_dot_84)\n (pickupable Mug_bar__plus_02_dot_82_bar__plus_00_dot_79_bar__minus_01_dot_22)\n (pickupable Box_bar__plus_02_dot_73_bar__plus_00_dot_20_bar__plus_00_dot_89)\n (pickupable Boots_bar__minus_01_dot_28_bar__plus_00_dot_00_bar__minus_01_dot_34)\n (pickupable BasketBall_bar__plus_01_dot_02_bar__plus_00_dot_33_bar__minus_00_dot_98)\n (pickupable Statue_bar__plus_01_dot_82_bar__plus_01_dot_04_bar__minus_01_dot_42)\n (pickupable CellPhone_bar__minus_00_dot_98_bar__plus_00_dot_57_bar__plus_00_dot_85)\n (pickupable Watch_bar__plus_01_dot_98_bar__plus_00_dot_13_bar__minus_01_dot_25)\n (pickupable CellPhone_bar__minus_01_dot_15_bar__plus_00_dot_57_bar__plus_00_dot_36)\n (pickupable CD_bar__minus_01_dot_25_bar__plus_01_dot_23_bar__minus_00_dot_84)\n (pickupable KeyChain_bar__minus_01_dot_35_bar__plus_00_dot_68_bar__minus_00_dot_65)\n (pickupable Laptop_bar__minus_00_dot_98_bar__plus_00_dot_68_bar__plus_01_dot_58)\n (pickupable Book_bar__minus_00_dot_90_bar__plus_00_dot_57_bar__plus_01_dot_18)\n (pickupable AlarmClock_bar__minus_01_dot_35_bar__plus_01_dot_23_bar__minus_00_dot_65)\n (pickupable Laptop_bar__minus_00_dot_46_bar__plus_00_dot_56_bar__plus_01_dot_09)\n (pickupable AlarmClock_bar__plus_02_dot_22_bar__plus_00_dot_80_bar__minus_01_dot_19)\n (pickupable Pen_bar__plus_02_dot_59_bar__plus_01_dot_05_bar__minus_01_dot_37)\n (pickupable Pillow_bar__minus_00_dot_98_bar__plus_00_dot_64_bar__plus_00_dot_11)\n (pickupable CreditCard_bar__plus_01_dot_91_bar__plus_00_dot_35_bar__minus_01_dot_16)\n (pickupable Pencil_bar__plus_01_dot_76_bar__plus_00_dot_81_bar__minus_01_dot_37)\n (pickupable Pillow_bar__minus_00_dot_63_bar__plus_00_dot_63_bar__plus_01_dot_61)\n (pickupable KeyChain_bar__plus_01_dot_65_bar__plus_00_dot_80_bar__minus_01_dot_15)\n (isReceptacleObject Bowl_bar__plus_02_dot_45_bar__plus_00_dot_79_bar__minus_01_dot_21)\n (isReceptacleObject Mug_bar__plus_02_dot_82_bar__plus_00_dot_79_bar__minus_01_dot_22)\n (isReceptacleObject Box_bar__plus_02_dot_73_bar__plus_00_dot_20_bar__plus_00_dot_89)\n (openable Drawer_bar__plus_01_dot_63_bar__plus_00_dot_40_bar__minus_01_dot_21)\n (openable Drawer_bar__plus_01_dot_63_bar__plus_00_dot_18_bar__minus_01_dot_21)\n (openable Drawer_bar__plus_02_dot_82_bar__plus_00_dot_62_bar__minus_01_dot_21)\n (openable Drawer_bar__plus_01_dot_63_bar__plus_00_dot_62_bar__minus_01_dot_21)\n (openable Drawer_bar__plus_01_dot_95_bar__plus_00_dot_18_bar__minus_01_dot_21)\n (openable Drawer_bar__plus_01_dot_95_bar__plus_00_dot_40_bar__minus_01_dot_21)\n (openable Drawer_bar__plus_02_dot_82_bar__plus_00_dot_40_bar__minus_01_dot_21)\n \n (atLocation agent1 loc_bar_3_bar_2_bar_3_bar_30)\n \n (cleanable Bowl_bar__plus_02_dot_45_bar__plus_00_dot_79_bar__minus_01_dot_21)\n (cleanable Mug_bar__plus_02_dot_82_bar__plus_00_dot_79_bar__minus_01_dot_22)\n \n (heatable Mug_bar__plus_02_dot_82_bar__plus_00_dot_79_bar__minus_01_dot_22)\n (coolable Bowl_bar__plus_02_dot_45_bar__plus_00_dot_79_bar__minus_01_dot_21)\n (coolable Mug_bar__plus_02_dot_82_bar__plus_00_dot_79_bar__minus_01_dot_22)\n \n \n (toggleable DeskLamp_bar__minus_01_dot_31_bar__plus_01_dot_23_bar__minus_00_dot_99)\n \n \n \n \n (inReceptacle Pencil_bar__plus_01_dot_76_bar__plus_00_dot_81_bar__minus_01_dot_37 Shelf_bar__plus_01_dot_80_bar__plus_00_dot_80_bar__minus_01_dot_42)\n (inReceptacle Mug_bar__plus_02_dot_82_bar__plus_00_dot_79_bar__minus_01_dot_22 Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15)\n (inReceptacle CreditCard_bar__plus_01_dot_52_bar__plus_00_dot_80_bar__minus_01_dot_38 Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15)\n (inReceptacle KeyChain_bar__plus_01_dot_65_bar__plus_00_dot_80_bar__minus_01_dot_15 Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15)\n (inReceptacle AlarmClock_bar__plus_02_dot_22_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 CD_bar__plus_02_dot_59_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 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 Watch_bar__plus_01_dot_84_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 TissueBox_bar__minus_01_dot_29_bar__plus_00_dot_97_bar__minus_00_dot_95 Drawer_bar__minus_01_dot_29_bar__plus_01_dot_02_bar__minus_00_dot_92)\n (inReceptacle CreditCard_bar__plus_01_dot_91_bar__plus_00_dot_35_bar__minus_01_dot_16 Drawer_bar__plus_01_dot_95_bar__plus_00_dot_40_bar__minus_01_dot_21)\n (inReceptacle Watch_bar__plus_01_dot_98_bar__plus_00_dot_13_bar__minus_01_dot_25 Drawer_bar__plus_01_dot_95_bar__plus_00_dot_18_bar__minus_01_dot_21)\n (inReceptacle AlarmClock_bar__minus_01_dot_35_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 DeskLamp_bar__minus_01_dot_31_bar__plus_01_dot_23_bar__minus_00_dot_99 Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75)\n (inReceptacle CD_bar__minus_01_dot_25_bar__plus_01_dot_23_bar__minus_00_dot_55 Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75)\n (inReceptacle CD_bar__minus_01_dot_25_bar__plus_01_dot_23_bar__minus_00_dot_84 Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75)\n (inReceptacle CreditCard_bar__minus_01_dot_25_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 Pen_bar__minus_01_dot_39_bar__plus_01_dot_24_bar__minus_00_dot_75 Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75)\n (inReceptacle CellPhone_bar__minus_01_dot_25_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 KeyChain_bar__minus_01_dot_35_bar__plus_00_dot_68_bar__minus_00_dot_65 Drawer_bar__minus_01_dot_29_bar__plus_00_dot_74_bar__minus_00_dot_58)\n (inReceptacle Book_bar__minus_00_dot_90_bar__plus_00_dot_57_bar__plus_01_dot_18 Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87)\n (inReceptacle Book_bar__minus_00_dot_29_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_98_bar__plus_00_dot_57_bar__plus_00_dot_85 Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87)\n (inReceptacle Laptop_bar__minus_00_dot_46_bar__plus_00_dot_56_bar__plus_01_dot_09 Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87)\n (inReceptacle Pillow_bar__minus_00_dot_98_bar__plus_00_dot_64_bar__plus_00_dot_11 Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87)\n (inReceptacle CellPhone_bar__minus_01_dot_15_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_98_bar__plus_00_dot_68_bar__plus_01_dot_58 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 Pen_bar__plus_02_dot_59_bar__plus_01_dot_05_bar__minus_01_dot_37 Shelf_bar__plus_02_dot_47_bar__plus_01_dot_04_bar__minus_01_dot_41)\n (inReceptacle Watch_bar__plus_01_dot_96_bar__plus_01_dot_05_bar__minus_01_dot_43 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 Pen_bar__plus_02_dot_59_bar__plus_01_dot_05_bar__minus_01_dot_37 loc_bar_10_bar__minus_2_bar_2_bar_30)\n (objectAtLocation CD_bar__minus_01_dot_25_bar__plus_01_dot_23_bar__minus_00_dot_84 loc_bar__minus_3_bar__minus_3_bar_3_bar_60)\n (objectAtLocation Watch_bar__plus_01_dot_96_bar__plus_01_dot_05_bar__minus_01_dot_43 loc_bar_7_bar__minus_3_bar_2_bar_45)\n (objectAtLocation KeyChain_bar__minus_01_dot_35_bar__plus_00_dot_68_bar__minus_00_dot_65 loc_bar__minus_3_bar__minus_2_bar_3_bar_60)\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 AlarmClock_bar__plus_02_dot_22_bar__plus_00_dot_80_bar__minus_01_dot_19 loc_bar_9_bar__minus_2_bar_2_bar_60)\n (objectAtLocation CreditCard_bar__plus_01_dot_91_bar__plus_00_dot_35_bar__minus_01_dot_16 loc_bar_4_bar__minus_2_bar_1_bar_60)\n (objectAtLocation CellPhone_bar__minus_00_dot_98_bar__plus_00_dot_57_bar__plus_00_dot_85 loc_bar_3_bar_5_bar_3_bar_45)\n (objectAtLocation Laptop_bar__minus_00_dot_98_bar__plus_00_dot_68_bar__plus_01_dot_58 loc_bar_3_bar_5_bar_3_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 CreditCard_bar__plus_01_dot_52_bar__plus_00_dot_80_bar__minus_01_dot_38 loc_bar_9_bar__minus_2_bar_2_bar_60)\n (objectAtLocation CellPhone_bar__minus_01_dot_15_bar__plus_00_dot_57_bar__plus_00_dot_36 loc_bar_3_bar_5_bar_3_bar_45)\n (objectAtLocation CD_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 Watch_bar__plus_01_dot_98_bar__plus_00_dot_13_bar__minus_01_dot_25 loc_bar_4_bar__minus_2_bar_1_bar_60)\n (objectAtLocation Book_bar__minus_00_dot_29_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_46_bar__plus_00_dot_56_bar__plus_01_dot_09 loc_bar_3_bar_5_bar_3_bar_45)\n (objectAtLocation CellPhone_bar__minus_01_dot_25_bar__plus_01_dot_24_bar__minus_00_dot_46 loc_bar__minus_3_bar__minus_3_bar_3_bar_60)\n (objectAtLocation BaseballBat_bar__plus_02_dot_85_bar__plus_00_dot_64_bar__plus_01_dot_84 loc_bar_10_bar_5_bar_0_bar_60)\n (objectAtLocation DeskLamp_bar__minus_01_dot_31_bar__plus_01_dot_23_bar__minus_00_dot_99 loc_bar__minus_3_bar__minus_3_bar_3_bar_60)\n (objectAtLocation BasketBall_bar__plus_01_dot_02_bar__plus_00_dot_33_bar__minus_00_dot_98 loc_bar_4_bar__minus_2_bar_2_bar_60)\n (objectAtLocation TissueBox_bar__minus_01_dot_29_bar__plus_00_dot_97_bar__minus_00_dot_95 loc_bar__minus_3_bar__minus_4_bar_3_bar_45)\n (objectAtLocation CreditCard_bar__minus_01_dot_25_bar__plus_01_dot_23_bar__minus_00_dot_65 loc_bar__minus_3_bar__minus_3_bar_3_bar_60)\n (objectAtLocation AlarmClock_bar__minus_01_dot_35_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_01_dot_76_bar__plus_00_dot_81_bar__minus_01_dot_37 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_98_bar__plus_00_dot_64_bar__plus_00_dot_11 loc_bar_3_bar_5_bar_3_bar_45)\n (objectAtLocation KeyChain_bar__plus_01_dot_65_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_84_bar__plus_00_dot_80_bar__minus_01_dot_25 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_02_dot_59_bar__plus_00_dot_80_bar__minus_01_dot_25 loc_bar_9_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Pen_bar__minus_01_dot_39_bar__plus_01_dot_24_bar__minus_00_dot_75 loc_bar__minus_3_bar__minus_3_bar_3_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_02_dot_82_bar__plus_00_dot_79_bar__minus_01_dot_22 loc_bar_9_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Statue_bar__plus_01_dot_82_bar__plus_01_dot_04_bar__minus_01_dot_42 loc_bar_7_bar__minus_3_bar_2_bar_45)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (inReceptacle ?o ?r)\n (objectType ?o TissueBoxType)\n (receptacleType ?r DresserType)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to drawer 10", "take tissuebox 1 from drawer 10", "go to dresser 1", "move tissuebox 1 to dresser 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-TissueBox-None-Dresser-301/trial_T20190906_221445_679815/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-TissueBox-None-Dresser-301/trial_T20190906_221445_679815/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..115820c2bf2e4c351e59c6ef3059563f7297ce8c --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-TissueBox-None-Dresser-301/trial_T20190906_221445_679815/initial_state.pddl @@ -0,0 +1,815 @@ + +(define (problem plan_trial_T20190906_221445_679815) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_19 - object + AlarmClock_bar__minus_01_dot_35_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_29_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_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_02_dot_59_bar__plus_00_dot_80_bar__minus_01_dot_25 - object + CD_bar__minus_01_dot_25_bar__plus_01_dot_23_bar__minus_00_dot_55 - object + CD_bar__minus_01_dot_25_bar__plus_01_dot_23_bar__minus_00_dot_84 - object + CellPhone_bar__minus_00_dot_98_bar__plus_00_dot_57_bar__plus_00_dot_85 - object + CellPhone_bar__minus_01_dot_15_bar__plus_00_dot_57_bar__plus_00_dot_36 - object + CellPhone_bar__minus_01_dot_25_bar__plus_01_dot_24_bar__minus_00_dot_46 - object + Chair_bar__plus_02_dot_40_bar__plus_00_dot_00_bar__minus_01_dot_08 - object + CreditCard_bar__plus_01_dot_52_bar__plus_00_dot_80_bar__minus_01_dot_38 - object + CreditCard_bar__plus_01_dot_91_bar__plus_00_dot_35_bar__minus_01_dot_16 - object + CreditCard_bar__minus_01_dot_25_bar__plus_01_dot_23_bar__minus_00_dot_65 - object + DeskLamp_bar__minus_01_dot_31_bar__plus_01_dot_23_bar__minus_00_dot_99 - object + KeyChain_bar__plus_01_dot_65_bar__plus_00_dot_80_bar__minus_01_dot_15 - object + KeyChain_bar__minus_01_dot_35_bar__plus_00_dot_68_bar__minus_00_dot_65 - object + Laptop_bar__minus_00_dot_46_bar__plus_00_dot_56_bar__plus_01_dot_09 - object + Laptop_bar__minus_00_dot_98_bar__plus_00_dot_68_bar__plus_01_dot_58 - object + LightSwitch_bar__plus_02_dot_66_bar__plus_01_dot_28_bar__plus_01_dot_90 - object + Mirror_bar__plus_01_dot_99_bar__plus_01_dot_38_bar__plus_01_dot_88 - object + Mug_bar__plus_02_dot_82_bar__plus_00_dot_79_bar__minus_01_dot_22 - object + Pencil_bar__plus_01_dot_76_bar__plus_00_dot_81_bar__minus_01_dot_37 - object + Pen_bar__plus_02_dot_59_bar__plus_01_dot_05_bar__minus_01_dot_37 - object + Pen_bar__minus_01_dot_39_bar__plus_01_dot_24_bar__minus_00_dot_75 - object + Pillow_bar__minus_00_dot_63_bar__plus_00_dot_63_bar__plus_01_dot_61 - object + Pillow_bar__minus_00_dot_98_bar__plus_00_dot_64_bar__plus_00_dot_11 - object + Statue_bar__plus_01_dot_82_bar__plus_01_dot_04_bar__minus_01_dot_42 - object + TissueBox_bar__minus_01_dot_29_bar__plus_00_dot_97_bar__minus_00_dot_95 - object + Watch_bar__plus_01_dot_84_bar__plus_00_dot_80_bar__minus_01_dot_25 - object + Watch_bar__plus_01_dot_96_bar__plus_01_dot_05_bar__minus_01_dot_43 - object + Watch_bar__plus_01_dot_98_bar__plus_00_dot_13_bar__minus_01_dot_25 - 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_3_bar_2_bar_3_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__plus_01_dot_52_bar__plus_00_dot_80_bar__minus_01_dot_38 CreditCardType) + (objectType Watch_bar__plus_01_dot_96_bar__plus_01_dot_05_bar__minus_01_dot_43 WatchType) + (objectType TissueBox_bar__minus_01_dot_29_bar__plus_00_dot_97_bar__minus_00_dot_95 TissueBoxType) + (objectType CD_bar__minus_01_dot_25_bar__plus_01_dot_23_bar__minus_00_dot_55 CDType) + (objectType Pen_bar__minus_01_dot_39_bar__plus_01_dot_24_bar__minus_00_dot_75 PenType) + (objectType CreditCard_bar__minus_01_dot_25_bar__plus_01_dot_23_bar__minus_00_dot_65 CreditCardType) + (objectType CellPhone_bar__minus_01_dot_25_bar__plus_01_dot_24_bar__minus_00_dot_46 CellPhoneType) + (objectType CD_bar__plus_02_dot_59_bar__plus_00_dot_80_bar__minus_01_dot_25 CDType) + (objectType Bowl_bar__plus_02_dot_45_bar__plus_00_dot_79_bar__minus_01_dot_21 BowlType) + (objectType Watch_bar__plus_01_dot_84_bar__plus_00_dot_80_bar__minus_01_dot_25 WatchType) + (objectType Book_bar__minus_00_dot_29_bar__plus_00_dot_57_bar__plus_00_dot_36 BookType) + (objectType BaseballBat_bar__plus_02_dot_85_bar__plus_00_dot_64_bar__plus_01_dot_84 BaseballBatType) + (objectType Mug_bar__plus_02_dot_82_bar__plus_00_dot_79_bar__minus_01_dot_22 MugType) + (objectType Box_bar__plus_02_dot_73_bar__plus_00_dot_20_bar__plus_00_dot_89 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DeskLamp_bar__minus_01_dot_31_bar__plus_01_dot_23_bar__minus_00_dot_99 Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75) + (inReceptacle CD_bar__minus_01_dot_25_bar__plus_01_dot_23_bar__minus_00_dot_55 Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75) + (inReceptacle CD_bar__minus_01_dot_25_bar__plus_01_dot_23_bar__minus_00_dot_84 Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75) + (inReceptacle CreditCard_bar__minus_01_dot_25_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 Pen_bar__minus_01_dot_39_bar__plus_01_dot_24_bar__minus_00_dot_75 Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75) + (inReceptacle CellPhone_bar__minus_01_dot_25_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 KeyChain_bar__minus_01_dot_35_bar__plus_00_dot_68_bar__minus_00_dot_65 Drawer_bar__minus_01_dot_29_bar__plus_00_dot_74_bar__minus_00_dot_58) + (inReceptacle Book_bar__minus_00_dot_90_bar__plus_00_dot_57_bar__plus_01_dot_18 Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87) + (inReceptacle Book_bar__minus_00_dot_29_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_98_bar__plus_00_dot_57_bar__plus_00_dot_85 Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87) + (inReceptacle Laptop_bar__minus_00_dot_46_bar__plus_00_dot_56_bar__plus_01_dot_09 Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87) + (inReceptacle Pillow_bar__minus_00_dot_98_bar__plus_00_dot_64_bar__plus_00_dot_11 Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87) + (inReceptacle CellPhone_bar__minus_01_dot_15_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_98_bar__plus_00_dot_68_bar__plus_01_dot_58 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 Pen_bar__plus_02_dot_59_bar__plus_01_dot_05_bar__minus_01_dot_37 Shelf_bar__plus_02_dot_47_bar__plus_01_dot_04_bar__minus_01_dot_41) + (inReceptacle Watch_bar__plus_01_dot_96_bar__plus_01_dot_05_bar__minus_01_dot_43 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 Pen_bar__plus_02_dot_59_bar__plus_01_dot_05_bar__minus_01_dot_37 loc_bar_10_bar__minus_2_bar_2_bar_30) + (objectAtLocation CD_bar__minus_01_dot_25_bar__plus_01_dot_23_bar__minus_00_dot_84 loc_bar__minus_3_bar__minus_3_bar_3_bar_60) + (objectAtLocation Watch_bar__plus_01_dot_96_bar__plus_01_dot_05_bar__minus_01_dot_43 loc_bar_7_bar__minus_3_bar_2_bar_45) + (objectAtLocation KeyChain_bar__minus_01_dot_35_bar__plus_00_dot_68_bar__minus_00_dot_65 loc_bar__minus_3_bar__minus_2_bar_3_bar_60) + (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 AlarmClock_bar__plus_02_dot_22_bar__plus_00_dot_80_bar__minus_01_dot_19 loc_bar_9_bar__minus_2_bar_2_bar_60) + (objectAtLocation CreditCard_bar__plus_01_dot_91_bar__plus_00_dot_35_bar__minus_01_dot_16 loc_bar_4_bar__minus_2_bar_1_bar_60) + (objectAtLocation CellPhone_bar__minus_00_dot_98_bar__plus_00_dot_57_bar__plus_00_dot_85 loc_bar_3_bar_5_bar_3_bar_45) + (objectAtLocation Laptop_bar__minus_00_dot_98_bar__plus_00_dot_68_bar__plus_01_dot_58 loc_bar_3_bar_5_bar_3_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 CreditCard_bar__plus_01_dot_52_bar__plus_00_dot_80_bar__minus_01_dot_38 loc_bar_9_bar__minus_2_bar_2_bar_60) + (objectAtLocation CellPhone_bar__minus_01_dot_15_bar__plus_00_dot_57_bar__plus_00_dot_36 loc_bar_3_bar_5_bar_3_bar_45) + (objectAtLocation CD_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 Watch_bar__plus_01_dot_98_bar__plus_00_dot_13_bar__minus_01_dot_25 loc_bar_4_bar__minus_2_bar_1_bar_60) + (objectAtLocation Book_bar__minus_00_dot_29_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_46_bar__plus_00_dot_56_bar__plus_01_dot_09 loc_bar_3_bar_5_bar_3_bar_45) + (objectAtLocation CellPhone_bar__minus_01_dot_25_bar__plus_01_dot_24_bar__minus_00_dot_46 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_97_bar__minus_00_dot_95 loc_bar__minus_3_bar__minus_4_bar_3_bar_45) + (objectAtLocation CreditCard_bar__minus_01_dot_25_bar__plus_01_dot_23_bar__minus_00_dot_65 loc_bar__minus_3_bar__minus_3_bar_3_bar_60) + (objectAtLocation AlarmClock_bar__minus_01_dot_35_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_01_dot_76_bar__plus_00_dot_81_bar__minus_01_dot_37 loc_bar_8_bar__minus_3_bar_2_bar_45) + (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_98_bar__plus_00_dot_64_bar__plus_00_dot_11 loc_bar_3_bar_5_bar_3_bar_45) + (objectAtLocation KeyChain_bar__plus_01_dot_65_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_84_bar__plus_00_dot_80_bar__minus_01_dot_25 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_02_dot_59_bar__plus_00_dot_80_bar__minus_01_dot_25 loc_bar_9_bar__minus_2_bar_2_bar_60) + (objectAtLocation Pen_bar__minus_01_dot_39_bar__plus_01_dot_24_bar__minus_00_dot_75 loc_bar__minus_3_bar__minus_3_bar_3_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_02_dot_82_bar__plus_00_dot_79_bar__minus_01_dot_22 loc_bar_9_bar__minus_2_bar_2_bar_60) + (objectAtLocation Statue_bar__plus_01_dot_82_bar__plus_01_dot_04_bar__minus_01_dot_42 loc_bar_7_bar__minus_3_bar_2_bar_45) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (inReceptacle ?o ?r) + (objectType ?o TissueBoxType) + (receptacleType ?r DresserType) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-TissueBox-None-Dresser-301/trial_T20190906_221445_679815/traj_data.json b/data/alfworld/json_2.1.1/train/pick_and_place_simple-TissueBox-None-Dresser-301/trial_T20190906_221445_679815/traj_data.json new file mode 100644 index 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} + }, + { + "objectName": "BasketBall_7b5f2c88", + "position": { + "x": 1.01984191, + "y": 0.3307791, + "z": -0.977466643 + }, + "rotation": { + "x": 346.775848, + "y": 295.617249, + "z": 1.02139926 + } + }, + { + "objectName": "TissueBox_00aeed40", + "position": { + "x": -1.29470158, + "y": 0.969802737, + "z": -0.9543605 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "CreditCard_80d98dab", + "position": { + "x": 1.91130269, + "y": 0.3492792, + "z": -1.16139162 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "AlarmClock_a68436a8", + "position": { + "x": 2.21588874, + "y": 0.7965486, + "z": -1.18569851 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pencil_89afc677", + "position": { + "x": 1.75862527, + "y": 0.8060935, + "z": -1.37026334 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Boots_dc0ae5c1", + "position": { + "x": -1.27998614, + "y": 0.0006508231, + "z": -1.34300911 + }, + "rotation": { + "x": 359.9876, + "y": 27.1430378, + "z": 359.993652 + } + }, + { + "objectName": "Pillow_419db2d8", + "position": { + "x": -0.634, + "y": 0.63, + "z": 1.6116 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "KeyChain_7bb65943", + "position": { + "x": -1.35084438, + "y": 0.6763282, + "z": -0.65047 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Bowl_600fd48d", + "position": { + "x": 2.451, + "y": 0.788715243, + "z": -1.20707834 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Watch_0f7be4f9", + "position": { + "x": 1.96231079, + "y": 1.04764462, + "z": -1.43291223 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "CD_f25640ea", + "position": { + "x": -1.248423, + "y": 1.23452353, + "z": -0.8406062 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pen_d94967db", + "position": { + "x": 2.58702, + "y": 1.05037677, + "z": -1.36826336 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_2a940808", + "position": { + "x": 2.82123566, + "y": 0.7887154, + "z": -1.22375739 + }, + "rotation": { + "x": -0.000530867, + "y": -7.92670653e-06, + "z": 0.0005655335 + } + }, + { + "objectName": "Statue_e0075340", + "position": { + "x": 1.823921, + "y": 1.036511, + "z": -1.419659 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 3470049177, + "scene_num": 301 + }, + "task_id": "trial_T20190906_221445_679815", + "task_type": "pick_and_place_simple", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A1P0XSCJ9XAV74_3018Q3ZVOL79KAATAKMVSTAPVEOARZ", + "high_descs": [ + "Turn left to walk towards the bean bag. Make a right and then turn left to face the window, turning right again to go towards the chest of drawers.", + "Open the left top drawer and take out the tissue box inside it shut the drawer.", + "Turn right to face the bed and then to the left back towards the chest of drawers holding the box lower.", + "Place the tissue box on top of the chest of drawers on the CD." + ], + "task_desc": "To take out the tissue box to place it on top of drawers.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1MKCTVKE7J0ZP_3LUY3GC632H6PVWGQP6MD78KTNAP79", + "high_descs": [ + "Turn left, then turn right, to go around the bed and to the dresser to the left of the bed. ", + "Open the top left drawer of the dresser.", + "Remove the tissue box from in the drawer.", + "Place the tissue box on top of the dresser, on the compact disk on the left." + ], + "task_desc": "Put a tissue box on the dresser. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1HKHM4NVAO98H_3QAPZX2QN7UWFDVQ3SA12FQ4AYF200", + "high_descs": [ + "turn left and move around to the foot of the bed", + "open the top left drawer of the dresser and get the box of tissues out", + "move to the right a bit and face the dresser", + "place the box of tissues on top of the dresser" + ], + "task_desc": "place a box of tissues on top of the dresser", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-TissueBox-None-Dresser-301/trial_T20190906_221500_723697/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-TissueBox-None-Dresser-301/trial_T20190906_221500_723697/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..445eae44250242a2ce7346c4a192e51b74231ae3 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-TissueBox-None-Dresser-301/trial_T20190906_221500_723697/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\n\\n#task#\"\n }\n ],\n\n \"notImplemented\": [\n {\n \"rhs\": \"TODO\"\n }\n ],\n\n \"task\": [\n {\n \"rhs\": \"Your task is to: put a tissuebox in 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_T20190906_221500_723697)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n AlarmClock_bar__minus_01_dot_27_bar__plus_01_dot_23_bar__minus_00_dot_47 - object\n BaseballBat_bar__plus_02_dot_85_bar__plus_00_dot_64_bar__plus_01_dot_84 - object\n BasketBall_bar__plus_01_dot_02_bar__plus_00_dot_33_bar__minus_00_dot_98 - object\n Blinds_bar__plus_00_dot_11_bar__plus_02_dot_34_bar__minus_01_dot_44 - object\n Book_bar__minus_00_dot_29_bar__plus_00_dot_57_bar__plus_01_dot_09 - object\n Boots_bar__minus_01_dot_28_bar__plus_00_dot_00_bar__minus_01_dot_34 - object\n Bowl_bar__plus_02_dot_45_bar__plus_00_dot_79_bar__minus_01_dot_21 - object\n Box_bar__plus_02_dot_73_bar__plus_00_dot_20_bar__plus_00_dot_89 - object\n CD_bar__minus_01_dot_35_bar__plus_01_dot_23_bar__minus_00_dot_65 - object\n CellPhone_bar__minus_01_dot_15_bar__plus_00_dot_57_bar__plus_00_dot_11 - object\n Chair_bar__plus_02_dot_40_bar__plus_00_dot_00_bar__minus_01_dot_08 - object\n CreditCard_bar__plus_01_dot_51_bar__plus_00_dot_80_bar__minus_01_dot_41 - object\n DeskLamp_bar__minus_01_dot_31_bar__plus_01_dot_23_bar__minus_00_dot_99 - object\n KeyChain_bar__plus_02_dot_71_bar__plus_01_dot_28_bar__minus_01_dot_37 - object\n KeyChain_bar__minus_01_dot_25_bar__plus_01_dot_24_bar__minus_00_dot_75 - object\n Laptop_bar__minus_00_dot_29_bar__plus_00_dot_68_bar__plus_01_dot_58 - 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_02_dot_03_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_25 - object\n Pencil_bar__plus_01_dot_86_bar__plus_00_dot_81_bar__minus_01_dot_37 - object\n Pencil_bar__plus_02_dot_22_bar__plus_00_dot_80_bar__minus_01_dot_12 - object\n Pencil_bar__minus_01_dot_21_bar__plus_01_dot_24_bar__minus_00_dot_65 - object\n Pen_bar__plus_01_dot_84_bar__plus_00_dot_80_bar__minus_01_dot_22 - object\n Pen_bar__plus_02_dot_82_bar__plus_00_dot_57_bar__minus_01_dot_22 - 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__minus_01_dot_29_bar__plus_00_dot_11_bar__minus_00_dot_62 - object\n Watch_bar__minus_01_dot_24_bar__plus_00_dot_11_bar__minus_00_dot_99 - 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_3_bar__minus_2_bar_2_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Shelf_bar__plus_02_dot_25_bar__plus_01_dot_27_bar__minus_01_dot_42 ShelfType)\n (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_00_dot_44_bar__minus_00_dot_92 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_00_dot_17_bar__minus_00_dot_58 DrawerType)\n (receptacleType Drawer_bar__plus_01_dot_95_bar__plus_00_dot_62_bar__minus_01_dot_21 DrawerType)\n (receptacleType Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15 DeskType)\n (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_01_dot_02_bar__minus_00_dot_92 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_01_dot_02_bar__minus_00_dot_58 DrawerType)\n (receptacleType Drawer_bar__plus_01_dot_63_bar__plus_00_dot_40_bar__minus_01_dot_21 DrawerType)\n (receptacleType Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87 BedType)\n (receptacleType Drawer_bar__plus_01_dot_63_bar__plus_00_dot_18_bar__minus_01_dot_21 DrawerType)\n (receptacleType Drawer_bar__plus_02_dot_82_bar__plus_00_dot_62_bar__minus_01_dot_21 DrawerType)\n (receptacleType Shelf_bar__plus_02_dot_47_bar__plus_00_dot_80_bar__minus_01_dot_41 ShelfType)\n (receptacleType Drawer_bar__plus_01_dot_63_bar__plus_00_dot_62_bar__minus_01_dot_21 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_00_dot_74_bar__minus_00_dot_58 DrawerType)\n (receptacleType GarbageCan_bar__plus_02_dot_84_bar__plus_00_dot_00_bar__plus_00_dot_22 GarbageCanType)\n (receptacleType Shelf_bar__plus_01_dot_80_bar__plus_00_dot_80_bar__minus_01_dot_42 ShelfType)\n (receptacleType Shelf_bar__plus_01_dot_80_bar__plus_01_dot_04_bar__minus_01_dot_42 ShelfType)\n (receptacleType Drawer_bar__plus_01_dot_95_bar__plus_00_dot_18_bar__minus_01_dot_21 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_00_dot_74_bar__minus_00_dot_92 DrawerType)\n (receptacleType Drawer_bar__plus_02_dot_82_bar__plus_00_dot_17_bar__minus_01_dot_21 DrawerType)\n (receptacleType Shelf_bar__plus_02_dot_70_bar__plus_01_dot_27_bar__minus_01_dot_42 ShelfType)\n (receptacleType Shelf_bar__plus_02_dot_47_bar__plus_01_dot_04_bar__minus_01_dot_41 ShelfType)\n (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_00_dot_44_bar__minus_00_dot_58 DrawerType)\n (receptacleType Drawer_bar__plus_01_dot_95_bar__plus_00_dot_40_bar__minus_01_dot_21 DrawerType)\n (receptacleType Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75 DresserType)\n (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_00_dot_17_bar__minus_00_dot_92 DrawerType)\n (receptacleType Drawer_bar__plus_02_dot_82_bar__plus_00_dot_40_bar__minus_01_dot_21 DrawerType)\n (objectType Laptop_bar__minus_00_dot_50_bar__plus_00_dot_56_bar__plus_00_dot_29 LaptopType)\n (objectType AlarmClock_bar__minus_01_dot_27_bar__plus_01_dot_23_bar__minus_00_dot_47 AlarmClockType)\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 Pencil_bar__plus_01_dot_86_bar__plus_00_dot_81_bar__minus_01_dot_37 PencilType)\n (objectType Box_bar__plus_02_dot_73_bar__plus_00_dot_20_bar__plus_00_dot_89 BoxType)\n (objectType KeyChain_bar__minus_01_dot_25_bar__plus_01_dot_24_bar__minus_00_dot_75 KeyChainType)\n (objectType KeyChain_bar__plus_02_dot_71_bar__plus_01_dot_28_bar__minus_01_dot_37 KeyChainType)\n (objectType Book_bar__minus_00_dot_29_bar__plus_00_dot_57_bar__plus_01_dot_09 BookType)\n (objectType CellPhone_bar__minus_01_dot_15_bar__plus_00_dot_57_bar__plus_00_dot_11 CellPhoneType)\n (objectType Boots_bar__minus_01_dot_28_bar__plus_00_dot_00_bar__minus_01_dot_34 BootsType)\n (objectType BasketBall_bar__plus_01_dot_02_bar__plus_00_dot_33_bar__minus_00_dot_98 BasketBallType)\n (objectType Window_bar__plus_00_dot_12_bar__plus_01_dot_50_bar__minus_01_dot_59 WindowType)\n (objectType Statue_bar__plus_01_dot_82_bar__plus_01_dot_04_bar__minus_01_dot_42 StatueType)\n (objectType TissueBox_bar__minus_01_dot_29_bar__plus_00_dot_11_bar__minus_00_dot_62 TissueBoxType)\n (objectType Mug_bar__plus_02_dot_22_bar__plus_00_dot_79_bar__minus_01_dot_25 MugType)\n (objectType Pencil_bar__plus_02_dot_22_bar__plus_00_dot_80_bar__minus_01_dot_12 PencilType)\n (objectType DeskLamp_bar__minus_01_dot_31_bar__plus_01_dot_23_bar__minus_00_dot_99 DeskLampType)\n (objectType Laptop_bar__minus_00_dot_29_bar__plus_00_dot_68_bar__plus_01_dot_58 LaptopType)\n (objectType CreditCard_bar__plus_01_dot_51_bar__plus_00_dot_80_bar__minus_01_dot_41 CreditCardType)\n (objectType LightSwitch_bar__plus_02_dot_66_bar__plus_01_dot_28_bar__plus_01_dot_90 LightSwitchType)\n (objectType Pencil_bar__minus_01_dot_21_bar__plus_01_dot_24_bar__minus_00_dot_65 PencilType)\n (objectType Mirror_bar__plus_01_dot_99_bar__plus_01_dot_38_bar__plus_01_dot_88 MirrorType)\n (objectType Pen_bar__plus_02_dot_82_bar__plus_00_dot_57_bar__minus_01_dot_22 PenType)\n (objectType CD_bar__minus_01_dot_35_bar__plus_01_dot_23_bar__minus_00_dot_65 CDType)\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 Watch_bar__minus_01_dot_24_bar__plus_00_dot_11_bar__minus_00_dot_99 WatchType)\n (objectType Mug_bar__plus_02_dot_03_bar__plus_00_dot_79_bar__minus_01_dot_15 MugType)\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 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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 Laptop_bar__minus_00_dot_50_bar__plus_00_dot_56_bar__plus_00_dot_29)\n (pickupable AlarmClock_bar__minus_01_dot_27_bar__plus_01_dot_23_bar__minus_00_dot_47)\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 Pencil_bar__plus_01_dot_86_bar__plus_00_dot_81_bar__minus_01_dot_37)\n (pickupable Box_bar__plus_02_dot_73_bar__plus_00_dot_20_bar__plus_00_dot_89)\n (pickupable KeyChain_bar__minus_01_dot_25_bar__plus_01_dot_24_bar__minus_00_dot_75)\n (pickupable KeyChain_bar__plus_02_dot_71_bar__plus_01_dot_28_bar__minus_01_dot_37)\n (pickupable Book_bar__minus_00_dot_29_bar__plus_00_dot_57_bar__plus_01_dot_09)\n (pickupable CellPhone_bar__minus_01_dot_15_bar__plus_00_dot_57_bar__plus_00_dot_11)\n (pickupable Boots_bar__minus_01_dot_28_bar__plus_00_dot_00_bar__minus_01_dot_34)\n (pickupable BasketBall_bar__plus_01_dot_02_bar__plus_00_dot_33_bar__minus_00_dot_98)\n (pickupable Statue_bar__plus_01_dot_82_bar__plus_01_dot_04_bar__minus_01_dot_42)\n (pickupable TissueBox_bar__minus_01_dot_29_bar__plus_00_dot_11_bar__minus_00_dot_62)\n (pickupable Mug_bar__plus_02_dot_22_bar__plus_00_dot_79_bar__minus_01_dot_25)\n (pickupable Pencil_bar__plus_02_dot_22_bar__plus_00_dot_80_bar__minus_01_dot_12)\n (pickupable Laptop_bar__minus_00_dot_29_bar__plus_00_dot_68_bar__plus_01_dot_58)\n (pickupable CreditCard_bar__plus_01_dot_51_bar__plus_00_dot_80_bar__minus_01_dot_41)\n (pickupable Pencil_bar__minus_01_dot_21_bar__plus_01_dot_24_bar__minus_00_dot_65)\n (pickupable Pen_bar__plus_02_dot_82_bar__plus_00_dot_57_bar__minus_01_dot_22)\n (pickupable CD_bar__minus_01_dot_35_bar__plus_01_dot_23_bar__minus_00_dot_65)\n (pickupable Watch_bar__minus_01_dot_24_bar__plus_00_dot_11_bar__minus_00_dot_99)\n (pickupable Mug_bar__plus_02_dot_03_bar__plus_00_dot_79_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__plus_02_dot_22_bar__plus_00_dot_79_bar__minus_01_dot_25)\n (isReceptacleObject Mug_bar__plus_02_dot_03_bar__plus_00_dot_79_bar__minus_01_dot_15)\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_3_bar__minus_2_bar_2_bar_30)\n \n (cleanable Bowl_bar__plus_02_dot_45_bar__plus_00_dot_79_bar__minus_01_dot_21)\n (cleanable Mug_bar__plus_02_dot_22_bar__plus_00_dot_79_bar__minus_01_dot_25)\n (cleanable Mug_bar__plus_02_dot_03_bar__plus_00_dot_79_bar__minus_01_dot_15)\n \n (heatable Mug_bar__plus_02_dot_22_bar__plus_00_dot_79_bar__minus_01_dot_25)\n (heatable Mug_bar__plus_02_dot_03_bar__plus_00_dot_79_bar__minus_01_dot_15)\n (coolable Bowl_bar__plus_02_dot_45_bar__plus_00_dot_79_bar__minus_01_dot_21)\n (coolable Mug_bar__plus_02_dot_22_bar__plus_00_dot_79_bar__minus_01_dot_25)\n (coolable Mug_bar__plus_02_dot_03_bar__plus_00_dot_79_bar__minus_01_dot_15)\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 Pencil_bar__plus_01_dot_86_bar__plus_00_dot_81_bar__minus_01_dot_37 Shelf_bar__plus_01_dot_80_bar__plus_00_dot_80_bar__minus_01_dot_42)\n (inReceptacle Watch_bar__minus_01_dot_24_bar__plus_00_dot_11_bar__minus_00_dot_99 Drawer_bar__minus_01_dot_29_bar__plus_00_dot_17_bar__minus_00_dot_92)\n (inReceptacle Mug_bar__plus_02_dot_22_bar__plus_00_dot_79_bar__minus_01_dot_25 Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15)\n (inReceptacle Pencil_bar__plus_02_dot_22_bar__plus_00_dot_80_bar__minus_01_dot_12 Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15)\n (inReceptacle CreditCard_bar__plus_01_dot_51_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)\n (inReceptacle Mug_bar__plus_02_dot_03_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_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 TissueBox_bar__minus_01_dot_29_bar__plus_00_dot_11_bar__minus_00_dot_62 Drawer_bar__minus_01_dot_29_bar__plus_00_dot_17_bar__minus_00_dot_58)\n (inReceptacle Pen_bar__plus_02_dot_82_bar__plus_00_dot_57_bar__minus_01_dot_22 Drawer_bar__plus_02_dot_82_bar__plus_00_dot_62_bar__minus_01_dot_21)\n (inReceptacle KeyChain_bar__minus_01_dot_25_bar__plus_01_dot_24_bar__minus_00_dot_75 Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75)\n (inReceptacle Pencil_bar__minus_01_dot_21_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 CD_bar__minus_01_dot_35_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 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 AlarmClock_bar__minus_01_dot_27_bar__plus_01_dot_23_bar__minus_00_dot_47 Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75)\n (inReceptacle Book_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 CellPhone_bar__minus_01_dot_15_bar__plus_00_dot_57_bar__plus_00_dot_11 Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87)\n (inReceptacle Laptop_bar__minus_00_dot_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 Laptop_bar__minus_00_dot_29_bar__plus_00_dot_68_bar__plus_01_dot_58 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 \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_03_bar__plus_00_dot_79_bar__minus_01_dot_15 loc_bar_9_bar__minus_2_bar_2_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 KeyChain_bar__plus_02_dot_71_bar__plus_01_dot_28_bar__minus_01_dot_37 loc_bar_10_bar__minus_2_bar_2_bar_30)\n (objectAtLocation Pencil_bar__plus_01_dot_86_bar__plus_00_dot_81_bar__minus_01_dot_37 loc_bar_8_bar__minus_3_bar_2_bar_45)\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 Pencil_bar__plus_02_dot_22_bar__plus_00_dot_80_bar__minus_01_dot_12 loc_bar_9_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Book_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 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_68_bar__plus_01_dot_58 loc_bar_3_bar_5_bar_3_bar_45)\n (objectAtLocation CellPhone_bar__minus_01_dot_15_bar__plus_00_dot_57_bar__plus_00_dot_11 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__minus_01_dot_29_bar__plus_00_dot_11_bar__minus_00_dot_62 loc_bar__minus_3_bar__minus_2_bar_3_bar_60)\n (objectAtLocation CreditCard_bar__plus_01_dot_51_bar__plus_00_dot_80_bar__minus_01_dot_41 loc_bar_9_bar__minus_2_bar_2_bar_60)\n (objectAtLocation AlarmClock_bar__minus_01_dot_27_bar__plus_01_dot_23_bar__minus_00_dot_47 loc_bar__minus_3_bar__minus_3_bar_3_bar_60)\n (objectAtLocation Pencil_bar__minus_01_dot_21_bar__plus_01_dot_24_bar__minus_00_dot_65 loc_bar__minus_3_bar__minus_3_bar_3_bar_60)\n (objectAtLocation Boots_bar__minus_01_dot_28_bar__plus_00_dot_00_bar__minus_01_dot_34 loc_bar__minus_3_bar__minus_4_bar_3_bar_60)\n (objectAtLocation Blinds_bar__plus_00_dot_11_bar__plus_02_dot_34_bar__minus_01_dot_44 loc_bar_0_bar__minus_4_bar_2_bar__minus_30)\n (objectAtLocation Pillow_bar__minus_00_dot_63_bar__plus_00_dot_63_bar__plus_01_dot_61 loc_bar_3_bar_5_bar_3_bar_45)\n (objectAtLocation KeyChain_bar__minus_01_dot_25_bar__plus_01_dot_24_bar__minus_00_dot_75 loc_bar__minus_3_bar__minus_3_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_24_bar__plus_00_dot_11_bar__minus_00_dot_99 loc_bar__minus_3_bar__minus_4_bar_3_bar_60)\n (objectAtLocation Mirror_bar__plus_01_dot_99_bar__plus_01_dot_38_bar__plus_01_dot_88 loc_bar_8_bar_5_bar_0_bar_30)\n (objectAtLocation CD_bar__minus_01_dot_35_bar__plus_01_dot_23_bar__minus_00_dot_65 loc_bar__minus_3_bar__minus_3_bar_3_bar_60)\n (objectAtLocation Pen_bar__plus_02_dot_82_bar__plus_00_dot_57_bar__minus_01_dot_22 loc_bar_8_bar__minus_3_bar_1_bar_45)\n (objectAtLocation Window_bar__plus_00_dot_12_bar__plus_01_dot_50_bar__minus_01_dot_59 loc_bar_0_bar__minus_4_bar_2_bar_15)\n (objectAtLocation LightSwitch_bar__plus_02_dot_66_bar__plus_01_dot_28_bar__plus_01_dot_90 loc_bar_10_bar_5_bar_0_bar_30)\n (objectAtLocation Mug_bar__plus_02_dot_22_bar__plus_00_dot_79_bar__minus_01_dot_25 loc_bar_9_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Statue_bar__plus_01_dot_82_bar__plus_01_dot_04_bar__minus_01_dot_42 loc_bar_7_bar__minus_3_bar_2_bar_45)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (inReceptacle ?o ?r)\n (objectType ?o TissueBoxType)\n (receptacleType ?r DresserType)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to drawer 17", "take tissuebox 1 from drawer 17", "go to dresser 1", "move tissuebox 1 to dresser 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-TissueBox-None-Dresser-301/trial_T20190906_221500_723697/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-TissueBox-None-Dresser-301/trial_T20190906_221500_723697/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..a8fa4949d616bc44136c5cf950905db2f34112f7 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-TissueBox-None-Dresser-301/trial_T20190906_221500_723697/initial_state.pddl @@ -0,0 +1,778 @@ + +(define (problem plan_trial_T20190906_221500_723697) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + AlarmClock_bar__minus_01_dot_27_bar__plus_01_dot_23_bar__minus_00_dot_47 - object + BaseballBat_bar__plus_02_dot_85_bar__plus_00_dot_64_bar__plus_01_dot_84 - object + BasketBall_bar__plus_01_dot_02_bar__plus_00_dot_33_bar__minus_00_dot_98 - object + Blinds_bar__plus_00_dot_11_bar__plus_02_dot_34_bar__minus_01_dot_44 - object + Book_bar__minus_00_dot_29_bar__plus_00_dot_57_bar__plus_01_dot_09 - object + Boots_bar__minus_01_dot_28_bar__plus_00_dot_00_bar__minus_01_dot_34 - object + Bowl_bar__plus_02_dot_45_bar__plus_00_dot_79_bar__minus_01_dot_21 - object + Box_bar__plus_02_dot_73_bar__plus_00_dot_20_bar__plus_00_dot_89 - object + CD_bar__minus_01_dot_35_bar__plus_01_dot_23_bar__minus_00_dot_65 - object + CellPhone_bar__minus_01_dot_15_bar__plus_00_dot_57_bar__plus_00_dot_11 - object + Chair_bar__plus_02_dot_40_bar__plus_00_dot_00_bar__minus_01_dot_08 - object + CreditCard_bar__plus_01_dot_51_bar__plus_00_dot_80_bar__minus_01_dot_41 - object + DeskLamp_bar__minus_01_dot_31_bar__plus_01_dot_23_bar__minus_00_dot_99 - object + KeyChain_bar__plus_02_dot_71_bar__plus_01_dot_28_bar__minus_01_dot_37 - object + KeyChain_bar__minus_01_dot_25_bar__plus_01_dot_24_bar__minus_00_dot_75 - object + Laptop_bar__minus_00_dot_29_bar__plus_00_dot_68_bar__plus_01_dot_58 - 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_02_dot_03_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_25 - object + Pencil_bar__plus_01_dot_86_bar__plus_00_dot_81_bar__minus_01_dot_37 - object + Pencil_bar__plus_02_dot_22_bar__plus_00_dot_80_bar__minus_01_dot_12 - object + Pencil_bar__minus_01_dot_21_bar__plus_01_dot_24_bar__minus_00_dot_65 - object + Pen_bar__plus_01_dot_84_bar__plus_00_dot_80_bar__minus_01_dot_22 - object + Pen_bar__plus_02_dot_82_bar__plus_00_dot_57_bar__minus_01_dot_22 - 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__minus_01_dot_29_bar__plus_00_dot_11_bar__minus_00_dot_62 - object + Watch_bar__minus_01_dot_24_bar__plus_00_dot_11_bar__minus_00_dot_99 - 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_3_bar__minus_2_bar_2_bar_30 - location + ) + + +(:init + + + (receptacleType Shelf_bar__plus_02_dot_25_bar__plus_01_dot_27_bar__minus_01_dot_42 ShelfType) + (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_00_dot_44_bar__minus_00_dot_92 DrawerType) + (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_00_dot_17_bar__minus_00_dot_58 DrawerType) + (receptacleType Drawer_bar__plus_01_dot_95_bar__plus_00_dot_62_bar__minus_01_dot_21 DrawerType) + (receptacleType Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15 DeskType) + (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_01_dot_02_bar__minus_00_dot_92 DrawerType) + (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_01_dot_02_bar__minus_00_dot_58 DrawerType) + (receptacleType Drawer_bar__plus_01_dot_63_bar__plus_00_dot_40_bar__minus_01_dot_21 DrawerType) + (receptacleType Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87 BedType) + (receptacleType Drawer_bar__plus_01_dot_63_bar__plus_00_dot_18_bar__minus_01_dot_21 DrawerType) + (receptacleType Drawer_bar__plus_02_dot_82_bar__plus_00_dot_62_bar__minus_01_dot_21 DrawerType) + (receptacleType Shelf_bar__plus_02_dot_47_bar__plus_00_dot_80_bar__minus_01_dot_41 ShelfType) + (receptacleType Drawer_bar__plus_01_dot_63_bar__plus_00_dot_62_bar__minus_01_dot_21 DrawerType) + (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_00_dot_74_bar__minus_00_dot_58 DrawerType) + (receptacleType GarbageCan_bar__plus_02_dot_84_bar__plus_00_dot_00_bar__plus_00_dot_22 GarbageCanType) + (receptacleType Shelf_bar__plus_01_dot_80_bar__plus_00_dot_80_bar__minus_01_dot_42 ShelfType) + (receptacleType Shelf_bar__plus_01_dot_80_bar__plus_01_dot_04_bar__minus_01_dot_42 ShelfType) + (receptacleType Drawer_bar__plus_01_dot_95_bar__plus_00_dot_18_bar__minus_01_dot_21 DrawerType) + (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_00_dot_74_bar__minus_00_dot_92 DrawerType) + (receptacleType Drawer_bar__plus_02_dot_82_bar__plus_00_dot_17_bar__minus_01_dot_21 DrawerType) + (receptacleType Shelf_bar__plus_02_dot_70_bar__plus_01_dot_27_bar__minus_01_dot_42 ShelfType) + (receptacleType Shelf_bar__plus_02_dot_47_bar__plus_01_dot_04_bar__minus_01_dot_41 ShelfType) + (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_00_dot_44_bar__minus_00_dot_58 DrawerType) + (receptacleType Drawer_bar__plus_01_dot_95_bar__plus_00_dot_40_bar__minus_01_dot_21 DrawerType) + (receptacleType Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75 DresserType) + (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_00_dot_17_bar__minus_00_dot_92 DrawerType) + (receptacleType Drawer_bar__plus_02_dot_82_bar__plus_00_dot_40_bar__minus_01_dot_21 DrawerType) + (objectType Laptop_bar__minus_00_dot_50_bar__plus_00_dot_56_bar__plus_00_dot_29 LaptopType) + (objectType AlarmClock_bar__minus_01_dot_27_bar__plus_01_dot_23_bar__minus_00_dot_47 AlarmClockType) + (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 BaseballBat_bar__plus_02_dot_85_bar__plus_00_dot_64_bar__plus_01_dot_84 BaseballBatType) + (objectType Pencil_bar__plus_01_dot_86_bar__plus_00_dot_81_bar__minus_01_dot_37 PencilType) + (objectType Box_bar__plus_02_dot_73_bar__plus_00_dot_20_bar__plus_00_dot_89 BoxType) + (objectType KeyChain_bar__minus_01_dot_25_bar__plus_01_dot_24_bar__minus_00_dot_75 KeyChainType) + (objectType KeyChain_bar__plus_02_dot_71_bar__plus_01_dot_28_bar__minus_01_dot_37 KeyChainType) + (objectType Book_bar__minus_00_dot_29_bar__plus_00_dot_57_bar__plus_01_dot_09 BookType) + (objectType CellPhone_bar__minus_01_dot_15_bar__plus_00_dot_57_bar__plus_00_dot_11 CellPhoneType) + (objectType Boots_bar__minus_01_dot_28_bar__plus_00_dot_00_bar__minus_01_dot_34 BootsType) + (objectType BasketBall_bar__plus_01_dot_02_bar__plus_00_dot_33_bar__minus_00_dot_98 BasketBallType) + (objectType Window_bar__plus_00_dot_12_bar__plus_01_dot_50_bar__minus_01_dot_59 WindowType) + (objectType Statue_bar__plus_01_dot_82_bar__plus_01_dot_04_bar__minus_01_dot_42 StatueType) + (objectType TissueBox_bar__minus_01_dot_29_bar__plus_00_dot_11_bar__minus_00_dot_62 TissueBoxType) + (objectType Mug_bar__plus_02_dot_22_bar__plus_00_dot_79_bar__minus_01_dot_25 MugType) + (objectType Pencil_bar__plus_02_dot_22_bar__plus_00_dot_80_bar__minus_01_dot_12 PencilType) + (objectType DeskLamp_bar__minus_01_dot_31_bar__plus_01_dot_23_bar__minus_00_dot_99 DeskLampType) + (objectType Laptop_bar__minus_00_dot_29_bar__plus_00_dot_68_bar__plus_01_dot_58 LaptopType) + (objectType CreditCard_bar__plus_01_dot_51_bar__plus_00_dot_80_bar__minus_01_dot_41 CreditCardType) + (objectType LightSwitch_bar__plus_02_dot_66_bar__plus_01_dot_28_bar__plus_01_dot_90 LightSwitchType) + (objectType Pencil_bar__minus_01_dot_21_bar__plus_01_dot_24_bar__minus_00_dot_65 PencilType) + (objectType Mirror_bar__plus_01_dot_99_bar__plus_01_dot_38_bar__plus_01_dot_88 MirrorType) + (objectType Pen_bar__plus_02_dot_82_bar__plus_00_dot_57_bar__minus_01_dot_22 PenType) + (objectType CD_bar__minus_01_dot_35_bar__plus_01_dot_23_bar__minus_00_dot_65 CDType) + (objectType Chair_bar__plus_02_dot_40_bar__plus_00_dot_00_bar__minus_01_dot_08 ChairType) + (objectType Blinds_bar__plus_00_dot_11_bar__plus_02_dot_34_bar__minus_01_dot_44 BlindsType) + (objectType Watch_bar__minus_01_dot_24_bar__plus_00_dot_11_bar__minus_00_dot_99 WatchType) + (objectType Mug_bar__plus_02_dot_03_bar__plus_00_dot_79_bar__minus_01_dot_15 MugType) + (objectType Pillow_bar__minus_00_dot_63_bar__plus_00_dot_63_bar__plus_01_dot_61 PillowType) + (canContain ShelfType PenType) + (canContain ShelfType BookType) + (canContain ShelfType WatchType) + (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 TissueBoxType) + (canContain ShelfType StatueType) + (canContain ShelfType AlarmClockType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType WatchType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType WatchType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType WatchType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType TissueBoxType) + (canContain DeskType PenType) + (canContain DeskType BookType) + (canContain DeskType WatchType) + (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 TissueBoxType) + (canContain DeskType StatueType) + (canContain DeskType AlarmClockType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType WatchType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType WatchType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType WatchType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType TissueBoxType) + (canContain BedType BasketBallType) + (canContain BedType BaseballBatType) + (canContain BedType 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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 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 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CellPhone_bar__minus_01_dot_15_bar__plus_00_dot_57_bar__plus_00_dot_11) + (pickupable Boots_bar__minus_01_dot_28_bar__plus_00_dot_00_bar__minus_01_dot_34) + (pickupable BasketBall_bar__plus_01_dot_02_bar__plus_00_dot_33_bar__minus_00_dot_98) + (pickupable Statue_bar__plus_01_dot_82_bar__plus_01_dot_04_bar__minus_01_dot_42) + (pickupable TissueBox_bar__minus_01_dot_29_bar__plus_00_dot_11_bar__minus_00_dot_62) + (pickupable Mug_bar__plus_02_dot_22_bar__plus_00_dot_79_bar__minus_01_dot_25) + (pickupable Pencil_bar__plus_02_dot_22_bar__plus_00_dot_80_bar__minus_01_dot_12) + (pickupable Laptop_bar__minus_00_dot_29_bar__plus_00_dot_68_bar__plus_01_dot_58) + (pickupable CreditCard_bar__plus_01_dot_51_bar__plus_00_dot_80_bar__minus_01_dot_41) + (pickupable Pencil_bar__minus_01_dot_21_bar__plus_01_dot_24_bar__minus_00_dot_65) + (pickupable Pen_bar__plus_02_dot_82_bar__plus_00_dot_57_bar__minus_01_dot_22) + (pickupable CD_bar__minus_01_dot_35_bar__plus_01_dot_23_bar__minus_00_dot_65) + (pickupable Watch_bar__minus_01_dot_24_bar__plus_00_dot_11_bar__minus_00_dot_99) + (pickupable Mug_bar__plus_02_dot_03_bar__plus_00_dot_79_bar__minus_01_dot_15) + (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_02_dot_22_bar__plus_00_dot_79_bar__minus_01_dot_25) + (isReceptacleObject Mug_bar__plus_02_dot_03_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_3_bar__minus_2_bar_2_bar_30) + + (cleanable Bowl_bar__plus_02_dot_45_bar__plus_00_dot_79_bar__minus_01_dot_21) + (cleanable Mug_bar__plus_02_dot_22_bar__plus_00_dot_79_bar__minus_01_dot_25) + (cleanable Mug_bar__plus_02_dot_03_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_25) + (heatable Mug_bar__plus_02_dot_03_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_02_dot_22_bar__plus_00_dot_79_bar__minus_01_dot_25) + (coolable Mug_bar__plus_02_dot_03_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 Pencil_bar__plus_01_dot_86_bar__plus_00_dot_81_bar__minus_01_dot_37 Shelf_bar__plus_01_dot_80_bar__plus_00_dot_80_bar__minus_01_dot_42) + (inReceptacle Watch_bar__minus_01_dot_24_bar__plus_00_dot_11_bar__minus_00_dot_99 Drawer_bar__minus_01_dot_29_bar__plus_00_dot_17_bar__minus_00_dot_92) + (inReceptacle Mug_bar__plus_02_dot_22_bar__plus_00_dot_79_bar__minus_01_dot_25 Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15) + (inReceptacle Pencil_bar__plus_02_dot_22_bar__plus_00_dot_80_bar__minus_01_dot_12 Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15) + (inReceptacle CreditCard_bar__plus_01_dot_51_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 Mug_bar__plus_02_dot_03_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_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 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) + (inReceptacle TissueBox_bar__minus_01_dot_29_bar__plus_00_dot_11_bar__minus_00_dot_62 Drawer_bar__minus_01_dot_29_bar__plus_00_dot_17_bar__minus_00_dot_58) + (inReceptacle Pen_bar__plus_02_dot_82_bar__plus_00_dot_57_bar__minus_01_dot_22 Drawer_bar__plus_02_dot_82_bar__plus_00_dot_62_bar__minus_01_dot_21) + (inReceptacle KeyChain_bar__minus_01_dot_25_bar__plus_01_dot_24_bar__minus_00_dot_75 Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75) + (inReceptacle Pencil_bar__minus_01_dot_21_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 CD_bar__minus_01_dot_35_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 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 AlarmClock_bar__minus_01_dot_27_bar__plus_01_dot_23_bar__minus_00_dot_47 Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75) + (inReceptacle Book_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 CellPhone_bar__minus_01_dot_15_bar__plus_00_dot_57_bar__plus_00_dot_11 Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87) + (inReceptacle Laptop_bar__minus_00_dot_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 Laptop_bar__minus_00_dot_29_bar__plus_00_dot_68_bar__plus_01_dot_58 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) + + + (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 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GarbageCan_bar__plus_02_dot_84_bar__plus_00_dot_00_bar__plus_00_dot_22 loc_bar_10_bar_1_bar_1_bar_60) + (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_03_bar__plus_00_dot_79_bar__minus_01_dot_15 loc_bar_9_bar__minus_2_bar_2_bar_60) + 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Laptop_bar__minus_00_dot_29_bar__plus_00_dot_68_bar__plus_01_dot_58 loc_bar_3_bar_5_bar_3_bar_45) + (objectAtLocation CellPhone_bar__minus_01_dot_15_bar__plus_00_dot_57_bar__plus_00_dot_11 loc_bar_3_bar_5_bar_3_bar_45) + (objectAtLocation BaseballBat_bar__plus_02_dot_85_bar__plus_00_dot_64_bar__plus_01_dot_84 loc_bar_10_bar_5_bar_0_bar_60) + (objectAtLocation DeskLamp_bar__minus_01_dot_31_bar__plus_01_dot_23_bar__minus_00_dot_99 loc_bar__minus_3_bar__minus_3_bar_3_bar_60) + (objectAtLocation BasketBall_bar__plus_01_dot_02_bar__plus_00_dot_33_bar__minus_00_dot_98 loc_bar_4_bar__minus_2_bar_2_bar_60) + (objectAtLocation TissueBox_bar__minus_01_dot_29_bar__plus_00_dot_11_bar__minus_00_dot_62 loc_bar__minus_3_bar__minus_2_bar_3_bar_60) + (objectAtLocation CreditCard_bar__plus_01_dot_51_bar__plus_00_dot_80_bar__minus_01_dot_41 loc_bar_9_bar__minus_2_bar_2_bar_60) + (objectAtLocation AlarmClock_bar__minus_01_dot_27_bar__plus_01_dot_23_bar__minus_00_dot_47 loc_bar__minus_3_bar__minus_3_bar_3_bar_60) + (objectAtLocation Pencil_bar__minus_01_dot_21_bar__plus_01_dot_24_bar__minus_00_dot_65 loc_bar__minus_3_bar__minus_3_bar_3_bar_60) + (objectAtLocation Boots_bar__minus_01_dot_28_bar__plus_00_dot_00_bar__minus_01_dot_34 loc_bar__minus_3_bar__minus_4_bar_3_bar_60) + (objectAtLocation Blinds_bar__plus_00_dot_11_bar__plus_02_dot_34_bar__minus_01_dot_44 loc_bar_0_bar__minus_4_bar_2_bar__minus_30) + (objectAtLocation Pillow_bar__minus_00_dot_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_25_bar__plus_01_dot_24_bar__minus_00_dot_75 loc_bar__minus_3_bar__minus_3_bar_3_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__minus_01_dot_24_bar__plus_00_dot_11_bar__minus_00_dot_99 loc_bar__minus_3_bar__minus_4_bar_3_bar_60) + (objectAtLocation 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?r DresserType) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-TissueBox-None-Dresser-301/trial_T20190906_221500_723697/traj_data.json b/data/alfworld/json_2.1.1/train/pick_and_place_simple-TissueBox-None-Dresser-301/trial_T20190906_221500_723697/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..2bf6c424889615ab4433879e21dffbc3525147b8 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-TissueBox-None-Dresser-301/trial_T20190906_221500_723697/traj_data.json @@ -0,0 +1,3477 @@ +{ + "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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"z": 0.286 + }, + "rotation": { + "x": 0.0, + "y": 63.46487, + "z": 0.0 + } + }, + { + "objectName": "CellPhone_b9003495", + "position": { + "x": -1.15151465, + "y": 0.5663049, + "z": 0.113711596 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "BaseballBat_7de4b683", + "position": { + "x": 2.847, + "y": 0.643, + "z": 1.838 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 335.1118 + } + }, + { + "objectName": "BasketBall_7b5f2c88", + "position": { + "x": 1.01986575, + "y": 0.330830961, + "z": -0.9766739 + }, + "rotation": { + "x": 346.948517, + "y": 295.8199, + "z": 0.656402946 + } + }, + { + "objectName": "TissueBox_00aeed40", + "position": { + "x": -1.29335022, + "y": 0.107122377, + "z": -0.6156928 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "CreditCard_80d98dab", + "position": { + "x": 1.50911212, + "y": 0.795809, + "z": -1.41259813 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "AlarmClock_a68436a8", + "position": { + "x": -1.2700001, + "y": 1.22743726, + "z": -0.473998249 + }, + "rotation": { + "x": 0.00253671943, + "y": 228.19104, + "z": -0.00137744634 + } + }, + { + "objectName": "Pencil_89afc677", + "position": { + "x": 1.85996807, + "y": 0.8060935, + "z": -1.37026334 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Boots_dc0ae5c1", + "position": { + "x": -1.279986, + "y": 0.0006509721, + "z": -1.343009 + }, + "rotation": { + "x": 359.9876, + "y": 27.1430244, + "z": 359.993622 + } + }, + { + "objectName": "Pillow_419db2d8", + "position": { + "x": -0.634, + "y": 0.63, + "z": 1.6116 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "KeyChain_7bb65943", + "position": { + "x": 2.70629644, + "y": 1.27874744, + "z": -1.37226343 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Bowl_600fd48d", + "position": { + "x": 2.451, + "y": 0.788715243, + "z": -1.20707834 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Watch_0f7be4f9", + "position": { + "x": -1.2365061, + "y": 0.106428817, + "z": -0.988704443 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "CD_f25640ea", + "position": { + "x": -1.35281718, + "y": 1.23452353, + "z": -0.6493938 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pen_d94967db", + "position": { + "x": 1.83983088, + "y": 0.8004528, + "z": -1.21782291 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_2a940808", + "position": { + "x": 2.02785969, + "y": 0.793715239, + "z": -1.153574 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Statue_e0075340", + "position": { + "x": 1.823921, + "y": 1.036511, + "z": -1.419659 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 767947594, + "scene_num": 301 + }, + "task_id": "trial_T20190906_221500_723697", + "task_type": "pick_and_place_simple", + "turk_annotations": { + "anns": [ + { + "assignment_id": "AD0NVUGLDYDYN_32KTQ2V7RGW4IBNWD6CEAZ5VJ599MP", + "high_descs": [ + "Turn right, walk to the white dresser", + "Open the bottom drawer on the right, grab the tissue box, close the drawer", + "Walk to the left a bit, facing the dresser", + "Put the tissue box on the car key" + ], + "task_desc": "Move the tissue box from the bottom right drawer to the dresser top", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3F7G1FSFWQPLE_3C8HJ7UOPABJO259H46DNN7OY8RMZB", + "high_descs": [ + "Turn right then walk over to the tall white dresser.", + "Open the bottom right drawer of the dresser and remove the tissue box inside.", + "Turn left and walk towards the wall, then turn right to face the dresser again.", + "Place the tissue box on the white dresser on top of the keys." + ], + "task_desc": "Place a tissue box on the top of a white dresser.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1HKHM4NVAO98H_3HMIGG0U4ON4YNT0RHUB4YXR8AE8Y0", + "high_descs": [ + "go over to the bedroom dresser", + "grab a box of tissues out from the bottom right drawer", + "move a bit to face the center of the dresser", + "place the box of tissues on top of the dresser" + ], + "task_desc": "place a box of tissues on top of the dresser", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-TissueBox-None-Dresser-301/trial_T20190906_221513_072505/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-TissueBox-None-Dresser-301/trial_T20190906_221513_072505/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..04b5ed0df144a9b0741d0e808683886dbb93bea3 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-TissueBox-None-Dresser-301/trial_T20190906_221513_072505/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\n\\n#task#\"\n }\n ],\n\n \"notImplemented\": [\n {\n \"rhs\": \"TODO\"\n }\n ],\n\n \"task\": [\n {\n \"rhs\": \"Your task is to: put some tissuebox on 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_T20190906_221513_072505)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\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_75 - 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_29_bar__plus_00_dot_57_bar__plus_01_dot_09 - 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_59_bar__plus_00_dot_57_bar__minus_01_dot_27 - object\n CD_bar__plus_01_dot_84_bar__plus_00_dot_79_bar__minus_01_dot_28 - object\n CD_bar__plus_02_dot_85_bar__plus_00_dot_57_bar__minus_01_dot_25 - object\n CellPhone_bar__minus_01_dot_32_bar__plus_00_dot_39_bar__minus_00_dot_54 - object\n Chair_bar__plus_02_dot_40_bar__plus_00_dot_00_bar__minus_01_dot_08 - object\n CreditCard_bar__minus_01_dot_32_bar__plus_01_dot_23_bar__minus_00_dot_84 - object\n CreditCard_bar__minus_01_dot_39_bar__plus_01_dot_23_bar__minus_00_dot_65 - object\n DeskLamp_bar__minus_01_dot_31_bar__plus_01_dot_23_bar__minus_00_dot_99 - object\n KeyChain_bar__plus_01_dot_65_bar__plus_00_dot_80_bar__minus_01_dot_28 - object\n KeyChain_bar__plus_01_dot_84_bar__plus_00_dot_79_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 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_39_bar__plus_01_dot_23_bar__minus_00_dot_55 - object\n Pencil_bar__plus_01_dot_95_bar__plus_00_dot_13_bar__minus_01_dot_22 - object\n Pencil_bar__plus_02_dot_48_bar__plus_01_dot_05_bar__minus_01_dot_38 - object\n Pen_bar__minus_01_dot_32_bar__plus_01_dot_24_bar__minus_00_dot_46 - 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__plus_01_dot_95_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_92 - object\n TissueBox_bar__minus_01_dot_29_bar__plus_00_dot_97_bar__minus_00_dot_92 - object\n Watch_bar__plus_01_dot_91_bar__plus_00_dot_13_bar__minus_01_dot_16 - object\n Watch_bar__plus_02_dot_85_bar__plus_00_dot_13_bar__minus_01_dot_22 - object\n Watch_bar__minus_01_dot_39_bar__plus_01_dot_23_bar__minus_00_dot_75 - 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_7_bar_1_bar_2_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Shelf_bar__plus_02_dot_25_bar__plus_01_dot_27_bar__minus_01_dot_42 ShelfType)\n (receptacleType 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_32_bar__plus_01_dot_23_bar__minus_00_dot_84 CreditCardType)\n (objectType KeyChain_bar__plus_01_dot_65_bar__plus_00_dot_80_bar__minus_01_dot_28 KeyChainType)\n (objectType Laptop_bar__minus_00_dot_50_bar__plus_00_dot_56_bar__plus_00_dot_29 LaptopType)\n (objectType Pillow_bar__minus_00_dot_63_bar__plus_00_dot_63_bar__plus_01_dot_61 PillowType)\n (objectType Pencil_bar__plus_02_dot_48_bar__plus_01_dot_05_bar__minus_01_dot_38 PencilType)\n (objectType Bowl_bar__plus_02_dot_45_bar__plus_00_dot_79_bar__minus_01_dot_21 BowlType)\n (objectType Watch_bar__minus_01_dot_39_bar__plus_01_dot_23_bar__minus_00_dot_75 WatchType)\n (objectType BaseballBat_bar__plus_02_dot_85_bar__plus_00_dot_64_bar__plus_01_dot_84 BaseballBatType)\n (objectType TissueBox_bar__minus_01_dot_29_bar__plus_00_dot_68_bar__minus_00_dot_92 TissueBoxType)\n (objectType Box_bar__plus_02_dot_73_bar__plus_00_dot_20_bar__plus_00_dot_89 BoxType)\n (objectType CellPhone_bar__minus_01_dot_32_bar__plus_00_dot_39_bar__minus_00_dot_54 CellPhoneType)\n (objectType Book_bar__minus_00_dot_29_bar__plus_00_dot_57_bar__plus_01_dot_09 BookType)\n (objectType AlarmClock_bar__plus_02_dot_22_bar__plus_00_dot_80_bar__minus_01_dot_25 AlarmClockType)\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 AlarmClock_bar__minus_01_dot_28_bar__plus_01_dot_23_bar__minus_00_dot_75 AlarmClockType)\n (objectType CreditCard_bar__minus_01_dot_39_bar__plus_01_dot_23_bar__minus_00_dot_65 CreditCardType)\n (objectType Window_bar__plus_00_dot_12_bar__plus_01_dot_50_bar__minus_01_dot_59 WindowType)\n (objectType TissueBox_bar__plus_01_dot_95_bar__plus_00_dot_35_bar__minus_01_dot_22 TissueBoxType)\n (objectType Watch_bar__plus_02_dot_85_bar__plus_00_dot_13_bar__minus_01_dot_22 WatchType)\n (objectType Statue_bar__plus_01_dot_82_bar__plus_01_dot_04_bar__minus_01_dot_42 StatueType)\n (objectType CD_bar__plus_01_dot_84_bar__plus_00_dot_79_bar__minus_01_dot_28 CDType)\n (objectType Mug_bar__minus_01_dot_39_bar__plus_01_dot_23_bar__minus_00_dot_55 MugType)\n (objectType DeskLamp_bar__minus_01_dot_31_bar__plus_01_dot_23_bar__minus_00_dot_99 DeskLampType)\n (objectType Pencil_bar__plus_01_dot_95_bar__plus_00_dot_13_bar__minus_01_dot_22 PencilType)\n (objectType CD_bar__plus_01_dot_59_bar__plus_00_dot_57_bar__minus_01_dot_27 CDType)\n (objectType CD_bar__plus_02_dot_85_bar__plus_00_dot_57_bar__minus_01_dot_25 CDType)\n (objectType Pen_bar__minus_01_dot_32_bar__plus_01_dot_24_bar__minus_00_dot_46 PenType)\n (objectType Watch_bar__plus_01_dot_91_bar__plus_00_dot_13_bar__minus_01_dot_16 WatchType)\n (objectType LightSwitch_bar__plus_02_dot_66_bar__plus_01_dot_28_bar__plus_01_dot_90 LightSwitchType)\n (objectType Book_bar__minus_00_dot_90_bar__plus_00_dot_57_bar__plus_01_dot_18 BookType)\n (objectType 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 Chair_bar__plus_02_dot_40_bar__plus_00_dot_00_bar__minus_01_dot_08 ChairType)\n (objectType KeyChain_bar__plus_01_dot_84_bar__plus_00_dot_79_bar__minus_01_dot_15 KeyChainType)\n (objectType Blinds_bar__plus_00_dot_11_bar__plus_02_dot_34_bar__minus_01_dot_44 BlindsType)\n (objectType TissueBox_bar__minus_01_dot_29_bar__plus_00_dot_97_bar__minus_00_dot_92 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 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 CreditCard_bar__minus_01_dot_32_bar__plus_01_dot_23_bar__minus_00_dot_84)\n (pickupable KeyChain_bar__plus_01_dot_65_bar__plus_00_dot_80_bar__minus_01_dot_28)\n (pickupable Laptop_bar__minus_00_dot_50_bar__plus_00_dot_56_bar__plus_00_dot_29)\n (pickupable Pillow_bar__minus_00_dot_63_bar__plus_00_dot_63_bar__plus_01_dot_61)\n (pickupable Pencil_bar__plus_02_dot_48_bar__plus_01_dot_05_bar__minus_01_dot_38)\n (pickupable Bowl_bar__plus_02_dot_45_bar__plus_00_dot_79_bar__minus_01_dot_21)\n (pickupable Watch_bar__minus_01_dot_39_bar__plus_01_dot_23_bar__minus_00_dot_75)\n (pickupable BaseballBat_bar__plus_02_dot_85_bar__plus_00_dot_64_bar__plus_01_dot_84)\n (pickupable TissueBox_bar__minus_01_dot_29_bar__plus_00_dot_68_bar__minus_00_dot_92)\n (pickupable Box_bar__plus_02_dot_73_bar__plus_00_dot_20_bar__plus_00_dot_89)\n (pickupable 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(pickupable Pencil_bar__plus_01_dot_95_bar__plus_00_dot_13_bar__minus_01_dot_22)\n (pickupable CD_bar__plus_01_dot_59_bar__plus_00_dot_57_bar__minus_01_dot_27)\n (pickupable CD_bar__plus_02_dot_85_bar__plus_00_dot_57_bar__minus_01_dot_25)\n (pickupable Pen_bar__minus_01_dot_32_bar__plus_01_dot_24_bar__minus_00_dot_46)\n (pickupable Watch_bar__plus_01_dot_91_bar__plus_00_dot_13_bar__minus_01_dot_16)\n (pickupable Book_bar__minus_00_dot_90_bar__plus_00_dot_57_bar__plus_01_dot_18)\n (pickupable TissueBox_bar__plus_01_dot_67_bar__plus_00_dot_13_bar__minus_01_dot_22)\n (pickupable KeyChain_bar__plus_01_dot_84_bar__plus_00_dot_79_bar__minus_01_dot_15)\n (pickupable TissueBox_bar__minus_01_dot_29_bar__plus_00_dot_97_bar__minus_00_dot_92)\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 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Bowl_bar__plus_02_dot_45_bar__plus_00_dot_79_bar__minus_01_dot_21)\n (coolable Mug_bar__minus_01_dot_39_bar__plus_01_dot_23_bar__minus_00_dot_55)\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_02_dot_85_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 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 KeyChain_bar__plus_01_dot_65_bar__plus_00_dot_80_bar__minus_01_dot_28 Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15)\n (inReceptacle KeyChain_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_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 CD_bar__plus_01_dot_84_bar__plus_00_dot_79_bar__minus_01_dot_28 Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15)\n (inReceptacle TissueBox_bar__minus_01_dot_29_bar__plus_00_dot_68_bar__minus_00_dot_92 Drawer_bar__minus_01_dot_29_bar__plus_00_dot_74_bar__minus_00_dot_92)\n (inReceptacle TissueBox_bar__minus_01_dot_29_bar__plus_00_dot_97_bar__minus_00_dot_92 Drawer_bar__minus_01_dot_29_bar__plus_01_dot_02_bar__minus_00_dot_92)\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 TissueBox_bar__plus_01_dot_95_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)\n (inReceptacle CD_bar__plus_01_dot_59_bar__plus_00_dot_57_bar__minus_01_dot_27 Drawer_bar__plus_01_dot_63_bar__plus_00_dot_62_bar__minus_01_dot_21)\n (inReceptacle CellPhone_bar__minus_01_dot_32_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_02_dot_85_bar__plus_00_dot_57_bar__minus_01_dot_25 Drawer_bar__plus_02_dot_82_bar__plus_00_dot_62_bar__minus_01_dot_21)\n (inReceptacle Pencil_bar__plus_01_dot_95_bar__plus_00_dot_13_bar__minus_01_dot_22 Drawer_bar__plus_01_dot_95_bar__plus_00_dot_18_bar__minus_01_dot_21)\n (inReceptacle Watch_bar__plus_01_dot_91_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_32_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_39_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 AlarmClock_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 CreditCard_bar__minus_01_dot_39_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 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 Pen_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_39_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 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 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 Book_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 Pencil_bar__plus_02_dot_48_bar__plus_01_dot_05_bar__minus_01_dot_38 Shelf_bar__plus_02_dot_47_bar__plus_01_dot_04_bar__minus_01_dot_41)\n (inReceptacle Statue_bar__plus_01_dot_82_bar__plus_01_dot_04_bar__minus_01_dot_42 Shelf_bar__plus_01_dot_80_bar__plus_01_dot_04_bar__minus_01_dot_42)\n \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 CD_bar__plus_02_dot_85_bar__plus_00_dot_57_bar__minus_01_dot_25 loc_bar_8_bar__minus_3_bar_1_bar_45)\n (objectAtLocation Watch_bar__plus_01_dot_91_bar__plus_00_dot_13_bar__minus_01_dot_16 loc_bar_4_bar__minus_2_bar_1_bar_60)\n (objectAtLocation KeyChain_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 Pencil_bar__plus_01_dot_95_bar__plus_00_dot_13_bar__minus_01_dot_22 loc_bar_4_bar__minus_2_bar_1_bar_60)\n (objectAtLocation AlarmClock_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 CreditCard_bar__minus_01_dot_32_bar__plus_01_dot_23_bar__minus_00_dot_84 loc_bar__minus_3_bar__minus_3_bar_3_bar_60)\n (objectAtLocation TissueBox_bar__minus_01_dot_29_bar__plus_00_dot_68_bar__minus_00_dot_92 loc_bar__minus_3_bar__minus_4_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 CD_bar__plus_01_dot_84_bar__plus_00_dot_79_bar__minus_01_dot_28 loc_bar_9_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Watch_bar__plus_02_dot_85_bar__plus_00_dot_13_bar__minus_01_dot_22 loc_bar_10_bar__minus_2_bar_2_bar_60)\n (objectAtLocation TissueBox_bar__plus_01_dot_95_bar__plus_00_dot_35_bar__minus_01_dot_22 loc_bar_4_bar__minus_2_bar_1_bar_60)\n (objectAtLocation TissueBox_bar__minus_01_dot_29_bar__plus_00_dot_97_bar__minus_00_dot_92 loc_bar__minus_3_bar__minus_4_bar_3_bar_45)\n (objectAtLocation Book_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 Box_bar__plus_02_dot_73_bar__plus_00_dot_20_bar__plus_00_dot_89 loc_bar_9_bar_4_bar_1_bar_60)\n (objectAtLocation Chair_bar__plus_02_dot_40_bar__plus_00_dot_00_bar__minus_01_dot_08 loc_bar_10_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Laptop_bar__minus_00_dot_50_bar__plus_00_dot_56_bar__plus_00_dot_29 loc_bar_3_bar_5_bar_3_bar_45)\n (objectAtLocation CellPhone_bar__minus_01_dot_32_bar__plus_00_dot_39_bar__minus_00_dot_54 loc_bar__minus_3_bar__minus_2_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__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 CreditCard_bar__minus_01_dot_39_bar__plus_01_dot_23_bar__minus_00_dot_65 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 Pencil_bar__plus_02_dot_48_bar__plus_01_dot_05_bar__minus_01_dot_38 loc_bar_10_bar__minus_2_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_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 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_39_bar__plus_01_dot_23_bar__minus_00_dot_75 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_59_bar__plus_00_dot_57_bar__minus_01_dot_27 loc_bar_1_bar__minus_4_bar_1_bar_30)\n (objectAtLocation Pen_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 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_39_bar__plus_01_dot_23_bar__minus_00_dot_55 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 (?r - receptacle)\n (exists (?o - object)\n (and\n (inReceptacle ?o ?r)\n (objectType ?o TissueBoxType)\n (receptacleType ?r DresserType)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to drawer 10", "take tissuebox 3 from drawer 10", "go to dresser 1", "move tissuebox 3 to dresser 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-TissueBox-None-Dresser-301/trial_T20190906_221513_072505/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-TissueBox-None-Dresser-301/trial_T20190906_221513_072505/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..845a4715ed851151b0cd572718f378744526b713 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-TissueBox-None-Dresser-301/trial_T20190906_221513_072505/initial_state.pddl @@ -0,0 +1,805 @@ + +(define (problem plan_trial_T20190906_221513_072505) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_75 - 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_29_bar__plus_00_dot_57_bar__plus_01_dot_09 - 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_59_bar__plus_00_dot_57_bar__minus_01_dot_27 - object + CD_bar__plus_01_dot_84_bar__plus_00_dot_79_bar__minus_01_dot_28 - object + CD_bar__plus_02_dot_85_bar__plus_00_dot_57_bar__minus_01_dot_25 - object + CellPhone_bar__minus_01_dot_32_bar__plus_00_dot_39_bar__minus_00_dot_54 - object + Chair_bar__plus_02_dot_40_bar__plus_00_dot_00_bar__minus_01_dot_08 - object + CreditCard_bar__minus_01_dot_32_bar__plus_01_dot_23_bar__minus_00_dot_84 - object + CreditCard_bar__minus_01_dot_39_bar__plus_01_dot_23_bar__minus_00_dot_65 - object + DeskLamp_bar__minus_01_dot_31_bar__plus_01_dot_23_bar__minus_00_dot_99 - object + KeyChain_bar__plus_01_dot_65_bar__plus_00_dot_80_bar__minus_01_dot_28 - object + KeyChain_bar__plus_01_dot_84_bar__plus_00_dot_79_bar__minus_01_dot_15 - 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__minus_01_dot_39_bar__plus_01_dot_23_bar__minus_00_dot_55 - object + Pencil_bar__plus_01_dot_95_bar__plus_00_dot_13_bar__minus_01_dot_22 - object + Pencil_bar__plus_02_dot_48_bar__plus_01_dot_05_bar__minus_01_dot_38 - object + Pen_bar__minus_01_dot_32_bar__plus_01_dot_24_bar__minus_00_dot_46 - 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__plus_01_dot_95_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_92 - object + TissueBox_bar__minus_01_dot_29_bar__plus_00_dot_97_bar__minus_00_dot_92 - object + Watch_bar__plus_01_dot_91_bar__plus_00_dot_13_bar__minus_01_dot_16 - object + Watch_bar__plus_02_dot_85_bar__plus_00_dot_13_bar__minus_01_dot_22 - object + Watch_bar__minus_01_dot_39_bar__plus_01_dot_23_bar__minus_00_dot_75 - 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_7_bar_1_bar_2_bar_30 - location + ) + + +(:init + + + (receptacleType Shelf_bar__plus_02_dot_25_bar__plus_01_dot_27_bar__minus_01_dot_42 ShelfType) + (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_00_dot_44_bar__minus_00_dot_92 DrawerType) + (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_00_dot_17_bar__minus_00_dot_58 DrawerType) + (receptacleType Drawer_bar__plus_01_dot_95_bar__plus_00_dot_62_bar__minus_01_dot_21 DrawerType) + (receptacleType Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15 DeskType) + (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_01_dot_02_bar__minus_00_dot_92 DrawerType) + (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_01_dot_02_bar__minus_00_dot_58 DrawerType) + (receptacleType Drawer_bar__plus_01_dot_63_bar__plus_00_dot_40_bar__minus_01_dot_21 DrawerType) + (receptacleType Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87 BedType) + (receptacleType Drawer_bar__plus_01_dot_63_bar__plus_00_dot_18_bar__minus_01_dot_21 DrawerType) + (receptacleType Drawer_bar__plus_02_dot_82_bar__plus_00_dot_62_bar__minus_01_dot_21 DrawerType) + (receptacleType 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_32_bar__plus_01_dot_23_bar__minus_00_dot_84 CreditCardType) + (objectType KeyChain_bar__plus_01_dot_65_bar__plus_00_dot_80_bar__minus_01_dot_28 KeyChainType) + (objectType Laptop_bar__minus_00_dot_50_bar__plus_00_dot_56_bar__plus_00_dot_29 LaptopType) + (objectType Pillow_bar__minus_00_dot_63_bar__plus_00_dot_63_bar__plus_01_dot_61 PillowType) + (objectType Pencil_bar__plus_02_dot_48_bar__plus_01_dot_05_bar__minus_01_dot_38 PencilType) + (objectType Bowl_bar__plus_02_dot_45_bar__plus_00_dot_79_bar__minus_01_dot_21 BowlType) + (objectType Watch_bar__minus_01_dot_39_bar__plus_01_dot_23_bar__minus_00_dot_75 WatchType) + (objectType BaseballBat_bar__plus_02_dot_85_bar__plus_00_dot_64_bar__plus_01_dot_84 BaseballBatType) + (objectType TissueBox_bar__minus_01_dot_29_bar__plus_00_dot_68_bar__minus_00_dot_92 TissueBoxType) + (objectType Box_bar__plus_02_dot_73_bar__plus_00_dot_20_bar__plus_00_dot_89 BoxType) + (objectType CellPhone_bar__minus_01_dot_32_bar__plus_00_dot_39_bar__minus_00_dot_54 CellPhoneType) + (objectType Book_bar__minus_00_dot_29_bar__plus_00_dot_57_bar__plus_01_dot_09 BookType) + (objectType AlarmClock_bar__plus_02_dot_22_bar__plus_00_dot_80_bar__minus_01_dot_25 AlarmClockType) + (objectType Boots_bar__minus_01_dot_28_bar__plus_00_dot_00_bar__minus_01_dot_34 BootsType) + (objectType BasketBall_bar__plus_01_dot_02_bar__plus_00_dot_33_bar__minus_00_dot_98 BasketBallType) + (objectType AlarmClock_bar__minus_01_dot_28_bar__plus_01_dot_23_bar__minus_00_dot_75 AlarmClockType) + (objectType CreditCard_bar__minus_01_dot_39_bar__plus_01_dot_23_bar__minus_00_dot_65 CreditCardType) + (objectType Window_bar__plus_00_dot_12_bar__plus_01_dot_50_bar__minus_01_dot_59 WindowType) + (objectType TissueBox_bar__plus_01_dot_95_bar__plus_00_dot_35_bar__minus_01_dot_22 TissueBoxType) + (objectType Watch_bar__plus_02_dot_85_bar__plus_00_dot_13_bar__minus_01_dot_22 WatchType) + (objectType Statue_bar__plus_01_dot_82_bar__plus_01_dot_04_bar__minus_01_dot_42 StatueType) + (objectType CD_bar__plus_01_dot_84_bar__plus_00_dot_79_bar__minus_01_dot_28 CDType) + (objectType Mug_bar__minus_01_dot_39_bar__plus_01_dot_23_bar__minus_00_dot_55 MugType) + (objectType DeskLamp_bar__minus_01_dot_31_bar__plus_01_dot_23_bar__minus_00_dot_99 DeskLampType) + (objectType Pencil_bar__plus_01_dot_95_bar__plus_00_dot_13_bar__minus_01_dot_22 PencilType) + (objectType CD_bar__plus_01_dot_59_bar__plus_00_dot_57_bar__minus_01_dot_27 CDType) + (objectType CD_bar__plus_02_dot_85_bar__plus_00_dot_57_bar__minus_01_dot_25 CDType) + (objectType Pen_bar__minus_01_dot_32_bar__plus_01_dot_24_bar__minus_00_dot_46 PenType) + (objectType Watch_bar__plus_01_dot_91_bar__plus_00_dot_13_bar__minus_01_dot_16 WatchType) + (objectType LightSwitch_bar__plus_02_dot_66_bar__plus_01_dot_28_bar__plus_01_dot_90 LightSwitchType) + (objectType Book_bar__minus_00_dot_90_bar__plus_00_dot_57_bar__plus_01_dot_18 BookType) + (objectType Mirror_bar__plus_01_dot_99_bar__plus_01_dot_38_bar__plus_01_dot_88 MirrorType) + (objectType TissueBox_bar__plus_01_dot_67_bar__plus_00_dot_13_bar__minus_01_dot_22 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Pen_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_39_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 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 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 Book_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 Pencil_bar__plus_02_dot_48_bar__plus_01_dot_05_bar__minus_01_dot_38 Shelf_bar__plus_02_dot_47_bar__plus_01_dot_04_bar__minus_01_dot_41) + (inReceptacle Statue_bar__plus_01_dot_82_bar__plus_01_dot_04_bar__minus_01_dot_42 Shelf_bar__plus_01_dot_80_bar__plus_01_dot_04_bar__minus_01_dot_42) + + + (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 CD_bar__plus_02_dot_85_bar__plus_00_dot_57_bar__minus_01_dot_25 loc_bar_8_bar__minus_3_bar_1_bar_45) + (objectAtLocation Watch_bar__plus_01_dot_91_bar__plus_00_dot_13_bar__minus_01_dot_16 loc_bar_4_bar__minus_2_bar_1_bar_60) + (objectAtLocation KeyChain_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 Pencil_bar__plus_01_dot_95_bar__plus_00_dot_13_bar__minus_01_dot_22 loc_bar_4_bar__minus_2_bar_1_bar_60) + (objectAtLocation AlarmClock_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 CreditCard_bar__minus_01_dot_32_bar__plus_01_dot_23_bar__minus_00_dot_84 loc_bar__minus_3_bar__minus_3_bar_3_bar_60) + (objectAtLocation TissueBox_bar__minus_01_dot_29_bar__plus_00_dot_68_bar__minus_00_dot_92 loc_bar__minus_3_bar__minus_4_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 CD_bar__plus_01_dot_84_bar__plus_00_dot_79_bar__minus_01_dot_28 loc_bar_9_bar__minus_2_bar_2_bar_60) + (objectAtLocation Watch_bar__plus_02_dot_85_bar__plus_00_dot_13_bar__minus_01_dot_22 loc_bar_10_bar__minus_2_bar_2_bar_60) + (objectAtLocation TissueBox_bar__plus_01_dot_95_bar__plus_00_dot_35_bar__minus_01_dot_22 loc_bar_4_bar__minus_2_bar_1_bar_60) + (objectAtLocation TissueBox_bar__minus_01_dot_29_bar__plus_00_dot_97_bar__minus_00_dot_92 loc_bar__minus_3_bar__minus_4_bar_3_bar_45) + (objectAtLocation Book_bar__minus_00_dot_29_bar__plus_00_dot_57_bar__plus_01_dot_09 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_50_bar__plus_00_dot_56_bar__plus_00_dot_29 loc_bar_3_bar_5_bar_3_bar_45) + (objectAtLocation CellPhone_bar__minus_01_dot_32_bar__plus_00_dot_39_bar__minus_00_dot_54 loc_bar__minus_3_bar__minus_2_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__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 CreditCard_bar__minus_01_dot_39_bar__plus_01_dot_23_bar__minus_00_dot_65 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 Pencil_bar__plus_02_dot_48_bar__plus_01_dot_05_bar__minus_01_dot_38 loc_bar_10_bar__minus_2_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_01_dot_65_bar__plus_00_dot_80_bar__minus_01_dot_28 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__minus_01_dot_39_bar__plus_01_dot_23_bar__minus_00_dot_75 loc_bar__minus_3_bar__minus_3_bar_3_bar_60) + (objectAtLocation Mirror_bar__plus_01_dot_99_bar__plus_01_dot_38_bar__plus_01_dot_88 loc_bar_8_bar_5_bar_0_bar_30) + (objectAtLocation CD_bar__plus_01_dot_59_bar__plus_00_dot_57_bar__minus_01_dot_27 loc_bar_1_bar__minus_4_bar_1_bar_30) + (objectAtLocation Pen_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 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_39_bar__plus_01_dot_23_bar__minus_00_dot_55 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 (?r - receptacle) + (exists (?o - object) + (and + (inReceptacle ?o ?r) + (objectType ?o TissueBoxType) + (receptacleType ?r DresserType) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-TissueBox-None-Dresser-301/trial_T20190906_221513_072505/traj_data.json b/data/alfworld/json_2.1.1/train/pick_and_place_simple-TissueBox-None-Dresser-301/trial_T20190906_221513_072505/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..a36754dada6d81402fac4cb3bccd6321bebd75d0 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-TissueBox-None-Dresser-301/trial_T20190906_221513_072505/traj_data.json @@ -0,0 +1,4632 @@ +{ + "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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1.83983088, + "y": 0.7949471, + "z": -1.153574 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + } + }, + { + "objectName": "Bowl_600fd48d", + "position": { + "x": 2.451, + "y": 0.788715243, + "z": -1.20707834 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Watch_0f7be4f9", + "position": { + "x": 1.91130269, + "y": 0.1276559, + "z": -1.16139162 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "CD_f25640ea", + "position": { + "x": 2.85323119, + "y": 0.568576634, + "z": -1.24647689 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pen_d94967db", + "position": { + "x": -1.31801915, + "y": 1.24056971, + "z": -0.458181381 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_2a940808", + "position": { + "x": -1.3876152, + "y": 1.23159993, + "z": -0.5537876 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Statue_e0075340", + "position": { + "x": 1.823921, + "y": 1.036511, + "z": -1.419659 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 3845825488, + "scene_num": 301 + }, + "task_id": "trial_T20190906_221513_072505", + "task_type": "pick_and_place_simple", + "turk_annotations": { + "anns": [ + { + "assignment_id": "AM2KK02JXXW48_35GMH2SV3HY9DAZPYX7DUHVB51VOEI", + "high_descs": [ + "Move over to the white dresser.", + "Open the top left shelf and pick up the box of tissues in it. ", + "Bring the tissues to the top of the dresser. ", + "Put the tissues on the top of the dresser." + ], + "task_desc": "Put the tissue box on the top of the dresser. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A24RGLS3BRZ60J_3NLZY2D53S6Q4SMXUWMLWHGVTYKLQE", + "high_descs": [ + "Go to the right and locate the tall dresser.", + "Open the top left drawer, and take out the tissues.", + "Take the tissues and turn to the right and back up.", + "Put the tissues on top of the dresser." + ], + "task_desc": "Place tissues on top of the dresser.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1GVTH5YS3WOK0_3WAKVUDHUZXJH04C7B5GNDVJ1ZD7UO", + "high_descs": [ + "Turn right and head towards the dresser.", + "Pull out the top left drawer and take out the tissue box from the drawer.", + "Close the drawer and look up at the top of the dresser.", + "Place the tissue box in front of the red card on the top of the dresser." + ], + "task_desc": "Place the tissue box on top of the dresser.", + "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-CounterTop-20/trial_T20190907_134455_194210/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-ButterKnife-Mug-CounterTop-20/trial_T20190907_134455_194210/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..26c1fe4c6c32771f85f89752323fa591ad0426ee --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-ButterKnife-Mug-CounterTop-20/trial_T20190907_134455_194210/initial_state.pddl @@ -0,0 +1,1018 @@ + +(define (problem plan_trial_T20190907_134455_194210) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + 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_83_bar__plus_00_dot_16_bar__plus_00_dot_08 - object + Bowl_bar__plus_00_dot_07_bar__plus_00_dot_93_bar__plus_00_dot_08 - object + Bread_bar__plus_00_dot_40_bar__plus_00_dot_96_bar__plus_00_dot_11 - object + Bread_bar__plus_01_dot_85_bar__plus_00_dot_96_bar__minus_02_dot_00 - object + Bread_bar__minus_00_dot_05_bar__plus_00_dot_97_bar__plus_00_dot_76 - object + ButterKnife_bar__plus_00_dot_41_bar__plus_00_dot_93_bar__plus_00_dot_53 - object + ButterKnife_bar__plus_00_dot_52_bar__plus_00_dot_93_bar__plus_01_dot_45 - object + Chair_bar__minus_00_dot_54_bar__plus_00_dot_61_bar__plus_01_dot_26 - object + Cup_bar__plus_01_dot_59_bar__plus_01_dot_66_bar__minus_02_dot_24 - object + DishSponge_bar__minus_00_dot_16_bar__plus_00_dot_93_bar__plus_01_dot_22 - object + DishSponge_bar__minus_01_dot_25_bar__plus_02_dot_15_bar__minus_00_dot_98 - object + Egg_bar__plus_02_dot_00_bar__plus_00_dot_14_bar__plus_00_dot_01 - object + Egg_bar__minus_01_dot_61_bar__plus_01_dot_56_bar__minus_00_dot_81 - 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 + Knife_bar__plus_00_dot_12_bar__plus_00_dot_94_bar__minus_01_dot_75 - object + Knife_bar__plus_01_dot_61_bar__plus_00_dot_91_bar__minus_01_dot_58 - object + Ladle_bar__plus_00_dot_48_bar__plus_00_dot_95_bar__plus_01_dot_42 - object + Ladle_bar__plus_01_dot_91_bar__plus_01_dot_70_bar__minus_01_dot_61 - object + Lettuce_bar__plus_00_dot_18_bar__plus_01_dot_01_bar__plus_01_dot_22 - object + Lettuce_bar__plus_01_dot_83_bar__plus_00_dot_99_bar__minus_01_dot_45 - object + LightSwitch_bar__plus_00_dot_11_bar__plus_01_dot_32_bar__plus_02_dot_75 - object + Mug_bar__plus_00_dot_29_bar__plus_00_dot_92_bar__plus_00_dot_99 - object + Mug_bar__minus_00_dot_28_bar__plus_00_dot_76_bar__minus_01_dot_94 - object + Mug_bar__minus_01_dot_50_bar__plus_01_dot_18_bar__minus_00_dot_91 - object + Mug_bar__minus_01_dot_53_bar__plus_01_dot_50_bar__minus_00_dot_91 - object + Pan_bar__plus_01_dot_82_bar__plus_00_dot_95_bar__minus_00_dot_35 - object + PepperShaker_bar__plus_01_dot_26_bar__plus_00_dot_55_bar__plus_02_dot_43 - object + PepperShaker_bar__plus_01_dot_56_bar__plus_00_dot_91_bar__minus_01_dot_10 - object + PepperShaker_bar__minus_01_dot_04_bar__plus_00_dot_91_bar__minus_02_dot_22 - object + Plate_bar__plus_00_dot_29_bar__plus_00_dot_93_bar__plus_00_dot_76 - object + Plate_bar__plus_01_dot_57_bar__plus_00_dot_12_bar__minus_01_dot_40 - object + Potato_bar__minus_01_dot_25_bar__plus_01_dot_04_bar__minus_01_dot_85 - object + Potato_bar__minus_01_dot_44_bar__plus_01_dot_21_bar__minus_00_dot_60 - object + Pot_bar__minus_01_dot_50_bar__plus_00_dot_86_bar__minus_00_dot_60 - object + SaltShaker_bar__plus_02_dot_03_bar__plus_01_dot_65_bar__minus_01_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_36_bar__plus_00_dot_88_bar__plus_02_dot_54 - object + SoapBottle_bar__minus_00_dot_35_bar__plus_00_dot_91_bar__minus_01_dot_73 - object + Spatula_bar__plus_00_dot_18_bar__plus_00_dot_95_bar__plus_00_dot_31 - object + Spoon_bar__plus_00_dot_29_bar__plus_00_dot_92_bar__plus_01_dot_45 - 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_07_bar__plus_00_dot_98_bar__plus_00_dot_31 - object + Tomato_bar__plus_00_dot_52_bar__plus_00_dot_98_bar__plus_00_dot_76 - object + Tomato_bar__plus_01_dot_96_bar__plus_00_dot_14_bar__plus_00_dot_12 - object + Window_bar__plus_02_dot_11_bar__plus_01_dot_50_bar__plus_01_dot_07 - object + WineBottle_bar__plus_00_dot_41_bar__plus_00_dot_93_bar__plus_00_dot_99 - object + WineBottle_bar__minus_00_dot_62_bar__plus_00_dot_91_bar__minus_02_dot_13 - object + WineBottle_bar__minus_00_dot_67_bar__plus_00_dot_91_bar__minus_02_dot_27 - 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_8_bar_2_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 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Cabinet_bar__plus_01_dot_72_bar__plus_02_dot_02_bar__minus_02_dot_00) + + (atLocation agent1 loc_bar_3_bar_8_bar_2_bar_30) + + (cleanable Potato_bar__minus_01_dot_44_bar__plus_01_dot_21_bar__minus_00_dot_60) + (cleanable Fork_bar__plus_00_dot_45_bar__plus_00_dot_90_bar__minus_01_dot_89) + (cleanable DishSponge_bar__minus_00_dot_16_bar__plus_00_dot_93_bar__plus_01_dot_22) + (cleanable Egg_bar__minus_01_dot_61_bar__plus_01_dot_56_bar__minus_00_dot_81) + (cleanable Potato_bar__minus_01_dot_25_bar__plus_01_dot_04_bar__minus_01_dot_85) + (cleanable Egg_bar__plus_02_dot_00_bar__plus_00_dot_14_bar__plus_00_dot_01) + (cleanable Ladle_bar__plus_01_dot_91_bar__plus_01_dot_70_bar__minus_01_dot_61) + (cleanable Tomato_bar__plus_01_dot_96_bar__plus_00_dot_14_bar__plus_00_dot_12) + (cleanable Plate_bar__plus_00_dot_29_bar__plus_00_dot_93_bar__plus_00_dot_76) + (cleanable Bowl_bar__plus_00_dot_07_bar__plus_00_dot_93_bar__plus_00_dot_08) + (cleanable Pot_bar__minus_01_dot_50_bar__plus_00_dot_86_bar__minus_00_dot_60) + (cleanable Pan_bar__plus_01_dot_82_bar__plus_00_dot_95_bar__minus_00_dot_35) + (cleanable Plate_bar__plus_01_dot_57_bar__plus_00_dot_12_bar__minus_01_dot_40) + (cleanable ButterKnife_bar__plus_00_dot_52_bar__plus_00_dot_93_bar__plus_01_dot_45) + (cleanable Spoon_bar__minus_00_dot_06_bar__plus_00_dot_77_bar__minus_02_dot_07) + (cleanable DishSponge_bar__minus_01_dot_25_bar__plus_02_dot_15_bar__minus_00_dot_98) + (cleanable Spatula_bar__plus_00_dot_18_bar__plus_00_dot_95_bar__plus_00_dot_31) + (cleanable Knife_bar__plus_00_dot_12_bar__plus_00_dot_94_bar__minus_01_dot_75) + (cleanable ButterKnife_bar__plus_00_dot_41_bar__plus_00_dot_93_bar__plus_00_dot_53) + (cleanable Knife_bar__plus_01_dot_61_bar__plus_00_dot_91_bar__minus_01_dot_58) + (cleanable Apple_bar__plus_01_dot_83_bar__plus_00_dot_16_bar__plus_00_dot_08) + (cleanable Ladle_bar__plus_00_dot_48_bar__plus_00_dot_95_bar__plus_01_dot_42) + (cleanable Tomato_bar__plus_00_dot_52_bar__plus_00_dot_98_bar__plus_00_dot_76) + (cleanable Tomato_bar__plus_00_dot_07_bar__plus_00_dot_98_bar__plus_00_dot_31) + (cleanable Spoon_bar__plus_00_dot_29_bar__plus_00_dot_92_bar__plus_01_dot_45) + (cleanable Lettuce_bar__plus_01_dot_83_bar__plus_00_dot_99_bar__minus_01_dot_45) + (cleanable Mug_bar__plus_00_dot_29_bar__plus_00_dot_92_bar__plus_00_dot_99) + (cleanable Cup_bar__plus_01_dot_59_bar__plus_01_dot_66_bar__minus_02_dot_24) + (cleanable Lettuce_bar__plus_00_dot_18_bar__plus_01_dot_01_bar__plus_01_dot_22) + (cleanable Mug_bar__minus_00_dot_28_bar__plus_00_dot_76_bar__minus_01_dot_94) + (cleanable Mug_bar__minus_01_dot_53_bar__plus_01_dot_50_bar__minus_00_dot_91) + (cleanable Mug_bar__minus_01_dot_50_bar__plus_01_dot_18_bar__minus_00_dot_91) + + (heatable Potato_bar__minus_01_dot_44_bar__plus_01_dot_21_bar__minus_00_dot_60) + (heatable Egg_bar__minus_01_dot_61_bar__plus_01_dot_56_bar__minus_00_dot_81) + (heatable Potato_bar__minus_01_dot_25_bar__plus_01_dot_04_bar__minus_01_dot_85) + (heatable Egg_bar__plus_02_dot_00_bar__plus_00_dot_14_bar__plus_00_dot_01) + (heatable Tomato_bar__plus_01_dot_96_bar__plus_00_dot_14_bar__plus_00_dot_12) + (heatable Plate_bar__plus_00_dot_29_bar__plus_00_dot_93_bar__plus_00_dot_76) + (heatable Plate_bar__plus_01_dot_57_bar__plus_00_dot_12_bar__minus_01_dot_40) + (heatable Bread_bar__plus_00_dot_40_bar__plus_00_dot_96_bar__plus_00_dot_11) + (heatable Apple_bar__plus_01_dot_83_bar__plus_00_dot_16_bar__plus_00_dot_08) + (heatable Tomato_bar__plus_00_dot_52_bar__plus_00_dot_98_bar__plus_00_dot_76) + (heatable Bread_bar__minus_00_dot_05_bar__plus_00_dot_97_bar__plus_00_dot_76) + (heatable Bread_bar__plus_01_dot_85_bar__plus_00_dot_96_bar__minus_02_dot_00) + (heatable Tomato_bar__plus_00_dot_07_bar__plus_00_dot_98_bar__plus_00_dot_31) + (heatable Mug_bar__plus_00_dot_29_bar__plus_00_dot_92_bar__plus_00_dot_99) + (heatable 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Pot_bar__minus_01_dot_50_bar__plus_00_dot_86_bar__minus_00_dot_60) + (coolable WineBottle_bar__minus_00_dot_62_bar__plus_00_dot_91_bar__minus_02_dot_13) + (coolable Pan_bar__plus_01_dot_82_bar__plus_00_dot_95_bar__minus_00_dot_35) + (coolable WineBottle_bar__minus_00_dot_67_bar__plus_00_dot_91_bar__minus_02_dot_27) + (coolable Plate_bar__plus_01_dot_57_bar__plus_00_dot_12_bar__minus_01_dot_40) + (coolable Bread_bar__plus_00_dot_40_bar__plus_00_dot_96_bar__plus_00_dot_11) + (coolable Apple_bar__plus_01_dot_83_bar__plus_00_dot_16_bar__plus_00_dot_08) + (coolable Tomato_bar__plus_00_dot_52_bar__plus_00_dot_98_bar__plus_00_dot_76) + (coolable Bread_bar__minus_00_dot_05_bar__plus_00_dot_97_bar__plus_00_dot_76) + (coolable Bread_bar__plus_01_dot_85_bar__plus_00_dot_96_bar__minus_02_dot_00) + (coolable Tomato_bar__plus_00_dot_07_bar__plus_00_dot_98_bar__plus_00_dot_31) + (coolable Lettuce_bar__plus_01_dot_83_bar__plus_00_dot_99_bar__minus_01_dot_45) + (coolable Mug_bar__plus_00_dot_29_bar__plus_00_dot_92_bar__plus_00_dot_99) + (coolable Cup_bar__plus_01_dot_59_bar__plus_01_dot_66_bar__minus_02_dot_24) + (coolable Lettuce_bar__plus_00_dot_18_bar__plus_01_dot_01_bar__plus_01_dot_22) + (coolable Mug_bar__minus_00_dot_28_bar__plus_00_dot_76_bar__minus_01_dot_94) + (coolable Mug_bar__minus_01_dot_53_bar__plus_01_dot_50_bar__minus_00_dot_91) + (coolable Mug_bar__minus_01_dot_50_bar__plus_01_dot_18_bar__minus_00_dot_91) + + + + + + (sliceable Potato_bar__minus_01_dot_44_bar__plus_01_dot_21_bar__minus_00_dot_60) + (sliceable Egg_bar__minus_01_dot_61_bar__plus_01_dot_56_bar__minus_00_dot_81) + (sliceable Potato_bar__minus_01_dot_25_bar__plus_01_dot_04_bar__minus_01_dot_85) + (sliceable Egg_bar__plus_02_dot_00_bar__plus_00_dot_14_bar__plus_00_dot_01) + (sliceable Tomato_bar__plus_01_dot_96_bar__plus_00_dot_14_bar__plus_00_dot_12) + (sliceable Bread_bar__plus_00_dot_40_bar__plus_00_dot_96_bar__plus_00_dot_11) + (sliceable 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Cabinet_bar__plus_01_dot_72_bar__plus_02_dot_02_bar__minus_02_dot_00) + (inReceptacle Ladle_bar__plus_01_dot_91_bar__plus_01_dot_70_bar__minus_01_dot_61 Cabinet_bar__plus_01_dot_75_bar__plus_02_dot_02_bar__minus_01_dot_40) + (inReceptacle SaltShaker_bar__plus_02_dot_03_bar__plus_01_dot_65_bar__minus_01_dot_12 Cabinet_bar__plus_01_dot_75_bar__plus_02_dot_02_bar__minus_01_dot_03) + (inReceptacle Plate_bar__plus_01_dot_57_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_82_bar__plus_00_dot_95_bar__minus_00_dot_35 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 WineBottle_bar__plus_00_dot_41_bar__plus_00_dot_93_bar__plus_00_dot_99 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68) + (inReceptacle Plate_bar__plus_00_dot_29_bar__plus_00_dot_93_bar__plus_00_dot_76 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68) + (inReceptacle DishSponge_bar__minus_00_dot_16_bar__plus_00_dot_93_bar__plus_01_dot_22 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68) + (inReceptacle Tomato_bar__plus_00_dot_52_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 Bowl_bar__plus_00_dot_07_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 Spatula_bar__plus_00_dot_18_bar__plus_00_dot_95_bar__plus_00_dot_31 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_31 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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 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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__minus_00_dot_62_bar__plus_00_dot_91_bar__minus_02_dot_13 loc_bar_3_bar__minus_5_bar_2_bar_45) + (objectAtLocation Spatula_bar__plus_00_dot_18_bar__plus_00_dot_95_bar__plus_00_dot_31 loc_bar__minus_4_bar_3_bar_1_bar_45) + (objectAtLocation Plate_bar__plus_00_dot_29_bar__plus_00_dot_93_bar__plus_00_dot_76 loc_bar__minus_4_bar_3_bar_1_bar_45) + (objectAtLocation SaltShaker_bar__plus_02_dot_03_bar__plus_01_dot_65_bar__minus_01_dot_12 loc_bar_4_bar__minus_4_bar_1_bar__minus_30) + (objectAtLocation Pot_bar__minus_01_dot_50_bar__plus_00_dot_86_bar__minus_00_dot_60 loc_bar__minus_2_bar__minus_3_bar_3_bar_60) + (objectAtLocation Cup_bar__plus_01_dot_59_bar__plus_01_dot_66_bar__minus_02_dot_24 loc_bar_4_bar__minus_5_bar_2_bar__minus_30) + (objectAtLocation PepperShaker_bar__minus_01_dot_04_bar__plus_00_dot_91_bar__minus_02_dot_22 loc_bar_3_bar__minus_5_bar_2_bar_45) + (objectAtLocation Pan_bar__plus_01_dot_82_bar__plus_00_dot_95_bar__minus_00_dot_35 loc_bar_4_bar__minus_3_bar_1_bar_45) + (objectAtLocation ButterKnife_bar__plus_00_dot_41_bar__plus_00_dot_93_bar__plus_00_dot_53 loc_bar__minus_4_bar_3_bar_1_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_01_dot_96_bar__plus_00_dot_14_bar__plus_00_dot_12 loc_bar_5_bar_1_bar_1_bar_60) + (objectAtLocation 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"rotation": { + "x": 1.40334191e-14, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 3113303315, + "scene_num": 20 + }, + "task_id": "trial_T20190907_134455_194210", + "task_type": "pick_and_place_with_movable_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A1AKL5YH9NLD2V_30LB5CDZNFRMLOY2SZJFPQ0BW11Z0H", + "high_descs": [ + "Turn right and walk to the knife on the table to your right.", + "Pick up the knife from the table.", + "Turn left and walk to the sink to the right of the toaster.", + "Place the knife in the white cup in the sink.", + "Pick up the white cup from the sink.", + "Turn left and walk to the toaster to the left of the sink.", + "Place the cup on the counter in front of the toaster." + ], + "task_desc": "Place a white cup with a knife in it on the counter in front of the toaster.", + "votes": [ + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A36DK84J5YJ942_3FFJ6VRIL450QY9SSVVTPVXL0PQ0IE", + "high_descs": [ + "Move to the corner of the island closest to the stove. ", + "Pick up a knife from the island.", + "Move to the sink to the left of the fridge.", + "Put the knife in a cup in the sink.", + "Pick up the cup from the sink.", + "Move to the left side of the sink to the counter.", + "Place the cup on the counter." + ], + "task_desc": "Put a cup with a knife near the toaster.", + "votes": [ + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A24RGLS3BRZ60J_36DSNE9QZ8FHOQLHCYI4RX83BDROJC", + "high_descs": [ + "Go straight ahead and then face right at the end of the white table.", + "Pick up the knife from the center of the white table.", + "Carry the knife and turn left to find the sink.", + "Place the knife inside a mug in the sink.", + "Pick up the mug and knife from the sink.", + "Carry the mug a few steps left, to the toaster.", + "Place the mug on the counter in front of the toast." + ], + "task_desc": "Move a knife to a mug and place them on the counter.", + "votes": [ + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "AM2KK02JXXW48_3X1FV8S5J082N84D54JFPCAVF8FGVY", + "high_descs": [ + "Head around the island to the left, turn right to face the knife on the island.", + "Pick up the knife on the island. ", + "Turn left, bring the knife to the sink. ", + "Put the knife in the mug in the sink.", + "Pick up the mug with knife in the sink. ", + "Turn left, bring the mug over to the toaster, turn right to face the toaster on the counter. ", + "Put the mug with knife on the counter, in front of the toaster. " + ], + "task_desc": "Put a mug with knife on the counter, in front of the toaster. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AD0NVUGLDYDYN_32Q90QCQ1V2QNJEA05FKN0E2M2REK7", + "high_descs": [ + "walk to the side of the counter", + "grab the knife on the counter", + "turn left, walk across the room to the sink", + "put the knife in the cup in the sink", + "grab the cup from the sink", + "turn left, walk to the toaster", + "put the cup in front of the toaster on the counter" + ], + "task_desc": "put the knife in the cup, move the cup to the counter", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1ZE52NWZPN85P_32Q90QCQ1V2QNJEA05FKN0E2M2WEKC", + "high_descs": [ + "Make your way forward and then turn to your right so you are facing the table", + "Pick up a knife from the kitchen table", + "Walk left around the table and then turn left to face the kitchen sink", + "Put the knife in to the mug that is sitting in the sink", + "Pick up the mug that has a knife in it", + "Walk to your left and face back to the toaster", + "Set down the mug with the knife in it" + ], + "task_desc": "Put a knife in a cup and set it down on the kitchen counter", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-ButterKnife-Mug-CounterTop-20/trial_T20190907_134535_032826/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-ButterKnife-Mug-CounterTop-20/trial_T20190907_134535_032826/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..9c9d1878687df6ee93f957cc876d3c8921e52e30 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-ButterKnife-Mug-CounterTop-20/trial_T20190907_134535_032826/initial_state.pddl @@ -0,0 +1,974 @@ + +(define (problem plan_trial_T20190907_134535_032826) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + 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_50_bar__plus_01_dot_58_bar__minus_00_dot_60 - object + Bowl_bar__plus_00_dot_29_bar__plus_00_dot_92_bar__plus_00_dot_31 - object + Bowl_bar__minus_01_dot_44_bar__plus_00_dot_86_bar__minus_00_dot_50 - 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_50 - object + ButterKnife_bar__plus_00_dot_29_bar__plus_00_dot_93_bar__plus_00_dot_99 - object + Chair_bar__minus_00_dot_54_bar__plus_00_dot_61_bar__plus_01_dot_26 - object + Cup_bar__minus_01_dot_04_bar__plus_00_dot_91_bar__minus_02_dot_15 - object + Cup_bar__minus_01_dot_53_bar__plus_01_dot_50_bar__minus_01_dot_01 - object + Cup_bar__minus_01_dot_61_bar__plus_00_dot_86_bar__minus_00_dot_91 - object + DishSponge_bar__plus_01_dot_83_bar__plus_01_dot_66_bar__minus_01_dot_61 - object + DishSponge_bar__minus_00_dot_62_bar__plus_00_dot_11_bar__minus_01_dot_96 - object + DishSponge_bar__minus_01_dot_03_bar__plus_00_dot_13_bar__minus_01_dot_46 - object + 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loc_bar_4_bar__minus_1_bar_1_bar_45 - location + loc_bar_0_bar__minus_5_bar_2_bar_45 - location + loc_bar_7_bar_7_bar_2_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 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StoveBurner_bar__plus_01_dot_57_bar__plus_00_dot_94_bar__minus_00_dot_76) + (inReceptacle WineBottle_bar__minus_01_dot_24_bar__plus_01_dot_66_bar__minus_01_dot_73 Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_02_bar__minus_01_dot_98) + (inReceptacle DishSponge_bar__plus_01_dot_83_bar__plus_01_dot_66_bar__minus_01_dot_61 Cabinet_bar__plus_01_dot_75_bar__plus_02_dot_02_bar__minus_01_dot_40) + (inReceptacle SaltShaker_bar__plus_02_dot_03_bar__plus_01_dot_65_bar__minus_01_dot_16 Cabinet_bar__plus_01_dot_75_bar__plus_02_dot_02_bar__minus_01_dot_03) + (inReceptacle DishSponge_bar__minus_00_dot_62_bar__plus_00_dot_11_bar__minus_01_dot_96 Cabinet_bar__minus_00_dot_82_bar__plus_00_dot_47_bar__minus_01_dot_69) + (inReceptacle DishSponge_bar__minus_01_dot_03_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 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 Fork_bar__plus_00_dot_29_bar__plus_00_dot_93_bar__plus_00_dot_08 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68) + (inReceptacle Bowl_bar__plus_00_dot_29_bar__plus_00_dot_92_bar__plus_00_dot_31 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68) + (inReceptacle Lettuce_bar__plus_00_dot_07_bar__plus_01_dot_01_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_93_bar__plus_00_dot_99 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68) + (inReceptacle Lettuce_bar__minus_00_dot_05_bar__plus_01_dot_01_bar__plus_00_dot_31 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68) + (inReceptacle Spoon_bar__plus_00_dot_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 Fork_bar__plus_00_dot_52_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 Knife_bar__plus_00_dot_18_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 Mug_bar__minus_00_dot_16_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 SoapBottle_bar__plus_00_dot_18_bar__plus_00_dot_93_bar__plus_00_dot_99 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68) + (inReceptacle WineBottle_bar__plus_00_dot_52_bar__plus_00_dot_93_bar__plus_00_dot_76 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68) + (inReceptacle PepperShaker_bar__plus_00_dot_46_bar__plus_00_dot_91_bar__minus_02_dot_09 CounterTop_bar__plus_00_dot_23_bar__plus_00_dot_95_bar__minus_02_dot_00) + (inReceptacle Egg_bar__minus_00_dot_72_bar__plus_00_dot_97_bar__minus_02_dot_27 CounterTop_bar__plus_00_dot_23_bar__plus_00_dot_95_bar__minus_02_dot_00) + (inReceptacle Cup_bar__minus_01_dot_04_bar__plus_00_dot_91_bar__minus_02_dot_15 CounterTop_bar__plus_00_dot_23_bar__plus_00_dot_95_bar__minus_02_dot_00) + (inReceptacle WineBottle_bar__minus_00_dot_62_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__plus_01_dot_65_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 Ladle_bar__plus_01_dot_83_bar__plus_00_dot_96_bar__minus_01_dot_45 CounterTop_bar__plus_00_dot_23_bar__plus_00_dot_95_bar__minus_02_dot_00) + (inReceptacle Spatula_bar__plus_01_dot_92_bar__plus_00_dot_93_bar__minus_01_dot_45 CounterTop_bar__plus_00_dot_23_bar__plus_00_dot_95_bar__minus_02_dot_00) + (inReceptacle Spoon_bar__plus_01_dot_92_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 Ladle_bar__plus_01_dot_85_bar__plus_00_dot_96_bar__minus_02_dot_09 CounterTop_bar__plus_00_dot_23_bar__plus_00_dot_95_bar__minus_02_dot_00) + (inReceptacle Egg_bar__plus_02_dot_00_bar__plus_00_dot_14_bar__plus_00_dot_01 GarbageCan_bar__plus_01_dot_87_bar__plus_00_dot_00_bar__plus_00_dot_13) + (inReceptacle PepperShaker_bar__plus_01_dot_46_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_46_bar__plus_00_dot_56_bar__plus_02_dot_53 Shelf_bar__plus_01_dot_55_bar__plus_00_dot_54_bar__plus_02_dot_48) 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loc_bar_3_bar__minus_5_bar_2_bar_45) + (objectAtLocation Spoon_bar__plus_00_dot_41_bar__plus_00_dot_93_bar__plus_00_dot_08 loc_bar__minus_4_bar_3_bar_1_bar_45) + (objectAtLocation Knife_bar__plus_00_dot_18_bar__plus_00_dot_95_bar__plus_00_dot_76 loc_bar__minus_4_bar_3_bar_1_bar_45) + (objectAtLocation Mug_bar__minus_00_dot_16_bar__plus_00_dot_93_bar__plus_00_dot_08 loc_bar__minus_4_bar_3_bar_1_bar_45) + ) + + + (:goal + (and + (exists (?r - receptacle) + (and + (receptacleType ?r CounterTopType) + (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-CounterTop-20/trial_T20190907_134535_032826/traj_data.json 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", + "Turn left, walk towards the dishwasher, turn right towards the fridge, and then turn right to find a cup on the table.", + "Put the fork in the cup.", + "Pick up the cup with the fork from the table.", + "Turn right and walk towards the toaster on the counter to your right.", + "Place the cup in front of the toaster." + ], + "task_desc": "Place a cup with a fork in front of the toaster on the counter.", + "votes": [ + 0, + 1, + 1, + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1MKCTVKE7J0ZP_3FQ5JJ512O5UHPRNT4I3DN8B0LOKNG", + "high_descs": [ + "Go straight towards the trash can, then turn right to go to the table.", + "Pick up the butter knife on the table, located in front of the soap.", + "Turn left, go straight, turn right to go around the table, go straight toward the fridge, turn right, move forward, then turn right to face the table.", + "Put the butter knife in the mug, on the table.", + "Pick up the mug from the table", + "Turn right, then go to the counter above the dishwasher.", + "Place the mug on the counter, in front of the toaster." + ], + "task_desc": "Put a mug with a butter knife in it on the counter.", + "votes": [ + 1, + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1DUPOUC9RNU4L_3DZQRBDBSOWL14BLGU7QVV1FC2LS38", + "high_descs": [ + "turn towards your right and approach the center island", + "pick up the knife on the counter", + "go to the exact opposite side of the island", + "put the knife into the cup", + "turn towards the counter next to the sink", + "approach the counter in front of the toaster", + "set the mug with knife inside in front of the toaster" + ], + "task_desc": "place the mug with the knife inside on the counter in front of toaster", + "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-Candle-Plate-DiningTable-223/trial_T20190908_140932_493011/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Candle-Plate-DiningTable-223/trial_T20190908_140932_493011/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..0fcf2ce1e83583506f842fb7596d60d792816702 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Candle-Plate-DiningTable-223/trial_T20190908_140932_493011/initial_state.pddl @@ -0,0 +1,497 @@ + +(define (problem plan_trial_T20190908_140932_493011) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Box_bar__plus_01_dot_27_bar__plus_00_dot_16_bar__minus_00_dot_29 - object + Candle_bar__minus_01_dot_98_bar__plus_00_dot_23_bar__plus_02_dot_86 - object + Candle_bar__minus_02_dot_10_bar__plus_00_dot_45_bar__minus_00_dot_11 - object + Chair_bar__plus_01_dot_46_bar_00_dot_00_bar__plus_00_dot_20 - object + Chair_bar__plus_01_dot_64_bar_00_dot_00_bar__minus_00_dot_85 - object + Chair_bar__plus_02_dot_22_bar_00_dot_00_bar__plus_00_dot_15 - object + Chair_bar__plus_02_dot_29_bar_00_dot_00_bar__minus_00_dot_78 - object + CreditCard_bar__minus_01_dot_48_bar__plus_00_dot_71_bar__plus_02_dot_79 - object + CreditCard_bar__minus_03_dot_34_bar__plus_00_dot_53_bar__plus_00_dot_72 - object + FloorLamp_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__plus_02_dot_73 - object + HousePlant_bar__minus_03_dot_48_bar__plus_00_dot_71_bar__minus_01_dot_59 - object + KeyChain_bar__minus_00_dot_56_bar__plus_00_dot_19_bar__plus_02_dot_16 - object + KeyChain_bar__minus_02_dot_10_bar__plus_00_dot_45_bar__plus_00_dot_02 - object + KeyChain_bar__minus_03_dot_34_bar__plus_00_dot_58_bar__plus_00_dot_47 - object + Laptop_bar__plus_02_dot_11_bar__plus_00_dot_78_bar__minus_00_dot_17 - object + Laptop_bar__minus_03_dot_34_bar__plus_00_dot_58_bar__plus_00_dot_21 - object + LightSwitch_bar__minus_03_dot_90_bar__plus_01_dot_28_bar__plus_01_dot_68 - object + Painting_bar__plus_04_dot_14_bar__plus_01_dot_59_bar__minus_00_dot_30 - object + Painting_bar__minus_00_dot_06_bar__plus_01_dot_60_bar__plus_01_dot_73 - object + Pillow_bar__minus_03_dot_34_bar__plus_00_dot_65_bar__minus_00_dot_30 - object + Plate_bar__minus_01_dot_86_bar__plus_00_dot_45_bar__plus_00_dot_15 - object + Plate_bar__minus_02_dot_10_bar__plus_00_dot_45_bar__minus_00_dot_36 - object + Plate_bar__minus_02_dot_18_bar__plus_00_dot_45_bar__plus_00_dot_27 - object + RemoteControl_bar__minus_01_dot_77_bar__plus_00_dot_45_bar__plus_00_dot_40 - object + Statue_bar__minus_01_dot_94_bar__plus_00_dot_46_bar__minus_00_dot_24 - object + Statue_bar__minus_03_dot_59_bar__plus_00_dot_71_bar__plus_01_dot_43 - object + Television_bar__minus_01_dot_86_bar__plus_01_dot_20_bar__plus_02_dot_69 - object + Vase_bar__plus_01_dot_84_bar__plus_00_dot_78_bar__minus_00_dot_30 - object + Vase_bar__plus_02_dot_11_bar__plus_00_dot_78_bar__minus_00_dot_66 - object + WateringCan_bar__minus_03_dot_25_bar_00_dot_00_bar__minus_01_dot_86 - object + Window_bar__plus_01_dot_48_bar__plus_01_dot_51_bar__minus_01_dot_93 - object + Window_bar__plus_03_dot_48_bar__plus_01_dot_51_bar__minus_01_dot_93 - object + Window_bar__minus_02_dot_00_bar__plus_01_dot_51_bar__minus_01_dot_93 - object + ArmChair_bar__minus_00_dot_43_bar__plus_00_dot_00_bar__plus_01_dot_06 - receptacle + ArmChair_bar__minus_00_dot_44_bar__plus_00_dot_00_bar__plus_01_dot_92 - receptacle + ArmChair_bar__minus_02_dot_01_bar__plus_00_dot_00_bar__minus_01_dot_58 - receptacle + CoffeeTable_bar__minus_02_dot_02_bar__minus_00_dot_01_bar__plus_00_dot_02 - receptacle + DiningTable_bar__plus_01_dot_88_bar_00_dot_00_bar__minus_00_dot_29 - receptacle + DiningTable_bar__minus_01_dot_88_bar__plus_00_dot_27_bar__plus_02_dot_79 - receptacle + GarbageCan_bar__plus_00_dot_29_bar__plus_00_dot_00_bar__plus_01_dot_26 - receptacle + Sofa_bar__minus_03_dot_44_bar__minus_00_dot_01_bar__minus_00_dot_04 - receptacle + TVStand_bar__minus_01_dot_86_bar__minus_00_dot_01_bar__plus_02_dot_79 - receptacle + loc_bar__minus_9_bar_7_bar_0_bar_60 - location + loc_bar__minus_13_bar_7_bar_3_bar_30 - location + loc_bar_9_bar_3_bar_2_bar_60 - location + loc_bar_8_bar__minus_5_bar_0_bar_60 - location + loc_bar_3_bar__minus_1_bar_1_bar_60 - location + loc_bar_6_bar__minus_5_bar_2_bar_15 - location + loc_bar__minus_6_bar_5_bar_1_bar_60 - location + loc_bar__minus_5_bar_7_bar_1_bar_0 - location + loc_bar__minus_11_bar_0_bar_3_bar_60 - location + loc_bar__minus_4_bar_0_bar_3_bar_60 - location + loc_bar_14_bar__minus_5_bar_2_bar_15 - location + loc_bar__minus_5_bar_8_bar_1_bar_60 - location + loc_bar__minus_11_bar__minus_6_bar_1_bar_15 - location + loc_bar__minus_11_bar__minus_6_bar_3_bar_45 - location + loc_bar_7_bar__minus_5_bar_0_bar_60 - location + loc_bar_9_bar__minus_5_bar_0_bar_60 - location + loc_bar_3_bar_4_bar_3_bar_60 - location + loc_bar_14_bar__minus_1_bar_1_bar_0 - location + loc_bar__minus_8_bar_7_bar_0_bar_60 - location + loc_bar_6_bar_3_bar_2_bar_60 - location + loc_bar__minus_11_bar__minus_6_bar_3_bar_60 - location + loc_bar__minus_12_bar_6_bar_3_bar_60 - location + loc_bar__minus_6_bar_8_bar_1_bar_60 - location + loc_bar__minus_3_bar__minus_5_bar_3_bar_60 - location + loc_bar__minus_13_bar_8_bar_1_bar_30 - location + ) + + +(:init + + + (receptacleType Sofa_bar__minus_03_dot_44_bar__minus_00_dot_01_bar__minus_00_dot_04 SofaType) + (receptacleType DiningTable_bar__plus_01_dot_88_bar_00_dot_00_bar__minus_00_dot_29 DiningTableType) + (receptacleType CoffeeTable_bar__minus_02_dot_02_bar__minus_00_dot_01_bar__plus_00_dot_02 CoffeeTableType) + (receptacleType ArmChair_bar__minus_02_dot_01_bar__plus_00_dot_00_bar__minus_01_dot_58 ArmChairType) + (receptacleType ArmChair_bar__minus_00_dot_44_bar__plus_00_dot_00_bar__plus_01_dot_92 ArmChairType) + (receptacleType DiningTable_bar__minus_01_dot_88_bar__plus_00_dot_27_bar__plus_02_dot_79 DiningTableType) + (receptacleType ArmChair_bar__minus_00_dot_43_bar__plus_00_dot_00_bar__plus_01_dot_06 ArmChairType) + (receptacleType GarbageCan_bar__plus_00_dot_29_bar__plus_00_dot_00_bar__plus_01_dot_26 GarbageCanType) + (receptacleType TVStand_bar__minus_01_dot_86_bar__minus_00_dot_01_bar__plus_02_dot_79 TVStandType) + (objectType Pillow_bar__minus_03_dot_34_bar__plus_00_dot_65_bar__minus_00_dot_30 PillowType) + (objectType KeyChain_bar__minus_00_dot_56_bar__plus_00_dot_19_bar__plus_02_dot_16 KeyChainType) + (objectType Window_bar__plus_03_dot_48_bar__plus_01_dot_51_bar__minus_01_dot_93 WindowType) + (objectType CreditCard_bar__minus_01_dot_48_bar__plus_00_dot_71_bar__plus_02_dot_79 CreditCardType) + (objectType Statue_bar__minus_01_dot_94_bar__plus_00_dot_46_bar__minus_00_dot_24 StatueType) + (objectType FloorLamp_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__plus_02_dot_73 FloorLampType) + (objectType RemoteControl_bar__minus_01_dot_77_bar__plus_00_dot_45_bar__plus_00_dot_40 RemoteControlType) + (objectType Candle_bar__minus_02_dot_10_bar__plus_00_dot_45_bar__minus_00_dot_11 CandleType) + (objectType Chair_bar__plus_01_dot_46_bar_00_dot_00_bar__plus_00_dot_20 ChairType) + (objectType KeyChain_bar__minus_02_dot_10_bar__plus_00_dot_45_bar__plus_00_dot_02 KeyChainType) + (objectType LightSwitch_bar__minus_03_dot_90_bar__plus_01_dot_28_bar__plus_01_dot_68 LightSwitchType) + (objectType Painting_bar__plus_04_dot_14_bar__plus_01_dot_59_bar__minus_00_dot_30 PaintingType) + (objectType Laptop_bar__minus_03_dot_34_bar__plus_00_dot_58_bar__plus_00_dot_21 LaptopType) + (objectType Painting_bar__minus_00_dot_06_bar__plus_01_dot_60_bar__plus_01_dot_73 PaintingType) + (objectType Chair_bar__plus_02_dot_22_bar_00_dot_00_bar__plus_00_dot_15 ChairType) + (objectType CreditCard_bar__minus_03_dot_34_bar__plus_00_dot_53_bar__plus_00_dot_72 CreditCardType) + (objectType Plate_bar__minus_01_dot_86_bar__plus_00_dot_45_bar__plus_00_dot_15 PlateType) + (objectType KeyChain_bar__minus_03_dot_34_bar__plus_00_dot_58_bar__plus_00_dot_47 KeyChainType) + (objectType Window_bar__minus_02_dot_00_bar__plus_01_dot_51_bar__minus_01_dot_93 WindowType) + (objectType Vase_bar__plus_02_dot_11_bar__plus_00_dot_78_bar__minus_00_dot_66 VaseType) + (objectType Plate_bar__minus_02_dot_18_bar__plus_00_dot_45_bar__plus_00_dot_27 PlateType) + (objectType HousePlant_bar__minus_03_dot_48_bar__plus_00_dot_71_bar__minus_01_dot_59 HousePlantType) + (objectType Window_bar__plus_01_dot_48_bar__plus_01_dot_51_bar__minus_01_dot_93 WindowType) + (objectType Chair_bar__plus_01_dot_64_bar_00_dot_00_bar__minus_00_dot_85 ChairType) + (objectType WateringCan_bar__minus_03_dot_25_bar_00_dot_00_bar__minus_01_dot_86 WateringCanType) + (objectType Statue_bar__minus_03_dot_59_bar__plus_00_dot_71_bar__plus_01_dot_43 StatueType) + (objectType Chair_bar__plus_02_dot_29_bar_00_dot_00_bar__minus_00_dot_78 ChairType) + (objectType Box_bar__plus_01_dot_27_bar__plus_00_dot_16_bar__minus_00_dot_29 BoxType) + (objectType Plate_bar__minus_02_dot_10_bar__plus_00_dot_45_bar__minus_00_dot_36 PlateType) + (objectType Television_bar__minus_01_dot_86_bar__plus_01_dot_20_bar__plus_02_dot_69 TelevisionType) + (objectType Candle_bar__minus_01_dot_98_bar__plus_00_dot_23_bar__plus_02_dot_86 CandleType) + (objectType Vase_bar__plus_01_dot_84_bar__plus_00_dot_78_bar__minus_00_dot_30 VaseType) + (objectType Laptop_bar__plus_02_dot_11_bar__plus_00_dot_78_bar__minus_00_dot_17 LaptopType) + (canContain SofaType BoxType) + (canContain SofaType LaptopType) + (canContain SofaType PillowType) + (canContain SofaType RemoteControlType) + (canContain SofaType KeyChainType) + (canContain SofaType CreditCardType) + (canContain DiningTableType CandleType) + (canContain DiningTableType VaseType) + (canContain DiningTableType BoxType) + (canContain DiningTableType KeyChainType) + (canContain DiningTableType CreditCardType) + (canContain DiningTableType LaptopType) + (canContain DiningTableType PlateType) + (canContain DiningTableType RemoteControlType) + (canContain DiningTableType StatueType) + (canContain DiningTableType WateringCanType) + (canContain CoffeeTableType CandleType) + (canContain CoffeeTableType VaseType) + (canContain CoffeeTableType BoxType) + (canContain CoffeeTableType KeyChainType) + (canContain CoffeeTableType CreditCardType) + (canContain CoffeeTableType LaptopType) + (canContain CoffeeTableType PlateType) + (canContain CoffeeTableType RemoteControlType) + (canContain CoffeeTableType StatueType) + (canContain CoffeeTableType WateringCanType) + (canContain ArmChairType BoxType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType PillowType) + (canContain ArmChairType RemoteControlType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType CreditCardType) + (canContain ArmChairType BoxType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType PillowType) + (canContain ArmChairType RemoteControlType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType CreditCardType) + (canContain DiningTableType CandleType) + (canContain DiningTableType VaseType) + (canContain DiningTableType BoxType) + (canContain DiningTableType KeyChainType) + (canContain DiningTableType CreditCardType) + (canContain DiningTableType LaptopType) + (canContain DiningTableType PlateType) + (canContain DiningTableType RemoteControlType) + (canContain DiningTableType StatueType) + (canContain DiningTableType WateringCanType) + (canContain ArmChairType BoxType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType PillowType) + (canContain ArmChairType RemoteControlType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType CreditCardType) + (pickupable Pillow_bar__minus_03_dot_34_bar__plus_00_dot_65_bar__minus_00_dot_30) + (pickupable KeyChain_bar__minus_00_dot_56_bar__plus_00_dot_19_bar__plus_02_dot_16) + (pickupable CreditCard_bar__minus_01_dot_48_bar__plus_00_dot_71_bar__plus_02_dot_79) + (pickupable Statue_bar__minus_01_dot_94_bar__plus_00_dot_46_bar__minus_00_dot_24) + (pickupable RemoteControl_bar__minus_01_dot_77_bar__plus_00_dot_45_bar__plus_00_dot_40) + (pickupable Candle_bar__minus_02_dot_10_bar__plus_00_dot_45_bar__minus_00_dot_11) + (pickupable KeyChain_bar__minus_02_dot_10_bar__plus_00_dot_45_bar__plus_00_dot_02) + (pickupable Laptop_bar__minus_03_dot_34_bar__plus_00_dot_58_bar__plus_00_dot_21) + (pickupable CreditCard_bar__minus_03_dot_34_bar__plus_00_dot_53_bar__plus_00_dot_72) + (pickupable Plate_bar__minus_01_dot_86_bar__plus_00_dot_45_bar__plus_00_dot_15) + (pickupable KeyChain_bar__minus_03_dot_34_bar__plus_00_dot_58_bar__plus_00_dot_47) + (pickupable Vase_bar__plus_02_dot_11_bar__plus_00_dot_78_bar__minus_00_dot_66) + (pickupable Plate_bar__minus_02_dot_18_bar__plus_00_dot_45_bar__plus_00_dot_27) + (pickupable WateringCan_bar__minus_03_dot_25_bar_00_dot_00_bar__minus_01_dot_86) + (pickupable Statue_bar__minus_03_dot_59_bar__plus_00_dot_71_bar__plus_01_dot_43) + (pickupable Box_bar__plus_01_dot_27_bar__plus_00_dot_16_bar__minus_00_dot_29) + (pickupable Plate_bar__minus_02_dot_10_bar__plus_00_dot_45_bar__minus_00_dot_36) + (pickupable Candle_bar__minus_01_dot_98_bar__plus_00_dot_23_bar__plus_02_dot_86) + (pickupable Vase_bar__plus_01_dot_84_bar__plus_00_dot_78_bar__minus_00_dot_30) + (pickupable Laptop_bar__plus_02_dot_11_bar__plus_00_dot_78_bar__minus_00_dot_17) + (isReceptacleObject Plate_bar__minus_01_dot_86_bar__plus_00_dot_45_bar__plus_00_dot_15) + (isReceptacleObject Plate_bar__minus_02_dot_18_bar__plus_00_dot_45_bar__plus_00_dot_27) + (isReceptacleObject Box_bar__plus_01_dot_27_bar__plus_00_dot_16_bar__minus_00_dot_29) + (isReceptacleObject Plate_bar__minus_02_dot_10_bar__plus_00_dot_45_bar__minus_00_dot_36) + + + (atLocation agent1 loc_bar__minus_13_bar_8_bar_1_bar_30) + + (cleanable Plate_bar__minus_01_dot_86_bar__plus_00_dot_45_bar__plus_00_dot_15) + (cleanable Plate_bar__minus_02_dot_18_bar__plus_00_dot_45_bar__plus_00_dot_27) + (cleanable Plate_bar__minus_02_dot_10_bar__plus_00_dot_45_bar__minus_00_dot_36) + + (heatable Plate_bar__minus_01_dot_86_bar__plus_00_dot_45_bar__plus_00_dot_15) + (heatable Plate_bar__minus_02_dot_18_bar__plus_00_dot_45_bar__plus_00_dot_27) + (heatable Plate_bar__minus_02_dot_10_bar__plus_00_dot_45_bar__minus_00_dot_36) + (coolable Plate_bar__minus_01_dot_86_bar__plus_00_dot_45_bar__plus_00_dot_15) + (coolable Plate_bar__minus_02_dot_18_bar__plus_00_dot_45_bar__plus_00_dot_27) + (coolable Plate_bar__minus_02_dot_10_bar__plus_00_dot_45_bar__minus_00_dot_36) + + + (toggleable FloorLamp_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__plus_02_dot_73) + + + + + (inReceptacle CreditCard_bar__minus_01_dot_48_bar__plus_00_dot_71_bar__plus_02_dot_79 TVStand_bar__minus_01_dot_86_bar__minus_00_dot_01_bar__plus_02_dot_79) + (inReceptacle Television_bar__minus_01_dot_86_bar__plus_01_dot_20_bar__plus_02_dot_69 TVStand_bar__minus_01_dot_86_bar__minus_00_dot_01_bar__plus_02_dot_79) + (inReceptacle Vase_bar__plus_01_dot_84_bar__plus_00_dot_78_bar__minus_00_dot_30 DiningTable_bar__plus_01_dot_88_bar_00_dot_00_bar__minus_00_dot_29) + (inReceptacle Vase_bar__plus_02_dot_11_bar__plus_00_dot_78_bar__minus_00_dot_66 DiningTable_bar__plus_01_dot_88_bar_00_dot_00_bar__minus_00_dot_29) + (inReceptacle Laptop_bar__plus_02_dot_11_bar__plus_00_dot_78_bar__minus_00_dot_17 DiningTable_bar__plus_01_dot_88_bar_00_dot_00_bar__minus_00_dot_29) + (inReceptacle Pillow_bar__minus_03_dot_34_bar__plus_00_dot_65_bar__minus_00_dot_30 Sofa_bar__minus_03_dot_44_bar__minus_00_dot_01_bar__minus_00_dot_04) + (inReceptacle CreditCard_bar__minus_03_dot_34_bar__plus_00_dot_53_bar__plus_00_dot_72 Sofa_bar__minus_03_dot_44_bar__minus_00_dot_01_bar__minus_00_dot_04) + (inReceptacle KeyChain_bar__minus_03_dot_34_bar__plus_00_dot_58_bar__plus_00_dot_47 Sofa_bar__minus_03_dot_44_bar__minus_00_dot_01_bar__minus_00_dot_04) + (inReceptacle Laptop_bar__minus_03_dot_34_bar__plus_00_dot_58_bar__plus_00_dot_21 Sofa_bar__minus_03_dot_44_bar__minus_00_dot_01_bar__minus_00_dot_04) + (inReceptacle Plate_bar__minus_02_dot_18_bar__plus_00_dot_45_bar__plus_00_dot_27 CoffeeTable_bar__minus_02_dot_02_bar__minus_00_dot_01_bar__plus_00_dot_02) + (inReceptacle Statue_bar__minus_01_dot_94_bar__plus_00_dot_46_bar__minus_00_dot_24 CoffeeTable_bar__minus_02_dot_02_bar__minus_00_dot_01_bar__plus_00_dot_02) + (inReceptacle Plate_bar__minus_02_dot_10_bar__plus_00_dot_45_bar__minus_00_dot_36 CoffeeTable_bar__minus_02_dot_02_bar__minus_00_dot_01_bar__plus_00_dot_02) + (inReceptacle RemoteControl_bar__minus_01_dot_77_bar__plus_00_dot_45_bar__plus_00_dot_40 CoffeeTable_bar__minus_02_dot_02_bar__minus_00_dot_01_bar__plus_00_dot_02) + (inReceptacle Plate_bar__minus_01_dot_86_bar__plus_00_dot_45_bar__plus_00_dot_15 CoffeeTable_bar__minus_02_dot_02_bar__minus_00_dot_01_bar__plus_00_dot_02) + (inReceptacle Candle_bar__minus_02_dot_10_bar__plus_00_dot_45_bar__minus_00_dot_11 CoffeeTable_bar__minus_02_dot_02_bar__minus_00_dot_01_bar__plus_00_dot_02) + (inReceptacle KeyChain_bar__minus_02_dot_10_bar__plus_00_dot_45_bar__plus_00_dot_02 CoffeeTable_bar__minus_02_dot_02_bar__minus_00_dot_01_bar__plus_00_dot_02) + (inReceptacle Candle_bar__minus_01_dot_98_bar__plus_00_dot_23_bar__plus_02_dot_86 DiningTable_bar__minus_01_dot_88_bar__plus_00_dot_27_bar__plus_02_dot_79) + + + (receptacleAtLocation ArmChair_bar__minus_00_dot_43_bar__plus_00_dot_00_bar__plus_01_dot_06 loc_bar__minus_6_bar_5_bar_1_bar_60) + (receptacleAtLocation ArmChair_bar__minus_00_dot_44_bar__plus_00_dot_00_bar__plus_01_dot_92 loc_bar__minus_6_bar_8_bar_1_bar_60) + (receptacleAtLocation ArmChair_bar__minus_02_dot_01_bar__plus_00_dot_00_bar__minus_01_dot_58 loc_bar__minus_3_bar__minus_5_bar_3_bar_60) + (receptacleAtLocation CoffeeTable_bar__minus_02_dot_02_bar__minus_00_dot_01_bar__plus_00_dot_02 loc_bar__minus_4_bar_0_bar_3_bar_60) + (receptacleAtLocation DiningTable_bar__plus_01_dot_88_bar_00_dot_00_bar__minus_00_dot_29 loc_bar_8_bar__minus_5_bar_0_bar_60) + (receptacleAtLocation DiningTable_bar__minus_01_dot_88_bar__plus_00_dot_27_bar__plus_02_dot_79 loc_bar__minus_9_bar_7_bar_0_bar_60) + (receptacleAtLocation GarbageCan_bar__plus_00_dot_29_bar__plus_00_dot_00_bar__plus_01_dot_26 loc_bar_3_bar_4_bar_3_bar_60) + (receptacleAtLocation Sofa_bar__minus_03_dot_44_bar__minus_00_dot_01_bar__minus_00_dot_04 loc_bar__minus_11_bar_0_bar_3_bar_60) + (receptacleAtLocation TVStand_bar__minus_01_dot_86_bar__minus_00_dot_01_bar__plus_02_dot_79 loc_bar__minus_8_bar_7_bar_0_bar_60) + (objectAtLocation Plate_bar__minus_01_dot_86_bar__plus_00_dot_45_bar__plus_00_dot_15 loc_bar__minus_4_bar_0_bar_3_bar_60) + (objectAtLocation KeyChain_bar__minus_02_dot_10_bar__plus_00_dot_45_bar__plus_00_dot_02 loc_bar__minus_4_bar_0_bar_3_bar_60) + (objectAtLocation Laptop_bar__plus_02_dot_11_bar__plus_00_dot_78_bar__minus_00_dot_17 loc_bar_8_bar__minus_5_bar_0_bar_60) + (objectAtLocation CreditCard_bar__minus_01_dot_48_bar__plus_00_dot_71_bar__plus_02_dot_79 loc_bar__minus_8_bar_7_bar_0_bar_60) + (objectAtLocation Candle_bar__minus_01_dot_98_bar__plus_00_dot_23_bar__plus_02_dot_86 loc_bar__minus_9_bar_7_bar_0_bar_60) + (objectAtLocation KeyChain_bar__minus_03_dot_34_bar__plus_00_dot_58_bar__plus_00_dot_47 loc_bar__minus_11_bar_0_bar_3_bar_60) + (objectAtLocation Plate_bar__minus_02_dot_18_bar__plus_00_dot_45_bar__plus_00_dot_27 loc_bar__minus_4_bar_0_bar_3_bar_60) + (objectAtLocation Chair_bar__plus_01_dot_64_bar_00_dot_00_bar__minus_00_dot_85 loc_bar_7_bar__minus_5_bar_0_bar_60) + (objectAtLocation Box_bar__plus_01_dot_27_bar__plus_00_dot_16_bar__minus_00_dot_29 loc_bar_3_bar__minus_1_bar_1_bar_60) + (objectAtLocation Chair_bar__plus_02_dot_29_bar_00_dot_00_bar__minus_00_dot_78 loc_bar_9_bar__minus_5_bar_0_bar_60) + (objectAtLocation Chair_bar__plus_01_dot_46_bar_00_dot_00_bar__plus_00_dot_20 loc_bar_6_bar_3_bar_2_bar_60) + (objectAtLocation Chair_bar__plus_02_dot_22_bar_00_dot_00_bar__plus_00_dot_15 loc_bar_9_bar_3_bar_2_bar_60) + (objectAtLocation Candle_bar__minus_02_dot_10_bar__plus_00_dot_45_bar__minus_00_dot_11 loc_bar__minus_4_bar_0_bar_3_bar_60) + (objectAtLocation Vase_bar__plus_02_dot_11_bar__plus_00_dot_78_bar__minus_00_dot_66 loc_bar_8_bar__minus_5_bar_0_bar_60) + (objectAtLocation CreditCard_bar__minus_03_dot_34_bar__plus_00_dot_53_bar__plus_00_dot_72 loc_bar__minus_11_bar_0_bar_3_bar_60) + (objectAtLocation Vase_bar__plus_01_dot_84_bar__plus_00_dot_78_bar__minus_00_dot_30 loc_bar_8_bar__minus_5_bar_0_bar_60) + (objectAtLocation WateringCan_bar__minus_03_dot_25_bar_00_dot_00_bar__minus_01_dot_86 loc_bar__minus_11_bar__minus_6_bar_3_bar_60) + (objectAtLocation LightSwitch_bar__minus_03_dot_90_bar__plus_01_dot_28_bar__plus_01_dot_68 loc_bar__minus_13_bar_7_bar_3_bar_30) + (objectAtLocation Laptop_bar__minus_03_dot_34_bar__plus_00_dot_58_bar__plus_00_dot_21 loc_bar__minus_11_bar_0_bar_3_bar_60) + (objectAtLocation RemoteControl_bar__minus_01_dot_77_bar__plus_00_dot_45_bar__plus_00_dot_40 loc_bar__minus_4_bar_0_bar_3_bar_60) + (objectAtLocation FloorLamp_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__plus_02_dot_73 loc_bar__minus_5_bar_8_bar_1_bar_60) + (objectAtLocation Statue_bar__minus_03_dot_59_bar__plus_00_dot_71_bar__plus_01_dot_43 loc_bar__minus_12_bar_6_bar_3_bar_60) + (objectAtLocation KeyChain_bar__minus_00_dot_56_bar__plus_00_dot_19_bar__plus_02_dot_16 loc_bar__minus_5_bar_8_bar_1_bar_60) + (objectAtLocation Painting_bar__minus_00_dot_06_bar__plus_01_dot_60_bar__plus_01_dot_73 loc_bar__minus_5_bar_7_bar_1_bar_0) + (objectAtLocation Painting_bar__plus_04_dot_14_bar__plus_01_dot_59_bar__minus_00_dot_30 loc_bar_14_bar__minus_1_bar_1_bar_0) + (objectAtLocation Pillow_bar__minus_03_dot_34_bar__plus_00_dot_65_bar__minus_00_dot_30 loc_bar__minus_11_bar_0_bar_3_bar_60) + (objectAtLocation Television_bar__minus_01_dot_86_bar__plus_01_dot_20_bar__plus_02_dot_69 loc_bar__minus_8_bar_7_bar_0_bar_60) + (objectAtLocation HousePlant_bar__minus_03_dot_48_bar__plus_00_dot_71_bar__minus_01_dot_59 loc_bar__minus_11_bar__minus_6_bar_3_bar_45) + (objectAtLocation Window_bar__plus_01_dot_48_bar__plus_01_dot_51_bar__minus_01_dot_93 loc_bar_6_bar__minus_5_bar_2_bar_15) + (objectAtLocation Window_bar__minus_02_dot_00_bar__plus_01_dot_51_bar__minus_01_dot_93 loc_bar__minus_11_bar__minus_6_bar_1_bar_15) + (objectAtLocation Window_bar__plus_03_dot_48_bar__plus_01_dot_51_bar__minus_01_dot_93 loc_bar_14_bar__minus_5_bar_2_bar_15) + (objectAtLocation Plate_bar__minus_02_dot_10_bar__plus_00_dot_45_bar__minus_00_dot_36 loc_bar__minus_4_bar_0_bar_3_bar_60) + (objectAtLocation Statue_bar__minus_01_dot_94_bar__plus_00_dot_46_bar__minus_00_dot_24 loc_bar__minus_4_bar_0_bar_3_bar_60) + ) + + + (:goal + (and + (exists (?r - receptacle) + (and + (receptacleType ?r DiningTableType) + (exists (?o - object) + (and + (objectType ?o CandleType) + (exists (?mo - object) + (and + (objectType ?mo PlateType) + (isReceptacleObject ?mo) + (inReceptacleObject ?o ?mo) + (inReceptacle ?mo ?r) + ) + ) + ) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Candle-Plate-DiningTable-223/trial_T20190908_140932_493011/traj_data.json b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Candle-Plate-DiningTable-223/trial_T20190908_140932_493011/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..5c22b0ac43d6defa6834e178a7de5bc9549d812d --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Candle-Plate-DiningTable-223/trial_T20190908_140932_493011/traj_data.json @@ -0,0 +1,3045 @@ +{ + "images": [ + { + "high_idx": 0, + "image_name": "000000000.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000001.png", + 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"Put the plate with the candle under the TV.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A2871R3LEPWMMK_3NPFYT4IZFV2CMV61R9EEJRIPFJXG3", + "high_descs": [ + "Hang a right at the television stand, turn left at the end of the couch and face the glass coffee table on the left at the chair.", + "Pick up the candle holder with the candle in the middle of the glass table next to the keys.", + "Put the candle holder with the candle on the gold plate to the left of the statue on the table.", + "Pick up the plate with the candle holder on the table.", + "Turn left, hang a right at the couch and walk to the television stand ahead.", + "Put the plate with the candle holder on the left corner of the bottom shelf." + ], + "task_desc": "Place a plate with a candle on a shelf.", + "votes": [ + 1, + 1, + 0 + ] + }, + { + "assignment_id": "ABR580YP0ST7X_3RGU30DZTDZ19CM3VQS80F30A25JMW", + "high_descs": [ + "Walk forward, turn right, walk forward, turn left at end of table, turn left again facing table", + "Pick up candle off of table", + "Put candle on plate on table", + "Pick up candle and plate off of table", + "Turn left, walk forward, turn right, walk forward to television stand", + "Put candle and plate on bottom of television stand" + ], + "task_desc": "Move candle from table to television stand", + "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-Candle-Plate-DiningTable-223/trial_T20190909_003209_935774/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Candle-Plate-DiningTable-223/trial_T20190909_003209_935774/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..5563f8a28f5fcf7fe9077621b715b1749e7f261c --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Candle-Plate-DiningTable-223/trial_T20190909_003209_935774/initial_state.pddl @@ -0,0 +1,471 @@ + +(define (problem plan_trial_T20190909_003209_935774) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Box_bar__plus_02_dot_33_bar__plus_00_dot_94_bar__minus_00_dot_29 - object + Box_bar__minus_03_dot_34_bar__plus_00_dot_74_bar__minus_00_dot_30 - object + Candle_bar__plus_01_dot_88_bar__plus_00_dot_78_bar__minus_00_dot_54 - object + Candle_bar__minus_01_dot_63_bar__plus_00_dot_23_bar__plus_02_dot_83 - object + Candle_bar__minus_01_dot_86_bar__plus_00_dot_23_bar__plus_02_dot_86 - object + Chair_bar__plus_01_dot_46_bar_00_dot_00_bar__plus_00_dot_20 - object + Chair_bar__plus_01_dot_64_bar_00_dot_00_bar__minus_00_dot_85 - object + Chair_bar__plus_02_dot_22_bar_00_dot_00_bar__plus_00_dot_15 - object + Chair_bar__plus_02_dot_29_bar_00_dot_00_bar__minus_00_dot_78 - object + CreditCard_bar__minus_01_dot_61_bar__plus_00_dot_71_bar__plus_02_dot_70 - object + FloorLamp_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__plus_02_dot_73 - object + HousePlant_bar__minus_03_dot_48_bar__plus_00_dot_71_bar__minus_01_dot_59 - object + KeyChain_bar__minus_02_dot_10_bar__plus_00_dot_45_bar__plus_00_dot_40 - object + Laptop_bar__minus_02_dot_02_bar__plus_00_dot_44_bar__minus_00_dot_12 - object + LightSwitch_bar__minus_03_dot_90_bar__plus_01_dot_28_bar__plus_01_dot_68 - object + Painting_bar__plus_04_dot_14_bar__plus_01_dot_59_bar__minus_00_dot_30 - object + Painting_bar__minus_00_dot_06_bar__plus_01_dot_60_bar__plus_01_dot_73 - object + Pillow_bar__minus_01_dot_92_bar__plus_00_dot_36_bar__minus_01_dot_50 - object + Plate_bar__minus_01_dot_94_bar__plus_00_dot_45_bar__plus_00_dot_27 - object + RemoteControl_bar__minus_03_dot_17_bar__plus_00_dot_59_bar__plus_00_dot_21 - object + Statue_bar__plus_01_dot_22_bar__plus_00_dot_79_bar__minus_00_dot_42 - object + Statue_bar__minus_01_dot_75_bar__plus_00_dot_24_bar__plus_02_dot_83 - object + Television_bar__minus_01_dot_86_bar__plus_01_dot_20_bar__plus_02_dot_69 - object + Vase_bar__plus_01_dot_84_bar__plus_00_dot_78_bar__minus_00_dot_30 - object + Vase_bar__minus_02_dot_18_bar__plus_00_dot_45_bar__plus_00_dot_40 - object + WateringCan_bar__minus_03_dot_25_bar_00_dot_00_bar__minus_01_dot_86 - object + Window_bar__plus_01_dot_48_bar__plus_01_dot_51_bar__minus_01_dot_93 - object + Window_bar__plus_03_dot_48_bar__plus_01_dot_51_bar__minus_01_dot_93 - object + Window_bar__minus_02_dot_00_bar__plus_01_dot_51_bar__minus_01_dot_93 - object + ArmChair_bar__minus_00_dot_43_bar__plus_00_dot_00_bar__plus_01_dot_06 - receptacle + ArmChair_bar__minus_00_dot_44_bar__plus_00_dot_00_bar__plus_01_dot_92 - receptacle + ArmChair_bar__minus_02_dot_01_bar__plus_00_dot_00_bar__minus_01_dot_58 - receptacle + CoffeeTable_bar__minus_02_dot_02_bar__minus_00_dot_01_bar__plus_00_dot_02 - receptacle + DiningTable_bar__plus_01_dot_88_bar_00_dot_00_bar__minus_00_dot_29 - receptacle + DiningTable_bar__minus_01_dot_88_bar__plus_00_dot_27_bar__plus_02_dot_79 - receptacle + GarbageCan_bar__plus_00_dot_29_bar__plus_00_dot_00_bar__plus_01_dot_26 - receptacle + Sofa_bar__minus_03_dot_44_bar__minus_00_dot_01_bar__minus_00_dot_04 - receptacle + TVStand_bar__minus_01_dot_86_bar__minus_00_dot_01_bar__plus_02_dot_79 - receptacle + loc_bar__minus_9_bar_7_bar_0_bar_60 - location + loc_bar__minus_13_bar_7_bar_3_bar_30 - location + loc_bar_9_bar_3_bar_2_bar_60 - location + loc_bar_8_bar__minus_5_bar_0_bar_60 - location + loc_bar_6_bar__minus_5_bar_2_bar_15 - location + loc_bar__minus_6_bar_5_bar_1_bar_60 - location + loc_bar__minus_5_bar_7_bar_1_bar_0 - location + loc_bar__minus_11_bar_0_bar_3_bar_60 - location + loc_bar__minus_4_bar_0_bar_3_bar_60 - location + loc_bar_14_bar__minus_5_bar_2_bar_15 - location + loc_bar__minus_5_bar_8_bar_1_bar_60 - location + loc_bar__minus_11_bar__minus_6_bar_1_bar_15 - location + loc_bar__minus_11_bar__minus_6_bar_3_bar_45 - location + loc_bar_7_bar__minus_5_bar_0_bar_60 - location + loc_bar_9_bar__minus_5_bar_0_bar_60 - location + loc_bar_3_bar_4_bar_3_bar_60 - location + loc_bar_14_bar__minus_1_bar_1_bar_0 - location + loc_bar__minus_8_bar_7_bar_0_bar_60 - location + loc_bar_6_bar_3_bar_2_bar_60 - location + loc_bar__minus_11_bar__minus_6_bar_3_bar_60 - location + loc_bar__minus_6_bar_8_bar_1_bar_60 - location + loc_bar__minus_3_bar__minus_5_bar_3_bar_60 - location + loc_bar__minus_2_bar_0_bar_0_bar_30 - location + ) + + +(:init + + + (receptacleType Sofa_bar__minus_03_dot_44_bar__minus_00_dot_01_bar__minus_00_dot_04 SofaType) + (receptacleType DiningTable_bar__plus_01_dot_88_bar_00_dot_00_bar__minus_00_dot_29 DiningTableType) + (receptacleType CoffeeTable_bar__minus_02_dot_02_bar__minus_00_dot_01_bar__plus_00_dot_02 CoffeeTableType) + (receptacleType ArmChair_bar__minus_02_dot_01_bar__plus_00_dot_00_bar__minus_01_dot_58 ArmChairType) + (receptacleType ArmChair_bar__minus_00_dot_44_bar__plus_00_dot_00_bar__plus_01_dot_92 ArmChairType) + (receptacleType DiningTable_bar__minus_01_dot_88_bar__plus_00_dot_27_bar__plus_02_dot_79 DiningTableType) + (receptacleType ArmChair_bar__minus_00_dot_43_bar__plus_00_dot_00_bar__plus_01_dot_06 ArmChairType) + (receptacleType GarbageCan_bar__plus_00_dot_29_bar__plus_00_dot_00_bar__plus_01_dot_26 GarbageCanType) + (receptacleType TVStand_bar__minus_01_dot_86_bar__minus_00_dot_01_bar__plus_02_dot_79 TVStandType) + (objectType Window_bar__plus_03_dot_48_bar__plus_01_dot_51_bar__minus_01_dot_93 WindowType) + (objectType Plate_bar__minus_01_dot_94_bar__plus_00_dot_45_bar__plus_00_dot_27 PlateType) + (objectType FloorLamp_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__plus_02_dot_73 FloorLampType) + (objectType Candle_bar__minus_01_dot_63_bar__plus_00_dot_23_bar__plus_02_dot_83 CandleType) + (objectType Box_bar__minus_03_dot_34_bar__plus_00_dot_74_bar__minus_00_dot_30 BoxType) + (objectType Statue_bar__plus_01_dot_22_bar__plus_00_dot_79_bar__minus_00_dot_42 StatueType) + (objectType Chair_bar__plus_01_dot_46_bar_00_dot_00_bar__plus_00_dot_20 ChairType) + (objectType Candle_bar__plus_01_dot_88_bar__plus_00_dot_78_bar__minus_00_dot_54 CandleType) + (objectType CreditCard_bar__minus_01_dot_61_bar__plus_00_dot_71_bar__plus_02_dot_70 CreditCardType) + (objectType LightSwitch_bar__minus_03_dot_90_bar__plus_01_dot_28_bar__plus_01_dot_68 LightSwitchType) + (objectType Statue_bar__minus_01_dot_75_bar__plus_00_dot_24_bar__plus_02_dot_83 StatueType) + (objectType Candle_bar__minus_01_dot_86_bar__plus_00_dot_23_bar__plus_02_dot_86 CandleType) + (objectType Painting_bar__plus_04_dot_14_bar__plus_01_dot_59_bar__minus_00_dot_30 PaintingType) + (objectType Painting_bar__minus_00_dot_06_bar__plus_01_dot_60_bar__plus_01_dot_73 PaintingType) + (objectType Chair_bar__plus_02_dot_22_bar_00_dot_00_bar__plus_00_dot_15 ChairType) + (objectType RemoteControl_bar__minus_03_dot_17_bar__plus_00_dot_59_bar__plus_00_dot_21 RemoteControlType) + (objectType Box_bar__plus_02_dot_33_bar__plus_00_dot_94_bar__minus_00_dot_29 BoxType) + (objectType Window_bar__minus_02_dot_00_bar__plus_01_dot_51_bar__minus_01_dot_93 WindowType) + (objectType Laptop_bar__minus_02_dot_02_bar__plus_00_dot_44_bar__minus_00_dot_12 LaptopType) + (objectType KeyChain_bar__minus_02_dot_10_bar__plus_00_dot_45_bar__plus_00_dot_40 KeyChainType) + (objectType Vase_bar__minus_02_dot_18_bar__plus_00_dot_45_bar__plus_00_dot_40 VaseType) + (objectType HousePlant_bar__minus_03_dot_48_bar__plus_00_dot_71_bar__minus_01_dot_59 HousePlantType) + (objectType Window_bar__plus_01_dot_48_bar__plus_01_dot_51_bar__minus_01_dot_93 WindowType) + (objectType Chair_bar__plus_01_dot_64_bar_00_dot_00_bar__minus_00_dot_85 ChairType) + (objectType WateringCan_bar__minus_03_dot_25_bar_00_dot_00_bar__minus_01_dot_86 WateringCanType) + (objectType Chair_bar__plus_02_dot_29_bar_00_dot_00_bar__minus_00_dot_78 ChairType) + (objectType Pillow_bar__minus_01_dot_92_bar__plus_00_dot_36_bar__minus_01_dot_50 PillowType) + (objectType Television_bar__minus_01_dot_86_bar__plus_01_dot_20_bar__plus_02_dot_69 TelevisionType) + (objectType Vase_bar__plus_01_dot_84_bar__plus_00_dot_78_bar__minus_00_dot_30 VaseType) + (canContain SofaType BoxType) + (canContain SofaType LaptopType) + (canContain SofaType PillowType) + (canContain SofaType RemoteControlType) + (canContain SofaType KeyChainType) + (canContain SofaType CreditCardType) + (canContain DiningTableType CandleType) + (canContain DiningTableType VaseType) + (canContain DiningTableType BoxType) + (canContain DiningTableType KeyChainType) + (canContain DiningTableType CreditCardType) + (canContain DiningTableType LaptopType) + (canContain DiningTableType PlateType) + (canContain DiningTableType RemoteControlType) + (canContain DiningTableType StatueType) + (canContain DiningTableType WateringCanType) + (canContain CoffeeTableType CandleType) + (canContain CoffeeTableType VaseType) + (canContain CoffeeTableType BoxType) + (canContain CoffeeTableType KeyChainType) + (canContain CoffeeTableType CreditCardType) + (canContain CoffeeTableType LaptopType) + (canContain CoffeeTableType PlateType) + (canContain CoffeeTableType RemoteControlType) + (canContain CoffeeTableType StatueType) + (canContain CoffeeTableType WateringCanType) + (canContain ArmChairType BoxType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType PillowType) + (canContain ArmChairType RemoteControlType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType CreditCardType) + (canContain ArmChairType BoxType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType PillowType) + (canContain ArmChairType RemoteControlType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType CreditCardType) + (canContain DiningTableType CandleType) + (canContain DiningTableType VaseType) + (canContain DiningTableType BoxType) + (canContain DiningTableType KeyChainType) + (canContain DiningTableType CreditCardType) + (canContain DiningTableType LaptopType) + (canContain DiningTableType PlateType) + (canContain DiningTableType RemoteControlType) + (canContain DiningTableType StatueType) + (canContain DiningTableType WateringCanType) + (canContain ArmChairType BoxType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType PillowType) + (canContain ArmChairType RemoteControlType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType CreditCardType) + (pickupable Plate_bar__minus_01_dot_94_bar__plus_00_dot_45_bar__plus_00_dot_27) + (pickupable Candle_bar__minus_01_dot_63_bar__plus_00_dot_23_bar__plus_02_dot_83) + (pickupable Box_bar__minus_03_dot_34_bar__plus_00_dot_74_bar__minus_00_dot_30) + (pickupable Statue_bar__plus_01_dot_22_bar__plus_00_dot_79_bar__minus_00_dot_42) + (pickupable Candle_bar__plus_01_dot_88_bar__plus_00_dot_78_bar__minus_00_dot_54) + (pickupable CreditCard_bar__minus_01_dot_61_bar__plus_00_dot_71_bar__plus_02_dot_70) + (pickupable Statue_bar__minus_01_dot_75_bar__plus_00_dot_24_bar__plus_02_dot_83) + (pickupable Candle_bar__minus_01_dot_86_bar__plus_00_dot_23_bar__plus_02_dot_86) + (pickupable RemoteControl_bar__minus_03_dot_17_bar__plus_00_dot_59_bar__plus_00_dot_21) + (pickupable Box_bar__plus_02_dot_33_bar__plus_00_dot_94_bar__minus_00_dot_29) + (pickupable Laptop_bar__minus_02_dot_02_bar__plus_00_dot_44_bar__minus_00_dot_12) + (pickupable KeyChain_bar__minus_02_dot_10_bar__plus_00_dot_45_bar__plus_00_dot_40) + (pickupable Vase_bar__minus_02_dot_18_bar__plus_00_dot_45_bar__plus_00_dot_40) + (pickupable WateringCan_bar__minus_03_dot_25_bar_00_dot_00_bar__minus_01_dot_86) + (pickupable Pillow_bar__minus_01_dot_92_bar__plus_00_dot_36_bar__minus_01_dot_50) + (pickupable Vase_bar__plus_01_dot_84_bar__plus_00_dot_78_bar__minus_00_dot_30) + (isReceptacleObject Plate_bar__minus_01_dot_94_bar__plus_00_dot_45_bar__plus_00_dot_27) + (isReceptacleObject Box_bar__minus_03_dot_34_bar__plus_00_dot_74_bar__minus_00_dot_30) + (isReceptacleObject Box_bar__plus_02_dot_33_bar__plus_00_dot_94_bar__minus_00_dot_29) + + + (atLocation agent1 loc_bar__minus_2_bar_0_bar_0_bar_30) + + (cleanable Plate_bar__minus_01_dot_94_bar__plus_00_dot_45_bar__plus_00_dot_27) + + (heatable Plate_bar__minus_01_dot_94_bar__plus_00_dot_45_bar__plus_00_dot_27) + (coolable Plate_bar__minus_01_dot_94_bar__plus_00_dot_45_bar__plus_00_dot_27) + + + (toggleable FloorLamp_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__plus_02_dot_73) + + + + + (inReceptacle CreditCard_bar__minus_01_dot_61_bar__plus_00_dot_71_bar__plus_02_dot_70 TVStand_bar__minus_01_dot_86_bar__minus_00_dot_01_bar__plus_02_dot_79) + (inReceptacle Television_bar__minus_01_dot_86_bar__plus_01_dot_20_bar__plus_02_dot_69 TVStand_bar__minus_01_dot_86_bar__minus_00_dot_01_bar__plus_02_dot_79) + (inReceptacle Pillow_bar__minus_01_dot_92_bar__plus_00_dot_36_bar__minus_01_dot_50 ArmChair_bar__minus_02_dot_01_bar__plus_00_dot_00_bar__minus_01_dot_58) + (inReceptacle Statue_bar__plus_01_dot_22_bar__plus_00_dot_79_bar__minus_00_dot_42 DiningTable_bar__plus_01_dot_88_bar_00_dot_00_bar__minus_00_dot_29) + (inReceptacle Box_bar__plus_02_dot_33_bar__plus_00_dot_94_bar__minus_00_dot_29 DiningTable_bar__plus_01_dot_88_bar_00_dot_00_bar__minus_00_dot_29) + (inReceptacle Candle_bar__plus_01_dot_88_bar__plus_00_dot_78_bar__minus_00_dot_54 DiningTable_bar__plus_01_dot_88_bar_00_dot_00_bar__minus_00_dot_29) + (inReceptacle Vase_bar__plus_01_dot_84_bar__plus_00_dot_78_bar__minus_00_dot_30 DiningTable_bar__plus_01_dot_88_bar_00_dot_00_bar__minus_00_dot_29) + (inReceptacle Box_bar__minus_03_dot_34_bar__plus_00_dot_74_bar__minus_00_dot_30 Sofa_bar__minus_03_dot_44_bar__minus_00_dot_01_bar__minus_00_dot_04) + (inReceptacle RemoteControl_bar__minus_03_dot_17_bar__plus_00_dot_59_bar__plus_00_dot_21 Sofa_bar__minus_03_dot_44_bar__minus_00_dot_01_bar__minus_00_dot_04) + (inReceptacle Plate_bar__minus_01_dot_94_bar__plus_00_dot_45_bar__plus_00_dot_27 CoffeeTable_bar__minus_02_dot_02_bar__minus_00_dot_01_bar__plus_00_dot_02) + (inReceptacle Laptop_bar__minus_02_dot_02_bar__plus_00_dot_44_bar__minus_00_dot_12 CoffeeTable_bar__minus_02_dot_02_bar__minus_00_dot_01_bar__plus_00_dot_02) + (inReceptacle Vase_bar__minus_02_dot_18_bar__plus_00_dot_45_bar__plus_00_dot_40 CoffeeTable_bar__minus_02_dot_02_bar__minus_00_dot_01_bar__plus_00_dot_02) + (inReceptacle KeyChain_bar__minus_02_dot_10_bar__plus_00_dot_45_bar__plus_00_dot_40 CoffeeTable_bar__minus_02_dot_02_bar__minus_00_dot_01_bar__plus_00_dot_02) + (inReceptacle Statue_bar__minus_01_dot_75_bar__plus_00_dot_24_bar__plus_02_dot_83 DiningTable_bar__minus_01_dot_88_bar__plus_00_dot_27_bar__plus_02_dot_79) + (inReceptacle Candle_bar__minus_01_dot_86_bar__plus_00_dot_23_bar__plus_02_dot_86 DiningTable_bar__minus_01_dot_88_bar__plus_00_dot_27_bar__plus_02_dot_79) + (inReceptacle Candle_bar__minus_01_dot_63_bar__plus_00_dot_23_bar__plus_02_dot_83 DiningTable_bar__minus_01_dot_88_bar__plus_00_dot_27_bar__plus_02_dot_79) + + + (receptacleAtLocation ArmChair_bar__minus_00_dot_43_bar__plus_00_dot_00_bar__plus_01_dot_06 loc_bar__minus_6_bar_5_bar_1_bar_60) + (receptacleAtLocation ArmChair_bar__minus_00_dot_44_bar__plus_00_dot_00_bar__plus_01_dot_92 loc_bar__minus_6_bar_8_bar_1_bar_60) + (receptacleAtLocation ArmChair_bar__minus_02_dot_01_bar__plus_00_dot_00_bar__minus_01_dot_58 loc_bar__minus_3_bar__minus_5_bar_3_bar_60) + (receptacleAtLocation CoffeeTable_bar__minus_02_dot_02_bar__minus_00_dot_01_bar__plus_00_dot_02 loc_bar__minus_4_bar_0_bar_3_bar_60) + (receptacleAtLocation DiningTable_bar__plus_01_dot_88_bar_00_dot_00_bar__minus_00_dot_29 loc_bar_8_bar__minus_5_bar_0_bar_60) + (receptacleAtLocation DiningTable_bar__minus_01_dot_88_bar__plus_00_dot_27_bar__plus_02_dot_79 loc_bar__minus_9_bar_7_bar_0_bar_60) + (receptacleAtLocation GarbageCan_bar__plus_00_dot_29_bar__plus_00_dot_00_bar__plus_01_dot_26 loc_bar_3_bar_4_bar_3_bar_60) + (receptacleAtLocation Sofa_bar__minus_03_dot_44_bar__minus_00_dot_01_bar__minus_00_dot_04 loc_bar__minus_11_bar_0_bar_3_bar_60) + (receptacleAtLocation TVStand_bar__minus_01_dot_86_bar__minus_00_dot_01_bar__plus_02_dot_79 loc_bar__minus_8_bar_7_bar_0_bar_60) + (objectAtLocation Candle_bar__minus_01_dot_86_bar__plus_00_dot_23_bar__plus_02_dot_86 loc_bar__minus_9_bar_7_bar_0_bar_60) + (objectAtLocation Box_bar__minus_03_dot_34_bar__plus_00_dot_74_bar__minus_00_dot_30 loc_bar__minus_11_bar_0_bar_3_bar_60) + (objectAtLocation Candle_bar__minus_01_dot_63_bar__plus_00_dot_23_bar__plus_02_dot_83 loc_bar__minus_9_bar_7_bar_0_bar_60) + (objectAtLocation Chair_bar__plus_01_dot_64_bar_00_dot_00_bar__minus_00_dot_85 loc_bar_7_bar__minus_5_bar_0_bar_60) + (objectAtLocation Box_bar__plus_02_dot_33_bar__plus_00_dot_94_bar__minus_00_dot_29 loc_bar_8_bar__minus_5_bar_0_bar_60) + (objectAtLocation Chair_bar__plus_02_dot_29_bar_00_dot_00_bar__minus_00_dot_78 loc_bar_9_bar__minus_5_bar_0_bar_60) + (objectAtLocation Chair_bar__plus_01_dot_46_bar_00_dot_00_bar__plus_00_dot_20 loc_bar_6_bar_3_bar_2_bar_60) + (objectAtLocation Chair_bar__plus_02_dot_22_bar_00_dot_00_bar__plus_00_dot_15 loc_bar_9_bar_3_bar_2_bar_60) + (objectAtLocation Candle_bar__plus_01_dot_88_bar__plus_00_dot_78_bar__minus_00_dot_54 loc_bar_8_bar__minus_5_bar_0_bar_60) + (objectAtLocation Vase_bar__minus_02_dot_18_bar__plus_00_dot_45_bar__plus_00_dot_40 loc_bar__minus_4_bar_0_bar_3_bar_60) + (objectAtLocation CreditCard_bar__minus_01_dot_61_bar__plus_00_dot_71_bar__plus_02_dot_70 loc_bar__minus_8_bar_7_bar_0_bar_60) + (objectAtLocation Vase_bar__plus_01_dot_84_bar__plus_00_dot_78_bar__minus_00_dot_30 loc_bar_8_bar__minus_5_bar_0_bar_60) + (objectAtLocation WateringCan_bar__minus_03_dot_25_bar_00_dot_00_bar__minus_01_dot_86 loc_bar__minus_11_bar__minus_6_bar_3_bar_60) + (objectAtLocation LightSwitch_bar__minus_03_dot_90_bar__plus_01_dot_28_bar__plus_01_dot_68 loc_bar__minus_13_bar_7_bar_3_bar_30) + (objectAtLocation Laptop_bar__minus_02_dot_02_bar__plus_00_dot_44_bar__minus_00_dot_12 loc_bar__minus_4_bar_0_bar_3_bar_60) + (objectAtLocation RemoteControl_bar__minus_03_dot_17_bar__plus_00_dot_59_bar__plus_00_dot_21 loc_bar__minus_11_bar_0_bar_3_bar_60) + (objectAtLocation FloorLamp_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__plus_02_dot_73 loc_bar__minus_5_bar_8_bar_1_bar_60) + (objectAtLocation Statue_bar__plus_01_dot_22_bar__plus_00_dot_79_bar__minus_00_dot_42 loc_bar_8_bar__minus_5_bar_0_bar_60) + (objectAtLocation KeyChain_bar__minus_02_dot_10_bar__plus_00_dot_45_bar__plus_00_dot_40 loc_bar__minus_4_bar_0_bar_3_bar_60) + (objectAtLocation Painting_bar__minus_00_dot_06_bar__plus_01_dot_60_bar__plus_01_dot_73 loc_bar__minus_5_bar_7_bar_1_bar_0) + (objectAtLocation Painting_bar__plus_04_dot_14_bar__plus_01_dot_59_bar__minus_00_dot_30 loc_bar_14_bar__minus_1_bar_1_bar_0) + (objectAtLocation Pillow_bar__minus_01_dot_92_bar__plus_00_dot_36_bar__minus_01_dot_50 loc_bar__minus_3_bar__minus_5_bar_3_bar_60) + (objectAtLocation Television_bar__minus_01_dot_86_bar__plus_01_dot_20_bar__plus_02_dot_69 loc_bar__minus_8_bar_7_bar_0_bar_60) + (objectAtLocation HousePlant_bar__minus_03_dot_48_bar__plus_00_dot_71_bar__minus_01_dot_59 loc_bar__minus_11_bar__minus_6_bar_3_bar_45) + (objectAtLocation Window_bar__plus_01_dot_48_bar__plus_01_dot_51_bar__minus_01_dot_93 loc_bar_6_bar__minus_5_bar_2_bar_15) + (objectAtLocation Window_bar__minus_02_dot_00_bar__plus_01_dot_51_bar__minus_01_dot_93 loc_bar__minus_11_bar__minus_6_bar_1_bar_15) + (objectAtLocation Window_bar__plus_03_dot_48_bar__plus_01_dot_51_bar__minus_01_dot_93 loc_bar_14_bar__minus_5_bar_2_bar_15) + (objectAtLocation Plate_bar__minus_01_dot_94_bar__plus_00_dot_45_bar__plus_00_dot_27 loc_bar__minus_4_bar_0_bar_3_bar_60) + (objectAtLocation Statue_bar__minus_01_dot_75_bar__plus_00_dot_24_bar__plus_02_dot_83 loc_bar__minus_9_bar_7_bar_0_bar_60) + ) + + + (:goal + (and + (exists (?r - receptacle) + (and + (receptacleType ?r DiningTableType) + (exists (?o - object) + (and + (objectType ?o CandleType) + (exists (?mo - object) + (and + (objectType ?mo PlateType) + (isReceptacleObject ?mo) + (inReceptacleObject ?o ?mo) + (inReceptacle ?mo ?r) + ) + ) + ) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Candle-Plate-DiningTable-223/trial_T20190909_003209_935774/traj_data.json b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Candle-Plate-DiningTable-223/trial_T20190909_003209_935774/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..7969807ff8fca68b9d66272d2d3d3344f6f045c3 --- /dev/null +++ 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Then right and left to face the coffee table.", + "Place the candle stick on the plate on the coffee table.", + "Pick up the plate from the coffee table. ", + "Carry the plate and turn around to the TV.", + "Place the plate on the cabinet bottom shelf." + ], + "task_desc": "Move a plate and candle stick to a shelf.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A2YUCJ28XANFOX_3DEL4X4EL9C2YDG6VXVKLJYMUB3YXW", + "high_descs": [ + "Turn right and then left walking into the other room to the table.", + "Pick up the candle sitting on the table", + "Turn left and cross into the next room turn left and go to the coffee table.", + "Set the candle down on the plate sitting on the coffee table", + "Pick up the plate with the candle on it", + "Turn around and walk over to the tv stand against the wall ", + "Place the plate with the candle on it on the bottom shelf." + ], + "task_desc": "Move the candle onto a plate and place it on the shelf.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A2A028LRDJB7ZB_3U4J9857OH2C6QH43SD2J9NX79F7B4", + "high_descs": [ + "Turn right walk forward then turn left face the table on your left", + "Pick up the candle on the table", + "Turn left walk straight then go to the right side end of the center table", + "Put the candle on the plate at the table", + "Pick up the plate with candle ", + "Turn left then head to the tv stand ", + "Put the plate with candle under the tv stand" + ], + "task_desc": "Put the plate with candle under the tv 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-Candle-Plate-DiningTable-223/trial_T20190909_063534_268824/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Candle-Plate-DiningTable-223/trial_T20190909_063534_268824/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..6d77f208f72602d9d0e7a84e3b3e76e68c471167 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Candle-Plate-DiningTable-223/trial_T20190909_063534_268824/initial_state.pddl @@ -0,0 +1,504 @@ + +(define (problem plan_trial_T20190909_063534_268824) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Box_bar__minus_03_dot_34_bar__plus_00_dot_74_bar__minus_00_dot_81 - object + Candle_bar__minus_01_dot_48_bar__plus_00_dot_71_bar__plus_02_dot_74 - object + Candle_bar__minus_01_dot_86_bar__plus_00_dot_45_bar__minus_00_dot_36 - object + Chair_bar__plus_01_dot_46_bar_00_dot_00_bar__plus_00_dot_20 - object + Chair_bar__plus_01_dot_64_bar_00_dot_00_bar__minus_00_dot_85 - object + Chair_bar__plus_02_dot_22_bar_00_dot_00_bar__plus_00_dot_15 - object + Chair_bar__plus_02_dot_29_bar_00_dot_00_bar__minus_00_dot_78 - object + CreditCard_bar__minus_02_dot_12_bar__plus_00_dot_71_bar__plus_02_dot_79 - object + CreditCard_bar__minus_02_dot_24_bar__plus_00_dot_71_bar__plus_02_dot_92 - object + FloorLamp_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__plus_02_dot_73 - object + HousePlant_bar__minus_03_dot_48_bar__plus_00_dot_71_bar__minus_01_dot_59 - object + KeyChain_bar__plus_01_dot_44_bar__plus_00_dot_78_bar__minus_00_dot_29 - object + KeyChain_bar__minus_01_dot_48_bar__plus_00_dot_71_bar__plus_02_dot_88 - object + Laptop_bar__plus_01_dot_22_bar__plus_00_dot_78_bar__minus_00_dot_17 - object + Laptop_bar__plus_02_dot_33_bar__plus_00_dot_78_bar__minus_00_dot_42 - object + LightSwitch_bar__minus_03_dot_90_bar__plus_01_dot_28_bar__plus_01_dot_68 - object + Painting_bar__plus_04_dot_14_bar__plus_01_dot_59_bar__minus_00_dot_30 - object + Painting_bar__minus_00_dot_06_bar__plus_01_dot_60_bar__plus_01_dot_73 - object + Pillow_bar__minus_03_dot_25_bar__plus_00_dot_65_bar__plus_00_dot_21 - object + Pillow_bar__minus_03_dot_25_bar__plus_00_dot_65_bar__minus_00_dot_30 - object + Plate_bar__minus_01_dot_86_bar__plus_00_dot_45_bar__minus_00_dot_11 - object + Plate_bar__minus_02_dot_02_bar__plus_00_dot_45_bar__minus_00_dot_36 - object + RemoteControl_bar__minus_00_dot_29_bar__plus_00_dot_19_bar__plus_01_dot_76 - object + RemoteControl_bar__minus_01_dot_61_bar__plus_00_dot_71_bar__plus_02_dot_74 - object + RemoteControl_bar__minus_01_dot_77_bar__plus_00_dot_45_bar__plus_00_dot_15 - object + Statue_bar__minus_01_dot_94_bar__plus_00_dot_46_bar__plus_00_dot_27 - object + Statue_bar__minus_03_dot_59_bar__plus_00_dot_71_bar__plus_01_dot_43 - object + Television_bar__minus_01_dot_86_bar__plus_01_dot_20_bar__plus_02_dot_69 - object + Vase_bar__plus_02_dot_11_bar__plus_00_dot_79_bar__minus_00_dot_05 - object + Vase_bar__minus_02_dot_18_bar__plus_00_dot_45_bar__plus_00_dot_02 - object + Vase_bar__minus_02_dot_24_bar__plus_00_dot_71_bar__plus_02_dot_79 - object + WateringCan_bar__minus_03_dot_25_bar_00_dot_00_bar__minus_01_dot_86 - object + Window_bar__plus_01_dot_48_bar__plus_01_dot_51_bar__minus_01_dot_93 - object + Window_bar__plus_03_dot_48_bar__plus_01_dot_51_bar__minus_01_dot_93 - object + Window_bar__minus_02_dot_00_bar__plus_01_dot_51_bar__minus_01_dot_93 - object + ArmChair_bar__minus_00_dot_43_bar__plus_00_dot_00_bar__plus_01_dot_06 - receptacle + ArmChair_bar__minus_00_dot_44_bar__plus_00_dot_00_bar__plus_01_dot_92 - receptacle + ArmChair_bar__minus_02_dot_01_bar__plus_00_dot_00_bar__minus_01_dot_58 - receptacle + CoffeeTable_bar__minus_02_dot_02_bar__minus_00_dot_01_bar__plus_00_dot_02 - receptacle + DiningTable_bar__plus_01_dot_88_bar_00_dot_00_bar__minus_00_dot_29 - receptacle + DiningTable_bar__minus_01_dot_88_bar__plus_00_dot_27_bar__plus_02_dot_79 - receptacle + GarbageCan_bar__plus_00_dot_29_bar__plus_00_dot_00_bar__plus_01_dot_26 - receptacle + Sofa_bar__minus_03_dot_44_bar__minus_00_dot_01_bar__minus_00_dot_04 - receptacle + TVStand_bar__minus_01_dot_86_bar__minus_00_dot_01_bar__plus_02_dot_79 - receptacle + loc_bar__minus_9_bar_7_bar_0_bar_60 - location + loc_bar__minus_13_bar_7_bar_3_bar_30 - location + loc_bar_9_bar_3_bar_2_bar_60 - location + loc_bar_8_bar__minus_5_bar_0_bar_60 - location + loc_bar_6_bar__minus_5_bar_2_bar_15 - location + loc_bar__minus_6_bar_5_bar_1_bar_60 - location + loc_bar__minus_5_bar_7_bar_1_bar_0 - location + loc_bar__minus_11_bar_0_bar_3_bar_60 - location + loc_bar__minus_4_bar_0_bar_3_bar_60 - location + loc_bar_14_bar__minus_5_bar_2_bar_15 - location + loc_bar__minus_5_bar_8_bar_1_bar_60 - location + loc_bar__minus_11_bar__minus_6_bar_1_bar_15 - location + loc_bar__minus_11_bar__minus_6_bar_3_bar_45 - location + loc_bar_7_bar__minus_5_bar_0_bar_60 - location + loc_bar_9_bar__minus_5_bar_0_bar_60 - location + loc_bar_3_bar_4_bar_3_bar_60 - location + loc_bar_14_bar__minus_1_bar_1_bar_0 - location + loc_bar__minus_8_bar_7_bar_0_bar_60 - location + loc_bar_6_bar_3_bar_2_bar_60 - location + loc_bar__minus_11_bar__minus_6_bar_3_bar_60 - location + loc_bar__minus_12_bar_6_bar_3_bar_60 - location + loc_bar__minus_6_bar_8_bar_1_bar_60 - location + loc_bar__minus_3_bar__minus_5_bar_3_bar_60 - location + loc_bar__minus_11_bar_0_bar_2_bar_30 - location + ) + + +(:init + + + (receptacleType Sofa_bar__minus_03_dot_44_bar__minus_00_dot_01_bar__minus_00_dot_04 SofaType) + (receptacleType DiningTable_bar__plus_01_dot_88_bar_00_dot_00_bar__minus_00_dot_29 DiningTableType) + (receptacleType CoffeeTable_bar__minus_02_dot_02_bar__minus_00_dot_01_bar__plus_00_dot_02 CoffeeTableType) + (receptacleType ArmChair_bar__minus_02_dot_01_bar__plus_00_dot_00_bar__minus_01_dot_58 ArmChairType) + (receptacleType ArmChair_bar__minus_00_dot_44_bar__plus_00_dot_00_bar__plus_01_dot_92 ArmChairType) + (receptacleType DiningTable_bar__minus_01_dot_88_bar__plus_00_dot_27_bar__plus_02_dot_79 DiningTableType) + (receptacleType ArmChair_bar__minus_00_dot_43_bar__plus_00_dot_00_bar__plus_01_dot_06 ArmChairType) + (receptacleType GarbageCan_bar__plus_00_dot_29_bar__plus_00_dot_00_bar__plus_01_dot_26 GarbageCanType) + (receptacleType TVStand_bar__minus_01_dot_86_bar__minus_00_dot_01_bar__plus_02_dot_79 TVStandType) + (objectType Window_bar__plus_03_dot_48_bar__plus_01_dot_51_bar__minus_01_dot_93 WindowType) + (objectType Pillow_bar__minus_03_dot_25_bar__plus_00_dot_65_bar__minus_00_dot_30 PillowType) + (objectType Laptop_bar__plus_02_dot_33_bar__plus_00_dot_78_bar__minus_00_dot_42 LaptopType) + (objectType FloorLamp_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__plus_02_dot_73 FloorLampType) + (objectType Chair_bar__plus_01_dot_46_bar_00_dot_00_bar__plus_00_dot_20 ChairType) + (objectType LightSwitch_bar__minus_03_dot_90_bar__plus_01_dot_28_bar__plus_01_dot_68 LightSwitchType) + (objectType Vase_bar__minus_02_dot_18_bar__plus_00_dot_45_bar__plus_00_dot_02 VaseType) + (objectType RemoteControl_bar__minus_01_dot_77_bar__plus_00_dot_45_bar__plus_00_dot_15 RemoteControlType) + (objectType Painting_bar__plus_04_dot_14_bar__plus_01_dot_59_bar__minus_00_dot_30 PaintingType) + (objectType Painting_bar__minus_00_dot_06_bar__plus_01_dot_60_bar__plus_01_dot_73 PaintingType) + (objectType Chair_bar__plus_02_dot_22_bar_00_dot_00_bar__plus_00_dot_15 ChairType) + (objectType CreditCard_bar__minus_02_dot_24_bar__plus_00_dot_71_bar__plus_02_dot_92 CreditCardType) + (objectType Pillow_bar__minus_03_dot_25_bar__plus_00_dot_65_bar__plus_00_dot_21 PillowType) + (objectType Window_bar__minus_02_dot_00_bar__plus_01_dot_51_bar__minus_01_dot_93 WindowType) + (objectType RemoteControl_bar__minus_00_dot_29_bar__plus_00_dot_19_bar__plus_01_dot_76 RemoteControlType) + (objectType KeyChain_bar__plus_01_dot_44_bar__plus_00_dot_78_bar__minus_00_dot_29 KeyChainType) + (objectType Vase_bar__minus_02_dot_24_bar__plus_00_dot_71_bar__plus_02_dot_79 VaseType) + (objectType HousePlant_bar__minus_03_dot_48_bar__plus_00_dot_71_bar__minus_01_dot_59 HousePlantType) + (objectType RemoteControl_bar__minus_01_dot_61_bar__plus_00_dot_71_bar__plus_02_dot_74 RemoteControlType) + (objectType Window_bar__plus_01_dot_48_bar__plus_01_dot_51_bar__minus_01_dot_93 WindowType) + (objectType Chair_bar__plus_01_dot_64_bar_00_dot_00_bar__minus_00_dot_85 ChairType) + (objectType WateringCan_bar__minus_03_dot_25_bar_00_dot_00_bar__minus_01_dot_86 WateringCanType) + (objectType Statue_bar__minus_03_dot_59_bar__plus_00_dot_71_bar__plus_01_dot_43 StatueType) + (objectType Chair_bar__plus_02_dot_29_bar_00_dot_00_bar__minus_00_dot_78 ChairType) + (objectType Laptop_bar__plus_01_dot_22_bar__plus_00_dot_78_bar__minus_00_dot_17 LaptopType) + (objectType Candle_bar__minus_01_dot_48_bar__plus_00_dot_71_bar__plus_02_dot_74 CandleType) + (objectType Plate_bar__minus_02_dot_02_bar__plus_00_dot_45_bar__minus_00_dot_36 PlateType) + (objectType KeyChain_bar__minus_01_dot_48_bar__plus_00_dot_71_bar__plus_02_dot_88 KeyChainType) + (objectType Television_bar__minus_01_dot_86_bar__plus_01_dot_20_bar__plus_02_dot_69 TelevisionType) + (objectType CreditCard_bar__minus_02_dot_12_bar__plus_00_dot_71_bar__plus_02_dot_79 CreditCardType) + (objectType Candle_bar__minus_01_dot_86_bar__plus_00_dot_45_bar__minus_00_dot_36 CandleType) + (objectType Vase_bar__plus_02_dot_11_bar__plus_00_dot_79_bar__minus_00_dot_05 VaseType) + (objectType Box_bar__minus_03_dot_34_bar__plus_00_dot_74_bar__minus_00_dot_81 BoxType) + (objectType Plate_bar__minus_01_dot_86_bar__plus_00_dot_45_bar__minus_00_dot_11 PlateType) + (objectType Statue_bar__minus_01_dot_94_bar__plus_00_dot_46_bar__plus_00_dot_27 StatueType) + (canContain SofaType BoxType) + (canContain SofaType LaptopType) + (canContain SofaType PillowType) + (canContain SofaType RemoteControlType) + (canContain SofaType KeyChainType) + (canContain SofaType CreditCardType) + (canContain DiningTableType CandleType) + (canContain DiningTableType VaseType) + (canContain DiningTableType BoxType) + (canContain DiningTableType KeyChainType) + (canContain DiningTableType CreditCardType) + (canContain DiningTableType LaptopType) + (canContain DiningTableType PlateType) + (canContain DiningTableType RemoteControlType) + (canContain DiningTableType StatueType) + (canContain DiningTableType WateringCanType) + (canContain CoffeeTableType CandleType) + (canContain CoffeeTableType VaseType) + (canContain CoffeeTableType BoxType) + (canContain CoffeeTableType KeyChainType) + (canContain CoffeeTableType CreditCardType) + (canContain CoffeeTableType LaptopType) + (canContain CoffeeTableType PlateType) + (canContain CoffeeTableType RemoteControlType) + (canContain CoffeeTableType StatueType) + (canContain CoffeeTableType WateringCanType) + (canContain ArmChairType BoxType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType PillowType) + (canContain ArmChairType RemoteControlType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType CreditCardType) + (canContain ArmChairType BoxType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType PillowType) + (canContain ArmChairType RemoteControlType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType CreditCardType) + (canContain DiningTableType CandleType) + (canContain DiningTableType VaseType) + (canContain DiningTableType BoxType) + (canContain DiningTableType KeyChainType) + (canContain DiningTableType CreditCardType) + (canContain DiningTableType LaptopType) + (canContain DiningTableType PlateType) + (canContain DiningTableType RemoteControlType) + (canContain DiningTableType StatueType) + (canContain DiningTableType WateringCanType) + (canContain ArmChairType BoxType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType PillowType) + (canContain ArmChairType RemoteControlType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType CreditCardType) + (pickupable Pillow_bar__minus_03_dot_25_bar__plus_00_dot_65_bar__minus_00_dot_30) + (pickupable Laptop_bar__plus_02_dot_33_bar__plus_00_dot_78_bar__minus_00_dot_42) + (pickupable Vase_bar__minus_02_dot_18_bar__plus_00_dot_45_bar__plus_00_dot_02) + (pickupable RemoteControl_bar__minus_01_dot_77_bar__plus_00_dot_45_bar__plus_00_dot_15) + (pickupable CreditCard_bar__minus_02_dot_24_bar__plus_00_dot_71_bar__plus_02_dot_92) + (pickupable Pillow_bar__minus_03_dot_25_bar__plus_00_dot_65_bar__plus_00_dot_21) + (pickupable RemoteControl_bar__minus_00_dot_29_bar__plus_00_dot_19_bar__plus_01_dot_76) + (pickupable KeyChain_bar__plus_01_dot_44_bar__plus_00_dot_78_bar__minus_00_dot_29) + (pickupable Vase_bar__minus_02_dot_24_bar__plus_00_dot_71_bar__plus_02_dot_79) + (pickupable RemoteControl_bar__minus_01_dot_61_bar__plus_00_dot_71_bar__plus_02_dot_74) + (pickupable WateringCan_bar__minus_03_dot_25_bar_00_dot_00_bar__minus_01_dot_86) + (pickupable Statue_bar__minus_03_dot_59_bar__plus_00_dot_71_bar__plus_01_dot_43) + (pickupable Laptop_bar__plus_01_dot_22_bar__plus_00_dot_78_bar__minus_00_dot_17) + (pickupable Candle_bar__minus_01_dot_48_bar__plus_00_dot_71_bar__plus_02_dot_74) + (pickupable Plate_bar__minus_02_dot_02_bar__plus_00_dot_45_bar__minus_00_dot_36) + (pickupable KeyChain_bar__minus_01_dot_48_bar__plus_00_dot_71_bar__plus_02_dot_88) + (pickupable CreditCard_bar__minus_02_dot_12_bar__plus_00_dot_71_bar__plus_02_dot_79) + (pickupable Candle_bar__minus_01_dot_86_bar__plus_00_dot_45_bar__minus_00_dot_36) + (pickupable Vase_bar__plus_02_dot_11_bar__plus_00_dot_79_bar__minus_00_dot_05) + (pickupable Box_bar__minus_03_dot_34_bar__plus_00_dot_74_bar__minus_00_dot_81) + (pickupable Plate_bar__minus_01_dot_86_bar__plus_00_dot_45_bar__minus_00_dot_11) + (pickupable Statue_bar__minus_01_dot_94_bar__plus_00_dot_46_bar__plus_00_dot_27) + (isReceptacleObject Plate_bar__minus_02_dot_02_bar__plus_00_dot_45_bar__minus_00_dot_36) + (isReceptacleObject Box_bar__minus_03_dot_34_bar__plus_00_dot_74_bar__minus_00_dot_81) + (isReceptacleObject Plate_bar__minus_01_dot_86_bar__plus_00_dot_45_bar__minus_00_dot_11) + + + (atLocation agent1 loc_bar__minus_11_bar_0_bar_2_bar_30) + + (cleanable Plate_bar__minus_02_dot_02_bar__plus_00_dot_45_bar__minus_00_dot_36) + (cleanable Plate_bar__minus_01_dot_86_bar__plus_00_dot_45_bar__minus_00_dot_11) + + (heatable Plate_bar__minus_02_dot_02_bar__plus_00_dot_45_bar__minus_00_dot_36) + (heatable Plate_bar__minus_01_dot_86_bar__plus_00_dot_45_bar__minus_00_dot_11) + (coolable Plate_bar__minus_02_dot_02_bar__plus_00_dot_45_bar__minus_00_dot_36) + (coolable Plate_bar__minus_01_dot_86_bar__plus_00_dot_45_bar__minus_00_dot_11) + + + (toggleable FloorLamp_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__plus_02_dot_73) + + + + + (inReceptacle RemoteControl_bar__minus_01_dot_61_bar__plus_00_dot_71_bar__plus_02_dot_74 TVStand_bar__minus_01_dot_86_bar__minus_00_dot_01_bar__plus_02_dot_79) + (inReceptacle KeyChain_bar__minus_01_dot_48_bar__plus_00_dot_71_bar__plus_02_dot_88 TVStand_bar__minus_01_dot_86_bar__minus_00_dot_01_bar__plus_02_dot_79) + (inReceptacle Television_bar__minus_01_dot_86_bar__plus_01_dot_20_bar__plus_02_dot_69 TVStand_bar__minus_01_dot_86_bar__minus_00_dot_01_bar__plus_02_dot_79) + (inReceptacle CreditCard_bar__minus_02_dot_24_bar__plus_00_dot_71_bar__plus_02_dot_92 TVStand_bar__minus_01_dot_86_bar__minus_00_dot_01_bar__plus_02_dot_79) + (inReceptacle CreditCard_bar__minus_02_dot_12_bar__plus_00_dot_71_bar__plus_02_dot_79 TVStand_bar__minus_01_dot_86_bar__minus_00_dot_01_bar__plus_02_dot_79) + (inReceptacle Vase_bar__minus_02_dot_24_bar__plus_00_dot_71_bar__plus_02_dot_79 TVStand_bar__minus_01_dot_86_bar__minus_00_dot_01_bar__plus_02_dot_79) + (inReceptacle Candle_bar__minus_01_dot_48_bar__plus_00_dot_71_bar__plus_02_dot_74 TVStand_bar__minus_01_dot_86_bar__minus_00_dot_01_bar__plus_02_dot_79) + (inReceptacle Vase_bar__plus_02_dot_11_bar__plus_00_dot_79_bar__minus_00_dot_05 DiningTable_bar__plus_01_dot_88_bar_00_dot_00_bar__minus_00_dot_29) + (inReceptacle KeyChain_bar__plus_01_dot_44_bar__plus_00_dot_78_bar__minus_00_dot_29 DiningTable_bar__plus_01_dot_88_bar_00_dot_00_bar__minus_00_dot_29) + (inReceptacle Laptop_bar__plus_01_dot_22_bar__plus_00_dot_78_bar__minus_00_dot_17 DiningTable_bar__plus_01_dot_88_bar_00_dot_00_bar__minus_00_dot_29) + (inReceptacle Laptop_bar__plus_02_dot_33_bar__plus_00_dot_78_bar__minus_00_dot_42 DiningTable_bar__plus_01_dot_88_bar_00_dot_00_bar__minus_00_dot_29) + (inReceptacle RemoteControl_bar__minus_00_dot_29_bar__plus_00_dot_19_bar__plus_01_dot_76 ArmChair_bar__minus_00_dot_44_bar__plus_00_dot_00_bar__plus_01_dot_92) + (inReceptacle Box_bar__minus_03_dot_34_bar__plus_00_dot_74_bar__minus_00_dot_81 Sofa_bar__minus_03_dot_44_bar__minus_00_dot_01_bar__minus_00_dot_04) + (inReceptacle Pillow_bar__minus_03_dot_25_bar__plus_00_dot_65_bar__minus_00_dot_30 Sofa_bar__minus_03_dot_44_bar__minus_00_dot_01_bar__minus_00_dot_04) + (inReceptacle Pillow_bar__minus_03_dot_25_bar__plus_00_dot_65_bar__plus_00_dot_21 Sofa_bar__minus_03_dot_44_bar__minus_00_dot_01_bar__minus_00_dot_04) + (inReceptacle Vase_bar__minus_02_dot_18_bar__plus_00_dot_45_bar__plus_00_dot_02 CoffeeTable_bar__minus_02_dot_02_bar__minus_00_dot_01_bar__plus_00_dot_02) + (inReceptacle RemoteControl_bar__minus_01_dot_77_bar__plus_00_dot_45_bar__plus_00_dot_15 CoffeeTable_bar__minus_02_dot_02_bar__minus_00_dot_01_bar__plus_00_dot_02) + (inReceptacle Plate_bar__minus_02_dot_02_bar__plus_00_dot_45_bar__minus_00_dot_36 CoffeeTable_bar__minus_02_dot_02_bar__minus_00_dot_01_bar__plus_00_dot_02) + (inReceptacle Candle_bar__minus_01_dot_86_bar__plus_00_dot_45_bar__minus_00_dot_36 CoffeeTable_bar__minus_02_dot_02_bar__minus_00_dot_01_bar__plus_00_dot_02) + (inReceptacle Plate_bar__minus_01_dot_86_bar__plus_00_dot_45_bar__minus_00_dot_11 CoffeeTable_bar__minus_02_dot_02_bar__minus_00_dot_01_bar__plus_00_dot_02) + (inReceptacle Statue_bar__minus_01_dot_94_bar__plus_00_dot_46_bar__plus_00_dot_27 CoffeeTable_bar__minus_02_dot_02_bar__minus_00_dot_01_bar__plus_00_dot_02) + + + (receptacleAtLocation ArmChair_bar__minus_00_dot_43_bar__plus_00_dot_00_bar__plus_01_dot_06 loc_bar__minus_6_bar_5_bar_1_bar_60) + (receptacleAtLocation ArmChair_bar__minus_00_dot_44_bar__plus_00_dot_00_bar__plus_01_dot_92 loc_bar__minus_6_bar_8_bar_1_bar_60) + (receptacleAtLocation ArmChair_bar__minus_02_dot_01_bar__plus_00_dot_00_bar__minus_01_dot_58 loc_bar__minus_3_bar__minus_5_bar_3_bar_60) + (receptacleAtLocation CoffeeTable_bar__minus_02_dot_02_bar__minus_00_dot_01_bar__plus_00_dot_02 loc_bar__minus_4_bar_0_bar_3_bar_60) + (receptacleAtLocation DiningTable_bar__plus_01_dot_88_bar_00_dot_00_bar__minus_00_dot_29 loc_bar_8_bar__minus_5_bar_0_bar_60) + (receptacleAtLocation DiningTable_bar__minus_01_dot_88_bar__plus_00_dot_27_bar__plus_02_dot_79 loc_bar__minus_9_bar_7_bar_0_bar_60) + (receptacleAtLocation GarbageCan_bar__plus_00_dot_29_bar__plus_00_dot_00_bar__plus_01_dot_26 loc_bar_3_bar_4_bar_3_bar_60) + (receptacleAtLocation Sofa_bar__minus_03_dot_44_bar__minus_00_dot_01_bar__minus_00_dot_04 loc_bar__minus_11_bar_0_bar_3_bar_60) + (receptacleAtLocation TVStand_bar__minus_01_dot_86_bar__minus_00_dot_01_bar__plus_02_dot_79 loc_bar__minus_8_bar_7_bar_0_bar_60) + (objectAtLocation Plate_bar__minus_02_dot_02_bar__plus_00_dot_45_bar__minus_00_dot_36 loc_bar__minus_4_bar_0_bar_3_bar_60) + (objectAtLocation Pillow_bar__minus_03_dot_25_bar__plus_00_dot_65_bar__minus_00_dot_30 loc_bar__minus_11_bar_0_bar_3_bar_60) + (objectAtLocation KeyChain_bar__minus_01_dot_48_bar__plus_00_dot_71_bar__plus_02_dot_88 loc_bar__minus_8_bar_7_bar_0_bar_60) + (objectAtLocation RemoteControl_bar__minus_00_dot_29_bar__plus_00_dot_19_bar__plus_01_dot_76 loc_bar__minus_6_bar_8_bar_1_bar_60) + (objectAtLocation Laptop_bar__plus_01_dot_22_bar__plus_00_dot_78_bar__minus_00_dot_17 loc_bar_8_bar__minus_5_bar_0_bar_60) + (objectAtLocation CreditCard_bar__minus_02_dot_24_bar__plus_00_dot_71_bar__plus_02_dot_92 loc_bar__minus_8_bar_7_bar_0_bar_60) + (objectAtLocation Vase_bar__minus_02_dot_24_bar__plus_00_dot_71_bar__plus_02_dot_79 loc_bar__minus_8_bar_7_bar_0_bar_60) + (objectAtLocation Candle_bar__minus_01_dot_48_bar__plus_00_dot_71_bar__plus_02_dot_74 loc_bar__minus_8_bar_7_bar_0_bar_60) + (objectAtLocation RemoteControl_bar__minus_01_dot_61_bar__plus_00_dot_71_bar__plus_02_dot_74 loc_bar__minus_8_bar_7_bar_0_bar_60) + (objectAtLocation Chair_bar__plus_01_dot_64_bar_00_dot_00_bar__minus_00_dot_85 loc_bar_7_bar__minus_5_bar_0_bar_60) + (objectAtLocation Box_bar__minus_03_dot_34_bar__plus_00_dot_74_bar__minus_00_dot_81 loc_bar__minus_11_bar_0_bar_3_bar_60) + (objectAtLocation Chair_bar__plus_02_dot_29_bar_00_dot_00_bar__minus_00_dot_78 loc_bar_9_bar__minus_5_bar_0_bar_60) + (objectAtLocation Chair_bar__plus_01_dot_46_bar_00_dot_00_bar__plus_00_dot_20 loc_bar_6_bar_3_bar_2_bar_60) + (objectAtLocation Chair_bar__plus_02_dot_22_bar_00_dot_00_bar__plus_00_dot_15 loc_bar_9_bar_3_bar_2_bar_60) + (objectAtLocation Candle_bar__minus_01_dot_86_bar__plus_00_dot_45_bar__minus_00_dot_36 loc_bar__minus_4_bar_0_bar_3_bar_60) + (objectAtLocation Vase_bar__minus_02_dot_18_bar__plus_00_dot_45_bar__plus_00_dot_02 loc_bar__minus_4_bar_0_bar_3_bar_60) + (objectAtLocation CreditCard_bar__minus_02_dot_12_bar__plus_00_dot_71_bar__plus_02_dot_79 loc_bar__minus_8_bar_7_bar_0_bar_60) + (objectAtLocation Vase_bar__plus_02_dot_11_bar__plus_00_dot_79_bar__minus_00_dot_05 loc_bar_8_bar__minus_5_bar_0_bar_60) + (objectAtLocation WateringCan_bar__minus_03_dot_25_bar_00_dot_00_bar__minus_01_dot_86 loc_bar__minus_11_bar__minus_6_bar_3_bar_60) + (objectAtLocation LightSwitch_bar__minus_03_dot_90_bar__plus_01_dot_28_bar__plus_01_dot_68 loc_bar__minus_13_bar_7_bar_3_bar_30) + (objectAtLocation Laptop_bar__plus_02_dot_33_bar__plus_00_dot_78_bar__minus_00_dot_42 loc_bar_8_bar__minus_5_bar_0_bar_60) + (objectAtLocation RemoteControl_bar__minus_01_dot_77_bar__plus_00_dot_45_bar__plus_00_dot_15 loc_bar__minus_4_bar_0_bar_3_bar_60) + (objectAtLocation FloorLamp_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__plus_02_dot_73 loc_bar__minus_5_bar_8_bar_1_bar_60) + (objectAtLocation Statue_bar__minus_03_dot_59_bar__plus_00_dot_71_bar__plus_01_dot_43 loc_bar__minus_12_bar_6_bar_3_bar_60) + (objectAtLocation KeyChain_bar__plus_01_dot_44_bar__plus_00_dot_78_bar__minus_00_dot_29 loc_bar_8_bar__minus_5_bar_0_bar_60) + (objectAtLocation Painting_bar__minus_00_dot_06_bar__plus_01_dot_60_bar__plus_01_dot_73 loc_bar__minus_5_bar_7_bar_1_bar_0) + (objectAtLocation Painting_bar__plus_04_dot_14_bar__plus_01_dot_59_bar__minus_00_dot_30 loc_bar_14_bar__minus_1_bar_1_bar_0) + (objectAtLocation Pillow_bar__minus_03_dot_25_bar__plus_00_dot_65_bar__plus_00_dot_21 loc_bar__minus_11_bar_0_bar_3_bar_60) + (objectAtLocation Television_bar__minus_01_dot_86_bar__plus_01_dot_20_bar__plus_02_dot_69 loc_bar__minus_8_bar_7_bar_0_bar_60) + (objectAtLocation HousePlant_bar__minus_03_dot_48_bar__plus_00_dot_71_bar__minus_01_dot_59 loc_bar__minus_11_bar__minus_6_bar_3_bar_45) + (objectAtLocation Window_bar__plus_01_dot_48_bar__plus_01_dot_51_bar__minus_01_dot_93 loc_bar_6_bar__minus_5_bar_2_bar_15) + (objectAtLocation Window_bar__minus_02_dot_00_bar__plus_01_dot_51_bar__minus_01_dot_93 loc_bar__minus_11_bar__minus_6_bar_1_bar_15) + (objectAtLocation Window_bar__plus_03_dot_48_bar__plus_01_dot_51_bar__minus_01_dot_93 loc_bar_14_bar__minus_5_bar_2_bar_15) + (objectAtLocation Plate_bar__minus_01_dot_86_bar__plus_00_dot_45_bar__minus_00_dot_11 loc_bar__minus_4_bar_0_bar_3_bar_60) + (objectAtLocation Statue_bar__minus_01_dot_94_bar__plus_00_dot_46_bar__plus_00_dot_27 loc_bar__minus_4_bar_0_bar_3_bar_60) + ) + + + (:goal + (and + (exists (?r - receptacle) + (and + (receptacleType ?r DiningTableType) + (exists (?o - object) + (and + (objectType ?o CandleType) + (exists (?mo - object) + (and + (objectType ?mo PlateType) + (isReceptacleObject ?mo) + (inReceptacleObject ?o ?mo) + (inReceptacle ?mo ?r) + ) + ) + ) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Candle-Plate-DiningTable-223/trial_T20190909_063534_268824/traj_data.json b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Candle-Plate-DiningTable-223/trial_T20190909_063534_268824/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..c1d1d860a76ef2b3349d50a6363bf1c7a37c627c --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Candle-Plate-DiningTable-223/trial_T20190909_063534_268824/traj_data.json @@ -0,0 +1,3061 @@ +{ + "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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short side of the coffee table.", + "Hold the candle stick and take a step to the left.", + "Place the candle stick on the plate, closest to you.", + "Pick up the plate from the coffee table.", + "Hold the plate and turn to the left and then right to find the TV.", + "Place the plate and candle stick on the bottom shelf." + ], + "task_desc": "Move a plate and candle stick to the shelf.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1CY7IOJ9YH136_3W2LOLRXLE6NHC5DIJO1NTXNVFKRK9", + "high_descs": [ + "turn around, go to right end of coffee table", + "pick up candle in holder from coffee table", + "go to square gold plate to the left", + "place candle on left back corner of square gold plate", + "pick up gold plate with candle", + "go around coffee table to television stand", + "place gold plate with candle on bottom shelf of television stand" + ], + "task_desc": "Place gold plate with candle on television stand", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": 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file mode 100644 index 0000000000000000000000000000000000000000..e2601176c905a4e40832161e9516857da6938d82 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-DishSponge-Pot-SinkBasin-26/trial_T20190908_002511_994473/initial_state.pddl @@ -0,0 +1,923 @@ + +(define (problem plan_trial_T20190908_002511_994473) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + 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_33 - object + Bowl_bar__minus_00_dot_14_bar__plus_01_dot_77_bar__plus_00_dot_30 - object + Bowl_bar__minus_02_dot_48_bar__plus_00_dot_90_bar__plus_02_dot_57 - object + Bowl_bar__minus_02_dot_81_bar__plus_01_dot_18_bar__plus_04_dot_43 - object + Bread_bar__minus_02_dot_87_bar__plus_00_dot_94_bar__plus_01_dot_98 - object + ButterKnife_bar__minus_00_dot_23_bar__plus_00_dot_90_bar__plus_02_dot_73 - object + ButterKnife_bar__minus_00_dot_57_bar__plus_00_dot_90_bar__plus_02_dot_73 - object + Cup_bar__minus_01_dot_90_bar__plus_00_dot_93_bar__plus_00_dot_26 - object + DishSponge_bar__minus_00_dot_40_bar__plus_00_dot_90_bar__plus_03_dot_33 - object + DishSponge_bar__minus_02_dot_73_bar__plus_00_dot_05_bar__plus_00_dot_37 - object + Egg_bar__minus_03_dot_02_bar__plus_00_dot_97_bar__plus_03_dot_21 - object + Faucet_bar__minus_01_dot_08_bar__plus_00_dot_92_bar__plus_00_dot_03 - object + Fork_bar__minus_02_dot_69_bar__plus_00_dot_90_bar__plus_02_dot_31 - object + Knife_bar__minus_02_dot_38_bar__plus_00_dot_69_bar__plus_00_dot_46 - object + Knife_bar__minus_02_dot_71_bar__plus_00_dot_96_bar__plus_03_dot_77 - object + Knife_bar__minus_02_dot_79_bar__plus_00_dot_96_bar__plus_03_dot_21 - object + Lettuce_bar__minus_02_dot_58_bar__plus_00_dot_98_bar__plus_01_dot_91 - 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_89_bar__plus_02_dot_05 - object + Mug_bar__minus_02_dot_78_bar__plus_01_dot_00_bar__plus_03_dot_71 - object + Mug_bar__minus_02_dot_93_bar__plus_00_dot_29_bar__plus_04_dot_65 - object + Pan_bar__minus_00_dot_49_bar__plus_00_dot_90_bar__plus_03_dot_13 - object + PepperShaker_bar__minus_00_dot_33_bar__plus_00_dot_66_bar__plus_00_dot_46 - object + PepperShaker_bar__minus_02_dot_04_bar__plus_00_dot_92_bar__plus_00_dot_52 - object + PepperShaker_bar__minus_02_dot_79_bar__plus_00_dot_93_bar__plus_03_dot_30 - object + Plate_bar__minus_00_dot_40_bar__plus_00_dot_90_bar__plus_02_dot_53 - object + Plate_bar__minus_02_dot_89_bar__plus_00_dot_90_bar__plus_02_dot_44 - object + Potato_bar__minus_00_dot_40_bar__plus_01_dot_05_bar__plus_00_dot_20 - object + Potato_bar__minus_01_dot_77_bar__plus_00_dot_95_bar__plus_00_dot_26 - object + Potato_bar__minus_02_dot_88_bar__plus_00_dot_08_bar__plus_00_dot_40 - object + Pot_bar__minus_00_dot_54_bar__plus_00_dot_93_bar__plus_04_dot_27 - object + SaltShaker_bar__minus_00_dot_27_bar__plus_00_dot_66_bar__plus_00_dot_57 - object + SaltShaker_bar__minus_00_dot_49_bar__plus_00_dot_66_bar__plus_00_dot_30 - object + SaltShaker_bar__minus_02_dot_22_bar__plus_00_dot_66_bar__plus_00_dot_41 - object + Sink_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_00_dot_34 - object + SoapBottle_bar__minus_00_dot_80_bar__plus_01_dot_77_bar__plus_00_dot_25 - object + SoapBottle_bar__minus_02_dot_48_bar__plus_00_dot_90_bar__plus_02_dot_31 - object + SoapBottle_bar__minus_02_dot_69_bar__plus_00_dot_90_bar__plus_02_dot_71 - object + Spatula_bar__minus_00_dot_16_bar__plus_00_dot_68_bar__plus_00_dot_46 - object + Spoon_bar__minus_02_dot_27_bar__plus_00_dot_66_bar__plus_00_dot_30 - object + Spoon_bar__minus_02_dot_58_bar__plus_00_dot_90_bar__plus_02_dot_57 - 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_63_bar__plus_01_dot_00_bar__plus_03_dot_40 - object + Window_bar__minus_03_dot_08_bar__plus_01_dot_59_bar__plus_01_dot_36 - object + Cabinet_bar__minus_00_dot_48_bar__plus_02_dot_05_bar__plus_00_dot_39 - receptacle + Cabinet_bar__minus_00_dot_52_bar__plus_02_dot_05_bar__plus_00_dot_39 - receptacle + Cabinet_bar__minus_00_dot_56_bar__plus_00_dot_49_bar__plus_00_dot_65 - receptacle + Cabinet_bar__minus_00_dot_60_bar__plus_00_dot_49_bar__plus_00_dot_65 - receptacle + Cabinet_bar__minus_01_dot_48_bar__plus_02_dot_05_bar__plus_00_dot_39 - receptacle + Cabinet_bar__minus_01_dot_51_bar__plus_02_dot_05_bar__plus_00_dot_39 - receptacle + Cabinet_bar__minus_01_dot_55_bar__plus_00_dot_49_bar__plus_00_dot_65 - receptacle + Cabinet_bar__minus_01_dot_59_bar__plus_00_dot_49_bar__plus_00_dot_65 - receptacle + Cabinet_bar__minus_02_dot_47_bar__plus_02_dot_05_bar__plus_00_dot_39 - receptacle + Cabinet_bar__minus_02_dot_55_bar__plus_00_dot_49_bar__plus_00_dot_65 - receptacle + CoffeeMachine_bar__minus_02_dot_96_bar__plus_00_dot_93_bar__plus_03_dot_61 - receptacle + CounterTop_bar__minus_01_dot_37_bar__plus_00_dot_95_bar__plus_00_dot_35 - receptacle + CounterTop_bar__minus_02_dot_78_bar__plus_00_dot_97_bar__plus_03_dot_49 - receptacle + DiningTable_bar__minus_00_dot_47_bar__plus_00_dot_01_bar__plus_03_dot_00 - receptacle + DiningTable_bar__minus_02_dot_76_bar__plus_00_dot_01_bar__plus_02_dot_36 - receptacle + Drawer_bar__minus_00_dot_33_bar__plus_00_dot_70_bar__plus_00_dot_41 - receptacle + Drawer_bar__minus_01_dot_82_bar__plus_00_dot_70_bar__plus_00_dot_41 - receptacle + Drawer_bar__minus_02_dot_32_bar__plus_00_dot_70_bar__plus_00_dot_41 - receptacle + Fridge_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__plus_04_dot_43 - receptacle + GarbageCan_bar__minus_02_dot_82_bar__plus_00_dot_00_bar__plus_00_dot_37 - receptacle + Microwave_bar__minus_00_dot_36_bar__plus_00_dot_91_bar__plus_00_dot_22 - receptacle + Sink_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_00_dot_34_bar_SinkBasin - receptacle + StoveBurner_bar__minus_00_dot_25_bar__plus_00_dot_92_bar__plus_04_dot_27 - receptacle + StoveBurner_bar__minus_00_dot_25_bar__plus_00_dot_92_bar__plus_04_dot_67 - receptacle + StoveBurner_bar__minus_00_dot_54_bar__plus_00_dot_92_bar__plus_04_dot_27 - receptacle + StoveBurner_bar__minus_00_dot_54_bar__plus_00_dot_92_bar__plus_04_dot_67 - receptacle + Toaster_bar__minus_00_dot_29_bar__plus_00_dot_89_bar__plus_03_dot_56 - receptacle + loc_bar__minus_5_bar_4_bar_2_bar__minus_30 - location + loc_bar__minus_4_bar_17_bar_1_bar_60 - location + loc_bar__minus_6_bar_5_bar_2_bar_45 - location + loc_bar__minus_8_bar_4_bar_2_bar__minus_30 - location + loc_bar__minus_7_bar_4_bar_2_bar__minus_30 - location + loc_bar__minus_3_bar_5_bar_2_bar_30 - location + loc_bar__minus_3_bar_6_bar_2_bar_45 - location + loc_bar__minus_8_bar_14_bar_3_bar_45 - location + loc_bar__minus_10_bar_5_bar_3_bar_0 - location + loc_bar__minus_3_bar_7_bar_1_bar_15 - location + loc_bar__minus_7_bar_4_bar_2_bar_60 - location + loc_bar__minus_4_bar_14_bar_1_bar_45 - location + loc_bar__minus_4_bar_4_bar_2_bar_45 - location + loc_bar__minus_4_bar_5_bar_2_bar_45 - location + loc_bar__minus_3_bar_4_bar_2_bar_60 - location + loc_bar__minus_4_bar_17_bar_1_bar_30 - location + loc_bar__minus_8_bar_14_bar_3_bar_30 - location + loc_bar__minus_3_bar_5_bar_2_bar__minus_30 - location + loc_bar__minus_7_bar_17_bar_3_bar_60 - location + loc_bar__minus_8_bar_5_bar_2_bar_45 - location + loc_bar__minus_3_bar_5_bar_2_bar_45 - location + loc_bar__minus_4_bar_17_bar_1_bar_45 - location + loc_bar__minus_5_bar_11_bar_1_bar_60 - location + loc_bar__minus_8_bar_10_bar_3_bar_60 - location + loc_bar__minus_10_bar_4_bar_2_bar_60 - location + loc_bar__minus_3_bar_4_bar_2_bar__minus_30 - location + loc_bar__minus_6_bar_16_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 SaltShaker_bar__minus_02_dot_22_bar__plus_00_dot_66_bar__plus_00_dot_41 SaltShakerType) + (objectType Lettuce_bar__minus_02_dot_58_bar__plus_00_dot_98_bar__plus_01_dot_91 LettuceType) + (objectType Mug_bar__minus_02_dot_69_bar__plus_00_dot_89_bar__plus_02_dot_05 MugType) + (objectType Window_bar__minus_03_dot_08_bar__plus_01_dot_59_bar__plus_01_dot_36 WindowType) + (objectType Bowl_bar__minus_02_dot_48_bar__plus_00_dot_90_bar__plus_02_dot_57 BowlType) + (objectType Potato_bar__minus_01_dot_77_bar__plus_00_dot_95_bar__plus_00_dot_26 PotatoType) + (objectType Knife_bar__minus_02_dot_38_bar__plus_00_dot_69_bar__plus_00_dot_46 KnifeType) + (objectType PepperShaker_bar__minus_02_dot_79_bar__plus_00_dot_93_bar__plus_03_dot_30 PepperShakerType) + (objectType DishSponge_bar__minus_02_dot_73_bar__plus_00_dot_05_bar__plus_00_dot_37 DishSpongeType) + (objectType SoapBottle_bar__minus_00_dot_80_bar__plus_01_dot_77_bar__plus_00_dot_25 SoapBottleType) + (objectType SoapBottle_bar__minus_02_dot_48_bar__plus_00_dot_90_bar__plus_02_dot_31 SoapBottleType) + (objectType Sink_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_00_dot_34 SinkType) + (objectType Spoon_bar__minus_02_dot_58_bar__plus_00_dot_90_bar__plus_02_dot_57 SpoonType) + (objectType Bowl_bar__minus_00_dot_14_bar__plus_01_dot_77_bar__plus_00_dot_30 BowlType) + (objectType Fork_bar__minus_02_dot_69_bar__plus_00_dot_90_bar__plus_02_dot_31 ForkType) + (objectType Potato_bar__minus_02_dot_88_bar__plus_00_dot_08_bar__plus_00_dot_40 PotatoType) + (objectType Spoon_bar__minus_02_dot_27_bar__plus_00_dot_66_bar__plus_00_dot_30 SpoonType) + (objectType Knife_bar__minus_02_dot_79_bar__plus_00_dot_96_bar__plus_03_dot_21 KnifeType) + (objectType Bread_bar__minus_02_dot_87_bar__plus_00_dot_94_bar__plus_01_dot_98 BreadType) + (objectType Apple_bar__minus_00_dot_66_bar__plus_00_dot_96_bar__plus_03_dot_33 AppleType) + (objectType ButterKnife_bar__minus_00_dot_23_bar__plus_00_dot_90_bar__plus_02_dot_73 ButterKnifeType) + (objectType LightSwitch_bar__minus_00_dot_07_bar__plus_01_dot_45_bar__plus_02_dot_00 LightSwitchType) + (objectType StoveKnob_bar__minus_00_dot_06_bar__plus_01_dot_09_bar__plus_04_dot_63 StoveKnobType) + (objectType Bowl_bar__minus_02_dot_81_bar__plus_01_dot_18_bar__plus_04_dot_43 BowlType) + (objectType SaltShaker_bar__minus_00_dot_27_bar__plus_00_dot_66_bar__plus_00_dot_57 SaltShakerType) + (objectType StoveKnob_bar__minus_00_dot_06_bar__plus_01_dot_09_bar__plus_04_dot_78 StoveKnobType) + (objectType PepperShaker_bar__minus_00_dot_33_bar__plus_00_dot_66_bar__plus_00_dot_46 PepperShakerType) + (objectType StoveKnob_bar__minus_00_dot_06_bar__plus_01_dot_09_bar__plus_04_dot_38 StoveKnobType) + (objectType StoveKnob_bar__minus_00_dot_06_bar__plus_01_dot_09_bar__plus_04_dot_22 StoveKnobType) + (objectType PepperShaker_bar__minus_02_dot_04_bar__plus_00_dot_92_bar__plus_00_dot_52 PepperShakerType) + (objectType Egg_bar__minus_03_dot_02_bar__plus_00_dot_97_bar__plus_03_dot_21 EggType) + (objectType Plate_bar__minus_00_dot_40_bar__plus_00_dot_90_bar__plus_02_dot_53 PlateType) + (objectType Cup_bar__minus_01_dot_90_bar__plus_00_dot_93_bar__plus_00_dot_26 CupType) + (objectType SoapBottle_bar__minus_02_dot_69_bar__plus_00_dot_90_bar__plus_02_dot_71 SoapBottleType) + (objectType Pan_bar__minus_00_dot_49_bar__plus_00_dot_90_bar__plus_03_dot_13 PanType) + (objectType Potato_bar__minus_00_dot_40_bar__plus_01_dot_05_bar__plus_00_dot_20 PotatoType) + (objectType Mug_bar__minus_02_dot_93_bar__plus_00_dot_29_bar__plus_04_dot_65 MugType) + (objectType Knife_bar__minus_02_dot_71_bar__plus_00_dot_96_bar__plus_03_dot_77 KnifeType) + (objectType SaltShaker_bar__minus_00_dot_49_bar__plus_00_dot_66_bar__plus_00_dot_30 SaltShakerType) + (objectType Mug_bar__minus_02_dot_78_bar__plus_01_dot_00_bar__plus_03_dot_71 MugType) + (objectType Plate_bar__minus_02_dot_89_bar__plus_00_dot_90_bar__plus_02_dot_44 PlateType) 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CabinetType PotType) + (canContain CabinetType MugType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType CupType) + (canContain CabinetType PlateType) + (canContain CabinetType PepperShakerType) + (canContain CabinetType PanType) + (canContain StoveBurnerType PotType) + (canContain StoveBurnerType PanType) + (canContain CounterTopType SaltShakerType) + (canContain CounterTopType BreadType) + (canContain CounterTopType DishSpongeType) + (canContain CounterTopType BowlType) + (canContain CounterTopType PotType) + (canContain CounterTopType MugType) + (canContain CounterTopType EggType) + (canContain CounterTopType ForkType) + (canContain CounterTopType SpoonType) + (canContain CounterTopType SoapBottleType) + (canContain CounterTopType LettuceType) + (canContain CounterTopType PotatoType) + (canContain CounterTopType ButterKnifeType) + (canContain CounterTopType CupType) + (canContain CounterTopType PlateType) + (canContain CounterTopType PepperShakerType) + 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Mug_bar__minus_02_dot_78_bar__plus_01_dot_00_bar__plus_03_dot_71) + (coolable Plate_bar__minus_02_dot_89_bar__plus_00_dot_90_bar__plus_02_dot_44) + (coolable Tomato_bar__minus_02_dot_63_bar__plus_01_dot_00_bar__plus_03_dot_40) + (coolable Pot_bar__minus_00_dot_54_bar__plus_00_dot_93_bar__plus_04_dot_27) + + + + + + (sliceable Lettuce_bar__minus_02_dot_58_bar__plus_00_dot_98_bar__plus_01_dot_91) + (sliceable Potato_bar__minus_01_dot_77_bar__plus_00_dot_95_bar__plus_00_dot_26) + (sliceable Potato_bar__minus_02_dot_88_bar__plus_00_dot_08_bar__plus_00_dot_40) + (sliceable Bread_bar__minus_02_dot_87_bar__plus_00_dot_94_bar__plus_01_dot_98) + (sliceable Apple_bar__minus_00_dot_66_bar__plus_00_dot_96_bar__plus_03_dot_33) + (sliceable Egg_bar__minus_03_dot_02_bar__plus_00_dot_97_bar__plus_03_dot_21) + (sliceable Potato_bar__minus_00_dot_40_bar__plus_01_dot_05_bar__plus_00_dot_20) + (sliceable Tomato_bar__minus_02_dot_63_bar__plus_01_dot_00_bar__plus_03_dot_40) + + (inReceptacleObject Fork_bar__minus_02_dot_69_bar__plus_00_dot_90_bar__plus_02_dot_31 Plate_bar__minus_02_dot_89_bar__plus_00_dot_90_bar__plus_02_dot_44) + (inReceptacle SaltShaker_bar__minus_00_dot_27_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_33_bar__plus_00_dot_66_bar__plus_00_dot_46 Drawer_bar__minus_00_dot_33_bar__plus_00_dot_70_bar__plus_00_dot_41) + (inReceptacle Spatula_bar__minus_00_dot_16_bar__plus_00_dot_68_bar__plus_00_dot_46 Drawer_bar__minus_00_dot_33_bar__plus_00_dot_70_bar__plus_00_dot_41) + (inReceptacle SaltShaker_bar__minus_00_dot_49_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 SoapBottle_bar__minus_00_dot_80_bar__plus_01_dot_77_bar__plus_00_dot_25 Cabinet_bar__minus_00_dot_52_bar__plus_02_dot_05_bar__plus_00_dot_39) + (inReceptacle Bowl_bar__minus_00_dot_14_bar__plus_01_dot_77_bar__plus_00_dot_30 Cabinet_bar__minus_00_dot_48_bar__plus_02_dot_05_bar__plus_00_dot_39) + (inReceptacle Potato_bar__minus_01_dot_77_bar__plus_00_dot_95_bar__plus_00_dot_26 CounterTop_bar__minus_01_dot_37_bar__plus_00_dot_95_bar__plus_00_dot_35) + (inReceptacle PepperShaker_bar__minus_02_dot_04_bar__plus_00_dot_92_bar__plus_00_dot_52 CounterTop_bar__minus_01_dot_37_bar__plus_00_dot_95_bar__plus_00_dot_35) + (inReceptacle Cup_bar__minus_01_dot_90_bar__plus_00_dot_93_bar__plus_00_dot_26 CounterTop_bar__minus_01_dot_37_bar__plus_00_dot_95_bar__plus_00_dot_35) + (inReceptacle 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 SoapBottle_bar__minus_02_dot_69_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 Bread_bar__minus_02_dot_87_bar__plus_00_dot_94_bar__plus_01_dot_98 DiningTable_bar__minus_02_dot_76_bar__plus_00_dot_01_bar__plus_02_dot_36) + (inReceptacle SoapBottle_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 Plate_bar__minus_02_dot_89_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 Lettuce_bar__minus_02_dot_58_bar__plus_00_dot_98_bar__plus_01_dot_91 DiningTable_bar__minus_02_dot_76_bar__plus_00_dot_01_bar__plus_02_dot_36) + (inReceptacle Mug_bar__minus_02_dot_69_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_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 Fork_bar__minus_02_dot_69_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 Bowl_bar__minus_02_dot_48_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 Apple_bar__minus_00_dot_66_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 Pan_bar__minus_00_dot_49_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 ButterKnife_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 DishSponge_bar__minus_00_dot_40_bar__plus_00_dot_90_bar__plus_03_dot_33 DiningTable_bar__minus_00_dot_47_bar__plus_00_dot_01_bar__plus_03_dot_00) + (inReceptacle Plate_bar__minus_00_dot_40_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 ButterKnife_bar__minus_00_dot_57_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 PepperShaker_bar__minus_02_dot_79_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 Knife_bar__minus_02_dot_79_bar__plus_00_dot_96_bar__plus_03_dot_21 CounterTop_bar__minus_02_dot_78_bar__plus_00_dot_97_bar__plus_03_dot_49) + (inReceptacle Knife_bar__minus_02_dot_71_bar__plus_00_dot_96_bar__plus_03_dot_77 CounterTop_bar__minus_02_dot_78_bar__plus_00_dot_97_bar__plus_03_dot_49) + (inReceptacle Mug_bar__minus_02_dot_78_bar__plus_01_dot_00_bar__plus_03_dot_71 CounterTop_bar__minus_02_dot_78_bar__plus_00_dot_97_bar__plus_03_dot_49) + (inReceptacle Tomato_bar__minus_02_dot_63_bar__plus_01_dot_00_bar__plus_03_dot_40 CounterTop_bar__minus_02_dot_78_bar__plus_00_dot_97_bar__plus_03_dot_49) + (inReceptacle Egg_bar__minus_03_dot_02_bar__plus_00_dot_97_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_27_bar__plus_00_dot_66_bar__plus_00_dot_30 Drawer_bar__minus_02_dot_32_bar__plus_00_dot_70_bar__plus_00_dot_41) + (inReceptacle Knife_bar__minus_02_dot_38_bar__plus_00_dot_69_bar__plus_00_dot_46 Drawer_bar__minus_02_dot_32_bar__plus_00_dot_70_bar__plus_00_dot_41) + (inReceptacle SaltShaker_bar__minus_02_dot_22_bar__plus_00_dot_66_bar__plus_00_dot_41 Drawer_bar__minus_02_dot_32_bar__plus_00_dot_70_bar__plus_00_dot_41) + (inReceptacle DishSponge_bar__minus_02_dot_73_bar__plus_00_dot_05_bar__plus_00_dot_37 GarbageCan_bar__minus_02_dot_82_bar__plus_00_dot_00_bar__plus_00_dot_37) + (inReceptacle Potato_bar__minus_02_dot_88_bar__plus_00_dot_08_bar__plus_00_dot_40 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_43 Fridge_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__plus_04_dot_43) + (inReceptacle Mug_bar__minus_02_dot_93_bar__plus_00_dot_29_bar__plus_04_dot_65 Fridge_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__plus_04_dot_43) + (inReceptacle Potato_bar__minus_00_dot_40_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 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_02_dot_48_bar__plus_00_dot_90_bar__plus_02_dot_57 loc_bar__minus_8_bar_10_bar_3_bar_60) + (objectAtLocation Mug_bar__minus_02_dot_93_bar__plus_00_dot_29_bar__plus_04_dot_65 loc_bar__minus_7_bar_17_bar_3_bar_60) + (objectAtLocation Spoon_bar__minus_02_dot_27_bar__plus_00_dot_66_bar__plus_00_dot_30 loc_bar__minus_6_bar_5_bar_2_bar_45) + (objectAtLocation DishSponge_bar__minus_02_dot_73_bar__plus_00_dot_05_bar__plus_00_dot_37 loc_bar__minus_10_bar_4_bar_2_bar_60) + (objectAtLocation SoapBottle_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) + (objectAtLocation ButterKnife_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 PepperShaker_bar__minus_00_dot_33_bar__plus_00_dot_66_bar__plus_00_dot_46 loc_bar__minus_3_bar_6_bar_2_bar_45) + (objectAtLocation SaltShaker_bar__minus_00_dot_49_bar__plus_00_dot_66_bar__plus_00_dot_30 loc_bar__minus_3_bar_6_bar_2_bar_45) + (objectAtLocation Potato_bar__minus_00_dot_40_bar__plus_01_dot_05_bar__plus_00_dot_20 loc_bar__minus_3_bar_5_bar_2_bar_30) + (objectAtLocation Knife_bar__minus_02_dot_38_bar__plus_00_dot_69_bar__plus_00_dot_46 loc_bar__minus_6_bar_5_bar_2_bar_45) + (objectAtLocation Plate_bar__minus_02_dot_89_bar__plus_00_dot_90_bar__plus_02_dot_44 loc_bar__minus_8_bar_10_bar_3_bar_60) + (objectAtLocation Mug_bar__minus_02_dot_69_bar__plus_00_dot_89_bar__plus_02_dot_05 loc_bar__minus_8_bar_10_bar_3_bar_60) + (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_00_dot_40_bar__plus_00_dot_90_bar__plus_02_dot_53 loc_bar__minus_5_bar_11_bar_1_bar_60) + (objectAtLocation Fork_bar__minus_02_dot_69_bar__plus_00_dot_90_bar__plus_02_dot_31 loc_bar__minus_8_bar_10_bar_3_bar_60) + (objectAtLocation Bread_bar__minus_02_dot_87_bar__plus_00_dot_94_bar__plus_01_dot_98 loc_bar__minus_8_bar_10_bar_3_bar_60) + (objectAtLocation Apple_bar__minus_00_dot_66_bar__plus_00_dot_96_bar__plus_03_dot_33 loc_bar__minus_5_bar_11_bar_1_bar_60) + (objectAtLocation Lettuce_bar__minus_02_dot_58_bar__plus_00_dot_98_bar__plus_01_dot_91 loc_bar__minus_8_bar_10_bar_3_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_00_dot_16_bar__plus_00_dot_68_bar__plus_00_dot_46 loc_bar__minus_3_bar_6_bar_2_bar_45) + (objectAtLocation Knife_bar__minus_02_dot_71_bar__plus_00_dot_96_bar__plus_03_dot_77 loc_bar__minus_8_bar_14_bar_3_bar_45) + (objectAtLocation Potato_bar__minus_02_dot_88_bar__plus_00_dot_08_bar__plus_00_dot_40 loc_bar__minus_10_bar_4_bar_2_bar_60) + (objectAtLocation Tomato_bar__minus_02_dot_63_bar__plus_01_dot_00_bar__plus_03_dot_40 loc_bar__minus_8_bar_14_bar_3_bar_45) + (objectAtLocation Cup_bar__minus_01_dot_90_bar__plus_00_dot_93_bar__plus_00_dot_26 loc_bar__minus_8_bar_5_bar_2_bar_45) + (objectAtLocation SaltShaker_bar__minus_00_dot_27_bar__plus_00_dot_66_bar__plus_00_dot_57 loc_bar__minus_3_bar_6_bar_2_bar_45) + (objectAtLocation PepperShaker_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) + (objectAtLocation ButterKnife_bar__minus_00_dot_57_bar__plus_00_dot_90_bar__plus_02_dot_73 loc_bar__minus_5_bar_11_bar_1_bar_60) + (objectAtLocation SoapBottle_bar__minus_02_dot_69_bar__plus_00_dot_90_bar__plus_02_dot_71 loc_bar__minus_8_bar_10_bar_3_bar_60) + (objectAtLocation Pan_bar__minus_00_dot_49_bar__plus_00_dot_90_bar__plus_03_dot_13 loc_bar__minus_5_bar_11_bar_1_bar_60) + (objectAtLocation DishSponge_bar__minus_00_dot_40_bar__plus_00_dot_90_bar__plus_03_dot_33 loc_bar__minus_5_bar_11_bar_1_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 Spoon_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) + (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_00_dot_14_bar__plus_01_dot_77_bar__plus_00_dot_30 loc_bar__minus_3_bar_5_bar_2_bar__minus_30) + ) + + + (:goal + (and + (exists (?r - receptacle) + (and + (receptacleType ?r SinkBasinType) + (exists (?o - object) + (and + (objectType ?o DishSpongeType) + (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-DishSponge-Pot-SinkBasin-26/trial_T20190908_002511_994473/traj_data.json 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"PepperShaker_c5422882", + "position": { + "x": -2.03741145, + "y": 0.924512565, + "z": 0.5181027 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "PepperShaker_c5422882", + "position": { + "x": -2.785874, + "y": 0.9318062, + "z": 3.30242777 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_a7306c85", + "position": { + "x": -2.77860022, + "y": 1.00137031, + "z": 3.71400023 + }, + "rotation": { + "x": 0.0, + "y": 89.99991, + "z": 0.0 + } + }, + { + "objectName": "Mug_a7306c85", + "position": { + "x": -2.6865387, + "y": 0.889751, + "z": 2.0454886 + }, + "rotation": { + "x": 0.0007968472, + "y": -0.000114514813, + "z": 0.00300655188 + } + }, + { + "objectName": "Egg_05581a9a", + "position": { + "x": -3.022616, + "y": 0.9688633, + "z": 3.20964146 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Plate_d1c1b4b5", + "position": { + "x": -2.89261842, + "y": 0.9049397, + "z": 2.44185042 + }, + "rotation": { + "x": 0.0, + "y": 0.000163924531, + "z": 0.0 + } + }, + { + "objectName": "Fork_80a3685e", + "position": { + "x": -2.68653727, + "y": 0.9011693, + "z": 2.309729 + }, + "rotation": { + "x": 0.0, + "y": 0.000163924531, + "z": 0.0 + } + }, + { + "objectName": "Bread_4b633365", + "position": { + "x": -2.865413, + "y": 0.940825641, + "z": 1.982869 + }, + "rotation": { + "x": 359.972931, + "y": 359.965363, + "z": 0.2304163 + } + }, + { + "objectName": "Apple_5deff24a", + "position": { + "x": -0.657827258, + "y": 0.95696336, + "z": 3.334455 + }, + "rotation": { + "x": 0.0, + "y": 0.000163924531, + "z": 0.0 + } + }, + { + "objectName": "Lettuce_8490bc5f", + "position": { + "x": -2.58349776, + "y": 0.980303168, + "z": 1.91336715 + }, + "rotation": { + "x": 0.0, + "y": 90.00016, + "z": 0.0 + } + }, + { + "objectName": "Spatula_5216d872", + "position": { + "x": -0.164413, + "y": 0.677404344, + "z": 0.464573443 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "Knife_6c866e4b", + "position": { + "x": -2.37760639, + "y": 0.6880228, + "z": 0.464573443 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "Potato_bbca86d2", + "position": { + "x": -0.403096318, + "y": 1.04958487, + "z": 0.203774 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Tomato_d8a5b3b1", + "position": { + "x": -2.628046, + "y": 0.9993129, + "z": 3.39521384 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Cup_c473c604", + "position": { + "x": -1.90418983, + "y": 0.92788893, + "z": 0.2644486 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SaltShaker_38b3b13a", + "position": { + "x": -0.4878505, + "y": 0.658710659, + "z": 0.300511062 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "PepperShaker_c5422882", + "position": { + "x": -0.326131761, + "y": 0.658710659, + "z": 0.464573443 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "ButterKnife_19505874", + "position": { + "x": -0.228984714, + "y": 0.900662839, + "z": 2.73173165 + }, + "rotation": { + "x": 0.0, + "y": 0.000163924531, + "z": 0.0 + } + }, + { + "objectName": "SoapBottle_57182a42", + "position": { + "x": -2.48045588, + "y": 0.900284231, + "z": 2.30972862 + }, + "rotation": { + "x": 0.0, + "y": 0.000163924531, + "z": 0.0 + } + }, + { + "objectName": "Pan_b3245c00", + "position": { + "x": -0.486290157, + "y": 0.9002302, + "z": 3.133547 + }, + "rotation": { + "x": 0.0, + "y": 0.000163924531, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_50b7389e", + "position": { + "x": -2.731272, + "y": 0.0537436642, + "z": 0.3696859 + }, + "rotation": { + "x": 0.0, + "y": 26.1012325, + "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": -2.26979375, + "y": 0.663533866, + "z": 0.300511062 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_a7306c85", + "position": { + "x": -2.92532682, + "y": 0.294089973, + "z": 4.64971161 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + } + }, + { + "objectName": "Bowl_9504375a", + "position": { + "x": -2.48045516, + "y": 0.8972413, + "z": 2.57396984 + }, + "rotation": { + "x": 0.0, + "y": 0.000163924531, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 890384611, + "scene_num": 26 + }, + "task_id": "trial_T20190908_002511_994473", + "task_type": "pick_and_place_with_movable_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A2KAGFQU28JY43_33CUSNVVNQTPJH2IEDWH5L9PG6A888", + "high_descs": [ + "Turn to your right and walk towards the kitchen sink, then make a right at the kitchen sink and walk to the garbage can at the end of the counter, on your left. ", + "Remove a green and yellow sponge from the garbage can. ", + "Turn around and walk across the kitchen, then turn right and go to the stove. ", + "Put the sponge in the pan on the front, right burner of the stove. ", + "Pick up the pan with the sponge inside, from the front, right burner of the stove. ", + "Turn to your right and walk across the kitchen, to the sink. ", + "Place the pan with the sponge inside, in the kitchen sink." + ], + "task_desc": "Put a pan containing a sponge in the sink.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1HXEXQTZCJ1DW_388U7OUMFAIDJXCBIIP23NYCN0F0RI", + "high_descs": [ + "turn right and walk towards the sink. make a right to walk towards the window. turn left at the trash can", + "pick up the green object from the trash", + "turn left and take a few steps. turn left again and walk towards the wall. turn right and walk over to the stove", + "place the object in the pot", + "pick up the pot from the stove", + "turn right and walk over to the sink", + "place the pot in the sink" + ], + "task_desc": "Place a pot with a green object inside in the sink", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1GVTH5YS3WOK0_3IHR8NYAMAI968EXOR8FAVOA3UDP41", + "high_descs": [ + "Turn right, walk past the two tables on both sides, turn left towards the window, and turn left to find a black in on the floor.", + "Take a green sponge out of the bin.", + "Turn left, take a few steps straight towards the sink, turn left and walk to the stove on your right.", + "Place the sponge on the pan on the stove.", + "Pick up the pan with the sponge.", + "Turn right and walk towards the sink.", + "Place the pan in the sink." + ], + "task_desc": "Place the pan along with the green sponge from the bin into the sink.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-DishSponge-Pot-SinkBasin-26/trial_T20190908_052617_221139/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-DishSponge-Pot-SinkBasin-26/trial_T20190908_052617_221139/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..eb1e97daa95e64b2600a8d787947f18aae068db2 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-DishSponge-Pot-SinkBasin-26/trial_T20190908_052617_221139/initial_state.pddl @@ -0,0 +1,930 @@ + +(define (problem plan_trial_T20190908_052617_221139) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + 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_07_bar__plus_00_dot_20 - object + Apple_bar__minus_02_dot_55_bar__plus_00_dot_99_bar__plus_03_dot_58 - object + Bowl_bar__minus_00_dot_40_bar__plus_00_dot_90_bar__plus_02_dot_53 - object + Bowl_bar__minus_01_dot_19_bar__plus_01_dot_77_bar__plus_00_dot_11 - object + Bowl_bar__minus_02_dot_74_bar__plus_00_dot_30_bar__plus_04_dot_28 - object + Bread_bar__minus_02_dot_86_bar__plus_00_dot_94_bar__plus_01_dot_98 - object + ButterKnife_bar__minus_00_dot_31_bar__plus_00_dot_90_bar__plus_02_dot_73 - object + Cup_bar__minus_02_dot_72_bar__plus_01_dot_19_bar__plus_04_dot_50 - object + Cup_bar__minus_02_dot_81_bar__plus_01_dot_19_bar__plus_04_dot_65 - object + DishSponge_bar__minus_00_dot_40_bar__plus_00_dot_90_bar__plus_03_dot_33 - object + DishSponge_bar__minus_00_dot_41_bar__plus_01_dot_77_bar__plus_00_dot_16 - object + DishSponge_bar__minus_02_dot_58_bar__plus_00_dot_90_bar__plus_02_dot_05 - object + Egg_bar__minus_00_dot_23_bar__plus_00_dot_93_bar__plus_02_dot_73 - object + Egg_bar__minus_00_dot_66_bar__plus_00_dot_93_bar__plus_02_dot_33 - object + Egg_bar__minus_02_dot_79_bar__plus_00_dot_33_bar__plus_04_dot_50 - object + Faucet_bar__minus_01_dot_08_bar__plus_00_dot_92_bar__plus_00_dot_03 - object + Fork_bar__minus_02_dot_71_bar__plus_00_dot_94_bar__plus_03_dot_30 - object + Fork_bar__minus_02_dot_94_bar__plus_00_dot_94_bar__plus_03_dot_21 - object + Knife_bar__minus_00_dot_27_bar__plus_00_dot_69_bar__plus_00_dot_41 - object + Knife_bar__minus_01_dot_77_bar__plus_00_dot_95_bar__plus_00_dot_60 - object + Knife_bar__minus_02_dot_69_bar__plus_00_dot_93_bar__plus_02_dot_57 - object + Lettuce_bar__minus_00_dot_23_bar__plus_00_dot_98_bar__plus_02_dot_93 - object + LightSwitch_bar__minus_00_dot_07_bar__plus_01_dot_45_bar__plus_02_dot_00 - object + Mug_bar__minus_02_dot_78_bar__plus_01_dot_00_bar__plus_03_dot_71 - object + Pan_bar__minus_00_dot_25_bar__plus_00_dot_93_bar__plus_04_dot_65 - object + PepperShaker_bar__minus_00_dot_14_bar__plus_01_dot_77_bar__plus_00_dot_16 - object + PepperShaker_bar__minus_01_dot_88_bar__plus_00_dot_66_bar__plus_00_dot_25 - object + PepperShaker_bar__minus_02_dot_32_bar__plus_00_dot_66_bar__plus_00_dot_41 - object + Plate_bar__minus_01_dot_69_bar__plus_01_dot_78_bar__plus_00_dot_21 - object + Plate_bar__minus_02_dot_30_bar__plus_01_dot_78_bar__plus_00_dot_16 - object + Potato_bar__minus_03_dot_00_bar__plus_00_dot_93_bar__plus_02_dot_71 - object + Pot_bar__minus_00_dot_49_bar__plus_00_dot_90_bar__plus_03_dot_13 - object + Pot_bar__minus_00_dot_54_bar__plus_00_dot_93_bar__plus_04_dot_27 - object + Pot_bar__minus_01_dot_77_bar__plus_00_dot_93_bar__plus_00_dot_43 - object + SaltShaker_bar__minus_00_dot_22_bar__plus_00_dot_66_bar__plus_00_dot_41 - object + SaltShaker_bar__minus_02_dot_89_bar__plus_00_dot_90_bar__plus_02_dot_44 - object + Sink_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_00_dot_34 - object + SoapBottle_bar__minus_00_dot_14_bar__plus_00_dot_90_bar__plus_03_dot_13 - object + Spatula_bar__minus_02_dot_48_bar__plus_00_dot_92_bar__plus_02_dot_44 - object + Spatula_bar__minus_02_dot_49_bar__plus_00_dot_68_bar__plus_00_dot_52 - object + Spoon_bar__minus_02_dot_63_bar__plus_00_dot_94_bar__plus_03_dot_77 - 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_76_bar__plus_01_dot_25_bar__plus_04_dot_20 - 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 + 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loc_bar__minus_3_bar_6_bar_2_bar_45 - location + loc_bar__minus_8_bar_14_bar_3_bar_45 - location + loc_bar__minus_10_bar_5_bar_3_bar_0 - location + loc_bar__minus_3_bar_7_bar_1_bar_15 - location + loc_bar__minus_7_bar_4_bar_2_bar_60 - location + loc_bar__minus_4_bar_14_bar_1_bar_45 - location + loc_bar__minus_4_bar_4_bar_2_bar_45 - location + loc_bar__minus_4_bar_5_bar_2_bar_45 - location + loc_bar__minus_3_bar_4_bar_2_bar_60 - location + loc_bar__minus_4_bar_17_bar_1_bar_30 - location + loc_bar__minus_8_bar_14_bar_3_bar_30 - location + loc_bar__minus_3_bar_5_bar_2_bar__minus_30 - location + loc_bar__minus_7_bar_17_bar_3_bar_60 - location + loc_bar__minus_8_bar_5_bar_2_bar_45 - location + loc_bar__minus_3_bar_5_bar_2_bar_45 - location + loc_bar__minus_4_bar_17_bar_1_bar_45 - location + loc_bar__minus_5_bar_11_bar_1_bar_60 - location + loc_bar__minus_8_bar_10_bar_3_bar_60 - location + loc_bar__minus_10_bar_4_bar_2_bar_60 - location + loc_bar__minus_3_bar_4_bar_2_bar__minus_30 - location + loc_bar__minus_5_bar_11_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 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Drawer_bar__minus_00_dot_33_bar__plus_00_dot_70_bar__plus_00_dot_41) + (inReceptacle Bowl_bar__minus_01_dot_19_bar__plus_01_dot_77_bar__plus_00_dot_11 Cabinet_bar__minus_01_dot_48_bar__plus_02_dot_05_bar__plus_00_dot_39) + (inReceptacle PepperShaker_bar__minus_00_dot_14_bar__plus_01_dot_77_bar__plus_00_dot_16 Cabinet_bar__minus_00_dot_48_bar__plus_02_dot_05_bar__plus_00_dot_39) + (inReceptacle DishSponge_bar__minus_00_dot_41_bar__plus_01_dot_77_bar__plus_00_dot_16 Cabinet_bar__minus_00_dot_48_bar__plus_02_dot_05_bar__plus_00_dot_39) + (inReceptacle Plate_bar__minus_02_dot_30_bar__plus_01_dot_78_bar__plus_00_dot_16 CounterTop_bar__minus_01_dot_37_bar__plus_00_dot_95_bar__plus_00_dot_35) + (inReceptacle Knife_bar__minus_01_dot_77_bar__plus_00_dot_95_bar__plus_00_dot_60 CounterTop_bar__minus_01_dot_37_bar__plus_00_dot_95_bar__plus_00_dot_35) + (inReceptacle Pot_bar__minus_01_dot_77_bar__plus_00_dot_93_bar__plus_00_dot_43 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DiningTable_bar__minus_02_dot_76_bar__plus_00_dot_01_bar__plus_02_dot_36) + (inReceptacle Spatula_bar__minus_02_dot_48_bar__plus_00_dot_92_bar__plus_02_dot_44 DiningTable_bar__minus_02_dot_76_bar__plus_00_dot_01_bar__plus_02_dot_36) + (inReceptacle SaltShaker_bar__minus_02_dot_89_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 Knife_bar__minus_02_dot_69_bar__plus_00_dot_93_bar__plus_02_dot_57 DiningTable_bar__minus_02_dot_76_bar__plus_00_dot_01_bar__plus_02_dot_36) + (inReceptacle Egg_bar__minus_00_dot_23_bar__plus_00_dot_93_bar__plus_02_dot_73 DiningTable_bar__minus_00_dot_47_bar__plus_00_dot_01_bar__plus_03_dot_00) + (inReceptacle Lettuce_bar__minus_00_dot_23_bar__plus_00_dot_98_bar__plus_02_dot_93 DiningTable_bar__minus_00_dot_47_bar__plus_00_dot_01_bar__plus_03_dot_00) + (inReceptacle DishSponge_bar__minus_00_dot_40_bar__plus_00_dot_90_bar__plus_03_dot_33 DiningTable_bar__minus_00_dot_47_bar__plus_00_dot_01_bar__plus_03_dot_00) + (inReceptacle Egg_bar__minus_00_dot_66_bar__plus_00_dot_93_bar__plus_02_dot_33 DiningTable_bar__minus_00_dot_47_bar__plus_00_dot_01_bar__plus_03_dot_00) + (inReceptacle Pot_bar__minus_00_dot_49_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 Bowl_bar__minus_00_dot_40_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 ButterKnife_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 SoapBottle_bar__minus_00_dot_14_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 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_77 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 Fork_bar__minus_02_dot_71_bar__plus_00_dot_94_bar__plus_03_dot_30 CounterTop_bar__minus_02_dot_78_bar__plus_00_dot_97_bar__plus_03_dot_49) + (inReceptacle Fork_bar__minus_02_dot_94_bar__plus_00_dot_94_bar__plus_03_dot_21 CounterTop_bar__minus_02_dot_78_bar__plus_00_dot_97_bar__plus_03_dot_49) + (inReceptacle Apple_bar__minus_02_dot_55_bar__plus_00_dot_99_bar__plus_03_dot_58 CounterTop_bar__minus_02_dot_78_bar__plus_00_dot_97_bar__plus_03_dot_49) + (inReceptacle PepperShaker_bar__minus_02_dot_32_bar__plus_00_dot_66_bar__plus_00_dot_41 Drawer_bar__minus_02_dot_32_bar__plus_00_dot_70_bar__plus_00_dot_41) + (inReceptacle Spatula_bar__minus_02_dot_49_bar__plus_00_dot_68_bar__plus_00_dot_52 Drawer_bar__minus_02_dot_32_bar__plus_00_dot_70_bar__plus_00_dot_41) + (inReceptacle Tomato_bar__minus_02_dot_76_bar__plus_01_dot_25_bar__plus_04_dot_20 Fridge_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__plus_04_dot_43) + (inReceptacle Cup_bar__minus_02_dot_72_bar__plus_01_dot_19_bar__plus_04_dot_50 Fridge_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__plus_04_dot_43) + (inReceptacle Bowl_bar__minus_02_dot_74_bar__plus_00_dot_30_bar__plus_04_dot_28 Fridge_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__plus_04_dot_43) + (inReceptacle Egg_bar__minus_02_dot_79_bar__plus_00_dot_33_bar__plus_04_dot_50 Fridge_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__plus_04_dot_43) + (inReceptacle Cup_bar__minus_02_dot_81_bar__plus_01_dot_19_bar__plus_04_dot_65 Fridge_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__plus_04_dot_43) + (inReceptacle Apple_bar__minus_00_dot_40_bar__plus_01_dot_07_bar__plus_00_dot_20 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_19_bar__plus_01_dot_77_bar__plus_00_dot_11 loc_bar__minus_5_bar_4_bar_2_bar__minus_30) + (objectAtLocation Pot_bar__minus_00_dot_49_bar__plus_00_dot_90_bar__plus_03_dot_13 loc_bar__minus_5_bar_11_bar_1_bar_60) + (objectAtLocation DishSponge_bar__minus_00_dot_40_bar__plus_00_dot_90_bar__plus_03_dot_33 loc_bar__minus_5_bar_11_bar_1_bar_60) + (objectAtLocation PepperShaker_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) + (objectAtLocation SaltShaker_bar__minus_00_dot_22_bar__plus_00_dot_66_bar__plus_00_dot_41 loc_bar__minus_3_bar_6_bar_2_bar_45) + (objectAtLocation Cup_bar__minus_02_dot_72_bar__plus_01_dot_19_bar__plus_04_dot_50 loc_bar__minus_7_bar_17_bar_3_bar_60) + (objectAtLocation Knife_bar__minus_02_dot_69_bar__plus_00_dot_93_bar__plus_02_dot_57 loc_bar__minus_8_bar_10_bar_3_bar_60) + (objectAtLocation Spatula_bar__minus_02_dot_49_bar__plus_00_dot_68_bar__plus_00_dot_52 loc_bar__minus_6_bar_5_bar_2_bar_45) + (objectAtLocation Apple_bar__minus_02_dot_55_bar__plus_00_dot_99_bar__plus_03_dot_58 loc_bar__minus_8_bar_14_bar_3_bar_45) + (objectAtLocation Fork_bar__minus_02_dot_71_bar__plus_00_dot_94_bar__plus_03_dot_30 loc_bar__minus_8_bar_14_bar_3_bar_45) + (objectAtLocation Plate_bar__minus_01_dot_69_bar__plus_01_dot_78_bar__plus_00_dot_21 loc_bar__minus_7_bar_4_bar_2_bar_30) + (objectAtLocation Egg_bar__minus_02_dot_79_bar__plus_00_dot_33_bar__plus_04_dot_50 loc_bar__minus_7_bar_17_bar_3_bar_60) + (objectAtLocation PepperShaker_bar__minus_00_dot_14_bar__plus_01_dot_77_bar__plus_00_dot_16 loc_bar__minus_3_bar_5_bar_2_bar__minus_30) + (objectAtLocation Bowl_bar__minus_00_dot_40_bar__plus_00_dot_90_bar__plus_02_dot_53 loc_bar__minus_5_bar_11_bar_1_bar_60) + (objectAtLocation Knife_bar__minus_00_dot_27_bar__plus_00_dot_69_bar__plus_00_dot_41 loc_bar__minus_3_bar_6_bar_2_bar_45) + (objectAtLocation Egg_bar__minus_00_dot_66_bar__plus_00_dot_93_bar__plus_02_dot_33 loc_bar__minus_5_bar_11_bar_1_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 DishSponge_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 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_00_dot_23_bar__plus_00_dot_93_bar__plus_02_dot_73 loc_bar__minus_5_bar_11_bar_1_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_02_dot_30_bar__plus_01_dot_78_bar__plus_00_dot_16 loc_bar__minus_8_bar_5_bar_2_bar_45) + (objectAtLocation Fork_bar__minus_02_dot_94_bar__plus_00_dot_94_bar__plus_03_dot_21 loc_bar__minus_8_bar_14_bar_3_bar_45) + (objectAtLocation Bread_bar__minus_02_dot_86_bar__plus_00_dot_94_bar__plus_01_dot_98 loc_bar__minus_8_bar_10_bar_3_bar_60) + (objectAtLocation Apple_bar__minus_00_dot_40_bar__plus_01_dot_07_bar__plus_00_dot_20 loc_bar__minus_3_bar_5_bar_2_bar_30) + (objectAtLocation Lettuce_bar__minus_00_dot_23_bar__plus_00_dot_98_bar__plus_02_dot_93 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_48_bar__plus_00_dot_92_bar__plus_02_dot_44 loc_bar__minus_8_bar_10_bar_3_bar_60) + (objectAtLocation Knife_bar__minus_01_dot_77_bar__plus_00_dot_95_bar__plus_00_dot_60 loc_bar__minus_8_bar_5_bar_2_bar_45) + (objectAtLocation Potato_bar__minus_03_dot_00_bar__plus_00_dot_93_bar__plus_02_dot_71 loc_bar__minus_8_bar_10_bar_3_bar_60) + (objectAtLocation Tomato_bar__minus_02_dot_76_bar__plus_01_dot_25_bar__plus_04_dot_20 loc_bar__minus_7_bar_17_bar_3_bar_60) + (objectAtLocation Cup_bar__minus_02_dot_81_bar__plus_01_dot_19_bar__plus_04_dot_65 loc_bar__minus_7_bar_17_bar_3_bar_60) + (objectAtLocation SaltShaker_bar__minus_02_dot_89_bar__plus_00_dot_90_bar__plus_02_dot_44 loc_bar__minus_8_bar_10_bar_3_bar_60) + (objectAtLocation PepperShaker_bar__minus_02_dot_32_bar__plus_00_dot_66_bar__plus_00_dot_41 loc_bar__minus_6_bar_5_bar_2_bar_45) + (objectAtLocation ButterKnife_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 SoapBottle_bar__minus_00_dot_14_bar__plus_00_dot_90_bar__plus_03_dot_13 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_00_dot_41_bar__plus_01_dot_77_bar__plus_00_dot_16 loc_bar__minus_3_bar_5_bar_2_bar__minus_30) + (objectAtLocation Pot_bar__minus_01_dot_77_bar__plus_00_dot_93_bar__plus_00_dot_43 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_77 loc_bar__minus_8_bar_14_bar_3_bar_45) + (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_02_dot_74_bar__plus_00_dot_30_bar__plus_04_dot_28 loc_bar__minus_7_bar_17_bar_3_bar_60) + ) + + + (:goal + (and + (exists (?r - receptacle) + (and + (receptacleType ?r SinkBasinType) + (exists (?o - object) + (and + (objectType ?o DishSpongeType) + (exists (?mo - object) + (and + (objectType ?mo 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-DishSponge-Pot-SinkBasin-26/trial_T20190908_052617_221139/traj_data.json b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-DishSponge-Pot-SinkBasin-26/trial_T20190908_052617_221139/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..f213d86bfc6519b8902c4376bb2ada5aa219aabf --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-DishSponge-Pot-SinkBasin-26/trial_T20190908_052617_221139/traj_data.json @@ -0,0 +1,3052 @@ +{ + "images": [ + { + "high_idx": 0, + "image_name": 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table with the green sponge", + "put the sponge into the square dish to the right on the white table", + "pick up the square dish from the white table", + "walk to face the microwave and sink", + "put the square dish into the sink basin" + ], + "task_desc": "put a square dish and sponge into a sink basin", + "votes": [ + 1, + 0, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-DishSponge-Pot-SinkBasin-26/trial_T20190908_052807_009373/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-DishSponge-Pot-SinkBasin-26/trial_T20190908_052807_009373/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..b33d9b0ba9d87d3532adfa4c9510773fe065a1f9 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-DishSponge-Pot-SinkBasin-26/trial_T20190908_052807_009373/initial_state.pddl @@ -0,0 +1,968 @@ + +(define (problem plan_trial_T20190908_052807_009373) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + 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_79_bar__plus_00_dot_99_bar__plus_03_dot_30 - object + Apple_bar__minus_02_dot_85_bar__plus_00_dot_69_bar__plus_04_dot_35 - object + Apple_bar__minus_02_dot_88_bar__plus_00_dot_36_bar__plus_04_dot_35 - object + Bowl_bar__minus_01_dot_80_bar__plus_01_dot_77_bar__plus_00_dot_16 - object + Bowl_bar__minus_02_dot_38_bar__plus_00_dot_90_bar__plus_02_dot_57 - object + Bowl_bar__minus_02_dot_85_bar__plus_01_dot_18_bar__plus_04_dot_58 - object + Bread_bar__minus_00_dot_49_bar__plus_00_dot_96_bar__plus_02_dot_53 - object + Bread_bar__minus_02_dot_86_bar__plus_00_dot_94_bar__plus_01_dot_98 - object + Bread_bar__minus_02_dot_89_bar__plus_00_dot_96_bar__plus_02_dot_31 - object + ButterKnife_bar__minus_01_dot_77_bar__plus_00_dot_66_bar__plus_00_dot_46 - object + ButterKnife_bar__minus_01_dot_77_bar__plus_00_dot_93_bar__plus_00_dot_60 - 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Knife_bar__minus_02_dot_48_bar__plus_00_dot_93_bar__plus_02_dot_44 - object + Knife_bar__minus_02_dot_63_bar__plus_00_dot_96_bar__plus_03_dot_21 - object + Lettuce_bar__minus_02_dot_85_bar__plus_01_dot_27_bar__plus_04_dot_35 - object + LightSwitch_bar__minus_00_dot_07_bar__plus_01_dot_45_bar__plus_02_dot_00 - object + Mug_bar__minus_02_dot_58_bar__plus_00_dot_90_bar__plus_02_dot_44 - object + Mug_bar__minus_02_dot_63_bar__plus_00_dot_93_bar__plus_03_dot_77 - object + Pan_bar__minus_00_dot_25_bar__plus_00_dot_93_bar__plus_04_dot_65 - object + PepperShaker_bar__minus_00_dot_31_bar__plus_00_dot_90_bar__plus_02_dot_73 - object + PepperShaker_bar__minus_02_dot_16_bar__plus_00_dot_66_bar__plus_00_dot_25 - object + PepperShaker_bar__minus_02_dot_55_bar__plus_00_dot_93_bar__plus_03_dot_21 - object + Plate_bar__minus_00_dot_19_bar__plus_01_dot_78_bar__plus_00_dot_21 - object + Potato_bar__minus_02_dot_04_bar__plus_00_dot_95_bar__plus_00_dot_60 - object + Pot_bar__minus_00_dot_40_bar__plus_00_dot_90_bar__plus_03_dot_13 - object + Pot_bar__minus_00_dot_54_bar__plus_00_dot_93_bar__plus_04_dot_27 - object + SaltShaker_bar__minus_02_dot_25_bar__plus_01_dot_77_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_63_bar__plus_00_dot_94_bar__plus_03_dot_30 - object + Spatula_bar__minus_01_dot_09_bar__plus_00_dot_94_bar__plus_00_dot_65 - object + Spoon_bar__minus_00_dot_33_bar__plus_00_dot_66_bar__plus_00_dot_30 - object + Spoon_bar__minus_02_dot_27_bar__plus_00_dot_66_bar__plus_00_dot_41 - object + Spoon_bar__minus_02_dot_55_bar__plus_00_dot_94_bar__plus_03_dot_67 - object + StoveKnob_bar__minus_00_dot_06_bar__plus_01_dot_09_bar__plus_04_dot_22 - object + StoveKnob_bar__minus_00_dot_06_bar__plus_01_dot_09_bar__plus_04_dot_38 - object + StoveKnob_bar__minus_00_dot_06_bar__plus_01_dot_09_bar__plus_04_dot_63 - object + StoveKnob_bar__minus_00_dot_06_bar__plus_01_dot_09_bar__plus_04_dot_78 - object + Tomato_bar__minus_02_dot_17_bar__plus_00_dot_99_bar__plus_00_dot_43 - object + Tomato_bar__minus_02_dot_63_bar__plus_01_dot_00_bar__plus_03_dot_49 - object + Tomato_bar__minus_02_dot_79_bar__plus_00_dot_96_bar__plus_02_dot_71 - object + Window_bar__minus_03_dot_08_bar__plus_01_dot_59_bar__plus_01_dot_36 - object + Cabinet_bar__minus_00_dot_48_bar__plus_02_dot_05_bar__plus_00_dot_39 - receptacle + Cabinet_bar__minus_00_dot_52_bar__plus_02_dot_05_bar__plus_00_dot_39 - receptacle + Cabinet_bar__minus_00_dot_56_bar__plus_00_dot_49_bar__plus_00_dot_65 - receptacle + Cabinet_bar__minus_00_dot_60_bar__plus_00_dot_49_bar__plus_00_dot_65 - receptacle + Cabinet_bar__minus_01_dot_48_bar__plus_02_dot_05_bar__plus_00_dot_39 - receptacle + Cabinet_bar__minus_01_dot_51_bar__plus_02_dot_05_bar__plus_00_dot_39 - receptacle + Cabinet_bar__minus_01_dot_55_bar__plus_00_dot_49_bar__plus_00_dot_65 - receptacle + Cabinet_bar__minus_01_dot_59_bar__plus_00_dot_49_bar__plus_00_dot_65 - receptacle + Cabinet_bar__minus_02_dot_47_bar__plus_02_dot_05_bar__plus_00_dot_39 - receptacle + Cabinet_bar__minus_02_dot_55_bar__plus_00_dot_49_bar__plus_00_dot_65 - receptacle + CoffeeMachine_bar__minus_02_dot_96_bar__plus_00_dot_93_bar__plus_03_dot_61 - receptacle + CounterTop_bar__minus_01_dot_37_bar__plus_00_dot_95_bar__plus_00_dot_35 - receptacle + CounterTop_bar__minus_02_dot_78_bar__plus_00_dot_97_bar__plus_03_dot_49 - receptacle + DiningTable_bar__minus_00_dot_47_bar__plus_00_dot_01_bar__plus_03_dot_00 - receptacle + DiningTable_bar__minus_02_dot_76_bar__plus_00_dot_01_bar__plus_02_dot_36 - receptacle + Drawer_bar__minus_00_dot_33_bar__plus_00_dot_70_bar__plus_00_dot_41 - receptacle + Drawer_bar__minus_01_dot_82_bar__plus_00_dot_70_bar__plus_00_dot_41 - receptacle + Drawer_bar__minus_02_dot_32_bar__plus_00_dot_70_bar__plus_00_dot_41 - receptacle + Fridge_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__plus_04_dot_43 - receptacle + GarbageCan_bar__minus_02_dot_82_bar__plus_00_dot_00_bar__plus_00_dot_37 - receptacle + Microwave_bar__minus_00_dot_36_bar__plus_00_dot_91_bar__plus_00_dot_22 - receptacle + Sink_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_00_dot_34_bar_SinkBasin - receptacle + StoveBurner_bar__minus_00_dot_25_bar__plus_00_dot_92_bar__plus_04_dot_27 - receptacle + StoveBurner_bar__minus_00_dot_25_bar__plus_00_dot_92_bar__plus_04_dot_67 - receptacle + StoveBurner_bar__minus_00_dot_54_bar__plus_00_dot_92_bar__plus_04_dot_27 - receptacle + StoveBurner_bar__minus_00_dot_54_bar__plus_00_dot_92_bar__plus_04_dot_67 - receptacle + Toaster_bar__minus_00_dot_29_bar__plus_00_dot_89_bar__plus_03_dot_56 - receptacle + loc_bar__minus_5_bar_4_bar_2_bar__minus_30 - location + loc_bar__minus_4_bar_17_bar_1_bar_60 - location + loc_bar__minus_6_bar_5_bar_2_bar_45 - location + loc_bar__minus_8_bar_4_bar_2_bar__minus_30 - location + loc_bar__minus_7_bar_4_bar_2_bar__minus_30 - location + loc_bar__minus_3_bar_5_bar_2_bar_30 - location + loc_bar__minus_3_bar_6_bar_2_bar_45 - location + loc_bar__minus_8_bar_14_bar_3_bar_45 - location + loc_bar__minus_3_bar_4_bar_2_bar_30 - location + loc_bar__minus_10_bar_5_bar_3_bar_0 - location + loc_bar__minus_3_bar_7_bar_1_bar_15 - location + loc_bar__minus_7_bar_4_bar_2_bar_60 - location + loc_bar__minus_4_bar_14_bar_1_bar_45 - location + loc_bar__minus_4_bar_4_bar_2_bar_45 - location + loc_bar__minus_4_bar_5_bar_2_bar_45 - location + loc_bar__minus_3_bar_4_bar_2_bar_60 - location + loc_bar__minus_4_bar_17_bar_1_bar_30 - location + loc_bar__minus_8_bar_14_bar_3_bar_30 - location + loc_bar__minus_3_bar_5_bar_2_bar__minus_30 - location + loc_bar__minus_7_bar_17_bar_3_bar_60 - location + loc_bar__minus_8_bar_5_bar_2_bar_45 - location + loc_bar__minus_3_bar_5_bar_2_bar_45 - location + loc_bar__minus_4_bar_17_bar_1_bar_45 - location + loc_bar__minus_5_bar_11_bar_1_bar_60 - location + loc_bar__minus_8_bar_10_bar_3_bar_60 - location + loc_bar__minus_10_bar_4_bar_2_bar_60 - location + loc_bar__minus_3_bar_4_bar_2_bar__minus_30 - location + loc_bar__minus_2_bar_4_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 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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 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Fork_bar__minus_02_dot_16_bar__plus_00_dot_66_bar__plus_00_dot_52) + (cleanable Pot_bar__minus_00_dot_40_bar__plus_00_dot_90_bar__plus_03_dot_13) + (cleanable Fork_bar__minus_00_dot_33_bar__plus_00_dot_66_bar__plus_00_dot_46) + (cleanable Lettuce_bar__minus_02_dot_85_bar__plus_01_dot_27_bar__plus_04_dot_35) + + (heatable Apple_bar__minus_02_dot_79_bar__plus_00_dot_99_bar__plus_03_dot_30) + (heatable Apple_bar__minus_02_dot_85_bar__plus_00_dot_69_bar__plus_04_dot_35) + (heatable Mug_bar__minus_02_dot_58_bar__plus_00_dot_90_bar__plus_02_dot_44) + (heatable Tomato_bar__minus_02_dot_17_bar__plus_00_dot_99_bar__plus_00_dot_43) + (heatable Apple_bar__minus_02_dot_88_bar__plus_00_dot_36_bar__plus_04_dot_35) + (heatable Tomato_bar__minus_02_dot_79_bar__plus_00_dot_96_bar__plus_02_dot_71) + (heatable Plate_bar__minus_00_dot_19_bar__plus_01_dot_78_bar__plus_00_dot_21) + (heatable Bread_bar__minus_00_dot_49_bar__plus_00_dot_96_bar__plus_02_dot_53) + (heatable Cup_bar__minus_00_dot_19_bar__plus_01_dot_02_bar__plus_00_dot_20) + (heatable Cup_bar__minus_00_dot_31_bar__plus_00_dot_90_bar__plus_03_dot_33) + (heatable Bread_bar__minus_02_dot_86_bar__plus_00_dot_94_bar__plus_01_dot_98) + (heatable Egg_bar__minus_02_dot_38_bar__plus_00_dot_93_bar__plus_02_dot_71) + (heatable Mug_bar__minus_02_dot_63_bar__plus_00_dot_93_bar__plus_03_dot_77) + (heatable Potato_bar__minus_02_dot_04_bar__plus_00_dot_95_bar__plus_00_dot_60) + (heatable Egg_bar__minus_02_dot_30_bar__plus_00_dot_96_bar__plus_00_dot_52) + (heatable Tomato_bar__minus_02_dot_63_bar__plus_01_dot_00_bar__plus_03_dot_49) + (heatable Bread_bar__minus_02_dot_89_bar__plus_00_dot_96_bar__plus_02_dot_31) + (coolable Bowl_bar__minus_02_dot_38_bar__plus_00_dot_90_bar__plus_02_dot_57) + (coolable Apple_bar__minus_02_dot_79_bar__plus_00_dot_99_bar__plus_03_dot_30) + (coolable Apple_bar__minus_02_dot_85_bar__plus_00_dot_69_bar__plus_04_dot_35) + (coolable Mug_bar__minus_02_dot_58_bar__plus_00_dot_90_bar__plus_02_dot_44) + (coolable Tomato_bar__minus_02_dot_17_bar__plus_00_dot_99_bar__plus_00_dot_43) + (coolable Pan_bar__minus_00_dot_25_bar__plus_00_dot_93_bar__plus_04_dot_65) + (coolable Apple_bar__minus_02_dot_88_bar__plus_00_dot_36_bar__plus_04_dot_35) + (coolable Tomato_bar__minus_02_dot_79_bar__plus_00_dot_96_bar__plus_02_dot_71) + (coolable Plate_bar__minus_00_dot_19_bar__plus_01_dot_78_bar__plus_00_dot_21) + (coolable Bread_bar__minus_00_dot_49_bar__plus_00_dot_96_bar__plus_02_dot_53) + (coolable Cup_bar__minus_00_dot_19_bar__plus_01_dot_02_bar__plus_00_dot_20) + (coolable Cup_bar__minus_00_dot_31_bar__plus_00_dot_90_bar__plus_03_dot_33) + (coolable Bread_bar__minus_02_dot_86_bar__plus_00_dot_94_bar__plus_01_dot_98) + (coolable Bowl_bar__minus_01_dot_80_bar__plus_01_dot_77_bar__plus_00_dot_16) + (coolable Egg_bar__minus_02_dot_38_bar__plus_00_dot_93_bar__plus_02_dot_71) + (coolable Bowl_bar__minus_02_dot_85_bar__plus_01_dot_18_bar__plus_04_dot_58) + (coolable Mug_bar__minus_02_dot_63_bar__plus_00_dot_93_bar__plus_03_dot_77) + (coolable Potato_bar__minus_02_dot_04_bar__plus_00_dot_95_bar__plus_00_dot_60) + (coolable Egg_bar__minus_02_dot_30_bar__plus_00_dot_96_bar__plus_00_dot_52) + (coolable Pot_bar__minus_00_dot_54_bar__plus_00_dot_93_bar__plus_04_dot_27) + (coolable Tomato_bar__minus_02_dot_63_bar__plus_01_dot_00_bar__plus_03_dot_49) + (coolable Bread_bar__minus_02_dot_89_bar__plus_00_dot_96_bar__plus_02_dot_31) + (coolable Pot_bar__minus_00_dot_40_bar__plus_00_dot_90_bar__plus_03_dot_13) + (coolable Lettuce_bar__minus_02_dot_85_bar__plus_01_dot_27_bar__plus_04_dot_35) + + + + + + (sliceable Apple_bar__minus_02_dot_79_bar__plus_00_dot_99_bar__plus_03_dot_30) + (sliceable Apple_bar__minus_02_dot_85_bar__plus_00_dot_69_bar__plus_04_dot_35) + (sliceable Tomato_bar__minus_02_dot_17_bar__plus_00_dot_99_bar__plus_00_dot_43) + (sliceable Apple_bar__minus_02_dot_88_bar__plus_00_dot_36_bar__plus_04_dot_35) + (sliceable Tomato_bar__minus_02_dot_79_bar__plus_00_dot_96_bar__plus_02_dot_71) + (sliceable Bread_bar__minus_00_dot_49_bar__plus_00_dot_96_bar__plus_02_dot_53) + (sliceable Bread_bar__minus_02_dot_86_bar__plus_00_dot_94_bar__plus_01_dot_98) + (sliceable Egg_bar__minus_02_dot_38_bar__plus_00_dot_93_bar__plus_02_dot_71) + (sliceable Potato_bar__minus_02_dot_04_bar__plus_00_dot_95_bar__plus_00_dot_60) + (sliceable Egg_bar__minus_02_dot_30_bar__plus_00_dot_96_bar__plus_00_dot_52) + (sliceable Tomato_bar__minus_02_dot_63_bar__plus_01_dot_00_bar__plus_03_dot_49) + (sliceable Bread_bar__minus_02_dot_89_bar__plus_00_dot_96_bar__plus_02_dot_31) + (sliceable Lettuce_bar__minus_02_dot_85_bar__plus_01_dot_27_bar__plus_04_dot_35) + + (inReceptacle Spoon_bar__minus_00_dot_33_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 Fork_bar__minus_00_dot_33_bar__plus_00_dot_66_bar__plus_00_dot_46 Drawer_bar__minus_00_dot_33_bar__plus_00_dot_70_bar__plus_00_dot_41) + (inReceptacle Bowl_bar__minus_01_dot_80_bar__plus_01_dot_77_bar__plus_00_dot_16 Cabinet_bar__minus_01_dot_51_bar__plus_02_dot_05_bar__plus_00_dot_39) + (inReceptacle SaltShaker_bar__minus_02_dot_25_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_91_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 Tomato_bar__minus_02_dot_17_bar__plus_00_dot_99_bar__plus_00_dot_43 CounterTop_bar__minus_01_dot_37_bar__plus_00_dot_95_bar__plus_00_dot_35) + (inReceptacle Potato_bar__minus_02_dot_04_bar__plus_00_dot_95_bar__plus_00_dot_60 CounterTop_bar__minus_01_dot_37_bar__plus_00_dot_95_bar__plus_00_dot_35) + (inReceptacle Egg_bar__minus_02_dot_30_bar__plus_00_dot_96_bar__plus_00_dot_52 CounterTop_bar__minus_01_dot_37_bar__plus_00_dot_95_bar__plus_00_dot_35) + (inReceptacle ButterKnife_bar__minus_01_dot_77_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 Spatula_bar__minus_01_dot_09_bar__plus_00_dot_94_bar__plus_00_dot_65 CounterTop_bar__minus_01_dot_37_bar__plus_00_dot_95_bar__plus_00_dot_35) + (inReceptacle Knife_bar__minus_01_dot_64_bar__plus_00_dot_95_bar__plus_00_dot_35 CounterTop_bar__minus_01_dot_37_bar__plus_00_dot_95_bar__plus_00_dot_35) + (inReceptacle Pan_bar__minus_00_dot_25_bar__plus_00_dot_93_bar__plus_04_dot_65 StoveBurner_bar__minus_00_dot_25_bar__plus_00_dot_92_bar__plus_04_dot_67) + (inReceptacle ButterKnife_bar__minus_01_dot_77_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 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 Knife_bar__minus_02_dot_48_bar__plus_00_dot_93_bar__plus_02_dot_44 DiningTable_bar__minus_02_dot_76_bar__plus_00_dot_01_bar__plus_02_dot_36) + (inReceptacle Bread_bar__minus_02_dot_86_bar__plus_00_dot_94_bar__plus_01_dot_98 DiningTable_bar__minus_02_dot_76_bar__plus_00_dot_01_bar__plus_02_dot_36) + (inReceptacle ButterKnife_bar__minus_02_dot_69_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 Egg_bar__minus_02_dot_38_bar__plus_00_dot_93_bar__plus_02_dot_71 DiningTable_bar__minus_02_dot_76_bar__plus_00_dot_01_bar__plus_02_dot_36) + (inReceptacle DishSponge_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 Bowl_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 Bread_bar__minus_02_dot_89_bar__plus_00_dot_96_bar__plus_02_dot_31 DiningTable_bar__minus_02_dot_76_bar__plus_00_dot_01_bar__plus_02_dot_36) + (inReceptacle Tomato_bar__minus_02_dot_79_bar__plus_00_dot_96_bar__plus_02_dot_71 DiningTable_bar__minus_02_dot_76_bar__plus_00_dot_01_bar__plus_02_dot_36) + (inReceptacle Mug_bar__minus_02_dot_58_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 DishSponge_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 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 Cup_bar__minus_00_dot_31_bar__plus_00_dot_90_bar__plus_03_dot_33 DiningTable_bar__minus_00_dot_47_bar__plus_00_dot_01_bar__plus_03_dot_00) + (inReceptacle Pot_bar__minus_00_dot_40_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 PepperShaker_bar__minus_00_dot_31_bar__plus_00_dot_90_bar__plus_02_dot_73 DiningTable_bar__minus_00_dot_47_bar__plus_00_dot_01_bar__plus_03_dot_00) + (inReceptacle Pan_bar__minus_00_dot_25_bar__plus_00_dot_93_bar__plus_04_dot_65 StoveBurner_bar__minus_00_dot_25_bar__plus_00_dot_92_bar__plus_04_dot_27) + (inReceptacle Spoon_bar__minus_02_dot_55_bar__plus_00_dot_94_bar__plus_03_dot_67 CounterTop_bar__minus_02_dot_78_bar__plus_00_dot_97_bar__plus_03_dot_49) + (inReceptacle SoapBottle_bar__minus_02_dot_63_bar__plus_00_dot_94_bar__plus_03_dot_30 CounterTop_bar__minus_02_dot_78_bar__plus_00_dot_97_bar__plus_03_dot_49) + (inReceptacle Tomato_bar__minus_02_dot_63_bar__plus_01_dot_00_bar__plus_03_dot_49 CounterTop_bar__minus_02_dot_78_bar__plus_00_dot_97_bar__plus_03_dot_49) + (inReceptacle Knife_bar__minus_02_dot_63_bar__plus_00_dot_96_bar__plus_03_dot_21 CounterTop_bar__minus_02_dot_78_bar__plus_00_dot_97_bar__plus_03_dot_49) + (inReceptacle Apple_bar__minus_02_dot_79_bar__plus_00_dot_99_bar__plus_03_dot_30 CounterTop_bar__minus_02_dot_78_bar__plus_00_dot_97_bar__plus_03_dot_49) + (inReceptacle Mug_bar__minus_02_dot_63_bar__plus_00_dot_93_bar__plus_03_dot_77 CounterTop_bar__minus_02_dot_78_bar__plus_00_dot_97_bar__plus_03_dot_49) + (inReceptacle PepperShaker_bar__minus_02_dot_55_bar__plus_00_dot_93_bar__plus_03_dot_21 CounterTop_bar__minus_02_dot_78_bar__plus_00_dot_97_bar__plus_03_dot_49) + (inReceptacle PepperShaker_bar__minus_02_dot_16_bar__plus_00_dot_66_bar__plus_00_dot_25 Drawer_bar__minus_02_dot_32_bar__plus_00_dot_70_bar__plus_00_dot_41) + (inReceptacle Fork_bar__minus_02_dot_16_bar__plus_00_dot_66_bar__plus_00_dot_52 Drawer_bar__minus_02_dot_32_bar__plus_00_dot_70_bar__plus_00_dot_41) + (inReceptacle Spoon_bar__minus_02_dot_27_bar__plus_00_dot_66_bar__plus_00_dot_41 Drawer_bar__minus_02_dot_32_bar__plus_00_dot_70_bar__plus_00_dot_41) + (inReceptacle Apple_bar__minus_02_dot_88_bar__plus_00_dot_36_bar__plus_04_dot_35 Fridge_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__plus_04_dot_43) + (inReceptacle Lettuce_bar__minus_02_dot_85_bar__plus_01_dot_27_bar__plus_04_dot_35 Fridge_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__plus_04_dot_43) + (inReceptacle Apple_bar__minus_02_dot_85_bar__plus_00_dot_69_bar__plus_04_dot_35 Fridge_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__plus_04_dot_43) + (inReceptacle Bowl_bar__minus_02_dot_85_bar__plus_01_dot_18_bar__plus_04_dot_58 Fridge_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__plus_04_dot_43) + (inReceptacle Cup_bar__minus_00_dot_19_bar__plus_01_dot_02_bar__plus_00_dot_20 Microwave_bar__minus_00_dot_36_bar__plus_00_dot_91_bar__plus_00_dot_22) + + + (receptacleAtLocation Cabinet_bar__minus_00_dot_48_bar__plus_02_dot_05_bar__plus_00_dot_39 loc_bar__minus_3_bar_5_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_52_bar__plus_02_dot_05_bar__plus_00_dot_39 loc_bar__minus_3_bar_4_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_56_bar__plus_00_dot_49_bar__plus_00_dot_65 loc_bar__minus_3_bar_4_bar_2_bar_60) + (receptacleAtLocation Cabinet_bar__minus_00_dot_60_bar__plus_00_dot_49_bar__plus_00_dot_65 loc_bar__minus_3_bar_4_bar_2_bar_60) + (receptacleAtLocation Cabinet_bar__minus_01_dot_48_bar__plus_02_dot_05_bar__plus_00_dot_39 loc_bar__minus_5_bar_4_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_01_dot_51_bar__plus_02_dot_05_bar__plus_00_dot_39 loc_bar__minus_7_bar_4_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_01_dot_55_bar__plus_00_dot_49_bar__plus_00_dot_65 loc_bar__minus_7_bar_4_bar_2_bar_60) + (receptacleAtLocation Cabinet_bar__minus_01_dot_59_bar__plus_00_dot_49_bar__plus_00_dot_65 loc_bar__minus_7_bar_4_bar_2_bar_60) + (receptacleAtLocation Cabinet_bar__minus_02_dot_47_bar__plus_02_dot_05_bar__plus_00_dot_39 loc_bar__minus_8_bar_4_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_02_dot_55_bar__plus_00_dot_49_bar__plus_00_dot_65 loc_bar__minus_10_bar_4_bar_2_bar_60) + (receptacleAtLocation CoffeeMachine_bar__minus_02_dot_96_bar__plus_00_dot_93_bar__plus_03_dot_61 loc_bar__minus_8_bar_14_bar_3_bar_30) + (receptacleAtLocation CounterTop_bar__minus_01_dot_37_bar__plus_00_dot_95_bar__plus_00_dot_35 loc_bar__minus_8_bar_5_bar_2_bar_45) + (receptacleAtLocation CounterTop_bar__minus_02_dot_78_bar__plus_00_dot_97_bar__plus_03_dot_49 loc_bar__minus_8_bar_14_bar_3_bar_45) + (receptacleAtLocation DiningTable_bar__minus_00_dot_47_bar__plus_00_dot_01_bar__plus_03_dot_00 loc_bar__minus_5_bar_11_bar_1_bar_60) + (receptacleAtLocation DiningTable_bar__minus_02_dot_76_bar__plus_00_dot_01_bar__plus_02_dot_36 loc_bar__minus_8_bar_10_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_00_dot_33_bar__plus_00_dot_70_bar__plus_00_dot_41 loc_bar__minus_3_bar_6_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_82_bar__plus_00_dot_70_bar__plus_00_dot_41 loc_bar__minus_4_bar_5_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_02_dot_32_bar__plus_00_dot_70_bar__plus_00_dot_41 loc_bar__minus_6_bar_5_bar_2_bar_45) + (receptacleAtLocation Fridge_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__plus_04_dot_43 loc_bar__minus_7_bar_17_bar_3_bar_60) + (receptacleAtLocation GarbageCan_bar__minus_02_dot_82_bar__plus_00_dot_00_bar__plus_00_dot_37 loc_bar__minus_10_bar_4_bar_2_bar_60) + (receptacleAtLocation Microwave_bar__minus_00_dot_36_bar__plus_00_dot_91_bar__plus_00_dot_22 loc_bar__minus_3_bar_5_bar_2_bar_30) + (receptacleAtLocation Sink_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_00_dot_34_bar_SinkBasin loc_bar__minus_3_bar_5_bar_2_bar_45) + (receptacleAtLocation StoveBurner_bar__minus_00_dot_25_bar__plus_00_dot_92_bar__plus_04_dot_27 loc_bar__minus_4_bar_17_bar_1_bar_45) + (receptacleAtLocation StoveBurner_bar__minus_00_dot_25_bar__plus_00_dot_92_bar__plus_04_dot_67 loc_bar__minus_4_bar_17_bar_1_bar_45) + (receptacleAtLocation StoveBurner_bar__minus_00_dot_54_bar__plus_00_dot_92_bar__plus_04_dot_27 loc_bar__minus_4_bar_17_bar_1_bar_60) + (receptacleAtLocation StoveBurner_bar__minus_00_dot_54_bar__plus_00_dot_92_bar__plus_04_dot_67 loc_bar__minus_4_bar_17_bar_1_bar_60) + (receptacleAtLocation Toaster_bar__minus_00_dot_29_bar__plus_00_dot_89_bar__plus_03_dot_56 loc_bar__minus_4_bar_14_bar_1_bar_45) + (objectAtLocation Bowl_bar__minus_01_dot_80_bar__plus_01_dot_77_bar__plus_00_dot_16 loc_bar__minus_7_bar_4_bar_2_bar__minus_30) + (objectAtLocation Mug_bar__minus_02_dot_58_bar__plus_00_dot_90_bar__plus_02_dot_44 loc_bar__minus_8_bar_10_bar_3_bar_60) + (objectAtLocation Spoon_bar__minus_02_dot_55_bar__plus_00_dot_94_bar__plus_03_dot_67 loc_bar__minus_8_bar_14_bar_3_bar_45) + (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 DishSponge_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) + (objectAtLocation ButterKnife_bar__minus_02_dot_69_bar__plus_00_dot_90_bar__plus_02_dot_57 loc_bar__minus_8_bar_10_bar_3_bar_60) + (objectAtLocation PepperShaker_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 Cup_bar__minus_00_dot_31_bar__plus_00_dot_90_bar__plus_03_dot_33 loc_bar__minus_5_bar_11_bar_1_bar_60) + (objectAtLocation Tomato_bar__minus_02_dot_17_bar__plus_00_dot_99_bar__plus_00_dot_43 loc_bar__minus_8_bar_5_bar_2_bar_45) + (objectAtLocation Knife_bar__minus_02_dot_48_bar__plus_00_dot_93_bar__plus_02_dot_44 loc_bar__minus_8_bar_10_bar_3_bar_60) + (objectAtLocation Apple_bar__minus_02_dot_79_bar__plus_00_dot_99_bar__plus_03_dot_30 loc_bar__minus_8_bar_14_bar_3_bar_45) + (objectAtLocation Bread_bar__minus_02_dot_86_bar__plus_00_dot_94_bar__plus_01_dot_98 loc_bar__minus_8_bar_10_bar_3_bar_60) + (objectAtLocation Fork_bar__minus_02_dot_16_bar__plus_00_dot_66_bar__plus_00_dot_52 loc_bar__minus_6_bar_5_bar_2_bar_45) + (objectAtLocation Egg_bar__minus_02_dot_30_bar__plus_00_dot_96_bar__plus_00_dot_52 loc_bar__minus_8_bar_5_bar_2_bar_45) + (objectAtLocation Apple_bar__minus_02_dot_85_bar__plus_00_dot_69_bar__plus_04_dot_35 loc_bar__minus_7_bar_17_bar_3_bar_60) + (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 PepperShaker_bar__minus_02_dot_16_bar__plus_00_dot_66_bar__plus_00_dot_25 loc_bar__minus_6_bar_5_bar_2_bar_45) + (objectAtLocation Bowl_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) + (objectAtLocation Tomato_bar__minus_02_dot_63_bar__plus_01_dot_00_bar__plus_03_dot_49 loc_bar__minus_8_bar_14_bar_3_bar_45) + (objectAtLocation Knife_bar__minus_02_dot_63_bar__plus_00_dot_96_bar__plus_03_dot_21 loc_bar__minus_8_bar_14_bar_3_bar_45) + (objectAtLocation Spoon_bar__minus_02_dot_27_bar__plus_00_dot_66_bar__plus_00_dot_41 loc_bar__minus_6_bar_5_bar_2_bar_45) + (objectAtLocation ButterKnife_bar__minus_01_dot_77_bar__plus_00_dot_93_bar__plus_00_dot_60 loc_bar__minus_8_bar_5_bar_2_bar_45) + (objectAtLocation DishSponge_bar__minus_00_dot_91_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_38_bar__plus_00_dot_93_bar__plus_02_dot_71 loc_bar__minus_8_bar_10_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_19_bar__plus_01_dot_78_bar__plus_00_dot_21 loc_bar__minus_3_bar_4_bar_2_bar_30) + (objectAtLocation Fork_bar__minus_00_dot_33_bar__plus_00_dot_66_bar__plus_00_dot_46 loc_bar__minus_3_bar_6_bar_2_bar_45) + (objectAtLocation Bread_bar__minus_02_dot_89_bar__plus_00_dot_96_bar__plus_02_dot_31 loc_bar__minus_8_bar_10_bar_3_bar_60) + (objectAtLocation Apple_bar__minus_02_dot_88_bar__plus_00_dot_36_bar__plus_04_dot_35 loc_bar__minus_7_bar_17_bar_3_bar_60) + (objectAtLocation 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(objectAtLocation SaltShaker_bar__minus_02_dot_25_bar__plus_01_dot_77_bar__plus_00_dot_25 loc_bar__minus_8_bar_4_bar_2_bar__minus_30) + (objectAtLocation PepperShaker_bar__minus_02_dot_55_bar__plus_00_dot_93_bar__plus_03_dot_21 loc_bar__minus_8_bar_14_bar_3_bar_45) + (objectAtLocation ButterKnife_bar__minus_01_dot_77_bar__plus_00_dot_66_bar__plus_00_dot_46 loc_bar__minus_4_bar_5_bar_2_bar_45) + (objectAtLocation SoapBottle_bar__minus_02_dot_63_bar__plus_00_dot_94_bar__plus_03_dot_30 loc_bar__minus_8_bar_14_bar_3_bar_45) + (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_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_40_bar__plus_00_dot_90_bar__plus_03_dot_13 loc_bar__minus_5_bar_11_bar_1_bar_60) + (objectAtLocation Spoon_bar__minus_00_dot_33_bar__plus_00_dot_66_bar__plus_00_dot_30 loc_bar__minus_3_bar_6_bar_2_bar_45) + (objectAtLocation Mug_bar__minus_02_dot_63_bar__plus_00_dot_93_bar__plus_03_dot_77 loc_bar__minus_8_bar_14_bar_3_bar_45) + (objectAtLocation Bowl_bar__minus_02_dot_85_bar__plus_01_dot_18_bar__plus_04_dot_58 loc_bar__minus_7_bar_17_bar_3_bar_60) + ) + + + (:goal + (and + (exists (?r - receptacle) + (and + (receptacleType ?r SinkBasinType) + (exists (?o - object) + (and + (objectType ?o DishSpongeType) + (exists (?mo - object) + (and + (objectType ?mo 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-DishSponge-Pot-SinkBasin-26/trial_T20190908_052807_009373/traj_data.json b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-DishSponge-Pot-SinkBasin-26/trial_T20190908_052807_009373/traj_data.json new file mode 100644 index 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", + "Open the cupboard on the left above the sink and remove the dish sponge.", + "Turn around and carry the sponge to the stove.", + "Place the sponge in the pan on the right.", + "Pick up the pan with the sponge inside from the stove.", + "Turn right and carry the pan with the sponge inside to the sink.", + "Place the pan and sponge in the sink." + ], + "task_desc": "Put a sponge inside a pan in the sink.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1O3TWBUDONVLO_3KJYX6QCMCSCEAUEDA4IMP2B7E6JV7", + "high_descs": [ + "Turn to the right and walk to face the cabinet above the sink.", + "Pick up the sponge in the left side cabinet above the sink.", + "Turn around and walk across the room, then turn right to face the stove.", + "Place the sponge in the pot on the front right burner.", + "Pick up the pot with the sponge in it on the front right burner.", + "Turn right and walk across the room to face the sink.", + "Place the pot with a sponge in it into the sink." + ], + "task_desc": "To put a sponge in a pot as well as place them in the sink.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "AKW57KYG90X61_39O5D9O87W95UNMPJ8HQGQXXQAQC3B", + "high_descs": [ + "turn right towards the shelf", + "pick up the sponge", + "turn around towards the gas", + "drop the sponge on the pan on the gas", + "pick up the pan", + "turn right and move to the sink", + "drop the pan on the sink" + ], + "task_desc": "drop a pan with a spoon in it on the sink", + "votes": [ + 1, + 0, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Pencil-Bowl-CounterTop-311/trial_T20190906_181947_674402/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Pencil-Bowl-CounterTop-311/trial_T20190906_181947_674402/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..b568beee2819574def0eed1da1286d9d00f209fd --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Pencil-Bowl-CounterTop-311/trial_T20190906_181947_674402/initial_state.pddl @@ -0,0 +1,535 @@ + +(define (problem plan_trial_T20190906_181947_674402) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_60_bar__plus_00_dot_75_bar__minus_01_dot_30 - object + AlarmClock_bar__minus_00_dot_82_bar__plus_00_dot_92_bar__plus_04_dot_53 - object + Blinds_bar__minus_00_dot_50_bar__plus_02_dot_17_bar__minus_01_dot_96 - object + Book_bar__minus_00_dot_88_bar__plus_00_dot_91_bar__plus_04_dot_35 - object + Book_bar__minus_01_dot_31_bar__plus_00_dot_40_bar__minus_01_dot_05 - object + Bowl_bar__plus_02_dot_37_bar__plus_00_dot_81_bar__plus_03_dot_49 - object + CD_bar__plus_02_dot_53_bar__plus_00_dot_10_bar__plus_00_dot_33 - object + CD_bar__minus_00_dot_62_bar__plus_00_dot_05_bar__plus_03_dot_72 - object + CellPhone_bar__plus_02_dot_62_bar__plus_00_dot_10_bar__plus_00_dot_72 - object + Chair_bar__plus_02_dot_28_bar__minus_00_dot_01_bar__plus_03_dot_49 - object + Chair_bar__plus_02_dot_32_bar__minus_00_dot_01_bar__plus_02_dot_62 - object + Chair_bar__plus_02_dot_59_bar__minus_00_dot_01_bar__plus_02_dot_14 - object + CreditCard_bar__plus_02_dot_69_bar__plus_00_dot_84_bar__plus_00_dot_62 - object + KeyChain_bar__plus_02_dot_78_bar__plus_00_dot_81_bar__plus_02_dot_83 - object + KeyChain_bar__minus_00_dot_75_bar__plus_00_dot_91_bar__plus_04_dot_72 - object + Lamp_bar__plus_02_dot_62_bar__plus_00_dot_74_bar__minus_01_dot_47 - object + Lamp_bar__plus_02_dot_69_bar__plus_00_dot_80_bar__plus_03_dot_08 - object + Laptop_bar__plus_00_dot_12_bar__plus_00_dot_71_bar__plus_01_dot_97 - object + LaundryHamperLid_bar__plus_03_dot_53_bar__plus_00_dot_76_bar__plus_04_dot_43 - object + LightSwitch_bar__plus_00_dot_80_bar__plus_01_dot_37_bar__plus_05_dot_25 - object + Mirror_bar__minus_01_dot_18_bar__plus_01_dot_60_bar__plus_04_dot_35 - object + Mug_bar__plus_02_dot_58_bar__plus_00_dot_81_bar__plus_03_dot_49 - object + Painting_bar__plus_02_dot_99_bar__plus_01_dot_53_bar__plus_02_dot_55 - object + Painting_bar__plus_02_dot_99_bar__plus_01_dot_53_bar__plus_03_dot_42 - object + Pencil_bar__plus_02_dot_37_bar__plus_00_dot_81_bar__plus_03_dot_05 - object + Pencil_bar__plus_02_dot_58_bar__plus_00_dot_81_bar__plus_03_dot_05 - object + Pencil_bar__plus_02_dot_68_bar__plus_00_dot_81_bar__plus_03_dot_27 - object + Pencil_bar__plus_02_dot_78_bar__plus_00_dot_81_bar__plus_03_dot_05 - object + Pen_bar__plus_02_dot_60_bar__plus_00_dot_75_bar__minus_01_dot_66 - object + Pillow_bar__minus_00_dot_96_bar__plus_00_dot_75_bar__plus_02_dot_98 - object + Pillow_bar__minus_01_dot_31_bar__plus_00_dot_79_bar__plus_02_dot_26 - object + RemoteControl_bar__plus_02_dot_19_bar__plus_00_dot_40_bar__minus_00_dot_68 - object + RemoteControl_bar__minus_01_dot_01_bar__plus_00_dot_91_bar__plus_04_dot_72 - object + Television_bar__plus_02_dot_75_bar__plus_01_dot_32_bar__plus_00_dot_62 - object + Window_bar__minus_00_dot_45_bar__plus_01_dot_45_bar__minus_02_dot_06 - object + ArmChair_bar__plus_02_dot_43_bar__plus_00_dot_00_bar__minus_00_dot_57 - receptacle + ArmChair_bar__minus_01_dot_28_bar__plus_00_dot_00_bar__minus_01_dot_17 - receptacle + Bed_bar__minus_00_dot_59_bar__plus_00_dot_00_bar__plus_02_dot_30 - receptacle + CounterTop_bar__minus_00_dot_89_bar__plus_00_dot_95_bar__plus_04_dot_35 - receptacle + DiningTable_bar__plus_02_dot_58_bar__plus_00_dot_00_bar__plus_03_dot_05 - receptacle + Drawer_bar__plus_02_dot_55_bar__plus_00_dot_21_bar__plus_00_dot_62 - receptacle + Drawer_bar__plus_02_dot_55_bar__plus_00_dot_57_bar__plus_00_dot_62 - receptacle + Dresser_bar__plus_02_dot_55_bar__plus_00_dot_57_bar__plus_00_dot_62 - receptacle + GarbageCan_bar__minus_00_dot_63_bar__plus_00_dot_01_bar__plus_03_dot_74 - receptacle + LaundryHamper_bar__plus_03_dot_53_bar__plus_00_dot_01_bar__plus_04_dot_43 - receptacle + SideTable_bar__plus_02_dot_57_bar__plus_00_dot_01_bar__minus_01_dot_54 - receptacle + loc_bar_7_bar_13_bar_1_bar_60 - location + loc_bar_7_bar_10_bar_1_bar_0 - location + loc_bar__minus_1_bar_18_bar_3_bar_45 - location + loc_bar_6_bar_3_bar_1_bar_45 - location + loc_bar_5_bar__minus_3_bar_1_bar_60 - location + loc_bar__minus_2_bar__minus_6_bar_2_bar_15 - location + loc_bar_7_bar_10_bar_1_bar_60 - location + loc_bar_10_bar_17_bar_2_bar_15 - location + loc_bar_8_bar_3_bar_1_bar_60 - location + loc_bar_8_bar_8_bar_1_bar_60 - location + loc_bar__minus_2_bar__minus_6_bar_2_bar__minus_30 - location + loc_bar_10_bar_18_bar_1_bar_60 - location + loc_bar__minus_1_bar__minus_5_bar_3_bar_60 - location + loc_bar_5_bar_0_bar_1_bar_45 - location + loc_bar_6_bar_21_bar_3_bar_15 - location + loc_bar__minus_1_bar_17_bar_2_bar_60 - location + loc_bar__minus_2_bar_2_bar_0_bar_45 - location + loc_bar__minus_1_bar_18_bar_3_bar_60 - location + loc_bar_7_bar__minus_6_bar_1_bar_60 - location + loc_bar_10_bar_18_bar_1_bar_45 - location + loc_bar_3_bar_1_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType ArmChair_bar__plus_02_dot_43_bar__plus_00_dot_00_bar__minus_00_dot_57 ArmChairType) + (receptacleType Bed_bar__minus_00_dot_59_bar__plus_00_dot_00_bar__plus_02_dot_30 BedType) + (receptacleType GarbageCan_bar__minus_00_dot_63_bar__plus_00_dot_01_bar__plus_03_dot_74 GarbageCanType) + (receptacleType Drawer_bar__plus_02_dot_55_bar__plus_00_dot_57_bar__plus_00_dot_62 DrawerType) + (receptacleType ArmChair_bar__minus_01_dot_28_bar__plus_00_dot_00_bar__minus_01_dot_17 ArmChairType) + (receptacleType Dresser_bar__plus_02_dot_55_bar__plus_00_dot_57_bar__plus_00_dot_62 DresserType) + (receptacleType Drawer_bar__plus_02_dot_55_bar__plus_00_dot_21_bar__plus_00_dot_62 DrawerType) + (receptacleType LaundryHamper_bar__plus_03_dot_53_bar__plus_00_dot_01_bar__plus_04_dot_43 LaundryHamperType) + (receptacleType CounterTop_bar__minus_00_dot_89_bar__plus_00_dot_95_bar__plus_04_dot_35 CounterTopType) + (receptacleType DiningTable_bar__plus_02_dot_58_bar__plus_00_dot_00_bar__plus_03_dot_05 DiningTableType) + (receptacleType SideTable_bar__plus_02_dot_57_bar__plus_00_dot_01_bar__minus_01_dot_54 SideTableType) + (objectType Pencil_bar__plus_02_dot_58_bar__plus_00_dot_81_bar__plus_03_dot_05 PencilType) + (objectType Pencil_bar__plus_02_dot_37_bar__plus_00_dot_81_bar__plus_03_dot_05 PencilType) + (objectType Pillow_bar__minus_00_dot_96_bar__plus_00_dot_75_bar__plus_02_dot_98 PillowType) + (objectType RemoteControl_bar__plus_02_dot_19_bar__plus_00_dot_40_bar__minus_00_dot_68 RemoteControlType) + (objectType Window_bar__minus_00_dot_45_bar__plus_01_dot_45_bar__minus_02_dot_06 WindowType) + (objectType AlarmClock_bar__minus_00_dot_82_bar__plus_00_dot_92_bar__plus_04_dot_53 AlarmClockType) + (objectType Chair_bar__plus_02_dot_28_bar__minus_00_dot_01_bar__plus_03_dot_49 ChairType) + (objectType KeyChain_bar__plus_02_dot_78_bar__plus_00_dot_81_bar__plus_02_dot_83 KeyChainType) + (objectType RemoteControl_bar__minus_01_dot_01_bar__plus_00_dot_91_bar__plus_04_dot_72 RemoteControlType) + (objectType Television_bar__plus_02_dot_75_bar__plus_01_dot_32_bar__plus_00_dot_62 TelevisionType) + (objectType AlarmClock_bar__plus_02_dot_60_bar__plus_00_dot_75_bar__minus_01_dot_30 AlarmClockType) + (objectType Pencil_bar__plus_02_dot_78_bar__plus_00_dot_81_bar__plus_03_dot_05 PencilType) + (objectType Bowl_bar__plus_02_dot_37_bar__plus_00_dot_81_bar__plus_03_dot_49 BowlType) + (objectType Laptop_bar__plus_00_dot_12_bar__plus_00_dot_71_bar__plus_01_dot_97 LaptopType) + (objectType Pen_bar__plus_02_dot_60_bar__plus_00_dot_75_bar__minus_01_dot_66 PenType) + (objectType Chair_bar__plus_02_dot_59_bar__minus_00_dot_01_bar__plus_02_dot_14 ChairType) + (objectType Book_bar__minus_00_dot_88_bar__plus_00_dot_91_bar__plus_04_dot_35 BookType) + (objectType Mirror_bar__minus_01_dot_18_bar__plus_01_dot_60_bar__plus_04_dot_35 MirrorType) + (objectType LightSwitch_bar__plus_00_dot_80_bar__plus_01_dot_37_bar__plus_05_dot_25 LightSwitchType) + (objectType CD_bar__plus_02_dot_53_bar__plus_00_dot_10_bar__plus_00_dot_33 CDType) + (objectType LaundryHamperLid_bar__plus_03_dot_53_bar__plus_00_dot_76_bar__plus_04_dot_43 LaundryHamperLidType) + (objectType Book_bar__minus_01_dot_31_bar__plus_00_dot_40_bar__minus_01_dot_05 BookType) + (objectType Mug_bar__plus_02_dot_58_bar__plus_00_dot_81_bar__plus_03_dot_49 MugType) + (objectType CreditCard_bar__plus_02_dot_69_bar__plus_00_dot_84_bar__plus_00_dot_62 CreditCardType) + (objectType Blinds_bar__minus_00_dot_50_bar__plus_02_dot_17_bar__minus_01_dot_96 BlindsType) + (objectType Pillow_bar__minus_01_dot_31_bar__plus_00_dot_79_bar__plus_02_dot_26 PillowType) + (objectType Pencil_bar__plus_02_dot_68_bar__plus_00_dot_81_bar__plus_03_dot_27 PencilType) + (objectType Painting_bar__plus_02_dot_99_bar__plus_01_dot_53_bar__plus_02_dot_55 PaintingType) + (objectType Chair_bar__plus_02_dot_32_bar__minus_00_dot_01_bar__plus_02_dot_62 ChairType) + (objectType KeyChain_bar__minus_00_dot_75_bar__plus_00_dot_91_bar__plus_04_dot_72 KeyChainType) + (objectType Painting_bar__plus_02_dot_99_bar__plus_01_dot_53_bar__plus_03_dot_42 PaintingType) + (objectType CD_bar__minus_00_dot_62_bar__plus_00_dot_05_bar__plus_03_dot_72 CDType) + (objectType CellPhone_bar__plus_02_dot_62_bar__plus_00_dot_10_bar__plus_00_dot_72 CellPhoneType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType BookType) + (canContain ArmChairType CellPhoneType) + (canContain ArmChairType PillowType) + (canContain ArmChairType RemoteControlType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType CreditCardType) + (canContain BedType LaptopType) + (canContain BedType BookType) + (canContain BedType CellPhoneType) + (canContain BedType PillowType) + (canContain GarbageCanType PenType) + (canContain GarbageCanType CDType) + (canContain GarbageCanType PencilType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType RemoteControlType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType BookType) + (canContain ArmChairType CellPhoneType) + (canContain ArmChairType PillowType) + (canContain ArmChairType RemoteControlType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType CreditCardType) + (canContain DresserType PenType) + (canContain DresserType BookType) + (canContain DresserType BowlType) + (canContain DresserType CDType) + (canContain DresserType MugType) + (canContain DresserType CellPhoneType) + (canContain DresserType KeyChainType) + (canContain DresserType CreditCardType) + (canContain DresserType LaptopType) + (canContain DresserType PencilType) + (canContain DresserType RemoteControlType) + (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 RemoteControlType) + (canContain CounterTopType PenType) + (canContain CounterTopType BookType) + (canContain CounterTopType BowlType) + (canContain CounterTopType CDType) + (canContain CounterTopType MugType) + (canContain CounterTopType CellPhoneType) + (canContain CounterTopType KeyChainType) + (canContain CounterTopType CreditCardType) + (canContain CounterTopType LaptopType) + (canContain CounterTopType PencilType) + (canContain CounterTopType RemoteControlType) + (canContain CounterTopType AlarmClockType) + (canContain DiningTableType PenType) + (canContain DiningTableType BookType) + (canContain DiningTableType BowlType) + (canContain DiningTableType CDType) + (canContain DiningTableType MugType) + (canContain DiningTableType CellPhoneType) + (canContain DiningTableType KeyChainType) + (canContain DiningTableType CreditCardType) + (canContain DiningTableType LaptopType) + (canContain DiningTableType PencilType) + (canContain DiningTableType RemoteControlType) + (canContain DiningTableType AlarmClockType) + (canContain SideTableType PenType) + (canContain SideTableType BookType) + (canContain SideTableType BowlType) + (canContain SideTableType CDType) + (canContain SideTableType MugType) + (canContain SideTableType CellPhoneType) + (canContain SideTableType KeyChainType) + (canContain SideTableType CreditCardType) + (canContain SideTableType LaptopType) + (canContain SideTableType PencilType) + (canContain SideTableType RemoteControlType) + (canContain SideTableType AlarmClockType) + (pickupable Pencil_bar__plus_02_dot_58_bar__plus_00_dot_81_bar__plus_03_dot_05) + (pickupable Pencil_bar__plus_02_dot_37_bar__plus_00_dot_81_bar__plus_03_dot_05) + (pickupable Pillow_bar__minus_00_dot_96_bar__plus_00_dot_75_bar__plus_02_dot_98) + (pickupable RemoteControl_bar__plus_02_dot_19_bar__plus_00_dot_40_bar__minus_00_dot_68) + (pickupable AlarmClock_bar__minus_00_dot_82_bar__plus_00_dot_92_bar__plus_04_dot_53) + (pickupable KeyChain_bar__plus_02_dot_78_bar__plus_00_dot_81_bar__plus_02_dot_83) + (pickupable RemoteControl_bar__minus_01_dot_01_bar__plus_00_dot_91_bar__plus_04_dot_72) + (pickupable AlarmClock_bar__plus_02_dot_60_bar__plus_00_dot_75_bar__minus_01_dot_30) + (pickupable Pencil_bar__plus_02_dot_78_bar__plus_00_dot_81_bar__plus_03_dot_05) + (pickupable Bowl_bar__plus_02_dot_37_bar__plus_00_dot_81_bar__plus_03_dot_49) + (pickupable Laptop_bar__plus_00_dot_12_bar__plus_00_dot_71_bar__plus_01_dot_97) + (pickupable Pen_bar__plus_02_dot_60_bar__plus_00_dot_75_bar__minus_01_dot_66) + (pickupable Book_bar__minus_00_dot_88_bar__plus_00_dot_91_bar__plus_04_dot_35) + (pickupable CD_bar__plus_02_dot_53_bar__plus_00_dot_10_bar__plus_00_dot_33) + (pickupable Book_bar__minus_01_dot_31_bar__plus_00_dot_40_bar__minus_01_dot_05) + (pickupable Mug_bar__plus_02_dot_58_bar__plus_00_dot_81_bar__plus_03_dot_49) + (pickupable CreditCard_bar__plus_02_dot_69_bar__plus_00_dot_84_bar__plus_00_dot_62) + (pickupable Pillow_bar__minus_01_dot_31_bar__plus_00_dot_79_bar__plus_02_dot_26) + (pickupable Pencil_bar__plus_02_dot_68_bar__plus_00_dot_81_bar__plus_03_dot_27) + (pickupable KeyChain_bar__minus_00_dot_75_bar__plus_00_dot_91_bar__plus_04_dot_72) + (pickupable CD_bar__minus_00_dot_62_bar__plus_00_dot_05_bar__plus_03_dot_72) + (pickupable CellPhone_bar__plus_02_dot_62_bar__plus_00_dot_10_bar__plus_00_dot_72) + (isReceptacleObject Bowl_bar__plus_02_dot_37_bar__plus_00_dot_81_bar__plus_03_dot_49) + (isReceptacleObject Mug_bar__plus_02_dot_58_bar__plus_00_dot_81_bar__plus_03_dot_49) + (openable Drawer_bar__plus_02_dot_55_bar__plus_00_dot_57_bar__plus_00_dot_62) + (openable Drawer_bar__plus_02_dot_55_bar__plus_00_dot_21_bar__plus_00_dot_62) + + (atLocation agent1 loc_bar_3_bar_1_bar_3_bar_30) + + (cleanable Bowl_bar__plus_02_dot_37_bar__plus_00_dot_81_bar__plus_03_dot_49) + (cleanable Mug_bar__plus_02_dot_58_bar__plus_00_dot_81_bar__plus_03_dot_49) + + (heatable Mug_bar__plus_02_dot_58_bar__plus_00_dot_81_bar__plus_03_dot_49) + (coolable Bowl_bar__plus_02_dot_37_bar__plus_00_dot_81_bar__plus_03_dot_49) + (coolable Mug_bar__plus_02_dot_58_bar__plus_00_dot_81_bar__plus_03_dot_49) + + + + + + + + (inReceptacle Laptop_bar__plus_00_dot_12_bar__plus_00_dot_71_bar__plus_01_dot_97 Bed_bar__minus_00_dot_59_bar__plus_00_dot_00_bar__plus_02_dot_30) + (inReceptacle Pillow_bar__minus_00_dot_96_bar__plus_00_dot_75_bar__plus_02_dot_98 Bed_bar__minus_00_dot_59_bar__plus_00_dot_00_bar__plus_02_dot_30) + (inReceptacle Pillow_bar__minus_01_dot_31_bar__plus_00_dot_79_bar__plus_02_dot_26 Bed_bar__minus_00_dot_59_bar__plus_00_dot_00_bar__plus_02_dot_30) + (inReceptacle RemoteControl_bar__plus_02_dot_19_bar__plus_00_dot_40_bar__minus_00_dot_68 ArmChair_bar__plus_02_dot_43_bar__plus_00_dot_00_bar__minus_00_dot_57) + (inReceptacle CreditCard_bar__plus_02_dot_69_bar__plus_00_dot_84_bar__plus_00_dot_62 Dresser_bar__plus_02_dot_55_bar__plus_00_dot_57_bar__plus_00_dot_62) + (inReceptacle Television_bar__plus_02_dot_75_bar__plus_01_dot_32_bar__plus_00_dot_62 Dresser_bar__plus_02_dot_55_bar__plus_00_dot_57_bar__plus_00_dot_62) + (inReceptacle Book_bar__minus_01_dot_31_bar__plus_00_dot_40_bar__minus_01_dot_05 ArmChair_bar__minus_01_dot_28_bar__plus_00_dot_00_bar__minus_01_dot_17) + (inReceptacle CD_bar__plus_02_dot_53_bar__plus_00_dot_10_bar__plus_00_dot_33 Drawer_bar__plus_02_dot_55_bar__plus_00_dot_21_bar__plus_00_dot_62) + (inReceptacle CellPhone_bar__plus_02_dot_62_bar__plus_00_dot_10_bar__plus_00_dot_72 Drawer_bar__plus_02_dot_55_bar__plus_00_dot_21_bar__plus_00_dot_62) + (inReceptacle KeyChain_bar__plus_02_dot_78_bar__plus_00_dot_81_bar__plus_02_dot_83 DiningTable_bar__plus_02_dot_58_bar__plus_00_dot_00_bar__plus_03_dot_05) + (inReceptacle Pencil_bar__plus_02_dot_58_bar__plus_00_dot_81_bar__plus_03_dot_05 DiningTable_bar__plus_02_dot_58_bar__plus_00_dot_00_bar__plus_03_dot_05) + (inReceptacle Pencil_bar__plus_02_dot_37_bar__plus_00_dot_81_bar__plus_03_dot_05 DiningTable_bar__plus_02_dot_58_bar__plus_00_dot_00_bar__plus_03_dot_05) + (inReceptacle Pencil_bar__plus_02_dot_68_bar__plus_00_dot_81_bar__plus_03_dot_27 DiningTable_bar__plus_02_dot_58_bar__plus_00_dot_00_bar__plus_03_dot_05) + (inReceptacle Pencil_bar__plus_02_dot_78_bar__plus_00_dot_81_bar__plus_03_dot_05 DiningTable_bar__plus_02_dot_58_bar__plus_00_dot_00_bar__plus_03_dot_05) + (inReceptacle Bowl_bar__plus_02_dot_37_bar__plus_00_dot_81_bar__plus_03_dot_49 DiningTable_bar__plus_02_dot_58_bar__plus_00_dot_00_bar__plus_03_dot_05) + (inReceptacle Mug_bar__plus_02_dot_58_bar__plus_00_dot_81_bar__plus_03_dot_49 DiningTable_bar__plus_02_dot_58_bar__plus_00_dot_00_bar__plus_03_dot_05) + (inReceptacle AlarmClock_bar__plus_02_dot_60_bar__plus_00_dot_75_bar__minus_01_dot_30 SideTable_bar__plus_02_dot_57_bar__plus_00_dot_01_bar__minus_01_dot_54) + (inReceptacle Pen_bar__plus_02_dot_60_bar__plus_00_dot_75_bar__minus_01_dot_66 SideTable_bar__plus_02_dot_57_bar__plus_00_dot_01_bar__minus_01_dot_54) + (inReceptacle Mirror_bar__minus_01_dot_18_bar__plus_01_dot_60_bar__plus_04_dot_35 CounterTop_bar__minus_00_dot_89_bar__plus_00_dot_95_bar__plus_04_dot_35) + (inReceptacle AlarmClock_bar__minus_00_dot_82_bar__plus_00_dot_92_bar__plus_04_dot_53 CounterTop_bar__minus_00_dot_89_bar__plus_00_dot_95_bar__plus_04_dot_35) + (inReceptacle RemoteControl_bar__minus_01_dot_01_bar__plus_00_dot_91_bar__plus_04_dot_72 CounterTop_bar__minus_00_dot_89_bar__plus_00_dot_95_bar__plus_04_dot_35) + (inReceptacle Book_bar__minus_00_dot_88_bar__plus_00_dot_91_bar__plus_04_dot_35 CounterTop_bar__minus_00_dot_89_bar__plus_00_dot_95_bar__plus_04_dot_35) + (inReceptacle CD_bar__minus_00_dot_62_bar__plus_00_dot_05_bar__plus_03_dot_72 GarbageCan_bar__minus_00_dot_63_bar__plus_00_dot_01_bar__plus_03_dot_74) + + + (receptacleAtLocation ArmChair_bar__plus_02_dot_43_bar__plus_00_dot_00_bar__minus_00_dot_57 loc_bar_5_bar__minus_3_bar_1_bar_60) + (receptacleAtLocation ArmChair_bar__minus_01_dot_28_bar__plus_00_dot_00_bar__minus_01_dot_17 loc_bar__minus_1_bar__minus_5_bar_3_bar_60) + (receptacleAtLocation Bed_bar__minus_00_dot_59_bar__plus_00_dot_00_bar__plus_02_dot_30 loc_bar__minus_2_bar_2_bar_0_bar_45) + (receptacleAtLocation CounterTop_bar__minus_00_dot_89_bar__plus_00_dot_95_bar__plus_04_dot_35 loc_bar__minus_1_bar_18_bar_3_bar_45) + (receptacleAtLocation DiningTable_bar__plus_02_dot_58_bar__plus_00_dot_00_bar__plus_03_dot_05 loc_bar_7_bar_13_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_02_dot_55_bar__plus_00_dot_21_bar__plus_00_dot_62 loc_bar_5_bar_0_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_02_dot_55_bar__plus_00_dot_57_bar__plus_00_dot_62 loc_bar_6_bar_3_bar_1_bar_45) + (receptacleAtLocation Dresser_bar__plus_02_dot_55_bar__plus_00_dot_57_bar__plus_00_dot_62 loc_bar_8_bar_3_bar_1_bar_60) + (receptacleAtLocation GarbageCan_bar__minus_00_dot_63_bar__plus_00_dot_01_bar__plus_03_dot_74 loc_bar__minus_1_bar_17_bar_2_bar_60) + (receptacleAtLocation LaundryHamper_bar__plus_03_dot_53_bar__plus_00_dot_01_bar__plus_04_dot_43 loc_bar_10_bar_18_bar_1_bar_60) + (receptacleAtLocation SideTable_bar__plus_02_dot_57_bar__plus_00_dot_01_bar__minus_01_dot_54 loc_bar_7_bar__minus_6_bar_1_bar_60) + (objectAtLocation CD_bar__plus_02_dot_53_bar__plus_00_dot_10_bar__plus_00_dot_33 loc_bar_5_bar_0_bar_1_bar_45) + (objectAtLocation Pencil_bar__plus_02_dot_68_bar__plus_00_dot_81_bar__plus_03_dot_27 loc_bar_7_bar_13_bar_1_bar_60) + (objectAtLocation RemoteControl_bar__plus_02_dot_19_bar__plus_00_dot_40_bar__minus_00_dot_68 loc_bar_5_bar__minus_3_bar_1_bar_60) + (objectAtLocation KeyChain_bar__plus_02_dot_78_bar__plus_00_dot_81_bar__plus_02_dot_83 loc_bar_7_bar_13_bar_1_bar_60) + (objectAtLocation AlarmClock_bar__plus_02_dot_60_bar__plus_00_dot_75_bar__minus_01_dot_30 loc_bar_7_bar__minus_6_bar_1_bar_60) + (objectAtLocation Book_bar__minus_01_dot_31_bar__plus_00_dot_40_bar__minus_01_dot_05 loc_bar__minus_1_bar__minus_5_bar_3_bar_60) + (objectAtLocation Pencil_bar__plus_02_dot_58_bar__plus_00_dot_81_bar__plus_03_dot_05 loc_bar_7_bar_13_bar_1_bar_60) + (objectAtLocation Pencil_bar__plus_02_dot_37_bar__plus_00_dot_81_bar__plus_03_dot_05 loc_bar_7_bar_13_bar_1_bar_60) + (objectAtLocation Chair_bar__plus_02_dot_32_bar__minus_00_dot_01_bar__plus_02_dot_62 loc_bar_7_bar_10_bar_1_bar_60) + (objectAtLocation Book_bar__minus_00_dot_88_bar__plus_00_dot_91_bar__plus_04_dot_35 loc_bar__minus_1_bar_18_bar_3_bar_45) + (objectAtLocation Chair_bar__plus_02_dot_59_bar__minus_00_dot_01_bar__plus_02_dot_14 loc_bar_8_bar_8_bar_1_bar_60) + (objectAtLocation LaundryHamperLid_bar__plus_03_dot_53_bar__plus_00_dot_76_bar__plus_04_dot_43 loc_bar_10_bar_18_bar_1_bar_45) + (objectAtLocation Chair_bar__plus_02_dot_28_bar__minus_00_dot_01_bar__plus_03_dot_49 loc_bar_7_bar_13_bar_1_bar_60) + (objectAtLocation Mirror_bar__minus_01_dot_18_bar__plus_01_dot_60_bar__plus_04_dot_35 loc_bar__minus_1_bar_18_bar_3_bar_45) + (objectAtLocation AlarmClock_bar__minus_00_dot_82_bar__plus_00_dot_92_bar__plus_04_dot_53 loc_bar__minus_1_bar_18_bar_3_bar_45) + (objectAtLocation Television_bar__plus_02_dot_75_bar__plus_01_dot_32_bar__plus_00_dot_62 loc_bar_8_bar_3_bar_1_bar_60) + (objectAtLocation CellPhone_bar__plus_02_dot_62_bar__plus_00_dot_10_bar__plus_00_dot_72 loc_bar_5_bar_0_bar_1_bar_45) + (objectAtLocation Bowl_bar__plus_02_dot_37_bar__plus_00_dot_81_bar__plus_03_dot_49 loc_bar_7_bar_13_bar_1_bar_60) + (objectAtLocation CreditCard_bar__plus_02_dot_69_bar__plus_00_dot_84_bar__plus_00_dot_62 loc_bar_8_bar_3_bar_1_bar_60) + (objectAtLocation KeyChain_bar__minus_00_dot_75_bar__plus_00_dot_91_bar__plus_04_dot_72 loc_bar__minus_1_bar_18_bar_3_bar_60) + (objectAtLocation RemoteControl_bar__minus_01_dot_01_bar__plus_00_dot_91_bar__plus_04_dot_72 loc_bar__minus_1_bar_18_bar_3_bar_45) + (objectAtLocation LightSwitch_bar__plus_00_dot_80_bar__plus_01_dot_37_bar__plus_05_dot_25 loc_bar_6_bar_21_bar_3_bar_15) + (objectAtLocation Laptop_bar__plus_00_dot_12_bar__plus_00_dot_71_bar__plus_01_dot_97 loc_bar__minus_2_bar_2_bar_0_bar_45) + (objectAtLocation Pencil_bar__plus_02_dot_78_bar__plus_00_dot_81_bar__plus_03_dot_05 loc_bar_7_bar_13_bar_1_bar_60) + (objectAtLocation Painting_bar__plus_02_dot_99_bar__plus_01_dot_53_bar__plus_03_dot_42 loc_bar_10_bar_17_bar_2_bar_15) + (objectAtLocation Painting_bar__plus_02_dot_99_bar__plus_01_dot_53_bar__plus_02_dot_55 loc_bar_7_bar_10_bar_1_bar_0) + (objectAtLocation Pillow_bar__minus_00_dot_96_bar__plus_00_dot_75_bar__plus_02_dot_98 loc_bar__minus_2_bar_2_bar_0_bar_45) + (objectAtLocation Pillow_bar__minus_01_dot_31_bar__plus_00_dot_79_bar__plus_02_dot_26 loc_bar__minus_2_bar_2_bar_0_bar_45) + (objectAtLocation CD_bar__minus_00_dot_62_bar__plus_00_dot_05_bar__plus_03_dot_72 loc_bar__minus_1_bar_17_bar_2_bar_60) + (objectAtLocation Pen_bar__plus_02_dot_60_bar__plus_00_dot_75_bar__minus_01_dot_66 loc_bar_7_bar__minus_6_bar_1_bar_60) + (objectAtLocation Window_bar__minus_00_dot_45_bar__plus_01_dot_45_bar__minus_02_dot_06 loc_bar__minus_2_bar__minus_6_bar_2_bar_15) + (objectAtLocation Mug_bar__plus_02_dot_58_bar__plus_00_dot_81_bar__plus_03_dot_49 loc_bar_7_bar_13_bar_1_bar_60) + (objectAtLocation Blinds_bar__minus_00_dot_50_bar__plus_02_dot_17_bar__minus_01_dot_96 loc_bar__minus_2_bar__minus_6_bar_2_bar__minus_30) + ) + + + (:goal + (and + (exists (?r - receptacle) + (and + (receptacleType ?r CounterTopType) + (exists (?o - object) + (and + (objectType ?o PencilType) + (exists (?mo - object) + (and + (objectType ?mo BowlType) + (isReceptacleObject ?mo) + (inReceptacleObject ?o ?mo) + (inReceptacle ?mo ?r) + ) + ) + ) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Pencil-Bowl-CounterTop-311/trial_T20190906_181947_674402/traj_data.json b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Pencil-Bowl-CounterTop-311/trial_T20190906_181947_674402/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..10319539064b303c6a10c72b9740074f517067a7 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Pencil-Bowl-CounterTop-311/trial_T20190906_181947_674402/traj_data.json @@ -0,0 +1,3746 @@ +{ + "images": [ + { + "high_idx": 0, + "image_name": "000000000.png", + 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0.8116682, + "z": 3.053905 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pencil_172c7898", + "position": { + "x": 2.36734867, + "y": 0.810731351, + "z": 3.053905 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pencil_172c7898", + "position": { + "x": 2.576072, + "y": 0.810731351, + "z": 3.053905 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "KeyChain_81ebd795", + "position": { + "x": -0.749808, + "y": 0.9143347, + "z": 4.71732759 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Book_4c88af94", + "position": { + "x": -0.8811438, + "y": 0.9127645, + "z": 4.35 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "RemoteControl_787808a4", + "position": { + "x": -1.01247966, + "y": 0.9147331, + "z": 4.71732759 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "AlarmClock_64d4017f", + "position": { + "x": -0.815475941, + "y": 0.9215688, + "z": 4.53366375 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Book_4c88af94", + "position": { + "x": -1.30783033, + "y": 0.399080217, + "z": -1.05339372 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + }, + { + "objectName": "AlarmClock_64d4017f", + "position": { + "x": 2.59503245, + "y": 0.7539418, + "z": -1.30041909 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "CellPhone_73ef3690", + "position": { + "x": 2.618261, + "y": 0.0972365141, + "z": 0.721920133 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Bowl_65828e43", + "position": { + "x": 2.36734867, + "y": 0.809822559, + "z": 3.49469376 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "CreditCard_e4e177ec", + "position": { + "x": 2.69, + "y": 0.842996, + "z": 0.6240001 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "KeyChain_81ebd795", + "position": { + "x": 2.78479528, + "y": 0.8082262, + "z": 2.83351064 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "RemoteControl_787808a4", + "position": { + "x": 2.18511224, + "y": 0.401048839, + "z": -0.681606948 + }, + "rotation": { + "x": 0.0, + "y": 269.999817, + "z": 0.0 + } + }, + { + "objectName": "Laptop_098867ef", + "position": { + "x": 0.123219371, + "y": 0.7123361, + "z": 1.973788 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pencil_172c7898", + "position": { + "x": 2.68043351, + "y": 0.810731351, + "z": 3.27429938 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pillow_1f84c627", + "position": { + "x": -0.9595227, + "y": 0.752, + "z": 2.97759867 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pillow_e745bb37", + "position": { + "x": -1.312467, + "y": 0.785215139, + "z": 2.25661373 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "CD_fbb244a0", + "position": { + "x": 2.53340769, + "y": 0.09693372, + "z": 0.3302396 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pen_2d1adb92", + "position": { + "x": 2.59503245, + "y": 0.751524746, + "z": -1.65992141 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_34663f02", + "position": { + "x": 2.576072, + "y": 0.8053905, + "z": 3.49469376 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 2017447792, + "scene_num": 311 + }, + "task_id": "trial_T20190906_181947_674402", + "task_type": "pick_and_place_with_movable_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A1ELPYAFO7MANS_3X0H8UUIT45IS2D9QEIS0SCCA4ZSWG", + "high_descs": [ + "Turn right and veer right to the desk.", + "Pick up the blue pencil.", + "Look down at the desk.", + "Place the pencil in the bowl on the left side of the desk.", + "Pick up the bowl.", + "Turn around and veer slightly right to the area with the tile with little squares on it.", + "Place the bowl on the counter on top of the keys." + ], + "task_desc": "Place a bowl with a pencil in it on a counter.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A3IKXWJKHW1XWC_31Z0PCVWUNW4HNPN76F6IH9GG3FT7O", + "high_descs": [ + "Go left towards the head of the bed", + "turn left and go towards the table", + "pick up the pencil on the table", + "place the pencil in the bowl that is on the table", + "turn left and turn left again to face the bed ", + "turn left and head towards the door, half way to the door stop", + "Turn right, head towards the table, place the bowl with the pencil in it on the table" + ], + "task_desc": "To put the pencil in the bowl moving both items from the black table to the white one", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1GVTH5YS3WOK0_3ND9UOO81NJVOPIJ65LRO6YGFH2WLQ", + "high_descs": [ + "Turn right, walk towards the top of the bed, and turn left towards the table.", + "Pick up the pencil to the left of the lamp on the table.", + "Walk a little backwards from the table.", + "Place the pencil in the bowl on the table.", + "Pick up the bowl with the pencil from the table.", + "Turn left towards the door, hang left to enter the bathroom.", + "Place the bowl on top of the keys." + ], + "task_desc": "Put the pencil on the to place it in the bathroom counter.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A98E8M4QLI9RS_3U088ZLJVNAIRTTXHCZ8QM6SCIB0W3", + "high_descs": [ + "make a right before the bed and go across the room to the black desk on the right, turn to face the desk", + "pick up the pencil that is to the left of the lamp", + "back up slightly from the desk", + "put the pencil in the clear bowl on the left corner of the desk", + "pick up the bowl with the pencil", + "turn around and walk toward the bathroom counter", + "put the bowl with the pencil on top of the the keys that are in front of the phone on the counter" + ], + "task_desc": "put a bowl containing a pencil on top of the set of keys", + "votes": [ + 1, + 1, + 1, + 0, + 1 + ] + }, + { + "assignment_id": "A20FCMWP43CVIU_3WRFBPLXRD5OLRJG8YQ4W1R9PDA3NO", + "high_descs": [ + "walk toward the desk, stop in front of desk", + "pick up the aqua pencil from the desk to the left of the table lamp", + "continue to hold the pencil in front of the desk", + "put the pencil in the bowl in front of the white mug on the desk", + "pick up the bowl from the desk", + "turn around and find the shelf with a mirror over it, stop at the shelf", + "put the bowl on the shelf on top of the keys on the right of the shelf" + ], + "task_desc": "put a pencil and bowl on a set of keys", + "votes": [ + 0, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A6U2C66WQ7QQN_3TMFV4NEPBV09IY0CGCNJ1CBYBDW87", + "high_descs": [ + "Turn around, take a few steps", + "head to the black table with the lamp", + "Take the blue pencil from the table", + "Put the pencil in the bowl", + "Take the bowl from the table", + "Turn around, head in to the bathroom", + "Put the bowl on the bathroom counter" + ], + "task_desc": "Put the blue pencil in the bowl, put the bowl on the bathroom counter", + "votes": [ + 1, + 0, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Pencil-Bowl-CounterTop-311/trial_T20190906_182005_438932/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Pencil-Bowl-CounterTop-311/trial_T20190906_182005_438932/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..e1a0f4e503127f95314d11b28549cb19b31d4ebf --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Pencil-Bowl-CounterTop-311/trial_T20190906_182005_438932/initial_state.pddl @@ -0,0 +1,568 @@ + +(define (problem plan_trial_T20190906_182005_438932) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_58_bar__plus_00_dot_82_bar__plus_02_dot_39 - object + AlarmClock_bar__plus_02_dot_61_bar__plus_00_dot_85_bar__plus_01_dot_02 - object + AlarmClock_bar__minus_00_dot_88_bar__plus_00_dot_92_bar__plus_04_dot_72 - object + Blinds_bar__minus_00_dot_50_bar__plus_02_dot_17_bar__minus_01_dot_96 - object + Book_bar__plus_02_dot_36_bar__plus_00_dot_40_bar__minus_00_dot_59 - object + Bowl_bar__plus_02_dot_68_bar__plus_00_dot_81_bar__plus_02_dot_83 - object + Bowl_bar__plus_02_dot_78_bar__plus_00_dot_81_bar__plus_02_dot_61 - object + CD_bar__minus_01_dot_08_bar__plus_00_dot_91_bar__plus_03_dot_98 - object + CellPhone_bar__plus_02_dot_45_bar__plus_00_dot_84_bar__plus_00_dot_23 - object + CellPhone_bar__minus_01_dot_01_bar__plus_00_dot_91_bar__plus_04_dot_35 - object + Chair_bar__plus_02_dot_28_bar__minus_00_dot_01_bar__plus_03_dot_49 - object + Chair_bar__plus_02_dot_32_bar__minus_00_dot_01_bar__plus_02_dot_62 - object + Chair_bar__plus_02_dot_59_bar__minus_00_dot_01_bar__plus_02_dot_14 - object + CreditCard_bar__plus_02_dot_37_bar__plus_00_dot_81_bar__plus_03_dot_05 - object + KeyChain_bar__plus_02_dot_33_bar__plus_00_dot_75_bar__minus_01_dot_57 - object + KeyChain_bar__plus_02_dot_55_bar__plus_00_dot_75_bar__minus_01_dot_66 - object + KeyChain_bar__plus_02_dot_77_bar__plus_00_dot_84_bar__plus_00_dot_49 - object + Lamp_bar__plus_02_dot_62_bar__plus_00_dot_74_bar__minus_01_dot_47 - object + Lamp_bar__plus_02_dot_69_bar__plus_00_dot_80_bar__plus_03_dot_08 - object + Laptop_bar__plus_00_dot_12_bar__plus_00_dot_71_bar__plus_01_dot_41 - object + Laptop_bar__plus_02_dot_58_bar__plus_00_dot_81_bar__plus_03_dot_72 - object + Laptop_bar__minus_00_dot_59_bar__plus_00_dot_71_bar__plus_01_dot_41 - object + LaundryHamperLid_bar__plus_03_dot_53_bar__plus_00_dot_76_bar__plus_04_dot_43 - object + LightSwitch_bar__plus_00_dot_80_bar__plus_01_dot_37_bar__plus_05_dot_25 - object + Mirror_bar__minus_01_dot_18_bar__plus_01_dot_60_bar__plus_04_dot_35 - object + Mug_bar__plus_02_dot_47_bar__plus_00_dot_81_bar__plus_03_dot_49 - object + Painting_bar__plus_02_dot_99_bar__plus_01_dot_53_bar__plus_02_dot_55 - object + Painting_bar__plus_02_dot_99_bar__plus_01_dot_53_bar__plus_03_dot_42 - object + Pencil_bar__plus_02_dot_47_bar__plus_00_dot_81_bar__plus_02_dot_61 - object + Pencil_bar__plus_02_dot_61_bar__plus_00_dot_85_bar__plus_00_dot_89 - object + Pencil_bar__plus_02_dot_69_bar__plus_00_dot_85_bar__plus_01_dot_02 - object + Pencil_bar__minus_00_dot_88_bar__plus_00_dot_92_bar__plus_04_dot_17 - object + Pen_bar__minus_00_dot_95_bar__plus_00_dot_92_bar__plus_03_dot_80 - object + Pillow_bar__minus_00_dot_12_bar__plus_00_dot_79_bar__plus_01_dot_97 - object + Pillow_bar__minus_00_dot_59_bar__plus_00_dot_79_bar__plus_02_dot_54 - object + Pillow_bar__minus_01_dot_07_bar__plus_00_dot_79_bar__plus_02_dot_82 - object + RemoteControl_bar__plus_02_dot_45_bar__plus_00_dot_75_bar__minus_01_dot_44 - object + RemoteControl_bar__plus_02_dot_69_bar__plus_00_dot_84_bar__plus_00_dot_23 - object + RemoteControl_bar__minus_00_dot_88_bar__plus_00_dot_91_bar__plus_04_dot_90 - object + Television_bar__plus_02_dot_75_bar__plus_01_dot_32_bar__plus_00_dot_62 - object + Window_bar__minus_00_dot_45_bar__plus_01_dot_45_bar__minus_02_dot_06 - object + ArmChair_bar__plus_02_dot_43_bar__plus_00_dot_00_bar__minus_00_dot_57 - receptacle + ArmChair_bar__minus_01_dot_28_bar__plus_00_dot_00_bar__minus_01_dot_17 - receptacle + Bed_bar__minus_00_dot_59_bar__plus_00_dot_00_bar__plus_02_dot_30 - receptacle + CounterTop_bar__minus_00_dot_89_bar__plus_00_dot_95_bar__plus_04_dot_35 - receptacle + DiningTable_bar__plus_02_dot_58_bar__plus_00_dot_00_bar__plus_03_dot_05 - receptacle + Drawer_bar__plus_02_dot_55_bar__plus_00_dot_21_bar__plus_00_dot_62 - receptacle + Drawer_bar__plus_02_dot_55_bar__plus_00_dot_57_bar__plus_00_dot_62 - receptacle + Dresser_bar__plus_02_dot_55_bar__plus_00_dot_57_bar__plus_00_dot_62 - receptacle + GarbageCan_bar__minus_00_dot_63_bar__plus_00_dot_01_bar__plus_03_dot_74 - receptacle + LaundryHamper_bar__plus_03_dot_53_bar__plus_00_dot_01_bar__plus_04_dot_43 - receptacle + SideTable_bar__plus_02_dot_57_bar__plus_00_dot_01_bar__minus_01_dot_54 - receptacle + loc_bar_7_bar_13_bar_1_bar_60 - location + loc_bar_7_bar_10_bar_1_bar_0 - location + loc_bar__minus_1_bar_18_bar_3_bar_45 - location + loc_bar_6_bar_3_bar_1_bar_45 - location + loc_bar_5_bar__minus_3_bar_1_bar_60 - location + loc_bar__minus_1_bar_17_bar_3_bar_45 - location + loc_bar__minus_2_bar__minus_6_bar_2_bar_15 - location + loc_bar_7_bar_10_bar_1_bar_60 - location + loc_bar_10_bar_17_bar_2_bar_15 - location + loc_bar_8_bar_3_bar_1_bar_60 - location + loc_bar_8_bar_8_bar_1_bar_60 - location + loc_bar__minus_2_bar__minus_6_bar_2_bar__minus_30 - location + loc_bar_10_bar_18_bar_1_bar_60 - location + loc_bar__minus_1_bar__minus_5_bar_3_bar_60 - location + loc_bar_5_bar_0_bar_1_bar_45 - location + loc_bar_6_bar_21_bar_3_bar_15 - location + loc_bar__minus_1_bar_17_bar_2_bar_60 - location + loc_bar__minus_2_bar_2_bar_0_bar_45 - location + loc_bar_7_bar__minus_6_bar_1_bar_60 - location + loc_bar_10_bar_18_bar_1_bar_45 - location + loc_bar_2_bar__minus_3_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType ArmChair_bar__plus_02_dot_43_bar__plus_00_dot_00_bar__minus_00_dot_57 ArmChairType) + (receptacleType Bed_bar__minus_00_dot_59_bar__plus_00_dot_00_bar__plus_02_dot_30 BedType) + (receptacleType GarbageCan_bar__minus_00_dot_63_bar__plus_00_dot_01_bar__plus_03_dot_74 GarbageCanType) + (receptacleType Drawer_bar__plus_02_dot_55_bar__plus_00_dot_57_bar__plus_00_dot_62 DrawerType) + (receptacleType ArmChair_bar__minus_01_dot_28_bar__plus_00_dot_00_bar__minus_01_dot_17 ArmChairType) + (receptacleType Dresser_bar__plus_02_dot_55_bar__plus_00_dot_57_bar__plus_00_dot_62 DresserType) + (receptacleType Drawer_bar__plus_02_dot_55_bar__plus_00_dot_21_bar__plus_00_dot_62 DrawerType) + (receptacleType LaundryHamper_bar__plus_03_dot_53_bar__plus_00_dot_01_bar__plus_04_dot_43 LaundryHamperType) + (receptacleType CounterTop_bar__minus_00_dot_89_bar__plus_00_dot_95_bar__plus_04_dot_35 CounterTopType) + (receptacleType DiningTable_bar__plus_02_dot_58_bar__plus_00_dot_00_bar__plus_03_dot_05 DiningTableType) + (receptacleType SideTable_bar__plus_02_dot_57_bar__plus_00_dot_01_bar__minus_01_dot_54 SideTableType) + (objectType CD_bar__minus_01_dot_08_bar__plus_00_dot_91_bar__plus_03_dot_98 CDType) + (objectType Pencil_bar__minus_00_dot_88_bar__plus_00_dot_92_bar__plus_04_dot_17 PencilType) + (objectType Pencil_bar__plus_02_dot_61_bar__plus_00_dot_85_bar__plus_00_dot_89 PencilType) + (objectType Pillow_bar__minus_00_dot_59_bar__plus_00_dot_79_bar__plus_02_dot_54 PillowType) + (objectType KeyChain_bar__plus_02_dot_77_bar__plus_00_dot_84_bar__plus_00_dot_49 KeyChainType) + (objectType CreditCard_bar__plus_02_dot_37_bar__plus_00_dot_81_bar__plus_03_dot_05 CreditCardType) + (objectType Pen_bar__minus_00_dot_95_bar__plus_00_dot_92_bar__plus_03_dot_80 PenType) + (objectType Window_bar__minus_00_dot_45_bar__plus_01_dot_45_bar__minus_02_dot_06 WindowType) + (objectType Pencil_bar__plus_02_dot_47_bar__plus_00_dot_81_bar__plus_02_dot_61 PencilType) + (objectType CellPhone_bar__minus_01_dot_01_bar__plus_00_dot_91_bar__plus_04_dot_35 CellPhoneType) + (objectType Chair_bar__plus_02_dot_28_bar__minus_00_dot_01_bar__plus_03_dot_49 ChairType) + (objectType AlarmClock_bar__minus_00_dot_88_bar__plus_00_dot_92_bar__plus_04_dot_72 AlarmClockType) + (objectType Laptop_bar__plus_02_dot_58_bar__plus_00_dot_81_bar__plus_03_dot_72 LaptopType) + (objectType Television_bar__plus_02_dot_75_bar__plus_01_dot_32_bar__plus_00_dot_62 TelevisionType) + (objectType Pencil_bar__plus_02_dot_69_bar__plus_00_dot_85_bar__plus_01_dot_02 PencilType) + (objectType Bowl_bar__plus_02_dot_78_bar__plus_00_dot_81_bar__plus_02_dot_61 BowlType) + (objectType Mug_bar__plus_02_dot_47_bar__plus_00_dot_81_bar__plus_03_dot_49 MugType) + (objectType Chair_bar__plus_02_dot_59_bar__minus_00_dot_01_bar__plus_02_dot_14 ChairType) + (objectType AlarmClock_bar__plus_02_dot_61_bar__plus_00_dot_85_bar__plus_01_dot_02 AlarmClockType) + (objectType Mirror_bar__minus_01_dot_18_bar__plus_01_dot_60_bar__plus_04_dot_35 MirrorType) + (objectType Bowl_bar__plus_02_dot_68_bar__plus_00_dot_81_bar__plus_02_dot_83 BowlType) + (objectType KeyChain_bar__plus_02_dot_55_bar__plus_00_dot_75_bar__minus_01_dot_66 KeyChainType) + (objectType LightSwitch_bar__plus_00_dot_80_bar__plus_01_dot_37_bar__plus_05_dot_25 LightSwitchType) + (objectType RemoteControl_bar__minus_00_dot_88_bar__plus_00_dot_91_bar__plus_04_dot_90 RemoteControlType) + (objectType LaundryHamperLid_bar__plus_03_dot_53_bar__plus_00_dot_76_bar__plus_04_dot_43 LaundryHamperLidType) + (objectType RemoteControl_bar__plus_02_dot_45_bar__plus_00_dot_75_bar__minus_01_dot_44 RemoteControlType) + (objectType Laptop_bar__minus_00_dot_59_bar__plus_00_dot_71_bar__plus_01_dot_41 LaptopType) + (objectType CellPhone_bar__plus_02_dot_45_bar__plus_00_dot_84_bar__plus_00_dot_23 CellPhoneType) + (objectType Pillow_bar__minus_00_dot_12_bar__plus_00_dot_79_bar__plus_01_dot_97 PillowType) + (objectType AlarmClock_bar__plus_02_dot_58_bar__plus_00_dot_82_bar__plus_02_dot_39 AlarmClockType) + (objectType Pillow_bar__minus_01_dot_07_bar__plus_00_dot_79_bar__plus_02_dot_82 PillowType) + (objectType KeyChain_bar__plus_02_dot_33_bar__plus_00_dot_75_bar__minus_01_dot_57 KeyChainType) + (objectType Blinds_bar__minus_00_dot_50_bar__plus_02_dot_17_bar__minus_01_dot_96 BlindsType) + (objectType Painting_bar__plus_02_dot_99_bar__plus_01_dot_53_bar__plus_02_dot_55 PaintingType) + (objectType Chair_bar__plus_02_dot_32_bar__minus_00_dot_01_bar__plus_02_dot_62 ChairType) + (objectType RemoteControl_bar__plus_02_dot_69_bar__plus_00_dot_84_bar__plus_00_dot_23 RemoteControlType) + (objectType Painting_bar__plus_02_dot_99_bar__plus_01_dot_53_bar__plus_03_dot_42 PaintingType) + (objectType Book_bar__plus_02_dot_36_bar__plus_00_dot_40_bar__minus_00_dot_59 BookType) + (objectType Laptop_bar__plus_00_dot_12_bar__plus_00_dot_71_bar__plus_01_dot_41 LaptopType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType BookType) + (canContain ArmChairType CellPhoneType) + (canContain ArmChairType PillowType) + (canContain ArmChairType RemoteControlType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType CreditCardType) + (canContain BedType LaptopType) + (canContain BedType BookType) + (canContain BedType CellPhoneType) + (canContain BedType PillowType) + (canContain GarbageCanType PenType) + (canContain GarbageCanType CDType) + (canContain GarbageCanType PencilType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType RemoteControlType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType BookType) + (canContain ArmChairType CellPhoneType) + (canContain ArmChairType PillowType) + (canContain ArmChairType RemoteControlType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType CreditCardType) + (canContain DresserType PenType) + (canContain DresserType BookType) + (canContain DresserType BowlType) + (canContain DresserType CDType) + (canContain DresserType MugType) + (canContain DresserType CellPhoneType) + (canContain DresserType KeyChainType) + (canContain DresserType CreditCardType) + (canContain DresserType LaptopType) + (canContain DresserType PencilType) + (canContain DresserType RemoteControlType) + (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 RemoteControlType) + (canContain CounterTopType PenType) + (canContain CounterTopType BookType) + (canContain CounterTopType BowlType) + (canContain CounterTopType CDType) + (canContain CounterTopType MugType) + (canContain CounterTopType CellPhoneType) + (canContain CounterTopType KeyChainType) + (canContain CounterTopType CreditCardType) + (canContain CounterTopType LaptopType) + (canContain CounterTopType PencilType) + (canContain CounterTopType RemoteControlType) + (canContain CounterTopType AlarmClockType) + (canContain DiningTableType PenType) + (canContain DiningTableType BookType) + (canContain DiningTableType BowlType) + (canContain DiningTableType CDType) + (canContain DiningTableType MugType) + (canContain DiningTableType CellPhoneType) + (canContain DiningTableType KeyChainType) + (canContain DiningTableType CreditCardType) + (canContain DiningTableType LaptopType) + (canContain DiningTableType PencilType) + (canContain DiningTableType RemoteControlType) + (canContain DiningTableType AlarmClockType) + (canContain SideTableType PenType) + (canContain SideTableType BookType) + (canContain SideTableType BowlType) + (canContain SideTableType CDType) + (canContain SideTableType MugType) + (canContain SideTableType CellPhoneType) + (canContain SideTableType KeyChainType) + (canContain SideTableType CreditCardType) + (canContain SideTableType LaptopType) + (canContain SideTableType PencilType) + (canContain SideTableType RemoteControlType) + (canContain SideTableType AlarmClockType) + (pickupable CD_bar__minus_01_dot_08_bar__plus_00_dot_91_bar__plus_03_dot_98) + (pickupable Pencil_bar__minus_00_dot_88_bar__plus_00_dot_92_bar__plus_04_dot_17) + (pickupable Pencil_bar__plus_02_dot_61_bar__plus_00_dot_85_bar__plus_00_dot_89) + (pickupable Pillow_bar__minus_00_dot_59_bar__plus_00_dot_79_bar__plus_02_dot_54) + (pickupable KeyChain_bar__plus_02_dot_77_bar__plus_00_dot_84_bar__plus_00_dot_49) + (pickupable CreditCard_bar__plus_02_dot_37_bar__plus_00_dot_81_bar__plus_03_dot_05) + (pickupable Pen_bar__minus_00_dot_95_bar__plus_00_dot_92_bar__plus_03_dot_80) + (pickupable Pencil_bar__plus_02_dot_47_bar__plus_00_dot_81_bar__plus_02_dot_61) + (pickupable CellPhone_bar__minus_01_dot_01_bar__plus_00_dot_91_bar__plus_04_dot_35) + (pickupable AlarmClock_bar__minus_00_dot_88_bar__plus_00_dot_92_bar__plus_04_dot_72) + (pickupable Laptop_bar__plus_02_dot_58_bar__plus_00_dot_81_bar__plus_03_dot_72) + (pickupable Pencil_bar__plus_02_dot_69_bar__plus_00_dot_85_bar__plus_01_dot_02) + (pickupable Bowl_bar__plus_02_dot_78_bar__plus_00_dot_81_bar__plus_02_dot_61) + (pickupable Mug_bar__plus_02_dot_47_bar__plus_00_dot_81_bar__plus_03_dot_49) + (pickupable AlarmClock_bar__plus_02_dot_61_bar__plus_00_dot_85_bar__plus_01_dot_02) + (pickupable Bowl_bar__plus_02_dot_68_bar__plus_00_dot_81_bar__plus_02_dot_83) + (pickupable KeyChain_bar__plus_02_dot_55_bar__plus_00_dot_75_bar__minus_01_dot_66) + (pickupable RemoteControl_bar__minus_00_dot_88_bar__plus_00_dot_91_bar__plus_04_dot_90) + (pickupable RemoteControl_bar__plus_02_dot_45_bar__plus_00_dot_75_bar__minus_01_dot_44) + (pickupable Laptop_bar__minus_00_dot_59_bar__plus_00_dot_71_bar__plus_01_dot_41) + (pickupable CellPhone_bar__plus_02_dot_45_bar__plus_00_dot_84_bar__plus_00_dot_23) + (pickupable Pillow_bar__minus_00_dot_12_bar__plus_00_dot_79_bar__plus_01_dot_97) + (pickupable AlarmClock_bar__plus_02_dot_58_bar__plus_00_dot_82_bar__plus_02_dot_39) + (pickupable Pillow_bar__minus_01_dot_07_bar__plus_00_dot_79_bar__plus_02_dot_82) + (pickupable KeyChain_bar__plus_02_dot_33_bar__plus_00_dot_75_bar__minus_01_dot_57) + (pickupable RemoteControl_bar__plus_02_dot_69_bar__plus_00_dot_84_bar__plus_00_dot_23) + (pickupable Book_bar__plus_02_dot_36_bar__plus_00_dot_40_bar__minus_00_dot_59) + (pickupable Laptop_bar__plus_00_dot_12_bar__plus_00_dot_71_bar__plus_01_dot_41) + (isReceptacleObject Bowl_bar__plus_02_dot_78_bar__plus_00_dot_81_bar__plus_02_dot_61) + (isReceptacleObject Mug_bar__plus_02_dot_47_bar__plus_00_dot_81_bar__plus_03_dot_49) + (isReceptacleObject Bowl_bar__plus_02_dot_68_bar__plus_00_dot_81_bar__plus_02_dot_83) + (openable Drawer_bar__plus_02_dot_55_bar__plus_00_dot_57_bar__plus_00_dot_62) + (openable Drawer_bar__plus_02_dot_55_bar__plus_00_dot_21_bar__plus_00_dot_62) + + (atLocation agent1 loc_bar_2_bar__minus_3_bar_3_bar_30) + + (cleanable Bowl_bar__plus_02_dot_78_bar__plus_00_dot_81_bar__plus_02_dot_61) + (cleanable Mug_bar__plus_02_dot_47_bar__plus_00_dot_81_bar__plus_03_dot_49) + (cleanable Bowl_bar__plus_02_dot_68_bar__plus_00_dot_81_bar__plus_02_dot_83) + + (heatable Mug_bar__plus_02_dot_47_bar__plus_00_dot_81_bar__plus_03_dot_49) + (coolable Bowl_bar__plus_02_dot_78_bar__plus_00_dot_81_bar__plus_02_dot_61) + (coolable Mug_bar__plus_02_dot_47_bar__plus_00_dot_81_bar__plus_03_dot_49) + (coolable Bowl_bar__plus_02_dot_68_bar__plus_00_dot_81_bar__plus_02_dot_83) + + + + + + + + (inReceptacle Pillow_bar__minus_01_dot_07_bar__plus_00_dot_79_bar__plus_02_dot_82 Bed_bar__minus_00_dot_59_bar__plus_00_dot_00_bar__plus_02_dot_30) + (inReceptacle Pillow_bar__minus_00_dot_59_bar__plus_00_dot_79_bar__plus_02_dot_54 Bed_bar__minus_00_dot_59_bar__plus_00_dot_00_bar__plus_02_dot_30) + (inReceptacle Laptop_bar__minus_00_dot_59_bar__plus_00_dot_71_bar__plus_01_dot_41 Bed_bar__minus_00_dot_59_bar__plus_00_dot_00_bar__plus_02_dot_30) + (inReceptacle Pillow_bar__minus_00_dot_12_bar__plus_00_dot_79_bar__plus_01_dot_97 Bed_bar__minus_00_dot_59_bar__plus_00_dot_00_bar__plus_02_dot_30) + (inReceptacle Laptop_bar__plus_00_dot_12_bar__plus_00_dot_71_bar__plus_01_dot_41 Bed_bar__minus_00_dot_59_bar__plus_00_dot_00_bar__plus_02_dot_30) + (inReceptacle Book_bar__plus_02_dot_36_bar__plus_00_dot_40_bar__minus_00_dot_59 ArmChair_bar__plus_02_dot_43_bar__plus_00_dot_00_bar__minus_00_dot_57) + (inReceptacle Television_bar__plus_02_dot_75_bar__plus_01_dot_32_bar__plus_00_dot_62 Dresser_bar__plus_02_dot_55_bar__plus_00_dot_57_bar__plus_00_dot_62) + (inReceptacle Pencil_bar__plus_02_dot_69_bar__plus_00_dot_85_bar__plus_01_dot_02 Dresser_bar__plus_02_dot_55_bar__plus_00_dot_57_bar__plus_00_dot_62) + (inReceptacle Pencil_bar__plus_02_dot_61_bar__plus_00_dot_85_bar__plus_00_dot_89 Dresser_bar__plus_02_dot_55_bar__plus_00_dot_57_bar__plus_00_dot_62) + (inReceptacle KeyChain_bar__plus_02_dot_77_bar__plus_00_dot_84_bar__plus_00_dot_49 Dresser_bar__plus_02_dot_55_bar__plus_00_dot_57_bar__plus_00_dot_62) + (inReceptacle RemoteControl_bar__plus_02_dot_69_bar__plus_00_dot_84_bar__plus_00_dot_23 Dresser_bar__plus_02_dot_55_bar__plus_00_dot_57_bar__plus_00_dot_62) + (inReceptacle CellPhone_bar__plus_02_dot_45_bar__plus_00_dot_84_bar__plus_00_dot_23 Dresser_bar__plus_02_dot_55_bar__plus_00_dot_57_bar__plus_00_dot_62) + (inReceptacle AlarmClock_bar__plus_02_dot_61_bar__plus_00_dot_85_bar__plus_01_dot_02 Dresser_bar__plus_02_dot_55_bar__plus_00_dot_57_bar__plus_00_dot_62) + (inReceptacle AlarmClock_bar__plus_02_dot_58_bar__plus_00_dot_82_bar__plus_02_dot_39 DiningTable_bar__plus_02_dot_58_bar__plus_00_dot_00_bar__plus_03_dot_05) + (inReceptacle Bowl_bar__plus_02_dot_68_bar__plus_00_dot_81_bar__plus_02_dot_83 DiningTable_bar__plus_02_dot_58_bar__plus_00_dot_00_bar__plus_03_dot_05) + (inReceptacle Laptop_bar__plus_02_dot_58_bar__plus_00_dot_81_bar__plus_03_dot_72 DiningTable_bar__plus_02_dot_58_bar__plus_00_dot_00_bar__plus_03_dot_05) + (inReceptacle Bowl_bar__plus_02_dot_78_bar__plus_00_dot_81_bar__plus_02_dot_61 DiningTable_bar__plus_02_dot_58_bar__plus_00_dot_00_bar__plus_03_dot_05) + (inReceptacle Mug_bar__plus_02_dot_47_bar__plus_00_dot_81_bar__plus_03_dot_49 DiningTable_bar__plus_02_dot_58_bar__plus_00_dot_00_bar__plus_03_dot_05) + (inReceptacle CreditCard_bar__plus_02_dot_37_bar__plus_00_dot_81_bar__plus_03_dot_05 DiningTable_bar__plus_02_dot_58_bar__plus_00_dot_00_bar__plus_03_dot_05) + (inReceptacle Pencil_bar__plus_02_dot_47_bar__plus_00_dot_81_bar__plus_02_dot_61 DiningTable_bar__plus_02_dot_58_bar__plus_00_dot_00_bar__plus_03_dot_05) + (inReceptacle KeyChain_bar__plus_02_dot_33_bar__plus_00_dot_75_bar__minus_01_dot_57 SideTable_bar__plus_02_dot_57_bar__plus_00_dot_01_bar__minus_01_dot_54) + (inReceptacle RemoteControl_bar__plus_02_dot_45_bar__plus_00_dot_75_bar__minus_01_dot_44 SideTable_bar__plus_02_dot_57_bar__plus_00_dot_01_bar__minus_01_dot_54) + (inReceptacle KeyChain_bar__plus_02_dot_55_bar__plus_00_dot_75_bar__minus_01_dot_66 SideTable_bar__plus_02_dot_57_bar__plus_00_dot_01_bar__minus_01_dot_54) + (inReceptacle Mirror_bar__minus_01_dot_18_bar__plus_01_dot_60_bar__plus_04_dot_35 CounterTop_bar__minus_00_dot_89_bar__plus_00_dot_95_bar__plus_04_dot_35) + (inReceptacle AlarmClock_bar__minus_00_dot_88_bar__plus_00_dot_92_bar__plus_04_dot_72 CounterTop_bar__minus_00_dot_89_bar__plus_00_dot_95_bar__plus_04_dot_35) + (inReceptacle Pencil_bar__minus_00_dot_88_bar__plus_00_dot_92_bar__plus_04_dot_17 CounterTop_bar__minus_00_dot_89_bar__plus_00_dot_95_bar__plus_04_dot_35) + (inReceptacle RemoteControl_bar__minus_00_dot_88_bar__plus_00_dot_91_bar__plus_04_dot_90 CounterTop_bar__minus_00_dot_89_bar__plus_00_dot_95_bar__plus_04_dot_35) + (inReceptacle Pen_bar__minus_00_dot_95_bar__plus_00_dot_92_bar__plus_03_dot_80 CounterTop_bar__minus_00_dot_89_bar__plus_00_dot_95_bar__plus_04_dot_35) + (inReceptacle CellPhone_bar__minus_01_dot_01_bar__plus_00_dot_91_bar__plus_04_dot_35 CounterTop_bar__minus_00_dot_89_bar__plus_00_dot_95_bar__plus_04_dot_35) + + + (receptacleAtLocation ArmChair_bar__plus_02_dot_43_bar__plus_00_dot_00_bar__minus_00_dot_57 loc_bar_5_bar__minus_3_bar_1_bar_60) + (receptacleAtLocation ArmChair_bar__minus_01_dot_28_bar__plus_00_dot_00_bar__minus_01_dot_17 loc_bar__minus_1_bar__minus_5_bar_3_bar_60) + (receptacleAtLocation Bed_bar__minus_00_dot_59_bar__plus_00_dot_00_bar__plus_02_dot_30 loc_bar__minus_2_bar_2_bar_0_bar_45) + (receptacleAtLocation CounterTop_bar__minus_00_dot_89_bar__plus_00_dot_95_bar__plus_04_dot_35 loc_bar__minus_1_bar_18_bar_3_bar_45) + (receptacleAtLocation DiningTable_bar__plus_02_dot_58_bar__plus_00_dot_00_bar__plus_03_dot_05 loc_bar_7_bar_13_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_02_dot_55_bar__plus_00_dot_21_bar__plus_00_dot_62 loc_bar_5_bar_0_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_02_dot_55_bar__plus_00_dot_57_bar__plus_00_dot_62 loc_bar_6_bar_3_bar_1_bar_45) + (receptacleAtLocation Dresser_bar__plus_02_dot_55_bar__plus_00_dot_57_bar__plus_00_dot_62 loc_bar_8_bar_3_bar_1_bar_60) + (receptacleAtLocation GarbageCan_bar__minus_00_dot_63_bar__plus_00_dot_01_bar__plus_03_dot_74 loc_bar__minus_1_bar_17_bar_2_bar_60) + (receptacleAtLocation LaundryHamper_bar__plus_03_dot_53_bar__plus_00_dot_01_bar__plus_04_dot_43 loc_bar_10_bar_18_bar_1_bar_60) + (receptacleAtLocation SideTable_bar__plus_02_dot_57_bar__plus_00_dot_01_bar__minus_01_dot_54 loc_bar_7_bar__minus_6_bar_1_bar_60) + (objectAtLocation Pillow_bar__minus_00_dot_59_bar__plus_00_dot_79_bar__plus_02_dot_54 loc_bar__minus_2_bar_2_bar_0_bar_45) + (objectAtLocation Pencil_bar__plus_02_dot_69_bar__plus_00_dot_85_bar__plus_01_dot_02 loc_bar_8_bar_3_bar_1_bar_60) + (objectAtLocation Laptop_bar__plus_02_dot_58_bar__plus_00_dot_81_bar__plus_03_dot_72 loc_bar_7_bar_13_bar_1_bar_60) + (objectAtLocation RemoteControl_bar__minus_00_dot_88_bar__plus_00_dot_91_bar__plus_04_dot_90 loc_bar__minus_1_bar_18_bar_3_bar_45) + (objectAtLocation KeyChain_bar__plus_02_dot_33_bar__plus_00_dot_75_bar__minus_01_dot_57 loc_bar_7_bar__minus_6_bar_1_bar_60) + (objectAtLocation Bowl_bar__plus_02_dot_78_bar__plus_00_dot_81_bar__plus_02_dot_61 loc_bar_7_bar_13_bar_1_bar_60) + (objectAtLocation CellPhone_bar__minus_01_dot_01_bar__plus_00_dot_91_bar__plus_04_dot_35 loc_bar__minus_1_bar_18_bar_3_bar_45) + (objectAtLocation AlarmClock_bar__plus_02_dot_61_bar__plus_00_dot_85_bar__plus_01_dot_02 loc_bar_8_bar_3_bar_1_bar_60) + (objectAtLocation Laptop_bar__plus_00_dot_12_bar__plus_00_dot_71_bar__plus_01_dot_41 loc_bar__minus_2_bar_2_bar_0_bar_45) + (objectAtLocation AlarmClock_bar__plus_02_dot_58_bar__plus_00_dot_82_bar__plus_02_dot_39 loc_bar_7_bar_13_bar_1_bar_60) + (objectAtLocation RemoteControl_bar__plus_02_dot_45_bar__plus_00_dot_75_bar__minus_01_dot_44 loc_bar_7_bar__minus_6_bar_1_bar_60) + (objectAtLocation KeyChain_bar__plus_02_dot_55_bar__plus_00_dot_75_bar__minus_01_dot_66 loc_bar_7_bar__minus_6_bar_1_bar_60) + (objectAtLocation Pencil_bar__plus_02_dot_61_bar__plus_00_dot_85_bar__plus_00_dot_89 loc_bar_8_bar_3_bar_1_bar_60) + (objectAtLocation Pencil_bar__plus_02_dot_47_bar__plus_00_dot_81_bar__plus_02_dot_61 loc_bar_7_bar_13_bar_1_bar_60) + (objectAtLocation Chair_bar__plus_02_dot_32_bar__minus_00_dot_01_bar__plus_02_dot_62 loc_bar_7_bar_10_bar_1_bar_60) + (objectAtLocation Book_bar__plus_02_dot_36_bar__plus_00_dot_40_bar__minus_00_dot_59 loc_bar_5_bar__minus_3_bar_1_bar_60) + (objectAtLocation Chair_bar__plus_02_dot_59_bar__minus_00_dot_01_bar__plus_02_dot_14 loc_bar_8_bar_8_bar_1_bar_60) + (objectAtLocation LaundryHamperLid_bar__plus_03_dot_53_bar__plus_00_dot_76_bar__plus_04_dot_43 loc_bar_10_bar_18_bar_1_bar_45) + (objectAtLocation Chair_bar__plus_02_dot_28_bar__minus_00_dot_01_bar__plus_03_dot_49 loc_bar_7_bar_13_bar_1_bar_60) + (objectAtLocation Mirror_bar__minus_01_dot_18_bar__plus_01_dot_60_bar__plus_04_dot_35 loc_bar__minus_1_bar_18_bar_3_bar_45) + (objectAtLocation AlarmClock_bar__minus_00_dot_88_bar__plus_00_dot_92_bar__plus_04_dot_72 loc_bar__minus_1_bar_18_bar_3_bar_45) + (objectAtLocation Television_bar__plus_02_dot_75_bar__plus_01_dot_32_bar__plus_00_dot_62 loc_bar_8_bar_3_bar_1_bar_60) + (objectAtLocation CellPhone_bar__plus_02_dot_45_bar__plus_00_dot_84_bar__plus_00_dot_23 loc_bar_8_bar_3_bar_1_bar_60) + (objectAtLocation Bowl_bar__plus_02_dot_68_bar__plus_00_dot_81_bar__plus_02_dot_83 loc_bar_7_bar_13_bar_1_bar_60) + (objectAtLocation CreditCard_bar__plus_02_dot_37_bar__plus_00_dot_81_bar__plus_03_dot_05 loc_bar_7_bar_13_bar_1_bar_60) + (objectAtLocation KeyChain_bar__plus_02_dot_77_bar__plus_00_dot_84_bar__plus_00_dot_49 loc_bar_8_bar_3_bar_1_bar_60) + (objectAtLocation RemoteControl_bar__plus_02_dot_69_bar__plus_00_dot_84_bar__plus_00_dot_23 loc_bar_8_bar_3_bar_1_bar_60) + (objectAtLocation LightSwitch_bar__plus_00_dot_80_bar__plus_01_dot_37_bar__plus_05_dot_25 loc_bar_6_bar_21_bar_3_bar_15) + (objectAtLocation Laptop_bar__minus_00_dot_59_bar__plus_00_dot_71_bar__plus_01_dot_41 loc_bar__minus_2_bar_2_bar_0_bar_45) + (objectAtLocation Pencil_bar__minus_00_dot_88_bar__plus_00_dot_92_bar__plus_04_dot_17 loc_bar__minus_1_bar_18_bar_3_bar_45) + (objectAtLocation Painting_bar__plus_02_dot_99_bar__plus_01_dot_53_bar__plus_03_dot_42 loc_bar_10_bar_17_bar_2_bar_15) + (objectAtLocation Painting_bar__plus_02_dot_99_bar__plus_01_dot_53_bar__plus_02_dot_55 loc_bar_7_bar_10_bar_1_bar_0) + (objectAtLocation Pillow_bar__minus_00_dot_12_bar__plus_00_dot_79_bar__plus_01_dot_97 loc_bar__minus_2_bar_2_bar_0_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-Pencil-Bowl-CounterTop-311/trial_T20190906_182005_438932/traj_data.json b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Pencil-Bowl-CounterTop-311/trial_T20190906_182005_438932/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..2086246b024bb05ce490f212c80dddba52aec221 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Pencil-Bowl-CounterTop-311/trial_T20190906_182005_438932/traj_data.json @@ -0,0 +1,4422 @@ +{ + "images": [ + { + "high_idx": 0, + "image_name": "000000000.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000001.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000002.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000003.png", + "low_idx": 0 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+ "y": 0.8053905, + "z": 3.49469376 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 3053850028, + "scene_num": 311 + }, + "task_id": "trial_T20190906_182005_438932", + "task_type": "pick_and_place_with_movable_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "AFU00NU09CFXE_3IRIK4HM3D14R6972AFONT9GX5K6C6", + "high_descs": [ + "Move across the room towards the door, and turn left into the hallway on the left that's just past the table on the right. ", + "Pick up the blue pencil from the counter in front of the mirror. ", + "Turn around and walk back to the table and stand centered between the two chairs closest to you. ", + "Set the pencil in the bowl closest to the lamp.", + "Pick up the bowl with the pencil in it from the table. ", + "Turn around and carry the bowl with the pencil in it back down the hallway to the counter in front of the mirror. ", + "Set the bowl with the pencil in it on the counter. " + ], + "task_desc": "Move the blue pencil to be inside a bowl on the counter. ", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A28HB7240OFGEW_3W92K5RLWXY47BFTO80OLFJ5MHQV5F", + "high_descs": [ + "Turn around and walk towards the door, then take a left and walk to the mirror.", + "Pick up the pencil from the counter.", + "Turn around and walk to the table with the two chairs.", + "Put the pencil in the bowl closest to you.", + "Pick up the bowl from the table.", + "Walk back over to the mirror.", + "Put the bowl down on the counter." + ], + "task_desc": "Place a bowl with a pencil inside it on the counter in front of the mirror.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A2871R3LEPWMMK_3GD6L00D3VEMT6K19TXLVTNCM5FM1C", + "high_descs": [ + "Turn right, hang a right at the end of the bed, turn left at the television stand and turn left just before the door to reach the white counter.", + "Pick up the green pencil to the left of the cell phone.", + "Turn around, hang a right at the end of the wall and turn left to face the wooden table.", + "Put the pencil in the clear bowl in between the lamp and the other bowl.", + "Pick up the bowl with the pencil inside from the table.", + "Turn around, head right towards the door and turn left to return to the white counter.", + "Place the bowl with the pencil inside on the counter in front of the cell phone." + ], + "task_desc": "Place a bowl with a pencil on a counter.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A36DK84J5YJ942_3UN61F00HZ6CE4YCFOVEKIU348I5R0", + "high_descs": [ + "move to the shelf behind the bed", + "pick up a pencil from the shelf", + "move to the desk to the left of the bed", + "put the pencil in a bowl on the desk", + "pick up the bowl with the pencil from the desk", + "move to the shelf behind the bed", + "put the bowl on the shelf" + ], + "task_desc": "Put a bowl with a pencil on the shelf behind the bed.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AM2KK02JXXW48_3CP1TO84PWIVAKHR0YGDJAMUPK852U", + "high_descs": [ + "Move back to the counter in front of the mirror.", + "Pick up the blue pencil from the counter. ", + "Bring the blue pencil to the long table. ", + "Place the pencil in the bowl on the left.", + "Pick up the bowl from the table. ", + "Bring the bowl to the counter by the mirror. ", + "Put the bowl down on the counter" + ], + "task_desc": "Bring the bowl to 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-Pencil-Bowl-CounterTop-311/trial_T20190906_182030_725067/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Pencil-Bowl-CounterTop-311/trial_T20190906_182030_725067/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..496b5701093fcdd073ebefa0971f6ae4d8f7af8d --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Pencil-Bowl-CounterTop-311/trial_T20190906_182030_725067/initial_state.pddl @@ -0,0 +1,615 @@ + +(define (problem plan_trial_T20190906_182030_725067) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_47_bar__plus_00_dot_82_bar__plus_03_dot_05 - object + AlarmClock_bar__minus_00_dot_88_bar__plus_00_dot_92_bar__plus_04_dot_90 - object + AlarmClock_bar__minus_01_dot_01_bar__plus_00_dot_92_bar__plus_04_dot_35 - object + Blinds_bar__minus_00_dot_50_bar__plus_02_dot_17_bar__minus_01_dot_96 - object + Book_bar__minus_00_dot_36_bar__plus_00_dot_71_bar__plus_02_dot_54 - object + Book_bar__minus_01_dot_07_bar__plus_00_dot_71_bar__plus_01_dot_41 - object + Bowl_bar__plus_02_dot_47_bar__plus_00_dot_81_bar__plus_03_dot_27 - object + Bowl_bar__plus_02_dot_58_bar__plus_00_dot_81_bar__plus_03_dot_49 - object + CD_bar__plus_02_dot_19_bar__plus_00_dot_40_bar__minus_00_dot_59 - object + CD_bar__plus_02_dot_53_bar__plus_00_dot_84_bar__plus_00_dot_23 - object + CD_bar__plus_02_dot_66_bar__plus_00_dot_09_bar__plus_00_dot_43 - object + CellPhone_bar__plus_02_dot_62_bar__plus_00_dot_10_bar__plus_00_dot_72 - object + CellPhone_bar__plus_02_dot_68_bar__plus_00_dot_81_bar__plus_03_dot_27 - object + CellPhone_bar__minus_01_dot_40_bar__plus_00_dot_40_bar__minus_01_dot_31 - object + Chair_bar__plus_02_dot_28_bar__minus_00_dot_01_bar__plus_03_dot_49 - object + Chair_bar__plus_02_dot_32_bar__minus_00_dot_01_bar__plus_02_dot_62 - object + Chair_bar__plus_02_dot_59_bar__minus_00_dot_01_bar__plus_02_dot_14 - object + CreditCard_bar__plus_02_dot_37_bar__plus_00_dot_81_bar__plus_02_dot_61 - object + CreditCard_bar__plus_02_dot_68_bar__plus_00_dot_81_bar__plus_02_dot_83 - object + CreditCard_bar__plus_02_dot_78_bar__plus_00_dot_81_bar__plus_03_dot_72 - object + KeyChain_bar__plus_02_dot_10_bar__plus_00_dot_40_bar__minus_00_dot_51 - object + KeyChain_bar__plus_02_dot_77_bar__plus_00_dot_84_bar__plus_00_dot_23 - object + KeyChain_bar__minus_01_dot_04_bar__plus_00_dot_40_bar__minus_01_dot_31 - object + Lamp_bar__plus_02_dot_62_bar__plus_00_dot_74_bar__minus_01_dot_47 - object + Lamp_bar__plus_02_dot_69_bar__plus_00_dot_80_bar__plus_03_dot_08 - object + Laptop_bar__minus_00_dot_95_bar__plus_00_dot_91_bar__plus_03_dot_98 - object + LaundryHamperLid_bar__plus_03_dot_53_bar__plus_00_dot_76_bar__plus_04_dot_43 - object + LightSwitch_bar__plus_00_dot_80_bar__plus_01_dot_37_bar__plus_05_dot_25 - object + Mirror_bar__minus_01_dot_18_bar__plus_01_dot_60_bar__plus_04_dot_35 - object + Mug_bar__plus_02_dot_37_bar__plus_00_dot_81_bar__plus_02_dot_83 - object + Mug_bar__plus_02_dot_89_bar__plus_00_dot_81_bar__plus_02_dot_39 - object + Mug_bar__plus_02_dot_89_bar__plus_00_dot_81_bar__plus_03_dot_49 - object + Painting_bar__plus_02_dot_99_bar__plus_01_dot_53_bar__plus_02_dot_55 - object + Painting_bar__plus_02_dot_99_bar__plus_01_dot_53_bar__plus_03_dot_42 - object + Pencil_bar__plus_02_dot_45_bar__plus_00_dot_75_bar__minus_01_dot_37 - object + Pencil_bar__plus_02_dot_62_bar__plus_00_dot_46_bar__plus_00_dot_62 - object + Pencil_bar__plus_02_dot_77_bar__plus_00_dot_85_bar__plus_00_dot_49 - object + Pencil_bar__minus_00_dot_95_bar__plus_00_dot_92_bar__plus_04_dot_72 - object + Pen_bar__plus_02_dot_53_bar__plus_00_dot_85_bar__plus_00_dot_36 - object + Pen_bar__plus_02_dot_68_bar__plus_00_dot_81_bar__plus_03_dot_72 - object + Pen_bar__minus_01_dot_01_bar__plus_00_dot_92_bar__plus_04_dot_90 - object + Pillow_bar__minus_00_dot_83_bar__plus_00_dot_79_bar__plus_01_dot_97 - object + Pillow_bar__minus_01_dot_13_bar__plus_00_dot_47_bar__minus_01_dot_05 - object + Pillow_bar__minus_01_dot_31_bar__plus_00_dot_79_bar__plus_01_dot_97 - object + RemoteControl_bar__plus_02_dot_53_bar__plus_00_dot_46_bar__plus_00_dot_82 - object + RemoteControl_bar__plus_02_dot_69_bar__plus_00_dot_84_bar__plus_01_dot_02 - object + RemoteControl_bar__minus_01_dot_31_bar__plus_00_dot_40_bar__minus_00_dot_97 - object + Television_bar__plus_02_dot_75_bar__plus_01_dot_32_bar__plus_00_dot_62 - object + Window_bar__minus_00_dot_45_bar__plus_01_dot_45_bar__minus_02_dot_06 - object + ArmChair_bar__plus_02_dot_43_bar__plus_00_dot_00_bar__minus_00_dot_57 - receptacle + ArmChair_bar__minus_01_dot_28_bar__plus_00_dot_00_bar__minus_01_dot_17 - receptacle + Bed_bar__minus_00_dot_59_bar__plus_00_dot_00_bar__plus_02_dot_30 - receptacle + CounterTop_bar__minus_00_dot_89_bar__plus_00_dot_95_bar__plus_04_dot_35 - receptacle + DiningTable_bar__plus_02_dot_58_bar__plus_00_dot_00_bar__plus_03_dot_05 - receptacle + Drawer_bar__plus_02_dot_55_bar__plus_00_dot_21_bar__plus_00_dot_62 - receptacle + Drawer_bar__plus_02_dot_55_bar__plus_00_dot_57_bar__plus_00_dot_62 - receptacle + Dresser_bar__plus_02_dot_55_bar__plus_00_dot_57_bar__plus_00_dot_62 - receptacle + GarbageCan_bar__minus_00_dot_63_bar__plus_00_dot_01_bar__plus_03_dot_74 - receptacle + LaundryHamper_bar__plus_03_dot_53_bar__plus_00_dot_01_bar__plus_04_dot_43 - receptacle + SideTable_bar__plus_02_dot_57_bar__plus_00_dot_01_bar__minus_01_dot_54 - receptacle + loc_bar_7_bar_13_bar_1_bar_60 - location + loc_bar_7_bar_10_bar_1_bar_0 - location + loc_bar__minus_1_bar_18_bar_3_bar_45 - location + loc_bar_6_bar_3_bar_1_bar_45 - location + loc_bar_5_bar__minus_3_bar_1_bar_60 - location + loc_bar__minus_2_bar__minus_6_bar_2_bar_15 - location + loc_bar_7_bar_10_bar_1_bar_60 - location + loc_bar_10_bar_17_bar_2_bar_15 - location + loc_bar_8_bar_3_bar_1_bar_60 - location + loc_bar_8_bar_8_bar_1_bar_60 - location + loc_bar__minus_2_bar__minus_6_bar_2_bar__minus_30 - location + loc_bar_7_bar__minus_2_bar_1_bar_60 - location + loc_bar_10_bar_18_bar_1_bar_60 - location + loc_bar__minus_1_bar__minus_5_bar_3_bar_60 - location + loc_bar__minus_2_bar__minus_5_bar_3_bar_60 - location + loc_bar_5_bar_0_bar_1_bar_45 - location + loc_bar_6_bar_21_bar_3_bar_15 - location + loc_bar__minus_1_bar_17_bar_2_bar_60 - location + loc_bar__minus_2_bar_2_bar_0_bar_45 - location + loc_bar_7_bar__minus_6_bar_1_bar_60 - location + loc_bar_10_bar_18_bar_1_bar_45 - location + loc_bar_0_bar__minus_2_bar_1_bar_30 - location + ) + + +(:init + + + (receptacleType ArmChair_bar__plus_02_dot_43_bar__plus_00_dot_00_bar__minus_00_dot_57 ArmChairType) + (receptacleType Bed_bar__minus_00_dot_59_bar__plus_00_dot_00_bar__plus_02_dot_30 BedType) + (receptacleType GarbageCan_bar__minus_00_dot_63_bar__plus_00_dot_01_bar__plus_03_dot_74 GarbageCanType) + (receptacleType Drawer_bar__plus_02_dot_55_bar__plus_00_dot_57_bar__plus_00_dot_62 DrawerType) + (receptacleType ArmChair_bar__minus_01_dot_28_bar__plus_00_dot_00_bar__minus_01_dot_17 ArmChairType) + (receptacleType Dresser_bar__plus_02_dot_55_bar__plus_00_dot_57_bar__plus_00_dot_62 DresserType) + (receptacleType Drawer_bar__plus_02_dot_55_bar__plus_00_dot_21_bar__plus_00_dot_62 DrawerType) + (receptacleType LaundryHamper_bar__plus_03_dot_53_bar__plus_00_dot_01_bar__plus_04_dot_43 LaundryHamperType) + (receptacleType CounterTop_bar__minus_00_dot_89_bar__plus_00_dot_95_bar__plus_04_dot_35 CounterTopType) + (receptacleType DiningTable_bar__plus_02_dot_58_bar__plus_00_dot_00_bar__plus_03_dot_05 DiningTableType) + (receptacleType SideTable_bar__plus_02_dot_57_bar__plus_00_dot_01_bar__minus_01_dot_54 SideTableType) + (objectType CreditCard_bar__plus_02_dot_68_bar__plus_00_dot_81_bar__plus_02_dot_83 CreditCardType) + (objectType AlarmClock_bar__plus_02_dot_47_bar__plus_00_dot_82_bar__plus_03_dot_05 AlarmClockType) + (objectType Pillow_bar__minus_01_dot_31_bar__plus_00_dot_79_bar__plus_01_dot_97 PillowType) + (objectType Pen_bar__plus_02_dot_53_bar__plus_00_dot_85_bar__plus_00_dot_36 PenType) + (objectType KeyChain_bar__plus_02_dot_77_bar__plus_00_dot_84_bar__plus_00_dot_23 KeyChainType) + (objectType RemoteControl_bar__plus_02_dot_53_bar__plus_00_dot_46_bar__plus_00_dot_82 RemoteControlType) + (objectType Book_bar__minus_01_dot_07_bar__plus_00_dot_71_bar__plus_01_dot_41 BookType) + (objectType Pillow_bar__minus_00_dot_83_bar__plus_00_dot_79_bar__plus_01_dot_97 PillowType) + (objectType Window_bar__minus_00_dot_45_bar__plus_01_dot_45_bar__minus_02_dot_06 WindowType) + (objectType CD_bar__plus_02_dot_19_bar__plus_00_dot_40_bar__minus_00_dot_59 CDType) + (objectType KeyChain_bar__plus_02_dot_10_bar__plus_00_dot_40_bar__minus_00_dot_51 KeyChainType) + (objectType RemoteControl_bar__plus_02_dot_69_bar__plus_00_dot_84_bar__plus_01_dot_02 RemoteControlType) + (objectType Chair_bar__plus_02_dot_28_bar__minus_00_dot_01_bar__plus_03_dot_49 ChairType) + (objectType Book_bar__minus_00_dot_36_bar__plus_00_dot_71_bar__plus_02_dot_54 BookType) + (objectType Bowl_bar__plus_02_dot_47_bar__plus_00_dot_81_bar__plus_03_dot_27 BowlType) + (objectType Television_bar__plus_02_dot_75_bar__plus_01_dot_32_bar__plus_00_dot_62 TelevisionType) + (objectType Mug_bar__plus_02_dot_37_bar__plus_00_dot_81_bar__plus_02_dot_83 MugType) + (objectType CreditCard_bar__plus_02_dot_37_bar__plus_00_dot_81_bar__plus_02_dot_61 CreditCardType) + (objectType Pen_bar__minus_01_dot_01_bar__plus_00_dot_92_bar__plus_04_dot_90 PenType) + (objectType CD_bar__plus_02_dot_66_bar__plus_00_dot_09_bar__plus_00_dot_43 CDType) + (objectType Chair_bar__plus_02_dot_59_bar__minus_00_dot_01_bar__plus_02_dot_14 ChairType) + (objectType Mug_bar__plus_02_dot_89_bar__plus_00_dot_81_bar__plus_02_dot_39 MugType) + (objectType CD_bar__plus_02_dot_53_bar__plus_00_dot_84_bar__plus_00_dot_23 CDType) + (objectType Pencil_bar__plus_02_dot_77_bar__plus_00_dot_85_bar__plus_00_dot_49 PencilType) + (objectType RemoteControl_bar__minus_01_dot_31_bar__plus_00_dot_40_bar__minus_00_dot_97 RemoteControlType) + (objectType Pencil_bar__plus_02_dot_45_bar__plus_00_dot_75_bar__minus_01_dot_37 PencilType) + (objectType Mirror_bar__minus_01_dot_18_bar__plus_01_dot_60_bar__plus_04_dot_35 MirrorType) + (objectType LightSwitch_bar__plus_00_dot_80_bar__plus_01_dot_37_bar__plus_05_dot_25 LightSwitchType) + (objectType AlarmClock_bar__minus_00_dot_88_bar__plus_00_dot_92_bar__plus_04_dot_90 AlarmClockType) + (objectType AlarmClock_bar__minus_01_dot_01_bar__plus_00_dot_92_bar__plus_04_dot_35 AlarmClockType) + (objectType Pillow_bar__minus_01_dot_13_bar__plus_00_dot_47_bar__minus_01_dot_05 PillowType) + (objectType Laptop_bar__minus_00_dot_95_bar__plus_00_dot_91_bar__plus_03_dot_98 LaptopType) + (objectType CreditCard_bar__plus_02_dot_78_bar__plus_00_dot_81_bar__plus_03_dot_72 CreditCardType) + (objectType LaundryHamperLid_bar__plus_03_dot_53_bar__plus_00_dot_76_bar__plus_04_dot_43 LaundryHamperLidType) + (objectType CellPhone_bar__plus_02_dot_68_bar__plus_00_dot_81_bar__plus_03_dot_27 CellPhoneType) + (objectType Pen_bar__plus_02_dot_68_bar__plus_00_dot_81_bar__plus_03_dot_72 PenType) + (objectType KeyChain_bar__minus_01_dot_04_bar__plus_00_dot_40_bar__minus_01_dot_31 KeyChainType) + (objectType CellPhone_bar__minus_01_dot_40_bar__plus_00_dot_40_bar__minus_01_dot_31 CellPhoneType) + (objectType Pencil_bar__plus_02_dot_62_bar__plus_00_dot_46_bar__plus_00_dot_62 PencilType) + (objectType Mug_bar__plus_02_dot_89_bar__plus_00_dot_81_bar__plus_03_dot_49 MugType) + (objectType Blinds_bar__minus_00_dot_50_bar__plus_02_dot_17_bar__minus_01_dot_96 BlindsType) + (objectType Bowl_bar__plus_02_dot_58_bar__plus_00_dot_81_bar__plus_03_dot_49 BowlType) + (objectType Pencil_bar__minus_00_dot_95_bar__plus_00_dot_92_bar__plus_04_dot_72 PencilType) + (objectType Painting_bar__plus_02_dot_99_bar__plus_01_dot_53_bar__plus_02_dot_55 PaintingType) + (objectType Chair_bar__plus_02_dot_32_bar__minus_00_dot_01_bar__plus_02_dot_62 ChairType) + (objectType Painting_bar__plus_02_dot_99_bar__plus_01_dot_53_bar__plus_03_dot_42 PaintingType) + (objectType CellPhone_bar__plus_02_dot_62_bar__plus_00_dot_10_bar__plus_00_dot_72 CellPhoneType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType BookType) + (canContain ArmChairType CellPhoneType) + (canContain ArmChairType PillowType) + (canContain ArmChairType RemoteControlType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType CreditCardType) + (canContain BedType LaptopType) + (canContain BedType BookType) + (canContain BedType CellPhoneType) + (canContain BedType PillowType) + (canContain GarbageCanType PenType) + (canContain GarbageCanType CDType) + (canContain GarbageCanType PencilType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType RemoteControlType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType BookType) + (canContain ArmChairType CellPhoneType) + (canContain ArmChairType PillowType) + (canContain ArmChairType RemoteControlType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType CreditCardType) + (canContain DresserType PenType) + (canContain DresserType BookType) + (canContain DresserType BowlType) + (canContain DresserType CDType) + (canContain DresserType MugType) + (canContain DresserType CellPhoneType) + (canContain DresserType KeyChainType) + (canContain DresserType CreditCardType) + (canContain DresserType LaptopType) + (canContain DresserType PencilType) + (canContain DresserType RemoteControlType) + (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 RemoteControlType) + (canContain CounterTopType PenType) + (canContain CounterTopType BookType) + (canContain CounterTopType BowlType) + (canContain CounterTopType CDType) + (canContain CounterTopType MugType) + (canContain CounterTopType CellPhoneType) + (canContain CounterTopType KeyChainType) + (canContain CounterTopType CreditCardType) + (canContain CounterTopType LaptopType) + (canContain CounterTopType PencilType) + (canContain CounterTopType RemoteControlType) + (canContain CounterTopType AlarmClockType) + (canContain DiningTableType PenType) + (canContain DiningTableType BookType) + (canContain DiningTableType BowlType) + (canContain DiningTableType CDType) + (canContain DiningTableType MugType) + (canContain DiningTableType CellPhoneType) + (canContain DiningTableType KeyChainType) + (canContain DiningTableType CreditCardType) + (canContain DiningTableType LaptopType) + (canContain DiningTableType PencilType) + (canContain DiningTableType RemoteControlType) + (canContain DiningTableType AlarmClockType) + (canContain SideTableType PenType) + (canContain SideTableType BookType) + (canContain SideTableType BowlType) + (canContain SideTableType CDType) + (canContain SideTableType MugType) + (canContain SideTableType CellPhoneType) + (canContain SideTableType KeyChainType) + (canContain SideTableType CreditCardType) + (canContain SideTableType LaptopType) + (canContain SideTableType PencilType) + (canContain SideTableType RemoteControlType) + (canContain SideTableType AlarmClockType) + (pickupable CreditCard_bar__plus_02_dot_68_bar__plus_00_dot_81_bar__plus_02_dot_83) + (pickupable AlarmClock_bar__plus_02_dot_47_bar__plus_00_dot_82_bar__plus_03_dot_05) + (pickupable Pillow_bar__minus_01_dot_31_bar__plus_00_dot_79_bar__plus_01_dot_97) + (pickupable Pen_bar__plus_02_dot_53_bar__plus_00_dot_85_bar__plus_00_dot_36) + (pickupable KeyChain_bar__plus_02_dot_77_bar__plus_00_dot_84_bar__plus_00_dot_23) + (pickupable RemoteControl_bar__plus_02_dot_53_bar__plus_00_dot_46_bar__plus_00_dot_82) + (pickupable Book_bar__minus_01_dot_07_bar__plus_00_dot_71_bar__plus_01_dot_41) + (pickupable Pillow_bar__minus_00_dot_83_bar__plus_00_dot_79_bar__plus_01_dot_97) + (pickupable CD_bar__plus_02_dot_19_bar__plus_00_dot_40_bar__minus_00_dot_59) + (pickupable KeyChain_bar__plus_02_dot_10_bar__plus_00_dot_40_bar__minus_00_dot_51) + (pickupable RemoteControl_bar__plus_02_dot_69_bar__plus_00_dot_84_bar__plus_01_dot_02) + (pickupable Book_bar__minus_00_dot_36_bar__plus_00_dot_71_bar__plus_02_dot_54) + (pickupable Bowl_bar__plus_02_dot_47_bar__plus_00_dot_81_bar__plus_03_dot_27) + (pickupable Mug_bar__plus_02_dot_37_bar__plus_00_dot_81_bar__plus_02_dot_83) + (pickupable CreditCard_bar__plus_02_dot_37_bar__plus_00_dot_81_bar__plus_02_dot_61) + (pickupable Pen_bar__minus_01_dot_01_bar__plus_00_dot_92_bar__plus_04_dot_90) + (pickupable CD_bar__plus_02_dot_66_bar__plus_00_dot_09_bar__plus_00_dot_43) + (pickupable Mug_bar__plus_02_dot_89_bar__plus_00_dot_81_bar__plus_02_dot_39) + (pickupable CD_bar__plus_02_dot_53_bar__plus_00_dot_84_bar__plus_00_dot_23) + (pickupable Pencil_bar__plus_02_dot_77_bar__plus_00_dot_85_bar__plus_00_dot_49) + (pickupable RemoteControl_bar__minus_01_dot_31_bar__plus_00_dot_40_bar__minus_00_dot_97) + (pickupable Pencil_bar__plus_02_dot_45_bar__plus_00_dot_75_bar__minus_01_dot_37) + (pickupable 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(pickupable Pencil_bar__minus_00_dot_95_bar__plus_00_dot_92_bar__plus_04_dot_72) + (pickupable CellPhone_bar__plus_02_dot_62_bar__plus_00_dot_10_bar__plus_00_dot_72) + (isReceptacleObject Bowl_bar__plus_02_dot_47_bar__plus_00_dot_81_bar__plus_03_dot_27) + (isReceptacleObject Mug_bar__plus_02_dot_37_bar__plus_00_dot_81_bar__plus_02_dot_83) + (isReceptacleObject Mug_bar__plus_02_dot_89_bar__plus_00_dot_81_bar__plus_02_dot_39) + (isReceptacleObject Mug_bar__plus_02_dot_89_bar__plus_00_dot_81_bar__plus_03_dot_49) + (isReceptacleObject Bowl_bar__plus_02_dot_58_bar__plus_00_dot_81_bar__plus_03_dot_49) + (openable Drawer_bar__plus_02_dot_55_bar__plus_00_dot_57_bar__plus_00_dot_62) + (openable Drawer_bar__plus_02_dot_55_bar__plus_00_dot_21_bar__plus_00_dot_62) + + (atLocation agent1 loc_bar_0_bar__minus_2_bar_1_bar_30) + + (cleanable Bowl_bar__plus_02_dot_47_bar__plus_00_dot_81_bar__plus_03_dot_27) + (cleanable Mug_bar__plus_02_dot_37_bar__plus_00_dot_81_bar__plus_02_dot_83) + (cleanable 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Bed_bar__minus_00_dot_59_bar__plus_00_dot_00_bar__plus_02_dot_30) + (inReceptacle Pillow_bar__minus_01_dot_31_bar__plus_00_dot_79_bar__plus_01_dot_97 Bed_bar__minus_00_dot_59_bar__plus_00_dot_00_bar__plus_02_dot_30) + (inReceptacle Book_bar__minus_00_dot_36_bar__plus_00_dot_71_bar__plus_02_dot_54 Bed_bar__minus_00_dot_59_bar__plus_00_dot_00_bar__plus_02_dot_30) + (inReceptacle Pillow_bar__minus_00_dot_83_bar__plus_00_dot_79_bar__plus_01_dot_97 Bed_bar__minus_00_dot_59_bar__plus_00_dot_00_bar__plus_02_dot_30) + (inReceptacle RemoteControl_bar__plus_02_dot_69_bar__plus_00_dot_84_bar__plus_01_dot_02 Dresser_bar__plus_02_dot_55_bar__plus_00_dot_57_bar__plus_00_dot_62) + (inReceptacle Television_bar__plus_02_dot_75_bar__plus_01_dot_32_bar__plus_00_dot_62 Dresser_bar__plus_02_dot_55_bar__plus_00_dot_57_bar__plus_00_dot_62) + (inReceptacle Pen_bar__plus_02_dot_53_bar__plus_00_dot_85_bar__plus_00_dot_36 Dresser_bar__plus_02_dot_55_bar__plus_00_dot_57_bar__plus_00_dot_62) + (inReceptacle 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DiningTable_bar__plus_02_dot_58_bar__plus_00_dot_00_bar__plus_03_dot_05) + (inReceptacle Mug_bar__plus_02_dot_89_bar__plus_00_dot_81_bar__plus_03_dot_49 DiningTable_bar__plus_02_dot_58_bar__plus_00_dot_00_bar__plus_03_dot_05) + (inReceptacle Bowl_bar__plus_02_dot_58_bar__plus_00_dot_81_bar__plus_03_dot_49 DiningTable_bar__plus_02_dot_58_bar__plus_00_dot_00_bar__plus_03_dot_05) + (inReceptacle Mug_bar__plus_02_dot_37_bar__plus_00_dot_81_bar__plus_02_dot_83 DiningTable_bar__plus_02_dot_58_bar__plus_00_dot_00_bar__plus_03_dot_05) + (inReceptacle CreditCard_bar__plus_02_dot_78_bar__plus_00_dot_81_bar__plus_03_dot_72 DiningTable_bar__plus_02_dot_58_bar__plus_00_dot_00_bar__plus_03_dot_05) + (inReceptacle CreditCard_bar__plus_02_dot_37_bar__plus_00_dot_81_bar__plus_02_dot_61 DiningTable_bar__plus_02_dot_58_bar__plus_00_dot_00_bar__plus_03_dot_05) + (inReceptacle CellPhone_bar__plus_02_dot_68_bar__plus_00_dot_81_bar__plus_03_dot_27 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CounterTop_bar__minus_00_dot_89_bar__plus_00_dot_95_bar__plus_04_dot_35) + (inReceptacle Pencil_bar__minus_00_dot_95_bar__plus_00_dot_92_bar__plus_04_dot_72 CounterTop_bar__minus_00_dot_89_bar__plus_00_dot_95_bar__plus_04_dot_35) + (inReceptacle Laptop_bar__minus_00_dot_95_bar__plus_00_dot_91_bar__plus_03_dot_98 CounterTop_bar__minus_00_dot_89_bar__plus_00_dot_95_bar__plus_04_dot_35) + (inReceptacle Pen_bar__minus_01_dot_01_bar__plus_00_dot_92_bar__plus_04_dot_90 CounterTop_bar__minus_00_dot_89_bar__plus_00_dot_95_bar__plus_04_dot_35) + + + (receptacleAtLocation ArmChair_bar__plus_02_dot_43_bar__plus_00_dot_00_bar__minus_00_dot_57 loc_bar_5_bar__minus_3_bar_1_bar_60) + (receptacleAtLocation ArmChair_bar__minus_01_dot_28_bar__plus_00_dot_00_bar__minus_01_dot_17 loc_bar__minus_1_bar__minus_5_bar_3_bar_60) + (receptacleAtLocation Bed_bar__minus_00_dot_59_bar__plus_00_dot_00_bar__plus_02_dot_30 loc_bar__minus_2_bar_2_bar_0_bar_45) + (receptacleAtLocation 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Bowl_bar__plus_02_dot_47_bar__plus_00_dot_81_bar__plus_03_dot_27 loc_bar_7_bar_13_bar_1_bar_60) + (objectAtLocation CellPhone_bar__plus_02_dot_62_bar__plus_00_dot_10_bar__plus_00_dot_72 loc_bar_5_bar_0_bar_1_bar_45) + (objectAtLocation AlarmClock_bar__plus_02_dot_47_bar__plus_00_dot_82_bar__plus_03_dot_05 loc_bar_7_bar_13_bar_1_bar_60) + (objectAtLocation Book_bar__minus_00_dot_36_bar__plus_00_dot_71_bar__plus_02_dot_54 loc_bar__minus_2_bar_2_bar_0_bar_45) + (objectAtLocation AlarmClock_bar__minus_01_dot_01_bar__plus_00_dot_92_bar__plus_04_dot_35 loc_bar__minus_1_bar_18_bar_3_bar_45) + (objectAtLocation RemoteControl_bar__minus_01_dot_31_bar__plus_00_dot_40_bar__minus_00_dot_97 loc_bar__minus_1_bar__minus_5_bar_3_bar_60) + (objectAtLocation KeyChain_bar__plus_02_dot_77_bar__plus_00_dot_84_bar__plus_00_dot_23 loc_bar_8_bar_3_bar_1_bar_60) + (objectAtLocation CreditCard_bar__plus_02_dot_68_bar__plus_00_dot_81_bar__plus_02_dot_83 loc_bar_7_bar_13_bar_1_bar_60) + (objectAtLocation 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Chair_bar__plus_02_dot_59_bar__minus_00_dot_01_bar__plus_02_dot_14 loc_bar_8_bar_8_bar_1_bar_60) + (objectAtLocation LaundryHamperLid_bar__plus_03_dot_53_bar__plus_00_dot_76_bar__plus_04_dot_43 loc_bar_10_bar_18_bar_1_bar_45) + (objectAtLocation Chair_bar__plus_02_dot_28_bar__minus_00_dot_01_bar__plus_03_dot_49 loc_bar_7_bar_13_bar_1_bar_60) + (objectAtLocation Mirror_bar__minus_01_dot_18_bar__plus_01_dot_60_bar__plus_04_dot_35 loc_bar__minus_1_bar_18_bar_3_bar_45) + (objectAtLocation AlarmClock_bar__minus_00_dot_88_bar__plus_00_dot_92_bar__plus_04_dot_90 loc_bar__minus_1_bar_18_bar_3_bar_45) + (objectAtLocation Television_bar__plus_02_dot_75_bar__plus_01_dot_32_bar__plus_00_dot_62 loc_bar_8_bar_3_bar_1_bar_60) + (objectAtLocation CellPhone_bar__minus_01_dot_40_bar__plus_00_dot_40_bar__minus_01_dot_31 loc_bar__minus_1_bar__minus_5_bar_3_bar_60) + (objectAtLocation Bowl_bar__plus_02_dot_58_bar__plus_00_dot_81_bar__plus_03_dot_49 loc_bar_7_bar_13_bar_1_bar_60) + (objectAtLocation CreditCard_bar__plus_02_dot_37_bar__plus_00_dot_81_bar__plus_02_dot_61 loc_bar_7_bar_13_bar_1_bar_60) + (objectAtLocation KeyChain_bar__minus_01_dot_04_bar__plus_00_dot_40_bar__minus_01_dot_31 loc_bar__minus_2_bar__minus_5_bar_3_bar_60) + (objectAtLocation RemoteControl_bar__plus_02_dot_53_bar__plus_00_dot_46_bar__plus_00_dot_82 loc_bar_6_bar_3_bar_1_bar_45) + (objectAtLocation LightSwitch_bar__plus_00_dot_80_bar__plus_01_dot_37_bar__plus_05_dot_25 loc_bar_6_bar_21_bar_3_bar_15) + (objectAtLocation Laptop_bar__minus_00_dot_95_bar__plus_00_dot_91_bar__plus_03_dot_98 loc_bar__minus_1_bar_18_bar_3_bar_45) + (objectAtLocation Pencil_bar__plus_02_dot_77_bar__plus_00_dot_85_bar__plus_00_dot_49 loc_bar_8_bar_3_bar_1_bar_60) + (objectAtLocation Painting_bar__plus_02_dot_99_bar__plus_01_dot_53_bar__plus_03_dot_42 loc_bar_10_bar_17_bar_2_bar_15) + (objectAtLocation Painting_bar__plus_02_dot_99_bar__plus_01_dot_53_bar__plus_02_dot_55 loc_bar_7_bar_10_bar_1_bar_0) + (objectAtLocation 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"objectName": "Laptop_098867ef", + "position": { + "x": -0.946811736, + "y": 0.911498964, + "z": 3.98267221 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pencil_172c7898", + "position": { + "x": 2.44725227, + "y": 0.7492128, + "z": -1.37231946 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pillow_1f84c627", + "position": { + "x": -1.312467, + "y": 0.785215139, + "z": 1.973788 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pillow_e745bb37", + "position": { + "x": -0.833904862, + "y": 0.785215139, + "z": 1.973788 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "CD_fbb244a0", + "position": { + "x": 2.66068769, + "y": 0.09430212, + "z": 0.4281597 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pen_2d1adb92", + "position": { + "x": -1.01247966, + "y": 0.9191518, + "z": 4.90099144 + }, + "rotation": { 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+ }, + { + "assignment_id": "ARL7HOWLEHNOP_3JRJSWSMQK2KRL63FZNL6EXZ8QW3ER", + "high_descs": [ + "Walk forward, turn left and walk across the room, then turn right and walk to the brown table.", + "Pick up the right bowl on the table.", + "Turn around, then turn right and walk towards the door, then turn left and walk to the counter with the laptop on it.", + "Place the bowl on the counter right to the laptop.", + "Pick up the blue pencil from the counter.", + "Place the blue pencil on the bowl on the counter." + ], + "task_desc": "Put the pencil in the bowl on the counter.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A23HZ18KTCK2DA_3P4RDNWND8N7S4AEE35Z70CHZCSIJR", + "high_descs": [ + "Turn and go to the table with the lamp on.", + "Pick up the bowl that is in front of the cell phone on the table.", + "With the bowl in hand go to the counter that has the big mirror above it.", + "Place the bowl in hand place it in front of the object that is to the left of the lap top keyboard.", + "Pick up the pencil that is on the counter in front of you.", + "Place the pencil on the bowl that you just put down." + ], + "task_desc": "Move bowl to counter.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1NWXL4QO30M8U_3QILPRALQ8CAMOPMKFL0NIZK50Q8NB", + "high_descs": [ + "Walk forward for two steps, then turn left and walk to the edge of the bed, then turn right and walk to the table. ", + "Pick up the bowl that is closest to the lamp on the table. ", + "Turn left and take two steps, then turn left and walk across the room. ", + "Put the plate down on the counter. ", + "Pick up the blue pencil to the right of the plate. ", + "Place the pencil on the plate. " + ], + "task_desc": "To put the pencil on the plate.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3MXBLYX2CDGTP_3XCC1ODXDOS17QHAZGJHITPU03WRQO", + "high_descs": [ + "Turn left and walk past the bed, then turn right to the brown table with the lamp.", + "Take one bowl from the table.", + "Turn and walk towards the door on your left, then turn left and walk down the short hallway to the counter with the laptop on it.", + "Put the bowl on the counter.", + "Pick up the blue pencil from the counter.", + "Put the blue pencil in the bowl." + ], + "task_desc": "Put the blue pencil in the bowl on the counter.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AM2KK02JXXW48_3QILPRALQ8CAMOPMKFL0NIZJ24K8N8", + "high_descs": [ + "Move across the room to the black table. ", + "Pick up the bowl on the right nearest the lamp. ", + "Bring the bowl back towards the mirror. ", + "Place the bowl down on the left side of the shelf. ", + "Pick up the pencil from the shelf. ", + "Place the pencil in the bowl on the shelf. " + ], + "task_desc": "Put the pencil in the bowl. ", + "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-Statue-Box-CoffeeTable-204/trial_T20190908_043505_652000/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Statue-Box-CoffeeTable-204/trial_T20190908_043505_652000/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..89a57d65b4c681f2be0809064278fb236d38e889 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Statue-Box-CoffeeTable-204/trial_T20190908_043505_652000/initial_state.pddl @@ -0,0 +1,631 @@ + +(define (problem plan_trial_T20190908_043505_652000) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_10_bar__plus_00_dot_95_bar__minus_02_dot_46 - object + Box_bar__minus_01_dot_33_bar__plus_00_dot_95_bar__minus_01_dot_82 - object + Box_bar__minus_02_dot_24_bar__plus_00_dot_95_bar__minus_02_dot_20 - object + Box_bar__minus_02_dot_47_bar__plus_00_dot_95_bar__minus_01_dot_69 - object + CellPhone_bar__minus_00_dot_36_bar__plus_00_dot_74_bar__plus_01_dot_50 - 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__plus_00_dot_32_bar__plus_00_dot_12_bar__plus_01_dot_26 - object + CreditCard_bar__minus_01_dot_10_bar__plus_00_dot_65_bar__minus_01_dot_69 - object + CreditCard_bar__minus_04_dot_25_bar__plus_01_dot_65_bar__plus_00_dot_32 - 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_29_bar__plus_00_dot_03_bar__minus_00_dot_12 - object + Lamp_bar__plus_00_dot_28_bar__plus_00_dot_73_bar__plus_01_dot_38 - object + Laptop_bar__minus_01_dot_09_bar__plus_00_dot_74_bar__plus_01_dot_30 - 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_01_dot_66_bar__plus_00_dot_45_bar__plus_05_dot_92 - object + Pillow_bar__minus_03_dot_48_bar__plus_00_dot_45_bar__plus_03_dot_35 - object + Pillow_bar__minus_03_dot_59_bar__plus_00_dot_45_bar__plus_04_dot_68 - object + RemoteControl_bar__minus_01_dot_78_bar__plus_00_dot_66_bar__minus_02_dot_20 - object + RemoteControl_bar__minus_04_dot_13_bar__plus_01_dot_65_bar__plus_00_dot_77 - object + Statue_bar__minus_01_dot_56_bar__plus_00_dot_76_bar__minus_02_dot_20 - object + Statue_bar__minus_02_dot_24_bar__plus_00_dot_67_bar__minus_01_dot_69 - 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_60_bar__plus_00_dot_75_bar__plus_01_dot_50 - object + Vase_bar__minus_01_dot_10_bar__plus_00_dot_66_bar__minus_01_dot_95 - object + Vase_bar__minus_04_dot_23_bar__plus_00_dot_79_bar__plus_00_dot_38 - 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 + 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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_4_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 Box_bar__minus_02_dot_24_bar__plus_00_dot_95_bar__minus_02_dot_20 BoxType) + (objectType Box_bar__minus_02_dot_47_bar__plus_00_dot_95_bar__minus_01_dot_69 BoxType) + (objectType Window_bar__minus_01_dot_01_bar__plus_01_dot_70_bar__minus_00_dot_15 WindowType) + (objectType CellPhone_bar__minus_00_dot_36_bar__plus_00_dot_74_bar__plus_01_dot_50 CellPhoneType) + (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 Statue_bar__minus_01_dot_56_bar__plus_00_dot_76_bar__minus_02_dot_20 StatueType) + (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 CreditCard_bar__minus_04_dot_25_bar__plus_01_dot_65_bar__plus_00_dot_32 CreditCardType) + (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 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_02_dot_24_bar__plus_00_dot_67_bar__minus_01_dot_69 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 Box_bar__minus_01_dot_33_bar__plus_00_dot_95_bar__minus_01_dot_82 BoxType) + (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 RemoteControl_bar__minus_01_dot_78_bar__plus_00_dot_66_bar__minus_02_dot_20 RemoteControlType) + (objectType KeyChain_bar__plus_00_dot_29_bar__plus_00_dot_03_bar__minus_00_dot_12 KeyChainType) + (objectType Chair_bar__minus_01_dot_38_bar__plus_00_dot_02_bar__minus_01_dot_59 ChairType) + (objectType Vase_bar__minus_00_dot_60_bar__plus_00_dot_75_bar__plus_01_dot_50 VaseType) + (objectType RemoteControl_bar__minus_04_dot_13_bar__plus_01_dot_65_bar__plus_00_dot_77 RemoteControlType) + (objectType CreditCard_bar__minus_01_dot_10_bar__plus_00_dot_65_bar__minus_01_dot_69 CreditCardType) + (objectType Pillow_bar__minus_03_dot_59_bar__plus_00_dot_45_bar__plus_04_dot_68 PillowType) + (objectType Window_bar__minus_04_dot_41_bar__plus_01_dot_70_bar__plus_05_dot_98 WindowType) + (objectType Window_bar__minus_04_dot_41_bar__plus_01_dot_70_bar__plus_01_dot_79 WindowType) + (objectType Laptop_bar__minus_01_dot_09_bar__plus_00_dot_74_bar__plus_01_dot_30 LaptopType) + (objectType Chair_bar__minus_02_dot_26_bar__plus_00_dot_02_bar__minus_02_dot_64 ChairType) + (objectType Pillow_bar__minus_01_dot_66_bar__plus_00_dot_45_bar__plus_05_dot_92 PillowType) + (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 Vase_bar__minus_01_dot_10_bar__plus_00_dot_66_bar__minus_01_dot_95 VaseType) + (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 CreditCard_bar__plus_00_dot_32_bar__plus_00_dot_12_bar__plus_01_dot_26 CreditCardType) + (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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(pickupable Vase_bar__minus_01_dot_10_bar__plus_00_dot_66_bar__minus_01_dot_95) + (pickupable CreditCard_bar__plus_00_dot_32_bar__plus_00_dot_12_bar__plus_01_dot_26) + (isReceptacleObject Box_bar__minus_02_dot_24_bar__plus_00_dot_95_bar__minus_02_dot_20) + (isReceptacleObject Box_bar__minus_02_dot_47_bar__plus_00_dot_95_bar__minus_01_dot_69) + (isReceptacleObject Box_bar__minus_01_dot_10_bar__plus_00_dot_95_bar__minus_02_dot_46) + (isReceptacleObject Box_bar__minus_01_dot_33_bar__plus_00_dot_95_bar__minus_01_dot_82) + (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_2_bar_0_bar_30) + + + + + + + + (toggleable FloorLamp_bar__plus_00_dot_39_bar__plus_00_dot_00_bar__plus_05_dot_16) + + + + + (inReceptacleObject Statue_bar__minus_02_dot_24_bar__plus_00_dot_67_bar__minus_01_dot_69 Box_bar__minus_02_dot_47_bar__plus_00_dot_95_bar__minus_01_dot_69) + (inReceptacle Pillow_bar__minus_01_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 RemoteControl_bar__minus_01_dot_78_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 Statue_bar__minus_02_dot_24_bar__plus_00_dot_67_bar__minus_01_dot_69 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_02_dot_20 DiningTable_bar__minus_01_dot_78_bar__plus_00_dot_01_bar__minus_02_dot_04) + (inReceptacle CreditCard_bar__minus_01_dot_10_bar__plus_00_dot_65_bar__minus_01_dot_69 DiningTable_bar__minus_01_dot_78_bar__plus_00_dot_01_bar__minus_02_dot_04) + (inReceptacle Box_bar__minus_02_dot_24_bar__plus_00_dot_95_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_02_dot_47_bar__plus_00_dot_95_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_01_dot_95 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 Box_bar__minus_01_dot_33_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 CreditCard_bar__minus_04_dot_25_bar__plus_01_dot_65_bar__plus_00_dot_32 Shelf_bar__minus_04_dot_25_bar__plus_01_dot_69_bar__plus_00_dot_77) + (inReceptacle RemoteControl_bar__minus_04_dot_13_bar__plus_01_dot_65_bar__plus_00_dot_77 Shelf_bar__minus_04_dot_25_bar__plus_01_dot_69_bar__plus_00_dot_77) + (inReceptacle CellPhone_bar__minus_00_dot_36_bar__plus_00_dot_74_bar__plus_01_dot_50 Desk_bar__minus_00_dot_25_bar__plus_00_dot_00_bar__plus_01_dot_41) + (inReceptacle Vase_bar__minus_00_dot_60_bar__plus_00_dot_75_bar__plus_01_dot_50 Desk_bar__minus_00_dot_25_bar__plus_00_dot_00_bar__plus_01_dot_41) + (inReceptacle Laptop_bar__minus_01_dot_09_bar__plus_00_dot_74_bar__plus_01_dot_30 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 Pillow_bar__minus_03_dot_59_bar__plus_00_dot_45_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 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_38 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_26 Drawer_bar__plus_00_dot_41_bar__plus_00_dot_17_bar__plus_01_dot_24) + (inReceptacle KeyChain_bar__plus_00_dot_29_bar__plus_00_dot_03_bar__minus_00_dot_12 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 CreditCard_bar__minus_01_dot_10_bar__plus_00_dot_65_bar__minus_01_dot_69 loc_bar__minus_7_bar__minus_4_bar_2_bar_60) + (objectAtLocation RemoteControl_bar__minus_01_dot_78_bar__plus_00_dot_66_bar__minus_02_dot_20 loc_bar__minus_7_bar__minus_4_bar_2_bar_60) + (objectAtLocation Pillow_bar__minus_01_dot_66_bar__plus_00_dot_45_bar__plus_05_dot_92 loc_bar__minus_9_bar_20_bar_0_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 Pillow_bar__minus_03_dot_59_bar__plus_00_dot_45_bar__plus_04_dot_68 loc_bar__minus_11_bar_16_bar_3_bar_60) + (objectAtLocation Box_bar__minus_01_dot_33_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_02_dot_47_bar__plus_00_dot_95_bar__minus_01_dot_69 loc_bar__minus_7_bar__minus_4_bar_2_bar_60) + (objectAtLocation CreditCard_bar__minus_04_dot_25_bar__plus_01_dot_65_bar__plus_00_dot_32 loc_bar__minus_11_bar_4_bar_3_bar_0) + (objectAtLocation Box_bar__minus_02_dot_24_bar__plus_00_dot_95_bar__minus_02_dot_20 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_00_dot_60_bar__plus_00_dot_75_bar__plus_01_dot_50 loc_bar__minus_2_bar_10_bar_2_bar_60) + (objectAtLocation CellPhone_bar__minus_00_dot_36_bar__plus_00_dot_74_bar__plus_01_dot_50 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_29_bar__plus_00_dot_03_bar__minus_00_dot_12 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_01_dot_10_bar__plus_00_dot_66_bar__minus_01_dot_95 loc_bar__minus_7_bar__minus_4_bar_2_bar_60) + (objectAtLocation Laptop_bar__minus_01_dot_09_bar__plus_00_dot_74_bar__plus_01_dot_30 loc_bar__minus_2_bar_10_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_35 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_04_dot_13_bar__plus_01_dot_65_bar__plus_00_dot_77 loc_bar__minus_11_bar_4_bar_3_bar_0) + (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_26 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_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_01_dot_69 loc_bar__minus_7_bar__minus_4_bar_2_bar_60) + (objectAtLocation Statue_bar__minus_01_dot_56_bar__plus_00_dot_76_bar__minus_02_dot_20 loc_bar__minus_7_bar__minus_4_bar_2_bar_60) + ) + + + (:goal + (and + (exists (?r - receptacle) + (and + (receptacleType ?r CoffeeTableType) + (exists (?o - object) + (and + (objectType ?o StatueType) + (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-Statue-Box-CoffeeTable-204/trial_T20190908_043505_652000/traj_data.json b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Statue-Box-CoffeeTable-204/trial_T20190908_043505_652000/traj_data.json new file mode 100644 index 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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": -1.1028899, + "y": 0.660159469, + "z": -1.94763041 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Laptop_b52a600c", + "position": { + "x": -1.09399664, + "y": 0.739500046, + "z": 1.3005836 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pillow_b4695ca2", + "position": { + "x": -1.66392779, + "y": 0.446492016, + "z": 5.91639137 + }, + "rotation": { + "x": 0.0, + "y": 179.999664, + "z": 0.0 + } + }, + { + "objectName": "RemoteControl_c0567e89", + "position": { + "x": -1.78399992, + "y": 0.6563635, + "z": -2.20216084 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "CreditCard_1332ecdc", + "position": { + "x": -1.1028899, + "y": 0.654996, + "z": -1.69310021 + }, + "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": -1.69310021 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Statue_be040014", + "position": { + "x": -1.55696332, + "y": 0.7565242, + "z": -2.20216084 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 2037921445, + "scene_num": 204 + }, + "task_id": "trial_T20190908_043505_652000", + "task_type": "pick_and_place_with_movable_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A3MLUEOP3CCLXL_39GHHAVOMI8DKXBZTE3VDZ2YU2HJ4J", + "high_descs": [ + "Turn around and walk through the doors to the dining room table, step to the right so that you are facing the right end of the dining room table", + "Pick up the white, opened box that is sitting closes to you; The one that is on the right corner of the table closest to you. ", + "Turn around and cross the room to the clear glass coffee table sitting in the middle of the room", + "Place the box on the table" + ], + "task_desc": "Place an opened box on a coffee table.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "AJQGWGESKQT4Y_3IGI0VL64A1D7GC2RWAWK4PKKD6ONM", + "high_descs": [ + "Go left and then left again to stand in front of the box on the table.", + "Pick the box up from the table.", + "Turn around and go forward to stand at the glass table.", + "Put the box on the glass table." + ], + "task_desc": "Put a box on a table.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1HXEXQTZCJ1DW_3CTOC39K3A7A3KTIVC12GBM8L4PJ7L", + "high_descs": [ + "turn left and take a few steps. turn left and walk into the other room. turn right and then left to the desk", + "pick up the box from the table", + "turn around and walk to the coffee table", + "place the box on the table" + ], + "task_desc": "move an empty box from the desk to the table", + "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-Statue-Box-CoffeeTable-204/trial_T20190908_043545_723511/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Statue-Box-CoffeeTable-204/trial_T20190908_043545_723511/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..7f34cd3e1b6b6a7e090ceef484c620f83a4ca2db --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Statue-Box-CoffeeTable-204/trial_T20190908_043545_723511/initial_state.pddl @@ -0,0 +1,640 @@ + +(define (problem plan_trial_T20190908_043545_723511) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_09_bar__plus_01_dot_03_bar__plus_01_dot_40 - object + Box_bar__minus_01_dot_91_bar__plus_00_dot_68_bar__plus_05_dot_92 - object + Box_bar__minus_02_dot_24_bar__plus_00_dot_95_bar__minus_01_dot_82 - object + CellPhone_bar__plus_00_dot_19_bar__plus_00_dot_03_bar__minus_00_dot_15 - object + CellPhone_bar_00_dot_00_bar__plus_00_dot_54_bar__plus_01_dot_26 - 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__plus_00_dot_28_bar__plus_00_dot_12_bar__plus_01_dot_15 - object + CreditCard_bar__minus_00_dot_11_bar__plus_00_dot_74_bar__plus_01_dot_11 - object + CreditCard_bar__minus_01_dot_78_bar__plus_00_dot_65_bar__minus_02_dot_20 - 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_59 - object + KeyChain_bar__minus_00_dot_60_bar__plus_00_dot_74_bar__plus_01_dot_50 - object + KeyChain_bar__minus_00_dot_71_bar__plus_00_dot_69_bar__plus_06_dot_04 - object + Lamp_bar__plus_00_dot_28_bar__plus_00_dot_73_bar__plus_01_dot_38 - object + Laptop_bar__minus_00_dot_11_bar__plus_00_dot_74_bar__plus_01_dot_30 - object + Laptop_bar__minus_01_dot_10_bar__plus_00_dot_65_bar__minus_02_dot_07 - object + Laptop_bar__minus_01_dot_56_bar__plus_00_dot_65_bar__minus_01_dot_95 - 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_41_bar__plus_00_dot_45_bar__plus_05_dot_92 - object + Pillow_bar__minus_03_dot_59_bar__plus_00_dot_45_bar__plus_03_dot_35 - object + RemoteControl_bar__plus_00_dot_38_bar__plus_00_dot_74_bar__plus_01_dot_20 - object + Statue_bar__minus_00_dot_85_bar__plus_00_dot_75_bar__plus_01_dot_11 - object + Statue_bar__minus_01_dot_95_bar__plus_00_dot_51_bar__plus_04_dot_12 - 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_45_bar__plus_00_dot_70_bar__plus_05_dot_65 - object + Vase_bar__minus_01_dot_33_bar__plus_00_dot_66_bar__minus_01_dot_69 - object + Vase_bar__minus_02_dot_47_bar__plus_00_dot_66_bar__minus_02_dot_46 - object + Vase_bar__minus_04_dot_23_bar__plus_00_dot_79_bar__plus_00_dot_38 - 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_8_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 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 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 Chair_bar__minus_00_dot_37_bar__plus_00_dot_00_bar__plus_03_dot_60 ChairType) + (objectType KeyChain_bar__minus_00_dot_71_bar__plus_00_dot_69_bar__plus_06_dot_04 KeyChainType) + (objectType RemoteControl_bar__plus_00_dot_38_bar__plus_00_dot_74_bar__plus_01_dot_20 RemoteControlType) + (objectType KeyChain_bar__plus_00_dot_14_bar__plus_00_dot_74_bar__plus_01_dot_59 KeyChainType) + (objectType Window_bar__minus_03_dot_64_bar__plus_01_dot_70_bar__plus_06_dot_74 WindowType) + (objectType HousePlant_bar__minus_03_dot_94_bar__plus_00_dot_00_bar__plus_05_dot_97 HousePlantType) + (objectType Pillow_bar__minus_02_dot_41_bar__plus_00_dot_45_bar__plus_05_dot_92 PillowType) + (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 Pillow_bar__minus_03_dot_59_bar__plus_00_dot_45_bar__plus_03_dot_35 PillowType) + (objectType CellPhone_bar_00_dot_00_bar__plus_00_dot_54_bar__plus_01_dot_26 CellPhoneType) + (objectType Window_bar__minus_04_dot_41_bar__plus_01_dot_70_bar__plus_02_dot_79 WindowType) + (objectType Box_bar__minus_01_dot_09_bar__plus_01_dot_03_bar__plus_01_dot_40 BoxType) + (objectType Chair_bar__minus_00_dot_41_bar__plus_00_dot_00_bar__plus_04_dot_45 ChairType) + (objectType CreditCard_bar__minus_01_dot_78_bar__plus_00_dot_65_bar__minus_02_dot_20 CreditCardType) + (objectType Painting_bar__minus_03_dot_37_bar__plus_01_dot_74_bar__minus_00_dot_30 PaintingType) + (objectType Vase_bar__minus_02_dot_47_bar__plus_00_dot_66_bar__minus_02_dot_46 VaseType) + (objectType Laptop_bar__minus_00_dot_11_bar__plus_00_dot_74_bar__plus_01_dot_30 LaptopType) + (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 Box_bar__minus_02_dot_24_bar__plus_00_dot_95_bar__minus_01_dot_82 BoxType) + (objectType KeyChain_bar__minus_00_dot_60_bar__plus_00_dot_74_bar__plus_01_dot_50 KeyChainType) + (objectType Window_bar__minus_04_dot_41_bar__plus_01_dot_70_bar__plus_05_dot_98 WindowType) + (objectType Box_bar__minus_01_dot_91_bar__plus_00_dot_68_bar__plus_05_dot_92 BoxType) + (objectType Laptop_bar__minus_01_dot_56_bar__plus_00_dot_65_bar__minus_01_dot_95 LaptopType) + (objectType Window_bar__minus_04_dot_41_bar__plus_01_dot_70_bar__plus_01_dot_79 WindowType) + (objectType Statue_bar__minus_00_dot_85_bar__plus_00_dot_75_bar__plus_01_dot_11 StatueType) + (objectType Laptop_bar__minus_01_dot_10_bar__plus_00_dot_65_bar__minus_02_dot_07 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 CellPhone_bar__plus_00_dot_19_bar__plus_00_dot_03_bar__minus_00_dot_15 CellPhoneType) + (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 Window_bar__minus_02_dot_83_bar__plus_01_dot_70_bar__minus_00_dot_16 WindowType) + (objectType CreditCard_bar__minus_00_dot_11_bar__plus_00_dot_74_bar__plus_01_dot_11 CreditCardType) + (objectType CreditCard_bar__plus_00_dot_28_bar__plus_00_dot_12_bar__plus_01_dot_15 CreditCardType) + (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 Vase_bar__minus_01_dot_33_bar__plus_00_dot_66_bar__minus_01_dot_69) + (pickupable KeyChain_bar__minus_00_dot_71_bar__plus_00_dot_69_bar__plus_06_dot_04) + (pickupable RemoteControl_bar__plus_00_dot_38_bar__plus_00_dot_74_bar__plus_01_dot_20) + (pickupable KeyChain_bar__plus_00_dot_14_bar__plus_00_dot_74_bar__plus_01_dot_59) + (pickupable Pillow_bar__minus_02_dot_41_bar__plus_00_dot_45_bar__plus_05_dot_92) + (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 Pillow_bar__minus_03_dot_59_bar__plus_00_dot_45_bar__plus_03_dot_35) + (pickupable CellPhone_bar_00_dot_00_bar__plus_00_dot_54_bar__plus_01_dot_26) + (pickupable Box_bar__minus_01_dot_09_bar__plus_01_dot_03_bar__plus_01_dot_40) + (pickupable CreditCard_bar__minus_01_dot_78_bar__plus_00_dot_65_bar__minus_02_dot_20) + (pickupable Vase_bar__minus_02_dot_47_bar__plus_00_dot_66_bar__minus_02_dot_46) + (pickupable Laptop_bar__minus_00_dot_11_bar__plus_00_dot_74_bar__plus_01_dot_30) + (pickupable Box_bar__minus_02_dot_24_bar__plus_00_dot_95_bar__minus_01_dot_82) + (pickupable KeyChain_bar__minus_00_dot_60_bar__plus_00_dot_74_bar__plus_01_dot_50) + (pickupable Box_bar__minus_01_dot_91_bar__plus_00_dot_68_bar__plus_05_dot_92) + (pickupable Laptop_bar__minus_01_dot_56_bar__plus_00_dot_65_bar__minus_01_dot_95) + (pickupable Statue_bar__minus_00_dot_85_bar__plus_00_dot_75_bar__plus_01_dot_11) + (pickupable Laptop_bar__minus_01_dot_10_bar__plus_00_dot_65_bar__minus_02_dot_07) + (pickupable Statue_bar__minus_01_dot_95_bar__plus_00_dot_51_bar__plus_04_dot_12) + (pickupable CellPhone_bar__plus_00_dot_19_bar__plus_00_dot_03_bar__minus_00_dot_15) + (pickupable Vase_bar__minus_00_dot_45_bar__plus_00_dot_70_bar__plus_05_dot_65) + (pickupable CreditCard_bar__minus_00_dot_11_bar__plus_00_dot_74_bar__plus_01_dot_11) + (pickupable CreditCard_bar__plus_00_dot_28_bar__plus_00_dot_12_bar__plus_01_dot_15) + (isReceptacleObject Box_bar__minus_01_dot_09_bar__plus_01_dot_03_bar__plus_01_dot_40) + (isReceptacleObject Box_bar__minus_02_dot_24_bar__plus_00_dot_95_bar__minus_01_dot_82) + (isReceptacleObject Box_bar__minus_01_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_8_bar__minus_1_bar_3_bar_30) + + + + + + + + (toggleable FloorLamp_bar__plus_00_dot_39_bar__plus_00_dot_00_bar__plus_05_dot_16) + + + + + (inReceptacleObject Statue_bar__minus_00_dot_85_bar__plus_00_dot_75_bar__plus_01_dot_11 Box_bar__minus_01_dot_09_bar__plus_01_dot_03_bar__plus_01_dot_40) + (inReceptacle Box_bar__minus_01_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 Pillow_bar__minus_02_dot_41_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 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 Laptop_bar__minus_01_dot_10_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 Box_bar__minus_02_dot_24_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 Vase_bar__minus_02_dot_47_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 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 CreditCard_bar__minus_01_dot_78_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 Laptop_bar__minus_01_dot_56_bar__plus_00_dot_65_bar__minus_01_dot_95 DiningTable_bar__minus_01_dot_78_bar__plus_00_dot_01_bar__minus_02_dot_04) + (inReceptacle RemoteControl_bar__plus_00_dot_38_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 KeyChain_bar__plus_00_dot_14_bar__plus_00_dot_74_bar__plus_01_dot_59 Desk_bar__minus_00_dot_25_bar__plus_00_dot_00_bar__plus_01_dot_41) + (inReceptacle Statue_bar__minus_00_dot_85_bar__plus_00_dot_75_bar__plus_01_dot_11 Desk_bar__minus_00_dot_25_bar__plus_00_dot_00_bar__plus_01_dot_41) + (inReceptacle KeyChain_bar__minus_00_dot_60_bar__plus_00_dot_74_bar__plus_01_dot_50 Desk_bar__minus_00_dot_25_bar__plus_00_dot_00_bar__plus_01_dot_41) + (inReceptacle Box_bar__minus_01_dot_09_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 CreditCard_bar__minus_00_dot_11_bar__plus_00_dot_74_bar__plus_01_dot_11 Desk_bar__minus_00_dot_25_bar__plus_00_dot_00_bar__plus_01_dot_41) + (inReceptacle Laptop_bar__minus_00_dot_11_bar__plus_00_dot_74_bar__plus_01_dot_30 Desk_bar__minus_00_dot_25_bar__plus_00_dot_00_bar__plus_01_dot_41) + (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 KeyChain_bar__minus_00_dot_71_bar__plus_00_dot_69_bar__plus_06_dot_04 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_03_dot_35 Sofa_bar__minus_03_dot_81_bar__plus_00_dot_00_bar__plus_04_dot_15) + (inReceptacle CellPhone_bar_00_dot_00_bar__plus_00_dot_54_bar__plus_01_dot_26 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 CreditCard_bar__plus_00_dot_28_bar__plus_00_dot_12_bar__plus_01_dot_15 Drawer_bar__plus_00_dot_41_bar__plus_00_dot_17_bar__plus_01_dot_24) + (inReceptacle CellPhone_bar__plus_00_dot_19_bar__plus_00_dot_03_bar__minus_00_dot_15 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 CreditCard_bar__minus_01_dot_78_bar__plus_00_dot_65_bar__minus_02_dot_20 loc_bar__minus_7_bar__minus_4_bar_2_bar_60) + (objectAtLocation Pillow_bar__minus_02_dot_41_bar__plus_00_dot_45_bar__plus_05_dot_92 loc_bar__minus_9_bar_20_bar_0_bar_60) + (objectAtLocation Laptop_bar__minus_01_dot_10_bar__plus_00_dot_65_bar__minus_02_dot_07 loc_bar__minus_7_bar__minus_4_bar_2_bar_60) + (objectAtLocation KeyChain_bar__plus_00_dot_14_bar__plus_00_dot_74_bar__plus_01_dot_59 loc_bar__minus_2_bar_10_bar_2_bar_60) + (objectAtLocation CellPhone_bar_00_dot_00_bar__plus_00_dot_54_bar__plus_01_dot_26 loc_bar__minus_3_bar_2_bar_1_bar_60) + (objectAtLocation Box_bar__minus_01_dot_09_bar__plus_01_dot_03_bar__plus_01_dot_40 loc_bar__minus_2_bar_10_bar_2_bar_60) + (objectAtLocation Laptop_bar__minus_01_dot_56_bar__plus_00_dot_65_bar__minus_01_dot_95 loc_bar__minus_7_bar__minus_4_bar_2_bar_60) + (objectAtLocation Box_bar__minus_01_dot_91_bar__plus_00_dot_68_bar__plus_05_dot_92 loc_bar__minus_9_bar_20_bar_0_bar_60) + (objectAtLocation CreditCard_bar__minus_00_dot_11_bar__plus_00_dot_74_bar__plus_01_dot_11 loc_bar__minus_2_bar_10_bar_2_bar_60) + (objectAtLocation KeyChain_bar__minus_00_dot_71_bar__plus_00_dot_69_bar__plus_06_dot_04 loc_bar_1_bar_18_bar_0_bar_45) + (objectAtLocation Box_bar__minus_02_dot_24_bar__plus_00_dot_95_bar__minus_01_dot_82 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__plus_00_dot_19_bar__plus_00_dot_03_bar__minus_00_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_00_dot_60_bar__plus_00_dot_74_bar__plus_01_dot_50 loc_bar__minus_2_bar_10_bar_2_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 Vase_bar__minus_02_dot_47_bar__plus_00_dot_66_bar__minus_02_dot_46 loc_bar__minus_7_bar__minus_4_bar_2_bar_60) + (objectAtLocation Laptop_bar__minus_00_dot_11_bar__plus_00_dot_74_bar__plus_01_dot_30 loc_bar__minus_2_bar_10_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_59_bar__plus_00_dot_45_bar__plus_03_dot_35 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__plus_00_dot_38_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__plus_00_dot_28_bar__plus_00_dot_12_bar__plus_01_dot_15 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_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_85_bar__plus_00_dot_75_bar__plus_01_dot_11 loc_bar__minus_2_bar_10_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 (?r - receptacle) + (and + (receptacleType ?r CoffeeTableType) + (exists (?o - object) + (and + (objectType ?o StatueType) + (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-Statue-Box-CoffeeTable-204/trial_T20190908_043545_723511/traj_data.json 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"rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Statue_aa71ba08", + "position": { + "x": -0.847741842, + "y": 0.7520474, + "z": 1.1053977 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "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": [], + "random_seed": 3965083534, + "scene_num": 204 + }, + "task_id": "trial_T20190908_043545_723511", + "task_type": "pick_and_place_with_movable_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "AJQGWGESKQT4Y_3EA3QWIZ4LC1676JQXJ396ZQXMUITN", + "high_descs": [ + "Go right and then turn right to go towards the desk, and then turn right to face the desk.", + "Pick the box up from the right side of the desk.", + "Go right and then right again to face the glass table.", + "Put the box down on the table." + ], + "task_desc": "Put a box on a table.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AM2KK02JXXW48_3U4J9857OHS4L1V67KOLIN3VDZ6B7I", + "high_descs": [ + "Turn right, head to the chair, turn right, head to the desk, turn right to face the desk.", + "Pick up the open box on the desk. ", + "Turn around, bring the box to the coffee table on the rug. ", + "Put the box on the coffee table. " + ], + "task_desc": "Put a box on the coffee table. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A38Z99XF4NDNH0_3Z7ISHFUH3C43D35N3WUI56TFMRZ8S", + "high_descs": [ + "Move across the room to the right side of the black desk", + "Pick up the box on top of the black desk", + "Carry the empty box to the glass coffee table", + "Place the empty box on the far left corner of the coffee table" + ], + "task_desc": "Move an empty box to the coffee table", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Statue-Box-CoffeeTable-204/trial_T20190908_043831_574966/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Statue-Box-CoffeeTable-204/trial_T20190908_043831_574966/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..00854f02b3c1ab7c8670dad59f1ff8e54948bf89 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Statue-Box-CoffeeTable-204/trial_T20190908_043831_574966/initial_state.pddl @@ -0,0 +1,628 @@ + +(define (problem plan_trial_T20190908_043831_574966) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_33_bar__plus_00_dot_95_bar__minus_01_dot_69 - object + Box_bar__minus_02_dot_24_bar__plus_00_dot_95_bar__minus_02_dot_07 - object + CellPhone_bar__plus_00_dot_46_bar__plus_00_dot_13_bar__plus_01_dot_15 - object + CellPhone_bar__minus_02_dot_01_bar__plus_00_dot_66_bar__minus_02_dot_33 - object + CellPhone_bar__minus_03_dot_38_bar__plus_00_dot_40_bar__plus_04_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__plus_00_dot_46_bar__plus_00_dot_54_bar__plus_01_dot_42 - object + CreditCard_bar__minus_02_dot_63_bar__plus_00_dot_32_bar__plus_02_dot_38 - object + CreditCard_bar__minus_03_dot_38_bar__plus_00_dot_39_bar__plus_04_dot_15 - 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_38_bar__plus_00_dot_74_bar__plus_01_dot_11 - object + KeyChain_bar__minus_02_dot_41_bar__plus_00_dot_39_bar__plus_05_dot_92 - object + Lamp_bar__plus_00_dot_28_bar__plus_00_dot_73_bar__plus_01_dot_38 - object + Laptop_bar__minus_01_dot_56_bar__plus_00_dot_65_bar__minus_02_dot_20 - 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_64_bar__plus_05_dot_02 - object + RemoteControl_bar__minus_00_dot_11_bar__plus_00_dot_74_bar__plus_01_dot_30 - object + RemoteControl_bar__minus_00_dot_50_bar__plus_00_dot_69_bar__plus_06_dot_03 - object + RemoteControl_bar__minus_02_dot_91_bar__plus_00_dot_39_bar__plus_05_dot_83 - object + Statue_bar__minus_01_dot_95_bar__plus_00_dot_51_bar__plus_04_dot_12 - object + Statue_bar__minus_02_dot_47_bar__plus_00_dot_67_bar__minus_01_dot_82 - 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_45_bar__plus_00_dot_70_bar__plus_05_dot_65 - object + Vase_bar__minus_00_dot_60_bar__plus_00_dot_75_bar__plus_01_dot_40 - object + Vase_bar__minus_01_dot_09_bar__plus_00_dot_75_bar__plus_01_dot_20 - object + Vase_bar__minus_04_dot_23_bar__plus_00_dot_79_bar__plus_00_dot_38 - 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 + 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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_10_bar_21_bar_0_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_7_bar_11_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 Box_bar__minus_02_dot_24_bar__plus_00_dot_95_bar__minus_02_dot_07 BoxType) + (objectType Statue_bar__minus_04_dot_22_bar__plus_01_dot_26_bar__plus_00_dot_40 StatueType) + (objectType CellPhone_bar__minus_03_dot_38_bar__plus_00_dot_40_bar__plus_04_dot_95 CellPhoneType) + (objectType RemoteControl_bar__minus_00_dot_50_bar__plus_00_dot_69_bar__plus_06_dot_03 RemoteControlType) + (objectType Window_bar__minus_01_dot_01_bar__plus_01_dot_70_bar__minus_00_dot_15 WindowType) + (objectType Vase_bar__minus_00_dot_60_bar__plus_00_dot_75_bar__plus_01_dot_40 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 CellPhone_bar__minus_02_dot_01_bar__plus_00_dot_66_bar__minus_02_dot_33 CellPhoneType) + (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 CreditCard_bar__plus_00_dot_46_bar__plus_00_dot_54_bar__plus_01_dot_42 CreditCardType) + (objectType Window_bar__minus_03_dot_64_bar__plus_01_dot_70_bar__plus_06_dot_74 WindowType) + (objectType RemoteControl_bar__minus_02_dot_91_bar__plus_00_dot_39_bar__plus_05_dot_83 RemoteControlType) + (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 Vase_bar__minus_01_dot_09_bar__plus_00_dot_75_bar__plus_01_dot_20 VaseType) + (objectType CreditCard_bar__minus_02_dot_63_bar__plus_00_dot_32_bar__plus_02_dot_38 CreditCardType) + (objectType Window_bar__minus_04_dot_41_bar__plus_01_dot_70_bar__plus_02_dot_79 WindowType) + (objectType Pillow_bar__minus_03_dot_59_bar__plus_00_dot_64_bar__plus_05_dot_02 PillowType) + (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 CellPhone_bar__plus_00_dot_46_bar__plus_00_dot_13_bar__plus_01_dot_15 CellPhoneType) + (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 Box_bar__minus_01_dot_33_bar__plus_00_dot_95_bar__minus_01_dot_69 BoxType) + (objectType Window_bar__minus_04_dot_41_bar__plus_01_dot_70_bar__plus_05_dot_98 WindowType) + (objectType Statue_bar__minus_02_dot_47_bar__plus_00_dot_67_bar__minus_01_dot_82 StatueType) + (objectType CreditCard_bar__minus_03_dot_38_bar__plus_00_dot_39_bar__plus_04_dot_15 CreditCardType) + (objectType KeyChain_bar__minus_02_dot_41_bar__plus_00_dot_39_bar__plus_05_dot_92 KeyChainType) + (objectType Window_bar__minus_04_dot_41_bar__plus_01_dot_70_bar__plus_01_dot_79 WindowType) + (objectType KeyChain_bar__plus_00_dot_38_bar__plus_00_dot_74_bar__plus_01_dot_11 KeyChainType) + (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 RemoteControl_bar__minus_00_dot_11_bar__plus_00_dot_74_bar__plus_01_dot_30 RemoteControlType) + (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 Window_bar__minus_02_dot_83_bar__plus_01_dot_70_bar__minus_00_dot_16 WindowType) + (objectType Laptop_bar__minus_01_dot_56_bar__plus_00_dot_65_bar__minus_02_dot_20 LaptopType) + (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 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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 Box_bar__minus_02_dot_24_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 Box_bar__minus_01_dot_33_bar__plus_00_dot_95_bar__minus_01_dot_69 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_01_dot_82 DiningTable_bar__minus_01_dot_78_bar__plus_00_dot_01_bar__minus_02_dot_04) + (inReceptacle CellPhone_bar__minus_02_dot_01_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 Laptop_bar__minus_01_dot_56_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 RemoteControl_bar__minus_00_dot_11_bar__plus_00_dot_74_bar__plus_01_dot_30 Desk_bar__minus_00_dot_25_bar__plus_00_dot_00_bar__plus_01_dot_41) + (inReceptacle KeyChain_bar__plus_00_dot_38_bar__plus_00_dot_74_bar__plus_01_dot_11 Desk_bar__minus_00_dot_25_bar__plus_00_dot_00_bar__plus_01_dot_41) + (inReceptacle Vase_bar__minus_01_dot_09_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 Vase_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 RemoteControl_bar__minus_00_dot_50_bar__plus_00_dot_69_bar__plus_06_dot_03 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 CreditCard_bar__minus_02_dot_63_bar__plus_00_dot_32_bar__plus_02_dot_38 ArmChair_bar__minus_02_dot_63_bar_00_dot_00_bar__plus_02_dot_42) + (inReceptacle CellPhone_bar__minus_03_dot_38_bar__plus_00_dot_40_bar__plus_04_dot_95 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 CreditCard_bar__minus_03_dot_38_bar__plus_00_dot_39_bar__plus_04_dot_15 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 CellPhone_bar__plus_00_dot_46_bar__plus_00_dot_13_bar__plus_01_dot_15 Drawer_bar__plus_00_dot_41_bar__plus_00_dot_17_bar__plus_01_dot_24) + (inReceptacle CreditCard_bar__plus_00_dot_46_bar__plus_00_dot_54_bar__plus_01_dot_42 Drawer_bar__plus_00_dot_41_bar__plus_00_dot_58_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__plus_00_dot_46_bar__plus_00_dot_54_bar__plus_01_dot_42 loc_bar_0_bar_1_bar_0_bar_45) + (objectAtLocation RemoteControl_bar__minus_02_dot_91_bar__plus_00_dot_39_bar__plus_05_dot_83 loc_bar__minus_9_bar_20_bar_0_bar_60) + (objectAtLocation KeyChain_bar__plus_00_dot_38_bar__plus_00_dot_74_bar__plus_01_dot_11 loc_bar__minus_2_bar_10_bar_2_bar_60) + (objectAtLocation CellPhone_bar__minus_02_dot_01_bar__plus_00_dot_66_bar__minus_02_dot_33 loc_bar__minus_7_bar__minus_4_bar_2_bar_60) + (objectAtLocation Box_bar__minus_02_dot_24_bar__plus_00_dot_95_bar__minus_02_dot_07 loc_bar__minus_7_bar__minus_4_bar_2_bar_60) + (objectAtLocation RemoteControl_bar__minus_00_dot_11_bar__plus_00_dot_74_bar__plus_01_dot_30 loc_bar__minus_2_bar_10_bar_2_bar_60) + (objectAtLocation CreditCard_bar__minus_02_dot_63_bar__plus_00_dot_32_bar__plus_02_dot_38 loc_bar__minus_11_bar_14_bar_2_bar_60) + (objectAtLocation CellPhone_bar__minus_03_dot_38_bar__plus_00_dot_40_bar__plus_04_dot_95 loc_bar__minus_11_bar_16_bar_3_bar_60) + (objectAtLocation Box_bar__minus_01_dot_33_bar__plus_00_dot_95_bar__minus_01_dot_69 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_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__plus_00_dot_46_bar__plus_00_dot_13_bar__plus_01_dot_15 loc_bar__minus_2_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_41_bar__plus_00_dot_39_bar__plus_05_dot_92 loc_bar__minus_10_bar_21_bar_0_bar_60) + (objectAtLocation Vase_bar__minus_01_dot_09_bar__plus_00_dot_75_bar__plus_01_dot_20 loc_bar__minus_2_bar_10_bar_2_bar_60) + (objectAtLocation Vase_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 Laptop_bar__minus_01_dot_56_bar__plus_00_dot_65_bar__minus_02_dot_20 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_03_dot_59_bar__plus_00_dot_64_bar__plus_05_dot_02 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_50_bar__plus_00_dot_69_bar__plus_06_dot_03 loc_bar_1_bar_18_bar_0_bar_45) + (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_03_dot_38_bar__plus_00_dot_39_bar__plus_04_dot_15 loc_bar__minus_11_bar_16_bar_3_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_02_dot_47_bar__plus_00_dot_67_bar__minus_01_dot_82 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 (?r - receptacle) + (and + (receptacleType ?r CoffeeTableType) + (exists (?o - object) + (and + (objectType ?o StatueType) + (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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"random_seed": 3695793635, + "scene_num": 204 + }, + "task_id": "trial_T20190908_043831_574966", + "task_type": "pick_and_place_with_movable_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A3C81THYYSBGVD_333U7HK6ICWQKTUSMP4OG3W47GBDJT", + "high_descs": [ + "Go forward, then right, then left and face the table with the dog on your left.", + "Take the dog from the table in front of you.", + "Turn left then right and face the table on your right.", + "Place the dog in the box on the table in front of you.", + "Take the box off the table in front of you.", + "Turn around then turn right towards the glass table in front of you.", + "Place the box with the dog inside on the table in front of you." + ], + "task_desc": "Place a golden dog on a different table.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AKW57KYG90X61_35GCEFQ6I85I2GXZBM1YROYIZ1PZ3S", + "high_descs": [ + "move forward to the table", + "pick up the toy from the table", + "move around the table to the carton", + "place the toy in the carton", + "pick up the carton", + "turn around and head for the center table", + "place the carton on the center table" + ], + "task_desc": "place a carton with a toy in it on the center table", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A24RGLS3BRZ60J_3Y4W8Q93L21ZBOUM3EI7JR7Y23LVDZ", + "high_descs": [ + "Move ahead to the next room and turn right, then left at the table.", + "Pick up the statue from the front of the table.", + "Carry the statue and turn left and right to go around to the other side.", + " Place the statue in the box on the end of the table.", + "Pick up the box from the end of the table.", + "Carry the box and turn around, then right to the next room. Go straight to the glass coffee table.", + "Place the box and statue on the table." + ], + "task_desc": "Move a statue into a box and take them to a coffee table.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Cloth-None-Dresser-415/trial_T20190907_000021_504649/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Cloth-None-Dresser-415/trial_T20190907_000021_504649/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..01b3c4d4dbf115d3058837c6be9f228665401e44 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Cloth-None-Dresser-415/trial_T20190907_000021_504649/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\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 dresser.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190907_000021_504649)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83 - object\n Candle_bar__minus_02_dot_69_bar__plus_00_dot_99_bar__minus_02_dot_66 - object\n Cloth_bar__minus_02_dot_55_bar__plus_01_dot_00_bar__minus_03_dot_19 - object\n Cloth_bar__minus_02_dot_58_bar__plus_00_dot_36_bar__minus_03_dot_34 - object\n Cloth_bar__minus_02_dot_65_bar__plus_00_dot_09_bar__minus_00_dot_82 - object\n Faucet_bar__minus_00_dot_04_bar__plus_01_dot_02_bar__minus_02_dot_08 - object\n HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_48_bar__minus_01_dot_55 - object\n LightSwitch_bar__minus_00_dot_36_bar__plus_01_dot_33_bar__minus_04_dot_00 - object\n Mirror_bar__minus_02_dot_98_bar__plus_01_dot_57_bar__minus_02_dot_90 - object\n Plunger_bar__minus_00_dot_37_bar_00_dot_00_bar__minus_00_dot_10 - object\n ScrubBrush_bar__minus_00_dot_14_bar_00_dot_00_bar__minus_00_dot_11 - object\n ShowerCurtain_bar__minus_02_dot_19_bar__plus_01_dot_92_bar__minus_01_dot_56 - object\n ShowerHead_bar__minus_02_dot_58_bar__plus_01_dot_20_bar__minus_00_dot_06 - object\n Sink_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_02_dot_08 - object\n SoapBar_bar__minus_00_dot_16_bar__plus_00_dot_35_bar__minus_03_dot_25 - object\n SoapBar_bar__minus_02_dot_55_bar__plus_00_dot_99_bar__minus_02_dot_92 - object\n SoapBar_bar__minus_02_dot_92_bar__plus_00_dot_99_bar__minus_03_dot_72 - object\n SoapBottle_bar__minus_00_dot_15_bar__plus_01_dot_17_bar__minus_03_dot_69 - object\n SoapBottle_bar__minus_00_dot_18_bar__plus_01_dot_16_bar__minus_03_dot_40 - object\n SoapBottle_bar__minus_00_dot_19_bar__plus_00_dot_36_bar__minus_03_dot_47 - object\n SprayBottle_bar__minus_00_dot_09_bar__plus_01_dot_05_bar__minus_00_dot_74 - object\n ToiletPaper_bar__minus_02_dot_69_bar__plus_00_dot_99_bar__minus_02_dot_92 - object\n ToiletPaper_bar__minus_02_dot_84_bar__plus_00_dot_99_bar__minus_03_dot_19 - object\n Towel_bar__minus_01_dot_34_bar__plus_01_dot_19_bar__minus_00_dot_11 - object\n Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83_bar_BathtubBasin - receptacle\n CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92 - receptacle\n Drawer_bar__minus_00_dot_19_bar__plus_00_dot_16_bar__minus_03_dot_40 - receptacle\n Drawer_bar__minus_00_dot_19_bar__plus_00_dot_42_bar__minus_03_dot_40 - receptacle\n Drawer_bar__minus_00_dot_19_bar__plus_00_dot_68_bar__minus_03_dot_40 - receptacle\n Drawer_bar__minus_00_dot_19_bar__plus_00_dot_94_bar__minus_03_dot_40 - receptacle\n Dresser_bar__minus_00_dot_21_bar__plus_00_dot_81_bar__minus_03_dot_40 - receptacle\n GarbageCan_bar__minus_00_dot_23_bar_00_dot_00_bar__minus_02_dot_80 - receptacle\n HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_01_dot_55 - receptacle\n HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_02_dot_66 - receptacle\n Shelf_bar__minus_02_dot_54_bar__plus_00_dot_13_bar__minus_02_dot_92 - receptacle\n Shelf_bar__minus_02_dot_58_bar__plus_00_dot_40_bar__minus_02_dot_92 - receptacle\n Sink_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_02_dot_08_bar_SinkBasin - receptacle\n ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_87_bar__minus_00_dot_97 - receptacle\n Toilet_bar__minus_00_dot_41_bar_00_dot_00_bar__minus_00_dot_55 - receptacle\n TowelHolder_bar__minus_01_dot_34_bar__plus_01_dot_18_bar__plus_00_dot_00 - receptacle\n loc_bar__minus_5_bar__minus_12_bar_1_bar_45 - location\n loc_bar__minus_3_bar__minus_11_bar_1_bar_0 - location\n loc_bar__minus_3_bar__minus_6_bar_2_bar_60 - location\n loc_bar__minus_2_bar__minus_4_bar_0_bar_60 - location\n loc_bar__minus_2_bar__minus_13_bar_2_bar_30 - location\n loc_bar__minus_2_bar__minus_5_bar_0_bar_60 - location\n loc_bar__minus_8_bar__minus_12_bar_3_bar_60 - location\n loc_bar__minus_6_bar__minus_11_bar_1_bar_45 - location\n loc_bar__minus_5_bar__minus_11_bar_1_bar_60 - location\n loc_bar__minus_3_bar__minus_13_bar_1_bar_60 - location\n loc_bar__minus_6_bar__minus_2_bar_3_bar_60 - location\n loc_bar__minus_2_bar__minus_4_bar_1_bar_60 - location\n loc_bar__minus_4_bar__minus_8_bar_1_bar_60 - location\n loc_bar__minus_3_bar__minus_6_bar_1_bar_0 - location\n loc_bar__minus_5_bar__minus_11_bar_3_bar_45 - location\n loc_bar__minus_5_bar__minus_9_bar_1_bar_60 - location\n loc_bar__minus_8_bar__minus_11_bar_3_bar_45 - location\n loc_bar__minus_5_bar__minus_2_bar_0_bar_45 - location\n loc_bar__minus_4_bar__minus_13_bar_1_bar_45 - location\n loc_bar__minus_7_bar__minus_3_bar_3_bar_60 - location\n loc_bar__minus_5_bar__minus_2_bar_1_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_01_dot_55 HandTowelHolderType)\n (receptacleType HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_02_dot_66 HandTowelHolderType)\n (receptacleType Dresser_bar__minus_00_dot_21_bar__plus_00_dot_81_bar__minus_03_dot_40 DresserType)\n (receptacleType CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92 CounterTopType)\n (receptacleType ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_87_bar__minus_00_dot_97 ToiletPaperHangerType)\n (receptacleType TowelHolder_bar__minus_01_dot_34_bar__plus_01_dot_18_bar__plus_00_dot_00 TowelHolderType)\n (receptacleType Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83_bar_BathtubBasin BathtubBasinType)\n (receptacleType Drawer_bar__minus_00_dot_19_bar__plus_00_dot_42_bar__minus_03_dot_40 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_19_bar__plus_00_dot_16_bar__minus_03_dot_40 DrawerType)\n (receptacleType Shelf_bar__minus_02_dot_58_bar__plus_00_dot_40_bar__minus_02_dot_92 ShelfType)\n (receptacleType Sink_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_02_dot_08_bar_SinkBasin SinkBasinType)\n (receptacleType GarbageCan_bar__minus_00_dot_23_bar_00_dot_00_bar__minus_02_dot_80 GarbageCanType)\n (receptacleType Drawer_bar__minus_00_dot_19_bar__plus_00_dot_68_bar__minus_03_dot_40 DrawerType)\n (receptacleType Shelf_bar__minus_02_dot_54_bar__plus_00_dot_13_bar__minus_02_dot_92 ShelfType)\n (receptacleType Drawer_bar__minus_00_dot_19_bar__plus_00_dot_94_bar__minus_03_dot_40 DrawerType)\n (receptacleType Toilet_bar__minus_00_dot_41_bar_00_dot_00_bar__minus_00_dot_55 ToiletType)\n (objectType Cloth_bar__minus_02_dot_58_bar__plus_00_dot_36_bar__minus_03_dot_34 ClothType)\n (objectType SoapBottle_bar__minus_00_dot_18_bar__plus_01_dot_16_bar__minus_03_dot_40 SoapBottleType)\n (objectType Plunger_bar__minus_00_dot_37_bar_00_dot_00_bar__minus_00_dot_10 PlungerType)\n (objectType SoapBottle_bar__minus_00_dot_15_bar__plus_01_dot_17_bar__minus_03_dot_69 SoapBottleType)\n (objectType SprayBottle_bar__minus_00_dot_09_bar__plus_01_dot_05_bar__minus_00_dot_74 SprayBottleType)\n (objectType ToiletPaper_bar__minus_02_dot_84_bar__plus_00_dot_99_bar__minus_03_dot_19 ToiletPaperType)\n (objectType SoapBar_bar__minus_00_dot_16_bar__plus_00_dot_35_bar__minus_03_dot_25 SoapBarType)\n (objectType ScrubBrush_bar__minus_00_dot_14_bar_00_dot_00_bar__minus_00_dot_11 ScrubBrushType)\n (objectType SoapBar_bar__minus_02_dot_92_bar__plus_00_dot_99_bar__minus_03_dot_72 SoapBarType)\n (objectType Candle_bar__minus_02_dot_69_bar__plus_00_dot_99_bar__minus_02_dot_66 CandleType)\n (objectType HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_48_bar__minus_01_dot_55 HandTowelType)\n (objectType Towel_bar__minus_01_dot_34_bar__plus_01_dot_19_bar__minus_00_dot_11 TowelType)\n (objectType SoapBar_bar__minus_02_dot_55_bar__plus_00_dot_99_bar__minus_02_dot_92 SoapBarType)\n (objectType ToiletPaper_bar__minus_02_dot_69_bar__plus_00_dot_99_bar__minus_02_dot_92 ToiletPaperType)\n (objectType Mirror_bar__minus_02_dot_98_bar__plus_01_dot_57_bar__minus_02_dot_90 MirrorType)\n (objectType Cloth_bar__minus_02_dot_55_bar__plus_01_dot_00_bar__minus_03_dot_19 ClothType)\n (objectType Sink_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_02_dot_08 SinkType)\n (objectType LightSwitch_bar__minus_00_dot_36_bar__plus_01_dot_33_bar__minus_04_dot_00 LightSwitchType)\n (objectType SoapBottle_bar__minus_00_dot_19_bar__plus_00_dot_36_bar__minus_03_dot_47 SoapBottleType)\n (objectType Cloth_bar__minus_02_dot_65_bar__plus_00_dot_09_bar__minus_00_dot_82 ClothType)\n (objectType Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83 BathtubType)\n (canContain HandTowelHolderType HandTowelType)\n (canContain HandTowelHolderType HandTowelType)\n (canContain DresserType CandleType)\n (canContain DresserType SprayBottleType)\n (canContain DresserType ToiletPaperType)\n (canContain DresserType ClothType)\n (canContain CounterTopType CandleType)\n (canContain CounterTopType SoapBarType)\n (canContain CounterTopType SprayBottleType)\n (canContain CounterTopType ToiletPaperType)\n (canContain CounterTopType SoapBottleType)\n (canContain CounterTopType ClothType)\n (canContain CounterTopType HandTowelType)\n (canContain ToiletPaperHangerType ToiletPaperType)\n (canContain TowelHolderType TowelType)\n (canContain BathtubBasinType ClothType)\n (canContain BathtubBasinType HandTowelType)\n (canContain BathtubBasinType SoapBarType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType HandTowelType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType HandTowelType)\n (canContain ShelfType CandleType)\n (canContain ShelfType SoapBarType)\n (canContain ShelfType SprayBottleType)\n (canContain ShelfType ToiletPaperType)\n (canContain ShelfType SoapBottleType)\n (canContain ShelfType ClothType)\n (canContain ShelfType HandTowelType)\n (canContain SinkBasinType SoapBarType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType HandTowelType)\n (canContain GarbageCanType SoapBarType)\n (canContain GarbageCanType SprayBottleType)\n (canContain GarbageCanType ToiletPaperType)\n (canContain GarbageCanType SoapBottleType)\n (canContain GarbageCanType ClothType)\n (canContain GarbageCanType HandTowelType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType HandTowelType)\n (canContain ShelfType CandleType)\n (canContain ShelfType SoapBarType)\n (canContain ShelfType SprayBottleType)\n (canContain ShelfType ToiletPaperType)\n (canContain ShelfType SoapBottleType)\n (canContain ShelfType ClothType)\n (canContain ShelfType HandTowelType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType HandTowelType)\n (canContain ToiletType SoapBottleType)\n (canContain ToiletType HandTowelType)\n (canContain ToiletType ToiletPaperType)\n (canContain ToiletType ClothType)\n (canContain ToiletType CandleType)\n (canContain ToiletType SoapBarType)\n (canContain ToiletType SprayBottleType)\n (pickupable Cloth_bar__minus_02_dot_58_bar__plus_00_dot_36_bar__minus_03_dot_34)\n (pickupable SoapBottle_bar__minus_00_dot_18_bar__plus_01_dot_16_bar__minus_03_dot_40)\n (pickupable Plunger_bar__minus_00_dot_37_bar_00_dot_00_bar__minus_00_dot_10)\n (pickupable SoapBottle_bar__minus_00_dot_15_bar__plus_01_dot_17_bar__minus_03_dot_69)\n (pickupable SprayBottle_bar__minus_00_dot_09_bar__plus_01_dot_05_bar__minus_00_dot_74)\n (pickupable ToiletPaper_bar__minus_02_dot_84_bar__plus_00_dot_99_bar__minus_03_dot_19)\n (pickupable SoapBar_bar__minus_00_dot_16_bar__plus_00_dot_35_bar__minus_03_dot_25)\n (pickupable ScrubBrush_bar__minus_00_dot_14_bar_00_dot_00_bar__minus_00_dot_11)\n (pickupable SoapBar_bar__minus_02_dot_92_bar__plus_00_dot_99_bar__minus_03_dot_72)\n (pickupable Candle_bar__minus_02_dot_69_bar__plus_00_dot_99_bar__minus_02_dot_66)\n (pickupable HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_48_bar__minus_01_dot_55)\n (pickupable Towel_bar__minus_01_dot_34_bar__plus_01_dot_19_bar__minus_00_dot_11)\n (pickupable SoapBar_bar__minus_02_dot_55_bar__plus_00_dot_99_bar__minus_02_dot_92)\n (pickupable ToiletPaper_bar__minus_02_dot_69_bar__plus_00_dot_99_bar__minus_02_dot_92)\n (pickupable Cloth_bar__minus_02_dot_55_bar__plus_01_dot_00_bar__minus_03_dot_19)\n (pickupable SoapBottle_bar__minus_00_dot_19_bar__plus_00_dot_36_bar__minus_03_dot_47)\n (pickupable Cloth_bar__minus_02_dot_65_bar__plus_00_dot_09_bar__minus_00_dot_82)\n \n (openable Drawer_bar__minus_00_dot_19_bar__plus_00_dot_42_bar__minus_03_dot_40)\n (openable Drawer_bar__minus_00_dot_19_bar__plus_00_dot_16_bar__minus_03_dot_40)\n (openable Drawer_bar__minus_00_dot_19_bar__plus_00_dot_68_bar__minus_03_dot_40)\n (openable Drawer_bar__minus_00_dot_19_bar__plus_00_dot_94_bar__minus_03_dot_40)\n \n (atLocation agent1 loc_bar__minus_5_bar__minus_2_bar_1_bar_30)\n \n (cleanable Cloth_bar__minus_02_dot_58_bar__plus_00_dot_36_bar__minus_03_dot_34)\n (cleanable SoapBar_bar__minus_00_dot_16_bar__plus_00_dot_35_bar__minus_03_dot_25)\n (cleanable SoapBar_bar__minus_02_dot_92_bar__plus_00_dot_99_bar__minus_03_dot_72)\n (cleanable SoapBar_bar__minus_02_dot_55_bar__plus_00_dot_99_bar__minus_02_dot_92)\n (cleanable Cloth_bar__minus_02_dot_55_bar__plus_01_dot_00_bar__minus_03_dot_19)\n (cleanable Cloth_bar__minus_02_dot_65_bar__plus_00_dot_09_bar__minus_00_dot_82)\n \n \n \n \n \n \n \n \n \n \n (inReceptacle SoapBottle_bar__minus_00_dot_18_bar__plus_01_dot_16_bar__minus_03_dot_40 Dresser_bar__minus_00_dot_21_bar__plus_00_dot_81_bar__minus_03_dot_40)\n (inReceptacle SoapBottle_bar__minus_00_dot_15_bar__plus_01_dot_17_bar__minus_03_dot_69 Dresser_bar__minus_00_dot_21_bar__plus_00_dot_81_bar__minus_03_dot_40)\n (inReceptacle SoapBottle_bar__minus_00_dot_19_bar__plus_00_dot_36_bar__minus_03_dot_47 Drawer_bar__minus_00_dot_19_bar__plus_00_dot_42_bar__minus_03_dot_40)\n (inReceptacle SoapBar_bar__minus_00_dot_16_bar__plus_00_dot_35_bar__minus_03_dot_25 Drawer_bar__minus_00_dot_19_bar__plus_00_dot_42_bar__minus_03_dot_40)\n (inReceptacle Cloth_bar__minus_02_dot_58_bar__plus_00_dot_36_bar__minus_03_dot_34 Shelf_bar__minus_02_dot_58_bar__plus_00_dot_40_bar__minus_02_dot_92)\n (inReceptacle ToiletPaper_bar__minus_02_dot_69_bar__plus_00_dot_99_bar__minus_02_dot_92 CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92)\n (inReceptacle Candle_bar__minus_02_dot_69_bar__plus_00_dot_99_bar__minus_02_dot_66 CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92)\n (inReceptacle Mirror_bar__minus_02_dot_98_bar__plus_01_dot_57_bar__minus_02_dot_90 CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92)\n (inReceptacle SoapBar_bar__minus_02_dot_92_bar__plus_00_dot_99_bar__minus_03_dot_72 CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92)\n (inReceptacle Cloth_bar__minus_02_dot_55_bar__plus_01_dot_00_bar__minus_03_dot_19 CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92)\n (inReceptacle ToiletPaper_bar__minus_02_dot_84_bar__plus_00_dot_99_bar__minus_03_dot_19 CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92)\n (inReceptacle SoapBar_bar__minus_02_dot_55_bar__plus_00_dot_99_bar__minus_02_dot_92 CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92)\n (inReceptacle Towel_bar__minus_01_dot_34_bar__plus_01_dot_19_bar__minus_00_dot_11 TowelHolder_bar__minus_01_dot_34_bar__plus_01_dot_18_bar__plus_00_dot_00)\n (inReceptacle HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_48_bar__minus_01_dot_55 HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_01_dot_55)\n (inReceptacle Cloth_bar__minus_02_dot_65_bar__plus_00_dot_09_bar__minus_00_dot_82 Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83_bar_BathtubBasin)\n (inReceptacle SprayBottle_bar__minus_00_dot_09_bar__plus_01_dot_05_bar__minus_00_dot_74 Toilet_bar__minus_00_dot_41_bar_00_dot_00_bar__minus_00_dot_55)\n \n \n (receptacleAtLocation Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83_bar_BathtubBasin loc_bar__minus_6_bar__minus_2_bar_3_bar_60)\n (receptacleAtLocation CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92 loc_bar__minus_8_bar__minus_11_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_19_bar__plus_00_dot_16_bar__minus_03_dot_40 loc_bar__minus_5_bar__minus_11_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_19_bar__plus_00_dot_42_bar__minus_03_dot_40 loc_bar__minus_6_bar__minus_11_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_19_bar__plus_00_dot_68_bar__minus_03_dot_40 loc_bar__minus_5_bar__minus_12_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_19_bar__plus_00_dot_94_bar__minus_03_dot_40 loc_bar__minus_4_bar__minus_13_bar_1_bar_45)\n (receptacleAtLocation Dresser_bar__minus_00_dot_21_bar__plus_00_dot_81_bar__minus_03_dot_40 loc_bar__minus_3_bar__minus_13_bar_1_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_00_dot_23_bar_00_dot_00_bar__minus_02_dot_80 loc_bar__minus_5_bar__minus_9_bar_1_bar_60)\n (receptacleAtLocation HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_01_dot_55 loc_bar__minus_3_bar__minus_6_bar_1_bar_0)\n (receptacleAtLocation HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_02_dot_66 loc_bar__minus_3_bar__minus_11_bar_1_bar_0)\n (receptacleAtLocation Shelf_bar__minus_02_dot_54_bar__plus_00_dot_13_bar__minus_02_dot_92 loc_bar__minus_8_bar__minus_12_bar_3_bar_60)\n (receptacleAtLocation Shelf_bar__minus_02_dot_58_bar__plus_00_dot_40_bar__minus_02_dot_92 loc_bar__minus_5_bar__minus_11_bar_3_bar_45)\n (receptacleAtLocation Sink_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_02_dot_08_bar_SinkBasin loc_bar__minus_3_bar__minus_6_bar_2_bar_60)\n (receptacleAtLocation ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_87_bar__minus_00_dot_97 loc_bar__minus_2_bar__minus_4_bar_1_bar_60)\n (receptacleAtLocation Toilet_bar__minus_00_dot_41_bar_00_dot_00_bar__minus_00_dot_55 loc_bar__minus_2_bar__minus_5_bar_0_bar_60)\n (receptacleAtLocation TowelHolder_bar__minus_01_dot_34_bar__plus_01_dot_18_bar__plus_00_dot_00 loc_bar__minus_5_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Cloth_bar__minus_02_dot_65_bar__plus_00_dot_09_bar__minus_00_dot_82 loc_bar__minus_6_bar__minus_2_bar_3_bar_60)\n (objectAtLocation SoapBottle_bar__minus_00_dot_19_bar__plus_00_dot_36_bar__minus_03_dot_47 loc_bar__minus_6_bar__minus_11_bar_1_bar_45)\n (objectAtLocation SoapBar_bar__minus_02_dot_92_bar__plus_00_dot_99_bar__minus_03_dot_72 loc_bar__minus_8_bar__minus_11_bar_3_bar_45)\n (objectAtLocation SoapBottle_bar__minus_00_dot_15_bar__plus_01_dot_17_bar__minus_03_dot_69 loc_bar__minus_3_bar__minus_13_bar_1_bar_60)\n (objectAtLocation SoapBar_bar__minus_02_dot_55_bar__plus_00_dot_99_bar__minus_02_dot_92 loc_bar__minus_8_bar__minus_11_bar_3_bar_45)\n (objectAtLocation Cloth_bar__minus_02_dot_55_bar__plus_01_dot_00_bar__minus_03_dot_19 loc_bar__minus_8_bar__minus_11_bar_3_bar_45)\n (objectAtLocation Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83 loc_bar__minus_7_bar__minus_3_bar_3_bar_60)\n (objectAtLocation Sink_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_02_dot_08 loc_bar__minus_4_bar__minus_8_bar_1_bar_60)\n (objectAtLocation Mirror_bar__minus_02_dot_98_bar__plus_01_dot_57_bar__minus_02_dot_90 loc_bar__minus_8_bar__minus_11_bar_3_bar_45)\n (objectAtLocation HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_48_bar__minus_01_dot_55 loc_bar__minus_3_bar__minus_6_bar_1_bar_0)\n (objectAtLocation SoapBar_bar__minus_00_dot_16_bar__plus_00_dot_35_bar__minus_03_dot_25 loc_bar__minus_6_bar__minus_11_bar_1_bar_45)\n (objectAtLocation ToiletPaper_bar__minus_02_dot_69_bar__plus_00_dot_99_bar__minus_02_dot_92 loc_bar__minus_8_bar__minus_11_bar_3_bar_45)\n (objectAtLocation LightSwitch_bar__minus_00_dot_36_bar__plus_01_dot_33_bar__minus_04_dot_00 loc_bar__minus_2_bar__minus_13_bar_2_bar_30)\n (objectAtLocation ToiletPaper_bar__minus_02_dot_84_bar__plus_00_dot_99_bar__minus_03_dot_19 loc_bar__minus_8_bar__minus_11_bar_3_bar_45)\n (objectAtLocation Towel_bar__minus_01_dot_34_bar__plus_01_dot_19_bar__minus_00_dot_11 loc_bar__minus_5_bar__minus_2_bar_0_bar_45)\n (objectAtLocation SoapBottle_bar__minus_00_dot_18_bar__plus_01_dot_16_bar__minus_03_dot_40 loc_bar__minus_3_bar__minus_13_bar_1_bar_60)\n (objectAtLocation ScrubBrush_bar__minus_00_dot_14_bar_00_dot_00_bar__minus_00_dot_11 loc_bar__minus_2_bar__minus_4_bar_0_bar_60)\n (objectAtLocation Cloth_bar__minus_02_dot_58_bar__plus_00_dot_36_bar__minus_03_dot_34 loc_bar__minus_5_bar__minus_11_bar_3_bar_45)\n (objectAtLocation Plunger_bar__minus_00_dot_37_bar_00_dot_00_bar__minus_00_dot_10 loc_bar__minus_2_bar__minus_4_bar_0_bar_60)\n (objectAtLocation Candle_bar__minus_02_dot_69_bar__plus_00_dot_99_bar__minus_02_dot_66 loc_bar__minus_8_bar__minus_11_bar_3_bar_45)\n (objectAtLocation SprayBottle_bar__minus_00_dot_09_bar__plus_01_dot_05_bar__minus_00_dot_74 loc_bar__minus_2_bar__minus_5_bar_0_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (cleanable ?o)\n (objectType ?o ClothType)\n (receptacleType ?r DresserType)\n (isClean ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to shelf 1", "take cloth 2 from shelf 1", "go to sinkbasin 1", "clean cloth 2 with sinkbasin 1", "go to dresser 1", "move cloth 2 to dresser 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-Dresser-415/trial_T20190907_000021_504649/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Cloth-None-Dresser-415/trial_T20190907_000021_504649/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..222f59bfe53989f9654e89ad360a35ac5a7e5f25 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Cloth-None-Dresser-415/trial_T20190907_000021_504649/initial_state.pddl @@ -0,0 +1,491 @@ + +(define (problem plan_trial_T20190907_000021_504649) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83 - object + Candle_bar__minus_02_dot_69_bar__plus_00_dot_99_bar__minus_02_dot_66 - object + Cloth_bar__minus_02_dot_55_bar__plus_01_dot_00_bar__minus_03_dot_19 - object + Cloth_bar__minus_02_dot_58_bar__plus_00_dot_36_bar__minus_03_dot_34 - object + Cloth_bar__minus_02_dot_65_bar__plus_00_dot_09_bar__minus_00_dot_82 - object + Faucet_bar__minus_00_dot_04_bar__plus_01_dot_02_bar__minus_02_dot_08 - object + HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_48_bar__minus_01_dot_55 - object + LightSwitch_bar__minus_00_dot_36_bar__plus_01_dot_33_bar__minus_04_dot_00 - object + Mirror_bar__minus_02_dot_98_bar__plus_01_dot_57_bar__minus_02_dot_90 - object + Plunger_bar__minus_00_dot_37_bar_00_dot_00_bar__minus_00_dot_10 - object + ScrubBrush_bar__minus_00_dot_14_bar_00_dot_00_bar__minus_00_dot_11 - object + ShowerCurtain_bar__minus_02_dot_19_bar__plus_01_dot_92_bar__minus_01_dot_56 - object + ShowerHead_bar__minus_02_dot_58_bar__plus_01_dot_20_bar__minus_00_dot_06 - object + Sink_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_02_dot_08 - object + SoapBar_bar__minus_00_dot_16_bar__plus_00_dot_35_bar__minus_03_dot_25 - object + SoapBar_bar__minus_02_dot_55_bar__plus_00_dot_99_bar__minus_02_dot_92 - object + SoapBar_bar__minus_02_dot_92_bar__plus_00_dot_99_bar__minus_03_dot_72 - object + SoapBottle_bar__minus_00_dot_15_bar__plus_01_dot_17_bar__minus_03_dot_69 - object + SoapBottle_bar__minus_00_dot_18_bar__plus_01_dot_16_bar__minus_03_dot_40 - object + SoapBottle_bar__minus_00_dot_19_bar__plus_00_dot_36_bar__minus_03_dot_47 - object + SprayBottle_bar__minus_00_dot_09_bar__plus_01_dot_05_bar__minus_00_dot_74 - object + ToiletPaper_bar__minus_02_dot_69_bar__plus_00_dot_99_bar__minus_02_dot_92 - object + ToiletPaper_bar__minus_02_dot_84_bar__plus_00_dot_99_bar__minus_03_dot_19 - object + Towel_bar__minus_01_dot_34_bar__plus_01_dot_19_bar__minus_00_dot_11 - object + Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83_bar_BathtubBasin - receptacle + CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92 - receptacle + Drawer_bar__minus_00_dot_19_bar__plus_00_dot_16_bar__minus_03_dot_40 - receptacle + Drawer_bar__minus_00_dot_19_bar__plus_00_dot_42_bar__minus_03_dot_40 - receptacle + Drawer_bar__minus_00_dot_19_bar__plus_00_dot_68_bar__minus_03_dot_40 - receptacle + Drawer_bar__minus_00_dot_19_bar__plus_00_dot_94_bar__minus_03_dot_40 - receptacle + Dresser_bar__minus_00_dot_21_bar__plus_00_dot_81_bar__minus_03_dot_40 - receptacle + GarbageCan_bar__minus_00_dot_23_bar_00_dot_00_bar__minus_02_dot_80 - receptacle + HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_01_dot_55 - receptacle + HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_02_dot_66 - receptacle + Shelf_bar__minus_02_dot_54_bar__plus_00_dot_13_bar__minus_02_dot_92 - receptacle + Shelf_bar__minus_02_dot_58_bar__plus_00_dot_40_bar__minus_02_dot_92 - receptacle + Sink_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_02_dot_08_bar_SinkBasin - receptacle + ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_87_bar__minus_00_dot_97 - receptacle + Toilet_bar__minus_00_dot_41_bar_00_dot_00_bar__minus_00_dot_55 - receptacle + TowelHolder_bar__minus_01_dot_34_bar__plus_01_dot_18_bar__plus_00_dot_00 - receptacle + loc_bar__minus_5_bar__minus_12_bar_1_bar_45 - location + loc_bar__minus_3_bar__minus_11_bar_1_bar_0 - location + loc_bar__minus_3_bar__minus_6_bar_2_bar_60 - location + loc_bar__minus_2_bar__minus_4_bar_0_bar_60 - location + loc_bar__minus_2_bar__minus_13_bar_2_bar_30 - location + loc_bar__minus_2_bar__minus_5_bar_0_bar_60 - location + loc_bar__minus_8_bar__minus_12_bar_3_bar_60 - location + loc_bar__minus_6_bar__minus_11_bar_1_bar_45 - location + loc_bar__minus_5_bar__minus_11_bar_1_bar_60 - location + loc_bar__minus_3_bar__minus_13_bar_1_bar_60 - location + loc_bar__minus_6_bar__minus_2_bar_3_bar_60 - location + loc_bar__minus_2_bar__minus_4_bar_1_bar_60 - location + loc_bar__minus_4_bar__minus_8_bar_1_bar_60 - location + loc_bar__minus_3_bar__minus_6_bar_1_bar_0 - location + loc_bar__minus_5_bar__minus_11_bar_3_bar_45 - location + loc_bar__minus_5_bar__minus_9_bar_1_bar_60 - location + loc_bar__minus_8_bar__minus_11_bar_3_bar_45 - location + loc_bar__minus_5_bar__minus_2_bar_0_bar_45 - location + loc_bar__minus_4_bar__minus_13_bar_1_bar_45 - location + loc_bar__minus_7_bar__minus_3_bar_3_bar_60 - location + loc_bar__minus_5_bar__minus_2_bar_1_bar_30 - location + ) + + +(:init + + + (receptacleType HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_01_dot_55 HandTowelHolderType) + (receptacleType HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_02_dot_66 HandTowelHolderType) + (receptacleType Dresser_bar__minus_00_dot_21_bar__plus_00_dot_81_bar__minus_03_dot_40 DresserType) + (receptacleType CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92 CounterTopType) + (receptacleType ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_87_bar__minus_00_dot_97 ToiletPaperHangerType) + (receptacleType TowelHolder_bar__minus_01_dot_34_bar__plus_01_dot_18_bar__plus_00_dot_00 TowelHolderType) + (receptacleType Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83_bar_BathtubBasin BathtubBasinType) + (receptacleType Drawer_bar__minus_00_dot_19_bar__plus_00_dot_42_bar__minus_03_dot_40 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_19_bar__plus_00_dot_16_bar__minus_03_dot_40 DrawerType) + (receptacleType Shelf_bar__minus_02_dot_58_bar__plus_00_dot_40_bar__minus_02_dot_92 ShelfType) + (receptacleType Sink_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_02_dot_08_bar_SinkBasin SinkBasinType) + (receptacleType GarbageCan_bar__minus_00_dot_23_bar_00_dot_00_bar__minus_02_dot_80 GarbageCanType) + (receptacleType Drawer_bar__minus_00_dot_19_bar__plus_00_dot_68_bar__minus_03_dot_40 DrawerType) + (receptacleType Shelf_bar__minus_02_dot_54_bar__plus_00_dot_13_bar__minus_02_dot_92 ShelfType) + (receptacleType Drawer_bar__minus_00_dot_19_bar__plus_00_dot_94_bar__minus_03_dot_40 DrawerType) + (receptacleType Toilet_bar__minus_00_dot_41_bar_00_dot_00_bar__minus_00_dot_55 ToiletType) + (objectType Cloth_bar__minus_02_dot_58_bar__plus_00_dot_36_bar__minus_03_dot_34 ClothType) + (objectType SoapBottle_bar__minus_00_dot_18_bar__plus_01_dot_16_bar__minus_03_dot_40 SoapBottleType) + (objectType Plunger_bar__minus_00_dot_37_bar_00_dot_00_bar__minus_00_dot_10 PlungerType) + (objectType SoapBottle_bar__minus_00_dot_15_bar__plus_01_dot_17_bar__minus_03_dot_69 SoapBottleType) + (objectType SprayBottle_bar__minus_00_dot_09_bar__plus_01_dot_05_bar__minus_00_dot_74 SprayBottleType) + (objectType ToiletPaper_bar__minus_02_dot_84_bar__plus_00_dot_99_bar__minus_03_dot_19 ToiletPaperType) + (objectType SoapBar_bar__minus_00_dot_16_bar__plus_00_dot_35_bar__minus_03_dot_25 SoapBarType) + (objectType ScrubBrush_bar__minus_00_dot_14_bar_00_dot_00_bar__minus_00_dot_11 ScrubBrushType) + (objectType SoapBar_bar__minus_02_dot_92_bar__plus_00_dot_99_bar__minus_03_dot_72 SoapBarType) + (objectType Candle_bar__minus_02_dot_69_bar__plus_00_dot_99_bar__minus_02_dot_66 CandleType) + (objectType HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_48_bar__minus_01_dot_55 HandTowelType) + (objectType Towel_bar__minus_01_dot_34_bar__plus_01_dot_19_bar__minus_00_dot_11 TowelType) + (objectType SoapBar_bar__minus_02_dot_55_bar__plus_00_dot_99_bar__minus_02_dot_92 SoapBarType) + (objectType ToiletPaper_bar__minus_02_dot_69_bar__plus_00_dot_99_bar__minus_02_dot_92 ToiletPaperType) + (objectType Mirror_bar__minus_02_dot_98_bar__plus_01_dot_57_bar__minus_02_dot_90 MirrorType) + (objectType Cloth_bar__minus_02_dot_55_bar__plus_01_dot_00_bar__minus_03_dot_19 ClothType) + (objectType Sink_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_02_dot_08 SinkType) + (objectType LightSwitch_bar__minus_00_dot_36_bar__plus_01_dot_33_bar__minus_04_dot_00 LightSwitchType) + (objectType SoapBottle_bar__minus_00_dot_19_bar__plus_00_dot_36_bar__minus_03_dot_47 SoapBottleType) + (objectType Cloth_bar__minus_02_dot_65_bar__plus_00_dot_09_bar__minus_00_dot_82 ClothType) + (objectType Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83 BathtubType) + (canContain HandTowelHolderType HandTowelType) + (canContain HandTowelHolderType HandTowelType) + (canContain DresserType CandleType) + (canContain DresserType SprayBottleType) + (canContain DresserType ToiletPaperType) + (canContain DresserType ClothType) + (canContain CounterTopType CandleType) + (canContain CounterTopType SoapBarType) + (canContain CounterTopType SprayBottleType) + (canContain CounterTopType ToiletPaperType) + (canContain CounterTopType SoapBottleType) + (canContain CounterTopType ClothType) + (canContain CounterTopType HandTowelType) + (canContain ToiletPaperHangerType ToiletPaperType) + (canContain TowelHolderType TowelType) + (canContain BathtubBasinType ClothType) + (canContain BathtubBasinType HandTowelType) + (canContain BathtubBasinType SoapBarType) + (canContain DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ClothType) + (canContain DrawerType HandTowelType) + (canContain DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ClothType) + (canContain DrawerType HandTowelType) + (canContain ShelfType CandleType) + (canContain ShelfType SoapBarType) + (canContain ShelfType SprayBottleType) + (canContain ShelfType ToiletPaperType) + (canContain ShelfType SoapBottleType) + (canContain ShelfType ClothType) + (canContain ShelfType HandTowelType) + (canContain SinkBasinType SoapBarType) + (canContain SinkBasinType ClothType) + (canContain SinkBasinType HandTowelType) + (canContain GarbageCanType SoapBarType) + (canContain GarbageCanType SprayBottleType) + (canContain GarbageCanType ToiletPaperType) + (canContain GarbageCanType SoapBottleType) + (canContain GarbageCanType ClothType) + (canContain GarbageCanType HandTowelType) + (canContain DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ClothType) + (canContain DrawerType HandTowelType) + (canContain ShelfType CandleType) + (canContain ShelfType SoapBarType) + (canContain ShelfType SprayBottleType) + (canContain ShelfType ToiletPaperType) + (canContain ShelfType SoapBottleType) + (canContain ShelfType ClothType) + (canContain ShelfType HandTowelType) + (canContain DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ClothType) + (canContain DrawerType HandTowelType) + (canContain ToiletType SoapBottleType) + (canContain ToiletType HandTowelType) + (canContain ToiletType ToiletPaperType) + (canContain ToiletType ClothType) + (canContain ToiletType CandleType) + (canContain ToiletType SoapBarType) + (canContain ToiletType SprayBottleType) + (pickupable Cloth_bar__minus_02_dot_58_bar__plus_00_dot_36_bar__minus_03_dot_34) + (pickupable SoapBottle_bar__minus_00_dot_18_bar__plus_01_dot_16_bar__minus_03_dot_40) + (pickupable Plunger_bar__minus_00_dot_37_bar_00_dot_00_bar__minus_00_dot_10) + (pickupable SoapBottle_bar__minus_00_dot_15_bar__plus_01_dot_17_bar__minus_03_dot_69) + (pickupable SprayBottle_bar__minus_00_dot_09_bar__plus_01_dot_05_bar__minus_00_dot_74) + (pickupable ToiletPaper_bar__minus_02_dot_84_bar__plus_00_dot_99_bar__minus_03_dot_19) + (pickupable SoapBar_bar__minus_00_dot_16_bar__plus_00_dot_35_bar__minus_03_dot_25) + (pickupable ScrubBrush_bar__minus_00_dot_14_bar_00_dot_00_bar__minus_00_dot_11) + (pickupable SoapBar_bar__minus_02_dot_92_bar__plus_00_dot_99_bar__minus_03_dot_72) + (pickupable Candle_bar__minus_02_dot_69_bar__plus_00_dot_99_bar__minus_02_dot_66) + (pickupable HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_48_bar__minus_01_dot_55) + (pickupable Towel_bar__minus_01_dot_34_bar__plus_01_dot_19_bar__minus_00_dot_11) + (pickupable SoapBar_bar__minus_02_dot_55_bar__plus_00_dot_99_bar__minus_02_dot_92) + (pickupable ToiletPaper_bar__minus_02_dot_69_bar__plus_00_dot_99_bar__minus_02_dot_92) + (pickupable Cloth_bar__minus_02_dot_55_bar__plus_01_dot_00_bar__minus_03_dot_19) + (pickupable SoapBottle_bar__minus_00_dot_19_bar__plus_00_dot_36_bar__minus_03_dot_47) + (pickupable Cloth_bar__minus_02_dot_65_bar__plus_00_dot_09_bar__minus_00_dot_82) + + (openable Drawer_bar__minus_00_dot_19_bar__plus_00_dot_42_bar__minus_03_dot_40) + (openable Drawer_bar__minus_00_dot_19_bar__plus_00_dot_16_bar__minus_03_dot_40) + (openable Drawer_bar__minus_00_dot_19_bar__plus_00_dot_68_bar__minus_03_dot_40) + (openable Drawer_bar__minus_00_dot_19_bar__plus_00_dot_94_bar__minus_03_dot_40) + + (atLocation agent1 loc_bar__minus_5_bar__minus_2_bar_1_bar_30) + + (cleanable Cloth_bar__minus_02_dot_58_bar__plus_00_dot_36_bar__minus_03_dot_34) + (cleanable SoapBar_bar__minus_00_dot_16_bar__plus_00_dot_35_bar__minus_03_dot_25) + (cleanable SoapBar_bar__minus_02_dot_92_bar__plus_00_dot_99_bar__minus_03_dot_72) + (cleanable SoapBar_bar__minus_02_dot_55_bar__plus_00_dot_99_bar__minus_02_dot_92) + (cleanable Cloth_bar__minus_02_dot_55_bar__plus_01_dot_00_bar__minus_03_dot_19) + (cleanable Cloth_bar__minus_02_dot_65_bar__plus_00_dot_09_bar__minus_00_dot_82) + + + + + + + + + + + (inReceptacle SoapBottle_bar__minus_00_dot_18_bar__plus_01_dot_16_bar__minus_03_dot_40 Dresser_bar__minus_00_dot_21_bar__plus_00_dot_81_bar__minus_03_dot_40) + (inReceptacle SoapBottle_bar__minus_00_dot_15_bar__plus_01_dot_17_bar__minus_03_dot_69 Dresser_bar__minus_00_dot_21_bar__plus_00_dot_81_bar__minus_03_dot_40) + (inReceptacle SoapBottle_bar__minus_00_dot_19_bar__plus_00_dot_36_bar__minus_03_dot_47 Drawer_bar__minus_00_dot_19_bar__plus_00_dot_42_bar__minus_03_dot_40) + (inReceptacle SoapBar_bar__minus_00_dot_16_bar__plus_00_dot_35_bar__minus_03_dot_25 Drawer_bar__minus_00_dot_19_bar__plus_00_dot_42_bar__minus_03_dot_40) + (inReceptacle Cloth_bar__minus_02_dot_58_bar__plus_00_dot_36_bar__minus_03_dot_34 Shelf_bar__minus_02_dot_58_bar__plus_00_dot_40_bar__minus_02_dot_92) + (inReceptacle ToiletPaper_bar__minus_02_dot_69_bar__plus_00_dot_99_bar__minus_02_dot_92 CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92) + (inReceptacle Candle_bar__minus_02_dot_69_bar__plus_00_dot_99_bar__minus_02_dot_66 CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92) + (inReceptacle Mirror_bar__minus_02_dot_98_bar__plus_01_dot_57_bar__minus_02_dot_90 CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92) + (inReceptacle SoapBar_bar__minus_02_dot_92_bar__plus_00_dot_99_bar__minus_03_dot_72 CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92) + (inReceptacle Cloth_bar__minus_02_dot_55_bar__plus_01_dot_00_bar__minus_03_dot_19 CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92) + (inReceptacle ToiletPaper_bar__minus_02_dot_84_bar__plus_00_dot_99_bar__minus_03_dot_19 CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92) + (inReceptacle SoapBar_bar__minus_02_dot_55_bar__plus_00_dot_99_bar__minus_02_dot_92 CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92) + (inReceptacle Towel_bar__minus_01_dot_34_bar__plus_01_dot_19_bar__minus_00_dot_11 TowelHolder_bar__minus_01_dot_34_bar__plus_01_dot_18_bar__plus_00_dot_00) + (inReceptacle HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_48_bar__minus_01_dot_55 HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_01_dot_55) + (inReceptacle Cloth_bar__minus_02_dot_65_bar__plus_00_dot_09_bar__minus_00_dot_82 Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83_bar_BathtubBasin) + (inReceptacle SprayBottle_bar__minus_00_dot_09_bar__plus_01_dot_05_bar__minus_00_dot_74 Toilet_bar__minus_00_dot_41_bar_00_dot_00_bar__minus_00_dot_55) + + + (receptacleAtLocation Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83_bar_BathtubBasin loc_bar__minus_6_bar__minus_2_bar_3_bar_60) + (receptacleAtLocation CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92 loc_bar__minus_8_bar__minus_11_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_19_bar__plus_00_dot_16_bar__minus_03_dot_40 loc_bar__minus_5_bar__minus_11_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__minus_00_dot_19_bar__plus_00_dot_42_bar__minus_03_dot_40 loc_bar__minus_6_bar__minus_11_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_19_bar__plus_00_dot_68_bar__minus_03_dot_40 loc_bar__minus_5_bar__minus_12_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_19_bar__plus_00_dot_94_bar__minus_03_dot_40 loc_bar__minus_4_bar__minus_13_bar_1_bar_45) + (receptacleAtLocation Dresser_bar__minus_00_dot_21_bar__plus_00_dot_81_bar__minus_03_dot_40 loc_bar__minus_3_bar__minus_13_bar_1_bar_60) + (receptacleAtLocation GarbageCan_bar__minus_00_dot_23_bar_00_dot_00_bar__minus_02_dot_80 loc_bar__minus_5_bar__minus_9_bar_1_bar_60) + (receptacleAtLocation HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_01_dot_55 loc_bar__minus_3_bar__minus_6_bar_1_bar_0) + (receptacleAtLocation HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_02_dot_66 loc_bar__minus_3_bar__minus_11_bar_1_bar_0) + (receptacleAtLocation Shelf_bar__minus_02_dot_54_bar__plus_00_dot_13_bar__minus_02_dot_92 loc_bar__minus_8_bar__minus_12_bar_3_bar_60) + (receptacleAtLocation Shelf_bar__minus_02_dot_58_bar__plus_00_dot_40_bar__minus_02_dot_92 loc_bar__minus_5_bar__minus_11_bar_3_bar_45) + (receptacleAtLocation Sink_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_02_dot_08_bar_SinkBasin loc_bar__minus_3_bar__minus_6_bar_2_bar_60) + (receptacleAtLocation ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_87_bar__minus_00_dot_97 loc_bar__minus_2_bar__minus_4_bar_1_bar_60) + (receptacleAtLocation Toilet_bar__minus_00_dot_41_bar_00_dot_00_bar__minus_00_dot_55 loc_bar__minus_2_bar__minus_5_bar_0_bar_60) + (receptacleAtLocation TowelHolder_bar__minus_01_dot_34_bar__plus_01_dot_18_bar__plus_00_dot_00 loc_bar__minus_5_bar__minus_2_bar_0_bar_45) + (objectAtLocation Cloth_bar__minus_02_dot_65_bar__plus_00_dot_09_bar__minus_00_dot_82 loc_bar__minus_6_bar__minus_2_bar_3_bar_60) + (objectAtLocation SoapBottle_bar__minus_00_dot_19_bar__plus_00_dot_36_bar__minus_03_dot_47 loc_bar__minus_6_bar__minus_11_bar_1_bar_45) + (objectAtLocation SoapBar_bar__minus_02_dot_92_bar__plus_00_dot_99_bar__minus_03_dot_72 loc_bar__minus_8_bar__minus_11_bar_3_bar_45) + (objectAtLocation SoapBottle_bar__minus_00_dot_15_bar__plus_01_dot_17_bar__minus_03_dot_69 loc_bar__minus_3_bar__minus_13_bar_1_bar_60) + (objectAtLocation SoapBar_bar__minus_02_dot_55_bar__plus_00_dot_99_bar__minus_02_dot_92 loc_bar__minus_8_bar__minus_11_bar_3_bar_45) + (objectAtLocation Cloth_bar__minus_02_dot_55_bar__plus_01_dot_00_bar__minus_03_dot_19 loc_bar__minus_8_bar__minus_11_bar_3_bar_45) + (objectAtLocation Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83 loc_bar__minus_7_bar__minus_3_bar_3_bar_60) + (objectAtLocation Sink_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_02_dot_08 loc_bar__minus_4_bar__minus_8_bar_1_bar_60) + (objectAtLocation Mirror_bar__minus_02_dot_98_bar__plus_01_dot_57_bar__minus_02_dot_90 loc_bar__minus_8_bar__minus_11_bar_3_bar_45) + (objectAtLocation HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_48_bar__minus_01_dot_55 loc_bar__minus_3_bar__minus_6_bar_1_bar_0) + (objectAtLocation SoapBar_bar__minus_00_dot_16_bar__plus_00_dot_35_bar__minus_03_dot_25 loc_bar__minus_6_bar__minus_11_bar_1_bar_45) + (objectAtLocation ToiletPaper_bar__minus_02_dot_69_bar__plus_00_dot_99_bar__minus_02_dot_92 loc_bar__minus_8_bar__minus_11_bar_3_bar_45) + (objectAtLocation LightSwitch_bar__minus_00_dot_36_bar__plus_01_dot_33_bar__minus_04_dot_00 loc_bar__minus_2_bar__minus_13_bar_2_bar_30) + (objectAtLocation ToiletPaper_bar__minus_02_dot_84_bar__plus_00_dot_99_bar__minus_03_dot_19 loc_bar__minus_8_bar__minus_11_bar_3_bar_45) + (objectAtLocation Towel_bar__minus_01_dot_34_bar__plus_01_dot_19_bar__minus_00_dot_11 loc_bar__minus_5_bar__minus_2_bar_0_bar_45) + (objectAtLocation SoapBottle_bar__minus_00_dot_18_bar__plus_01_dot_16_bar__minus_03_dot_40 loc_bar__minus_3_bar__minus_13_bar_1_bar_60) + (objectAtLocation ScrubBrush_bar__minus_00_dot_14_bar_00_dot_00_bar__minus_00_dot_11 loc_bar__minus_2_bar__minus_4_bar_0_bar_60) + (objectAtLocation Cloth_bar__minus_02_dot_58_bar__plus_00_dot_36_bar__minus_03_dot_34 loc_bar__minus_5_bar__minus_11_bar_3_bar_45) + (objectAtLocation Plunger_bar__minus_00_dot_37_bar_00_dot_00_bar__minus_00_dot_10 loc_bar__minus_2_bar__minus_4_bar_0_bar_60) + (objectAtLocation Candle_bar__minus_02_dot_69_bar__plus_00_dot_99_bar__minus_02_dot_66 loc_bar__minus_8_bar__minus_11_bar_3_bar_45) + (objectAtLocation SprayBottle_bar__minus_00_dot_09_bar__plus_01_dot_05_bar__minus_00_dot_74 loc_bar__minus_2_bar__minus_5_bar_0_bar_60) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (cleanable ?o) + (objectType ?o ClothType) + (receptacleType ?r DresserType) + (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-Dresser-415/trial_T20190907_000021_504649/traj_data.json b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Cloth-None-Dresser-415/trial_T20190907_000021_504649/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..5edc06a7b24e3ca4250c7505f88cfcbc108e7ed1 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Cloth-None-Dresser-415/trial_T20190907_000021_504649/traj_data.json @@ -0,0 +1,5482 @@ +{ + "images": [ + { + "high_idx": 0, + "image_name": "000000000.png", + 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"A1ELPYAFO7MANS_3I2PTA7R3WBFKM4F9WAKHH3G443QKG", + "high_descs": [ + "Turn right and veer right to the right dresser ", + "Pick up the dirty rag on the counter.", + "Turn right and veer right to the sink.", + "Wash the rag in the sink.", + "Take a step right.", + "Put the rag on the dresser to the left of both of the bottles." + ], + "task_desc": "Put a clean rag on a dresser.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A3HL2LL0LEPZT8_3VW6495TLMHJDTKI4LS53BLT1QQYYF", + "high_descs": [ + "Turn right, go to the dresser on the right that is in front of the mirror.", + "Take the rag on the top of the dresser near the cardboard roll.", + "Turn around and go to the left side of the sink.", + "Put the rag in the sink. Turn the water on then off. Take the rag from the sink.", + "Go to the white dresser to the right of the sink.", + "Put the rag on the dresser to the left of the left bottle." + ], + "task_desc": "Put a clean rag on a dresser.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1MKCTVKE7J0ZP_3Q5C1WP23PIOLZZVHUGZERCQZZV51O", + "high_descs": [ + "Turn around and go to the counter to your right, near the door.", + "Take the rag from the counter, to the right of the toilet paper.", + "Turn around and go to the left side of the sink.", + "Wash the rag in the sink.", + "Turn around and go to the left, then go to the dresser on the left.", + "Place the rag on the dresser, to the left of the leftmost soap. " + ], + "task_desc": "Put a clean rag on the dresser.", + "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-Cloth-None-Shelf-415/trial_T20190908_234737_125816/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Cloth-None-Shelf-415/trial_T20190908_234737_125816/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..789311455b67589a963a69dd25c1450c9c4ab758 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Cloth-None-Shelf-415/trial_T20190908_234737_125816/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\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 cloth in shelf.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190908_234737_125816)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83 - object\n Candle_bar__minus_00_dot_08_bar__plus_01_dot_16_bar__minus_03_dot_20 - object\n Candle_bar__minus_00_dot_09_bar__plus_00_dot_62_bar__minus_03_dot_40 - object\n Cloth_bar__minus_02_dot_65_bar__plus_00_dot_09_bar__minus_00_dot_68 - object\n Cloth_bar__minus_02_dot_84_bar__plus_01_dot_00_bar__minus_02_dot_13 - object\n Cloth_bar__minus_02_dot_84_bar__plus_01_dot_00_bar__minus_03_dot_19 - object\n Faucet_bar__minus_00_dot_04_bar__plus_01_dot_02_bar__minus_02_dot_08 - object\n HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_48_bar__minus_02_dot_66 - object\n LightSwitch_bar__minus_00_dot_36_bar__plus_01_dot_33_bar__minus_04_dot_00 - object\n Mirror_bar__minus_02_dot_98_bar__plus_01_dot_57_bar__minus_02_dot_90 - object\n Plunger_bar__minus_00_dot_37_bar_00_dot_00_bar__minus_00_dot_10 - object\n ScrubBrush_bar__minus_00_dot_14_bar_00_dot_00_bar__minus_00_dot_11 - object\n ShowerCurtain_bar__minus_02_dot_19_bar__plus_01_dot_92_bar__minus_01_dot_56 - object\n ShowerHead_bar__minus_02_dot_58_bar__plus_01_dot_20_bar__minus_00_dot_06 - object\n Sink_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_02_dot_08 - object\n SoapBar_bar__minus_00_dot_06_bar__plus_01_dot_04_bar__minus_00_dot_74 - object\n SoapBottle_bar__minus_00_dot_15_bar__plus_01_dot_16_bar__minus_03_dot_69 - object\n SoapBottle_bar__minus_02_dot_55_bar__plus_00_dot_99_bar__minus_03_dot_45 - object\n SprayBottle_bar__minus_00_dot_08_bar__plus_01_dot_16_bar__minus_03_dot_50 - object\n SprayBottle_bar__minus_00_dot_15_bar__plus_01_dot_05_bar__minus_00_dot_54 - object\n SprayBottle_bar__minus_02_dot_92_bar__plus_00_dot_99_bar__minus_03_dot_72 - object\n ToiletPaper_bar__minus_00_dot_28_bar__plus_00_dot_04_bar__minus_02_dot_80 - object\n ToiletPaper_bar__minus_02_dot_64_bar__plus_00_dot_35_bar__minus_02_dot_51 - object\n Towel_bar__minus_01_dot_34_bar__plus_01_dot_19_bar__minus_00_dot_11 - object\n Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83_bar_BathtubBasin - receptacle\n CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92 - receptacle\n Drawer_bar__minus_00_dot_19_bar__plus_00_dot_16_bar__minus_03_dot_40 - receptacle\n Drawer_bar__minus_00_dot_19_bar__plus_00_dot_42_bar__minus_03_dot_40 - receptacle\n Drawer_bar__minus_00_dot_19_bar__plus_00_dot_68_bar__minus_03_dot_40 - receptacle\n Drawer_bar__minus_00_dot_19_bar__plus_00_dot_94_bar__minus_03_dot_40 - receptacle\n Dresser_bar__minus_00_dot_21_bar__plus_00_dot_81_bar__minus_03_dot_40 - receptacle\n GarbageCan_bar__minus_00_dot_23_bar_00_dot_00_bar__minus_02_dot_80 - receptacle\n HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_01_dot_55 - receptacle\n HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_02_dot_66 - receptacle\n Shelf_bar__minus_02_dot_54_bar__plus_00_dot_13_bar__minus_02_dot_92 - receptacle\n Shelf_bar__minus_02_dot_58_bar__plus_00_dot_40_bar__minus_02_dot_92 - receptacle\n Sink_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_02_dot_08_bar_SinkBasin - receptacle\n ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_87_bar__minus_00_dot_97 - receptacle\n Toilet_bar__minus_00_dot_41_bar_00_dot_00_bar__minus_00_dot_55 - receptacle\n TowelHolder_bar__minus_01_dot_34_bar__plus_01_dot_18_bar__plus_00_dot_00 - receptacle\n loc_bar__minus_5_bar__minus_12_bar_1_bar_45 - location\n loc_bar__minus_3_bar__minus_11_bar_1_bar_0 - location\n loc_bar__minus_3_bar__minus_6_bar_2_bar_60 - location\n loc_bar__minus_2_bar__minus_4_bar_0_bar_60 - location\n loc_bar__minus_2_bar__minus_13_bar_2_bar_30 - location\n loc_bar__minus_2_bar__minus_5_bar_0_bar_60 - location\n loc_bar__minus_8_bar__minus_12_bar_3_bar_60 - location\n loc_bar__minus_6_bar__minus_11_bar_1_bar_45 - location\n loc_bar__minus_5_bar__minus_11_bar_1_bar_60 - location\n loc_bar__minus_3_bar__minus_13_bar_1_bar_60 - location\n loc_bar__minus_6_bar__minus_2_bar_3_bar_60 - location\n loc_bar__minus_2_bar__minus_4_bar_1_bar_60 - location\n loc_bar__minus_4_bar__minus_8_bar_1_bar_60 - location\n loc_bar__minus_3_bar__minus_6_bar_1_bar_0 - location\n loc_bar__minus_5_bar__minus_11_bar_3_bar_45 - location\n loc_bar__minus_5_bar__minus_9_bar_1_bar_60 - location\n loc_bar__minus_8_bar__minus_11_bar_3_bar_45 - location\n loc_bar__minus_5_bar__minus_2_bar_0_bar_45 - location\n loc_bar__minus_4_bar__minus_13_bar_1_bar_45 - location\n loc_bar__minus_7_bar__minus_3_bar_3_bar_60 - location\n loc_bar__minus_2_bar__minus_6_bar_1_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_01_dot_55 HandTowelHolderType)\n (receptacleType HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_02_dot_66 HandTowelHolderType)\n (receptacleType Dresser_bar__minus_00_dot_21_bar__plus_00_dot_81_bar__minus_03_dot_40 DresserType)\n (receptacleType CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92 CounterTopType)\n (receptacleType ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_87_bar__minus_00_dot_97 ToiletPaperHangerType)\n (receptacleType TowelHolder_bar__minus_01_dot_34_bar__plus_01_dot_18_bar__plus_00_dot_00 TowelHolderType)\n (receptacleType Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83_bar_BathtubBasin BathtubBasinType)\n (receptacleType Drawer_bar__minus_00_dot_19_bar__plus_00_dot_42_bar__minus_03_dot_40 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_19_bar__plus_00_dot_16_bar__minus_03_dot_40 DrawerType)\n (receptacleType Shelf_bar__minus_02_dot_58_bar__plus_00_dot_40_bar__minus_02_dot_92 ShelfType)\n (receptacleType Sink_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_02_dot_08_bar_SinkBasin SinkBasinType)\n (receptacleType GarbageCan_bar__minus_00_dot_23_bar_00_dot_00_bar__minus_02_dot_80 GarbageCanType)\n (receptacleType Drawer_bar__minus_00_dot_19_bar__plus_00_dot_68_bar__minus_03_dot_40 DrawerType)\n (receptacleType Shelf_bar__minus_02_dot_54_bar__plus_00_dot_13_bar__minus_02_dot_92 ShelfType)\n (receptacleType Drawer_bar__minus_00_dot_19_bar__plus_00_dot_94_bar__minus_03_dot_40 DrawerType)\n (receptacleType Toilet_bar__minus_00_dot_41_bar_00_dot_00_bar__minus_00_dot_55 ToiletType)\n (objectType Cloth_bar__minus_02_dot_65_bar__plus_00_dot_09_bar__minus_00_dot_68 ClothType)\n (objectType Candle_bar__minus_00_dot_08_bar__plus_01_dot_16_bar__minus_03_dot_20 CandleType)\n (objectType HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_48_bar__minus_02_dot_66 HandTowelType)\n (objectType ToiletPaper_bar__minus_00_dot_28_bar__plus_00_dot_04_bar__minus_02_dot_80 ToiletPaperType)\n (objectType SprayBottle_bar__minus_02_dot_92_bar__plus_00_dot_99_bar__minus_03_dot_72 SprayBottleType)\n (objectType Cloth_bar__minus_02_dot_84_bar__plus_01_dot_00_bar__minus_03_dot_19 ClothType)\n (objectType SoapBottle_bar__minus_02_dot_55_bar__plus_00_dot_99_bar__minus_03_dot_45 SoapBottleType)\n (objectType ScrubBrush_bar__minus_00_dot_14_bar_00_dot_00_bar__minus_00_dot_11 ScrubBrushType)\n (objectType SprayBottle_bar__minus_00_dot_15_bar__plus_01_dot_05_bar__minus_00_dot_54 SprayBottleType)\n (objectType Cloth_bar__minus_02_dot_84_bar__plus_01_dot_00_bar__minus_02_dot_13 ClothType)\n (objectType Candle_bar__minus_00_dot_09_bar__plus_00_dot_62_bar__minus_03_dot_40 CandleType)\n (objectType Towel_bar__minus_01_dot_34_bar__plus_01_dot_19_bar__minus_00_dot_11 TowelType)\n (objectType SoapBottle_bar__minus_00_dot_15_bar__plus_01_dot_16_bar__minus_03_dot_69 SoapBottleType)\n (objectType Mirror_bar__minus_02_dot_98_bar__plus_01_dot_57_bar__minus_02_dot_90 MirrorType)\n (objectType Sink_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_02_dot_08 SinkType)\n (objectType ToiletPaper_bar__minus_02_dot_64_bar__plus_00_dot_35_bar__minus_02_dot_51 ToiletPaperType)\n (objectType SprayBottle_bar__minus_00_dot_08_bar__plus_01_dot_16_bar__minus_03_dot_50 SprayBottleType)\n (objectType LightSwitch_bar__minus_00_dot_36_bar__plus_01_dot_33_bar__minus_04_dot_00 LightSwitchType)\n (objectType SoapBar_bar__minus_00_dot_06_bar__plus_01_dot_04_bar__minus_00_dot_74 SoapBarType)\n (objectType Plunger_bar__minus_00_dot_37_bar_00_dot_00_bar__minus_00_dot_10 PlungerType)\n (objectType Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83 BathtubType)\n (canContain HandTowelHolderType HandTowelType)\n (canContain HandTowelHolderType HandTowelType)\n (canContain DresserType CandleType)\n (canContain DresserType SprayBottleType)\n (canContain DresserType ToiletPaperType)\n (canContain DresserType ClothType)\n (canContain CounterTopType CandleType)\n (canContain CounterTopType SoapBarType)\n (canContain CounterTopType SprayBottleType)\n (canContain CounterTopType ToiletPaperType)\n (canContain CounterTopType SoapBottleType)\n (canContain CounterTopType ClothType)\n (canContain CounterTopType HandTowelType)\n (canContain ToiletPaperHangerType ToiletPaperType)\n (canContain TowelHolderType TowelType)\n (canContain BathtubBasinType ClothType)\n (canContain BathtubBasinType HandTowelType)\n (canContain BathtubBasinType SoapBarType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType HandTowelType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType HandTowelType)\n (canContain ShelfType CandleType)\n (canContain ShelfType SoapBarType)\n (canContain ShelfType SprayBottleType)\n (canContain ShelfType ToiletPaperType)\n (canContain ShelfType SoapBottleType)\n (canContain ShelfType ClothType)\n (canContain ShelfType HandTowelType)\n (canContain SinkBasinType SoapBarType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType HandTowelType)\n (canContain GarbageCanType SoapBarType)\n (canContain GarbageCanType SprayBottleType)\n (canContain GarbageCanType ToiletPaperType)\n (canContain GarbageCanType SoapBottleType)\n (canContain GarbageCanType ClothType)\n (canContain GarbageCanType HandTowelType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType HandTowelType)\n (canContain ShelfType CandleType)\n (canContain ShelfType SoapBarType)\n (canContain ShelfType SprayBottleType)\n (canContain ShelfType ToiletPaperType)\n (canContain ShelfType SoapBottleType)\n (canContain ShelfType ClothType)\n (canContain ShelfType HandTowelType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType HandTowelType)\n (canContain ToiletType SoapBottleType)\n (canContain ToiletType HandTowelType)\n (canContain ToiletType ToiletPaperType)\n (canContain ToiletType ClothType)\n (canContain ToiletType CandleType)\n (canContain ToiletType SoapBarType)\n (canContain ToiletType SprayBottleType)\n (pickupable Cloth_bar__minus_02_dot_65_bar__plus_00_dot_09_bar__minus_00_dot_68)\n (pickupable Candle_bar__minus_00_dot_08_bar__plus_01_dot_16_bar__minus_03_dot_20)\n (pickupable HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_48_bar__minus_02_dot_66)\n (pickupable ToiletPaper_bar__minus_00_dot_28_bar__plus_00_dot_04_bar__minus_02_dot_80)\n (pickupable SprayBottle_bar__minus_02_dot_92_bar__plus_00_dot_99_bar__minus_03_dot_72)\n (pickupable Cloth_bar__minus_02_dot_84_bar__plus_01_dot_00_bar__minus_03_dot_19)\n (pickupable SoapBottle_bar__minus_02_dot_55_bar__plus_00_dot_99_bar__minus_03_dot_45)\n (pickupable ScrubBrush_bar__minus_00_dot_14_bar_00_dot_00_bar__minus_00_dot_11)\n (pickupable SprayBottle_bar__minus_00_dot_15_bar__plus_01_dot_05_bar__minus_00_dot_54)\n (pickupable Cloth_bar__minus_02_dot_84_bar__plus_01_dot_00_bar__minus_02_dot_13)\n (pickupable Candle_bar__minus_00_dot_09_bar__plus_00_dot_62_bar__minus_03_dot_40)\n (pickupable Towel_bar__minus_01_dot_34_bar__plus_01_dot_19_bar__minus_00_dot_11)\n (pickupable SoapBottle_bar__minus_00_dot_15_bar__plus_01_dot_16_bar__minus_03_dot_69)\n (pickupable ToiletPaper_bar__minus_02_dot_64_bar__plus_00_dot_35_bar__minus_02_dot_51)\n (pickupable SprayBottle_bar__minus_00_dot_08_bar__plus_01_dot_16_bar__minus_03_dot_50)\n (pickupable SoapBar_bar__minus_00_dot_06_bar__plus_01_dot_04_bar__minus_00_dot_74)\n (pickupable Plunger_bar__minus_00_dot_37_bar_00_dot_00_bar__minus_00_dot_10)\n \n (openable Drawer_bar__minus_00_dot_19_bar__plus_00_dot_42_bar__minus_03_dot_40)\n (openable Drawer_bar__minus_00_dot_19_bar__plus_00_dot_16_bar__minus_03_dot_40)\n (openable Drawer_bar__minus_00_dot_19_bar__plus_00_dot_68_bar__minus_03_dot_40)\n (openable Drawer_bar__minus_00_dot_19_bar__plus_00_dot_94_bar__minus_03_dot_40)\n \n (atLocation agent1 loc_bar__minus_2_bar__minus_6_bar_1_bar_30)\n \n (cleanable Cloth_bar__minus_02_dot_65_bar__plus_00_dot_09_bar__minus_00_dot_68)\n (cleanable Cloth_bar__minus_02_dot_84_bar__plus_01_dot_00_bar__minus_03_dot_19)\n (cleanable Cloth_bar__minus_02_dot_84_bar__plus_01_dot_00_bar__minus_02_dot_13)\n (cleanable SoapBar_bar__minus_00_dot_06_bar__plus_01_dot_04_bar__minus_00_dot_74)\n \n \n \n \n \n \n \n \n \n \n (inReceptacle SprayBottle_bar__minus_00_dot_08_bar__plus_01_dot_16_bar__minus_03_dot_50 Dresser_bar__minus_00_dot_21_bar__plus_00_dot_81_bar__minus_03_dot_40)\n (inReceptacle Candle_bar__minus_00_dot_08_bar__plus_01_dot_16_bar__minus_03_dot_20 Dresser_bar__minus_00_dot_21_bar__plus_00_dot_81_bar__minus_03_dot_40)\n (inReceptacle SoapBottle_bar__minus_00_dot_15_bar__plus_01_dot_16_bar__minus_03_dot_69 Dresser_bar__minus_00_dot_21_bar__plus_00_dot_81_bar__minus_03_dot_40)\n (inReceptacle Candle_bar__minus_00_dot_09_bar__plus_00_dot_62_bar__minus_03_dot_40 Drawer_bar__minus_00_dot_19_bar__plus_00_dot_68_bar__minus_03_dot_40)\n (inReceptacle ToiletPaper_bar__minus_02_dot_64_bar__plus_00_dot_35_bar__minus_02_dot_51 Shelf_bar__minus_02_dot_58_bar__plus_00_dot_40_bar__minus_02_dot_92)\n (inReceptacle Cloth_bar__minus_02_dot_84_bar__plus_01_dot_00_bar__minus_02_dot_13 CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92)\n (inReceptacle Mirror_bar__minus_02_dot_98_bar__plus_01_dot_57_bar__minus_02_dot_90 CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92)\n (inReceptacle SprayBottle_bar__minus_02_dot_92_bar__plus_00_dot_99_bar__minus_03_dot_72 CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92)\n (inReceptacle Cloth_bar__minus_02_dot_84_bar__plus_01_dot_00_bar__minus_03_dot_19 CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92)\n (inReceptacle SoapBottle_bar__minus_02_dot_55_bar__plus_00_dot_99_bar__minus_03_dot_45 CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92)\n (inReceptacle Towel_bar__minus_01_dot_34_bar__plus_01_dot_19_bar__minus_00_dot_11 TowelHolder_bar__minus_01_dot_34_bar__plus_01_dot_18_bar__plus_00_dot_00)\n (inReceptacle ToiletPaper_bar__minus_00_dot_28_bar__plus_00_dot_04_bar__minus_02_dot_80 GarbageCan_bar__minus_00_dot_23_bar_00_dot_00_bar__minus_02_dot_80)\n (inReceptacle HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_48_bar__minus_02_dot_66 HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_02_dot_66)\n (inReceptacle Cloth_bar__minus_02_dot_65_bar__plus_00_dot_09_bar__minus_00_dot_68 Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83_bar_BathtubBasin)\n (inReceptacle SoapBar_bar__minus_00_dot_06_bar__plus_01_dot_04_bar__minus_00_dot_74 Toilet_bar__minus_00_dot_41_bar_00_dot_00_bar__minus_00_dot_55)\n (inReceptacle SprayBottle_bar__minus_00_dot_15_bar__plus_01_dot_05_bar__minus_00_dot_54 Toilet_bar__minus_00_dot_41_bar_00_dot_00_bar__minus_00_dot_55)\n \n \n (receptacleAtLocation Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83_bar_BathtubBasin loc_bar__minus_6_bar__minus_2_bar_3_bar_60)\n (receptacleAtLocation CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92 loc_bar__minus_8_bar__minus_11_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_19_bar__plus_00_dot_16_bar__minus_03_dot_40 loc_bar__minus_5_bar__minus_11_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_19_bar__plus_00_dot_42_bar__minus_03_dot_40 loc_bar__minus_6_bar__minus_11_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_19_bar__plus_00_dot_68_bar__minus_03_dot_40 loc_bar__minus_5_bar__minus_12_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_19_bar__plus_00_dot_94_bar__minus_03_dot_40 loc_bar__minus_4_bar__minus_13_bar_1_bar_45)\n (receptacleAtLocation Dresser_bar__minus_00_dot_21_bar__plus_00_dot_81_bar__minus_03_dot_40 loc_bar__minus_3_bar__minus_13_bar_1_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_00_dot_23_bar_00_dot_00_bar__minus_02_dot_80 loc_bar__minus_5_bar__minus_9_bar_1_bar_60)\n (receptacleAtLocation HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_01_dot_55 loc_bar__minus_3_bar__minus_6_bar_1_bar_0)\n (receptacleAtLocation HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_02_dot_66 loc_bar__minus_3_bar__minus_11_bar_1_bar_0)\n (receptacleAtLocation Shelf_bar__minus_02_dot_54_bar__plus_00_dot_13_bar__minus_02_dot_92 loc_bar__minus_8_bar__minus_12_bar_3_bar_60)\n (receptacleAtLocation Shelf_bar__minus_02_dot_58_bar__plus_00_dot_40_bar__minus_02_dot_92 loc_bar__minus_5_bar__minus_11_bar_3_bar_45)\n (receptacleAtLocation Sink_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_02_dot_08_bar_SinkBasin loc_bar__minus_3_bar__minus_6_bar_2_bar_60)\n (receptacleAtLocation ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_87_bar__minus_00_dot_97 loc_bar__minus_2_bar__minus_4_bar_1_bar_60)\n (receptacleAtLocation Toilet_bar__minus_00_dot_41_bar_00_dot_00_bar__minus_00_dot_55 loc_bar__minus_2_bar__minus_5_bar_0_bar_60)\n (receptacleAtLocation TowelHolder_bar__minus_01_dot_34_bar__plus_01_dot_18_bar__plus_00_dot_00 loc_bar__minus_5_bar__minus_2_bar_0_bar_45)\n (objectAtLocation SprayBottle_bar__minus_00_dot_15_bar__plus_01_dot_05_bar__minus_00_dot_54 loc_bar__minus_2_bar__minus_5_bar_0_bar_60)\n (objectAtLocation Candle_bar__minus_00_dot_08_bar__plus_01_dot_16_bar__minus_03_dot_20 loc_bar__minus_3_bar__minus_13_bar_1_bar_60)\n (objectAtLocation Cloth_bar__minus_02_dot_65_bar__plus_00_dot_09_bar__minus_00_dot_68 loc_bar__minus_6_bar__minus_2_bar_3_bar_60)\n (objectAtLocation SoapBottle_bar__minus_00_dot_15_bar__plus_01_dot_16_bar__minus_03_dot_69 loc_bar__minus_3_bar__minus_13_bar_1_bar_60)\n (objectAtLocation SprayBottle_bar__minus_02_dot_92_bar__plus_00_dot_99_bar__minus_03_dot_72 loc_bar__minus_8_bar__minus_11_bar_3_bar_45)\n (objectAtLocation Cloth_bar__minus_02_dot_84_bar__plus_01_dot_00_bar__minus_02_dot_13 loc_bar__minus_8_bar__minus_11_bar_3_bar_45)\n (objectAtLocation Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83 loc_bar__minus_7_bar__minus_3_bar_3_bar_60)\n (objectAtLocation Sink_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_02_dot_08 loc_bar__minus_4_bar__minus_8_bar_1_bar_60)\n (objectAtLocation Mirror_bar__minus_02_dot_98_bar__plus_01_dot_57_bar__minus_02_dot_90 loc_bar__minus_8_bar__minus_11_bar_3_bar_45)\n (objectAtLocation HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_48_bar__minus_02_dot_66 loc_bar__minus_3_bar__minus_11_bar_1_bar_0)\n (objectAtLocation SoapBar_bar__minus_00_dot_06_bar__plus_01_dot_04_bar__minus_00_dot_74 loc_bar__minus_2_bar__minus_5_bar_0_bar_60)\n (objectAtLocation ToiletPaper_bar__minus_00_dot_28_bar__plus_00_dot_04_bar__minus_02_dot_80 loc_bar__minus_5_bar__minus_9_bar_1_bar_60)\n (objectAtLocation LightSwitch_bar__minus_00_dot_36_bar__plus_01_dot_33_bar__minus_04_dot_00 loc_bar__minus_2_bar__minus_13_bar_2_bar_30)\n (objectAtLocation ToiletPaper_bar__minus_02_dot_64_bar__plus_00_dot_35_bar__minus_02_dot_51 loc_bar__minus_5_bar__minus_11_bar_3_bar_45)\n (objectAtLocation Towel_bar__minus_01_dot_34_bar__plus_01_dot_19_bar__minus_00_dot_11 loc_bar__minus_5_bar__minus_2_bar_0_bar_45)\n (objectAtLocation SoapBottle_bar__minus_02_dot_55_bar__plus_00_dot_99_bar__minus_03_dot_45 loc_bar__minus_8_bar__minus_11_bar_3_bar_45)\n (objectAtLocation ScrubBrush_bar__minus_00_dot_14_bar_00_dot_00_bar__minus_00_dot_11 loc_bar__minus_2_bar__minus_4_bar_0_bar_60)\n (objectAtLocation Cloth_bar__minus_02_dot_84_bar__plus_01_dot_00_bar__minus_03_dot_19 loc_bar__minus_8_bar__minus_11_bar_3_bar_45)\n (objectAtLocation Plunger_bar__minus_00_dot_37_bar_00_dot_00_bar__minus_00_dot_10 loc_bar__minus_2_bar__minus_4_bar_0_bar_60)\n (objectAtLocation Candle_bar__minus_00_dot_09_bar__plus_00_dot_62_bar__minus_03_dot_40 loc_bar__minus_5_bar__minus_12_bar_1_bar_45)\n (objectAtLocation SprayBottle_bar__minus_00_dot_08_bar__plus_01_dot_16_bar__minus_03_dot_50 loc_bar__minus_3_bar__minus_13_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 ClothType)\n (receptacleType ?r ShelfType)\n (isClean ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to bathtubbasin 1", "take cloth 3 from bathtubbasin 1", "go to sinkbasin 1", "clean cloth 3 with sinkbasin 1", "go to shelf 1", "move cloth 3 to shelf 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-Shelf-415/trial_T20190908_234737_125816/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Cloth-None-Shelf-415/trial_T20190908_234737_125816/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..c2b3b778ff92c31b228c3e6b8c7ad1eefc6f21fe --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Cloth-None-Shelf-415/trial_T20190908_234737_125816/initial_state.pddl @@ -0,0 +1,489 @@ + +(define (problem plan_trial_T20190908_234737_125816) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83 - object + Candle_bar__minus_00_dot_08_bar__plus_01_dot_16_bar__minus_03_dot_20 - object + Candle_bar__minus_00_dot_09_bar__plus_00_dot_62_bar__minus_03_dot_40 - object + Cloth_bar__minus_02_dot_65_bar__plus_00_dot_09_bar__minus_00_dot_68 - object + Cloth_bar__minus_02_dot_84_bar__plus_01_dot_00_bar__minus_02_dot_13 - object + Cloth_bar__minus_02_dot_84_bar__plus_01_dot_00_bar__minus_03_dot_19 - object + Faucet_bar__minus_00_dot_04_bar__plus_01_dot_02_bar__minus_02_dot_08 - object + HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_48_bar__minus_02_dot_66 - object + LightSwitch_bar__minus_00_dot_36_bar__plus_01_dot_33_bar__minus_04_dot_00 - object + Mirror_bar__minus_02_dot_98_bar__plus_01_dot_57_bar__minus_02_dot_90 - object + Plunger_bar__minus_00_dot_37_bar_00_dot_00_bar__minus_00_dot_10 - object + ScrubBrush_bar__minus_00_dot_14_bar_00_dot_00_bar__minus_00_dot_11 - object + ShowerCurtain_bar__minus_02_dot_19_bar__plus_01_dot_92_bar__minus_01_dot_56 - object + ShowerHead_bar__minus_02_dot_58_bar__plus_01_dot_20_bar__minus_00_dot_06 - object + Sink_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_02_dot_08 - object + SoapBar_bar__minus_00_dot_06_bar__plus_01_dot_04_bar__minus_00_dot_74 - object + SoapBottle_bar__minus_00_dot_15_bar__plus_01_dot_16_bar__minus_03_dot_69 - object + SoapBottle_bar__minus_02_dot_55_bar__plus_00_dot_99_bar__minus_03_dot_45 - object + SprayBottle_bar__minus_00_dot_08_bar__plus_01_dot_16_bar__minus_03_dot_50 - object + SprayBottle_bar__minus_00_dot_15_bar__plus_01_dot_05_bar__minus_00_dot_54 - object + SprayBottle_bar__minus_02_dot_92_bar__plus_00_dot_99_bar__minus_03_dot_72 - object + ToiletPaper_bar__minus_00_dot_28_bar__plus_00_dot_04_bar__minus_02_dot_80 - object + ToiletPaper_bar__minus_02_dot_64_bar__plus_00_dot_35_bar__minus_02_dot_51 - object + Towel_bar__minus_01_dot_34_bar__plus_01_dot_19_bar__minus_00_dot_11 - object + Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83_bar_BathtubBasin - receptacle + CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92 - receptacle + Drawer_bar__minus_00_dot_19_bar__plus_00_dot_16_bar__minus_03_dot_40 - receptacle + Drawer_bar__minus_00_dot_19_bar__plus_00_dot_42_bar__minus_03_dot_40 - receptacle + Drawer_bar__minus_00_dot_19_bar__plus_00_dot_68_bar__minus_03_dot_40 - receptacle + Drawer_bar__minus_00_dot_19_bar__plus_00_dot_94_bar__minus_03_dot_40 - receptacle + Dresser_bar__minus_00_dot_21_bar__plus_00_dot_81_bar__minus_03_dot_40 - receptacle + GarbageCan_bar__minus_00_dot_23_bar_00_dot_00_bar__minus_02_dot_80 - receptacle + HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_01_dot_55 - receptacle + HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_02_dot_66 - receptacle + Shelf_bar__minus_02_dot_54_bar__plus_00_dot_13_bar__minus_02_dot_92 - receptacle + Shelf_bar__minus_02_dot_58_bar__plus_00_dot_40_bar__minus_02_dot_92 - receptacle + Sink_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_02_dot_08_bar_SinkBasin - receptacle + ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_87_bar__minus_00_dot_97 - receptacle + Toilet_bar__minus_00_dot_41_bar_00_dot_00_bar__minus_00_dot_55 - receptacle + TowelHolder_bar__minus_01_dot_34_bar__plus_01_dot_18_bar__plus_00_dot_00 - receptacle + loc_bar__minus_5_bar__minus_12_bar_1_bar_45 - location + loc_bar__minus_3_bar__minus_11_bar_1_bar_0 - location + loc_bar__minus_3_bar__minus_6_bar_2_bar_60 - location + loc_bar__minus_2_bar__minus_4_bar_0_bar_60 - location + loc_bar__minus_2_bar__minus_13_bar_2_bar_30 - location + loc_bar__minus_2_bar__minus_5_bar_0_bar_60 - location + loc_bar__minus_8_bar__minus_12_bar_3_bar_60 - location + loc_bar__minus_6_bar__minus_11_bar_1_bar_45 - location + loc_bar__minus_5_bar__minus_11_bar_1_bar_60 - location + loc_bar__minus_3_bar__minus_13_bar_1_bar_60 - location + loc_bar__minus_6_bar__minus_2_bar_3_bar_60 - location + loc_bar__minus_2_bar__minus_4_bar_1_bar_60 - location + loc_bar__minus_4_bar__minus_8_bar_1_bar_60 - location + loc_bar__minus_3_bar__minus_6_bar_1_bar_0 - location + loc_bar__minus_5_bar__minus_11_bar_3_bar_45 - location + loc_bar__minus_5_bar__minus_9_bar_1_bar_60 - location + loc_bar__minus_8_bar__minus_11_bar_3_bar_45 - location + loc_bar__minus_5_bar__minus_2_bar_0_bar_45 - location + loc_bar__minus_4_bar__minus_13_bar_1_bar_45 - location + loc_bar__minus_7_bar__minus_3_bar_3_bar_60 - location + loc_bar__minus_2_bar__minus_6_bar_1_bar_30 - location + ) + + +(:init + + + (receptacleType HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_01_dot_55 HandTowelHolderType) + (receptacleType HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_02_dot_66 HandTowelHolderType) + (receptacleType Dresser_bar__minus_00_dot_21_bar__plus_00_dot_81_bar__minus_03_dot_40 DresserType) + (receptacleType CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92 CounterTopType) + (receptacleType ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_87_bar__minus_00_dot_97 ToiletPaperHangerType) + (receptacleType TowelHolder_bar__minus_01_dot_34_bar__plus_01_dot_18_bar__plus_00_dot_00 TowelHolderType) + (receptacleType Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83_bar_BathtubBasin BathtubBasinType) + (receptacleType Drawer_bar__minus_00_dot_19_bar__plus_00_dot_42_bar__minus_03_dot_40 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_19_bar__plus_00_dot_16_bar__minus_03_dot_40 DrawerType) + (receptacleType Shelf_bar__minus_02_dot_58_bar__plus_00_dot_40_bar__minus_02_dot_92 ShelfType) + (receptacleType Sink_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_02_dot_08_bar_SinkBasin SinkBasinType) + (receptacleType GarbageCan_bar__minus_00_dot_23_bar_00_dot_00_bar__minus_02_dot_80 GarbageCanType) + (receptacleType Drawer_bar__minus_00_dot_19_bar__plus_00_dot_68_bar__minus_03_dot_40 DrawerType) + (receptacleType Shelf_bar__minus_02_dot_54_bar__plus_00_dot_13_bar__minus_02_dot_92 ShelfType) + (receptacleType Drawer_bar__minus_00_dot_19_bar__plus_00_dot_94_bar__minus_03_dot_40 DrawerType) + (receptacleType Toilet_bar__minus_00_dot_41_bar_00_dot_00_bar__minus_00_dot_55 ToiletType) + (objectType Cloth_bar__minus_02_dot_65_bar__plus_00_dot_09_bar__minus_00_dot_68 ClothType) + (objectType Candle_bar__minus_00_dot_08_bar__plus_01_dot_16_bar__minus_03_dot_20 CandleType) + (objectType HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_48_bar__minus_02_dot_66 HandTowelType) + (objectType ToiletPaper_bar__minus_00_dot_28_bar__plus_00_dot_04_bar__minus_02_dot_80 ToiletPaperType) + (objectType SprayBottle_bar__minus_02_dot_92_bar__plus_00_dot_99_bar__minus_03_dot_72 SprayBottleType) + (objectType Cloth_bar__minus_02_dot_84_bar__plus_01_dot_00_bar__minus_03_dot_19 ClothType) + (objectType SoapBottle_bar__minus_02_dot_55_bar__plus_00_dot_99_bar__minus_03_dot_45 SoapBottleType) + (objectType ScrubBrush_bar__minus_00_dot_14_bar_00_dot_00_bar__minus_00_dot_11 ScrubBrushType) + (objectType SprayBottle_bar__minus_00_dot_15_bar__plus_01_dot_05_bar__minus_00_dot_54 SprayBottleType) + (objectType Cloth_bar__minus_02_dot_84_bar__plus_01_dot_00_bar__minus_02_dot_13 ClothType) + (objectType Candle_bar__minus_00_dot_09_bar__plus_00_dot_62_bar__minus_03_dot_40 CandleType) + (objectType Towel_bar__minus_01_dot_34_bar__plus_01_dot_19_bar__minus_00_dot_11 TowelType) + (objectType SoapBottle_bar__minus_00_dot_15_bar__plus_01_dot_16_bar__minus_03_dot_69 SoapBottleType) + (objectType Mirror_bar__minus_02_dot_98_bar__plus_01_dot_57_bar__minus_02_dot_90 MirrorType) + (objectType Sink_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_02_dot_08 SinkType) + (objectType ToiletPaper_bar__minus_02_dot_64_bar__plus_00_dot_35_bar__minus_02_dot_51 ToiletPaperType) + (objectType SprayBottle_bar__minus_00_dot_08_bar__plus_01_dot_16_bar__minus_03_dot_50 SprayBottleType) + (objectType LightSwitch_bar__minus_00_dot_36_bar__plus_01_dot_33_bar__minus_04_dot_00 LightSwitchType) + (objectType SoapBar_bar__minus_00_dot_06_bar__plus_01_dot_04_bar__minus_00_dot_74 SoapBarType) + (objectType Plunger_bar__minus_00_dot_37_bar_00_dot_00_bar__minus_00_dot_10 PlungerType) + (objectType Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83 BathtubType) + (canContain HandTowelHolderType HandTowelType) + (canContain HandTowelHolderType HandTowelType) + (canContain DresserType CandleType) + (canContain DresserType SprayBottleType) + (canContain DresserType ToiletPaperType) + (canContain DresserType ClothType) + (canContain CounterTopType CandleType) + (canContain CounterTopType SoapBarType) + (canContain CounterTopType SprayBottleType) + (canContain CounterTopType ToiletPaperType) + (canContain CounterTopType SoapBottleType) + (canContain CounterTopType ClothType) + (canContain CounterTopType HandTowelType) + (canContain ToiletPaperHangerType ToiletPaperType) + (canContain TowelHolderType TowelType) + (canContain BathtubBasinType ClothType) + (canContain BathtubBasinType HandTowelType) + (canContain BathtubBasinType SoapBarType) + (canContain DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ClothType) + (canContain DrawerType HandTowelType) + (canContain DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ClothType) + (canContain DrawerType HandTowelType) + (canContain ShelfType CandleType) + (canContain ShelfType SoapBarType) + (canContain ShelfType SprayBottleType) + (canContain ShelfType ToiletPaperType) + (canContain ShelfType SoapBottleType) + (canContain ShelfType ClothType) + (canContain ShelfType HandTowelType) + (canContain SinkBasinType SoapBarType) + (canContain SinkBasinType ClothType) + (canContain SinkBasinType HandTowelType) + (canContain GarbageCanType SoapBarType) + (canContain GarbageCanType SprayBottleType) + (canContain GarbageCanType ToiletPaperType) + (canContain GarbageCanType SoapBottleType) + (canContain GarbageCanType ClothType) + (canContain GarbageCanType HandTowelType) + (canContain DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ClothType) + (canContain DrawerType HandTowelType) + (canContain ShelfType CandleType) + (canContain ShelfType SoapBarType) + (canContain ShelfType SprayBottleType) + (canContain ShelfType ToiletPaperType) + (canContain ShelfType SoapBottleType) + (canContain ShelfType ClothType) + (canContain ShelfType HandTowelType) + (canContain DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ClothType) + (canContain DrawerType HandTowelType) + (canContain ToiletType SoapBottleType) + (canContain ToiletType HandTowelType) + (canContain ToiletType ToiletPaperType) + (canContain ToiletType ClothType) + (canContain ToiletType CandleType) + (canContain ToiletType SoapBarType) + (canContain ToiletType SprayBottleType) + (pickupable Cloth_bar__minus_02_dot_65_bar__plus_00_dot_09_bar__minus_00_dot_68) + (pickupable Candle_bar__minus_00_dot_08_bar__plus_01_dot_16_bar__minus_03_dot_20) + (pickupable HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_48_bar__minus_02_dot_66) + (pickupable ToiletPaper_bar__minus_00_dot_28_bar__plus_00_dot_04_bar__minus_02_dot_80) + (pickupable SprayBottle_bar__minus_02_dot_92_bar__plus_00_dot_99_bar__minus_03_dot_72) + (pickupable Cloth_bar__minus_02_dot_84_bar__plus_01_dot_00_bar__minus_03_dot_19) + (pickupable SoapBottle_bar__minus_02_dot_55_bar__plus_00_dot_99_bar__minus_03_dot_45) + (pickupable ScrubBrush_bar__minus_00_dot_14_bar_00_dot_00_bar__minus_00_dot_11) + (pickupable SprayBottle_bar__minus_00_dot_15_bar__plus_01_dot_05_bar__minus_00_dot_54) + (pickupable Cloth_bar__minus_02_dot_84_bar__plus_01_dot_00_bar__minus_02_dot_13) + (pickupable Candle_bar__minus_00_dot_09_bar__plus_00_dot_62_bar__minus_03_dot_40) + (pickupable Towel_bar__minus_01_dot_34_bar__plus_01_dot_19_bar__minus_00_dot_11) + (pickupable SoapBottle_bar__minus_00_dot_15_bar__plus_01_dot_16_bar__minus_03_dot_69) + (pickupable ToiletPaper_bar__minus_02_dot_64_bar__plus_00_dot_35_bar__minus_02_dot_51) + (pickupable SprayBottle_bar__minus_00_dot_08_bar__plus_01_dot_16_bar__minus_03_dot_50) + (pickupable SoapBar_bar__minus_00_dot_06_bar__plus_01_dot_04_bar__minus_00_dot_74) + (pickupable Plunger_bar__minus_00_dot_37_bar_00_dot_00_bar__minus_00_dot_10) + + (openable Drawer_bar__minus_00_dot_19_bar__plus_00_dot_42_bar__minus_03_dot_40) + (openable Drawer_bar__minus_00_dot_19_bar__plus_00_dot_16_bar__minus_03_dot_40) + (openable Drawer_bar__minus_00_dot_19_bar__plus_00_dot_68_bar__minus_03_dot_40) + (openable Drawer_bar__minus_00_dot_19_bar__plus_00_dot_94_bar__minus_03_dot_40) + + (atLocation agent1 loc_bar__minus_2_bar__minus_6_bar_1_bar_30) + + (cleanable Cloth_bar__minus_02_dot_65_bar__plus_00_dot_09_bar__minus_00_dot_68) + (cleanable Cloth_bar__minus_02_dot_84_bar__plus_01_dot_00_bar__minus_03_dot_19) + (cleanable Cloth_bar__minus_02_dot_84_bar__plus_01_dot_00_bar__minus_02_dot_13) + (cleanable SoapBar_bar__minus_00_dot_06_bar__plus_01_dot_04_bar__minus_00_dot_74) + + + + + + + + + + + (inReceptacle SprayBottle_bar__minus_00_dot_08_bar__plus_01_dot_16_bar__minus_03_dot_50 Dresser_bar__minus_00_dot_21_bar__plus_00_dot_81_bar__minus_03_dot_40) + (inReceptacle Candle_bar__minus_00_dot_08_bar__plus_01_dot_16_bar__minus_03_dot_20 Dresser_bar__minus_00_dot_21_bar__plus_00_dot_81_bar__minus_03_dot_40) + (inReceptacle SoapBottle_bar__minus_00_dot_15_bar__plus_01_dot_16_bar__minus_03_dot_69 Dresser_bar__minus_00_dot_21_bar__plus_00_dot_81_bar__minus_03_dot_40) + (inReceptacle Candle_bar__minus_00_dot_09_bar__plus_00_dot_62_bar__minus_03_dot_40 Drawer_bar__minus_00_dot_19_bar__plus_00_dot_68_bar__minus_03_dot_40) + (inReceptacle ToiletPaper_bar__minus_02_dot_64_bar__plus_00_dot_35_bar__minus_02_dot_51 Shelf_bar__minus_02_dot_58_bar__plus_00_dot_40_bar__minus_02_dot_92) + (inReceptacle Cloth_bar__minus_02_dot_84_bar__plus_01_dot_00_bar__minus_02_dot_13 CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92) + (inReceptacle Mirror_bar__minus_02_dot_98_bar__plus_01_dot_57_bar__minus_02_dot_90 CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92) + (inReceptacle SprayBottle_bar__minus_02_dot_92_bar__plus_00_dot_99_bar__minus_03_dot_72 CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92) + (inReceptacle Cloth_bar__minus_02_dot_84_bar__plus_01_dot_00_bar__minus_03_dot_19 CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92) + (inReceptacle SoapBottle_bar__minus_02_dot_55_bar__plus_00_dot_99_bar__minus_03_dot_45 CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92) + (inReceptacle Towel_bar__minus_01_dot_34_bar__plus_01_dot_19_bar__minus_00_dot_11 TowelHolder_bar__minus_01_dot_34_bar__plus_01_dot_18_bar__plus_00_dot_00) + (inReceptacle ToiletPaper_bar__minus_00_dot_28_bar__plus_00_dot_04_bar__minus_02_dot_80 GarbageCan_bar__minus_00_dot_23_bar_00_dot_00_bar__minus_02_dot_80) + (inReceptacle HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_48_bar__minus_02_dot_66 HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_02_dot_66) + (inReceptacle Cloth_bar__minus_02_dot_65_bar__plus_00_dot_09_bar__minus_00_dot_68 Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83_bar_BathtubBasin) + (inReceptacle SoapBar_bar__minus_00_dot_06_bar__plus_01_dot_04_bar__minus_00_dot_74 Toilet_bar__minus_00_dot_41_bar_00_dot_00_bar__minus_00_dot_55) + (inReceptacle SprayBottle_bar__minus_00_dot_15_bar__plus_01_dot_05_bar__minus_00_dot_54 Toilet_bar__minus_00_dot_41_bar_00_dot_00_bar__minus_00_dot_55) + + + (receptacleAtLocation Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83_bar_BathtubBasin loc_bar__minus_6_bar__minus_2_bar_3_bar_60) + (receptacleAtLocation CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92 loc_bar__minus_8_bar__minus_11_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_19_bar__plus_00_dot_16_bar__minus_03_dot_40 loc_bar__minus_5_bar__minus_11_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__minus_00_dot_19_bar__plus_00_dot_42_bar__minus_03_dot_40 loc_bar__minus_6_bar__minus_11_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_19_bar__plus_00_dot_68_bar__minus_03_dot_40 loc_bar__minus_5_bar__minus_12_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_19_bar__plus_00_dot_94_bar__minus_03_dot_40 loc_bar__minus_4_bar__minus_13_bar_1_bar_45) + (receptacleAtLocation Dresser_bar__minus_00_dot_21_bar__plus_00_dot_81_bar__minus_03_dot_40 loc_bar__minus_3_bar__minus_13_bar_1_bar_60) + (receptacleAtLocation GarbageCan_bar__minus_00_dot_23_bar_00_dot_00_bar__minus_02_dot_80 loc_bar__minus_5_bar__minus_9_bar_1_bar_60) + (receptacleAtLocation HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_01_dot_55 loc_bar__minus_3_bar__minus_6_bar_1_bar_0) + (receptacleAtLocation HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_02_dot_66 loc_bar__minus_3_bar__minus_11_bar_1_bar_0) + (receptacleAtLocation Shelf_bar__minus_02_dot_54_bar__plus_00_dot_13_bar__minus_02_dot_92 loc_bar__minus_8_bar__minus_12_bar_3_bar_60) + (receptacleAtLocation Shelf_bar__minus_02_dot_58_bar__plus_00_dot_40_bar__minus_02_dot_92 loc_bar__minus_5_bar__minus_11_bar_3_bar_45) + (receptacleAtLocation Sink_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_02_dot_08_bar_SinkBasin loc_bar__minus_3_bar__minus_6_bar_2_bar_60) + (receptacleAtLocation ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_87_bar__minus_00_dot_97 loc_bar__minus_2_bar__minus_4_bar_1_bar_60) + (receptacleAtLocation Toilet_bar__minus_00_dot_41_bar_00_dot_00_bar__minus_00_dot_55 loc_bar__minus_2_bar__minus_5_bar_0_bar_60) + (receptacleAtLocation TowelHolder_bar__minus_01_dot_34_bar__plus_01_dot_18_bar__plus_00_dot_00 loc_bar__minus_5_bar__minus_2_bar_0_bar_45) + (objectAtLocation SprayBottle_bar__minus_00_dot_15_bar__plus_01_dot_05_bar__minus_00_dot_54 loc_bar__minus_2_bar__minus_5_bar_0_bar_60) + (objectAtLocation Candle_bar__minus_00_dot_08_bar__plus_01_dot_16_bar__minus_03_dot_20 loc_bar__minus_3_bar__minus_13_bar_1_bar_60) + (objectAtLocation Cloth_bar__minus_02_dot_65_bar__plus_00_dot_09_bar__minus_00_dot_68 loc_bar__minus_6_bar__minus_2_bar_3_bar_60) + (objectAtLocation SoapBottle_bar__minus_00_dot_15_bar__plus_01_dot_16_bar__minus_03_dot_69 loc_bar__minus_3_bar__minus_13_bar_1_bar_60) + (objectAtLocation SprayBottle_bar__minus_02_dot_92_bar__plus_00_dot_99_bar__minus_03_dot_72 loc_bar__minus_8_bar__minus_11_bar_3_bar_45) + (objectAtLocation Cloth_bar__minus_02_dot_84_bar__plus_01_dot_00_bar__minus_02_dot_13 loc_bar__minus_8_bar__minus_11_bar_3_bar_45) + (objectAtLocation Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83 loc_bar__minus_7_bar__minus_3_bar_3_bar_60) + (objectAtLocation Sink_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_02_dot_08 loc_bar__minus_4_bar__minus_8_bar_1_bar_60) + (objectAtLocation Mirror_bar__minus_02_dot_98_bar__plus_01_dot_57_bar__minus_02_dot_90 loc_bar__minus_8_bar__minus_11_bar_3_bar_45) + (objectAtLocation HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_48_bar__minus_02_dot_66 loc_bar__minus_3_bar__minus_11_bar_1_bar_0) + (objectAtLocation SoapBar_bar__minus_00_dot_06_bar__plus_01_dot_04_bar__minus_00_dot_74 loc_bar__minus_2_bar__minus_5_bar_0_bar_60) + (objectAtLocation ToiletPaper_bar__minus_00_dot_28_bar__plus_00_dot_04_bar__minus_02_dot_80 loc_bar__minus_5_bar__minus_9_bar_1_bar_60) + (objectAtLocation LightSwitch_bar__minus_00_dot_36_bar__plus_01_dot_33_bar__minus_04_dot_00 loc_bar__minus_2_bar__minus_13_bar_2_bar_30) + (objectAtLocation ToiletPaper_bar__minus_02_dot_64_bar__plus_00_dot_35_bar__minus_02_dot_51 loc_bar__minus_5_bar__minus_11_bar_3_bar_45) + (objectAtLocation Towel_bar__minus_01_dot_34_bar__plus_01_dot_19_bar__minus_00_dot_11 loc_bar__minus_5_bar__minus_2_bar_0_bar_45) + (objectAtLocation SoapBottle_bar__minus_02_dot_55_bar__plus_00_dot_99_bar__minus_03_dot_45 loc_bar__minus_8_bar__minus_11_bar_3_bar_45) + (objectAtLocation ScrubBrush_bar__minus_00_dot_14_bar_00_dot_00_bar__minus_00_dot_11 loc_bar__minus_2_bar__minus_4_bar_0_bar_60) + (objectAtLocation Cloth_bar__minus_02_dot_84_bar__plus_01_dot_00_bar__minus_03_dot_19 loc_bar__minus_8_bar__minus_11_bar_3_bar_45) + (objectAtLocation Plunger_bar__minus_00_dot_37_bar_00_dot_00_bar__minus_00_dot_10 loc_bar__minus_2_bar__minus_4_bar_0_bar_60) + (objectAtLocation Candle_bar__minus_00_dot_09_bar__plus_00_dot_62_bar__minus_03_dot_40 loc_bar__minus_5_bar__minus_12_bar_1_bar_45) + (objectAtLocation SprayBottle_bar__minus_00_dot_08_bar__plus_01_dot_16_bar__minus_03_dot_50 loc_bar__minus_3_bar__minus_13_bar_1_bar_60) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (cleanable ?o) + (objectType ?o ClothType) + (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-Cloth-None-Shelf-415/trial_T20190908_234737_125816/traj_data.json b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Cloth-None-Shelf-415/trial_T20190908_234737_125816/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..0a32a2a33cb7067ea418927e965545dc0bf65612 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Cloth-None-Shelf-415/trial_T20190908_234737_125816/traj_data.json @@ -0,0 +1,4255 @@ +{ + "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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dirty tissue on the right side of shelves", + "walk to face sink", + "wash tissue in sink, remove tissue from sink", + "turn to face shelves with mirror", + "place tissue on second shelf from the bottom" + ], + "task_desc": "put a clean tissue onto a shelf", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A13OOAT2ORKH6V_3IJXV6UZ10AWBHFPIG3PADIA3FPRI0", + "high_descs": [ + "Turn around and walk to the bathroom counter to your right.", + "Pick up the dirty rag on the counter.", + "With the rag, urn around, walk to the bathroom sink to your left and look down to the sink.", + "Place the dirty rag inside the sink, wash it, then remove it.", + "With the clean rag, look up and walk to the counter to your right.", + "Place the clean rag on the shelf below the counter." + ], + "task_desc": "Place a clean rag on the shelf below the counter.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A14IPKOBOPID9H_3S06PH7KSUVRA10MS8NZDPKK7CQ1DF", + "high_descs": [ + "Turn around and go towards the bath tub, then turn right and go towards the door, then turn right and go to the shelf in the corner", + "Pick up the rag from the top of the shelf", + "Turn around and make your way to the left side of the sink then turn to the right to face it", + "Put the rag in the sink and turn on the water then turn off the water and take the rag out of the sink", + "Turn right then left and make your way back to the shelf in the corner", + "Put the rag on the shelf" + ], + "task_desc": "Put a cleaned rag 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-Cloth-None-Shelf-415/trial_T20190909_051803_814459/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Cloth-None-Shelf-415/trial_T20190909_051803_814459/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..5d398ed5b35a91227ebb5cf3d1aa29a04667cca5 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Cloth-None-Shelf-415/trial_T20190909_051803_814459/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\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 shelf.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190909_051803_814459)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83 - object\n Candle_bar__minus_00_dot_12_bar__plus_01_dot_16_bar__minus_03_dot_20 - object\n Candle_bar__minus_00_dot_15_bar__plus_01_dot_04_bar__minus_00_dot_35 - object\n Candle_bar__minus_00_dot_19_bar__plus_00_dot_35_bar__minus_03_dot_33 - object\n Cloth_bar__minus_02_dot_52_bar__plus_00_dot_09_bar__minus_01_dot_11 - object\n Cloth_bar__minus_02_dot_55_bar__plus_01_dot_00_bar__minus_03_dot_45 - object\n Cloth_bar__minus_02_dot_69_bar__plus_01_dot_00_bar__minus_02_dot_13 - object\n Cloth_bar__minus_02_dot_69_bar__plus_01_dot_00_bar__minus_02_dot_66 - object\n Faucet_bar__minus_00_dot_04_bar__plus_01_dot_02_bar__minus_02_dot_08 - object\n HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_48_bar__minus_01_dot_55 - object\n LightSwitch_bar__minus_00_dot_36_bar__plus_01_dot_33_bar__minus_04_dot_00 - object\n Mirror_bar__minus_02_dot_98_bar__plus_01_dot_57_bar__minus_02_dot_90 - object\n Plunger_bar__minus_00_dot_37_bar_00_dot_00_bar__minus_00_dot_10 - object\n ScrubBrush_bar__minus_00_dot_14_bar_00_dot_00_bar__minus_00_dot_11 - object\n ShowerCurtain_bar__minus_02_dot_19_bar__plus_01_dot_92_bar__minus_01_dot_56 - object\n ShowerHead_bar__minus_02_dot_58_bar__plus_01_dot_20_bar__minus_00_dot_06 - object\n Sink_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_02_dot_08 - object\n SoapBar_bar__minus_00_dot_19_bar__plus_00_dot_04_bar__minus_02_dot_80 - object\n SoapBar_bar__minus_02_dot_47_bar__plus_00_dot_99_bar__minus_02_dot_39 - object\n SoapBar_bar__minus_02_dot_54_bar__plus_00_dot_09_bar__minus_03_dot_34 - object\n SoapBottle_bar__minus_00_dot_09_bar__plus_01_dot_05_bar__minus_00_dot_48 - object\n SprayBottle_bar__minus_00_dot_21_bar__plus_01_dot_16_bar__minus_03_dot_40 - object\n SprayBottle_bar__minus_00_dot_22_bar__plus_00_dot_04_bar__minus_02_dot_75 - object\n SprayBottle_bar__minus_00_dot_25_bar__plus_01_dot_16_bar__minus_03_dot_10 - object\n ToiletPaper_bar__minus_00_dot_15_bar__plus_01_dot_16_bar__minus_03_dot_50 - object\n ToiletPaper_bar__minus_00_dot_21_bar__plus_01_dot_16_bar__minus_03_dot_69 - object\n ToiletPaper_bar__minus_02_dot_61_bar__plus_00_dot_35_bar__minus_02_dot_51 - object\n Towel_bar__minus_01_dot_34_bar__plus_01_dot_19_bar__minus_00_dot_11 - object\n Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83_bar_BathtubBasin - receptacle\n CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92 - receptacle\n Drawer_bar__minus_00_dot_19_bar__plus_00_dot_16_bar__minus_03_dot_40 - receptacle\n Drawer_bar__minus_00_dot_19_bar__plus_00_dot_42_bar__minus_03_dot_40 - receptacle\n Drawer_bar__minus_00_dot_19_bar__plus_00_dot_68_bar__minus_03_dot_40 - receptacle\n Drawer_bar__minus_00_dot_19_bar__plus_00_dot_94_bar__minus_03_dot_40 - receptacle\n Dresser_bar__minus_00_dot_21_bar__plus_00_dot_81_bar__minus_03_dot_40 - receptacle\n GarbageCan_bar__minus_00_dot_23_bar_00_dot_00_bar__minus_02_dot_80 - receptacle\n HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_01_dot_55 - receptacle\n HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_02_dot_66 - receptacle\n Shelf_bar__minus_02_dot_54_bar__plus_00_dot_13_bar__minus_02_dot_92 - receptacle\n Shelf_bar__minus_02_dot_58_bar__plus_00_dot_40_bar__minus_02_dot_92 - receptacle\n Sink_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_02_dot_08_bar_SinkBasin - receptacle\n ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_87_bar__minus_00_dot_97 - receptacle\n Toilet_bar__minus_00_dot_41_bar_00_dot_00_bar__minus_00_dot_55 - receptacle\n TowelHolder_bar__minus_01_dot_34_bar__plus_01_dot_18_bar__plus_00_dot_00 - receptacle\n loc_bar__minus_5_bar__minus_12_bar_1_bar_45 - location\n loc_bar__minus_3_bar__minus_11_bar_1_bar_0 - location\n loc_bar__minus_3_bar__minus_6_bar_2_bar_60 - location\n loc_bar__minus_2_bar__minus_4_bar_0_bar_60 - location\n loc_bar__minus_2_bar__minus_13_bar_2_bar_30 - location\n loc_bar__minus_2_bar__minus_5_bar_0_bar_60 - location\n loc_bar__minus_8_bar__minus_12_bar_3_bar_60 - location\n loc_bar__minus_6_bar__minus_11_bar_1_bar_45 - location\n loc_bar__minus_5_bar__minus_11_bar_1_bar_60 - location\n loc_bar__minus_3_bar__minus_13_bar_1_bar_60 - location\n loc_bar__minus_6_bar__minus_2_bar_3_bar_60 - location\n loc_bar__minus_2_bar__minus_4_bar_1_bar_60 - location\n loc_bar__minus_4_bar__minus_8_bar_1_bar_60 - location\n loc_bar__minus_3_bar__minus_6_bar_1_bar_0 - location\n loc_bar__minus_5_bar__minus_11_bar_3_bar_45 - location\n loc_bar__minus_5_bar__minus_9_bar_1_bar_60 - location\n loc_bar__minus_8_bar__minus_11_bar_3_bar_45 - location\n loc_bar__minus_5_bar__minus_2_bar_0_bar_45 - location\n loc_bar__minus_4_bar__minus_13_bar_1_bar_45 - location\n loc_bar__minus_7_bar__minus_3_bar_3_bar_60 - location\n loc_bar__minus_7_bar__minus_15_bar_2_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_01_dot_55 HandTowelHolderType)\n (receptacleType HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_02_dot_66 HandTowelHolderType)\n (receptacleType Dresser_bar__minus_00_dot_21_bar__plus_00_dot_81_bar__minus_03_dot_40 DresserType)\n (receptacleType CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92 CounterTopType)\n (receptacleType ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_87_bar__minus_00_dot_97 ToiletPaperHangerType)\n (receptacleType TowelHolder_bar__minus_01_dot_34_bar__plus_01_dot_18_bar__plus_00_dot_00 TowelHolderType)\n (receptacleType Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83_bar_BathtubBasin BathtubBasinType)\n (receptacleType Drawer_bar__minus_00_dot_19_bar__plus_00_dot_42_bar__minus_03_dot_40 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_19_bar__plus_00_dot_16_bar__minus_03_dot_40 DrawerType)\n (receptacleType Shelf_bar__minus_02_dot_58_bar__plus_00_dot_40_bar__minus_02_dot_92 ShelfType)\n (receptacleType Sink_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_02_dot_08_bar_SinkBasin SinkBasinType)\n (receptacleType GarbageCan_bar__minus_00_dot_23_bar_00_dot_00_bar__minus_02_dot_80 GarbageCanType)\n (receptacleType Drawer_bar__minus_00_dot_19_bar__plus_00_dot_68_bar__minus_03_dot_40 DrawerType)\n (receptacleType Shelf_bar__minus_02_dot_54_bar__plus_00_dot_13_bar__minus_02_dot_92 ShelfType)\n (receptacleType Drawer_bar__minus_00_dot_19_bar__plus_00_dot_94_bar__minus_03_dot_40 DrawerType)\n (receptacleType Toilet_bar__minus_00_dot_41_bar_00_dot_00_bar__minus_00_dot_55 ToiletType)\n (objectType Cloth_bar__minus_02_dot_69_bar__plus_01_dot_00_bar__minus_02_dot_13 ClothType)\n (objectType Cloth_bar__minus_02_dot_55_bar__plus_01_dot_00_bar__minus_03_dot_45 ClothType)\n (objectType SprayBottle_bar__minus_00_dot_22_bar__plus_00_dot_04_bar__minus_02_dot_75 SprayBottleType)\n (objectType Candle_bar__minus_00_dot_12_bar__plus_01_dot_16_bar__minus_03_dot_20 CandleType)\n (objectType ToiletPaper_bar__minus_00_dot_15_bar__plus_01_dot_16_bar__minus_03_dot_50 ToiletPaperType)\n (objectType ToiletPaper_bar__minus_02_dot_61_bar__plus_00_dot_35_bar__minus_02_dot_51 ToiletPaperType)\n (objectType ScrubBrush_bar__minus_00_dot_14_bar_00_dot_00_bar__minus_00_dot_11 ScrubBrushType)\n (objectType SoapBar_bar__minus_00_dot_19_bar__plus_00_dot_04_bar__minus_02_dot_80 SoapBarType)\n (objectType Cloth_bar__minus_02_dot_52_bar__plus_00_dot_09_bar__minus_01_dot_11 ClothType)\n (objectType HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_48_bar__minus_01_dot_55 HandTowelType)\n (objectType Towel_bar__minus_01_dot_34_bar__plus_01_dot_19_bar__minus_00_dot_11 TowelType)\n (objectType SoapBottle_bar__minus_00_dot_09_bar__plus_01_dot_05_bar__minus_00_dot_48 SoapBottleType)\n (objectType ToiletPaper_bar__minus_00_dot_21_bar__plus_01_dot_16_bar__minus_03_dot_69 ToiletPaperType)\n (objectType SoapBar_bar__minus_02_dot_47_bar__plus_00_dot_99_bar__minus_02_dot_39 SoapBarType)\n (objectType Cloth_bar__minus_02_dot_69_bar__plus_01_dot_00_bar__minus_02_dot_66 ClothType)\n (objectType Candle_bar__minus_00_dot_19_bar__plus_00_dot_35_bar__minus_03_dot_33 CandleType)\n (objectType Candle_bar__minus_00_dot_15_bar__plus_01_dot_04_bar__minus_00_dot_35 CandleType)\n (objectType SprayBottle_bar__minus_00_dot_21_bar__plus_01_dot_16_bar__minus_03_dot_40 SprayBottleType)\n (objectType Sink_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_02_dot_08 SinkType)\n (objectType SoapBar_bar__minus_02_dot_54_bar__plus_00_dot_09_bar__minus_03_dot_34 SoapBarType)\n (objectType Mirror_bar__minus_02_dot_98_bar__plus_01_dot_57_bar__minus_02_dot_90 MirrorType)\n (objectType LightSwitch_bar__minus_00_dot_36_bar__plus_01_dot_33_bar__minus_04_dot_00 LightSwitchType)\n (objectType SprayBottle_bar__minus_00_dot_25_bar__plus_01_dot_16_bar__minus_03_dot_10 SprayBottleType)\n (objectType Plunger_bar__minus_00_dot_37_bar_00_dot_00_bar__minus_00_dot_10 PlungerType)\n (objectType Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83 BathtubType)\n (canContain HandTowelHolderType HandTowelType)\n (canContain HandTowelHolderType HandTowelType)\n (canContain DresserType CandleType)\n (canContain DresserType SprayBottleType)\n (canContain DresserType ToiletPaperType)\n (canContain DresserType ClothType)\n (canContain CounterTopType CandleType)\n (canContain CounterTopType SoapBarType)\n (canContain CounterTopType SprayBottleType)\n (canContain CounterTopType ToiletPaperType)\n (canContain CounterTopType SoapBottleType)\n (canContain CounterTopType ClothType)\n (canContain CounterTopType HandTowelType)\n (canContain ToiletPaperHangerType ToiletPaperType)\n (canContain TowelHolderType TowelType)\n (canContain BathtubBasinType ClothType)\n (canContain BathtubBasinType HandTowelType)\n (canContain BathtubBasinType SoapBarType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType HandTowelType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType HandTowelType)\n (canContain ShelfType CandleType)\n (canContain ShelfType SoapBarType)\n (canContain ShelfType SprayBottleType)\n (canContain ShelfType ToiletPaperType)\n (canContain ShelfType SoapBottleType)\n (canContain ShelfType ClothType)\n (canContain ShelfType HandTowelType)\n (canContain SinkBasinType SoapBarType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType HandTowelType)\n (canContain GarbageCanType SoapBarType)\n (canContain GarbageCanType SprayBottleType)\n (canContain GarbageCanType ToiletPaperType)\n (canContain GarbageCanType SoapBottleType)\n (canContain GarbageCanType ClothType)\n (canContain GarbageCanType HandTowelType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType HandTowelType)\n (canContain ShelfType CandleType)\n (canContain ShelfType SoapBarType)\n (canContain ShelfType SprayBottleType)\n (canContain ShelfType ToiletPaperType)\n (canContain ShelfType SoapBottleType)\n (canContain ShelfType ClothType)\n (canContain ShelfType HandTowelType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType HandTowelType)\n (canContain ToiletType SoapBottleType)\n (canContain ToiletType HandTowelType)\n (canContain ToiletType ToiletPaperType)\n (canContain ToiletType ClothType)\n (canContain ToiletType CandleType)\n (canContain ToiletType SoapBarType)\n (canContain ToiletType SprayBottleType)\n (pickupable Cloth_bar__minus_02_dot_69_bar__plus_01_dot_00_bar__minus_02_dot_13)\n (pickupable Cloth_bar__minus_02_dot_55_bar__plus_01_dot_00_bar__minus_03_dot_45)\n (pickupable SprayBottle_bar__minus_00_dot_22_bar__plus_00_dot_04_bar__minus_02_dot_75)\n (pickupable Candle_bar__minus_00_dot_12_bar__plus_01_dot_16_bar__minus_03_dot_20)\n (pickupable ToiletPaper_bar__minus_00_dot_15_bar__plus_01_dot_16_bar__minus_03_dot_50)\n (pickupable ToiletPaper_bar__minus_02_dot_61_bar__plus_00_dot_35_bar__minus_02_dot_51)\n (pickupable ScrubBrush_bar__minus_00_dot_14_bar_00_dot_00_bar__minus_00_dot_11)\n (pickupable SoapBar_bar__minus_00_dot_19_bar__plus_00_dot_04_bar__minus_02_dot_80)\n (pickupable Cloth_bar__minus_02_dot_52_bar__plus_00_dot_09_bar__minus_01_dot_11)\n (pickupable HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_48_bar__minus_01_dot_55)\n (pickupable Towel_bar__minus_01_dot_34_bar__plus_01_dot_19_bar__minus_00_dot_11)\n (pickupable SoapBottle_bar__minus_00_dot_09_bar__plus_01_dot_05_bar__minus_00_dot_48)\n (pickupable ToiletPaper_bar__minus_00_dot_21_bar__plus_01_dot_16_bar__minus_03_dot_69)\n (pickupable SoapBar_bar__minus_02_dot_47_bar__plus_00_dot_99_bar__minus_02_dot_39)\n (pickupable Cloth_bar__minus_02_dot_69_bar__plus_01_dot_00_bar__minus_02_dot_66)\n (pickupable Candle_bar__minus_00_dot_19_bar__plus_00_dot_35_bar__minus_03_dot_33)\n (pickupable Candle_bar__minus_00_dot_15_bar__plus_01_dot_04_bar__minus_00_dot_35)\n (pickupable SprayBottle_bar__minus_00_dot_21_bar__plus_01_dot_16_bar__minus_03_dot_40)\n (pickupable SoapBar_bar__minus_02_dot_54_bar__plus_00_dot_09_bar__minus_03_dot_34)\n (pickupable SprayBottle_bar__minus_00_dot_25_bar__plus_01_dot_16_bar__minus_03_dot_10)\n (pickupable Plunger_bar__minus_00_dot_37_bar_00_dot_00_bar__minus_00_dot_10)\n \n (openable Drawer_bar__minus_00_dot_19_bar__plus_00_dot_42_bar__minus_03_dot_40)\n (openable Drawer_bar__minus_00_dot_19_bar__plus_00_dot_16_bar__minus_03_dot_40)\n (openable Drawer_bar__minus_00_dot_19_bar__plus_00_dot_68_bar__minus_03_dot_40)\n (openable Drawer_bar__minus_00_dot_19_bar__plus_00_dot_94_bar__minus_03_dot_40)\n \n (atLocation agent1 loc_bar__minus_7_bar__minus_15_bar_2_bar_30)\n \n (cleanable Cloth_bar__minus_02_dot_69_bar__plus_01_dot_00_bar__minus_02_dot_13)\n (cleanable Cloth_bar__minus_02_dot_55_bar__plus_01_dot_00_bar__minus_03_dot_45)\n (cleanable SoapBar_bar__minus_00_dot_19_bar__plus_00_dot_04_bar__minus_02_dot_80)\n (cleanable Cloth_bar__minus_02_dot_52_bar__plus_00_dot_09_bar__minus_01_dot_11)\n (cleanable SoapBar_bar__minus_02_dot_47_bar__plus_00_dot_99_bar__minus_02_dot_39)\n (cleanable Cloth_bar__minus_02_dot_69_bar__plus_01_dot_00_bar__minus_02_dot_66)\n (cleanable SoapBar_bar__minus_02_dot_54_bar__plus_00_dot_09_bar__minus_03_dot_34)\n \n \n \n \n \n \n \n \n \n \n (inReceptacle ToiletPaper_bar__minus_00_dot_15_bar__plus_01_dot_16_bar__minus_03_dot_50 Dresser_bar__minus_00_dot_21_bar__plus_00_dot_81_bar__minus_03_dot_40)\n (inReceptacle SprayBottle_bar__minus_00_dot_21_bar__plus_01_dot_16_bar__minus_03_dot_40 Dresser_bar__minus_00_dot_21_bar__plus_00_dot_81_bar__minus_03_dot_40)\n (inReceptacle SprayBottle_bar__minus_00_dot_25_bar__plus_01_dot_16_bar__minus_03_dot_10 Dresser_bar__minus_00_dot_21_bar__plus_00_dot_81_bar__minus_03_dot_40)\n (inReceptacle Candle_bar__minus_00_dot_12_bar__plus_01_dot_16_bar__minus_03_dot_20 Dresser_bar__minus_00_dot_21_bar__plus_00_dot_81_bar__minus_03_dot_40)\n (inReceptacle ToiletPaper_bar__minus_00_dot_21_bar__plus_01_dot_16_bar__minus_03_dot_69 Dresser_bar__minus_00_dot_21_bar__plus_00_dot_81_bar__minus_03_dot_40)\n (inReceptacle Candle_bar__minus_00_dot_19_bar__plus_00_dot_35_bar__minus_03_dot_33 Drawer_bar__minus_00_dot_19_bar__plus_00_dot_42_bar__minus_03_dot_40)\n (inReceptacle ToiletPaper_bar__minus_02_dot_61_bar__plus_00_dot_35_bar__minus_02_dot_51 Shelf_bar__minus_02_dot_58_bar__plus_00_dot_40_bar__minus_02_dot_92)\n (inReceptacle SoapBar_bar__minus_02_dot_54_bar__plus_00_dot_09_bar__minus_03_dot_34 Shelf_bar__minus_02_dot_54_bar__plus_00_dot_13_bar__minus_02_dot_92)\n (inReceptacle SoapBar_bar__minus_02_dot_47_bar__plus_00_dot_99_bar__minus_02_dot_39 CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92)\n (inReceptacle Cloth_bar__minus_02_dot_69_bar__plus_01_dot_00_bar__minus_02_dot_13 CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92)\n (inReceptacle Cloth_bar__minus_02_dot_55_bar__plus_01_dot_00_bar__minus_03_dot_45 CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92)\n (inReceptacle Cloth_bar__minus_02_dot_69_bar__plus_01_dot_00_bar__minus_02_dot_66 CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92)\n (inReceptacle Mirror_bar__minus_02_dot_98_bar__plus_01_dot_57_bar__minus_02_dot_90 CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92)\n (inReceptacle Towel_bar__minus_01_dot_34_bar__plus_01_dot_19_bar__minus_00_dot_11 TowelHolder_bar__minus_01_dot_34_bar__plus_01_dot_18_bar__plus_00_dot_00)\n (inReceptacle SprayBottle_bar__minus_00_dot_22_bar__plus_00_dot_04_bar__minus_02_dot_75 GarbageCan_bar__minus_00_dot_23_bar_00_dot_00_bar__minus_02_dot_80)\n (inReceptacle SoapBar_bar__minus_00_dot_19_bar__plus_00_dot_04_bar__minus_02_dot_80 GarbageCan_bar__minus_00_dot_23_bar_00_dot_00_bar__minus_02_dot_80)\n (inReceptacle HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_48_bar__minus_01_dot_55 HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_01_dot_55)\n (inReceptacle Cloth_bar__minus_02_dot_52_bar__plus_00_dot_09_bar__minus_01_dot_11 Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83_bar_BathtubBasin)\n (inReceptacle SoapBottle_bar__minus_00_dot_09_bar__plus_01_dot_05_bar__minus_00_dot_48 Toilet_bar__minus_00_dot_41_bar_00_dot_00_bar__minus_00_dot_55)\n (inReceptacle Candle_bar__minus_00_dot_15_bar__plus_01_dot_04_bar__minus_00_dot_35 Toilet_bar__minus_00_dot_41_bar_00_dot_00_bar__minus_00_dot_55)\n \n \n (receptacleAtLocation Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83_bar_BathtubBasin loc_bar__minus_6_bar__minus_2_bar_3_bar_60)\n (receptacleAtLocation CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92 loc_bar__minus_8_bar__minus_11_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_19_bar__plus_00_dot_16_bar__minus_03_dot_40 loc_bar__minus_5_bar__minus_11_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_19_bar__plus_00_dot_42_bar__minus_03_dot_40 loc_bar__minus_6_bar__minus_11_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_19_bar__plus_00_dot_68_bar__minus_03_dot_40 loc_bar__minus_5_bar__minus_12_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_19_bar__plus_00_dot_94_bar__minus_03_dot_40 loc_bar__minus_4_bar__minus_13_bar_1_bar_45)\n (receptacleAtLocation Dresser_bar__minus_00_dot_21_bar__plus_00_dot_81_bar__minus_03_dot_40 loc_bar__minus_3_bar__minus_13_bar_1_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_00_dot_23_bar_00_dot_00_bar__minus_02_dot_80 loc_bar__minus_5_bar__minus_9_bar_1_bar_60)\n (receptacleAtLocation HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_01_dot_55 loc_bar__minus_3_bar__minus_6_bar_1_bar_0)\n (receptacleAtLocation HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_02_dot_66 loc_bar__minus_3_bar__minus_11_bar_1_bar_0)\n (receptacleAtLocation Shelf_bar__minus_02_dot_54_bar__plus_00_dot_13_bar__minus_02_dot_92 loc_bar__minus_8_bar__minus_12_bar_3_bar_60)\n (receptacleAtLocation Shelf_bar__minus_02_dot_58_bar__plus_00_dot_40_bar__minus_02_dot_92 loc_bar__minus_5_bar__minus_11_bar_3_bar_45)\n (receptacleAtLocation Sink_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_02_dot_08_bar_SinkBasin loc_bar__minus_3_bar__minus_6_bar_2_bar_60)\n (receptacleAtLocation ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_87_bar__minus_00_dot_97 loc_bar__minus_2_bar__minus_4_bar_1_bar_60)\n (receptacleAtLocation Toilet_bar__minus_00_dot_41_bar_00_dot_00_bar__minus_00_dot_55 loc_bar__minus_2_bar__minus_5_bar_0_bar_60)\n (receptacleAtLocation TowelHolder_bar__minus_01_dot_34_bar__plus_01_dot_18_bar__plus_00_dot_00 loc_bar__minus_5_bar__minus_2_bar_0_bar_45)\n (objectAtLocation SprayBottle_bar__minus_00_dot_21_bar__plus_01_dot_16_bar__minus_03_dot_40 loc_bar__minus_3_bar__minus_13_bar_1_bar_60)\n (objectAtLocation Candle_bar__minus_00_dot_15_bar__plus_01_dot_04_bar__minus_00_dot_35 loc_bar__minus_2_bar__minus_5_bar_0_bar_60)\n (objectAtLocation Cloth_bar__minus_02_dot_52_bar__plus_00_dot_09_bar__minus_01_dot_11 loc_bar__minus_6_bar__minus_2_bar_3_bar_60)\n (objectAtLocation ToiletPaper_bar__minus_00_dot_21_bar__plus_01_dot_16_bar__minus_03_dot_69 loc_bar__minus_3_bar__minus_13_bar_1_bar_60)\n (objectAtLocation SoapBar_bar__minus_02_dot_54_bar__plus_00_dot_09_bar__minus_03_dot_34 loc_bar__minus_8_bar__minus_12_bar_3_bar_60)\n (objectAtLocation SoapBar_bar__minus_00_dot_19_bar__plus_00_dot_04_bar__minus_02_dot_80 loc_bar__minus_5_bar__minus_9_bar_1_bar_60)\n (objectAtLocation SprayBottle_bar__minus_00_dot_25_bar__plus_01_dot_16_bar__minus_03_dot_10 loc_bar__minus_3_bar__minus_13_bar_1_bar_60)\n (objectAtLocation Candle_bar__minus_00_dot_19_bar__plus_00_dot_35_bar__minus_03_dot_33 loc_bar__minus_6_bar__minus_11_bar_1_bar_45)\n (objectAtLocation Cloth_bar__minus_02_dot_69_bar__plus_01_dot_00_bar__minus_02_dot_13 loc_bar__minus_8_bar__minus_11_bar_3_bar_45)\n (objectAtLocation Cloth_bar__minus_02_dot_69_bar__plus_01_dot_00_bar__minus_02_dot_66 loc_bar__minus_8_bar__minus_11_bar_3_bar_45)\n (objectAtLocation Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83 loc_bar__minus_7_bar__minus_3_bar_3_bar_60)\n (objectAtLocation Sink_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_02_dot_08 loc_bar__minus_4_bar__minus_8_bar_1_bar_60)\n (objectAtLocation Mirror_bar__minus_02_dot_98_bar__plus_01_dot_57_bar__minus_02_dot_90 loc_bar__minus_8_bar__minus_11_bar_3_bar_45)\n (objectAtLocation HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_48_bar__minus_01_dot_55 loc_bar__minus_3_bar__minus_6_bar_1_bar_0)\n (objectAtLocation SoapBar_bar__minus_02_dot_47_bar__plus_00_dot_99_bar__minus_02_dot_39 loc_bar__minus_8_bar__minus_11_bar_3_bar_45)\n (objectAtLocation ToiletPaper_bar__minus_02_dot_61_bar__plus_00_dot_35_bar__minus_02_dot_51 loc_bar__minus_5_bar__minus_11_bar_3_bar_45)\n (objectAtLocation LightSwitch_bar__minus_00_dot_36_bar__plus_01_dot_33_bar__minus_04_dot_00 loc_bar__minus_2_bar__minus_13_bar_2_bar_30)\n (objectAtLocation ToiletPaper_bar__minus_00_dot_15_bar__plus_01_dot_16_bar__minus_03_dot_50 loc_bar__minus_3_bar__minus_13_bar_1_bar_60)\n (objectAtLocation Towel_bar__minus_01_dot_34_bar__plus_01_dot_19_bar__minus_00_dot_11 loc_bar__minus_5_bar__minus_2_bar_0_bar_45)\n (objectAtLocation SoapBottle_bar__minus_00_dot_09_bar__plus_01_dot_05_bar__minus_00_dot_48 loc_bar__minus_2_bar__minus_5_bar_0_bar_60)\n (objectAtLocation ScrubBrush_bar__minus_00_dot_14_bar_00_dot_00_bar__minus_00_dot_11 loc_bar__minus_2_bar__minus_4_bar_0_bar_60)\n (objectAtLocation Cloth_bar__minus_02_dot_55_bar__plus_01_dot_00_bar__minus_03_dot_45 loc_bar__minus_8_bar__minus_11_bar_3_bar_45)\n (objectAtLocation Plunger_bar__minus_00_dot_37_bar_00_dot_00_bar__minus_00_dot_10 loc_bar__minus_2_bar__minus_4_bar_0_bar_60)\n (objectAtLocation Candle_bar__minus_00_dot_12_bar__plus_01_dot_16_bar__minus_03_dot_20 loc_bar__minus_3_bar__minus_13_bar_1_bar_60)\n (objectAtLocation SprayBottle_bar__minus_00_dot_22_bar__plus_00_dot_04_bar__minus_02_dot_75 loc_bar__minus_5_bar__minus_9_bar_1_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (cleanable ?o)\n (objectType ?o ClothType)\n (receptacleType ?r ShelfType)\n (isClean ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to bathtubbasin 1", "take cloth 4 from bathtubbasin 1", "go to sinkbasin 1", "clean cloth 4 with sinkbasin 1", "go to shelf 1", "move cloth 4 to shelf 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-Shelf-415/trial_T20190909_051803_814459/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Cloth-None-Shelf-415/trial_T20190909_051803_814459/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..451a68bee84b91f076272630297fcdd542fb2d79 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Cloth-None-Shelf-415/trial_T20190909_051803_814459/initial_state.pddl @@ -0,0 +1,512 @@ + +(define (problem plan_trial_T20190909_051803_814459) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83 - object + Candle_bar__minus_00_dot_12_bar__plus_01_dot_16_bar__minus_03_dot_20 - object + Candle_bar__minus_00_dot_15_bar__plus_01_dot_04_bar__minus_00_dot_35 - object + Candle_bar__minus_00_dot_19_bar__plus_00_dot_35_bar__minus_03_dot_33 - object + Cloth_bar__minus_02_dot_52_bar__plus_00_dot_09_bar__minus_01_dot_11 - object + Cloth_bar__minus_02_dot_55_bar__plus_01_dot_00_bar__minus_03_dot_45 - object + Cloth_bar__minus_02_dot_69_bar__plus_01_dot_00_bar__minus_02_dot_13 - object + Cloth_bar__minus_02_dot_69_bar__plus_01_dot_00_bar__minus_02_dot_66 - object + Faucet_bar__minus_00_dot_04_bar__plus_01_dot_02_bar__minus_02_dot_08 - object + HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_48_bar__minus_01_dot_55 - object + LightSwitch_bar__minus_00_dot_36_bar__plus_01_dot_33_bar__minus_04_dot_00 - object + Mirror_bar__minus_02_dot_98_bar__plus_01_dot_57_bar__minus_02_dot_90 - object + Plunger_bar__minus_00_dot_37_bar_00_dot_00_bar__minus_00_dot_10 - object + ScrubBrush_bar__minus_00_dot_14_bar_00_dot_00_bar__minus_00_dot_11 - object + ShowerCurtain_bar__minus_02_dot_19_bar__plus_01_dot_92_bar__minus_01_dot_56 - object + ShowerHead_bar__minus_02_dot_58_bar__plus_01_dot_20_bar__minus_00_dot_06 - object + Sink_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_02_dot_08 - object + SoapBar_bar__minus_00_dot_19_bar__plus_00_dot_04_bar__minus_02_dot_80 - object + SoapBar_bar__minus_02_dot_47_bar__plus_00_dot_99_bar__minus_02_dot_39 - object + SoapBar_bar__minus_02_dot_54_bar__plus_00_dot_09_bar__minus_03_dot_34 - object + SoapBottle_bar__minus_00_dot_09_bar__plus_01_dot_05_bar__minus_00_dot_48 - object + SprayBottle_bar__minus_00_dot_21_bar__plus_01_dot_16_bar__minus_03_dot_40 - object + SprayBottle_bar__minus_00_dot_22_bar__plus_00_dot_04_bar__minus_02_dot_75 - object + SprayBottle_bar__minus_00_dot_25_bar__plus_01_dot_16_bar__minus_03_dot_10 - object + ToiletPaper_bar__minus_00_dot_15_bar__plus_01_dot_16_bar__minus_03_dot_50 - object + ToiletPaper_bar__minus_00_dot_21_bar__plus_01_dot_16_bar__minus_03_dot_69 - object + ToiletPaper_bar__minus_02_dot_61_bar__plus_00_dot_35_bar__minus_02_dot_51 - object + Towel_bar__minus_01_dot_34_bar__plus_01_dot_19_bar__minus_00_dot_11 - object + Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83_bar_BathtubBasin - receptacle + CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92 - receptacle + Drawer_bar__minus_00_dot_19_bar__plus_00_dot_16_bar__minus_03_dot_40 - receptacle + Drawer_bar__minus_00_dot_19_bar__plus_00_dot_42_bar__minus_03_dot_40 - receptacle + Drawer_bar__minus_00_dot_19_bar__plus_00_dot_68_bar__minus_03_dot_40 - receptacle + Drawer_bar__minus_00_dot_19_bar__plus_00_dot_94_bar__minus_03_dot_40 - receptacle + Dresser_bar__minus_00_dot_21_bar__plus_00_dot_81_bar__minus_03_dot_40 - receptacle + GarbageCan_bar__minus_00_dot_23_bar_00_dot_00_bar__minus_02_dot_80 - receptacle + HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_01_dot_55 - receptacle + HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_02_dot_66 - receptacle + Shelf_bar__minus_02_dot_54_bar__plus_00_dot_13_bar__minus_02_dot_92 - receptacle + Shelf_bar__minus_02_dot_58_bar__plus_00_dot_40_bar__minus_02_dot_92 - receptacle + Sink_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_02_dot_08_bar_SinkBasin - receptacle + ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_87_bar__minus_00_dot_97 - receptacle + Toilet_bar__minus_00_dot_41_bar_00_dot_00_bar__minus_00_dot_55 - receptacle + TowelHolder_bar__minus_01_dot_34_bar__plus_01_dot_18_bar__plus_00_dot_00 - receptacle + loc_bar__minus_5_bar__minus_12_bar_1_bar_45 - location + loc_bar__minus_3_bar__minus_11_bar_1_bar_0 - location + loc_bar__minus_3_bar__minus_6_bar_2_bar_60 - location + loc_bar__minus_2_bar__minus_4_bar_0_bar_60 - location + loc_bar__minus_2_bar__minus_13_bar_2_bar_30 - location + loc_bar__minus_2_bar__minus_5_bar_0_bar_60 - location + loc_bar__minus_8_bar__minus_12_bar_3_bar_60 - location + loc_bar__minus_6_bar__minus_11_bar_1_bar_45 - location + loc_bar__minus_5_bar__minus_11_bar_1_bar_60 - location + loc_bar__minus_3_bar__minus_13_bar_1_bar_60 - location + loc_bar__minus_6_bar__minus_2_bar_3_bar_60 - location + loc_bar__minus_2_bar__minus_4_bar_1_bar_60 - location + loc_bar__minus_4_bar__minus_8_bar_1_bar_60 - location + loc_bar__minus_3_bar__minus_6_bar_1_bar_0 - location + loc_bar__minus_5_bar__minus_11_bar_3_bar_45 - location + loc_bar__minus_5_bar__minus_9_bar_1_bar_60 - location + loc_bar__minus_8_bar__minus_11_bar_3_bar_45 - location + loc_bar__minus_5_bar__minus_2_bar_0_bar_45 - location + loc_bar__minus_4_bar__minus_13_bar_1_bar_45 - location + loc_bar__minus_7_bar__minus_3_bar_3_bar_60 - location + loc_bar__minus_7_bar__minus_15_bar_2_bar_30 - location + ) + + +(:init + + + (receptacleType HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_01_dot_55 HandTowelHolderType) + (receptacleType HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_02_dot_66 HandTowelHolderType) + (receptacleType Dresser_bar__minus_00_dot_21_bar__plus_00_dot_81_bar__minus_03_dot_40 DresserType) + (receptacleType CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92 CounterTopType) + (receptacleType ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_87_bar__minus_00_dot_97 ToiletPaperHangerType) + (receptacleType TowelHolder_bar__minus_01_dot_34_bar__plus_01_dot_18_bar__plus_00_dot_00 TowelHolderType) + (receptacleType Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83_bar_BathtubBasin BathtubBasinType) + (receptacleType Drawer_bar__minus_00_dot_19_bar__plus_00_dot_42_bar__minus_03_dot_40 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_19_bar__plus_00_dot_16_bar__minus_03_dot_40 DrawerType) + (receptacleType Shelf_bar__minus_02_dot_58_bar__plus_00_dot_40_bar__minus_02_dot_92 ShelfType) + (receptacleType Sink_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_02_dot_08_bar_SinkBasin SinkBasinType) + (receptacleType GarbageCan_bar__minus_00_dot_23_bar_00_dot_00_bar__minus_02_dot_80 GarbageCanType) + (receptacleType Drawer_bar__minus_00_dot_19_bar__plus_00_dot_68_bar__minus_03_dot_40 DrawerType) + (receptacleType Shelf_bar__minus_02_dot_54_bar__plus_00_dot_13_bar__minus_02_dot_92 ShelfType) + (receptacleType Drawer_bar__minus_00_dot_19_bar__plus_00_dot_94_bar__minus_03_dot_40 DrawerType) + (receptacleType Toilet_bar__minus_00_dot_41_bar_00_dot_00_bar__minus_00_dot_55 ToiletType) + (objectType Cloth_bar__minus_02_dot_69_bar__plus_01_dot_00_bar__minus_02_dot_13 ClothType) + (objectType Cloth_bar__minus_02_dot_55_bar__plus_01_dot_00_bar__minus_03_dot_45 ClothType) + (objectType SprayBottle_bar__minus_00_dot_22_bar__plus_00_dot_04_bar__minus_02_dot_75 SprayBottleType) + (objectType Candle_bar__minus_00_dot_12_bar__plus_01_dot_16_bar__minus_03_dot_20 CandleType) + (objectType ToiletPaper_bar__minus_00_dot_15_bar__plus_01_dot_16_bar__minus_03_dot_50 ToiletPaperType) + (objectType ToiletPaper_bar__minus_02_dot_61_bar__plus_00_dot_35_bar__minus_02_dot_51 ToiletPaperType) + (objectType ScrubBrush_bar__minus_00_dot_14_bar_00_dot_00_bar__minus_00_dot_11 ScrubBrushType) + (objectType SoapBar_bar__minus_00_dot_19_bar__plus_00_dot_04_bar__minus_02_dot_80 SoapBarType) + (objectType Cloth_bar__minus_02_dot_52_bar__plus_00_dot_09_bar__minus_01_dot_11 ClothType) + (objectType HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_48_bar__minus_01_dot_55 HandTowelType) + (objectType Towel_bar__minus_01_dot_34_bar__plus_01_dot_19_bar__minus_00_dot_11 TowelType) + (objectType SoapBottle_bar__minus_00_dot_09_bar__plus_01_dot_05_bar__minus_00_dot_48 SoapBottleType) + (objectType ToiletPaper_bar__minus_00_dot_21_bar__plus_01_dot_16_bar__minus_03_dot_69 ToiletPaperType) + (objectType SoapBar_bar__minus_02_dot_47_bar__plus_00_dot_99_bar__minus_02_dot_39 SoapBarType) + (objectType Cloth_bar__minus_02_dot_69_bar__plus_01_dot_00_bar__minus_02_dot_66 ClothType) + (objectType Candle_bar__minus_00_dot_19_bar__plus_00_dot_35_bar__minus_03_dot_33 CandleType) + (objectType Candle_bar__minus_00_dot_15_bar__plus_01_dot_04_bar__minus_00_dot_35 CandleType) + (objectType SprayBottle_bar__minus_00_dot_21_bar__plus_01_dot_16_bar__minus_03_dot_40 SprayBottleType) + (objectType Sink_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_02_dot_08 SinkType) + (objectType SoapBar_bar__minus_02_dot_54_bar__plus_00_dot_09_bar__minus_03_dot_34 SoapBarType) + (objectType Mirror_bar__minus_02_dot_98_bar__plus_01_dot_57_bar__minus_02_dot_90 MirrorType) + (objectType LightSwitch_bar__minus_00_dot_36_bar__plus_01_dot_33_bar__minus_04_dot_00 LightSwitchType) + (objectType SprayBottle_bar__minus_00_dot_25_bar__plus_01_dot_16_bar__minus_03_dot_10 SprayBottleType) + (objectType Plunger_bar__minus_00_dot_37_bar_00_dot_00_bar__minus_00_dot_10 PlungerType) + (objectType Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83 BathtubType) + (canContain HandTowelHolderType HandTowelType) + (canContain HandTowelHolderType HandTowelType) + (canContain DresserType CandleType) + (canContain DresserType SprayBottleType) + (canContain DresserType ToiletPaperType) + (canContain DresserType ClothType) + (canContain CounterTopType CandleType) + (canContain CounterTopType SoapBarType) + (canContain CounterTopType SprayBottleType) + (canContain CounterTopType ToiletPaperType) + (canContain CounterTopType SoapBottleType) + (canContain CounterTopType ClothType) + (canContain CounterTopType HandTowelType) + (canContain ToiletPaperHangerType ToiletPaperType) + (canContain TowelHolderType TowelType) + (canContain BathtubBasinType ClothType) + (canContain BathtubBasinType HandTowelType) + (canContain BathtubBasinType SoapBarType) + (canContain DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ClothType) + (canContain DrawerType HandTowelType) + (canContain DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ClothType) + (canContain DrawerType HandTowelType) + (canContain ShelfType CandleType) + (canContain ShelfType SoapBarType) + (canContain ShelfType SprayBottleType) + (canContain ShelfType ToiletPaperType) + (canContain ShelfType SoapBottleType) + (canContain ShelfType ClothType) + (canContain ShelfType HandTowelType) + (canContain SinkBasinType SoapBarType) + (canContain SinkBasinType ClothType) + (canContain SinkBasinType HandTowelType) + (canContain GarbageCanType SoapBarType) + (canContain GarbageCanType SprayBottleType) + (canContain GarbageCanType ToiletPaperType) + (canContain GarbageCanType SoapBottleType) + (canContain GarbageCanType ClothType) + (canContain GarbageCanType HandTowelType) + (canContain DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ClothType) + (canContain DrawerType HandTowelType) + (canContain ShelfType CandleType) + (canContain ShelfType SoapBarType) + (canContain ShelfType SprayBottleType) + (canContain ShelfType ToiletPaperType) + (canContain ShelfType SoapBottleType) + (canContain ShelfType ClothType) + (canContain ShelfType HandTowelType) + (canContain DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ClothType) + (canContain DrawerType HandTowelType) + (canContain ToiletType SoapBottleType) + (canContain ToiletType HandTowelType) + (canContain ToiletType ToiletPaperType) + (canContain ToiletType ClothType) + (canContain ToiletType CandleType) + (canContain ToiletType SoapBarType) + (canContain ToiletType SprayBottleType) + (pickupable Cloth_bar__minus_02_dot_69_bar__plus_01_dot_00_bar__minus_02_dot_13) + (pickupable Cloth_bar__minus_02_dot_55_bar__plus_01_dot_00_bar__minus_03_dot_45) + (pickupable SprayBottle_bar__minus_00_dot_22_bar__plus_00_dot_04_bar__minus_02_dot_75) + (pickupable Candle_bar__minus_00_dot_12_bar__plus_01_dot_16_bar__minus_03_dot_20) + (pickupable ToiletPaper_bar__minus_00_dot_15_bar__plus_01_dot_16_bar__minus_03_dot_50) + (pickupable ToiletPaper_bar__minus_02_dot_61_bar__plus_00_dot_35_bar__minus_02_dot_51) + (pickupable ScrubBrush_bar__minus_00_dot_14_bar_00_dot_00_bar__minus_00_dot_11) + (pickupable SoapBar_bar__minus_00_dot_19_bar__plus_00_dot_04_bar__minus_02_dot_80) + (pickupable Cloth_bar__minus_02_dot_52_bar__plus_00_dot_09_bar__minus_01_dot_11) + (pickupable HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_48_bar__minus_01_dot_55) + (pickupable Towel_bar__minus_01_dot_34_bar__plus_01_dot_19_bar__minus_00_dot_11) + (pickupable SoapBottle_bar__minus_00_dot_09_bar__plus_01_dot_05_bar__minus_00_dot_48) + (pickupable ToiletPaper_bar__minus_00_dot_21_bar__plus_01_dot_16_bar__minus_03_dot_69) + (pickupable SoapBar_bar__minus_02_dot_47_bar__plus_00_dot_99_bar__minus_02_dot_39) + (pickupable Cloth_bar__minus_02_dot_69_bar__plus_01_dot_00_bar__minus_02_dot_66) + (pickupable Candle_bar__minus_00_dot_19_bar__plus_00_dot_35_bar__minus_03_dot_33) + (pickupable Candle_bar__minus_00_dot_15_bar__plus_01_dot_04_bar__minus_00_dot_35) + (pickupable SprayBottle_bar__minus_00_dot_21_bar__plus_01_dot_16_bar__minus_03_dot_40) + (pickupable SoapBar_bar__minus_02_dot_54_bar__plus_00_dot_09_bar__minus_03_dot_34) + (pickupable SprayBottle_bar__minus_00_dot_25_bar__plus_01_dot_16_bar__minus_03_dot_10) + (pickupable Plunger_bar__minus_00_dot_37_bar_00_dot_00_bar__minus_00_dot_10) + + (openable Drawer_bar__minus_00_dot_19_bar__plus_00_dot_42_bar__minus_03_dot_40) + (openable Drawer_bar__minus_00_dot_19_bar__plus_00_dot_16_bar__minus_03_dot_40) + (openable Drawer_bar__minus_00_dot_19_bar__plus_00_dot_68_bar__minus_03_dot_40) + (openable Drawer_bar__minus_00_dot_19_bar__plus_00_dot_94_bar__minus_03_dot_40) + + (atLocation agent1 loc_bar__minus_7_bar__minus_15_bar_2_bar_30) + + (cleanable Cloth_bar__minus_02_dot_69_bar__plus_01_dot_00_bar__minus_02_dot_13) + (cleanable Cloth_bar__minus_02_dot_55_bar__plus_01_dot_00_bar__minus_03_dot_45) + (cleanable SoapBar_bar__minus_00_dot_19_bar__plus_00_dot_04_bar__minus_02_dot_80) + (cleanable Cloth_bar__minus_02_dot_52_bar__plus_00_dot_09_bar__minus_01_dot_11) + (cleanable SoapBar_bar__minus_02_dot_47_bar__plus_00_dot_99_bar__minus_02_dot_39) + (cleanable Cloth_bar__minus_02_dot_69_bar__plus_01_dot_00_bar__minus_02_dot_66) + (cleanable SoapBar_bar__minus_02_dot_54_bar__plus_00_dot_09_bar__minus_03_dot_34) + + + + + + + + + + + (inReceptacle ToiletPaper_bar__minus_00_dot_15_bar__plus_01_dot_16_bar__minus_03_dot_50 Dresser_bar__minus_00_dot_21_bar__plus_00_dot_81_bar__minus_03_dot_40) + (inReceptacle SprayBottle_bar__minus_00_dot_21_bar__plus_01_dot_16_bar__minus_03_dot_40 Dresser_bar__minus_00_dot_21_bar__plus_00_dot_81_bar__minus_03_dot_40) + (inReceptacle SprayBottle_bar__minus_00_dot_25_bar__plus_01_dot_16_bar__minus_03_dot_10 Dresser_bar__minus_00_dot_21_bar__plus_00_dot_81_bar__minus_03_dot_40) + (inReceptacle Candle_bar__minus_00_dot_12_bar__plus_01_dot_16_bar__minus_03_dot_20 Dresser_bar__minus_00_dot_21_bar__plus_00_dot_81_bar__minus_03_dot_40) + (inReceptacle ToiletPaper_bar__minus_00_dot_21_bar__plus_01_dot_16_bar__minus_03_dot_69 Dresser_bar__minus_00_dot_21_bar__plus_00_dot_81_bar__minus_03_dot_40) + (inReceptacle Candle_bar__minus_00_dot_19_bar__plus_00_dot_35_bar__minus_03_dot_33 Drawer_bar__minus_00_dot_19_bar__plus_00_dot_42_bar__minus_03_dot_40) + (inReceptacle ToiletPaper_bar__minus_02_dot_61_bar__plus_00_dot_35_bar__minus_02_dot_51 Shelf_bar__minus_02_dot_58_bar__plus_00_dot_40_bar__minus_02_dot_92) + (inReceptacle SoapBar_bar__minus_02_dot_54_bar__plus_00_dot_09_bar__minus_03_dot_34 Shelf_bar__minus_02_dot_54_bar__plus_00_dot_13_bar__minus_02_dot_92) + (inReceptacle SoapBar_bar__minus_02_dot_47_bar__plus_00_dot_99_bar__minus_02_dot_39 CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92) + (inReceptacle Cloth_bar__minus_02_dot_69_bar__plus_01_dot_00_bar__minus_02_dot_13 CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92) + (inReceptacle Cloth_bar__minus_02_dot_55_bar__plus_01_dot_00_bar__minus_03_dot_45 CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92) + (inReceptacle Cloth_bar__minus_02_dot_69_bar__plus_01_dot_00_bar__minus_02_dot_66 CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92) + (inReceptacle Mirror_bar__minus_02_dot_98_bar__plus_01_dot_57_bar__minus_02_dot_90 CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92) + (inReceptacle Towel_bar__minus_01_dot_34_bar__plus_01_dot_19_bar__minus_00_dot_11 TowelHolder_bar__minus_01_dot_34_bar__plus_01_dot_18_bar__plus_00_dot_00) + (inReceptacle SprayBottle_bar__minus_00_dot_22_bar__plus_00_dot_04_bar__minus_02_dot_75 GarbageCan_bar__minus_00_dot_23_bar_00_dot_00_bar__minus_02_dot_80) + (inReceptacle SoapBar_bar__minus_00_dot_19_bar__plus_00_dot_04_bar__minus_02_dot_80 GarbageCan_bar__minus_00_dot_23_bar_00_dot_00_bar__minus_02_dot_80) + (inReceptacle HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_48_bar__minus_01_dot_55 HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_01_dot_55) + (inReceptacle Cloth_bar__minus_02_dot_52_bar__plus_00_dot_09_bar__minus_01_dot_11 Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83_bar_BathtubBasin) + (inReceptacle SoapBottle_bar__minus_00_dot_09_bar__plus_01_dot_05_bar__minus_00_dot_48 Toilet_bar__minus_00_dot_41_bar_00_dot_00_bar__minus_00_dot_55) + (inReceptacle Candle_bar__minus_00_dot_15_bar__plus_01_dot_04_bar__minus_00_dot_35 Toilet_bar__minus_00_dot_41_bar_00_dot_00_bar__minus_00_dot_55) + + + (receptacleAtLocation Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83_bar_BathtubBasin loc_bar__minus_6_bar__minus_2_bar_3_bar_60) + (receptacleAtLocation CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92 loc_bar__minus_8_bar__minus_11_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_19_bar__plus_00_dot_16_bar__minus_03_dot_40 loc_bar__minus_5_bar__minus_11_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__minus_00_dot_19_bar__plus_00_dot_42_bar__minus_03_dot_40 loc_bar__minus_6_bar__minus_11_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_19_bar__plus_00_dot_68_bar__minus_03_dot_40 loc_bar__minus_5_bar__minus_12_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_19_bar__plus_00_dot_94_bar__minus_03_dot_40 loc_bar__minus_4_bar__minus_13_bar_1_bar_45) + (receptacleAtLocation Dresser_bar__minus_00_dot_21_bar__plus_00_dot_81_bar__minus_03_dot_40 loc_bar__minus_3_bar__minus_13_bar_1_bar_60) + (receptacleAtLocation GarbageCan_bar__minus_00_dot_23_bar_00_dot_00_bar__minus_02_dot_80 loc_bar__minus_5_bar__minus_9_bar_1_bar_60) + (receptacleAtLocation HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_01_dot_55 loc_bar__minus_3_bar__minus_6_bar_1_bar_0) + (receptacleAtLocation HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_02_dot_66 loc_bar__minus_3_bar__minus_11_bar_1_bar_0) + (receptacleAtLocation Shelf_bar__minus_02_dot_54_bar__plus_00_dot_13_bar__minus_02_dot_92 loc_bar__minus_8_bar__minus_12_bar_3_bar_60) + (receptacleAtLocation Shelf_bar__minus_02_dot_58_bar__plus_00_dot_40_bar__minus_02_dot_92 loc_bar__minus_5_bar__minus_11_bar_3_bar_45) + (receptacleAtLocation Sink_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_02_dot_08_bar_SinkBasin loc_bar__minus_3_bar__minus_6_bar_2_bar_60) + (receptacleAtLocation ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_87_bar__minus_00_dot_97 loc_bar__minus_2_bar__minus_4_bar_1_bar_60) + (receptacleAtLocation Toilet_bar__minus_00_dot_41_bar_00_dot_00_bar__minus_00_dot_55 loc_bar__minus_2_bar__minus_5_bar_0_bar_60) + (receptacleAtLocation TowelHolder_bar__minus_01_dot_34_bar__plus_01_dot_18_bar__plus_00_dot_00 loc_bar__minus_5_bar__minus_2_bar_0_bar_45) + (objectAtLocation SprayBottle_bar__minus_00_dot_21_bar__plus_01_dot_16_bar__minus_03_dot_40 loc_bar__minus_3_bar__minus_13_bar_1_bar_60) + (objectAtLocation Candle_bar__minus_00_dot_15_bar__plus_01_dot_04_bar__minus_00_dot_35 loc_bar__minus_2_bar__minus_5_bar_0_bar_60) + (objectAtLocation Cloth_bar__minus_02_dot_52_bar__plus_00_dot_09_bar__minus_01_dot_11 loc_bar__minus_6_bar__minus_2_bar_3_bar_60) + (objectAtLocation ToiletPaper_bar__minus_00_dot_21_bar__plus_01_dot_16_bar__minus_03_dot_69 loc_bar__minus_3_bar__minus_13_bar_1_bar_60) + (objectAtLocation SoapBar_bar__minus_02_dot_54_bar__plus_00_dot_09_bar__minus_03_dot_34 loc_bar__minus_8_bar__minus_12_bar_3_bar_60) + (objectAtLocation 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Mirror_bar__minus_02_dot_98_bar__plus_01_dot_57_bar__minus_02_dot_90 loc_bar__minus_8_bar__minus_11_bar_3_bar_45) + (objectAtLocation HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_48_bar__minus_01_dot_55 loc_bar__minus_3_bar__minus_6_bar_1_bar_0) + (objectAtLocation SoapBar_bar__minus_02_dot_47_bar__plus_00_dot_99_bar__minus_02_dot_39 loc_bar__minus_8_bar__minus_11_bar_3_bar_45) + (objectAtLocation ToiletPaper_bar__minus_02_dot_61_bar__plus_00_dot_35_bar__minus_02_dot_51 loc_bar__minus_5_bar__minus_11_bar_3_bar_45) + (objectAtLocation LightSwitch_bar__minus_00_dot_36_bar__plus_01_dot_33_bar__minus_04_dot_00 loc_bar__minus_2_bar__minus_13_bar_2_bar_30) + (objectAtLocation ToiletPaper_bar__minus_00_dot_15_bar__plus_01_dot_16_bar__minus_03_dot_50 loc_bar__minus_3_bar__minus_13_bar_1_bar_60) + (objectAtLocation Towel_bar__minus_01_dot_34_bar__plus_01_dot_19_bar__minus_00_dot_11 loc_bar__minus_5_bar__minus_2_bar_0_bar_45) + (objectAtLocation 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got the dirty wash cloth from.", + "Put the wash cloth on the second shelf to the left of the white object please." + ], + "task_desc": "Put a clean cloth on the shelf.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A2A028LRDJB7ZB_3LEP4MGT3JRSNZIEU5GOJ1XTTO6DBZ", + "high_descs": [ + "Turn to your right walk straight then turn left to the drawer", + "Pick up the dirty cloth on the drawer", + "Turn right and head to the left side of the sink", + "Put the cloth in the sink then rinse it", + "Turn right then head to the drawer", + "Put the cloth on the second level of the drawer beside the toilet paper" + ], + "task_desc": "Put the clean cloth on the second layer of the drawer", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3MLUEOP3CCLXL_3RXPCZQMQS2UMLADUYO7JANHK4YG1W", + "high_descs": [ + "Turn around and take a step forward then turn left and face the long greenish counter top ", + "Pick up the dirty rag in the middle", + "Turn around and take a step forward, then turn left , take a right at the toilet then turn right to face the side of the sink", + "Place the dirty rag into the sink and turn on the water to rinse it off. Then turn off the water and pick up the rag that is now clean.", + "Turn to the right and go to the long green counter that is ahead of you on the left", + "Place the clean rag on the second shelf to the left of the roll of toilet paper" + ], + "task_desc": "Place a clean rag 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-Cloth-None-Shelf-415/trial_T20190909_051848_377511/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Cloth-None-Shelf-415/trial_T20190909_051848_377511/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..d7f372653ee1437a854f3fb9b117b6f8cf73005d --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Cloth-None-Shelf-415/trial_T20190909_051848_377511/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\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 shelf.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190909_051848_377511)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83 - object\n Candle_bar__minus_00_dot_11_bar__plus_00_dot_35_bar__minus_03_dot_47 - object\n Candle_bar__minus_00_dot_16_bar__plus_00_dot_35_bar__minus_03_dot_54 - object\n Candle_bar__minus_02_dot_55_bar__plus_00_dot_99_bar__minus_02_dot_92 - object\n Cloth_bar__minus_00_dot_12_bar__plus_01_dot_17_bar__minus_03_dot_20 - object\n Cloth_bar__minus_02_dot_65_bar__plus_00_dot_09_bar__minus_00_dot_82 - object\n Cloth_bar__minus_02_dot_84_bar__plus_01_dot_00_bar__minus_03_dot_45 - object\n Faucet_bar__minus_00_dot_04_bar__plus_01_dot_02_bar__minus_02_dot_08 - object\n HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_48_bar__minus_02_dot_66 - object\n LightSwitch_bar__minus_00_dot_36_bar__plus_01_dot_33_bar__minus_04_dot_00 - object\n Mirror_bar__minus_02_dot_98_bar__plus_01_dot_57_bar__minus_02_dot_90 - object\n Plunger_bar__minus_00_dot_37_bar_00_dot_00_bar__minus_00_dot_10 - object\n ScrubBrush_bar__minus_00_dot_14_bar_00_dot_00_bar__minus_00_dot_11 - object\n ShowerCurtain_bar__minus_02_dot_19_bar__plus_01_dot_92_bar__minus_01_dot_56 - object\n ShowerHead_bar__minus_02_dot_58_bar__plus_01_dot_20_bar__minus_00_dot_06 - object\n Sink_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_02_dot_08 - object\n SoapBar_bar__minus_00_dot_16_bar__plus_00_dot_88_bar__minus_03_dot_18 - object\n SoapBottle_bar__minus_02_dot_61_bar__plus_00_dot_36_bar__minus_02_dot_92 - object\n SprayBottle_bar__minus_00_dot_09_bar__plus_01_dot_05_bar__minus_00_dot_48 - object\n SprayBottle_bar__minus_02_dot_69_bar__plus_00_dot_99_bar__minus_02_dot_39 - object\n SprayBottle_bar__minus_02_dot_92_bar__plus_00_dot_99_bar__minus_02_dot_92 - object\n ToiletPaper_bar__minus_00_dot_10_bar__plus_00_dot_87_bar__minus_01_dot_03 - object\n ToiletPaper_bar__minus_02_dot_58_bar__plus_00_dot_35_bar__minus_02_dot_51 - object\n ToiletPaper_bar__minus_02_dot_69_bar__plus_00_dot_99_bar__minus_02_dot_92 - object\n Towel_bar__minus_01_dot_34_bar__plus_01_dot_19_bar__minus_00_dot_11 - object\n Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83_bar_BathtubBasin - receptacle\n CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92 - receptacle\n Drawer_bar__minus_00_dot_19_bar__plus_00_dot_16_bar__minus_03_dot_40 - receptacle\n Drawer_bar__minus_00_dot_19_bar__plus_00_dot_42_bar__minus_03_dot_40 - receptacle\n Drawer_bar__minus_00_dot_19_bar__plus_00_dot_68_bar__minus_03_dot_40 - receptacle\n Drawer_bar__minus_00_dot_19_bar__plus_00_dot_94_bar__minus_03_dot_40 - receptacle\n Dresser_bar__minus_00_dot_21_bar__plus_00_dot_81_bar__minus_03_dot_40 - receptacle\n GarbageCan_bar__minus_00_dot_23_bar_00_dot_00_bar__minus_02_dot_80 - receptacle\n HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_01_dot_55 - receptacle\n HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_02_dot_66 - receptacle\n Shelf_bar__minus_02_dot_54_bar__plus_00_dot_13_bar__minus_02_dot_92 - receptacle\n Shelf_bar__minus_02_dot_58_bar__plus_00_dot_40_bar__minus_02_dot_92 - receptacle\n Sink_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_02_dot_08_bar_SinkBasin - receptacle\n ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_87_bar__minus_00_dot_97 - receptacle\n Toilet_bar__minus_00_dot_41_bar_00_dot_00_bar__minus_00_dot_55 - receptacle\n TowelHolder_bar__minus_01_dot_34_bar__plus_01_dot_18_bar__plus_00_dot_00 - receptacle\n loc_bar__minus_5_bar__minus_12_bar_1_bar_45 - location\n loc_bar__minus_3_bar__minus_11_bar_1_bar_0 - location\n loc_bar__minus_3_bar__minus_6_bar_2_bar_60 - location\n loc_bar__minus_2_bar__minus_4_bar_0_bar_60 - location\n loc_bar__minus_2_bar__minus_13_bar_2_bar_30 - location\n loc_bar__minus_2_bar__minus_5_bar_0_bar_60 - location\n loc_bar__minus_8_bar__minus_12_bar_3_bar_60 - location\n loc_bar__minus_6_bar__minus_11_bar_1_bar_45 - location\n loc_bar__minus_5_bar__minus_11_bar_1_bar_60 - location\n loc_bar__minus_3_bar__minus_13_bar_1_bar_60 - location\n loc_bar__minus_6_bar__minus_2_bar_3_bar_60 - location\n loc_bar__minus_2_bar__minus_4_bar_1_bar_60 - location\n loc_bar__minus_4_bar__minus_8_bar_1_bar_60 - location\n loc_bar__minus_3_bar__minus_6_bar_1_bar_0 - location\n loc_bar__minus_5_bar__minus_11_bar_3_bar_45 - location\n loc_bar__minus_5_bar__minus_9_bar_1_bar_60 - location\n loc_bar__minus_8_bar__minus_11_bar_3_bar_45 - location\n loc_bar__minus_5_bar__minus_2_bar_0_bar_45 - location\n loc_bar__minus_4_bar__minus_13_bar_1_bar_45 - location\n loc_bar__minus_7_bar__minus_3_bar_3_bar_60 - location\n loc_bar__minus_7_bar__minus_3_bar_1_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_01_dot_55 HandTowelHolderType)\n (receptacleType HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_02_dot_66 HandTowelHolderType)\n (receptacleType Dresser_bar__minus_00_dot_21_bar__plus_00_dot_81_bar__minus_03_dot_40 DresserType)\n (receptacleType CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92 CounterTopType)\n (receptacleType ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_87_bar__minus_00_dot_97 ToiletPaperHangerType)\n (receptacleType TowelHolder_bar__minus_01_dot_34_bar__plus_01_dot_18_bar__plus_00_dot_00 TowelHolderType)\n (receptacleType Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83_bar_BathtubBasin BathtubBasinType)\n (receptacleType Drawer_bar__minus_00_dot_19_bar__plus_00_dot_42_bar__minus_03_dot_40 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_19_bar__plus_00_dot_16_bar__minus_03_dot_40 DrawerType)\n (receptacleType Shelf_bar__minus_02_dot_58_bar__plus_00_dot_40_bar__minus_02_dot_92 ShelfType)\n (receptacleType Sink_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_02_dot_08_bar_SinkBasin SinkBasinType)\n (receptacleType GarbageCan_bar__minus_00_dot_23_bar_00_dot_00_bar__minus_02_dot_80 GarbageCanType)\n (receptacleType Drawer_bar__minus_00_dot_19_bar__plus_00_dot_68_bar__minus_03_dot_40 DrawerType)\n (receptacleType Shelf_bar__minus_02_dot_54_bar__plus_00_dot_13_bar__minus_02_dot_92 ShelfType)\n (receptacleType Drawer_bar__minus_00_dot_19_bar__plus_00_dot_94_bar__minus_03_dot_40 DrawerType)\n (receptacleType Toilet_bar__minus_00_dot_41_bar_00_dot_00_bar__minus_00_dot_55 ToiletType)\n (objectType Plunger_bar__minus_00_dot_37_bar_00_dot_00_bar__minus_00_dot_10 PlungerType)\n (objectType Cloth_bar__minus_02_dot_84_bar__plus_01_dot_00_bar__minus_03_dot_45 ClothType)\n (objectType HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_48_bar__minus_02_dot_66 HandTowelType)\n (objectType Cloth_bar__minus_00_dot_12_bar__plus_01_dot_17_bar__minus_03_dot_20 ClothType)\n (objectType ScrubBrush_bar__minus_00_dot_14_bar_00_dot_00_bar__minus_00_dot_11 ScrubBrushType)\n (objectType Candle_bar__minus_02_dot_55_bar__plus_00_dot_99_bar__minus_02_dot_92 CandleType)\n (objectType SprayBottle_bar__minus_02_dot_92_bar__plus_00_dot_99_bar__minus_02_dot_92 SprayBottleType)\n (objectType Candle_bar__minus_00_dot_11_bar__plus_00_dot_35_bar__minus_03_dot_47 CandleType)\n (objectType Candle_bar__minus_00_dot_16_bar__plus_00_dot_35_bar__minus_03_dot_54 CandleType)\n (objectType Cloth_bar__minus_02_dot_65_bar__plus_00_dot_09_bar__minus_00_dot_82 ClothType)\n (objectType ToiletPaper_bar__minus_02_dot_58_bar__plus_00_dot_35_bar__minus_02_dot_51 ToiletPaperType)\n (objectType Towel_bar__minus_01_dot_34_bar__plus_01_dot_19_bar__minus_00_dot_11 TowelType)\n (objectType ToiletPaper_bar__minus_00_dot_10_bar__plus_00_dot_87_bar__minus_01_dot_03 ToiletPaperType)\n (objectType ToiletPaper_bar__minus_02_dot_69_bar__plus_00_dot_99_bar__minus_02_dot_92 ToiletPaperType)\n (objectType SprayBottle_bar__minus_02_dot_69_bar__plus_00_dot_99_bar__minus_02_dot_39 SprayBottleType)\n (objectType Mirror_bar__minus_02_dot_98_bar__plus_01_dot_57_bar__minus_02_dot_90 MirrorType)\n (objectType Sink_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_02_dot_08 SinkType)\n (objectType SprayBottle_bar__minus_00_dot_09_bar__plus_01_dot_05_bar__minus_00_dot_48 SprayBottleType)\n (objectType SoapBottle_bar__minus_02_dot_61_bar__plus_00_dot_36_bar__minus_02_dot_92 SoapBottleType)\n (objectType LightSwitch_bar__minus_00_dot_36_bar__plus_01_dot_33_bar__minus_04_dot_00 LightSwitchType)\n (objectType SoapBar_bar__minus_00_dot_16_bar__plus_00_dot_88_bar__minus_03_dot_18 SoapBarType)\n (objectType Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83 BathtubType)\n (canContain HandTowelHolderType HandTowelType)\n (canContain HandTowelHolderType HandTowelType)\n (canContain DresserType CandleType)\n (canContain DresserType SprayBottleType)\n (canContain DresserType ToiletPaperType)\n (canContain DresserType ClothType)\n (canContain CounterTopType CandleType)\n (canContain CounterTopType SoapBarType)\n (canContain CounterTopType SprayBottleType)\n (canContain CounterTopType ToiletPaperType)\n (canContain CounterTopType SoapBottleType)\n (canContain CounterTopType ClothType)\n (canContain CounterTopType HandTowelType)\n (canContain ToiletPaperHangerType ToiletPaperType)\n (canContain TowelHolderType TowelType)\n (canContain BathtubBasinType ClothType)\n (canContain BathtubBasinType HandTowelType)\n (canContain BathtubBasinType SoapBarType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType HandTowelType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType HandTowelType)\n (canContain ShelfType CandleType)\n (canContain ShelfType SoapBarType)\n (canContain ShelfType SprayBottleType)\n (canContain ShelfType ToiletPaperType)\n (canContain ShelfType SoapBottleType)\n (canContain ShelfType ClothType)\n (canContain ShelfType HandTowelType)\n (canContain SinkBasinType SoapBarType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType HandTowelType)\n (canContain GarbageCanType SoapBarType)\n (canContain GarbageCanType SprayBottleType)\n (canContain GarbageCanType ToiletPaperType)\n (canContain GarbageCanType SoapBottleType)\n (canContain GarbageCanType ClothType)\n (canContain GarbageCanType HandTowelType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType HandTowelType)\n (canContain ShelfType CandleType)\n (canContain ShelfType SoapBarType)\n (canContain ShelfType SprayBottleType)\n (canContain ShelfType ToiletPaperType)\n (canContain ShelfType SoapBottleType)\n (canContain ShelfType ClothType)\n (canContain ShelfType HandTowelType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType HandTowelType)\n (canContain ToiletType SoapBottleType)\n (canContain ToiletType HandTowelType)\n (canContain ToiletType ToiletPaperType)\n (canContain ToiletType ClothType)\n (canContain ToiletType CandleType)\n (canContain ToiletType SoapBarType)\n (canContain ToiletType SprayBottleType)\n (pickupable Plunger_bar__minus_00_dot_37_bar_00_dot_00_bar__minus_00_dot_10)\n (pickupable Cloth_bar__minus_02_dot_84_bar__plus_01_dot_00_bar__minus_03_dot_45)\n (pickupable HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_48_bar__minus_02_dot_66)\n (pickupable Cloth_bar__minus_00_dot_12_bar__plus_01_dot_17_bar__minus_03_dot_20)\n (pickupable ScrubBrush_bar__minus_00_dot_14_bar_00_dot_00_bar__minus_00_dot_11)\n (pickupable Candle_bar__minus_02_dot_55_bar__plus_00_dot_99_bar__minus_02_dot_92)\n (pickupable SprayBottle_bar__minus_02_dot_92_bar__plus_00_dot_99_bar__minus_02_dot_92)\n (pickupable Candle_bar__minus_00_dot_11_bar__plus_00_dot_35_bar__minus_03_dot_47)\n (pickupable Candle_bar__minus_00_dot_16_bar__plus_00_dot_35_bar__minus_03_dot_54)\n (pickupable Cloth_bar__minus_02_dot_65_bar__plus_00_dot_09_bar__minus_00_dot_82)\n (pickupable ToiletPaper_bar__minus_02_dot_58_bar__plus_00_dot_35_bar__minus_02_dot_51)\n (pickupable Towel_bar__minus_01_dot_34_bar__plus_01_dot_19_bar__minus_00_dot_11)\n (pickupable ToiletPaper_bar__minus_00_dot_10_bar__plus_00_dot_87_bar__minus_01_dot_03)\n (pickupable ToiletPaper_bar__minus_02_dot_69_bar__plus_00_dot_99_bar__minus_02_dot_92)\n (pickupable SprayBottle_bar__minus_02_dot_69_bar__plus_00_dot_99_bar__minus_02_dot_39)\n (pickupable SprayBottle_bar__minus_00_dot_09_bar__plus_01_dot_05_bar__minus_00_dot_48)\n (pickupable SoapBottle_bar__minus_02_dot_61_bar__plus_00_dot_36_bar__minus_02_dot_92)\n (pickupable SoapBar_bar__minus_00_dot_16_bar__plus_00_dot_88_bar__minus_03_dot_18)\n \n (openable Drawer_bar__minus_00_dot_19_bar__plus_00_dot_42_bar__minus_03_dot_40)\n (openable Drawer_bar__minus_00_dot_19_bar__plus_00_dot_16_bar__minus_03_dot_40)\n (openable Drawer_bar__minus_00_dot_19_bar__plus_00_dot_68_bar__minus_03_dot_40)\n (openable Drawer_bar__minus_00_dot_19_bar__plus_00_dot_94_bar__minus_03_dot_40)\n \n (atLocation agent1 loc_bar__minus_7_bar__minus_3_bar_1_bar_30)\n \n (cleanable Cloth_bar__minus_02_dot_84_bar__plus_01_dot_00_bar__minus_03_dot_45)\n (cleanable Cloth_bar__minus_00_dot_12_bar__plus_01_dot_17_bar__minus_03_dot_20)\n (cleanable Cloth_bar__minus_02_dot_65_bar__plus_00_dot_09_bar__minus_00_dot_82)\n (cleanable SoapBar_bar__minus_00_dot_16_bar__plus_00_dot_88_bar__minus_03_dot_18)\n \n \n \n \n \n \n \n \n \n \n (inReceptacle SoapBar_bar__minus_00_dot_16_bar__plus_00_dot_88_bar__minus_03_dot_18 Drawer_bar__minus_00_dot_19_bar__plus_00_dot_94_bar__minus_03_dot_40)\n (inReceptacle Cloth_bar__minus_00_dot_12_bar__plus_01_dot_17_bar__minus_03_dot_20 Dresser_bar__minus_00_dot_21_bar__plus_00_dot_81_bar__minus_03_dot_40)\n (inReceptacle Candle_bar__minus_00_dot_16_bar__plus_00_dot_35_bar__minus_03_dot_54 Drawer_bar__minus_00_dot_19_bar__plus_00_dot_42_bar__minus_03_dot_40)\n (inReceptacle Candle_bar__minus_00_dot_11_bar__plus_00_dot_35_bar__minus_03_dot_47 Drawer_bar__minus_00_dot_19_bar__plus_00_dot_42_bar__minus_03_dot_40)\n (inReceptacle SoapBottle_bar__minus_02_dot_61_bar__plus_00_dot_36_bar__minus_02_dot_92 Shelf_bar__minus_02_dot_58_bar__plus_00_dot_40_bar__minus_02_dot_92)\n (inReceptacle ToiletPaper_bar__minus_02_dot_58_bar__plus_00_dot_35_bar__minus_02_dot_51 Shelf_bar__minus_02_dot_58_bar__plus_00_dot_40_bar__minus_02_dot_92)\n (inReceptacle ToiletPaper_bar__minus_02_dot_69_bar__plus_00_dot_99_bar__minus_02_dot_92 CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92)\n (inReceptacle Cloth_bar__minus_02_dot_84_bar__plus_01_dot_00_bar__minus_03_dot_45 CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92)\n (inReceptacle SprayBottle_bar__minus_02_dot_69_bar__plus_00_dot_99_bar__minus_02_dot_39 CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92)\n (inReceptacle Mirror_bar__minus_02_dot_98_bar__plus_01_dot_57_bar__minus_02_dot_90 CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92)\n (inReceptacle SprayBottle_bar__minus_02_dot_92_bar__plus_00_dot_99_bar__minus_02_dot_92 CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92)\n (inReceptacle Candle_bar__minus_02_dot_55_bar__plus_00_dot_99_bar__minus_02_dot_92 CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92)\n (inReceptacle Towel_bar__minus_01_dot_34_bar__plus_01_dot_19_bar__minus_00_dot_11 TowelHolder_bar__minus_01_dot_34_bar__plus_01_dot_18_bar__plus_00_dot_00)\n (inReceptacle HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_48_bar__minus_02_dot_66 HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_02_dot_66)\n (inReceptacle Cloth_bar__minus_02_dot_65_bar__plus_00_dot_09_bar__minus_00_dot_82 Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83_bar_BathtubBasin)\n (inReceptacle SprayBottle_bar__minus_00_dot_09_bar__plus_01_dot_05_bar__minus_00_dot_48 Toilet_bar__minus_00_dot_41_bar_00_dot_00_bar__minus_00_dot_55)\n \n \n (receptacleAtLocation Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83_bar_BathtubBasin loc_bar__minus_6_bar__minus_2_bar_3_bar_60)\n (receptacleAtLocation CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92 loc_bar__minus_8_bar__minus_11_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_19_bar__plus_00_dot_16_bar__minus_03_dot_40 loc_bar__minus_5_bar__minus_11_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_19_bar__plus_00_dot_42_bar__minus_03_dot_40 loc_bar__minus_6_bar__minus_11_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_19_bar__plus_00_dot_68_bar__minus_03_dot_40 loc_bar__minus_5_bar__minus_12_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_19_bar__plus_00_dot_94_bar__minus_03_dot_40 loc_bar__minus_4_bar__minus_13_bar_1_bar_45)\n (receptacleAtLocation Dresser_bar__minus_00_dot_21_bar__plus_00_dot_81_bar__minus_03_dot_40 loc_bar__minus_3_bar__minus_13_bar_1_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_00_dot_23_bar_00_dot_00_bar__minus_02_dot_80 loc_bar__minus_5_bar__minus_9_bar_1_bar_60)\n (receptacleAtLocation HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_01_dot_55 loc_bar__minus_3_bar__minus_6_bar_1_bar_0)\n (receptacleAtLocation HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_02_dot_66 loc_bar__minus_3_bar__minus_11_bar_1_bar_0)\n (receptacleAtLocation Shelf_bar__minus_02_dot_54_bar__plus_00_dot_13_bar__minus_02_dot_92 loc_bar__minus_8_bar__minus_12_bar_3_bar_60)\n (receptacleAtLocation Shelf_bar__minus_02_dot_58_bar__plus_00_dot_40_bar__minus_02_dot_92 loc_bar__minus_5_bar__minus_11_bar_3_bar_45)\n (receptacleAtLocation Sink_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_02_dot_08_bar_SinkBasin loc_bar__minus_3_bar__minus_6_bar_2_bar_60)\n (receptacleAtLocation ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_87_bar__minus_00_dot_97 loc_bar__minus_2_bar__minus_4_bar_1_bar_60)\n (receptacleAtLocation Toilet_bar__minus_00_dot_41_bar_00_dot_00_bar__minus_00_dot_55 loc_bar__minus_2_bar__minus_5_bar_0_bar_60)\n (receptacleAtLocation TowelHolder_bar__minus_01_dot_34_bar__plus_01_dot_18_bar__plus_00_dot_00 loc_bar__minus_5_bar__minus_2_bar_0_bar_45)\n (objectAtLocation SprayBottle_bar__minus_02_dot_92_bar__plus_00_dot_99_bar__minus_02_dot_92 loc_bar__minus_8_bar__minus_11_bar_3_bar_45)\n (objectAtLocation Candle_bar__minus_00_dot_16_bar__plus_00_dot_35_bar__minus_03_dot_54 loc_bar__minus_6_bar__minus_11_bar_1_bar_45)\n (objectAtLocation Cloth_bar__minus_02_dot_84_bar__plus_01_dot_00_bar__minus_03_dot_45 loc_bar__minus_8_bar__minus_11_bar_3_bar_45)\n (objectAtLocation ToiletPaper_bar__minus_02_dot_69_bar__plus_00_dot_99_bar__minus_02_dot_92 loc_bar__minus_8_bar__minus_11_bar_3_bar_45)\n (objectAtLocation SprayBottle_bar__minus_00_dot_09_bar__plus_01_dot_05_bar__minus_00_dot_48 loc_bar__minus_2_bar__minus_5_bar_0_bar_60)\n (objectAtLocation Candle_bar__minus_00_dot_11_bar__plus_00_dot_35_bar__minus_03_dot_47 loc_bar__minus_6_bar__minus_11_bar_1_bar_45)\n (objectAtLocation Cloth_bar__minus_02_dot_65_bar__plus_00_dot_09_bar__minus_00_dot_82 loc_bar__minus_6_bar__minus_2_bar_3_bar_60)\n (objectAtLocation Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83 loc_bar__minus_7_bar__minus_3_bar_3_bar_60)\n (objectAtLocation Sink_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_02_dot_08 loc_bar__minus_4_bar__minus_8_bar_1_bar_60)\n (objectAtLocation Mirror_bar__minus_02_dot_98_bar__plus_01_dot_57_bar__minus_02_dot_90 loc_bar__minus_8_bar__minus_11_bar_3_bar_45)\n (objectAtLocation HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_48_bar__minus_02_dot_66 loc_bar__minus_3_bar__minus_11_bar_1_bar_0)\n (objectAtLocation SoapBar_bar__minus_00_dot_16_bar__plus_00_dot_88_bar__minus_03_dot_18 loc_bar__minus_4_bar__minus_13_bar_1_bar_45)\n (objectAtLocation ToiletPaper_bar__minus_02_dot_58_bar__plus_00_dot_35_bar__minus_02_dot_51 loc_bar__minus_5_bar__minus_11_bar_3_bar_45)\n (objectAtLocation LightSwitch_bar__minus_00_dot_36_bar__plus_01_dot_33_bar__minus_04_dot_00 loc_bar__minus_2_bar__minus_13_bar_2_bar_30)\n (objectAtLocation ToiletPaper_bar__minus_00_dot_10_bar__plus_00_dot_87_bar__minus_01_dot_03 loc_bar__minus_2_bar__minus_4_bar_1_bar_60)\n (objectAtLocation Towel_bar__minus_01_dot_34_bar__plus_01_dot_19_bar__minus_00_dot_11 loc_bar__minus_5_bar__minus_2_bar_0_bar_45)\n (objectAtLocation SoapBottle_bar__minus_02_dot_61_bar__plus_00_dot_36_bar__minus_02_dot_92 loc_bar__minus_5_bar__minus_11_bar_3_bar_45)\n (objectAtLocation ScrubBrush_bar__minus_00_dot_14_bar_00_dot_00_bar__minus_00_dot_11 loc_bar__minus_2_bar__minus_4_bar_0_bar_60)\n (objectAtLocation Cloth_bar__minus_00_dot_12_bar__plus_01_dot_17_bar__minus_03_dot_20 loc_bar__minus_3_bar__minus_13_bar_1_bar_60)\n (objectAtLocation Plunger_bar__minus_00_dot_37_bar_00_dot_00_bar__minus_00_dot_10 loc_bar__minus_2_bar__minus_4_bar_0_bar_60)\n (objectAtLocation Candle_bar__minus_02_dot_55_bar__plus_00_dot_99_bar__minus_02_dot_92 loc_bar__minus_8_bar__minus_11_bar_3_bar_45)\n (objectAtLocation SprayBottle_bar__minus_02_dot_69_bar__plus_00_dot_99_bar__minus_02_dot_39 loc_bar__minus_8_bar__minus_11_bar_3_bar_45)\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 ShelfType)\n (isClean ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to dresser 1", "take cloth 3 from dresser 1", "go to sinkbasin 1", "clean cloth 3 with sinkbasin 1", "go to shelf 1", "move cloth 3 to shelf 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-Shelf-415/trial_T20190909_051848_377511/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Cloth-None-Shelf-415/trial_T20190909_051848_377511/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..57d3096ecebeb57eb53393c82e24eb24530de7b1 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Cloth-None-Shelf-415/trial_T20190909_051848_377511/initial_state.pddl @@ -0,0 +1,493 @@ + +(define (problem plan_trial_T20190909_051848_377511) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83 - object + Candle_bar__minus_00_dot_11_bar__plus_00_dot_35_bar__minus_03_dot_47 - object + Candle_bar__minus_00_dot_16_bar__plus_00_dot_35_bar__minus_03_dot_54 - object + Candle_bar__minus_02_dot_55_bar__plus_00_dot_99_bar__minus_02_dot_92 - object + Cloth_bar__minus_00_dot_12_bar__plus_01_dot_17_bar__minus_03_dot_20 - object + Cloth_bar__minus_02_dot_65_bar__plus_00_dot_09_bar__minus_00_dot_82 - object + Cloth_bar__minus_02_dot_84_bar__plus_01_dot_00_bar__minus_03_dot_45 - object + Faucet_bar__minus_00_dot_04_bar__plus_01_dot_02_bar__minus_02_dot_08 - object + HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_48_bar__minus_02_dot_66 - object + LightSwitch_bar__minus_00_dot_36_bar__plus_01_dot_33_bar__minus_04_dot_00 - object + Mirror_bar__minus_02_dot_98_bar__plus_01_dot_57_bar__minus_02_dot_90 - object + Plunger_bar__minus_00_dot_37_bar_00_dot_00_bar__minus_00_dot_10 - object + ScrubBrush_bar__minus_00_dot_14_bar_00_dot_00_bar__minus_00_dot_11 - object + ShowerCurtain_bar__minus_02_dot_19_bar__plus_01_dot_92_bar__minus_01_dot_56 - object + ShowerHead_bar__minus_02_dot_58_bar__plus_01_dot_20_bar__minus_00_dot_06 - object + Sink_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_02_dot_08 - object + SoapBar_bar__minus_00_dot_16_bar__plus_00_dot_88_bar__minus_03_dot_18 - object + SoapBottle_bar__minus_02_dot_61_bar__plus_00_dot_36_bar__minus_02_dot_92 - object + SprayBottle_bar__minus_00_dot_09_bar__plus_01_dot_05_bar__minus_00_dot_48 - object + SprayBottle_bar__minus_02_dot_69_bar__plus_00_dot_99_bar__minus_02_dot_39 - object + SprayBottle_bar__minus_02_dot_92_bar__plus_00_dot_99_bar__minus_02_dot_92 - object + ToiletPaper_bar__minus_00_dot_10_bar__plus_00_dot_87_bar__minus_01_dot_03 - object + ToiletPaper_bar__minus_02_dot_58_bar__plus_00_dot_35_bar__minus_02_dot_51 - object + ToiletPaper_bar__minus_02_dot_69_bar__plus_00_dot_99_bar__minus_02_dot_92 - object + Towel_bar__minus_01_dot_34_bar__plus_01_dot_19_bar__minus_00_dot_11 - object + Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83_bar_BathtubBasin - receptacle + CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92 - receptacle + Drawer_bar__minus_00_dot_19_bar__plus_00_dot_16_bar__minus_03_dot_40 - receptacle + Drawer_bar__minus_00_dot_19_bar__plus_00_dot_42_bar__minus_03_dot_40 - receptacle + Drawer_bar__minus_00_dot_19_bar__plus_00_dot_68_bar__minus_03_dot_40 - receptacle + Drawer_bar__minus_00_dot_19_bar__plus_00_dot_94_bar__minus_03_dot_40 - receptacle + Dresser_bar__minus_00_dot_21_bar__plus_00_dot_81_bar__minus_03_dot_40 - receptacle + GarbageCan_bar__minus_00_dot_23_bar_00_dot_00_bar__minus_02_dot_80 - receptacle + HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_01_dot_55 - receptacle + HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_02_dot_66 - receptacle + Shelf_bar__minus_02_dot_54_bar__plus_00_dot_13_bar__minus_02_dot_92 - receptacle + Shelf_bar__minus_02_dot_58_bar__plus_00_dot_40_bar__minus_02_dot_92 - receptacle + Sink_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_02_dot_08_bar_SinkBasin - receptacle + ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_87_bar__minus_00_dot_97 - receptacle + Toilet_bar__minus_00_dot_41_bar_00_dot_00_bar__minus_00_dot_55 - receptacle + TowelHolder_bar__minus_01_dot_34_bar__plus_01_dot_18_bar__plus_00_dot_00 - receptacle + loc_bar__minus_5_bar__minus_12_bar_1_bar_45 - location + loc_bar__minus_3_bar__minus_11_bar_1_bar_0 - location + loc_bar__minus_3_bar__minus_6_bar_2_bar_60 - location + loc_bar__minus_2_bar__minus_4_bar_0_bar_60 - location + loc_bar__minus_2_bar__minus_13_bar_2_bar_30 - location + loc_bar__minus_2_bar__minus_5_bar_0_bar_60 - location + loc_bar__minus_8_bar__minus_12_bar_3_bar_60 - location + loc_bar__minus_6_bar__minus_11_bar_1_bar_45 - location + loc_bar__minus_5_bar__minus_11_bar_1_bar_60 - location + loc_bar__minus_3_bar__minus_13_bar_1_bar_60 - location + loc_bar__minus_6_bar__minus_2_bar_3_bar_60 - location + loc_bar__minus_2_bar__minus_4_bar_1_bar_60 - location + loc_bar__minus_4_bar__minus_8_bar_1_bar_60 - location + loc_bar__minus_3_bar__minus_6_bar_1_bar_0 - location + loc_bar__minus_5_bar__minus_11_bar_3_bar_45 - location + loc_bar__minus_5_bar__minus_9_bar_1_bar_60 - location + loc_bar__minus_8_bar__minus_11_bar_3_bar_45 - location + loc_bar__minus_5_bar__minus_2_bar_0_bar_45 - location + loc_bar__minus_4_bar__minus_13_bar_1_bar_45 - location + loc_bar__minus_7_bar__minus_3_bar_3_bar_60 - location + loc_bar__minus_7_bar__minus_3_bar_1_bar_30 - location + ) + + +(:init + + + (receptacleType HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_01_dot_55 HandTowelHolderType) + (receptacleType HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_02_dot_66 HandTowelHolderType) + (receptacleType Dresser_bar__minus_00_dot_21_bar__plus_00_dot_81_bar__minus_03_dot_40 DresserType) + (receptacleType CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92 CounterTopType) + (receptacleType ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_87_bar__minus_00_dot_97 ToiletPaperHangerType) + (receptacleType TowelHolder_bar__minus_01_dot_34_bar__plus_01_dot_18_bar__plus_00_dot_00 TowelHolderType) + (receptacleType Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83_bar_BathtubBasin BathtubBasinType) + (receptacleType Drawer_bar__minus_00_dot_19_bar__plus_00_dot_42_bar__minus_03_dot_40 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_19_bar__plus_00_dot_16_bar__minus_03_dot_40 DrawerType) + (receptacleType Shelf_bar__minus_02_dot_58_bar__plus_00_dot_40_bar__minus_02_dot_92 ShelfType) + (receptacleType Sink_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_02_dot_08_bar_SinkBasin SinkBasinType) + (receptacleType GarbageCan_bar__minus_00_dot_23_bar_00_dot_00_bar__minus_02_dot_80 GarbageCanType) + (receptacleType Drawer_bar__minus_00_dot_19_bar__plus_00_dot_68_bar__minus_03_dot_40 DrawerType) + (receptacleType Shelf_bar__minus_02_dot_54_bar__plus_00_dot_13_bar__minus_02_dot_92 ShelfType) + (receptacleType Drawer_bar__minus_00_dot_19_bar__plus_00_dot_94_bar__minus_03_dot_40 DrawerType) + (receptacleType Toilet_bar__minus_00_dot_41_bar_00_dot_00_bar__minus_00_dot_55 ToiletType) + (objectType Plunger_bar__minus_00_dot_37_bar_00_dot_00_bar__minus_00_dot_10 PlungerType) + (objectType Cloth_bar__minus_02_dot_84_bar__plus_01_dot_00_bar__minus_03_dot_45 ClothType) + (objectType HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_48_bar__minus_02_dot_66 HandTowelType) + (objectType Cloth_bar__minus_00_dot_12_bar__plus_01_dot_17_bar__minus_03_dot_20 ClothType) + (objectType ScrubBrush_bar__minus_00_dot_14_bar_00_dot_00_bar__minus_00_dot_11 ScrubBrushType) + (objectType Candle_bar__minus_02_dot_55_bar__plus_00_dot_99_bar__minus_02_dot_92 CandleType) + (objectType SprayBottle_bar__minus_02_dot_92_bar__plus_00_dot_99_bar__minus_02_dot_92 SprayBottleType) + (objectType Candle_bar__minus_00_dot_11_bar__plus_00_dot_35_bar__minus_03_dot_47 CandleType) + (objectType Candle_bar__minus_00_dot_16_bar__plus_00_dot_35_bar__minus_03_dot_54 CandleType) + (objectType Cloth_bar__minus_02_dot_65_bar__plus_00_dot_09_bar__minus_00_dot_82 ClothType) + (objectType ToiletPaper_bar__minus_02_dot_58_bar__plus_00_dot_35_bar__minus_02_dot_51 ToiletPaperType) + (objectType Towel_bar__minus_01_dot_34_bar__plus_01_dot_19_bar__minus_00_dot_11 TowelType) + (objectType ToiletPaper_bar__minus_00_dot_10_bar__plus_00_dot_87_bar__minus_01_dot_03 ToiletPaperType) + (objectType ToiletPaper_bar__minus_02_dot_69_bar__plus_00_dot_99_bar__minus_02_dot_92 ToiletPaperType) + (objectType SprayBottle_bar__minus_02_dot_69_bar__plus_00_dot_99_bar__minus_02_dot_39 SprayBottleType) + (objectType Mirror_bar__minus_02_dot_98_bar__plus_01_dot_57_bar__minus_02_dot_90 MirrorType) + (objectType Sink_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_02_dot_08 SinkType) + (objectType SprayBottle_bar__minus_00_dot_09_bar__plus_01_dot_05_bar__minus_00_dot_48 SprayBottleType) + (objectType SoapBottle_bar__minus_02_dot_61_bar__plus_00_dot_36_bar__minus_02_dot_92 SoapBottleType) + (objectType LightSwitch_bar__minus_00_dot_36_bar__plus_01_dot_33_bar__minus_04_dot_00 LightSwitchType) + (objectType SoapBar_bar__minus_00_dot_16_bar__plus_00_dot_88_bar__minus_03_dot_18 SoapBarType) + (objectType Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83 BathtubType) + (canContain HandTowelHolderType HandTowelType) + (canContain HandTowelHolderType HandTowelType) + (canContain DresserType CandleType) + (canContain DresserType SprayBottleType) + (canContain DresserType ToiletPaperType) + (canContain DresserType ClothType) + (canContain CounterTopType CandleType) + (canContain CounterTopType SoapBarType) + (canContain CounterTopType SprayBottleType) + (canContain CounterTopType ToiletPaperType) + (canContain CounterTopType SoapBottleType) + (canContain CounterTopType ClothType) + (canContain CounterTopType HandTowelType) + (canContain ToiletPaperHangerType ToiletPaperType) + (canContain TowelHolderType TowelType) + (canContain BathtubBasinType ClothType) + (canContain BathtubBasinType HandTowelType) + (canContain BathtubBasinType SoapBarType) + (canContain DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ClothType) + (canContain DrawerType HandTowelType) + (canContain DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ClothType) + (canContain DrawerType HandTowelType) + (canContain ShelfType CandleType) + (canContain ShelfType SoapBarType) + (canContain ShelfType SprayBottleType) + (canContain ShelfType ToiletPaperType) + (canContain ShelfType SoapBottleType) + (canContain ShelfType ClothType) + (canContain ShelfType HandTowelType) + (canContain SinkBasinType SoapBarType) + (canContain SinkBasinType ClothType) + (canContain SinkBasinType HandTowelType) + (canContain GarbageCanType SoapBarType) + (canContain GarbageCanType SprayBottleType) + (canContain GarbageCanType ToiletPaperType) + (canContain GarbageCanType SoapBottleType) + (canContain GarbageCanType ClothType) + (canContain GarbageCanType HandTowelType) + (canContain DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ClothType) + (canContain DrawerType HandTowelType) + (canContain ShelfType CandleType) + (canContain ShelfType SoapBarType) + (canContain ShelfType SprayBottleType) + (canContain ShelfType ToiletPaperType) + (canContain ShelfType SoapBottleType) + (canContain ShelfType ClothType) + (canContain ShelfType HandTowelType) + (canContain DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ClothType) + (canContain DrawerType HandTowelType) + (canContain ToiletType SoapBottleType) + (canContain ToiletType 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Drawer_bar__minus_00_dot_19_bar__plus_00_dot_42_bar__minus_03_dot_40) + (inReceptacle Candle_bar__minus_00_dot_11_bar__plus_00_dot_35_bar__minus_03_dot_47 Drawer_bar__minus_00_dot_19_bar__plus_00_dot_42_bar__minus_03_dot_40) + (inReceptacle SoapBottle_bar__minus_02_dot_61_bar__plus_00_dot_36_bar__minus_02_dot_92 Shelf_bar__minus_02_dot_58_bar__plus_00_dot_40_bar__minus_02_dot_92) + (inReceptacle ToiletPaper_bar__minus_02_dot_58_bar__plus_00_dot_35_bar__minus_02_dot_51 Shelf_bar__minus_02_dot_58_bar__plus_00_dot_40_bar__minus_02_dot_92) + (inReceptacle ToiletPaper_bar__minus_02_dot_69_bar__plus_00_dot_99_bar__minus_02_dot_92 CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92) + (inReceptacle Cloth_bar__minus_02_dot_84_bar__plus_01_dot_00_bar__minus_03_dot_45 CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92) + (inReceptacle SprayBottle_bar__minus_02_dot_69_bar__plus_00_dot_99_bar__minus_02_dot_39 CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92) + (inReceptacle Mirror_bar__minus_02_dot_98_bar__plus_01_dot_57_bar__minus_02_dot_90 CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92) + (inReceptacle SprayBottle_bar__minus_02_dot_92_bar__plus_00_dot_99_bar__minus_02_dot_92 CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92) + (inReceptacle Candle_bar__minus_02_dot_55_bar__plus_00_dot_99_bar__minus_02_dot_92 CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92) + (inReceptacle Towel_bar__minus_01_dot_34_bar__plus_01_dot_19_bar__minus_00_dot_11 TowelHolder_bar__minus_01_dot_34_bar__plus_01_dot_18_bar__plus_00_dot_00) + (inReceptacle HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_48_bar__minus_02_dot_66 HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_02_dot_66) + (inReceptacle Cloth_bar__minus_02_dot_65_bar__plus_00_dot_09_bar__minus_00_dot_82 Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83_bar_BathtubBasin) + (inReceptacle SprayBottle_bar__minus_00_dot_09_bar__plus_01_dot_05_bar__minus_00_dot_48 Toilet_bar__minus_00_dot_41_bar_00_dot_00_bar__minus_00_dot_55) + + + (receptacleAtLocation Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83_bar_BathtubBasin loc_bar__minus_6_bar__minus_2_bar_3_bar_60) + (receptacleAtLocation CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92 loc_bar__minus_8_bar__minus_11_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_19_bar__plus_00_dot_16_bar__minus_03_dot_40 loc_bar__minus_5_bar__minus_11_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__minus_00_dot_19_bar__plus_00_dot_42_bar__minus_03_dot_40 loc_bar__minus_6_bar__minus_11_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_19_bar__plus_00_dot_68_bar__minus_03_dot_40 loc_bar__minus_5_bar__minus_12_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_19_bar__plus_00_dot_94_bar__minus_03_dot_40 loc_bar__minus_4_bar__minus_13_bar_1_bar_45) + (receptacleAtLocation Dresser_bar__minus_00_dot_21_bar__plus_00_dot_81_bar__minus_03_dot_40 loc_bar__minus_3_bar__minus_13_bar_1_bar_60) + (receptacleAtLocation GarbageCan_bar__minus_00_dot_23_bar_00_dot_00_bar__minus_02_dot_80 loc_bar__minus_5_bar__minus_9_bar_1_bar_60) + (receptacleAtLocation HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_01_dot_55 loc_bar__minus_3_bar__minus_6_bar_1_bar_0) + (receptacleAtLocation HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_02_dot_66 loc_bar__minus_3_bar__minus_11_bar_1_bar_0) + (receptacleAtLocation Shelf_bar__minus_02_dot_54_bar__plus_00_dot_13_bar__minus_02_dot_92 loc_bar__minus_8_bar__minus_12_bar_3_bar_60) + (receptacleAtLocation Shelf_bar__minus_02_dot_58_bar__plus_00_dot_40_bar__minus_02_dot_92 loc_bar__minus_5_bar__minus_11_bar_3_bar_45) + (receptacleAtLocation Sink_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_02_dot_08_bar_SinkBasin loc_bar__minus_3_bar__minus_6_bar_2_bar_60) + (receptacleAtLocation ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_87_bar__minus_00_dot_97 loc_bar__minus_2_bar__minus_4_bar_1_bar_60) + (receptacleAtLocation Toilet_bar__minus_00_dot_41_bar_00_dot_00_bar__minus_00_dot_55 loc_bar__minus_2_bar__minus_5_bar_0_bar_60) + (receptacleAtLocation TowelHolder_bar__minus_01_dot_34_bar__plus_01_dot_18_bar__plus_00_dot_00 loc_bar__minus_5_bar__minus_2_bar_0_bar_45) + (objectAtLocation SprayBottle_bar__minus_02_dot_92_bar__plus_00_dot_99_bar__minus_02_dot_92 loc_bar__minus_8_bar__minus_11_bar_3_bar_45) + (objectAtLocation Candle_bar__minus_00_dot_16_bar__plus_00_dot_35_bar__minus_03_dot_54 loc_bar__minus_6_bar__minus_11_bar_1_bar_45) + (objectAtLocation Cloth_bar__minus_02_dot_84_bar__plus_01_dot_00_bar__minus_03_dot_45 loc_bar__minus_8_bar__minus_11_bar_3_bar_45) + (objectAtLocation ToiletPaper_bar__minus_02_dot_69_bar__plus_00_dot_99_bar__minus_02_dot_92 loc_bar__minus_8_bar__minus_11_bar_3_bar_45) + (objectAtLocation SprayBottle_bar__minus_00_dot_09_bar__plus_01_dot_05_bar__minus_00_dot_48 loc_bar__minus_2_bar__minus_5_bar_0_bar_60) + (objectAtLocation Candle_bar__minus_00_dot_11_bar__plus_00_dot_35_bar__minus_03_dot_47 loc_bar__minus_6_bar__minus_11_bar_1_bar_45) + (objectAtLocation Cloth_bar__minus_02_dot_65_bar__plus_00_dot_09_bar__minus_00_dot_82 loc_bar__minus_6_bar__minus_2_bar_3_bar_60) + (objectAtLocation Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83 loc_bar__minus_7_bar__minus_3_bar_3_bar_60) + (objectAtLocation Sink_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_02_dot_08 loc_bar__minus_4_bar__minus_8_bar_1_bar_60) + (objectAtLocation Mirror_bar__minus_02_dot_98_bar__plus_01_dot_57_bar__minus_02_dot_90 loc_bar__minus_8_bar__minus_11_bar_3_bar_45) + (objectAtLocation HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_48_bar__minus_02_dot_66 loc_bar__minus_3_bar__minus_11_bar_1_bar_0) + (objectAtLocation SoapBar_bar__minus_00_dot_16_bar__plus_00_dot_88_bar__minus_03_dot_18 loc_bar__minus_4_bar__minus_13_bar_1_bar_45) + (objectAtLocation ToiletPaper_bar__minus_02_dot_58_bar__plus_00_dot_35_bar__minus_02_dot_51 loc_bar__minus_5_bar__minus_11_bar_3_bar_45) + (objectAtLocation LightSwitch_bar__minus_00_dot_36_bar__plus_01_dot_33_bar__minus_04_dot_00 loc_bar__minus_2_bar__minus_13_bar_2_bar_30) + (objectAtLocation ToiletPaper_bar__minus_00_dot_10_bar__plus_00_dot_87_bar__minus_01_dot_03 loc_bar__minus_2_bar__minus_4_bar_1_bar_60) + (objectAtLocation Towel_bar__minus_01_dot_34_bar__plus_01_dot_19_bar__minus_00_dot_11 loc_bar__minus_5_bar__minus_2_bar_0_bar_45) + (objectAtLocation SoapBottle_bar__minus_02_dot_61_bar__plus_00_dot_36_bar__minus_02_dot_92 loc_bar__minus_5_bar__minus_11_bar_3_bar_45) + (objectAtLocation ScrubBrush_bar__minus_00_dot_14_bar_00_dot_00_bar__minus_00_dot_11 loc_bar__minus_2_bar__minus_4_bar_0_bar_60) + (objectAtLocation Cloth_bar__minus_00_dot_12_bar__plus_01_dot_17_bar__minus_03_dot_20 loc_bar__minus_3_bar__minus_13_bar_1_bar_60) + (objectAtLocation Plunger_bar__minus_00_dot_37_bar_00_dot_00_bar__minus_00_dot_10 loc_bar__minus_2_bar__minus_4_bar_0_bar_60) + (objectAtLocation Candle_bar__minus_02_dot_55_bar__plus_00_dot_99_bar__minus_02_dot_92 loc_bar__minus_8_bar__minus_11_bar_3_bar_45) + (objectAtLocation SprayBottle_bar__minus_02_dot_69_bar__plus_00_dot_99_bar__minus_02_dot_39 loc_bar__minus_8_bar__minus_11_bar_3_bar_45) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (cleanable ?o) + (objectType ?o ClothType) + (receptacleType ?r ShelfType) + (isClean ?o) + (inReceptacle ?o ?r) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git 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0.989500046, + "z": -2.92300034 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Towel_f66c2b38", + "position": { + "x": -1.33899987, + "y": 1.19300008, + "z": -0.1069 + }, + "rotation": { + "x": 0.0, + "y": 179.999969, + "z": 0.0 + } + }, + { + "objectName": "SoapBottle_201a1dc1", + "position": { + "x": -2.6083653, + "y": 0.359402835, + "z": -2.923 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "ScrubBrush_525406ff", + "position": { + "x": -0.136, + "y": -0.0002756752, + "z": -0.105 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Cloth_925ae57e", + "position": { + "x": -2.84171915, + "y": 0.997712, + "z": -3.45472 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Plunger_cb0776d8", + "position": { + "x": -0.370999247, + "y": -0.000738665462, + "z": -0.09700089 + }, + "rotation": { + "x": -0.00118371623, + "y": 0.0004447984, + "z": 0.000782377669 + } + }, + { + "objectName": "Candle_7c60a913", + "position": { + "x": -0.162237614, + "y": 0.352441162, + "z": -3.543672 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "SprayBottle_c604c576", + "position": { + "x": -2.91538239, + "y": 0.993904054, + "z": -2.92300034 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 3032653572, + "scene_num": 415 + }, + "task_id": "trial_T20190909_051848_377511", + "task_type": "pick_clean_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A14IPKOBOPID9H_3EFE17QCRFW8G14IRNL90BMRP3QHSG", + "high_descs": [ + "Turn right and go to the wall then turn right and face the counter", + "Pick up the rag from the counter", + "Turn right and go to the end of the counter then turn right then left to go around the wall then go to the right to the sink and turn to face the side of the sink", + "Put the cloth in the sink and turn on the water, then turn off the water and pick up the cloth from the sink", + "Turn right and go towards the bath tub then turn left and go towards the door \nthen turn right and go back to the counter", + "Put the cloth on the shelf under the counter" + ], + "task_desc": "Put a rinsed cloth on the shelf under the counter", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1HKHM4NVAO98H_3R0T90IZ1V3E9OKBAVDR0668O12CGV", + "high_descs": [ + "turn right and walk to the end of the room, then turn right to face the counter", + "grab the cloth off of the counter", + "turn around and walk over to the sink on the opposite side of the room", + "rinse the cloth out in the sink, then pick it back up", + "turn right and walk back over to the counter in the corner of the room", + "place the clean cloth in the second shelf from the bottom" + ], + "task_desc": "place a clean cloth in the bathroom shelf", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A3F7G1FSFWQPLE_34FNN24DCP0TWUWWPRCPT0721GW5Y4", + "high_descs": [ + "Turn right and walk to the wall, then turn right and walk up to the white table.", + "Pick up the dirty white rag off of the table.", + "Walk over to the sink.", + "Put the dirty rag into the sink and turn on the water, after a couple seconds turn the water off and remove the now clean white rag.", + "Turn right and walk towards the tub, then hang a left and walk towards the door, turn right and walk over to the white table.", + "Put the clean white rag up the upper shelf below the white table to the left of the toilet paper roll." + ], + "task_desc": "Put a clean white rag on a shelf below a white table.", + "votes": [ + 1, + 0, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Cup-None-Microwave-14/trial_T20190907_120757_250658/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Cup-None-Microwave-14/trial_T20190907_120757_250658/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..68210ae12e6089c7561e70b4e162db6be97504f8 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Cup-None-Microwave-14/trial_T20190907_120757_250658/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\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 cup in microwave.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190907_120757_250658)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\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_80_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_46 - object\n Bowl_bar__plus_01_dot_81_bar__plus_01_dot_63_bar__minus_01_dot_38 - object\n Bread_bar__plus_01_dot_62_bar__plus_00_dot_98_bar__plus_00_dot_76 - object\n ButterKnife_bar__plus_01_dot_76_bar__plus_00_dot_91_bar__plus_01_dot_09 - object\n Chair_bar__plus_00_dot_40_bar__plus_00_dot_00_bar__plus_01_dot_72 - object\n Chair_bar__plus_01_dot_09_bar__plus_00_dot_00_bar__plus_01_dot_74 - object\n Cup_bar__plus_01_dot_74_bar__plus_01_dot_01_bar__minus_00_dot_68 - object\n Cup_bar__plus_01_dot_77_bar__plus_01_dot_65_bar__minus_00_dot_50 - object\n Cup_bar__plus_01_dot_77_bar__plus_02_dot_14_bar__plus_00_dot_81 - object\n Cup_bar__minus_00_dot_84_bar__plus_00_dot_74_bar__minus_01_dot_56 - object\n DishSponge_bar__plus_00_dot_22_bar__plus_00_dot_91_bar__plus_01_dot_27 - object\n DishSponge_bar__plus_00_dot_99_bar__plus_00_dot_91_bar__plus_01_dot_00 - object\n DishSponge_bar__plus_01_dot_50_bar__plus_00_dot_91_bar__plus_01_dot_00 - object\n Egg_bar__plus_01_dot_71_bar__plus_01_dot_05_bar__minus_00_dot_89 - object\n Egg_bar__plus_01_dot_80_bar__plus_00_dot_11_bar__plus_01_dot_59 - object\n Faucet_bar__plus_01_dot_11_bar__plus_01_dot_14_bar__minus_01_dot_76 - object\n Fork_bar__plus_01_dot_84_bar__plus_00_dot_91_bar__plus_00_dot_42 - object\n Knife_bar__plus_01_dot_80_bar__plus_00_dot_94_bar__minus_01_dot_55 - object\n Ladle_bar__plus_00_dot_48_bar__plus_00_dot_95_bar__plus_01_dot_09 - object\n Ladle_bar__plus_01_dot_20_bar__plus_00_dot_93_bar__plus_00_dot_74 - object\n Ladle_bar__plus_01_dot_81_bar__plus_01_dot_70_bar_00_dot_00 - object\n Lettuce_bar__plus_00_dot_86_bar__plus_00_dot_99_bar__plus_01_dot_12 - object\n LightSwitch_bar__plus_02_dot_00_bar__plus_01_dot_26_bar__plus_03_dot_09 - object\n Mug_bar__minus_00_dot_37_bar__plus_01_dot_05_bar__minus_01_dot_38 - object\n Pan_bar__plus_01_dot_28_bar__plus_00_dot_90_bar__plus_01_dot_19 - object\n PepperShaker_bar__plus_01_dot_68_bar__plus_00_dot_91_bar__plus_00_dot_36 - object\n PepperShaker_bar__plus_01_dot_84_bar__plus_01_dot_63_bar__minus_01_dot_05 - object\n Plate_bar__plus_01_dot_81_bar__plus_01_dot_63_bar__minus_00_dot_83 - object\n Plate_bar__plus_01_dot_87_bar__plus_00_dot_91_bar__minus_01_dot_72 - object\n Plate_bar__minus_00_dot_74_bar__plus_00_dot_46_bar__minus_01_dot_48 - object\n Potato_bar__minus_00_dot_74_bar__plus_01_dot_72_bar__minus_01_dot_59 - object\n Pot_bar__plus_01_dot_55_bar__plus_00_dot_91_bar__plus_00_dot_08 - object\n Pot_bar__plus_01_dot_81_bar__plus_00_dot_91_bar__plus_00_dot_08 - object\n Pot_bar__plus_01_dot_81_bar__plus_00_dot_91_bar__minus_00_dot_32 - object\n SaltShaker_bar__plus_01_dot_01_bar__plus_00_dot_91_bar__minus_01_dot_23 - object\n Sink_bar__plus_01_dot_10_bar__plus_00_dot_91_bar__minus_01_dot_60 - object\n SoapBottle_bar__plus_01_dot_76_bar__plus_00_dot_91_bar__plus_01_dot_27 - object\n SoapBottle_bar__plus_01_dot_77_bar__plus_01_dot_65_bar__minus_00_dot_35 - object\n Spatula_bar__plus_00_dot_89_bar__plus_00_dot_78_bar__minus_01_dot_65 - object\n Spoon_bar__plus_01_dot_17_bar__plus_00_dot_75_bar__minus_01_dot_49 - object\n StoveKnob_bar__plus_01_dot_36_bar__plus_00_dot_82_bar__plus_00_dot_09 - object\n StoveKnob_bar__plus_01_dot_36_bar__plus_00_dot_82_bar__minus_00_dot_05 - object\n StoveKnob_bar__plus_01_dot_36_bar__plus_00_dot_82_bar__minus_00_dot_18 - object\n StoveKnob_bar__plus_01_dot_36_bar__plus_00_dot_82_bar__minus_00_dot_32 - object\n Tomato_bar__minus_00_dot_69_bar__plus_00_dot_81_bar__minus_01_dot_52 - 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_6_bar_12_bar_0_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType StoveBurner_bar__plus_01_dot_55_bar__plus_00_dot_91_bar__plus_00_dot_08 StoveBurnerType)\n (receptacleType Fridge_bar__minus_00_dot_53_bar__plus_00_dot_00_bar__minus_01_dot_55 FridgeType)\n (receptacleType GarbageCan_bar__plus_01_dot_77_bar__plus_00_dot_00_bar__plus_01_dot_69 GarbageCanType)\n (receptacleType 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(objectType Cup_bar__plus_01_dot_77_bar__plus_02_dot_14_bar__plus_00_dot_81 CupType)\n (objectType Pot_bar__plus_01_dot_81_bar__plus_00_dot_91_bar__minus_00_dot_32 PotType)\n (objectType Tomato_bar__minus_00_dot_69_bar__plus_00_dot_81_bar__minus_01_dot_52 TomatoType)\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_71_bar__plus_01_dot_05_bar__minus_00_dot_89 EggType)\n (objectType DishSponge_bar__plus_00_dot_22_bar__plus_00_dot_91_bar__plus_01_dot_27 DishSpongeType)\n (objectType Knife_bar__plus_01_dot_80_bar__plus_00_dot_94_bar__minus_01_dot_55 KnifeType)\n (objectType Sink_bar__plus_01_dot_10_bar__plus_00_dot_91_bar__minus_01_dot_60 SinkType)\n (objectType Ladle_bar__plus_01_dot_81_bar__plus_01_dot_70_bar_00_dot_00 LadleType)\n (objectType 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PlateType)\n (objectType SoapBottle_bar__plus_01_dot_76_bar__plus_00_dot_91_bar__plus_01_dot_27 SoapBottleType)\n (objectType Bowl_bar__plus_01_dot_80_bar__plus_00_dot_91_bar__minus_01_dot_46 BowlType)\n (objectType SoapBottle_bar__plus_01_dot_77_bar__plus_01_dot_65_bar__minus_00_dot_35 SoapBottleType)\n (objectType StoveKnob_bar__plus_01_dot_36_bar__plus_00_dot_82_bar__minus_00_dot_32 StoveKnobType)\n (canContain StoveBurnerType PotType)\n (canContain StoveBurnerType PanType)\n (canContain FridgeType BreadType)\n (canContain FridgeType BowlType)\n (canContain FridgeType PotType)\n (canContain FridgeType MugType)\n (canContain FridgeType EggType)\n (canContain FridgeType LettuceType)\n (canContain FridgeType PotatoType)\n (canContain FridgeType CupType)\n (canContain FridgeType PlateType)\n (canContain FridgeType TomatoType)\n (canContain FridgeType AppleType)\n (canContain FridgeType PanType)\n (canContain GarbageCanType BreadType)\n (canContain GarbageCanType DishSpongeType)\n (canContain GarbageCanType EggType)\n (canContain GarbageCanType SoapBottleType)\n (canContain GarbageCanType LettuceType)\n (canContain GarbageCanType PotatoType)\n (canContain GarbageCanType TomatoType)\n (canContain GarbageCanType AppleType)\n (canContain CoffeeMachineType MugType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType BowlType)\n (canContain CabinetType PotType)\n (canContain CabinetType MugType)\n (canContain CabinetType LadleType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType CupType)\n (canContain CabinetType PlateType)\n (canContain CabinetType PepperShakerType)\n (canContain CabinetType PanType)\n (canContain StoveBurnerType PotType)\n (canContain 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 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Fridge_bar__minus_00_dot_53_bar__plus_00_dot_00_bar__minus_01_dot_55)\n (inReceptacle Cup_bar__minus_00_dot_84_bar__plus_00_dot_74_bar__minus_01_dot_56 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_55 Bowl_bar__plus_01_dot_80_bar__plus_00_dot_91_bar__minus_01_dot_46)\n \n \n (receptacleAtLocation Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_05_bar__plus_00_dot_67 loc_bar_4_bar_1_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_05_bar__minus_00_dot_61 loc_bar_3_bar__minus_3_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_05_bar__minus_01_dot_21 loc_bar_4_bar__minus_3_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_05_bar__minus_01_dot_89 loc_bar_4_bar__minus_3_bar_2_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_06_bar__plus_00_dot_19 loc_bar_4_bar_0_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_06_bar__minus_00_dot_59 loc_bar_2_bar_0_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_30_bar__plus_00_dot_69 loc_bar_4_bar_1_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_30_bar__plus_01_dot_31 loc_bar_6_bar_9_bar_2_bar__minus_30)\n (receptacleAtLocation CoffeeMachine_bar__plus_00_dot_50_bar__plus_00_dot_90_bar__minus_01_dot_60 loc_bar_2_bar__minus_3_bar_2_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_00_dot_99_bar__plus_00_dot_95_bar__plus_01_dot_02 loc_bar_4_bar_1_bar_0_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_00_dot_99_bar__plus_00_dot_95_bar__minus_01_dot_52 loc_bar_2_bar__minus_3_bar_2_bar_45)\n (receptacleAtLocation Fridge_bar__minus_00_dot_53_bar__plus_00_dot_00_bar__minus_01_dot_55 loc_bar__minus_2_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation GarbageCan_bar__plus_01_dot_77_bar__plus_00_dot_00_bar__plus_01_dot_69 loc_bar_6_bar_9_bar_2_bar_60)\n (receptacleAtLocation Microwave_bar__plus_01_dot_75_bar__plus_00_dot_90_bar__minus_00_dot_84 loc_bar_4_bar__minus_3_bar_1_bar_45)\n (receptacleAtLocation Sink_bar__plus_01_dot_10_bar__plus_00_dot_91_bar__minus_01_dot_60_bar_SinkBasin loc_bar_4_bar__minus_3_bar_2_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_54_bar__plus_00_dot_91_bar__minus_00_dot_32 loc_bar_4_bar__minus_1_bar_1_bar_60)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_55_bar__plus_00_dot_91_bar__plus_00_dot_08 loc_bar_4_bar_0_bar_1_bar_60)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_81_bar__plus_00_dot_91_bar__plus_00_dot_08 loc_bar_4_bar_0_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_81_bar__plus_00_dot_91_bar__minus_00_dot_32 loc_bar_4_bar__minus_1_bar_1_bar_45)\n (receptacleAtLocation Toaster_bar__plus_00_dot_13_bar__plus_00_dot_90_bar__minus_01_dot_59 loc_bar_1_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Bowl_bar__plus_01_dot_81_bar__plus_01_dot_63_bar__minus_01_dot_38 loc_bar_4_bar__minus_3_bar_1_bar__minus_30)\n (objectAtLocation DishSponge_bar__plus_00_dot_99_bar__plus_00_dot_91_bar__plus_01_dot_00 loc_bar_4_bar_1_bar_0_bar_45)\n (objectAtLocation Pot_bar__plus_01_dot_55_bar__plus_00_dot_91_bar__plus_00_dot_08 loc_bar_4_bar_0_bar_1_bar_60)\n (objectAtLocation PepperShaker_bar__plus_01_dot_68_bar__plus_00_dot_91_bar__plus_00_dot_36 loc_bar_4_bar_1_bar_0_bar_45)\n (objectAtLocation Ladle_bar__plus_01_dot_20_bar__plus_00_dot_93_bar__plus_00_dot_74 loc_bar_4_bar_1_bar_0_bar_45)\n (objectAtLocation Egg_bar__plus_01_dot_71_bar__plus_01_dot_05_bar__minus_00_dot_89 loc_bar_4_bar__minus_3_bar_1_bar_45)\n (objectAtLocation Cup_bar__plus_01_dot_77_bar__plus_02_dot_14_bar__plus_00_dot_81 loc_bar_4_bar_1_bar_1_bar__minus_30)\n (objectAtLocation SoapBottle_bar__plus_01_dot_77_bar__plus_01_dot_65_bar__minus_00_dot_35 loc_bar_2_bar_0_bar_1_bar__minus_15)\n (objectAtLocation Plate_bar__plus_01_dot_81_bar__plus_01_dot_63_bar__minus_00_dot_83 loc_bar_3_bar__minus_3_bar_1_bar__minus_30)\n (objectAtLocation Plate_bar__minus_00_dot_74_bar__plus_00_dot_46_bar__minus_01_dot_48 loc_bar__minus_2_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Cup_bar__minus_00_dot_84_bar__plus_00_dot_74_bar__minus_01_dot_56 loc_bar__minus_2_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Cup_bar__plus_01_dot_77_bar__plus_01_dot_65_bar__minus_00_dot_50 loc_bar_2_bar_0_bar_1_bar__minus_15)\n (objectAtLocation Pot_bar__plus_01_dot_81_bar__plus_00_dot_91_bar__minus_00_dot_32 loc_bar_4_bar_0_bar_1_bar_45)\n (objectAtLocation DishSponge_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 Ladle_bar__plus_00_dot_48_bar__plus_00_dot_95_bar__plus_01_dot_09 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_87_bar__plus_00_dot_91_bar__minus_01_dot_72 loc_bar_2_bar__minus_3_bar_2_bar_45)\n (objectAtLocation SoapBottle_bar__plus_01_dot_76_bar__plus_00_dot_91_bar__plus_01_dot_27 loc_bar_4_bar_1_bar_0_bar_45)\n (objectAtLocation Cup_bar__plus_01_dot_74_bar__plus_01_dot_01_bar__minus_00_dot_68 loc_bar_4_bar__minus_3_bar_1_bar_45)\n (objectAtLocation Egg_bar__plus_01_dot_80_bar__plus_00_dot_11_bar__plus_01_dot_59 loc_bar_6_bar_9_bar_2_bar_60)\n (objectAtLocation Fork_bar__plus_01_dot_84_bar__plus_00_dot_91_bar__plus_00_dot_42 loc_bar_4_bar_1_bar_0_bar_45)\n (objectAtLocation Ladle_bar__plus_01_dot_81_bar__plus_01_dot_70_bar_00_dot_00 loc_bar_4_bar_0_bar_1_bar__minus_30)\n (objectAtLocation Apple_bar__plus_01_dot_80_bar__plus_00_dot_13_bar__plus_01_dot_68 loc_bar_6_bar_9_bar_2_bar_60)\n (objectAtLocation SaltShaker_bar__plus_01_dot_01_bar__plus_00_dot_91_bar__minus_01_dot_23 loc_bar_2_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Pan_bar__plus_01_dot_28_bar__plus_00_dot_90_bar__plus_01_dot_19 loc_bar_4_bar_1_bar_0_bar_45)\n (objectAtLocation Tomato_bar__minus_00_dot_69_bar__plus_00_dot_81_bar__minus_01_dot_52 loc_bar__minus_2_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Window_bar__minus_00_dot_37_bar__plus_01_dot_59_bar__plus_03_dot_35 loc_bar__minus_1_bar_11_bar_0_bar_0)\n (objectAtLocation Window_bar__plus_00_dot_78_bar__plus_01_dot_74_bar__minus_01_dot_89 loc_bar_3_bar__minus_3_bar_2_bar_0)\n (objectAtLocation Spatula_bar__plus_00_dot_89_bar__plus_00_dot_78_bar__minus_01_dot_65 loc_bar_4_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Potato_bar__minus_00_dot_74_bar__plus_01_dot_72_bar__minus_01_dot_59 loc_bar__minus_2_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Knife_bar__plus_01_dot_80_bar__plus_00_dot_94_bar__minus_01_dot_55 loc_bar_4_bar__minus_3_bar_1_bar_45)\n (objectAtLocation ButterKnife_bar__plus_01_dot_76_bar__plus_00_dot_91_bar__plus_01_dot_09 loc_bar_4_bar_1_bar_0_bar_45)\n (objectAtLocation StoveKnob_bar__plus_01_dot_36_bar__plus_00_dot_82_bar__plus_00_dot_09 loc_bar_4_bar_0_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_36_bar__plus_00_dot_82_bar__minus_00_dot_18 loc_bar_4_bar__minus_1_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_36_bar__plus_00_dot_82_bar__minus_00_dot_32 loc_bar_4_bar__minus_1_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_36_bar__plus_00_dot_82_bar__minus_00_dot_05 loc_bar_4_bar_0_bar_1_bar_60)\n (objectAtLocation Bread_bar__plus_01_dot_62_bar__plus_00_dot_98_bar__plus_00_dot_76 loc_bar_4_bar_1_bar_0_bar_45)\n (objectAtLocation Lettuce_bar__plus_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_84_bar__plus_01_dot_63_bar__minus_01_dot_05 loc_bar_3_bar__minus_3_bar_1_bar__minus_30)\n (objectAtLocation Pot_bar__plus_01_dot_81_bar__plus_00_dot_91_bar__plus_00_dot_08 loc_bar_4_bar_0_bar_1_bar_45)\n (objectAtLocation LightSwitch_bar__plus_02_dot_00_bar__plus_01_dot_26_bar__plus_03_dot_09 loc_bar_6_bar_11_bar_1_bar_45)\n (objectAtLocation DishSponge_bar__plus_00_dot_22_bar__plus_00_dot_91_bar__plus_01_dot_27 loc_bar_4_bar_1_bar_0_bar_45)\n (objectAtLocation Spoon_bar__plus_01_dot_17_bar__plus_00_dot_75_bar__minus_01_dot_49 loc_bar_4_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Bowl_bar__plus_01_dot_80_bar__plus_00_dot_91_bar__minus_01_dot_46 loc_bar_2_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Mug_bar__minus_00_dot_37_bar__plus_01_dot_05_bar__minus_01_dot_38 loc_bar__minus_2_bar__minus_2_bar_2_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (cleanable ?o)\n (objectType ?o CupType)\n (receptacleType ?r MicrowaveType)\n (isClean ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to cabinet 5", "take cup 1 from cabinet 2", "go to sinkbasin 1", "clean cup 1 with sinkbasin 1", "go to microwave 1", "open microwave 1", "move cup 1 to microwave 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Cup-None-Microwave-14/trial_T20190907_120757_250658/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Cup-None-Microwave-14/trial_T20190907_120757_250658/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..878237d06264d0409a01e69cdf4e1452fa0b83e8 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Cup-None-Microwave-14/trial_T20190907_120757_250658/initial_state.pddl @@ -0,0 +1,817 @@ + +(define (problem plan_trial_T20190907_120757_250658) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Apple_bar__plus_01_dot_80_bar__plus_00_dot_13_bar__plus_01_dot_68 - object + Bowl_bar__plus_01_dot_80_bar__plus_00_dot_91_bar__minus_01_dot_46 - object + Bowl_bar__plus_01_dot_81_bar__plus_01_dot_63_bar__minus_01_dot_38 - object + Bread_bar__plus_01_dot_62_bar__plus_00_dot_98_bar__plus_00_dot_76 - object + ButterKnife_bar__plus_01_dot_76_bar__plus_00_dot_91_bar__plus_01_dot_09 - object + Chair_bar__plus_00_dot_40_bar__plus_00_dot_00_bar__plus_01_dot_72 - object + Chair_bar__plus_01_dot_09_bar__plus_00_dot_00_bar__plus_01_dot_74 - object + Cup_bar__plus_01_dot_74_bar__plus_01_dot_01_bar__minus_00_dot_68 - object + Cup_bar__plus_01_dot_77_bar__plus_01_dot_65_bar__minus_00_dot_50 - object + Cup_bar__plus_01_dot_77_bar__plus_02_dot_14_bar__plus_00_dot_81 - object + Cup_bar__minus_00_dot_84_bar__plus_00_dot_74_bar__minus_01_dot_56 - object + DishSponge_bar__plus_00_dot_22_bar__plus_00_dot_91_bar__plus_01_dot_27 - object + DishSponge_bar__plus_00_dot_99_bar__plus_00_dot_91_bar__plus_01_dot_00 - object + DishSponge_bar__plus_01_dot_50_bar__plus_00_dot_91_bar__plus_01_dot_00 - object + Egg_bar__plus_01_dot_71_bar__plus_01_dot_05_bar__minus_00_dot_89 - object + Egg_bar__plus_01_dot_80_bar__plus_00_dot_11_bar__plus_01_dot_59 - object + Faucet_bar__plus_01_dot_11_bar__plus_01_dot_14_bar__minus_01_dot_76 - object + Fork_bar__plus_01_dot_84_bar__plus_00_dot_91_bar__plus_00_dot_42 - object + Knife_bar__plus_01_dot_80_bar__plus_00_dot_94_bar__minus_01_dot_55 - object + Ladle_bar__plus_00_dot_48_bar__plus_00_dot_95_bar__plus_01_dot_09 - object + Ladle_bar__plus_01_dot_20_bar__plus_00_dot_93_bar__plus_00_dot_74 - object + Ladle_bar__plus_01_dot_81_bar__plus_01_dot_70_bar_00_dot_00 - 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__minus_00_dot_37_bar__plus_01_dot_05_bar__minus_01_dot_38 - object + Pan_bar__plus_01_dot_28_bar__plus_00_dot_90_bar__plus_01_dot_19 - object + PepperShaker_bar__plus_01_dot_68_bar__plus_00_dot_91_bar__plus_00_dot_36 - object + PepperShaker_bar__plus_01_dot_84_bar__plus_01_dot_63_bar__minus_01_dot_05 - object + Plate_bar__plus_01_dot_81_bar__plus_01_dot_63_bar__minus_00_dot_83 - object + Plate_bar__plus_01_dot_87_bar__plus_00_dot_91_bar__minus_01_dot_72 - object + Plate_bar__minus_00_dot_74_bar__plus_00_dot_46_bar__minus_01_dot_48 - object + Potato_bar__minus_00_dot_74_bar__plus_01_dot_72_bar__minus_01_dot_59 - object + Pot_bar__plus_01_dot_55_bar__plus_00_dot_91_bar__plus_00_dot_08 - object + Pot_bar__plus_01_dot_81_bar__plus_00_dot_91_bar__plus_00_dot_08 - object + Pot_bar__plus_01_dot_81_bar__plus_00_dot_91_bar__minus_00_dot_32 - object + SaltShaker_bar__plus_01_dot_01_bar__plus_00_dot_91_bar__minus_01_dot_23 - object + Sink_bar__plus_01_dot_10_bar__plus_00_dot_91_bar__minus_01_dot_60 - object + SoapBottle_bar__plus_01_dot_76_bar__plus_00_dot_91_bar__plus_01_dot_27 - object + SoapBottle_bar__plus_01_dot_77_bar__plus_01_dot_65_bar__minus_00_dot_35 - object + Spatula_bar__plus_00_dot_89_bar__plus_00_dot_78_bar__minus_01_dot_65 - object + Spoon_bar__plus_01_dot_17_bar__plus_00_dot_75_bar__minus_01_dot_49 - object + StoveKnob_bar__plus_01_dot_36_bar__plus_00_dot_82_bar__plus_00_dot_09 - object + StoveKnob_bar__plus_01_dot_36_bar__plus_00_dot_82_bar__minus_00_dot_05 - object + StoveKnob_bar__plus_01_dot_36_bar__plus_00_dot_82_bar__minus_00_dot_18 - object + StoveKnob_bar__plus_01_dot_36_bar__plus_00_dot_82_bar__minus_00_dot_32 - object + Tomato_bar__minus_00_dot_69_bar__plus_00_dot_81_bar__minus_01_dot_52 - 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_6_bar_12_bar_0_bar_30 - location + ) + + +(:init + + + (receptacleType 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Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_06_bar__minus_00_dot_59) + (inReceptacle PepperShaker_bar__plus_01_dot_84_bar__plus_01_dot_63_bar__minus_01_dot_05 Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_05_bar__minus_00_dot_61) + (inReceptacle Plate_bar__plus_01_dot_81_bar__plus_01_dot_63_bar__minus_00_dot_83 Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_05_bar__minus_00_dot_61) + (inReceptacle Bowl_bar__plus_01_dot_81_bar__plus_01_dot_63_bar__minus_01_dot_38 Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_05_bar__minus_01_dot_21) + (inReceptacleObject Knife_bar__plus_01_dot_80_bar__plus_00_dot_94_bar__minus_01_dot_55 Plate_bar__plus_01_dot_87_bar__plus_00_dot_91_bar__minus_01_dot_72) + (inReceptacle Apple_bar__plus_01_dot_80_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) + (inReceptacle Egg_bar__plus_01_dot_80_bar__plus_00_dot_11_bar__plus_01_dot_59 GarbageCan_bar__plus_01_dot_77_bar__plus_00_dot_00_bar__plus_01_dot_69) + 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loc_bar_3_bar__minus_3_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_05_bar__minus_01_dot_21 loc_bar_4_bar__minus_3_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_05_bar__minus_01_dot_89 loc_bar_4_bar__minus_3_bar_2_bar__minus_15) + (receptacleAtLocation Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_06_bar__plus_00_dot_19 loc_bar_4_bar_0_bar_1_bar__minus_30) + (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) + (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) + (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) + (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) + (receptacleAtLocation 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0.761 + }, + "rotation": { + "x": 9.785828e-06, + "y": 50.5255928, + "z": -2.43427385e-05 + } + }, + { + "objectName": "Lettuce_e61d6e1d", + "position": { + "x": 0.856707752, + "y": 0.9893426, + "z": 1.12070835 + }, + "rotation": { + "x": 0.187187061, + "y": 270.009521, + "z": 1.47289824 + } + }, + { + "objectName": "PepperShaker_3caefad1", + "position": { + "x": 1.68454289, + "y": 0.905599952, + "z": 0.363397419 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + }, + { + "objectName": "Pot_bb5e3511", + "position": { + "x": 1.54872215, + "y": 0.9098, + "z": 0.075 + }, + "rotation": { + "x": 0.0, + "y": 179.999741, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_00484768", + "position": { + "x": 0.988999963, + "y": 0.910164237, + "z": 1.00428188 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + }, + { + "objectName": "Spoon_89592edf", + "position": { + "x": 1.16595578, + "y": 0.7506249, + "z": -1.49468791 + }, + "rotation": { + "x": 0.0, + "y": 342.866577, + "z": 0.0 + } + }, + { + "objectName": "Bowl_7266264e", + "position": { + "x": 1.8058, + "y": 1.63408828, + "z": -1.37889993 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_f9995e03", + "position": { + "x": -0.374324918, + "y": 1.05419862, + "z": -1.38275528 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 3591140434, + "scene_num": 14 + }, + "task_id": "trial_T20190907_120757_250658", + "task_type": "pick_clean_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A1AKL5YH9NLD2V_3E337GFOLCPPF3V43DXOFVGIT3YGNY", + "high_descs": [ + "Turn around and walk to the microwave next to the oven on the other side of the room.", + "Pick up the green cup from inside the microwave then close the microwave.", + "Turn right to face the sink.", + "Rinse the cup in the sink, then fill the cup with water and then pick the cup up.", + "Turn left to face the microwave.", + "Place the green cup inside the microwave." + ], + "task_desc": "Place the rinsed green cup filled with water back into the microwave.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1S1K7134S2VUC_3KGTPGBS602CVZ761ZOLRMEBRG52UC", + "high_descs": [ + "Turn to the left, move to the refrigerator, turn left, move to the counter near the microwave. ", + "Pick up the green cup from in side the microwave.", + "Turn right and go to the counter in front of the kitchen sink.", + "Put the green cup in the sink, fill with water, and pick it back up.", + "Turn left and go to the counter in front of the microwave.", + "Place the green cup in to the microwave." + ], + "task_desc": "Place a cup full of water in to the microwave.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "ACSS93E03ZUGX_3LYA37P8IT4SGG2QQEDUMS8HJVHBKN", + "high_descs": [ + "Go straight then take a left to face the microwave.", + "Open the microwave, remove the green cup from inside, and close the microwave.", + "Turn to the right to face the sink.", + "Place the cup in the sink, run the water, turn off the water, and pick up the cup from the sink.", + "Turn to the left to face the microwave.", + "Open the microwave, place the cup of water inside, shut the microwave." + ], + "task_desc": "Place a cup full of water in to the microwave.", + "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-Cup-None-Microwave-14/trial_T20190907_120831_000940/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Cup-None-Microwave-14/trial_T20190907_120831_000940/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..a2da184d242f124a2bb32df4aa99d29931798689 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Cup-None-Microwave-14/trial_T20190907_120831_000940/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\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 cup and put it in microwave.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190907_120831_000940)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\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_55_bar__plus_00_dot_97_bar__minus_01_dot_26 - object\n Apple_bar__plus_01_dot_73_bar__plus_00_dot_97_bar__minus_01_dot_80 - object\n Apple_bar__plus_01_dot_84_bar__plus_01_dot_07_bar__minus_00_dot_68 - object\n Bowl_bar__plus_01_dot_68_bar__plus_00_dot_91_bar__plus_00_dot_47 - object\n Bowl_bar__plus_01_dot_87_bar__plus_00_dot_91_bar__minus_01_dot_46 - object\n Bread_bar__plus_01_dot_50_bar__plus_00_dot_99_bar__plus_01_dot_27 - object\n ButterKnife_bar__plus_01_dot_25_bar__plus_00_dot_91_bar__plus_01_dot_09 - object\n Chair_bar__plus_00_dot_40_bar__plus_00_dot_00_bar__plus_01_dot_72 - object\n Chair_bar__plus_01_dot_09_bar__plus_00_dot_00_bar__plus_01_dot_74 - object\n Cup_bar__plus_01_dot_81_bar__plus_01_dot_64_bar__plus_00_dot_54 - object\n Cup_bar__plus_01_dot_84_bar__plus_01_dot_65_bar__minus_00_dot_10 - object\n Cup_bar__minus_00_dot_26_bar__plus_01_dot_06_bar__minus_01_dot_38 - object\n DishSponge_bar__plus_00_dot_48_bar__plus_00_dot_91_bar__plus_01_dot_27 - object\n DishSponge_bar__plus_01_dot_81_bar__plus_01_dot_63_bar__minus_01_dot_42 - object\n Egg_bar__plus_00_dot_93_bar__plus_00_dot_95_bar__minus_01_dot_21 - object\n Egg_bar__plus_01_dot_76_bar__plus_00_dot_95_bar__plus_01_dot_18 - object\n Faucet_bar__plus_01_dot_11_bar__plus_01_dot_14_bar__minus_01_dot_76 - object\n Fork_bar__plus_01_dot_21_bar__plus_00_dot_75_bar__minus_01_dot_73 - object\n Knife_bar__plus_00_dot_73_bar__plus_00_dot_94_bar__plus_01_dot_00 - object\n Knife_bar__plus_01_dot_76_bar__plus_00_dot_94_bar__plus_00_dot_36 - object\n Ladle_bar__plus_01_dot_20_bar__plus_00_dot_93_bar__plus_00_dot_74 - object\n Lettuce_bar__minus_00_dot_74_bar__plus_00_dot_56_bar__minus_01_dot_41 - 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__minus_00_dot_64_bar__plus_01_dot_38_bar__minus_01_dot_56 - object\n Mug_bar__minus_00_dot_84_bar__plus_00_dot_74_bar__minus_01_dot_63 - object\n Pan_bar__plus_00_dot_48_bar__plus_00_dot_91_bar__plus_01_dot_00 - object\n Pan_bar__plus_01_dot_54_bar__plus_00_dot_91_bar__minus_00_dot_32 - object\n PepperShaker_bar__plus_00_dot_22_bar__plus_00_dot_91_bar__plus_00_dot_92 - object\n PepperShaker_bar__plus_01_dot_77_bar__plus_01_dot_65_bar__minus_00_dot_26 - object\n PepperShaker_bar__plus_01_dot_80_bar__plus_00_dot_91_bar__minus_01_dot_29 - object\n Plate_bar__plus_00_dot_22_bar__plus_00_dot_91_bar__plus_01_dot_09 - object\n Plate_bar__plus_01_dot_81_bar__plus_02_dot_14_bar__plus_00_dot_84 - object\n Potato_bar__plus_00_dot_73_bar__plus_00_dot_95_bar__plus_00_dot_74 - object\n Potato_bar__minus_00_dot_64_bar__plus_00_dot_79_bar__minus_01_dot_59 - object\n Potato_bar__minus_00_dot_79_bar__plus_01_dot_43_bar__minus_01_dot_63 - object\n Pot_bar__plus_01_dot_55_bar__plus_00_dot_91_bar__plus_00_dot_08 - object\n SaltShaker_bar__plus_01_dot_66_bar__plus_00_dot_91_bar__minus_01_dot_72 - object\n SaltShaker_bar__plus_01_dot_88_bar__plus_02_dot_13_bar__plus_01_dot_12 - object\n SaltShaker_bar__plus_01_dot_92_bar__plus_00_dot_91_bar__plus_00_dot_52 - object\n Sink_bar__plus_01_dot_10_bar__plus_00_dot_91_bar__minus_01_dot_60 - object\n SoapBottle_bar__plus_01_dot_77_bar__plus_00_dot_07_bar__plus_01_dot_64 - object\n SoapBottle_bar__plus_01_dot_81_bar__plus_01_dot_65_bar__minus_00_dot_40 - object\n Spatula_bar__plus_01_dot_61_bar__plus_00_dot_93_bar__plus_00_dot_31 - object\n Spoon_bar__plus_01_dot_17_bar__plus_00_dot_75_bar__minus_01_dot_49 - object\n StoveKnob_bar__plus_01_dot_36_bar__plus_00_dot_82_bar__plus_00_dot_09 - object\n StoveKnob_bar__plus_01_dot_36_bar__plus_00_dot_82_bar__minus_00_dot_05 - object\n StoveKnob_bar__plus_01_dot_36_bar__plus_00_dot_82_bar__minus_00_dot_18 - object\n StoveKnob_bar__plus_01_dot_36_bar__plus_00_dot_82_bar__minus_00_dot_32 - object\n Tomato_bar__minus_00_dot_74_bar__plus_01_dot_16_bar__minus_01_dot_52 - object\n Tomato_bar__minus_00_dot_84_bar__plus_01_dot_75_bar__minus_01_dot_52 - object\n Window_bar__plus_00_dot_78_bar__plus_01_dot_74_bar__minus_01_dot_89 - object\n 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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_3_bar_1_bar_0_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType 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CounterTop_bar__plus_00_dot_99_bar__plus_00_dot_95_bar__minus_01_dot_52)\n (inReceptacle PepperShaker_bar__plus_01_dot_80_bar__plus_00_dot_91_bar__minus_01_dot_29 CounterTop_bar__plus_00_dot_99_bar__plus_00_dot_95_bar__minus_01_dot_52)\n (inReceptacle Mug_bar__plus_00_dot_50_bar__plus_00_dot_94_bar__minus_01_dot_46 CounterTop_bar__plus_00_dot_99_bar__plus_00_dot_95_bar__minus_01_dot_52)\n (inReceptacle Apple_bar__plus_01_dot_73_bar__plus_00_dot_97_bar__minus_01_dot_80 CounterTop_bar__plus_00_dot_99_bar__plus_00_dot_95_bar__minus_01_dot_52)\n (inReceptacle Apple_bar__plus_00_dot_55_bar__plus_00_dot_97_bar__minus_01_dot_26 CounterTop_bar__plus_00_dot_99_bar__plus_00_dot_95_bar__minus_01_dot_52)\n (inReceptacle Egg_bar__plus_00_dot_93_bar__plus_00_dot_95_bar__minus_01_dot_21 CounterTop_bar__plus_00_dot_99_bar__plus_00_dot_95_bar__minus_01_dot_52)\n (inReceptacle SaltShaker_bar__plus_01_dot_66_bar__plus_00_dot_91_bar__minus_01_dot_72 CounterTop_bar__plus_00_dot_99_bar__plus_00_dot_95_bar__minus_01_dot_52)\n (inReceptacle Pot_bar__plus_01_dot_55_bar__plus_00_dot_91_bar__plus_00_dot_08 StoveBurner_bar__plus_01_dot_55_bar__plus_00_dot_91_bar__plus_00_dot_08)\n (inReceptacle SaltShaker_bar__plus_01_dot_88_bar__plus_02_dot_13_bar__plus_01_dot_12 Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_30_bar__plus_01_dot_31)\n (inReceptacle Plate_bar__plus_01_dot_81_bar__plus_02_dot_14_bar__plus_00_dot_84 Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_30_bar__plus_00_dot_69)\n (inReceptacle Cup_bar__plus_01_dot_81_bar__plus_01_dot_64_bar__plus_00_dot_54 Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_05_bar__plus_00_dot_67)\n (inReceptacle Cup_bar__plus_01_dot_84_bar__plus_01_dot_65_bar__minus_00_dot_10 Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_06_bar__plus_00_dot_19)\n (inReceptacle SoapBottle_bar__plus_01_dot_81_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 PepperShaker_bar__plus_01_dot_77_bar__plus_01_dot_65_bar__minus_00_dot_26 Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_06_bar__minus_00_dot_59)\n (inReceptacle DishSponge_bar__plus_01_dot_81_bar__plus_01_dot_63_bar__minus_01_dot_42 Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_05_bar__minus_01_dot_21)\n (inReceptacle SoapBottle_bar__plus_01_dot_77_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 Fork_bar__plus_01_dot_21_bar__plus_00_dot_75_bar__minus_01_dot_73 Sink_bar__plus_01_dot_10_bar__plus_00_dot_91_bar__minus_01_dot_60_bar_SinkBasin)\n (inReceptacle Spoon_bar__plus_01_dot_17_bar__plus_00_dot_75_bar__minus_01_dot_49 Sink_bar__plus_01_dot_10_bar__plus_00_dot_91_bar__minus_01_dot_60_bar_SinkBasin)\n (inReceptacle Apple_bar__plus_01_dot_84_bar__plus_01_dot_07_bar__minus_00_dot_68 Microwave_bar__plus_01_dot_75_bar__plus_00_dot_90_bar__minus_00_dot_84)\n (inReceptacle 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 Cup_bar__minus_00_dot_26_bar__plus_01_dot_06_bar__minus_01_dot_38 Fridge_bar__minus_00_dot_53_bar__plus_00_dot_00_bar__minus_01_dot_55)\n (inReceptacle Potato_bar__minus_00_dot_79_bar__plus_01_dot_43_bar__minus_01_dot_63 Fridge_bar__minus_00_dot_53_bar__plus_00_dot_00_bar__minus_01_dot_55)\n (inReceptacle Tomato_bar__minus_00_dot_74_bar__plus_01_dot_16_bar__minus_01_dot_52 Fridge_bar__minus_00_dot_53_bar__plus_00_dot_00_bar__minus_01_dot_55)\n (inReceptacle Mug_bar__minus_00_dot_64_bar__plus_01_dot_38_bar__minus_01_dot_56 Fridge_bar__minus_00_dot_53_bar__plus_00_dot_00_bar__minus_01_dot_55)\n (inReceptacle Lettuce_bar__minus_00_dot_74_bar__plus_00_dot_56_bar__minus_01_dot_41 Fridge_bar__minus_00_dot_53_bar__plus_00_dot_00_bar__minus_01_dot_55)\n (inReceptacle Potato_bar__minus_00_dot_64_bar__plus_00_dot_79_bar__minus_01_dot_59 Fridge_bar__minus_00_dot_53_bar__plus_00_dot_00_bar__minus_01_dot_55)\n (inReceptacle Mug_bar__minus_00_dot_84_bar__plus_00_dot_74_bar__minus_01_dot_63 Fridge_bar__minus_00_dot_53_bar__plus_00_dot_00_bar__minus_01_dot_55)\n (inReceptacle Tomato_bar__minus_00_dot_84_bar__plus_01_dot_75_bar__minus_01_dot_52 Fridge_bar__minus_00_dot_53_bar__plus_00_dot_00_bar__minus_01_dot_55)\n \n \n (receptacleAtLocation Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_05_bar__plus_00_dot_67 loc_bar_4_bar_1_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_05_bar__minus_00_dot_61 loc_bar_3_bar__minus_3_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_05_bar__minus_01_dot_21 loc_bar_4_bar__minus_3_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_05_bar__minus_01_dot_89 loc_bar_4_bar__minus_3_bar_2_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_06_bar__plus_00_dot_19 loc_bar_4_bar_0_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_06_bar__minus_00_dot_59 loc_bar_2_bar_0_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_30_bar__plus_00_dot_69 loc_bar_4_bar_1_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_30_bar__plus_01_dot_31 loc_bar_6_bar_9_bar_2_bar__minus_30)\n (receptacleAtLocation CoffeeMachine_bar__plus_00_dot_50_bar__plus_00_dot_90_bar__minus_01_dot_60 loc_bar_2_bar__minus_3_bar_2_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_00_dot_99_bar__plus_00_dot_95_bar__plus_01_dot_02 loc_bar_4_bar_1_bar_0_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_00_dot_99_bar__plus_00_dot_95_bar__minus_01_dot_52 loc_bar_2_bar__minus_3_bar_2_bar_45)\n (receptacleAtLocation Fridge_bar__minus_00_dot_53_bar__plus_00_dot_00_bar__minus_01_dot_55 loc_bar__minus_2_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation GarbageCan_bar__plus_01_dot_77_bar__plus_00_dot_00_bar__plus_01_dot_69 loc_bar_6_bar_9_bar_2_bar_60)\n (receptacleAtLocation Microwave_bar__plus_01_dot_75_bar__plus_00_dot_90_bar__minus_00_dot_84 loc_bar_4_bar__minus_3_bar_1_bar_45)\n (receptacleAtLocation Sink_bar__plus_01_dot_10_bar__plus_00_dot_91_bar__minus_01_dot_60_bar_SinkBasin loc_bar_4_bar__minus_3_bar_2_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_54_bar__plus_00_dot_91_bar__minus_00_dot_32 loc_bar_4_bar__minus_1_bar_1_bar_60)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_55_bar__plus_00_dot_91_bar__plus_00_dot_08 loc_bar_4_bar_0_bar_1_bar_60)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_81_bar__plus_00_dot_91_bar__plus_00_dot_08 loc_bar_4_bar_0_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_81_bar__plus_00_dot_91_bar__minus_00_dot_32 loc_bar_4_bar__minus_1_bar_1_bar_45)\n (receptacleAtLocation Toaster_bar__plus_00_dot_13_bar__plus_00_dot_90_bar__minus_01_dot_59 loc_bar_1_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Mug_bar__plus_00_dot_50_bar__plus_00_dot_94_bar__minus_01_dot_46 loc_bar_2_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Bowl_bar__plus_01_dot_68_bar__plus_00_dot_91_bar__plus_00_dot_47 loc_bar_4_bar_1_bar_0_bar_45)\n (objectAtLocation DishSponge_bar__plus_01_dot_81_bar__plus_01_dot_63_bar__minus_01_dot_42 loc_bar_4_bar__minus_3_bar_1_bar__minus_30)\n (objectAtLocation PepperShaker_bar__plus_01_dot_80_bar__plus_00_dot_91_bar__minus_01_dot_29 loc_bar_2_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Knife_bar__plus_01_dot_76_bar__plus_00_dot_94_bar__plus_00_dot_36 loc_bar_4_bar_1_bar_0_bar_45)\n (objectAtLocation Potato_bar__minus_00_dot_64_bar__plus_00_dot_79_bar__minus_01_dot_59 loc_bar__minus_2_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Tomato_bar__minus_00_dot_84_bar__plus_01_dot_75_bar__minus_01_dot_52 loc_bar__minus_2_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Pan_bar__plus_00_dot_48_bar__plus_00_dot_91_bar__plus_01_dot_00 loc_bar_4_bar_1_bar_0_bar_45)\n (objectAtLocation SaltShaker_bar__plus_01_dot_88_bar__plus_02_dot_13_bar__plus_01_dot_12 loc_bar_6_bar_9_bar_2_bar__minus_30)\n (objectAtLocation Apple_bar__plus_01_dot_73_bar__plus_00_dot_97_bar__minus_01_dot_80 loc_bar_2_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Egg_bar__plus_01_dot_76_bar__plus_00_dot_95_bar__plus_01_dot_18 loc_bar_4_bar_1_bar_0_bar_45)\n (objectAtLocation Cup_bar__plus_01_dot_81_bar__plus_01_dot_64_bar__plus_00_dot_54 loc_bar_4_bar_1_bar_1_bar__minus_30)\n (objectAtLocation SoapBottle_bar__plus_01_dot_77_bar__plus_00_dot_07_bar__plus_01_dot_64 loc_bar_6_bar_9_bar_2_bar_60)\n (objectAtLocation Plate_bar__plus_00_dot_22_bar__plus_00_dot_91_bar__plus_01_dot_09 loc_bar_4_bar_1_bar_0_bar_45)\n (objectAtLocation Apple_bar__plus_01_dot_84_bar__plus_01_dot_07_bar__minus_00_dot_68 loc_bar_4_bar__minus_3_bar_1_bar_45)\n (objectAtLocation Mug_bar__minus_00_dot_64_bar__plus_01_dot_38_bar__minus_01_dot_56 loc_bar__minus_2_bar__minus_2_bar_2_bar_60)\n (objectAtLocation PepperShaker_bar__plus_01_dot_77_bar__plus_01_dot_65_bar__minus_00_dot_26 loc_bar_2_bar_0_bar_1_bar__minus_15)\n (objectAtLocation SaltShaker_bar__plus_01_dot_66_bar__plus_00_dot_91_bar__minus_01_dot_72 loc_bar_2_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Cup_bar__minus_00_dot_26_bar__plus_01_dot_06_bar__minus_01_dot_38 loc_bar__minus_2_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Potato_bar__plus_00_dot_73_bar__plus_00_dot_95_bar__plus_00_dot_74 loc_bar_4_bar_1_bar_0_bar_45)\n (objectAtLocation 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_02_dot_14_bar__plus_00_dot_84 loc_bar_4_bar_1_bar_1_bar__minus_30)\n (objectAtLocation SoapBottle_bar__plus_01_dot_81_bar__plus_01_dot_65_bar__minus_00_dot_40 loc_bar_2_bar_0_bar_1_bar__minus_15)\n (objectAtLocation Cup_bar__plus_01_dot_84_bar__plus_01_dot_65_bar__minus_00_dot_10 loc_bar_4_bar_0_bar_1_bar__minus_30)\n (objectAtLocation Egg_bar__plus_00_dot_93_bar__plus_00_dot_95_bar__minus_01_dot_21 loc_bar_2_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Fork_bar__plus_01_dot_21_bar__plus_00_dot_75_bar__minus_01_dot_73 loc_bar_4_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Ladle_bar__plus_01_dot_20_bar__plus_00_dot_93_bar__plus_00_dot_74 loc_bar_4_bar_1_bar_0_bar_45)\n (objectAtLocation Apple_bar__plus_00_dot_55_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_92_bar__plus_00_dot_91_bar__plus_00_dot_52 loc_bar_4_bar_1_bar_0_bar_45)\n (objectAtLocation Pan_bar__plus_01_dot_54_bar__plus_00_dot_91_bar__minus_00_dot_32 loc_bar_4_bar__minus_1_bar_1_bar_60)\n (objectAtLocation Tomato_bar__minus_00_dot_74_bar__plus_01_dot_16_bar__minus_01_dot_52 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_61_bar__plus_00_dot_93_bar__plus_00_dot_31 loc_bar_4_bar_1_bar_0_bar_45)\n (objectAtLocation Potato_bar__minus_00_dot_79_bar__plus_01_dot_43_bar__minus_01_dot_63 loc_bar__minus_2_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Knife_bar__plus_00_dot_73_bar__plus_00_dot_94_bar__plus_01_dot_00 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_09 loc_bar_4_bar_1_bar_0_bar_45)\n (objectAtLocation StoveKnob_bar__plus_01_dot_36_bar__plus_00_dot_82_bar__plus_00_dot_09 loc_bar_4_bar_0_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_36_bar__plus_00_dot_82_bar__minus_00_dot_18 loc_bar_4_bar__minus_1_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_36_bar__plus_00_dot_82_bar__minus_00_dot_32 loc_bar_4_bar__minus_1_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_36_bar__plus_00_dot_82_bar__minus_00_dot_05 loc_bar_4_bar_0_bar_1_bar_60)\n (objectAtLocation Bread_bar__plus_01_dot_50_bar__plus_00_dot_99_bar__plus_01_dot_27 loc_bar_4_bar_1_bar_0_bar_45)\n (objectAtLocation Lettuce_bar__minus_00_dot_74_bar__plus_00_dot_56_bar__minus_01_dot_41 loc_bar__minus_2_bar__minus_2_bar_2_bar_60)\n (objectAtLocation PepperShaker_bar__plus_00_dot_22_bar__plus_00_dot_91_bar__plus_00_dot_92 loc_bar_4_bar_1_bar_0_bar_45)\n (objectAtLocation Pot_bar__plus_01_dot_55_bar__plus_00_dot_91_bar__plus_00_dot_08 loc_bar_4_bar_0_bar_1_bar_60)\n (objectAtLocation LightSwitch_bar__plus_02_dot_00_bar__plus_01_dot_26_bar__plus_03_dot_09 loc_bar_6_bar_11_bar_1_bar_45)\n (objectAtLocation DishSponge_bar__plus_00_dot_48_bar__plus_00_dot_91_bar__plus_01_dot_27 loc_bar_4_bar_1_bar_0_bar_45)\n (objectAtLocation Spoon_bar__plus_01_dot_17_bar__plus_00_dot_75_bar__minus_01_dot_49 loc_bar_4_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Bowl_bar__plus_01_dot_87_bar__plus_00_dot_91_bar__minus_01_dot_46 loc_bar_2_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Mug_bar__minus_00_dot_84_bar__plus_00_dot_74_bar__minus_01_dot_63 loc_bar__minus_2_bar__minus_2_bar_2_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (cleanable ?o)\n (objectType ?o CupType)\n (receptacleType ?r MicrowaveType)\n (isClean ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to cabinet 3", "open cabinet 3", "take cup 1 from cabinet 3", "go to sinkbasin 1", "clean cup 1 with sinkbasin 1", "go to microwave 1", "open microwave 1", "move cup 1 to microwave 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Cup-None-Microwave-14/trial_T20190907_120831_000940/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Cup-None-Microwave-14/trial_T20190907_120831_000940/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..58187bdd98472b9f554e2ac1c3e5c5ff62efc4df --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Cup-None-Microwave-14/trial_T20190907_120831_000940/initial_state.pddl @@ -0,0 +1,855 @@ + +(define (problem plan_trial_T20190907_120831_000940) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + 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_55_bar__plus_00_dot_97_bar__minus_01_dot_26 - object + Apple_bar__plus_01_dot_73_bar__plus_00_dot_97_bar__minus_01_dot_80 - object + 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location + loc_bar_3_bar_1_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) + 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"objectName": "Mug_f9995e03", + "position": { + "x": 0.502, + "y": 0.940499961, + "z": -1.4606 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 533807685, + "scene_num": 14 + }, + "task_id": "trial_T20190907_120831_000940", + "task_type": "pick_clean_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "AJQGWGESKQT4Y_3IX2EGZR7E0KL3DX4QZ8LSD8MSVJRK", + "high_descs": [ + "Turn to stand in front of the stove.", + "Open the cabinet on the left, above the stove and take out the green cup.", + "Turn to face the sink.", + "Put the cup in the sink, turn on the water and then turn it off and pick the cup up from the sink.", + "Turn left to face the microwave.", + "Put the cup in the microwave and shut the door and turn it on." + ], + "task_desc": "Put a cup in the microwave to warm it.", + "votes": [ + 1, + 1, + 1, + 1, + 1, + 1, + 0, + 1 + ] + }, + { + "assignment_id": "A320QA9HJFUOZO_3WT783CTPEYAXIQ2Y1WWY9V9EN3BC7", + "high_descs": [ + "Turn right and look above the stove", + "Open the cupboard directly above the stove and remove the green cup", + "Turn right and walk to the kitchen sink", + "Rinse the cup under water in the sink then remove it", + "Turn left and face the microwave on the counter", + "Put the cup into the microwave and close it" + ], + "task_desc": "Put the washed green cup in the microwave", + "votes": [ + 1, + 1, + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A2BLQ1GVEHJR8T_3RGU30DZTDPTON05ZI3RZTJYG62JM4", + "high_descs": [ + "Go to the stove on your right and face it.", + "Get the green tumbler from the cabinet slightly to the left above the stove.", + "Turn right and take the tumbler to the sink.", + "Wash the tumbler at the sink.", + "Turn left to face the microwave.", + "Put the tumbler in the microwave." + ], + "task_desc": "Put a clean green tumbler into the microwave.", + "votes": [ + 1, + 1, + 1, + 1, + 1, + 0 + ] + }, + { + "assignment_id": "A1ZE52NWZPN85P_3IAEQB9FMH1CQDURTON35TQC9VWWDL", + "high_descs": [ + "Turn around and face to your left", + "Open a kitchen cabinet and grab a green cup out of it", + "Turn right, to face the sink", + "Rinse the cup in the sink and pick the cup up out of the sink", + "Turn to face your left", + "Open the microwave, place the cup in it and turn it on" + ], + "task_desc": "Rinse a cup and microwave it", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A2871R3LEPWMMK_3EA3QWIZ4LC1676JQXJ396ZQX36TI8", + "high_descs": [ + "Turn around and walk to the stove on your left.", + "Open the cabinet above the left side of the stove, pick up the green glass and close the door.", + "Turn right and walk to the silver sink.", + "Put the glass inside the sink, rinse it off and pick it back up.", + "Turn left to face the microwave.", + "Place the glass inside the microwave on the blue plate and close the door." + ], + "task_desc": "Put a clean glass in a microwave.", + "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-Cup-None-Microwave-14/trial_T20190907_120854_419532/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Cup-None-Microwave-14/trial_T20190907_120854_419532/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..0b2cf872bd152f79997108cb473572a0583c07e7 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Cup-None-Microwave-14/trial_T20190907_120854_419532/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\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 cup in microwave.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190907_120854_419532)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Apple_bar__plus_01_dot_71_bar__plus_01_dot_07_bar__minus_00_dot_73 - object\n Bowl_bar__plus_01_dot_81_bar__plus_01_dot_63_bar__minus_00_dot_83 - object\n Bowl_bar__plus_01_dot_87_bar__plus_00_dot_91_bar__minus_01_dot_37 - object\n Bread_bar__plus_00_dot_22_bar__plus_00_dot_99_bar__plus_00_dot_83 - object\n Bread_bar__plus_01_dot_76_bar__plus_00_dot_99_bar__plus_01_dot_18 - object\n ButterKnife_bar__plus_00_dot_30_bar__plus_00_dot_90_bar__minus_01_dot_30 - object\n ButterKnife_bar__plus_01_dot_76_bar__plus_00_dot_91_bar__plus_00_dot_92 - object\n Chair_bar__plus_00_dot_40_bar__plus_00_dot_00_bar__plus_01_dot_72 - object\n Chair_bar__plus_01_dot_09_bar__plus_00_dot_00_bar__plus_01_dot_74 - object\n Cup_bar__plus_01_dot_45_bar__plus_00_dot_91_bar__plus_00_dot_42 - object\n Cup_bar__minus_00_dot_64_bar__plus_01_dot_39_bar__minus_01_dot_52 - object\n DishSponge_bar__plus_01_dot_81_bar__plus_01_dot_63_bar__minus_01_dot_30 - object\n Egg_bar__plus_01_dot_77_bar__plus_00_dot_11_bar__plus_01_dot_78 - object\n Faucet_bar__plus_01_dot_11_bar__plus_01_dot_14_bar__minus_01_dot_76 - object\n Fork_bar__plus_01_dot_76_bar__plus_00_dot_91_bar__plus_00_dot_52 - object\n Knife_bar__plus_01_dot_84_bar__plus_00_dot_94_bar__plus_00_dot_57 - object\n Ladle_bar__plus_01_dot_59_bar__plus_00_dot_96_bar__minus_01_dot_46 - object\n Lettuce_bar__plus_00_dot_22_bar__plus_01_dot_01_bar__plus_01_dot_09 - 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_48_bar__plus_00_dot_91_bar__plus_01_dot_27 - object\n Mug_bar__minus_00_dot_60_bar__plus_00_dot_46_bar__minus_01_dot_54 - object\n Pan_bar__plus_01_dot_28_bar__plus_00_dot_90_bar__plus_01_dot_19 - object\n PepperShaker_bar__plus_00_dot_36_bar__plus_00_dot_91_bar__minus_01_dot_26 - object\n PepperShaker_bar__plus_01_dot_81_bar__plus_01_dot_65_bar__minus_00_dot_55 - object\n PepperShaker_bar__plus_01_dot_84_bar__plus_01_dot_63_bar__minus_01_dot_46 - object\n Plate_bar__plus_01_dot_80_bar__plus_01_dot_65_bar_00_dot_00 - object\n Potato_bar__plus_01_dot_50_bar__plus_00_dot_95_bar__plus_01_dot_18 - object\n Potato_bar__plus_01_dot_77_bar__plus_00_dot_11_bar__plus_01_dot_68 - object\n Pot_bar__plus_01_dot_81_bar__plus_00_dot_91_bar__plus_00_dot_08 - 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_50_bar__plus_00_dot_91_bar__plus_00_dot_74 - object\n SaltShaker_bar__plus_01_dot_81_bar__plus_02_dot_13_bar__plus_00_dot_92 - object\n Sink_bar__plus_01_dot_10_bar__plus_00_dot_91_bar__minus_01_dot_60 - object\n SoapBottle_bar__plus_00_dot_73_bar__plus_00_dot_91_bar__plus_00_dot_83 - object\n SoapBottle_bar__plus_01_dot_61_bar__plus_00_dot_91_bar__plus_00_dot_52 - object\n SoapBottle_bar__plus_01_dot_88_bar__plus_02_dot_14_bar__plus_00_dot_81 - object\n Spatula_bar__plus_01_dot_80_bar__plus_00_dot_93_bar__minus_01_dot_46 - object\n Spoon_bar__plus_01_dot_76_bar__plus_00_dot_91_bar__plus_00_dot_36 - object\n StoveKnob_bar__plus_01_dot_36_bar__plus_00_dot_82_bar__plus_00_dot_09 - object\n StoveKnob_bar__plus_01_dot_36_bar__plus_00_dot_82_bar__minus_00_dot_05 - object\n StoveKnob_bar__plus_01_dot_36_bar__plus_00_dot_82_bar__minus_00_dot_18 - object\n StoveKnob_bar__plus_01_dot_36_bar__plus_00_dot_82_bar__minus_00_dot_32 - object\n Tomato_bar__minus_00_dot_79_bar__plus_00_dot_81_bar__minus_01_dot_56 - object\n Window_bar__plus_00_dot_78_bar__plus_01_dot_74_bar__minus_01_dot_89 - object\n Window_bar__minus_00_dot_37_bar__plus_01_dot_59_bar__plus_03_dot_35 - object\n Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_05_bar__plus_00_dot_67 - receptacle\n Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_05_bar__minus_00_dot_61 - receptacle\n Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_05_bar__minus_01_dot_21 - receptacle\n Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_05_bar__minus_01_dot_89 - receptacle\n Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_06_bar__plus_00_dot_19 - receptacle\n Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_06_bar__minus_00_dot_59 - receptacle\n Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_30_bar__plus_00_dot_69 - receptacle\n Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_30_bar__plus_01_dot_31 - receptacle\n CoffeeMachine_bar__plus_00_dot_50_bar__plus_00_dot_90_bar__minus_01_dot_60 - receptacle\n CounterTop_bar__plus_00_dot_99_bar__plus_00_dot_95_bar__plus_01_dot_02 - receptacle\n CounterTop_bar__plus_00_dot_99_bar__plus_00_dot_95_bar__minus_01_dot_52 - receptacle\n Fridge_bar__minus_00_dot_53_bar__plus_00_dot_00_bar__minus_01_dot_55 - receptacle\n GarbageCan_bar__plus_01_dot_77_bar__plus_00_dot_00_bar__plus_01_dot_69 - receptacle\n Microwave_bar__plus_01_dot_75_bar__plus_00_dot_90_bar__minus_00_dot_84 - receptacle\n Sink_bar__plus_01_dot_10_bar__plus_00_dot_91_bar__minus_01_dot_60_bar_SinkBasin - receptacle\n StoveBurner_bar__plus_01_dot_54_bar__plus_00_dot_91_bar__minus_00_dot_32 - receptacle\n StoveBurner_bar__plus_01_dot_55_bar__plus_00_dot_91_bar__plus_00_dot_08 - receptacle\n StoveBurner_bar__plus_01_dot_81_bar__plus_00_dot_91_bar__plus_00_dot_08 - receptacle\n StoveBurner_bar__plus_01_dot_81_bar__plus_00_dot_91_bar__minus_00_dot_32 - receptacle\n Toaster_bar__plus_00_dot_13_bar__plus_00_dot_90_bar__minus_01_dot_59 - receptacle\n loc_bar_4_bar__minus_3_bar_1_bar__minus_30 - location\n loc_bar_4_bar_9_bar_2_bar_60 - location\n loc_bar_4_bar__minus_3_bar_1_bar_45 - location\n loc_bar_4_bar_0_bar_1_bar_45 - location\n loc_bar_6_bar_9_bar_2_bar_60 - location\n loc_bar_2_bar_0_bar_1_bar__minus_15 - location\n loc_bar_1_bar__minus_3_bar_2_bar_45 - location\n loc_bar_4_bar_1_bar_0_bar_45 - location\n loc_bar_6_bar_9_bar_2_bar__minus_30 - location\n loc_bar_4_bar__minus_3_bar_2_bar__minus_15 - location\n loc_bar_4_bar_0_bar_1_bar__minus_30 - location\n loc_bar_0_bar_7_bar_1_bar_60 - location\n loc_bar_3_bar__minus_3_bar_1_bar__minus_30 - location\n loc_bar_4_bar_0_bar_1_bar_60 - location\n loc_bar_4_bar__minus_3_bar_2_bar_45 - location\n loc_bar__minus_1_bar_11_bar_0_bar_0 - location\n loc_bar_4_bar__minus_1_bar_1_bar_60 - location\n loc_bar__minus_2_bar__minus_2_bar_2_bar_60 - location\n loc_bar_4_bar_1_bar_1_bar__minus_30 - location\n loc_bar_3_bar__minus_3_bar_2_bar_0 - location\n loc_bar_6_bar_11_bar_1_bar_45 - location\n loc_bar_4_bar__minus_1_bar_1_bar_45 - location\n loc_bar_2_bar__minus_3_bar_2_bar_45 - location\n loc_bar__minus_6_bar_2_bar_1_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_01_dot_59_bar__plus_00_dot_96_bar__minus_01_dot_46 LadleType)\n (objectType Cup_bar__minus_00_dot_64_bar__plus_01_dot_39_bar__minus_01_dot_52 CupType)\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 SoapBottle_bar__plus_00_dot_73_bar__plus_00_dot_91_bar__plus_00_dot_83 SoapBottleType)\n (objectType Sink_bar__plus_01_dot_10_bar__plus_00_dot_91_bar__minus_01_dot_60 SinkType)\n (objectType PepperShaker_bar__plus_00_dot_36_bar__plus_00_dot_91_bar__minus_01_dot_26 PepperShakerType)\n (objectType Mug_bar__minus_00_dot_60_bar__plus_00_dot_46_bar__minus_01_dot_54 MugType)\n (objectType PepperShaker_bar__plus_01_dot_81_bar__plus_01_dot_65_bar__minus_00_dot_55 PepperShakerType)\n (objectType Cup_bar__plus_01_dot_45_bar__plus_00_dot_91_bar__plus_00_dot_42 CupType)\n (objectType StoveKnob_bar__plus_01_dot_36_bar__plus_00_dot_82_bar__plus_00_dot_09 StoveKnobType)\n (objectType Tomato_bar__minus_00_dot_79_bar__plus_00_dot_81_bar__minus_01_dot_56 TomatoType)\n (objectType Mug_bar__plus_00_dot_48_bar__plus_00_dot_91_bar__plus_01_dot_27 MugType)\n (objectType Plate_bar__plus_01_dot_80_bar__plus_01_dot_65_bar_00_dot_00 PlateType)\n (objectType Spoon_bar__plus_01_dot_76_bar__plus_00_dot_91_bar__plus_00_dot_36 SpoonType)\n (objectType Bowl_bar__plus_01_dot_87_bar__plus_00_dot_91_bar__minus_01_dot_37 BowlType)\n (objectType StoveKnob_bar__plus_01_dot_36_bar__plus_00_dot_82_bar__minus_00_dot_05 StoveKnobType)\n (objectType Window_bar__minus_00_dot_37_bar__plus_01_dot_59_bar__plus_03_dot_35 WindowType)\n (objectType ButterKnife_bar__plus_00_dot_30_bar__plus_00_dot_90_bar__minus_01_dot_30 ButterKnifeType)\n (objectType Spatula_bar__plus_01_dot_80_bar__plus_00_dot_93_bar__minus_01_dot_46 SpatulaType)\n (objectType Pan_bar__plus_01_dot_28_bar__plus_00_dot_90_bar__plus_01_dot_19 PanType)\n (objectType Potato_bar__plus_01_dot_77_bar__plus_00_dot_11_bar__plus_01_dot_68 PotatoType)\n (objectType Fork_bar__plus_01_dot_76_bar__plus_00_dot_91_bar__plus_00_dot_52 ForkType)\n (objectType StoveKnob_bar__plus_01_dot_36_bar__plus_00_dot_82_bar__minus_00_dot_18 StoveKnobType)\n (objectType PepperShaker_bar__plus_01_dot_84_bar__plus_01_dot_63_bar__minus_01_dot_46 PepperShakerType)\n (objectType SaltShaker_bar__plus_01_dot_81_bar__plus_02_dot_13_bar__plus_00_dot_92 SaltShakerType)\n (objectType ButterKnife_bar__plus_01_dot_76_bar__plus_00_dot_91_bar__plus_00_dot_92 ButterKnifeType)\n (objectType Apple_bar__plus_01_dot_71_bar__plus_01_dot_07_bar__minus_00_dot_73 AppleType)\n (objectType Window_bar__plus_00_dot_78_bar__plus_01_dot_74_bar__minus_01_dot_89 WindowType)\n (objectType Pot_bar__plus_01_dot_81_bar__plus_00_dot_91_bar__plus_00_dot_08 PotType)\n (objectType Chair_bar__plus_01_dot_09_bar__plus_00_dot_00_bar__plus_01_dot_74 ChairType)\n (objectType Potato_bar__plus_01_dot_50_bar__plus_00_dot_95_bar__plus_01_dot_18 PotatoType)\n (objectType Lettuce_bar__plus_00_dot_22_bar__plus_01_dot_01_bar__plus_01_dot_09 LettuceType)\n (objectType Bowl_bar__plus_01_dot_81_bar__plus_01_dot_63_bar__minus_00_dot_83 BowlType)\n (objectType Knife_bar__plus_01_dot_84_bar__plus_00_dot_94_bar__plus_00_dot_57 KnifeType)\n (objectType Bread_bar__plus_01_dot_76_bar__plus_00_dot_99_bar__plus_01_dot_18 BreadType)\n (objectType SaltShaker_bar__plus_01_dot_50_bar__plus_00_dot_91_bar__plus_00_dot_74 SaltShakerType)\n (objectType Bread_bar__plus_00_dot_22_bar__plus_00_dot_99_bar__plus_00_dot_83 BreadType)\n (objectType DishSponge_bar__plus_01_dot_81_bar__plus_01_dot_63_bar__minus_01_dot_30 DishSpongeType)\n (objectType SoapBottle_bar__plus_01_dot_88_bar__plus_02_dot_14_bar__plus_00_dot_81 SoapBottleType)\n (objectType SoapBottle_bar__plus_01_dot_61_bar__plus_00_dot_91_bar__plus_00_dot_52 SoapBottleType)\n (objectType StoveKnob_bar__plus_01_dot_36_bar__plus_00_dot_82_bar__minus_00_dot_32 StoveKnobType)\n (objectType Egg_bar__plus_01_dot_77_bar__plus_00_dot_11_bar__plus_01_dot_78 EggType)\n (canContain StoveBurnerType PotType)\n (canContain StoveBurnerType PanType)\n (canContain FridgeType BreadType)\n (canContain FridgeType BowlType)\n (canContain FridgeType PotType)\n (canContain FridgeType MugType)\n (canContain FridgeType EggType)\n (canContain FridgeType LettuceType)\n (canContain FridgeType PotatoType)\n (canContain FridgeType CupType)\n (canContain FridgeType PlateType)\n (canContain FridgeType TomatoType)\n (canContain FridgeType AppleType)\n (canContain FridgeType PanType)\n (canContain GarbageCanType BreadType)\n (canContain GarbageCanType DishSpongeType)\n (canContain GarbageCanType EggType)\n (canContain GarbageCanType SoapBottleType)\n (canContain GarbageCanType LettuceType)\n (canContain GarbageCanType PotatoType)\n (canContain GarbageCanType TomatoType)\n (canContain GarbageCanType AppleType)\n (canContain CoffeeMachineType MugType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType BowlType)\n (canContain CabinetType PotType)\n (canContain CabinetType MugType)\n (canContain CabinetType LadleType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType CupType)\n (canContain CabinetType PlateType)\n (canContain CabinetType PepperShakerType)\n (canContain CabinetType PanType)\n (canContain StoveBurnerType PotType)\n (canContain 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 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 MicrowaveType MugType)\n (canContain MicrowaveType PotatoType)\n (canContain MicrowaveType EggType)\n (canContain MicrowaveType AppleType)\n (canContain MicrowaveType TomatoType)\n (canContain MicrowaveType BreadType)\n (canContain MicrowaveType CupType)\n (canContain MicrowaveType PlateType)\n (canContain MicrowaveType BowlType)\n (canContain CounterTopType SaltShakerType)\n (canContain CounterTopType BreadType)\n (canContain CounterTopType DishSpongeType)\n (canContain CounterTopType BowlType)\n (canContain CounterTopType PotType)\n (canContain CounterTopType MugType)\n (canContain CounterTopType EggType)\n (canContain CounterTopType LadleType)\n (canContain CounterTopType ForkType)\n (canContain CounterTopType SpoonType)\n (canContain CounterTopType SoapBottleType)\n (canContain CounterTopType LettuceType)\n (canContain CounterTopType PotatoType)\n (canContain CounterTopType ButterKnifeType)\n (canContain CounterTopType CupType)\n (canContain CounterTopType PlateType)\n (canContain CounterTopType PepperShakerType)\n (canContain CounterTopType TomatoType)\n (canContain CounterTopType KnifeType)\n (canContain CounterTopType AppleType)\n (canContain CounterTopType PanType)\n (canContain CounterTopType SpatulaType)\n (canContain 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 CounterTopType SaltShakerType)\n (canContain CounterTopType BreadType)\n (canContain CounterTopType DishSpongeType)\n (canContain CounterTopType BowlType)\n (canContain CounterTopType PotType)\n (canContain CounterTopType MugType)\n (canContain CounterTopType EggType)\n (canContain CounterTopType LadleType)\n (canContain CounterTopType ForkType)\n (canContain CounterTopType SpoonType)\n (canContain CounterTopType SoapBottleType)\n (canContain CounterTopType LettuceType)\n (canContain CounterTopType PotatoType)\n (canContain CounterTopType ButterKnifeType)\n (canContain CounterTopType CupType)\n (canContain CounterTopType PlateType)\n (canContain CounterTopType PepperShakerType)\n (canContain CounterTopType TomatoType)\n (canContain CounterTopType KnifeType)\n (canContain CounterTopType AppleType)\n (canContain CounterTopType PanType)\n (canContain CounterTopType SpatulaType)\n (canContain StoveBurnerType PotType)\n (canContain StoveBurnerType PanType)\n (canContain 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 Pot_bar__plus_01_dot_81_bar__plus_00_dot_91_bar__minus_00_dot_32)\n (pickupable Ladle_bar__plus_01_dot_59_bar__plus_00_dot_96_bar__minus_01_dot_46)\n (pickupable Cup_bar__minus_00_dot_64_bar__plus_01_dot_39_bar__minus_01_dot_52)\n (pickupable SoapBottle_bar__plus_00_dot_73_bar__plus_00_dot_91_bar__plus_00_dot_83)\n (pickupable PepperShaker_bar__plus_00_dot_36_bar__plus_00_dot_91_bar__minus_01_dot_26)\n (pickupable Mug_bar__minus_00_dot_60_bar__plus_00_dot_46_bar__minus_01_dot_54)\n (pickupable PepperShaker_bar__plus_01_dot_81_bar__plus_01_dot_65_bar__minus_00_dot_55)\n (pickupable Cup_bar__plus_01_dot_45_bar__plus_00_dot_91_bar__plus_00_dot_42)\n (pickupable Tomato_bar__minus_00_dot_79_bar__plus_00_dot_81_bar__minus_01_dot_56)\n (pickupable 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Sink_bar__plus_01_dot_10_bar__plus_00_dot_91_bar__minus_01_dot_60 loc_bar_4_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Plate_bar__plus_01_dot_80_bar__plus_01_dot_65_bar_00_dot_00 loc_bar_4_bar_0_bar_1_bar__minus_30)\n (objectAtLocation SoapBottle_bar__plus_01_dot_88_bar__plus_02_dot_14_bar__plus_00_dot_81 loc_bar_4_bar_1_bar_1_bar__minus_30)\n (objectAtLocation Cup_bar__minus_00_dot_64_bar__plus_01_dot_39_bar__minus_01_dot_52 loc_bar__minus_2_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Egg_bar__plus_01_dot_77_bar__plus_00_dot_11_bar__plus_01_dot_78 loc_bar_6_bar_9_bar_2_bar_60)\n (objectAtLocation Fork_bar__plus_01_dot_76_bar__plus_00_dot_91_bar__plus_00_dot_52 loc_bar_4_bar_1_bar_0_bar_45)\n (objectAtLocation Ladle_bar__plus_01_dot_59_bar__plus_00_dot_96_bar__minus_01_dot_46 loc_bar_2_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Apple_bar__plus_01_dot_71_bar__plus_01_dot_07_bar__minus_00_dot_73 loc_bar_4_bar__minus_3_bar_1_bar_45)\n (objectAtLocation SaltShaker_bar__plus_01_dot_81_bar__plus_02_dot_13_bar__plus_00_dot_92 loc_bar_4_bar_1_bar_1_bar__minus_30)\n (objectAtLocation Pan_bar__plus_01_dot_28_bar__plus_00_dot_90_bar__plus_01_dot_19 loc_bar_4_bar_1_bar_0_bar_45)\n (objectAtLocation Tomato_bar__minus_00_dot_79_bar__plus_00_dot_81_bar__minus_01_dot_56 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_80_bar__plus_00_dot_93_bar__minus_01_dot_46 loc_bar_2_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Potato_bar__plus_01_dot_50_bar__plus_00_dot_95_bar__plus_01_dot_18 loc_bar_4_bar_1_bar_0_bar_45)\n (objectAtLocation Knife_bar__plus_01_dot_84_bar__plus_00_dot_94_bar__plus_00_dot_57 loc_bar_4_bar_1_bar_0_bar_45)\n (objectAtLocation ButterKnife_bar__plus_01_dot_76_bar__plus_00_dot_91_bar__plus_00_dot_92 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_18 loc_bar_4_bar_1_bar_0_bar_45)\n (objectAtLocation Lettuce_bar__plus_00_dot_22_bar__plus_01_dot_01_bar__plus_01_dot_09 loc_bar_4_bar_1_bar_0_bar_45)\n (objectAtLocation PepperShaker_bar__plus_01_dot_84_bar__plus_01_dot_63_bar__minus_01_dot_46 loc_bar_4_bar__minus_3_bar_1_bar__minus_30)\n (objectAtLocation Pot_bar__plus_01_dot_81_bar__plus_00_dot_91_bar__plus_00_dot_08 loc_bar_4_bar_0_bar_1_bar_45)\n (objectAtLocation LightSwitch_bar__plus_02_dot_00_bar__plus_01_dot_26_bar__plus_03_dot_09 loc_bar_6_bar_11_bar_1_bar_45)\n (objectAtLocation DishSponge_bar__plus_01_dot_81_bar__plus_01_dot_63_bar__minus_01_dot_30 loc_bar_4_bar__minus_3_bar_1_bar__minus_30)\n (objectAtLocation Spoon_bar__plus_01_dot_76_bar__plus_00_dot_91_bar__plus_00_dot_36 loc_bar_4_bar_1_bar_0_bar_45)\n (objectAtLocation Bowl_bar__plus_01_dot_81_bar__plus_01_dot_63_bar__minus_00_dot_83 loc_bar_3_bar__minus_3_bar_1_bar__minus_30)\n (objectAtLocation Mug_bar__plus_00_dot_48_bar__plus_00_dot_91_bar__plus_01_dot_27 loc_bar_4_bar_1_bar_0_bar_45)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (cleanable ?o)\n (objectType ?o CupType)\n (receptacleType ?r MicrowaveType)\n (isClean ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 1", "take cup 1 from countertop 1", "go to sinkbasin 1", "clean cup 1 with sinkbasin 1", "go to microwave 1", "open microwave 1", "move cup 1 to microwave 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Cup-None-Microwave-14/trial_T20190907_120854_419532/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Cup-None-Microwave-14/trial_T20190907_120854_419532/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..71242473f83741ce26f147e27afe6f54c7ea0797 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Cup-None-Microwave-14/trial_T20190907_120854_419532/initial_state.pddl @@ -0,0 +1,785 @@ + +(define (problem plan_trial_T20190907_120854_419532) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Apple_bar__plus_01_dot_71_bar__plus_01_dot_07_bar__minus_00_dot_73 - object + Bowl_bar__plus_01_dot_81_bar__plus_01_dot_63_bar__minus_00_dot_83 - object + Bowl_bar__plus_01_dot_87_bar__plus_00_dot_91_bar__minus_01_dot_37 - object + Bread_bar__plus_00_dot_22_bar__plus_00_dot_99_bar__plus_00_dot_83 - object + Bread_bar__plus_01_dot_76_bar__plus_00_dot_99_bar__plus_01_dot_18 - object + ButterKnife_bar__plus_00_dot_30_bar__plus_00_dot_90_bar__minus_01_dot_30 - object + ButterKnife_bar__plus_01_dot_76_bar__plus_00_dot_91_bar__plus_00_dot_92 - object + Chair_bar__plus_00_dot_40_bar__plus_00_dot_00_bar__plus_01_dot_72 - object + Chair_bar__plus_01_dot_09_bar__plus_00_dot_00_bar__plus_01_dot_74 - object + Cup_bar__plus_01_dot_45_bar__plus_00_dot_91_bar__plus_00_dot_42 - object + Cup_bar__minus_00_dot_64_bar__plus_01_dot_39_bar__minus_01_dot_52 - object + DishSponge_bar__plus_01_dot_81_bar__plus_01_dot_63_bar__minus_01_dot_30 - object + Egg_bar__plus_01_dot_77_bar__plus_00_dot_11_bar__plus_01_dot_78 - object + Faucet_bar__plus_01_dot_11_bar__plus_01_dot_14_bar__minus_01_dot_76 - object + Fork_bar__plus_01_dot_76_bar__plus_00_dot_91_bar__plus_00_dot_52 - object + Knife_bar__plus_01_dot_84_bar__plus_00_dot_94_bar__plus_00_dot_57 - object + Ladle_bar__plus_01_dot_59_bar__plus_00_dot_96_bar__minus_01_dot_46 - object + Lettuce_bar__plus_00_dot_22_bar__plus_01_dot_01_bar__plus_01_dot_09 - 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_27 - object + Mug_bar__minus_00_dot_60_bar__plus_00_dot_46_bar__minus_01_dot_54 - object + Pan_bar__plus_01_dot_28_bar__plus_00_dot_90_bar__plus_01_dot_19 - object + PepperShaker_bar__plus_00_dot_36_bar__plus_00_dot_91_bar__minus_01_dot_26 - object + PepperShaker_bar__plus_01_dot_81_bar__plus_01_dot_65_bar__minus_00_dot_55 - object + PepperShaker_bar__plus_01_dot_84_bar__plus_01_dot_63_bar__minus_01_dot_46 - object + Plate_bar__plus_01_dot_80_bar__plus_01_dot_65_bar_00_dot_00 - object + Potato_bar__plus_01_dot_50_bar__plus_00_dot_95_bar__plus_01_dot_18 - object + Potato_bar__plus_01_dot_77_bar__plus_00_dot_11_bar__plus_01_dot_68 - object + Pot_bar__plus_01_dot_81_bar__plus_00_dot_91_bar__plus_00_dot_08 - object + Pot_bar__plus_01_dot_81_bar__plus_00_dot_91_bar__minus_00_dot_32 - object + SaltShaker_bar__plus_01_dot_50_bar__plus_00_dot_91_bar__plus_00_dot_74 - object + SaltShaker_bar__plus_01_dot_81_bar__plus_02_dot_13_bar__plus_00_dot_92 - object + Sink_bar__plus_01_dot_10_bar__plus_00_dot_91_bar__minus_01_dot_60 - object + SoapBottle_bar__plus_00_dot_73_bar__plus_00_dot_91_bar__plus_00_dot_83 - object + SoapBottle_bar__plus_01_dot_61_bar__plus_00_dot_91_bar__plus_00_dot_52 - object + SoapBottle_bar__plus_01_dot_88_bar__plus_02_dot_14_bar__plus_00_dot_81 - object + Spatula_bar__plus_01_dot_80_bar__plus_00_dot_93_bar__minus_01_dot_46 - object + Spoon_bar__plus_01_dot_76_bar__plus_00_dot_91_bar__plus_00_dot_36 - object + StoveKnob_bar__plus_01_dot_36_bar__plus_00_dot_82_bar__plus_00_dot_09 - object + StoveKnob_bar__plus_01_dot_36_bar__plus_00_dot_82_bar__minus_00_dot_05 - object + StoveKnob_bar__plus_01_dot_36_bar__plus_00_dot_82_bar__minus_00_dot_18 - object + StoveKnob_bar__plus_01_dot_36_bar__plus_00_dot_82_bar__minus_00_dot_32 - object + Tomato_bar__minus_00_dot_79_bar__plus_00_dot_81_bar__minus_01_dot_56 - object + Window_bar__plus_00_dot_78_bar__plus_01_dot_74_bar__minus_01_dot_89 - object + Window_bar__minus_00_dot_37_bar__plus_01_dot_59_bar__plus_03_dot_35 - object + Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_05_bar__plus_00_dot_67 - receptacle + Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_05_bar__minus_00_dot_61 - receptacle + Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_05_bar__minus_01_dot_21 - receptacle + Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_05_bar__minus_01_dot_89 - receptacle + Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_06_bar__plus_00_dot_19 - receptacle + Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_06_bar__minus_00_dot_59 - receptacle + Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_30_bar__plus_00_dot_69 - receptacle + Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_30_bar__plus_01_dot_31 - receptacle + CoffeeMachine_bar__plus_00_dot_50_bar__plus_00_dot_90_bar__minus_01_dot_60 - receptacle + CounterTop_bar__plus_00_dot_99_bar__plus_00_dot_95_bar__plus_01_dot_02 - receptacle + CounterTop_bar__plus_00_dot_99_bar__plus_00_dot_95_bar__minus_01_dot_52 - receptacle + Fridge_bar__minus_00_dot_53_bar__plus_00_dot_00_bar__minus_01_dot_55 - receptacle + GarbageCan_bar__plus_01_dot_77_bar__plus_00_dot_00_bar__plus_01_dot_69 - receptacle + Microwave_bar__plus_01_dot_75_bar__plus_00_dot_90_bar__minus_00_dot_84 - receptacle + Sink_bar__plus_01_dot_10_bar__plus_00_dot_91_bar__minus_01_dot_60_bar_SinkBasin - receptacle + StoveBurner_bar__plus_01_dot_54_bar__plus_00_dot_91_bar__minus_00_dot_32 - receptacle + StoveBurner_bar__plus_01_dot_55_bar__plus_00_dot_91_bar__plus_00_dot_08 - receptacle + StoveBurner_bar__plus_01_dot_81_bar__plus_00_dot_91_bar__plus_00_dot_08 - receptacle + StoveBurner_bar__plus_01_dot_81_bar__plus_00_dot_91_bar__minus_00_dot_32 - receptacle + Toaster_bar__plus_00_dot_13_bar__plus_00_dot_90_bar__minus_01_dot_59 - receptacle + loc_bar_4_bar__minus_3_bar_1_bar__minus_30 - location + loc_bar_4_bar_9_bar_2_bar_60 - location + loc_bar_4_bar__minus_3_bar_1_bar_45 - location + loc_bar_4_bar_0_bar_1_bar_45 - location + loc_bar_6_bar_9_bar_2_bar_60 - location + loc_bar_2_bar_0_bar_1_bar__minus_15 - location + loc_bar_1_bar__minus_3_bar_2_bar_45 - location + loc_bar_4_bar_1_bar_0_bar_45 - location + loc_bar_6_bar_9_bar_2_bar__minus_30 - location + loc_bar_4_bar__minus_3_bar_2_bar__minus_15 - location + loc_bar_4_bar_0_bar_1_bar__minus_30 - location + loc_bar_0_bar_7_bar_1_bar_60 - location + loc_bar_3_bar__minus_3_bar_1_bar__minus_30 - location + loc_bar_4_bar_0_bar_1_bar_60 - location + loc_bar_4_bar__minus_3_bar_2_bar_45 - location + loc_bar__minus_1_bar_11_bar_0_bar_0 - location + loc_bar_4_bar__minus_1_bar_1_bar_60 - location + loc_bar__minus_2_bar__minus_2_bar_2_bar_60 - location + loc_bar_4_bar_1_bar_1_bar__minus_30 - location + loc_bar_3_bar__minus_3_bar_2_bar_0 - location + loc_bar_6_bar_11_bar_1_bar_45 - location + loc_bar_4_bar__minus_1_bar_1_bar_45 - location + loc_bar_2_bar__minus_3_bar_2_bar_45 - location + loc_bar__minus_6_bar_2_bar_1_bar_30 - location + ) + + +(:init + + + (receptacleType StoveBurner_bar__plus_01_dot_55_bar__plus_00_dot_91_bar__plus_00_dot_08 StoveBurnerType) + (receptacleType Fridge_bar__minus_00_dot_53_bar__plus_00_dot_00_bar__minus_01_dot_55 FridgeType) + (receptacleType 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 Pot_bar__plus_01_dot_81_bar__plus_00_dot_91_bar__minus_00_dot_32 PotType) + (objectType Ladle_bar__plus_01_dot_59_bar__plus_00_dot_96_bar__minus_01_dot_46 LadleType) + (objectType Cup_bar__minus_00_dot_64_bar__plus_01_dot_39_bar__minus_01_dot_52 CupType) + (objectType Chair_bar__plus_00_dot_40_bar__plus_00_dot_00_bar__plus_01_dot_72 ChairType) + (objectType LightSwitch_bar__plus_02_dot_00_bar__plus_01_dot_26_bar__plus_03_dot_09 LightSwitchType) + (objectType SoapBottle_bar__plus_00_dot_73_bar__plus_00_dot_91_bar__plus_00_dot_83 SoapBottleType) + (objectType Sink_bar__plus_01_dot_10_bar__plus_00_dot_91_bar__minus_01_dot_60 SinkType) + (objectType PepperShaker_bar__plus_00_dot_36_bar__plus_00_dot_91_bar__minus_01_dot_26 PepperShakerType) + (objectType Mug_bar__minus_00_dot_60_bar__plus_00_dot_46_bar__minus_01_dot_54 MugType) + (objectType PepperShaker_bar__plus_01_dot_81_bar__plus_01_dot_65_bar__minus_00_dot_55 PepperShakerType) + (objectType Cup_bar__plus_01_dot_45_bar__plus_00_dot_91_bar__plus_00_dot_42 CupType) + (objectType StoveKnob_bar__plus_01_dot_36_bar__plus_00_dot_82_bar__plus_00_dot_09 StoveKnobType) + (objectType Tomato_bar__minus_00_dot_79_bar__plus_00_dot_81_bar__minus_01_dot_56 TomatoType) + (objectType Mug_bar__plus_00_dot_48_bar__plus_00_dot_91_bar__plus_01_dot_27 MugType) + (objectType Plate_bar__plus_01_dot_80_bar__plus_01_dot_65_bar_00_dot_00 PlateType) + (objectType Spoon_bar__plus_01_dot_76_bar__plus_00_dot_91_bar__plus_00_dot_36 SpoonType) + (objectType Bowl_bar__plus_01_dot_87_bar__plus_00_dot_91_bar__minus_01_dot_37 BowlType) + (objectType StoveKnob_bar__plus_01_dot_36_bar__plus_00_dot_82_bar__minus_00_dot_05 StoveKnobType) + (objectType Window_bar__minus_00_dot_37_bar__plus_01_dot_59_bar__plus_03_dot_35 WindowType) + (objectType ButterKnife_bar__plus_00_dot_30_bar__plus_00_dot_90_bar__minus_01_dot_30 ButterKnifeType) + (objectType Spatula_bar__plus_01_dot_80_bar__plus_00_dot_93_bar__minus_01_dot_46 SpatulaType) + (objectType Pan_bar__plus_01_dot_28_bar__plus_00_dot_90_bar__plus_01_dot_19 PanType) + (objectType Potato_bar__plus_01_dot_77_bar__plus_00_dot_11_bar__plus_01_dot_68 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cup up from the sink.", + "Turn to the left to face the microwave.", + "Put the cup in the microwave and close the door." + ], + "task_desc": "Put a clean cup in the microwave.", + "votes": [ + 1, + 1, + 1, + 1, + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1P0XSCJ9XAV74_3IAS3U3I0IXXZ0Y0187QMWMN2SAB2A", + "high_descs": [ + "Face right then back again to walk straight to the counter next to the stove.", + "Take the green cup off of the counter.", + "Turn to your right and walk to the sink with the cup.", + "Put the cup in the sink and turn the water on. Turn the water back off and take out the cup.", + "Turn to your left facing the microwave.", + "Open the microwave and place the cup next to the apple on the plate and shut the door." + ], + "task_desc": "Clean a cup to place it in the microwave.", + "votes": [ + 1, + 1, + 1, + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A20C7ZLLE41JUO_3GA6AFUKOR5WBVX550VRRHUD2EP3HS", + "high_descs": [ + "Walk straight into the kitchen to the counter immediately to the left of the stove top.", + "Pick up the green glass that is to the left of the stove top near the edge of the counter.", + "Holding the green glass, turn right ninety degrees and walk straight to the sink.", + "Put the green glass upright into the sink. Close the drain and fill the sink with water, rinsing the glass. Then drain the sink and take the green glass out of the sink.", + "Turn to the left ninety degrees to face the microwave.", + "Open the microwave door, place the green glass inside the microwave to the right of the apple, and close the microwave door." + ], + "task_desc": "Put the rinsed green glass into the microwave.", + "votes": [ + 1, + 1, + 0, + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "AD0NVUGLDYDYN_3Q5C1WP23PIOLZZVHUGZERCQ0Y515T", + "high_descs": [ + "walk to the stove", + "grab the green cup by the stove", + "turn right, walk to the sink", + "put the cup in the sink, wash the cup with water, take the cup", + "turn left to microwave", + "open the microwave, put the cup in the microwave, close the microwave" + ], + "task_desc": "grab the green cup by the stove, wash the cup, put it in the microwave", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Kettle-None-Cabinet-2/trial_T20190909_043015_942171/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Kettle-None-Cabinet-2/trial_T20190909_043015_942171/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..b4ee838854efbf5d72bde21334b54d07045615a5 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Kettle-None-Cabinet-2/trial_T20190909_043015_942171/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\n\\n#task#\"\n }\n ],\n\n \"notImplemented\": [\n {\n \"rhs\": \"TODO\"\n }\n ],\n\n \"task\": [\n {\n \"rhs\": \"Your task is to: clean some kettle and put it in cabinet.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190909_043015_942171)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\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_65_bar__plus_01_dot_52_bar__plus_00_dot_11 - object\n Bowl_bar__minus_01_dot_75_bar__plus_01_dot_67_bar__minus_00_dot_18 - object\n Bread_bar__plus_00_dot_26_bar__plus_00_dot_99_bar__minus_00_dot_09 - object\n 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Pot_bar__minus_00_dot_21_bar__plus_00_dot_93_bar__plus_00_dot_97 - object\n SaltShaker_bar__minus_00_dot_80_bar__plus_00_dot_67_bar__minus_01_dot_24 - object\n Sink_bar__plus_00_dot_00_bar__plus_00_dot_89_bar__minus_01_dot_44 - object\n SoapBottle_bar__plus_01_dot_81_bar__plus_00_dot_92_bar__plus_01_dot_41 - object\n Spatula_bar__plus_01_dot_75_bar__plus_00_dot_93_bar__plus_00_dot_10 - object\n Spatula_bar__plus_01_dot_82_bar__plus_00_dot_78_bar__plus_01_dot_29 - object\n Spatula_bar__plus_01_dot_86_bar__plus_00_dot_48_bar__plus_01_dot_09 - object\n Spoon_bar__plus_01_dot_71_bar__plus_00_dot_23_bar__plus_01_dot_22 - object\n StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_46 - object\n StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_52 - object\n StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_57 - object\n StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_63 - object\n StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_68 - object\n StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_74 - object\n Tomato_bar__plus_00_dot_17_bar__plus_00_dot_97_bar__minus_00_dot_28 - object\n Window_bar__plus_02_dot_22_bar__plus_01_dot_57_bar__minus_00_dot_39 - object\n Window_bar__minus_00_dot_01_bar__plus_01_dot_58_bar__minus_01_dot_82 - object\n Window_bar__minus_03_dot_24_bar__plus_01_dot_62_bar__plus_02_dot_69 - object\n Cabinet_bar__plus_00_dot_41_bar__plus_00_dot_48_bar__plus_00_dot_45 - receptacle\n Cabinet_bar__plus_00_dot_50_bar__plus_00_dot_48_bar__minus_01_dot_15 - receptacle\n Cabinet_bar__plus_01_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_15 - receptacle\n Cabinet_bar__plus_01_dot_71_bar__plus_02_dot_02_bar__minus_01_dot_45 - receptacle\n Cabinet_bar__plus_01_dot_79_bar__plus_02_dot_02_bar__minus_00_dot_82 - receptacle\n Cabinet_bar__minus_00_dot_50_bar__plus_00_dot_48_bar__minus_01_dot_15 - receptacle\n Cabinet_bar__minus_00_dot_63_bar__plus_02_dot_02_bar__minus_01_dot_45 - receptacle\n Cabinet_bar__minus_01_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_15 - receptacle\n Cabinet_bar__minus_01_dot_70_bar__plus_02_dot_02_bar__minus_01_dot_45 - receptacle\n CoffeeMachine_bar__plus_01_dot_36_bar__plus_00_dot_90_bar__minus_01_dot_60 - receptacle\n CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51 - receptacle\n CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51 - receptacle\n Drawer_bar__plus_00_dot_81_bar__plus_00_dot_48_bar__minus_01_dot_16 - receptacle\n Drawer_bar__plus_01_dot_50_bar__plus_00_dot_14_bar__plus_00_dot_60 - receptacle\n Drawer_bar__plus_01_dot_50_bar__plus_00_dot_20_bar__plus_01_dot_22 - receptacle\n Drawer_bar__plus_01_dot_50_bar__plus_00_dot_20_bar__minus_00_dot_02 - receptacle\n Drawer_bar__plus_01_dot_50_bar__plus_00_dot_31_bar__plus_00_dot_60 - receptacle\n Drawer_bar__plus_01_dot_50_bar__plus_00_dot_43_bar__minus_00_dot_02 - receptacle\n Drawer_bar__plus_01_dot_50_bar__plus_00_dot_52_bar__plus_01_dot_22 - receptacle\n Drawer_bar__plus_01_dot_50_bar__plus_00_dot_54_bar__plus_00_dot_60 - receptacle\n Drawer_bar__plus_01_dot_50_bar__plus_00_dot_60_bar__minus_00_dot_02 - receptacle\n Drawer_bar__plus_01_dot_50_bar__plus_00_dot_63_bar__plus_00_dot_61 - receptacle\n Drawer_bar__plus_01_dot_50_bar__plus_00_dot_63_bar__minus_00_dot_02 - receptacle\n Drawer_bar__plus_01_dot_50_bar__plus_00_dot_78_bar__plus_01_dot_22 - receptacle\n Drawer_bar__minus_00_dot_70_bar__plus_00_dot_48_bar__minus_01_dot_16 - receptacle\n Fridge_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__plus_00_dot_01 - receptacle\n GarbageCan_bar__minus_01_dot_80_bar__plus_00_dot_00_bar__plus_01_dot_33 - receptacle\n Microwave_bar__plus_01_dot_93_bar__plus_00_dot_90_bar__minus_00_dot_77 - receptacle\n Sink_bar__plus_00_dot_00_bar__plus_00_dot_89_bar__minus_01_dot_44_bar_SinkBasin - receptacle\n StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_38 - receptacle\n StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_60 - receptacle\n StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_82 - receptacle\n StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_38 - receptacle\n StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_60 - receptacle\n StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_82 - receptacle\n Toaster_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__minus_00_dot_34 - receptacle\n loc_bar_4_bar__minus_3_bar_1_bar__minus_30 - location\n loc_bar_3_bar_1_bar_1_bar_60 - location\n loc_bar_5_bar_2_bar_1_bar_60 - location\n loc_bar_3_bar_4_bar_1_bar_60 - location\n loc_bar_2_bar_7_bar_1_bar_60 - location\n loc_bar__minus_3_bar__minus_1_bar_2_bar_60 - location\n loc_bar__minus_3_bar__minus_2_bar_2_bar_60 - location\n loc_bar_4_bar__minus_3_bar_1_bar_45 - location\n loc_bar_0_bar__minus_3_bar_2_bar_45 - location\n loc_bar_5_bar_3_bar_1_bar_60 - location\n loc_bar_3_bar_7_bar_2_bar_60 - location\n loc_bar_0_bar_8_bar_2_bar_60 - location\n loc_bar_3_bar_3_bar_1_bar_60 - location\n loc_bar_5_bar_0_bar_1_bar_60 - location\n loc_bar_5_bar_0_bar_2_bar_45 - location\n loc_bar_5_bar_4_bar_3_bar_60 - location\n loc_bar__minus_10_bar_11_bar_3_bar_0 - location\n loc_bar_4_bar_3_bar_2_bar_60 - location\n loc_bar__minus_5_bar_6_bar_3_bar_60 - location\n loc_bar__minus_3_bar_0_bar_3_bar_60 - location\n loc_bar__minus_3_bar__minus_3_bar_3_bar__minus_15 - location\n loc_bar__minus_1_bar_12_bar_0_bar_30 - location\n loc_bar__minus_3_bar_0_bar_3_bar_30 - location\n loc_bar_5_bar_3_bar_1_bar_45 - location\n loc_bar__minus_3_bar__minus_3_bar_2_bar_45 - location\n loc_bar__minus_3_bar__minus_3_bar_2_bar__minus_30 - location\n loc_bar_4_bar__minus_3_bar_2_bar_45 - location\n loc_bar_5_bar_2_bar_1_bar_45 - location\n loc_bar_3_bar__minus_1_bar_2_bar_60 - location\n loc_bar_3_bar_6_bar_1_bar_45 - location\n loc_bar_3_bar_2_bar_3_bar_45 - location\n loc_bar_4_bar__minus_1_bar_1_bar_45 - location\n loc_bar_0_bar__minus_3_bar_2_bar_60 - location\n loc_bar__minus_2_bar_13_bar_0_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_82 StoveBurnerType)\n (receptacleType Cabinet_bar__minus_01_dot_70_bar__plus_02_dot_02_bar__minus_01_dot_45 CabinetType)\n (receptacleType CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51 CounterTopType)\n (receptacleType Cabinet_bar__plus_01_dot_79_bar__plus_02_dot_02_bar__minus_00_dot_82 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_50_bar__plus_00_dot_48_bar__minus_01_dot_15 CabinetType)\n (receptacleType Drawer_bar__plus_01_dot_50_bar__plus_00_dot_63_bar__plus_00_dot_61 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_70_bar__plus_00_dot_48_bar__minus_01_dot_16 DrawerType)\n (receptacleType 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(objectType StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_46 StoveKnobType)\n (objectType LightSwitch_bar__minus_00_dot_15_bar__plus_01_dot_29_bar__plus_03_dot_70 LightSwitchType)\n (objectType Egg_bar__minus_01_dot_80_bar__plus_00_dot_10_bar__plus_01_dot_37 EggType)\n (objectType Knife_bar__plus_00_dot_11_bar__plus_00_dot_92_bar__plus_00_dot_07 KnifeType)\n (objectType StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_68 StoveKnobType)\n (objectType PepperShaker_bar__minus_00_dot_32_bar__plus_00_dot_92_bar__plus_00_dot_27 PepperShakerType)\n (objectType Bread_bar__minus_00_dot_21_bar__plus_01_dot_01_bar__plus_00_dot_27 BreadType)\n (objectType SoapBottle_bar__plus_01_dot_81_bar__plus_00_dot_92_bar__plus_01_dot_41 SoapBottleType)\n (objectType Ladle_bar__plus_01_dot_77_bar__plus_00_dot_81_bar__plus_01_dot_15 LadleType)\n (objectType Spatula_bar__plus_01_dot_75_bar__plus_00_dot_93_bar__plus_00_dot_10 SpatulaType)\n (objectType 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Drawer_bar__plus_01_dot_50_bar__plus_00_dot_63_bar__minus_00_dot_02)\n (inReceptacle Fork_bar__plus_01_dot_66_bar__plus_00_dot_58_bar__plus_00_dot_05 Drawer_bar__plus_01_dot_50_bar__plus_00_dot_60_bar__minus_00_dot_02)\n (inReceptacle SaltShaker_bar__minus_00_dot_80_bar__plus_00_dot_67_bar__minus_01_dot_24 Drawer_bar__minus_00_dot_70_bar__plus_00_dot_48_bar__minus_01_dot_16)\n (inReceptacle CellPhone_bar__plus_01_dot_82_bar__plus_00_dot_22_bar__plus_00_dot_53 Drawer_bar__plus_01_dot_50_bar__plus_00_dot_31_bar__plus_00_dot_60)\n (inReceptacle Pot_bar__plus_01_dot_98_bar__plus_00_dot_94_bar__plus_00_dot_82 StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_60)\n (inReceptacle DishSponge_bar__plus_01_dot_71_bar__plus_00_dot_47_bar__minus_00_dot_16 Drawer_bar__plus_01_dot_50_bar__plus_00_dot_43_bar__minus_00_dot_02)\n (inReceptacle Pot_bar__plus_01_dot_98_bar__plus_00_dot_94_bar__plus_00_dot_82 StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_82)\n (inReceptacle Fork_bar__plus_01_dot_71_bar__plus_00_dot_55_bar__plus_01_dot_28 Drawer_bar__plus_01_dot_50_bar__plus_00_dot_52_bar__plus_01_dot_22)\n (inReceptacle Spatula_bar__plus_01_dot_86_bar__plus_00_dot_48_bar__plus_01_dot_09 Drawer_bar__plus_01_dot_50_bar__plus_00_dot_52_bar__plus_01_dot_22)\n (inReceptacle DishSponge_bar__plus_01_dot_93_bar__plus_00_dot_91_bar__plus_00_dot_18 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51)\n (inReceptacle Potato_bar__plus_01_dot_80_bar__plus_00_dot_94_bar__minus_01_dot_51 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51)\n (inReceptacle SoapBottle_bar__plus_01_dot_81_bar__plus_00_dot_92_bar__plus_01_dot_41 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51)\n (inReceptacle PepperShaker_bar__plus_01_dot_80_bar__plus_00_dot_91_bar__minus_01_dot_42 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51)\n (inReceptacle ButterKnife_bar__plus_01_dot_57_bar__plus_00_dot_91_bar__minus_01_dot_51 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51)\n (inReceptacle Spatula_bar__plus_01_dot_75_bar__plus_00_dot_93_bar__plus_00_dot_10 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51)\n (inReceptacle Potato_bar__plus_00_dot_89_bar__plus_00_dot_94_bar__minus_01_dot_32 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51)\n (inReceptacle Knife_bar__plus_01_dot_90_bar__plus_00_dot_93_bar__plus_01_dot_41 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51)\n (inReceptacle Window_bar__plus_02_dot_22_bar__plus_01_dot_57_bar__minus_00_dot_39 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51)\n (inReceptacle Window_bar__minus_00_dot_01_bar__plus_01_dot_58_bar__minus_01_dot_82 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51)\n (inReceptacle Pan_bar__minus_01_dot_29_bar__plus_00_dot_90_bar__minus_01_dot_35 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51)\n (inReceptacle Kettle_bar__plus_01_dot_77_bar__plus_00_dot_94_bar__plus_00_dot_38 StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_38)\n (inReceptacle Spatula_bar__plus_01_dot_82_bar__plus_00_dot_78_bar__plus_01_dot_29 Drawer_bar__plus_01_dot_50_bar__plus_00_dot_78_bar__plus_01_dot_22)\n (inReceptacle Ladle_bar__plus_01_dot_77_bar__plus_00_dot_81_bar__plus_01_dot_15 Drawer_bar__plus_01_dot_50_bar__plus_00_dot_78_bar__plus_01_dot_22)\n (inReceptacle Pot_bar__minus_00_dot_21_bar__plus_00_dot_93_bar__plus_00_dot_97 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51)\n (inReceptacle Knife_bar__plus_00_dot_11_bar__plus_00_dot_92_bar__plus_00_dot_07 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51)\n (inReceptacle Plate_bar__plus_00_dot_11_bar__plus_00_dot_92_bar__plus_00_dot_27 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51)\n (inReceptacle ButterKnife_bar__plus_00_dot_00_bar__plus_00_dot_93_bar__plus_00_dot_97 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51)\n (inReceptacle Bread_bar__minus_00_dot_21_bar__plus_01_dot_01_bar__plus_00_dot_51 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51)\n (inReceptacle PepperShaker_bar__minus_00_dot_32_bar__plus_00_dot_92_bar__plus_00_dot_27 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51)\n (inReceptacle Bread_bar__minus_00_dot_21_bar__plus_01_dot_01_bar__plus_00_dot_27 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51)\n (inReceptacle Plate_bar__plus_00_dot_11_bar__plus_00_dot_92_bar__plus_00_dot_74 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51)\n (inReceptacle Cup_bar__plus_00_dot_32_bar__plus_00_dot_92_bar__plus_00_dot_51 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51)\n (inReceptacle Tomato_bar__plus_00_dot_17_bar__plus_00_dot_97_bar__minus_00_dot_28 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51)\n (inReceptacle Bread_bar__plus_00_dot_26_bar__plus_00_dot_99_bar__minus_00_dot_09 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51)\n (inReceptacle Lettuce_bar__plus_00_dot_00_bar__plus_01_dot_00_bar__plus_01_dot_20 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51)\n (inReceptacle Fork_bar__minus_00_dot_21_bar__plus_00_dot_93_bar__plus_01_dot_20 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51)\n (inReceptacle DishSponge_bar__minus_00_dot_11_bar__plus_00_dot_93_bar__minus_00_dot_19 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51)\n (inReceptacle Mug_bar__minus_00_dot_21_bar__plus_00_dot_92_bar__plus_00_dot_74 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51)\n (inReceptacle Spoon_bar__plus_01_dot_71_bar__plus_00_dot_23_bar__plus_01_dot_22 Drawer_bar__plus_01_dot_50_bar__plus_00_dot_20_bar__plus_01_dot_22)\n (inReceptacle Pot_bar__plus_01_dot_98_bar__plus_00_dot_94_bar__plus_00_dot_82 StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_82)\n (inReceptacle Egg_bar__minus_01_dot_80_bar__plus_00_dot_10_bar__plus_01_dot_37 GarbageCan_bar__minus_01_dot_80_bar__plus_00_dot_00_bar__plus_01_dot_33)\n (inReceptacle Potato_bar__plus_01_dot_89_bar__plus_01_dot_03_bar__minus_00_dot_70 Microwave_bar__plus_01_dot_93_bar__plus_00_dot_90_bar__minus_00_dot_77)\n (inReceptacle Cup_bar__plus_02_dot_02_bar__plus_01_dot_00_bar__minus_00_dot_70 Microwave_bar__plus_01_dot_93_bar__plus_00_dot_90_bar__minus_00_dot_77)\n (inReceptacle Egg_bar__minus_01_dot_69_bar__plus_00_dot_62_bar__minus_00_dot_08 Fridge_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__plus_00_dot_01)\n (inReceptacle Cup_bar__minus_01_dot_79_bar__plus_01_dot_03_bar__plus_00_dot_20 Fridge_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__plus_00_dot_01)\n (inReceptacle Bowl_bar__minus_01_dot_75_bar__plus_01_dot_67_bar__minus_00_dot_18 Fridge_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__plus_00_dot_01)\n (inReceptacle Apple_bar__minus_01_dot_65_bar__plus_01_dot_52_bar__plus_00_dot_11 Fridge_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__plus_00_dot_01)\n \n \n (receptacleAtLocation Cabinet_bar__plus_00_dot_41_bar__plus_00_dot_48_bar__plus_00_dot_45 loc_bar_5_bar_4_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_50_bar__plus_00_dot_48_bar__minus_01_dot_15 loc_bar_3_bar__minus_1_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_15 loc_bar_3_bar__minus_1_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_71_bar__plus_02_dot_02_bar__minus_01_dot_45 loc_bar_4_bar__minus_3_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_79_bar__plus_02_dot_02_bar__minus_00_dot_82 loc_bar_4_bar__minus_3_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_50_bar__plus_00_dot_48_bar__minus_01_dot_15 loc_bar__minus_3_bar__minus_1_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_63_bar__plus_02_dot_02_bar__minus_01_dot_45 loc_bar__minus_3_bar__minus_3_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_15 loc_bar__minus_3_bar__minus_1_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_70_bar__plus_02_dot_02_bar__minus_01_dot_45 loc_bar__minus_3_bar__minus_3_bar_3_bar__minus_15)\n (receptacleAtLocation CoffeeMachine_bar__plus_01_dot_36_bar__plus_00_dot_90_bar__minus_01_dot_60 loc_bar_4_bar__minus_3_bar_2_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51 loc_bar__minus_3_bar__minus_3_bar_2_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51 loc_bar_3_bar_2_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_81_bar__plus_00_dot_48_bar__minus_01_dot_16 loc_bar_5_bar_0_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_14_bar__plus_00_dot_60 loc_bar_3_bar_7_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_20_bar__plus_01_dot_22 loc_bar_2_bar_7_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_20_bar__minus_00_dot_02 loc_bar_5_bar_0_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_31_bar__plus_00_dot_60 loc_bar_5_bar_2_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_43_bar__minus_00_dot_02 loc_bar_5_bar_0_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_52_bar__plus_01_dot_22 loc_bar_3_bar_3_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_54_bar__plus_00_dot_60 loc_bar_5_bar_2_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_60_bar__minus_00_dot_02 loc_bar_4_bar_3_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_63_bar__plus_00_dot_61 loc_bar_3_bar_4_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_63_bar__minus_00_dot_02 loc_bar_3_bar_1_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_78_bar__plus_01_dot_22 loc_bar_3_bar_6_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_70_bar__plus_00_dot_48_bar__minus_01_dot_16 loc_bar__minus_3_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Fridge_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__plus_00_dot_01 loc_bar__minus_3_bar_0_bar_3_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_01_dot_80_bar__plus_00_dot_00_bar__plus_01_dot_33 loc_bar__minus_5_bar_6_bar_3_bar_60)\n (receptacleAtLocation Microwave_bar__plus_01_dot_93_bar__plus_00_dot_90_bar__minus_00_dot_77 loc_bar_4_bar__minus_3_bar_1_bar_45)\n (receptacleAtLocation Sink_bar__plus_00_dot_00_bar__plus_00_dot_89_bar__minus_01_dot_44_bar_SinkBasin loc_bar_0_bar__minus_3_bar_2_bar_60)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_38 loc_bar_5_bar_2_bar_1_bar_60)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_60 loc_bar_5_bar_2_bar_1_bar_60)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_82 loc_bar_5_bar_3_bar_1_bar_60)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_38 loc_bar_5_bar_2_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_60 loc_bar_5_bar_2_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_82 loc_bar_5_bar_3_bar_1_bar_45)\n (receptacleAtLocation Toaster_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__minus_00_dot_34 loc_bar_4_bar__minus_1_bar_1_bar_45)\n (objectAtLocation Mug_bar__minus_01_dot_77_bar__plus_01_dot_02_bar__minus_00_dot_08 loc_bar__minus_3_bar_0_bar_3_bar_30)\n (objectAtLocation DishSponge_bar__plus_01_dot_71_bar__plus_00_dot_47_bar__minus_00_dot_16 loc_bar_5_bar_0_bar_1_bar_60)\n (objectAtLocation Potato_bar__plus_01_dot_80_bar__plus_00_dot_94_bar__minus_01_dot_51 loc_bar__minus_3_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Bread_bar__plus_00_dot_26_bar__plus_00_dot_99_bar__minus_00_dot_09 loc_bar_3_bar_2_bar_3_bar_45)\n (objectAtLocation ButterKnife_bar__plus_01_dot_76_bar__plus_00_dot_70_bar__minus_00_dot_02 loc_bar_3_bar_1_bar_1_bar_60)\n (objectAtLocation PepperShaker_bar__plus_01_dot_80_bar__plus_00_dot_91_bar__minus_01_dot_42 loc_bar__minus_3_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Knife_bar__plus_00_dot_11_bar__plus_00_dot_92_bar__plus_00_dot_07 loc_bar_3_bar_2_bar_3_bar_45)\n (objectAtLocation Spatula_bar__plus_01_dot_75_bar__plus_00_dot_93_bar__plus_00_dot_10 loc_bar__minus_3_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Plate_bar__plus_00_dot_11_bar__plus_00_dot_92_bar__plus_00_dot_74 loc_bar_3_bar_2_bar_3_bar_45)\n (objectAtLocation Egg_bar__minus_01_dot_80_bar__plus_00_dot_10_bar__plus_01_dot_37 loc_bar__minus_5_bar_6_bar_3_bar_60)\n (objectAtLocation Kettle_bar__plus_01_dot_77_bar__plus_00_dot_94_bar__plus_00_dot_38 loc_bar_5_bar_2_bar_1_bar_60)\n (objectAtLocation Fork_bar__plus_01_dot_66_bar__plus_00_dot_58_bar__plus_00_dot_05 loc_bar_4_bar_3_bar_2_bar_60)\n (objectAtLocation Pot_bar__plus_01_dot_98_bar__plus_00_dot_94_bar__plus_00_dot_82 loc_bar_5_bar_3_bar_1_bar_45)\n (objectAtLocation Cup_bar__plus_02_dot_02_bar__plus_01_dot_00_bar__minus_00_dot_70 loc_bar_4_bar__minus_3_bar_1_bar_45)\n (objectAtLocation Bread_bar__minus_00_dot_21_bar__plus_01_dot_01_bar__plus_00_dot_27 loc_bar_3_bar_2_bar_3_bar_45)\n (objectAtLocation Cup_bar__plus_00_dot_32_bar__plus_00_dot_92_bar__plus_00_dot_51 loc_bar_3_bar_2_bar_3_bar_45)\n (objectAtLocation Spatula_bar__plus_01_dot_86_bar__plus_00_dot_48_bar__plus_01_dot_09 loc_bar_3_bar_3_bar_1_bar_60)\n (objectAtLocation Fork_bar__minus_00_dot_21_bar__plus_00_dot_93_bar__plus_01_dot_20 loc_bar_3_bar_2_bar_3_bar_45)\n (objectAtLocation ButterKnife_bar__plus_01_dot_57_bar__plus_00_dot_91_bar__minus_01_dot_51 loc_bar__minus_3_bar__minus_3_bar_2_bar_45)\n (objectAtLocation DishSponge_bar__minus_00_dot_11_bar__plus_00_dot_93_bar__minus_00_dot_19 loc_bar_3_bar_2_bar_3_bar_45)\n (objectAtLocation Potato_bar__plus_00_dot_89_bar__plus_00_dot_94_bar__minus_01_dot_32 loc_bar__minus_3_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Window_bar__minus_00_dot_01_bar__plus_01_dot_58_bar__minus_01_dot_82 loc_bar__minus_3_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Sink_bar__plus_00_dot_00_bar__plus_00_dot_89_bar__minus_01_dot_44 loc_bar_0_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Window_bar__plus_02_dot_22_bar__plus_01_dot_57_bar__minus_00_dot_39 loc_bar__minus_3_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Chair_bar__minus_00_dot_06_bar__plus_00_dot_52_bar__plus_01_dot_37 loc_bar_0_bar_8_bar_2_bar_60)\n (objectAtLocation Window_bar__minus_03_dot_24_bar__plus_01_dot_62_bar__plus_02_dot_69 loc_bar__minus_10_bar_11_bar_3_bar_0)\n (objectAtLocation SoapBottle_bar__plus_01_dot_81_bar__plus_00_dot_92_bar__plus_01_dot_41 loc_bar__minus_3_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Cup_bar__minus_01_dot_79_bar__plus_01_dot_03_bar__plus_00_dot_20 loc_bar__minus_3_bar_0_bar_3_bar_60)\n (objectAtLocation LightSwitch_bar__minus_00_dot_15_bar__plus_01_dot_29_bar__plus_03_dot_70 loc_bar__minus_1_bar_12_bar_0_bar_30)\n (objectAtLocation Pot_bar__minus_00_dot_21_bar__plus_00_dot_93_bar__plus_00_dot_97 loc_bar_3_bar_2_bar_3_bar_45)\n (objectAtLocation StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_57 loc_bar_5_bar_2_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_63 loc_bar_5_bar_3_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_74 loc_bar_5_bar_3_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_68 loc_bar_5_bar_3_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_46 loc_bar_5_bar_2_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_52 loc_bar_5_bar_2_bar_1_bar_60)\n (objectAtLocation Fork_bar__plus_01_dot_71_bar__plus_00_dot_55_bar__plus_01_dot_28 loc_bar_3_bar_3_bar_1_bar_60)\n (objectAtLocation Ladle_bar__plus_01_dot_77_bar__plus_00_dot_81_bar__plus_01_dot_15 loc_bar_3_bar_6_bar_1_bar_45)\n (objectAtLocation Kettle_bar__plus_01_dot_77_bar__plus_00_dot_94_bar__plus_00_dot_60 loc_bar_5_bar_2_bar_1_bar_60)\n (objectAtLocation Egg_bar__minus_01_dot_69_bar__plus_00_dot_62_bar__minus_00_dot_08 loc_bar__minus_3_bar_0_bar_3_bar_60)\n (objectAtLocation Plate_bar__plus_00_dot_11_bar__plus_00_dot_92_bar__plus_00_dot_27 loc_bar_3_bar_2_bar_3_bar_45)\n (objectAtLocation Pan_bar__minus_01_dot_29_bar__plus_00_dot_90_bar__minus_01_dot_35 loc_bar__minus_3_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Lettuce_bar__plus_00_dot_00_bar__plus_01_dot_00_bar__plus_01_dot_20 loc_bar_3_bar_2_bar_3_bar_45)\n (objectAtLocation Spatula_bar__plus_01_dot_82_bar__plus_00_dot_78_bar__plus_01_dot_29 loc_bar_3_bar_6_bar_1_bar_45)\n (objectAtLocation Apple_bar__minus_01_dot_65_bar__plus_01_dot_52_bar__plus_00_dot_11 loc_bar__minus_3_bar_0_bar_3_bar_60)\n (objectAtLocation Knife_bar__plus_01_dot_90_bar__plus_00_dot_93_bar__plus_01_dot_41 loc_bar__minus_3_bar__minus_3_bar_2_bar_45)\n (objectAtLocation SaltShaker_bar__minus_00_dot_80_bar__plus_00_dot_67_bar__minus_01_dot_24 loc_bar__minus_3_bar__minus_2_bar_2_bar_60)\n (objectAtLocation PepperShaker_bar__minus_00_dot_32_bar__plus_00_dot_92_bar__plus_00_dot_27 loc_bar_3_bar_2_bar_3_bar_45)\n (objectAtLocation CellPhone_bar__plus_01_dot_82_bar__plus_00_dot_22_bar__plus_00_dot_53 loc_bar_5_bar_2_bar_1_bar_60)\n (objectAtLocation ButterKnife_bar__plus_00_dot_00_bar__plus_00_dot_93_bar__plus_00_dot_97 loc_bar_3_bar_2_bar_3_bar_45)\n (objectAtLocation Bread_bar__minus_00_dot_21_bar__plus_01_dot_01_bar__plus_00_dot_51 loc_bar_3_bar_2_bar_3_bar_45)\n (objectAtLocation Tomato_bar__plus_00_dot_17_bar__plus_00_dot_97_bar__minus_00_dot_28 loc_bar_3_bar_2_bar_3_bar_45)\n (objectAtLocation Potato_bar__plus_01_dot_89_bar__plus_01_dot_03_bar__minus_00_dot_70 loc_bar_4_bar__minus_3_bar_1_bar_45)\n (objectAtLocation DishSponge_bar__plus_01_dot_93_bar__plus_00_dot_91_bar__plus_00_dot_18 loc_bar__minus_3_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Spoon_bar__plus_01_dot_71_bar__plus_00_dot_23_bar__plus_01_dot_22 loc_bar_2_bar_7_bar_1_bar_60)\n (objectAtLocation Mug_bar__minus_00_dot_21_bar__plus_00_dot_92_bar__plus_00_dot_74 loc_bar_3_bar_2_bar_3_bar_45)\n (objectAtLocation Bowl_bar__minus_01_dot_75_bar__plus_01_dot_67_bar__minus_00_dot_18 loc_bar__minus_3_bar_0_bar_3_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (cleanable ?o)\n (objectType ?o KettleType)\n (receptacleType ?r CabinetType)\n (isClean ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to drawer 8", "take kettle 2 from stoveburner 6", "go to sinkbasin 1", "clean kettle 2 with sinkbasin 1", "go to cabinet 4", "open cabinet 3", "move kettle 2 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-Kettle-None-Cabinet-2/trial_T20190909_043015_942171/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Kettle-None-Cabinet-2/trial_T20190909_043015_942171/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..e6d4da86ce7ea54fd47fa49ef2cae32c373056e3 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Kettle-None-Cabinet-2/trial_T20190909_043015_942171/initial_state.pddl @@ -0,0 +1,1124 @@ + +(define (problem plan_trial_T20190909_043015_942171) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + 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_65_bar__plus_01_dot_52_bar__plus_00_dot_11 - object + Bowl_bar__minus_01_dot_75_bar__plus_01_dot_67_bar__minus_00_dot_18 - object + Bread_bar__plus_00_dot_26_bar__plus_00_dot_99_bar__minus_00_dot_09 - object + Bread_bar__minus_00_dot_21_bar__plus_01_dot_01_bar__plus_00_dot_27 - object + Bread_bar__minus_00_dot_21_bar__plus_01_dot_01_bar__plus_00_dot_51 - object + ButterKnife_bar__plus_00_dot_00_bar__plus_00_dot_93_bar__plus_00_dot_97 - object + ButterKnife_bar__plus_01_dot_57_bar__plus_00_dot_91_bar__minus_01_dot_51 - object + ButterKnife_bar__plus_01_dot_76_bar__plus_00_dot_70_bar__minus_00_dot_02 - object + CellPhone_bar__plus_01_dot_82_bar__plus_00_dot_22_bar__plus_00_dot_53 - object + Chair_bar__minus_00_dot_06_bar__plus_00_dot_52_bar__plus_01_dot_37 - object + Cup_bar__plus_00_dot_32_bar__plus_00_dot_92_bar__plus_00_dot_51 - object + Cup_bar__plus_02_dot_02_bar__plus_01_dot_00_bar__minus_00_dot_70 - object + Cup_bar__minus_01_dot_79_bar__plus_01_dot_03_bar__plus_00_dot_20 - object + DishSponge_bar__plus_01_dot_71_bar__plus_00_dot_47_bar__minus_00_dot_16 - object + DishSponge_bar__plus_01_dot_93_bar__plus_00_dot_91_bar__plus_00_dot_18 - object + DishSponge_bar__minus_00_dot_11_bar__plus_00_dot_93_bar__minus_00_dot_19 - object + Egg_bar__minus_01_dot_69_bar__plus_00_dot_62_bar__minus_00_dot_08 - object + Egg_bar__minus_01_dot_80_bar__plus_00_dot_10_bar__plus_01_dot_37 - object + Faucet_bar__minus_00_dot_02_bar__plus_01_dot_14_bar__minus_01_dot_61 - object + 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receptacle + Drawer_bar__plus_01_dot_50_bar__plus_00_dot_63_bar__minus_00_dot_02 - receptacle + Drawer_bar__plus_01_dot_50_bar__plus_00_dot_78_bar__plus_01_dot_22 - receptacle + Drawer_bar__minus_00_dot_70_bar__plus_00_dot_48_bar__minus_01_dot_16 - receptacle + Fridge_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__plus_00_dot_01 - receptacle + GarbageCan_bar__minus_01_dot_80_bar__plus_00_dot_00_bar__plus_01_dot_33 - receptacle + Microwave_bar__plus_01_dot_93_bar__plus_00_dot_90_bar__minus_00_dot_77 - receptacle + Sink_bar__plus_00_dot_00_bar__plus_00_dot_89_bar__minus_01_dot_44_bar_SinkBasin - receptacle + StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_38 - receptacle + StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_60 - receptacle + StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_82 - receptacle + StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_38 - receptacle + StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_60 - receptacle + StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_82 - receptacle + Toaster_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__minus_00_dot_34 - receptacle + loc_bar_4_bar__minus_3_bar_1_bar__minus_30 - location + loc_bar_3_bar_1_bar_1_bar_60 - location + loc_bar_5_bar_2_bar_1_bar_60 - location + loc_bar_3_bar_4_bar_1_bar_60 - location + loc_bar_2_bar_7_bar_1_bar_60 - location + loc_bar__minus_3_bar__minus_1_bar_2_bar_60 - location + loc_bar__minus_3_bar__minus_2_bar_2_bar_60 - location + loc_bar_4_bar__minus_3_bar_1_bar_45 - location + loc_bar_0_bar__minus_3_bar_2_bar_45 - location + loc_bar_5_bar_3_bar_1_bar_60 - location + loc_bar_3_bar_7_bar_2_bar_60 - location + loc_bar_0_bar_8_bar_2_bar_60 - location + loc_bar_3_bar_3_bar_1_bar_60 - location + loc_bar_5_bar_0_bar_1_bar_60 - location + loc_bar_5_bar_0_bar_2_bar_45 - location + loc_bar_5_bar_4_bar_3_bar_60 - location + loc_bar__minus_10_bar_11_bar_3_bar_0 - location + loc_bar_4_bar_3_bar_2_bar_60 - location + loc_bar__minus_5_bar_6_bar_3_bar_60 - location + loc_bar__minus_3_bar_0_bar_3_bar_60 - location + loc_bar__minus_3_bar__minus_3_bar_3_bar__minus_15 - location + loc_bar__minus_1_bar_12_bar_0_bar_30 - location + loc_bar__minus_3_bar_0_bar_3_bar_30 - location + loc_bar_5_bar_3_bar_1_bar_45 - location + loc_bar__minus_3_bar__minus_3_bar_2_bar_45 - location + loc_bar__minus_3_bar__minus_3_bar_2_bar__minus_30 - location + loc_bar_4_bar__minus_3_bar_2_bar_45 - location + loc_bar_5_bar_2_bar_1_bar_45 - location + loc_bar_3_bar__minus_1_bar_2_bar_60 - location + loc_bar_3_bar_6_bar_1_bar_45 - location + loc_bar_3_bar_2_bar_3_bar_45 - location + loc_bar_4_bar__minus_1_bar_1_bar_45 - location + loc_bar_0_bar__minus_3_bar_2_bar_60 - location + loc_bar__minus_2_bar_13_bar_0_bar_30 - location + ) + + +(:init + + + (receptacleType StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_82 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CabinetType) + (receptacleType Sink_bar__plus_00_dot_00_bar__plus_00_dot_89_bar__minus_01_dot_44_bar_SinkBasin SinkBasinType) + (receptacleType Drawer_bar__plus_01_dot_50_bar__plus_00_dot_43_bar__minus_00_dot_02 DrawerType) + (receptacleType Drawer_bar__plus_01_dot_50_bar__plus_00_dot_54_bar__plus_00_dot_60 DrawerType) + (receptacleType Cabinet_bar__plus_00_dot_50_bar__plus_00_dot_48_bar__minus_01_dot_15 CabinetType) + (receptacleType StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_38 StoveBurnerType) + (receptacleType Drawer_bar__plus_01_dot_50_bar__plus_00_dot_20_bar__minus_00_dot_02 DrawerType) + (receptacleType Drawer_bar__plus_01_dot_50_bar__plus_00_dot_20_bar__plus_01_dot_22 DrawerType) + (receptacleType StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_82 StoveBurnerType) + (receptacleType StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_38 StoveBurnerType) + (receptacleType 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Egg_bar__minus_01_dot_69_bar__plus_00_dot_62_bar__minus_00_dot_08) + (cleanable Plate_bar__plus_00_dot_11_bar__plus_00_dot_92_bar__plus_00_dot_74) + (cleanable Knife_bar__plus_01_dot_90_bar__plus_00_dot_93_bar__plus_01_dot_41) + (cleanable Pot_bar__plus_01_dot_98_bar__plus_00_dot_94_bar__plus_00_dot_82) + (cleanable Lettuce_bar__plus_00_dot_00_bar__plus_01_dot_00_bar__plus_01_dot_20) + (cleanable Bowl_bar__minus_01_dot_75_bar__plus_01_dot_67_bar__minus_00_dot_18) + (cleanable Mug_bar__minus_01_dot_77_bar__plus_01_dot_02_bar__minus_00_dot_08) + (cleanable Plate_bar__plus_00_dot_11_bar__plus_00_dot_92_bar__plus_00_dot_27) + (cleanable ButterKnife_bar__plus_01_dot_76_bar__plus_00_dot_70_bar__minus_00_dot_02) + (cleanable Pot_bar__minus_00_dot_21_bar__plus_00_dot_93_bar__plus_00_dot_97) + (cleanable Kettle_bar__plus_01_dot_77_bar__plus_00_dot_94_bar__plus_00_dot_60) + (cleanable Potato_bar__plus_00_dot_89_bar__plus_00_dot_94_bar__minus_01_dot_32) + (cleanable Fork_bar__plus_01_dot_66_bar__plus_00_dot_58_bar__plus_00_dot_05) + (cleanable Tomato_bar__plus_00_dot_17_bar__plus_00_dot_97_bar__minus_00_dot_28) + (cleanable DishSponge_bar__plus_01_dot_71_bar__plus_00_dot_47_bar__minus_00_dot_16) + (cleanable Spoon_bar__plus_01_dot_71_bar__plus_00_dot_23_bar__plus_01_dot_22) + (cleanable Fork_bar__minus_00_dot_21_bar__plus_00_dot_93_bar__plus_01_dot_20) + (cleanable Mug_bar__minus_00_dot_21_bar__plus_00_dot_92_bar__plus_00_dot_74) + (cleanable Cup_bar__minus_01_dot_79_bar__plus_01_dot_03_bar__plus_00_dot_20) + (cleanable Kettle_bar__plus_01_dot_77_bar__plus_00_dot_94_bar__plus_00_dot_38) + (cleanable Apple_bar__minus_01_dot_65_bar__plus_01_dot_52_bar__plus_00_dot_11) + (cleanable DishSponge_bar__plus_01_dot_93_bar__plus_00_dot_91_bar__plus_00_dot_18) + (cleanable Fork_bar__plus_01_dot_71_bar__plus_00_dot_55_bar__plus_01_dot_28) + (cleanable ButterKnife_bar__plus_01_dot_57_bar__plus_00_dot_91_bar__minus_01_dot_51) + (cleanable Cup_bar__plus_00_dot_32_bar__plus_00_dot_92_bar__plus_00_dot_51) + (cleanable Potato_bar__plus_01_dot_89_bar__plus_01_dot_03_bar__minus_00_dot_70) + (cleanable DishSponge_bar__minus_00_dot_11_bar__plus_00_dot_93_bar__minus_00_dot_19) + (cleanable Pan_bar__minus_01_dot_29_bar__plus_00_dot_90_bar__minus_01_dot_35) + + (heatable Egg_bar__minus_01_dot_80_bar__plus_00_dot_10_bar__plus_01_dot_37) + (heatable Bread_bar__minus_00_dot_21_bar__plus_01_dot_01_bar__plus_00_dot_27) + (heatable Cup_bar__plus_02_dot_02_bar__plus_01_dot_00_bar__minus_00_dot_70) + (heatable Bread_bar__minus_00_dot_21_bar__plus_01_dot_01_bar__plus_00_dot_51) + (heatable Potato_bar__plus_01_dot_80_bar__plus_00_dot_94_bar__minus_01_dot_51) + (heatable Egg_bar__minus_01_dot_69_bar__plus_00_dot_62_bar__minus_00_dot_08) + (heatable Plate_bar__plus_00_dot_11_bar__plus_00_dot_92_bar__plus_00_dot_74) + (heatable Mug_bar__minus_01_dot_77_bar__plus_01_dot_02_bar__minus_00_dot_08) + (heatable Plate_bar__plus_00_dot_11_bar__plus_00_dot_92_bar__plus_00_dot_27) + (heatable Potato_bar__plus_00_dot_89_bar__plus_00_dot_94_bar__minus_01_dot_32) + (heatable Tomato_bar__plus_00_dot_17_bar__plus_00_dot_97_bar__minus_00_dot_28) + (heatable Mug_bar__minus_00_dot_21_bar__plus_00_dot_92_bar__plus_00_dot_74) + (heatable Cup_bar__minus_01_dot_79_bar__plus_01_dot_03_bar__plus_00_dot_20) + (heatable Apple_bar__minus_01_dot_65_bar__plus_01_dot_52_bar__plus_00_dot_11) + (heatable Cup_bar__plus_00_dot_32_bar__plus_00_dot_92_bar__plus_00_dot_51) + (heatable Bread_bar__plus_00_dot_26_bar__plus_00_dot_99_bar__minus_00_dot_09) + (heatable Potato_bar__plus_01_dot_89_bar__plus_01_dot_03_bar__minus_00_dot_70) + (coolable Egg_bar__minus_01_dot_80_bar__plus_00_dot_10_bar__plus_01_dot_37) + (coolable Bread_bar__minus_00_dot_21_bar__plus_01_dot_01_bar__plus_00_dot_27) + (coolable Cup_bar__plus_02_dot_02_bar__plus_01_dot_00_bar__minus_00_dot_70) + (coolable 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SaltShaker_bar__minus_00_dot_80_bar__plus_00_dot_67_bar__minus_01_dot_24 Drawer_bar__minus_00_dot_70_bar__plus_00_dot_48_bar__minus_01_dot_16) + (inReceptacle CellPhone_bar__plus_01_dot_82_bar__plus_00_dot_22_bar__plus_00_dot_53 Drawer_bar__plus_01_dot_50_bar__plus_00_dot_31_bar__plus_00_dot_60) + (inReceptacle Pot_bar__plus_01_dot_98_bar__plus_00_dot_94_bar__plus_00_dot_82 StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_60) + (inReceptacle DishSponge_bar__plus_01_dot_71_bar__plus_00_dot_47_bar__minus_00_dot_16 Drawer_bar__plus_01_dot_50_bar__plus_00_dot_43_bar__minus_00_dot_02) + (inReceptacle Pot_bar__plus_01_dot_98_bar__plus_00_dot_94_bar__plus_00_dot_82 StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_82) + (inReceptacle Fork_bar__plus_01_dot_71_bar__plus_00_dot_55_bar__plus_01_dot_28 Drawer_bar__plus_01_dot_50_bar__plus_00_dot_52_bar__plus_01_dot_22) + (inReceptacle Spatula_bar__plus_01_dot_86_bar__plus_00_dot_48_bar__plus_01_dot_09 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CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51) + (inReceptacle Potato_bar__plus_00_dot_89_bar__plus_00_dot_94_bar__minus_01_dot_32 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51) + (inReceptacle Knife_bar__plus_01_dot_90_bar__plus_00_dot_93_bar__plus_01_dot_41 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51) + (inReceptacle Window_bar__plus_02_dot_22_bar__plus_01_dot_57_bar__minus_00_dot_39 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51) + (inReceptacle Window_bar__minus_00_dot_01_bar__plus_01_dot_58_bar__minus_01_dot_82 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51) + (inReceptacle Pan_bar__minus_01_dot_29_bar__plus_00_dot_90_bar__minus_01_dot_35 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51) + (inReceptacle Kettle_bar__plus_01_dot_77_bar__plus_00_dot_94_bar__plus_00_dot_38 StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_38) + (inReceptacle Spatula_bar__plus_01_dot_82_bar__plus_00_dot_78_bar__plus_01_dot_29 Drawer_bar__plus_01_dot_50_bar__plus_00_dot_78_bar__plus_01_dot_22) + (inReceptacle Ladle_bar__plus_01_dot_77_bar__plus_00_dot_81_bar__plus_01_dot_15 Drawer_bar__plus_01_dot_50_bar__plus_00_dot_78_bar__plus_01_dot_22) + (inReceptacle Pot_bar__minus_00_dot_21_bar__plus_00_dot_93_bar__plus_00_dot_97 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51) + (inReceptacle Knife_bar__plus_00_dot_11_bar__plus_00_dot_92_bar__plus_00_dot_07 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51) + (inReceptacle Plate_bar__plus_00_dot_11_bar__plus_00_dot_92_bar__plus_00_dot_27 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51) + (inReceptacle ButterKnife_bar__plus_00_dot_00_bar__plus_00_dot_93_bar__plus_00_dot_97 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51) 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Bread_bar__plus_00_dot_26_bar__plus_00_dot_99_bar__minus_00_dot_09 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51) + (inReceptacle Lettuce_bar__plus_00_dot_00_bar__plus_01_dot_00_bar__plus_01_dot_20 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51) + (inReceptacle Fork_bar__minus_00_dot_21_bar__plus_00_dot_93_bar__plus_01_dot_20 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51) + (inReceptacle DishSponge_bar__minus_00_dot_11_bar__plus_00_dot_93_bar__minus_00_dot_19 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51) + (inReceptacle Mug_bar__minus_00_dot_21_bar__plus_00_dot_92_bar__plus_00_dot_74 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51) + (inReceptacle Spoon_bar__plus_01_dot_71_bar__plus_00_dot_23_bar__plus_01_dot_22 Drawer_bar__plus_01_dot_50_bar__plus_00_dot_20_bar__plus_01_dot_22) + (inReceptacle Pot_bar__plus_01_dot_98_bar__plus_00_dot_94_bar__plus_00_dot_82 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loc_bar_0_bar__minus_3_bar_2_bar_60) + (receptacleAtLocation StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_38 loc_bar_5_bar_2_bar_1_bar_60) + (receptacleAtLocation StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_60 loc_bar_5_bar_2_bar_1_bar_60) + (receptacleAtLocation StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_82 loc_bar_5_bar_3_bar_1_bar_60) + (receptacleAtLocation StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_38 loc_bar_5_bar_2_bar_1_bar_45) + (receptacleAtLocation StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_60 loc_bar_5_bar_2_bar_1_bar_45) + (receptacleAtLocation StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_82 loc_bar_5_bar_3_bar_1_bar_45) + (receptacleAtLocation Toaster_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__minus_00_dot_34 loc_bar_4_bar__minus_1_bar_1_bar_45) + (objectAtLocation 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(objectAtLocation Plate_bar__plus_00_dot_11_bar__plus_00_dot_92_bar__plus_00_dot_74 loc_bar_3_bar_2_bar_3_bar_45) + (objectAtLocation Egg_bar__minus_01_dot_80_bar__plus_00_dot_10_bar__plus_01_dot_37 loc_bar__minus_5_bar_6_bar_3_bar_60) + (objectAtLocation Kettle_bar__plus_01_dot_77_bar__plus_00_dot_94_bar__plus_00_dot_38 loc_bar_5_bar_2_bar_1_bar_60) + (objectAtLocation Fork_bar__plus_01_dot_66_bar__plus_00_dot_58_bar__plus_00_dot_05 loc_bar_4_bar_3_bar_2_bar_60) + (objectAtLocation Pot_bar__plus_01_dot_98_bar__plus_00_dot_94_bar__plus_00_dot_82 loc_bar_5_bar_3_bar_1_bar_45) + (objectAtLocation Cup_bar__plus_02_dot_02_bar__plus_01_dot_00_bar__minus_00_dot_70 loc_bar_4_bar__minus_3_bar_1_bar_45) + (objectAtLocation Bread_bar__minus_00_dot_21_bar__plus_01_dot_01_bar__plus_00_dot_27 loc_bar_3_bar_2_bar_3_bar_45) + (objectAtLocation Cup_bar__plus_00_dot_32_bar__plus_00_dot_92_bar__plus_00_dot_51 loc_bar_3_bar_2_bar_3_bar_45) + (objectAtLocation 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(objectAtLocation Chair_bar__minus_00_dot_06_bar__plus_00_dot_52_bar__plus_01_dot_37 loc_bar_0_bar_8_bar_2_bar_60) + (objectAtLocation Window_bar__minus_03_dot_24_bar__plus_01_dot_62_bar__plus_02_dot_69 loc_bar__minus_10_bar_11_bar_3_bar_0) + (objectAtLocation SoapBottle_bar__plus_01_dot_81_bar__plus_00_dot_92_bar__plus_01_dot_41 loc_bar__minus_3_bar__minus_3_bar_2_bar_45) + (objectAtLocation Cup_bar__minus_01_dot_79_bar__plus_01_dot_03_bar__plus_00_dot_20 loc_bar__minus_3_bar_0_bar_3_bar_60) + (objectAtLocation LightSwitch_bar__minus_00_dot_15_bar__plus_01_dot_29_bar__plus_03_dot_70 loc_bar__minus_1_bar_12_bar_0_bar_30) + (objectAtLocation Pot_bar__minus_00_dot_21_bar__plus_00_dot_93_bar__plus_00_dot_97 loc_bar_3_bar_2_bar_3_bar_45) + (objectAtLocation StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_57 loc_bar_5_bar_2_bar_1_bar_60) + (objectAtLocation StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_63 loc_bar_5_bar_3_bar_1_bar_60) + (objectAtLocation StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_74 loc_bar_5_bar_3_bar_1_bar_60) + (objectAtLocation StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_68 loc_bar_5_bar_3_bar_1_bar_60) + (objectAtLocation StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_46 loc_bar_5_bar_2_bar_1_bar_60) + (objectAtLocation StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_52 loc_bar_5_bar_2_bar_1_bar_60) + (objectAtLocation Fork_bar__plus_01_dot_71_bar__plus_00_dot_55_bar__plus_01_dot_28 loc_bar_3_bar_3_bar_1_bar_60) + (objectAtLocation Ladle_bar__plus_01_dot_77_bar__plus_00_dot_81_bar__plus_01_dot_15 loc_bar_3_bar_6_bar_1_bar_45) + (objectAtLocation Kettle_bar__plus_01_dot_77_bar__plus_00_dot_94_bar__plus_00_dot_60 loc_bar_5_bar_2_bar_1_bar_60) + (objectAtLocation Egg_bar__minus_01_dot_69_bar__plus_00_dot_62_bar__minus_00_dot_08 loc_bar__minus_3_bar_0_bar_3_bar_60) + (objectAtLocation 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Bowl_bar__minus_01_dot_75_bar__plus_01_dot_67_bar__minus_00_dot_18 loc_bar__minus_3_bar_0_bar_3_bar_60) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (cleanable ?o) + (objectType ?o KettleType) + (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-Kettle-None-Cabinet-2/trial_T20190909_043015_942171/traj_data.json b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Kettle-None-Cabinet-2/trial_T20190909_043015_942171/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..a7d8853c3b2721a193d28a6dabb1c9fa43d3b316 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Kettle-None-Cabinet-2/trial_T20190909_043015_942171/traj_data.json @@ -0,0 +1,7163 @@ +{ + "images": [ + { + "high_idx": 0, + "image_name": "000000000.png", + "low_idx": 0 + }, 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}, + "rotation": { + "x": 359.9855, + "y": 331.03476, + "z": 359.97345 + } + }, + { + "objectName": "Tomato_448791c6", + "position": { + "x": 0.169127882, + "y": 0.9744576, + "z": -0.281426728 + }, + "rotation": { + "x": 359.763855, + "y": 351.734344, + "z": 0.525291 + } + }, + { + "objectName": "Potato_5e728867", + "position": { + "x": 1.802076, + "y": 0.935231745, + "z": -1.513 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_e1c57c26", + "position": { + "x": 1.713, + "y": 0.4696377, + "z": -0.157344744 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Spoon_bfeb74cb", + "position": { + "x": 1.71226215, + "y": 0.226549357, + "z": 1.2193 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_b045e42b", + "position": { + "x": -1.77133465, + "y": 1.02436686, + "z": -0.08101666 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Bowl_253fa632", + "position": { + "x": -1.75051856, + "y": 1.674437, + "z": -0.175191209 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 2587975056, + "scene_num": 2 + }, + "task_id": "trial_T20190909_043015_942171", + "task_type": "pick_clean_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A20FCMWP43CVIU_31Q0U3WYDS6BTSZC1VKDDXAOL4V170", + "high_descs": [ + "walk to face the stove", + "pick up kettle on left side of stove", + "walk to face sink", + "wash kettle in sink, pick up kettle from sink", + "walk right to face cabinets to right of sink", + "put kettle in bottom right cabinet" + ], + "task_desc": "put a washed kettle in a cabinet", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1RLO9LNUJIW5S_3OLQQLKKNVG3XOUQES4PN7YR183EJ7", + "high_descs": [ + "Turn right and walk to the wall then turn right and walk to the stove that will be on your left and turn left to face it when you get there.", + "Pick up the kettle that's in front of you on the middle burner.", + "Turn right and walk to the counter then take a step to your right so you're facing the sink.", + "Wash the kettle in the sink and then pick it back up and shut off the water.", + "Turn right and walk to the counter then turn left and take a step backwards.,", + "Open the cupboard in front of you furthest to the right and put the kettle down there before closing the door." + ], + "task_desc": "Put a clean kettle in the cupboard.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A2871R3LEPWMMK_3QILPRALQ8MI7DBKGNAHO4JMZP98N5", + "high_descs": [ + "Turn around, hang left at the chair towards the wall, turn right and walk to the cook top range on the left.", + "Pick up the tea kettle in the middle of the cook top range.", + "Turn around, hang a left at the counter, turn right at the next counter and walk to the sink on the left.", + "Put the tea kettle inside the sink, rinse it for a few seconds and pick it back up.", + "Turn right, hang a right at the fridge and turn around to face the cabinets next to the dishwasher.", + "Open the tall cabinet to the right of the dishwasher, put the rinsed tea kettle inside and close the door." + ], + "task_desc": "Place a rinsed tea kettle in a cabinet.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Kettle-None-Cabinet-2/trial_T20190909_043103_418752/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Kettle-None-Cabinet-2/trial_T20190909_043103_418752/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..46b9f6090b20edeac44568b977e6c10771bd5930 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Kettle-None-Cabinet-2/trial_T20190909_043103_418752/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\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 kettle 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_043103_418752)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\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_65_bar__plus_00_dot_89_bar__plus_00_dot_30 - object\n Bowl_bar__plus_00_dot_28_bar__plus_00_dot_92_bar__plus_01_dot_09 - object\n Bread_bar__plus_00_dot_11_bar__plus_01_dot_01_bar__plus_00_dot_51 - object\n Bread_bar__minus_01_dot_70_bar__plus_01_dot_76_bar__minus_00_dot_18 - object\n ButterKnife_bar__plus_00_dot_00_bar__plus_00_dot_93_bar__plus_01_dot_20 - object\n ButterKnife_bar__plus_00_dot_66_bar__plus_00_dot_91_bar__minus_01_dot_42 - object\n CellPhone_bar__plus_01_dot_81_bar__plus_00_dot_69_bar__plus_00_dot_05 - object\n Chair_bar__minus_00_dot_06_bar__plus_00_dot_52_bar__plus_01_dot_37 - object\n Cup_bar__plus_01_dot_99_bar__plus_01_dot_00_bar__minus_00_dot_60 - object\n Cup_bar__minus_00_dot_32_bar__plus_00_dot_92_bar__plus_00_dot_27 - object\n Cup_bar__minus_01_dot_65_bar__plus_01_dot_47_bar__plus_00_dot_01 - object\n DishSponge_bar__plus_00_dot_32_bar__plus_00_dot_93_bar__plus_00_dot_74 - object\n Egg_bar__plus_02_dot_02_bar__plus_01_dot_06_bar__minus_00_dot_76 - object\n Egg_bar__minus_01_dot_75_bar__plus_00_dot_90_bar__plus_00_dot_30 - object\n Egg_bar__minus_01_dot_77_bar__plus_00_dot_10_bar__plus_01_dot_41 - object\n Faucet_bar__minus_00_dot_02_bar__plus_01_dot_14_bar__minus_01_dot_61 - object\n Fork_bar__minus_00_dot_21_bar__plus_00_dot_93_bar__plus_00_dot_27 - object\n Kettle_bar__plus_01_dot_77_bar__plus_00_dot_94_bar__plus_00_dot_38 - object\n Kettle_bar__plus_01_dot_77_bar__plus_00_dot_94_bar__plus_00_dot_82 - object\n Knife_bar__plus_00_dot_66_bar__plus_00_dot_93_bar__minus_01_dot_22 - object\n Knife_bar__minus_00_dot_84_bar__plus_00_dot_93_bar__minus_01_dot_61 - object\n Ladle_bar__plus_01_dot_65_bar__plus_00_dot_96_bar__minus_00_dot_21 - object\n Lettuce_bar__minus_00_dot_21_bar__plus_01_dot_00_bar__plus_00_dot_51 - object\n Lettuce_bar__minus_00_dot_21_bar__plus_01_dot_00_bar__minus_00_dot_19 - object\n Lettuce_bar__minus_01_dot_55_bar__plus_00_dot_99_bar__minus_00_dot_96 - object\n LightSwitch_bar__minus_00_dot_15_bar__plus_01_dot_29_bar__plus_03_dot_70 - object\n Mug_bar__minus_00_dot_11_bar__plus_00_dot_92_bar__plus_00_dot_27 - object\n Mug_bar__minus_00_dot_32_bar__plus_00_dot_92_bar__plus_00_dot_04 - object\n Mug_bar__minus_01_dot_86_bar__plus_01_dot_46_bar__plus_00_dot_30 - object\n Pan_bar__plus_00_dot_21_bar__plus_00_dot_93_bar__plus_00_dot_27 - object\n Pan_bar__minus_01_dot_29_bar__plus_00_dot_90_bar__minus_01_dot_35 - object\n PepperShaker_bar__plus_01_dot_99_bar__plus_00_dot_91_bar__plus_01_dot_33 - object\n PepperShaker_bar__minus_01_dot_81_bar__plus_00_dot_91_bar__minus_01_dot_06 - object\n Plate_bar__plus_01_dot_32_bar__plus_01_dot_67_bar__minus_01_dot_60 - object\n Potato_bar__plus_01_dot_92_bar__plus_01_dot_03_bar__minus_00_dot_76 - object\n Potato_bar__minus_01_dot_78_bar__plus_00_dot_86_bar__plus_00_dot_01 - object\n Pot_bar__plus_01_dot_98_bar__plus_00_dot_94_bar__plus_00_dot_60 - object\n SaltShaker_bar__minus_00_dot_11_bar__plus_00_dot_92_bar__plus_00_dot_04 - object\n SaltShaker_bar__minus_00_dot_11_bar__plus_00_dot_92_bar__plus_00_dot_74 - object\n 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receptacle\n Drawer_bar__plus_01_dot_50_bar__plus_00_dot_60_bar__minus_00_dot_02 - receptacle\n Drawer_bar__plus_01_dot_50_bar__plus_00_dot_63_bar__plus_00_dot_61 - receptacle\n Drawer_bar__plus_01_dot_50_bar__plus_00_dot_63_bar__minus_00_dot_02 - receptacle\n Drawer_bar__plus_01_dot_50_bar__plus_00_dot_78_bar__plus_01_dot_22 - receptacle\n Drawer_bar__minus_00_dot_70_bar__plus_00_dot_48_bar__minus_01_dot_16 - receptacle\n Fridge_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__plus_00_dot_01 - receptacle\n GarbageCan_bar__minus_01_dot_80_bar__plus_00_dot_00_bar__plus_01_dot_33 - receptacle\n Microwave_bar__plus_01_dot_93_bar__plus_00_dot_90_bar__minus_00_dot_77 - receptacle\n Sink_bar__plus_00_dot_00_bar__plus_00_dot_89_bar__minus_01_dot_44_bar_SinkBasin - receptacle\n StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_38 - receptacle\n StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_60 - receptacle\n StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_82 - receptacle\n StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_38 - receptacle\n StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_60 - receptacle\n StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_82 - receptacle\n Toaster_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__minus_00_dot_34 - receptacle\n loc_bar_4_bar__minus_3_bar_1_bar__minus_30 - location\n loc_bar_3_bar_1_bar_1_bar_60 - location\n loc_bar_5_bar_2_bar_1_bar_60 - location\n loc_bar_3_bar_4_bar_1_bar_60 - location\n loc_bar_2_bar_7_bar_1_bar_60 - location\n loc_bar__minus_3_bar__minus_1_bar_2_bar_60 - location\n loc_bar__minus_3_bar__minus_2_bar_2_bar_60 - location\n loc_bar_4_bar__minus_3_bar_1_bar_45 - location\n loc_bar_0_bar__minus_3_bar_2_bar_45 - location\n loc_bar_5_bar_3_bar_1_bar_60 - location\n loc_bar_3_bar_7_bar_2_bar_60 - location\n loc_bar_0_bar_8_bar_2_bar_60 - location\n loc_bar_3_bar_3_bar_1_bar_60 - location\n loc_bar_5_bar_0_bar_1_bar_60 - location\n loc_bar_5_bar_0_bar_2_bar_45 - location\n loc_bar_5_bar_4_bar_3_bar_60 - location\n loc_bar__minus_10_bar_11_bar_3_bar_0 - location\n loc_bar_4_bar_3_bar_2_bar_60 - location\n loc_bar__minus_5_bar_6_bar_3_bar_60 - location\n loc_bar__minus_3_bar_0_bar_3_bar_60 - location\n loc_bar__minus_3_bar__minus_3_bar_3_bar__minus_15 - location\n loc_bar__minus_1_bar_12_bar_0_bar_30 - location\n loc_bar_5_bar_3_bar_1_bar_45 - location\n loc_bar__minus_3_bar__minus_3_bar_2_bar_45 - location\n loc_bar__minus_3_bar__minus_3_bar_2_bar__minus_30 - location\n loc_bar_4_bar__minus_3_bar_2_bar_45 - location\n loc_bar_5_bar_2_bar_1_bar_45 - location\n loc_bar_3_bar__minus_1_bar_2_bar_60 - location\n loc_bar_3_bar_6_bar_1_bar_45 - location\n loc_bar_3_bar_2_bar_3_bar_45 - location\n loc_bar_4_bar__minus_1_bar_1_bar_45 - location\n loc_bar_0_bar__minus_3_bar_2_bar_60 - location\n loc_bar__minus_3_bar__minus_1_bar_1_bar_30 - 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Cabinet_bar__plus_00_dot_41_bar__plus_00_dot_48_bar__plus_00_dot_45 CabinetType)\n (receptacleType CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51 CounterTopType)\n (receptacleType Drawer_bar__plus_01_dot_50_bar__plus_00_dot_31_bar__plus_00_dot_60 DrawerType)\n (receptacleType Toaster_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__minus_00_dot_34 ToasterType)\n (receptacleType CoffeeMachine_bar__plus_01_dot_36_bar__plus_00_dot_90_bar__minus_01_dot_60 CoffeeMachineType)\n (receptacleType Drawer_bar__plus_01_dot_50_bar__plus_00_dot_14_bar__plus_00_dot_60 DrawerType)\n (receptacleType Microwave_bar__plus_01_dot_93_bar__plus_00_dot_90_bar__minus_00_dot_77 MicrowaveType)\n (receptacleType StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_60 StoveBurnerType)\n (receptacleType Cabinet_bar__plus_01_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_15 CabinetType)\n (receptacleType Drawer_bar__plus_01_dot_50_bar__plus_00_dot_63_bar__minus_00_dot_02 DrawerType)\n (receptacleType Cabinet_bar__minus_00_dot_63_bar__plus_02_dot_02_bar__minus_01_dot_45 CabinetType)\n (receptacleType Sink_bar__plus_00_dot_00_bar__plus_00_dot_89_bar__minus_01_dot_44_bar_SinkBasin SinkBasinType)\n (receptacleType Drawer_bar__plus_01_dot_50_bar__plus_00_dot_43_bar__minus_00_dot_02 DrawerType)\n (receptacleType Drawer_bar__plus_01_dot_50_bar__plus_00_dot_54_bar__plus_00_dot_60 DrawerType)\n (receptacleType Cabinet_bar__plus_00_dot_50_bar__plus_00_dot_48_bar__minus_01_dot_15 CabinetType)\n (receptacleType StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_38 StoveBurnerType)\n (receptacleType Drawer_bar__plus_01_dot_50_bar__plus_00_dot_20_bar__minus_00_dot_02 DrawerType)\n (receptacleType Drawer_bar__plus_01_dot_50_bar__plus_00_dot_20_bar__plus_01_dot_22 DrawerType)\n (receptacleType StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_82 StoveBurnerType)\n (receptacleType 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(canContain CabinetType PanType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType BowlType)\n (canContain CabinetType KettleType)\n (canContain CabinetType PotType)\n (canContain CabinetType MugType)\n (canContain CabinetType LadleType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType CupType)\n (canContain CabinetType PlateType)\n (canContain CabinetType PepperShakerType)\n (canContain CabinetType PanType)\n (canContain DrawerType SaltShakerType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType LadleType)\n (canContain DrawerType ForkType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType SpoonType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ButterKnifeType)\n (canContain DrawerType PepperShakerType)\n (canContain DrawerType KnifeType)\n (canContain DrawerType SpatulaType)\n (canContain DrawerType SaltShakerType)\n (canContain DrawerType 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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 KettleType)\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 KettleType)\n (canContain CounterTopType PotType)\n (canContain CounterTopType MugType)\n (canContain CounterTopType EggType)\n (canContain CounterTopType LadleType)\n (canContain CounterTopType ForkType)\n (canContain CounterTopType CellPhoneType)\n (canContain CounterTopType SpoonType)\n (canContain CounterTopType SoapBottleType)\n (canContain CounterTopType LettuceType)\n (canContain CounterTopType PotatoType)\n (canContain CounterTopType ButterKnifeType)\n (canContain CounterTopType CupType)\n (canContain CounterTopType PlateType)\n (canContain CounterTopType PepperShakerType)\n (canContain CounterTopType TomatoType)\n (canContain CounterTopType KnifeType)\n (canContain CounterTopType AppleType)\n (canContain CounterTopType PanType)\n (canContain CounterTopType SpatulaType)\n (canContain DrawerType SaltShakerType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType LadleType)\n (canContain DrawerType ForkType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType SpoonType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ButterKnifeType)\n (canContain DrawerType PepperShakerType)\n (canContain DrawerType KnifeType)\n (canContain DrawerType SpatulaType)\n (canContain CoffeeMachineType MugType)\n (canContain DrawerType SaltShakerType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType LadleType)\n (canContain DrawerType ForkType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType SpoonType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ButterKnifeType)\n (canContain DrawerType PepperShakerType)\n (canContain DrawerType KnifeType)\n (canContain DrawerType SpatulaType)\n (canContain MicrowaveType MugType)\n (canContain MicrowaveType PotatoType)\n (canContain MicrowaveType EggType)\n (canContain MicrowaveType AppleType)\n (canContain MicrowaveType TomatoType)\n (canContain MicrowaveType BreadType)\n (canContain MicrowaveType CupType)\n (canContain MicrowaveType PlateType)\n (canContain MicrowaveType BowlType)\n (canContain StoveBurnerType KettleType)\n (canContain StoveBurnerType PotType)\n (canContain StoveBurnerType PanType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType BowlType)\n (canContain CabinetType KettleType)\n (canContain CabinetType PotType)\n (canContain CabinetType MugType)\n (canContain CabinetType 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 CellPhoneType)\n (canContain DrawerType SpoonType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ButterKnifeType)\n (canContain DrawerType PepperShakerType)\n (canContain DrawerType KnifeType)\n (canContain DrawerType SpatulaType)\n (canContain CabinetType 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SinkBasinType TomatoType)\n (canContain SinkBasinType KnifeType)\n (canContain SinkBasinType AppleType)\n (canContain SinkBasinType PanType)\n (canContain SinkBasinType SpatulaType)\n (canContain DrawerType SaltShakerType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType LadleType)\n (canContain DrawerType ForkType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType SpoonType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ButterKnifeType)\n (canContain DrawerType PepperShakerType)\n (canContain DrawerType KnifeType)\n (canContain DrawerType SpatulaType)\n (canContain DrawerType SaltShakerType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType LadleType)\n (canContain DrawerType ForkType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType SpoonType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ButterKnifeType)\n (canContain DrawerType PepperShakerType)\n (canContain DrawerType KnifeType)\n (canContain DrawerType SpatulaType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType BowlType)\n (canContain CabinetType KettleType)\n (canContain CabinetType PotType)\n (canContain CabinetType MugType)\n (canContain CabinetType LadleType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType CupType)\n (canContain CabinetType PlateType)\n (canContain CabinetType PepperShakerType)\n (canContain CabinetType PanType)\n (canContain StoveBurnerType KettleType)\n (canContain StoveBurnerType PotType)\n (canContain StoveBurnerType PanType)\n (canContain DrawerType SaltShakerType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType LadleType)\n (canContain DrawerType ForkType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType SpoonType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ButterKnifeType)\n (canContain DrawerType PepperShakerType)\n (canContain DrawerType KnifeType)\n (canContain DrawerType SpatulaType)\n (canContain DrawerType SaltShakerType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType LadleType)\n (canContain DrawerType ForkType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType SpoonType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ButterKnifeType)\n (canContain DrawerType PepperShakerType)\n (canContain DrawerType KnifeType)\n (canContain DrawerType SpatulaType)\n (canContain StoveBurnerType KettleType)\n (canContain StoveBurnerType PotType)\n (canContain StoveBurnerType PanType)\n (canContain 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 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 CellPhoneType)\n (canContain DrawerType SpoonType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ButterKnifeType)\n (canContain DrawerType PepperShakerType)\n (canContain DrawerType KnifeType)\n (canContain DrawerType SpatulaType)\n (canContain StoveBurnerType KettleType)\n (canContain StoveBurnerType PotType)\n (canContain StoveBurnerType PanType)\n (canContain DrawerType SaltShakerType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType LadleType)\n (canContain DrawerType ForkType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType SpoonType)\n (canContain DrawerType 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Cup_bar__plus_01_dot_99_bar__plus_01_dot_00_bar__minus_00_dot_60)\n (cleanable Kettle_bar__plus_01_dot_77_bar__plus_00_dot_94_bar__plus_00_dot_38)\n (cleanable Egg_bar__minus_01_dot_77_bar__plus_00_dot_10_bar__plus_01_dot_41)\n (cleanable Ladle_bar__plus_01_dot_65_bar__plus_00_dot_96_bar__minus_00_dot_21)\n (cleanable Pan_bar__minus_01_dot_29_bar__plus_00_dot_90_bar__minus_01_dot_35)\n \n (heatable Cup_bar__minus_01_dot_65_bar__plus_01_dot_47_bar__plus_00_dot_01)\n (heatable Tomato_bar__plus_00_dot_32_bar__plus_00_dot_98_bar__plus_00_dot_04)\n (heatable Potato_bar__minus_01_dot_78_bar__plus_00_dot_86_bar__plus_00_dot_01)\n (heatable Mug_bar__minus_01_dot_86_bar__plus_01_dot_46_bar__plus_00_dot_30)\n (heatable Potato_bar__plus_01_dot_92_bar__plus_01_dot_03_bar__minus_00_dot_76)\n (heatable Bread_bar__minus_01_dot_70_bar__plus_01_dot_76_bar__minus_00_dot_18)\n (heatable Egg_bar__minus_01_dot_75_bar__plus_00_dot_90_bar__plus_00_dot_30)\n (heatable 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Mug_bar__minus_00_dot_11_bar__plus_00_dot_92_bar__plus_00_dot_27)\n (coolable Plate_bar__plus_01_dot_32_bar__plus_01_dot_67_bar__minus_01_dot_60)\n (coolable Pot_bar__plus_01_dot_98_bar__plus_00_dot_94_bar__plus_00_dot_60)\n (coolable Egg_bar__plus_02_dot_02_bar__plus_01_dot_06_bar__minus_00_dot_76)\n (coolable Bread_bar__plus_00_dot_11_bar__plus_01_dot_01_bar__plus_00_dot_51)\n (coolable Cup_bar__plus_01_dot_99_bar__plus_01_dot_00_bar__minus_00_dot_60)\n (coolable Egg_bar__minus_01_dot_77_bar__plus_00_dot_10_bar__plus_01_dot_41)\n (coolable Pan_bar__minus_01_dot_29_bar__plus_00_dot_90_bar__minus_01_dot_35)\n \n \n \n \n \n (sliceable Lettuce_bar__minus_00_dot_21_bar__plus_01_dot_00_bar__plus_00_dot_51)\n (sliceable Lettuce_bar__minus_01_dot_55_bar__plus_00_dot_99_bar__minus_00_dot_96)\n (sliceable Tomato_bar__plus_00_dot_32_bar__plus_00_dot_98_bar__plus_00_dot_04)\n (sliceable Lettuce_bar__minus_00_dot_21_bar__plus_01_dot_00_bar__minus_00_dot_19)\n (sliceable Potato_bar__minus_01_dot_78_bar__plus_00_dot_86_bar__plus_00_dot_01)\n (sliceable Potato_bar__plus_01_dot_92_bar__plus_01_dot_03_bar__minus_00_dot_76)\n (sliceable Bread_bar__minus_01_dot_70_bar__plus_01_dot_76_bar__minus_00_dot_18)\n (sliceable Egg_bar__minus_01_dot_75_bar__plus_00_dot_90_bar__plus_00_dot_30)\n (sliceable Apple_bar__minus_01_dot_65_bar__plus_00_dot_89_bar__plus_00_dot_30)\n (sliceable Egg_bar__plus_02_dot_02_bar__plus_01_dot_06_bar__minus_00_dot_76)\n (sliceable Bread_bar__plus_00_dot_11_bar__plus_01_dot_01_bar__plus_00_dot_51)\n (sliceable Egg_bar__minus_01_dot_77_bar__plus_00_dot_10_bar__plus_01_dot_41)\n \n (inReceptacleObject Fork_bar__minus_00_dot_21_bar__plus_00_dot_93_bar__plus_00_dot_27 Mug_bar__minus_00_dot_11_bar__plus_00_dot_92_bar__plus_00_dot_27)\n (inReceptacle Pot_bar__plus_01_dot_98_bar__plus_00_dot_94_bar__plus_00_dot_60 StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_60)\n (inReceptacle CellPhone_bar__plus_01_dot_81_bar__plus_00_dot_69_bar__plus_00_dot_05 Drawer_bar__plus_01_dot_50_bar__plus_00_dot_63_bar__minus_00_dot_02)\n (inReceptacle Pot_bar__plus_01_dot_98_bar__plus_00_dot_94_bar__plus_00_dot_60 StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_60)\n (inReceptacle Kettle_bar__plus_01_dot_77_bar__plus_00_dot_94_bar__plus_00_dot_82 StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_82)\n (inReceptacle Plate_bar__plus_01_dot_32_bar__plus_01_dot_67_bar__minus_01_dot_60 Cabinet_bar__plus_01_dot_71_bar__plus_02_dot_02_bar__minus_01_dot_45)\n (inReceptacle ButterKnife_bar__plus_00_dot_66_bar__plus_00_dot_91_bar__minus_01_dot_42 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51)\n (inReceptacle Knife_bar__minus_00_dot_84_bar__plus_00_dot_93_bar__minus_01_dot_61 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51)\n (inReceptacle PepperShaker_bar__minus_01_dot_81_bar__plus_00_dot_91_bar__minus_01_dot_06 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51)\n (inReceptacle Spatula_bar__plus_02_dot_07_bar__plus_00_dot_93_bar__plus_01_dot_11 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51)\n (inReceptacle Spatula_bar__plus_01_dot_75_bar__plus_00_dot_93_bar__plus_00_dot_10 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51)\n (inReceptacle PepperShaker_bar__plus_01_dot_99_bar__plus_00_dot_91_bar__plus_01_dot_33 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51)\n (inReceptacle Window_bar__plus_02_dot_22_bar__plus_01_dot_57_bar__minus_00_dot_39 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51)\n (inReceptacle Ladle_bar__plus_01_dot_65_bar__plus_00_dot_96_bar__minus_00_dot_21 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51)\n (inReceptacle Lettuce_bar__minus_01_dot_55_bar__plus_00_dot_99_bar__minus_00_dot_96 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51)\n (inReceptacle Knife_bar__plus_00_dot_66_bar__plus_00_dot_93_bar__minus_01_dot_22 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51)\n (inReceptacle Window_bar__minus_00_dot_01_bar__plus_01_dot_58_bar__minus_01_dot_82 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51)\n (inReceptacle Pan_bar__minus_01_dot_29_bar__plus_00_dot_90_bar__minus_01_dot_35 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51)\n (inReceptacle Kettle_bar__plus_01_dot_77_bar__plus_00_dot_94_bar__plus_00_dot_38 StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_38)\n (inReceptacle Mug_bar__minus_00_dot_32_bar__plus_00_dot_92_bar__plus_00_dot_04 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51)\n (inReceptacle Bread_bar__plus_00_dot_11_bar__plus_01_dot_01_bar__plus_00_dot_51 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51)\n (inReceptacle Cup_bar__minus_00_dot_32_bar__plus_00_dot_92_bar__plus_00_dot_27 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51)\n (inReceptacle Mug_bar__minus_00_dot_11_bar__plus_00_dot_92_bar__plus_00_dot_27 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51)\n (inReceptacle Lettuce_bar__minus_00_dot_21_bar__plus_01_dot_00_bar__minus_00_dot_19 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51)\n (inReceptacle Lettuce_bar__minus_00_dot_21_bar__plus_01_dot_00_bar__plus_00_dot_51 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51)\n (inReceptacle SaltShaker_bar__minus_00_dot_11_bar__plus_00_dot_92_bar__plus_00_dot_74 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51)\n (inReceptacle SaltShaker_bar__minus_00_dot_11_bar__plus_00_dot_92_bar__plus_00_dot_04 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51)\n (inReceptacle Spoon_bar__plus_00_dot_11_bar__plus_00_dot_93_bar__plus_00_dot_04 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51)\n (inReceptacle Bowl_bar__plus_00_dot_28_bar__plus_00_dot_92_bar__plus_01_dot_09 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51)\n (inReceptacle DishSponge_bar__plus_00_dot_32_bar__plus_00_dot_93_bar__plus_00_dot_74 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51)\n (inReceptacle ButterKnife_bar__plus_00_dot_00_bar__plus_00_dot_93_bar__plus_01_dot_20 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51)\n (inReceptacle Tomato_bar__plus_00_dot_32_bar__plus_00_dot_98_bar__plus_00_dot_04 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51)\n (inReceptacle Fork_bar__minus_00_dot_21_bar__plus_00_dot_93_bar__plus_00_dot_27 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51)\n (inReceptacle SoapBottle_bar__plus_00_dot_11_bar__plus_00_dot_93_bar__plus_00_dot_97 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51)\n (inReceptacle Pan_bar__plus_00_dot_21_bar__plus_00_dot_93_bar__plus_00_dot_27 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51)\n (inReceptacle SoapBottle_bar__minus_00_dot_32_bar__plus_00_dot_93_bar__plus_00_dot_97 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51)\n (inReceptacle Pot_bar__plus_01_dot_98_bar__plus_00_dot_94_bar__plus_00_dot_60 StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_82)\n (inReceptacle Egg_bar__minus_01_dot_77_bar__plus_00_dot_10_bar__plus_01_dot_41 GarbageCan_bar__minus_01_dot_80_bar__plus_00_dot_00_bar__plus_01_dot_33)\n (inReceptacle Egg_bar__plus_02_dot_02_bar__plus_01_dot_06_bar__minus_00_dot_76 Microwave_bar__plus_01_dot_93_bar__plus_00_dot_90_bar__minus_00_dot_77)\n (inReceptacle Potato_bar__plus_01_dot_92_bar__plus_01_dot_03_bar__minus_00_dot_76 Microwave_bar__plus_01_dot_93_bar__plus_00_dot_90_bar__minus_00_dot_77)\n (inReceptacle Cup_bar__plus_01_dot_99_bar__plus_01_dot_00_bar__minus_00_dot_60 Microwave_bar__plus_01_dot_93_bar__plus_00_dot_90_bar__minus_00_dot_77)\n (inReceptacle Cup_bar__minus_01_dot_65_bar__plus_01_dot_47_bar__plus_00_dot_01 Fridge_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__plus_00_dot_01)\n (inReceptacle Potato_bar__minus_01_dot_78_bar__plus_00_dot_86_bar__plus_00_dot_01 Fridge_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__plus_00_dot_01)\n (inReceptacle Mug_bar__minus_01_dot_86_bar__plus_01_dot_46_bar__plus_00_dot_30 Fridge_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__plus_00_dot_01)\n (inReceptacle Bread_bar__minus_01_dot_70_bar__plus_01_dot_76_bar__minus_00_dot_18 Fridge_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__plus_00_dot_01)\n (inReceptacle Egg_bar__minus_01_dot_75_bar__plus_00_dot_90_bar__plus_00_dot_30 Fridge_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__plus_00_dot_01)\n (inReceptacle Apple_bar__minus_01_dot_65_bar__plus_00_dot_89_bar__plus_00_dot_30 Fridge_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__plus_00_dot_01)\n \n \n (receptacleAtLocation Cabinet_bar__plus_00_dot_41_bar__plus_00_dot_48_bar__plus_00_dot_45 loc_bar_5_bar_4_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_50_bar__plus_00_dot_48_bar__minus_01_dot_15 loc_bar_3_bar__minus_1_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_15 loc_bar_3_bar__minus_1_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_71_bar__plus_02_dot_02_bar__minus_01_dot_45 loc_bar_4_bar__minus_3_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_79_bar__plus_02_dot_02_bar__minus_00_dot_82 loc_bar_4_bar__minus_3_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_50_bar__plus_00_dot_48_bar__minus_01_dot_15 loc_bar__minus_3_bar__minus_1_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_63_bar__plus_02_dot_02_bar__minus_01_dot_45 loc_bar__minus_3_bar__minus_3_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_15 loc_bar__minus_3_bar__minus_1_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_70_bar__plus_02_dot_02_bar__minus_01_dot_45 loc_bar__minus_3_bar__minus_3_bar_3_bar__minus_15)\n (receptacleAtLocation CoffeeMachine_bar__plus_01_dot_36_bar__plus_00_dot_90_bar__minus_01_dot_60 loc_bar_4_bar__minus_3_bar_2_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51 loc_bar__minus_3_bar__minus_3_bar_2_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51 loc_bar_3_bar_2_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_81_bar__plus_00_dot_48_bar__minus_01_dot_16 loc_bar_5_bar_0_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_14_bar__plus_00_dot_60 loc_bar_3_bar_7_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_20_bar__plus_01_dot_22 loc_bar_2_bar_7_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_20_bar__minus_00_dot_02 loc_bar_5_bar_0_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_31_bar__plus_00_dot_60 loc_bar_5_bar_2_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_43_bar__minus_00_dot_02 loc_bar_5_bar_0_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_52_bar__plus_01_dot_22 loc_bar_3_bar_3_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_54_bar__plus_00_dot_60 loc_bar_5_bar_2_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_60_bar__minus_00_dot_02 loc_bar_4_bar_3_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_63_bar__plus_00_dot_61 loc_bar_3_bar_4_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_63_bar__minus_00_dot_02 loc_bar_3_bar_1_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_78_bar__plus_01_dot_22 loc_bar_3_bar_6_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_70_bar__plus_00_dot_48_bar__minus_01_dot_16 loc_bar__minus_3_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Fridge_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__plus_00_dot_01 loc_bar__minus_3_bar_0_bar_3_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_01_dot_80_bar__plus_00_dot_00_bar__plus_01_dot_33 loc_bar__minus_5_bar_6_bar_3_bar_60)\n (receptacleAtLocation Microwave_bar__plus_01_dot_93_bar__plus_00_dot_90_bar__minus_00_dot_77 loc_bar_4_bar__minus_3_bar_1_bar_45)\n (receptacleAtLocation Sink_bar__plus_00_dot_00_bar__plus_00_dot_89_bar__minus_01_dot_44_bar_SinkBasin loc_bar_0_bar__minus_3_bar_2_bar_60)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_38 loc_bar_5_bar_2_bar_1_bar_60)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_60 loc_bar_5_bar_2_bar_1_bar_60)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_82 loc_bar_5_bar_3_bar_1_bar_60)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_38 loc_bar_5_bar_2_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_60 loc_bar_5_bar_2_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_82 loc_bar_5_bar_3_bar_1_bar_45)\n (receptacleAtLocation Toaster_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__minus_00_dot_34 loc_bar_4_bar__minus_1_bar_1_bar_45)\n (objectAtLocation Mug_bar__minus_00_dot_11_bar__plus_00_dot_92_bar__plus_00_dot_27 loc_bar_3_bar_2_bar_3_bar_45)\n (objectAtLocation Potato_bar__plus_01_dot_92_bar__plus_01_dot_03_bar__minus_00_dot_76 loc_bar_4_bar__minus_3_bar_1_bar_45)\n (objectAtLocation Bread_bar__plus_00_dot_11_bar__plus_01_dot_01_bar__plus_00_dot_51 loc_bar_3_bar_2_bar_3_bar_45)\n (objectAtLocation ButterKnife_bar__plus_00_dot_66_bar__plus_00_dot_91_bar__minus_01_dot_42 loc_bar__minus_3_bar__minus_3_bar_2_bar_45)\n (objectAtLocation PepperShaker_bar__plus_01_dot_99_bar__plus_00_dot_91_bar__plus_01_dot_33 loc_bar__minus_3_bar__minus_3_bar_2_bar_45)\n (objectAtLocation SaltShaker_bar__minus_00_dot_11_bar__plus_00_dot_92_bar__plus_00_dot_74 loc_bar_3_bar_2_bar_3_bar_45)\n (objectAtLocation Knife_bar__plus_00_dot_66_bar__plus_00_dot_93_bar__minus_01_dot_22 loc_bar__minus_3_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Spatula_bar__plus_01_dot_75_bar__plus_00_dot_93_bar__plus_00_dot_10 loc_bar__minus_3_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Lettuce_bar__minus_01_dot_55_bar__plus_00_dot_99_bar__minus_00_dot_96 loc_bar__minus_3_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Pan_bar__minus_01_dot_29_bar__plus_00_dot_90_bar__minus_01_dot_35 loc_bar__minus_3_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Egg_bar__plus_02_dot_02_bar__plus_01_dot_06_bar__minus_00_dot_76 loc_bar_4_bar__minus_3_bar_1_bar_45)\n (objectAtLocation Kettle_bar__plus_01_dot_77_bar__plus_00_dot_94_bar__plus_00_dot_82 loc_bar_5_bar_3_bar_1_bar_60)\n (objectAtLocation Cup_bar__plus_01_dot_99_bar__plus_01_dot_00_bar__minus_00_dot_60 loc_bar_4_bar__minus_3_bar_1_bar_45)\n (objectAtLocation SoapBottle_bar__minus_00_dot_32_bar__plus_00_dot_93_bar__plus_00_dot_97 loc_bar_3_bar_2_bar_3_bar_45)\n (objectAtLocation Mug_bar__minus_00_dot_32_bar__plus_00_dot_92_bar__plus_00_dot_04 loc_bar_3_bar_2_bar_3_bar_45)\n (objectAtLocation Lettuce_bar__minus_00_dot_21_bar__plus_01_dot_00_bar__plus_00_dot_51 loc_bar_3_bar_2_bar_3_bar_45)\n (objectAtLocation Cup_bar__minus_01_dot_65_bar__plus_01_dot_47_bar__plus_00_dot_01 loc_bar__minus_3_bar_0_bar_3_bar_60)\n (objectAtLocation Egg_bar__minus_01_dot_77_bar__plus_00_dot_10_bar__plus_01_dot_41 loc_bar__minus_5_bar_6_bar_3_bar_60)\n (objectAtLocation Window_bar__minus_00_dot_01_bar__plus_01_dot_58_bar__minus_01_dot_82 loc_bar__minus_3_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Sink_bar__plus_00_dot_00_bar__plus_00_dot_89_bar__minus_01_dot_44 loc_bar_0_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Window_bar__plus_02_dot_22_bar__plus_01_dot_57_bar__minus_00_dot_39 loc_bar__minus_3_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Chair_bar__minus_00_dot_06_bar__plus_00_dot_52_bar__plus_01_dot_37 loc_bar_0_bar_8_bar_2_bar_60)\n (objectAtLocation Window_bar__minus_03_dot_24_bar__plus_01_dot_62_bar__plus_02_dot_69 loc_bar__minus_10_bar_11_bar_3_bar_0)\n (objectAtLocation SoapBottle_bar__plus_00_dot_11_bar__plus_00_dot_93_bar__plus_00_dot_97 loc_bar_3_bar_2_bar_3_bar_45)\n (objectAtLocation Cup_bar__minus_00_dot_32_bar__plus_00_dot_92_bar__plus_00_dot_27 loc_bar_3_bar_2_bar_3_bar_45)\n (objectAtLocation LightSwitch_bar__minus_00_dot_15_bar__plus_01_dot_29_bar__plus_03_dot_70 loc_bar__minus_1_bar_12_bar_0_bar_30)\n (objectAtLocation Pot_bar__plus_01_dot_98_bar__plus_00_dot_94_bar__plus_00_dot_60 loc_bar_5_bar_3_bar_1_bar_45)\n (objectAtLocation StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_57 loc_bar_5_bar_2_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_63 loc_bar_5_bar_3_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_74 loc_bar_5_bar_3_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_68 loc_bar_5_bar_3_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_46 loc_bar_5_bar_2_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_52 loc_bar_5_bar_2_bar_1_bar_60)\n (objectAtLocation Fork_bar__minus_00_dot_21_bar__plus_00_dot_93_bar__plus_00_dot_27 loc_bar_3_bar_2_bar_3_bar_45)\n (objectAtLocation Ladle_bar__plus_01_dot_65_bar__plus_00_dot_96_bar__minus_00_dot_21 loc_bar__minus_3_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Kettle_bar__plus_01_dot_77_bar__plus_00_dot_94_bar__plus_00_dot_38 loc_bar_5_bar_2_bar_1_bar_60)\n (objectAtLocation Egg_bar__minus_01_dot_75_bar__plus_00_dot_90_bar__plus_00_dot_30 loc_bar__minus_3_bar_0_bar_3_bar_60)\n (objectAtLocation Plate_bar__plus_01_dot_32_bar__plus_01_dot_67_bar__minus_01_dot_60 loc_bar_4_bar__minus_3_bar_1_bar__minus_30)\n (objectAtLocation Pan_bar__plus_00_dot_21_bar__plus_00_dot_93_bar__plus_00_dot_27 loc_bar_3_bar_2_bar_3_bar_45)\n (objectAtLocation Lettuce_bar__minus_00_dot_21_bar__plus_01_dot_00_bar__minus_00_dot_19 loc_bar_3_bar_2_bar_3_bar_45)\n (objectAtLocation Spatula_bar__plus_02_dot_07_bar__plus_00_dot_93_bar__plus_01_dot_11 loc_bar__minus_3_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Apple_bar__minus_01_dot_65_bar__plus_00_dot_89_bar__plus_00_dot_30 loc_bar__minus_3_bar_0_bar_3_bar_60)\n (objectAtLocation Knife_bar__minus_00_dot_84_bar__plus_00_dot_93_bar__minus_01_dot_61 loc_bar__minus_3_bar__minus_3_bar_2_bar_45)\n (objectAtLocation SaltShaker_bar__minus_00_dot_11_bar__plus_00_dot_92_bar__plus_00_dot_04 loc_bar_3_bar_2_bar_3_bar_45)\n (objectAtLocation PepperShaker_bar__minus_01_dot_81_bar__plus_00_dot_91_bar__minus_01_dot_06 loc_bar__minus_3_bar__minus_3_bar_2_bar_45)\n (objectAtLocation CellPhone_bar__plus_01_dot_81_bar__plus_00_dot_69_bar__plus_00_dot_05 loc_bar_3_bar_1_bar_1_bar_60)\n (objectAtLocation ButterKnife_bar__plus_00_dot_00_bar__plus_00_dot_93_bar__plus_01_dot_20 loc_bar_3_bar_2_bar_3_bar_45)\n (objectAtLocation Bread_bar__minus_01_dot_70_bar__plus_01_dot_76_bar__minus_00_dot_18 loc_bar__minus_3_bar_0_bar_3_bar_60)\n (objectAtLocation Tomato_bar__plus_00_dot_32_bar__plus_00_dot_98_bar__plus_00_dot_04 loc_bar_3_bar_2_bar_3_bar_45)\n (objectAtLocation Potato_bar__minus_01_dot_78_bar__plus_00_dot_86_bar__plus_00_dot_01 loc_bar__minus_3_bar_0_bar_3_bar_60)\n (objectAtLocation DishSponge_bar__plus_00_dot_32_bar__plus_00_dot_93_bar__plus_00_dot_74 loc_bar_3_bar_2_bar_3_bar_45)\n (objectAtLocation Spoon_bar__plus_00_dot_11_bar__plus_00_dot_93_bar__plus_00_dot_04 loc_bar_3_bar_2_bar_3_bar_45)\n (objectAtLocation Mug_bar__minus_01_dot_86_bar__plus_01_dot_46_bar__plus_00_dot_30 loc_bar__minus_3_bar_0_bar_3_bar_60)\n (objectAtLocation Bowl_bar__plus_00_dot_28_bar__plus_00_dot_92_bar__plus_01_dot_09 loc_bar_3_bar_2_bar_3_bar_45)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (cleanable ?o)\n (objectType ?o KettleType)\n (receptacleType ?r CabinetType)\n (isClean ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to drawer 8", "take kettle 2 from stoveburner 6", "go to sinkbasin 1", "clean kettle 2 with sinkbasin 1", "go to cabinet 4", "open cabinet 3", "move kettle 2 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-Kettle-None-Cabinet-2/trial_T20190909_043103_418752/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Kettle-None-Cabinet-2/trial_T20190909_043103_418752/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..81fd40499685641e117dd1263bed7e9408cab0b7 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Kettle-None-Cabinet-2/trial_T20190909_043103_418752/initial_state.pddl @@ -0,0 +1,1107 @@ + +(define (problem plan_trial_T20190909_043103_418752) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + 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_65_bar__plus_00_dot_89_bar__plus_00_dot_30 - object + Bowl_bar__plus_00_dot_28_bar__plus_00_dot_92_bar__plus_01_dot_09 - object + Bread_bar__plus_00_dot_11_bar__plus_01_dot_01_bar__plus_00_dot_51 - object + Bread_bar__minus_01_dot_70_bar__plus_01_dot_76_bar__minus_00_dot_18 - object + ButterKnife_bar__plus_00_dot_00_bar__plus_00_dot_93_bar__plus_01_dot_20 - object + ButterKnife_bar__plus_00_dot_66_bar__plus_00_dot_91_bar__minus_01_dot_42 - object + CellPhone_bar__plus_01_dot_81_bar__plus_00_dot_69_bar__plus_00_dot_05 - object + Chair_bar__minus_00_dot_06_bar__plus_00_dot_52_bar__plus_01_dot_37 - object + Cup_bar__plus_01_dot_99_bar__plus_01_dot_00_bar__minus_00_dot_60 - object + Cup_bar__minus_00_dot_32_bar__plus_00_dot_92_bar__plus_00_dot_27 - object + Cup_bar__minus_01_dot_65_bar__plus_01_dot_47_bar__plus_00_dot_01 - object + DishSponge_bar__plus_00_dot_32_bar__plus_00_dot_93_bar__plus_00_dot_74 - object + Egg_bar__plus_02_dot_02_bar__plus_01_dot_06_bar__minus_00_dot_76 - object + Egg_bar__minus_01_dot_75_bar__plus_00_dot_90_bar__plus_00_dot_30 - object + Egg_bar__minus_01_dot_77_bar__plus_00_dot_10_bar__plus_01_dot_41 - object + Faucet_bar__minus_00_dot_02_bar__plus_01_dot_14_bar__minus_01_dot_61 - object + Fork_bar__minus_00_dot_21_bar__plus_00_dot_93_bar__plus_00_dot_27 - object + Kettle_bar__plus_01_dot_77_bar__plus_00_dot_94_bar__plus_00_dot_38 - object + Kettle_bar__plus_01_dot_77_bar__plus_00_dot_94_bar__plus_00_dot_82 - object + Knife_bar__plus_00_dot_66_bar__plus_00_dot_93_bar__minus_01_dot_22 - object + Knife_bar__minus_00_dot_84_bar__plus_00_dot_93_bar__minus_01_dot_61 - object + Ladle_bar__plus_01_dot_65_bar__plus_00_dot_96_bar__minus_00_dot_21 - object + Lettuce_bar__minus_00_dot_21_bar__plus_01_dot_00_bar__plus_00_dot_51 - object + Lettuce_bar__minus_00_dot_21_bar__plus_01_dot_00_bar__minus_00_dot_19 - object + Lettuce_bar__minus_01_dot_55_bar__plus_00_dot_99_bar__minus_00_dot_96 - object + LightSwitch_bar__minus_00_dot_15_bar__plus_01_dot_29_bar__plus_03_dot_70 - object + Mug_bar__minus_00_dot_11_bar__plus_00_dot_92_bar__plus_00_dot_27 - object + Mug_bar__minus_00_dot_32_bar__plus_00_dot_92_bar__plus_00_dot_04 - object + Mug_bar__minus_01_dot_86_bar__plus_01_dot_46_bar__plus_00_dot_30 - object + Pan_bar__plus_00_dot_21_bar__plus_00_dot_93_bar__plus_00_dot_27 - object + Pan_bar__minus_01_dot_29_bar__plus_00_dot_90_bar__minus_01_dot_35 - object + PepperShaker_bar__plus_01_dot_99_bar__plus_00_dot_91_bar__plus_01_dot_33 - object + PepperShaker_bar__minus_01_dot_81_bar__plus_00_dot_91_bar__minus_01_dot_06 - object + Plate_bar__plus_01_dot_32_bar__plus_01_dot_67_bar__minus_01_dot_60 - object + Potato_bar__plus_01_dot_92_bar__plus_01_dot_03_bar__minus_00_dot_76 - object + Potato_bar__minus_01_dot_78_bar__plus_00_dot_86_bar__plus_00_dot_01 - object + 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+ ] + }, + { + "assignment_id": "A20FCMWP43CVIU_339ANSOTR8TAOD2USWUS91WW8QFIKO", + "high_descs": [ + "walk to face stove", + "pick up kettle on left side of stove top", + "walk to face sink", + "wash kettle in sink, remove kettle from sink", + "walk to the right to face cabinets to right of sink", + "put kettle inside bottom right cabinet" + ], + "task_desc": "put washed kettle into kitchen cabinet", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1ELPYAFO7MANS_3W8CV64QJ5QQBM8JIHLIJGH1XJJ9HN", + "high_descs": [ + "Walk right around the kitchen island, then veer left to the stove.", + "Pick up the leftmost kettle on the stove.", + "Turn right and walk to the sink.", + "Rinse the kettle off in the sink.", + "Take a step right.", + "Place the kettle in the bottom right cabinet, near the corner of the counter." + ], + "task_desc": "Place a rinsed kettle in a cabinet.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Potato-None-Microwave-11/trial_T20190908_215925_201428/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Potato-None-Microwave-11/trial_T20190908_215925_201428/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..043d4cc7427d84056ad6e1431567c43c3acc58ce --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Potato-None-Microwave-11/trial_T20190908_215925_201428/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\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 potato in microwave.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190908_215925_201428)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Apple_bar__minus_00_dot_92_bar__plus_01_dot_08_bar__minus_01_dot_67 - object\n Bowl_bar__minus_00_dot_15_bar__plus_00_dot_11_bar__minus_01_dot_51 - object\n Bread_bar__minus_00_dot_10_bar__plus_01_dot_00_bar__plus_00_dot_46 - object\n ButterKnife_bar__minus_02_dot_34_bar__plus_00_dot_95_bar__plus_00_dot_52 - object\n ButterKnife_bar__minus_02_dot_61_bar__plus_00_dot_95_bar__plus_00_dot_52 - object\n Chair_bar__minus_02_dot_42_bar__plus_00_dot_56_bar__plus_00_dot_41 - object\n Cup_bar__plus_00_dot_39_bar__plus_00_dot_11_bar__minus_01_dot_58 - object\n Cup_bar__plus_00_dot_56_bar__plus_00_dot_91_bar__plus_00_dot_21 - object\n DishSponge_bar__plus_01_dot_66_bar__plus_00_dot_91_bar__plus_00_dot_46 - object\n Egg_bar__minus_00_dot_10_bar__plus_00_dot_95_bar__plus_00_dot_21 - object\n Egg_bar__minus_01_dot_93_bar__plus_00_dot_99_bar__plus_00_dot_70 - 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_20_bar__plus_00_dot_95_bar__plus_00_dot_35 - object\n Kettle_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56 - object\n Knife_bar__plus_00_dot_70_bar__plus_00_dot_94_bar__minus_01_dot_65 - object\n Knife_bar__minus_01_dot_93_bar__plus_00_dot_98_bar__plus_00_dot_26 - object\n Lettuce_bar__minus_02_dot_48_bar__plus_01_dot_04_bar__plus_00_dot_35 - 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_85_bar__plus_00_dot_91_bar__plus_00_dot_29 - object\n Mug_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__plus_00_dot_52 - object\n Pan_bar__plus_01_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_29 - object\n Pan_bar__minus_00_dot_36_bar__plus_00_dot_91_bar__minus_01_dot_57 - object\n PaperTowelRoll_bar__minus_00_dot_43_bar__plus_00_dot_17_bar__plus_00_dot_48 - object\n PepperShaker_bar__minus_00_dot_54_bar__plus_00_dot_91_bar__minus_01_dot_74 - object\n Plate_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__plus_00_dot_26 - object\n Plate_bar__minus_01_dot_96_bar__plus_00_dot_78_bar__minus_01_dot_76 - object\n Potato_bar__minus_01_dot_03_bar__plus_01_dot_05_bar__minus_01_dot_77 - object\n Potato_bar__minus_01_dot_87_bar__plus_01_dot_52_bar__minus_01_dot_76 - object\n Potato_bar__minus_02_dot_14_bar__plus_00_dot_54_bar__minus_01_dot_72 - object\n Pot_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_56 - object\n SaltShaker_bar__plus_00_dot_56_bar__plus_00_dot_11_bar__plus_00_dot_42 - object\n SaltShaker_bar__plus_01_dot_79_bar__plus_00_dot_91_bar__plus_00_dot_62 - object\n SaltShaker_bar__minus_02_dot_07_bar__plus_00_dot_95_bar__plus_00_dot_61 - object\n Sink_bar__plus_00_dot_71_bar__plus_00_dot_82_bar__minus_01_dot_77 - object\n SoapBottle_bar__plus_00_dot_65_bar__plus_00_dot_92_bar__minus_01_dot_45 - object\n Spatula_bar__plus_00_dot_30_bar__plus_00_dot_93_bar__plus_00_dot_21 - object\n Spatula_bar__plus_01_dot_66_bar__plus_00_dot_93_bar__minus_01_dot_57 - object\n Spoon_bar__plus_00_dot_91_bar__plus_00_dot_92_bar__minus_01_dot_52 - 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_17_bar__plus_00_dot_96_bar__plus_00_dot_29 - object\n Tomato_bar__minus_02_dot_14_bar__plus_01_dot_10_bar__minus_01_dot_72 - object\n Tomato_bar__minus_02_dot_40_bar__plus_00_dot_56_bar__minus_01_dot_76 - 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_9_bar__minus_4_bar_0_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Drawer_bar__plus_00_dot_50_bar__plus_00_dot_79_bar__plus_00_dot_30 DrawerType)\n (receptacleType GarbageCan_bar__minus_00_dot_36_bar__plus_00_dot_00_bar__plus_00_dot_54 GarbageCanType)\n (receptacleType StoveBurner_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56 StoveBurnerType)\n (receptacleType Cabinet_bar__minus_00_dot_18_bar__plus_00_dot_40_bar__plus_00_dot_15 CabinetType)\n (receptacleType Sink_bar__plus_00_dot_71_bar__plus_00_dot_82_bar__minus_01_dot_77_bar_SinkBasin SinkBasinType)\n (receptacleType Cabinet_bar__plus_01_dot_08_bar__plus_00_dot_40_bar__minus_01_dot_35 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_19_bar__plus_01_dot_69_bar__minus_01_dot_65 CabinetType)\n (receptacleType Cabinet_bar__plus_00_dot_10_bar__plus_00_dot_40_bar__minus_01_dot_35 CabinetType)\n (receptacleType Drawer_bar__minus_01_dot_10_bar__plus_00_dot_79_bar__minus_01_dot_50 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_59_bar__plus_00_dot_79_bar__minus_01_dot_50 DrawerType)\n (receptacleType CounterTop_bar__plus_01_dot_78_bar__plus_00_dot_95_bar__plus_00_dot_46 CounterTopType)\n (receptacleType CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65 CounterTopType)\n (receptacleType StoveBurner_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_56 StoveBurnerType)\n (receptacleType Cabinet_bar__plus_00_dot_06_bar__plus_00_dot_40_bar__minus_01_dot_35 CabinetType)\n (receptacleType Microwave_bar__minus_01_dot_04_bar__plus_00_dot_90_bar__minus_01_dot_72 MicrowaveType)\n (receptacleType StoveBurner_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_29 StoveBurnerType)\n (receptacleType Cabinet_bar__plus_01_dot_67_bar__plus_00_dot_40_bar__plus_00_dot_15 CabinetType)\n (receptacleType CoffeeMachine_bar__plus_00_dot_62_bar__plus_00_dot_90_bar__plus_00_dot_60 CoffeeMachineType)\n (receptacleType Drawer_bar__plus_00_dot_02_bar__plus_00_dot_79_bar__plus_00_dot_30 DrawerType)\n (receptacleType Cabinet_bar__plus_01_dot_97_bar__plus_01_dot_69_bar__minus_01_dot_65 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_40_bar__plus_00_dot_40_bar__minus_01_dot_35 CabinetType)\n (receptacleType Fridge_bar__minus_02_dot_14_bar__plus_00_dot_00_bar__minus_01_dot_69 FridgeType)\n (receptacleType Toaster_bar__plus_00_dot_31_bar__plus_00_dot_90_bar__plus_00_dot_55 ToasterType)\n (receptacleType StoveBurner_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_29 StoveBurnerType)\n (receptacleType Cabinet_bar__minus_00_dot_82_bar__plus_00_dot_40_bar__minus_01_dot_35 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 SaltShaker_bar__plus_01_dot_79_bar__plus_00_dot_91_bar__plus_00_dot_62 SaltShakerType)\n (objectType Mug_bar__plus_01_dot_85_bar__plus_00_dot_91_bar__plus_00_dot_29 MugType)\n (objectType SoapBottle_bar__plus_00_dot_65_bar__plus_00_dot_92_bar__minus_01_dot_45 SoapBottleType)\n (objectType Sink_bar__plus_00_dot_71_bar__plus_00_dot_82_bar__minus_01_dot_77 SinkType)\n (objectType Tomato_bar__minus_02_dot_40_bar__plus_00_dot_56_bar__minus_01_dot_76 TomatoType)\n (objectType Window_bar__plus_01_dot_97_bar__plus_01_dot_50_bar__minus_00_dot_62 WindowType)\n (objectType Plate_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__plus_00_dot_26 PlateType)\n (objectType ButterKnife_bar__minus_02_dot_61_bar__plus_00_dot_95_bar__plus_00_dot_52 ButterKnifeType)\n (objectType LightSwitch_bar__minus_02_dot_76_bar__plus_01_dot_31_bar__minus_00_dot_99 LightSwitchType)\n (objectType Spatula_bar__plus_00_dot_30_bar__plus_00_dot_93_bar__plus_00_dot_21 SpatulaType)\n (objectType Tomato_bar__minus_02_dot_14_bar__plus_01_dot_10_bar__minus_01_dot_72 TomatoType)\n (objectType Kettle_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56 KettleType)\n (objectType Pot_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_56 PotType)\n (objectType StoveKnob_bar__plus_01_dot_37_bar__plus_00_dot_91_bar__plus_00_dot_12 StoveKnobType)\n (objectType StoveKnob_bar__plus_01_dot_13_bar__plus_00_dot_91_bar__plus_00_dot_12 StoveKnobType)\n (objectType Tomato_bar__plus_00_dot_17_bar__plus_00_dot_96_bar__plus_00_dot_29 TomatoType)\n (objectType Egg_bar__minus_01_dot_93_bar__plus_00_dot_99_bar__plus_00_dot_70 EggType)\n (objectType 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Cup_bar__plus_00_dot_39_bar__plus_00_dot_11_bar__minus_01_dot_58)\n (cleanable Knife_bar__plus_00_dot_70_bar__plus_00_dot_94_bar__minus_01_dot_65)\n (cleanable Plate_bar__minus_01_dot_96_bar__plus_00_dot_78_bar__minus_01_dot_76)\n (cleanable ButterKnife_bar__minus_02_dot_34_bar__plus_00_dot_95_bar__plus_00_dot_52)\n (cleanable Spoon_bar__plus_00_dot_91_bar__plus_00_dot_92_bar__minus_01_dot_52)\n (cleanable DishSponge_bar__plus_01_dot_66_bar__plus_00_dot_91_bar__plus_00_dot_46)\n (cleanable Knife_bar__minus_01_dot_93_bar__plus_00_dot_98_bar__plus_00_dot_26)\n (cleanable Pan_bar__plus_01_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_29)\n (cleanable Egg_bar__minus_00_dot_10_bar__plus_00_dot_95_bar__plus_00_dot_21)\n (cleanable Fork_bar__minus_02_dot_20_bar__plus_00_dot_95_bar__plus_00_dot_35)\n (cleanable Cup_bar__plus_00_dot_56_bar__plus_00_dot_91_bar__plus_00_dot_21)\n (cleanable Mug_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__plus_00_dot_52)\n (cleanable 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Plate_bar__minus_01_dot_96_bar__plus_00_dot_78_bar__minus_01_dot_76)\n (heatable Bread_bar__minus_00_dot_10_bar__plus_01_dot_00_bar__plus_00_dot_46)\n (heatable Egg_bar__minus_00_dot_10_bar__plus_00_dot_95_bar__plus_00_dot_21)\n (heatable Cup_bar__plus_00_dot_56_bar__plus_00_dot_91_bar__plus_00_dot_21)\n (heatable Mug_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__plus_00_dot_52)\n (heatable Apple_bar__minus_00_dot_92_bar__plus_01_dot_08_bar__minus_01_dot_67)\n (heatable Potato_bar__minus_01_dot_03_bar__plus_01_dot_05_bar__minus_01_dot_77)\n (coolable Mug_bar__plus_01_dot_85_bar__plus_00_dot_91_bar__plus_00_dot_29)\n (coolable Tomato_bar__minus_02_dot_40_bar__plus_00_dot_56_bar__minus_01_dot_76)\n (coolable Plate_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__plus_00_dot_26)\n (coolable Tomato_bar__minus_02_dot_14_bar__plus_01_dot_10_bar__minus_01_dot_72)\n (coolable Pot_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_56)\n (coolable Tomato_bar__plus_00_dot_17_bar__plus_00_dot_96_bar__plus_00_dot_29)\n (coolable Egg_bar__minus_01_dot_93_bar__plus_00_dot_99_bar__plus_00_dot_70)\n (coolable Lettuce_bar__minus_02_dot_48_bar__plus_01_dot_04_bar__plus_00_dot_35)\n (coolable Bowl_bar__minus_00_dot_15_bar__plus_00_dot_11_bar__minus_01_dot_51)\n (coolable Potato_bar__minus_01_dot_87_bar__plus_01_dot_52_bar__minus_01_dot_76)\n (coolable Potato_bar__minus_02_dot_14_bar__plus_00_dot_54_bar__minus_01_dot_72)\n (coolable Pan_bar__minus_00_dot_36_bar__plus_00_dot_91_bar__minus_01_dot_57)\n (coolable Cup_bar__plus_00_dot_39_bar__plus_00_dot_11_bar__minus_01_dot_58)\n (coolable Plate_bar__minus_01_dot_96_bar__plus_00_dot_78_bar__minus_01_dot_76)\n (coolable Bread_bar__minus_00_dot_10_bar__plus_01_dot_00_bar__plus_00_dot_46)\n (coolable Pan_bar__plus_01_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_29)\n (coolable Egg_bar__minus_00_dot_10_bar__plus_00_dot_95_bar__plus_00_dot_21)\n (coolable Cup_bar__plus_00_dot_56_bar__plus_00_dot_91_bar__plus_00_dot_21)\n (coolable Mug_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__plus_00_dot_52)\n (coolable Apple_bar__minus_00_dot_92_bar__plus_01_dot_08_bar__minus_01_dot_67)\n (coolable Potato_bar__minus_01_dot_03_bar__plus_01_dot_05_bar__minus_01_dot_77)\n \n (isCool Potato_bar__minus_01_dot_87_bar__plus_01_dot_52_bar__minus_01_dot_76)\n (isCool Potato_bar__minus_02_dot_14_bar__plus_00_dot_54_bar__minus_01_dot_72)\n \n \n \n (sliceable Tomato_bar__minus_02_dot_40_bar__plus_00_dot_56_bar__minus_01_dot_76)\n (sliceable Tomato_bar__minus_02_dot_14_bar__plus_01_dot_10_bar__minus_01_dot_72)\n (sliceable Tomato_bar__plus_00_dot_17_bar__plus_00_dot_96_bar__plus_00_dot_29)\n (sliceable Egg_bar__minus_01_dot_93_bar__plus_00_dot_99_bar__plus_00_dot_70)\n (sliceable Lettuce_bar__minus_02_dot_48_bar__plus_01_dot_04_bar__plus_00_dot_35)\n (sliceable Potato_bar__minus_01_dot_87_bar__plus_01_dot_52_bar__minus_01_dot_76)\n (sliceable Potato_bar__minus_02_dot_14_bar__plus_00_dot_54_bar__minus_01_dot_72)\n (sliceable Bread_bar__minus_00_dot_10_bar__plus_01_dot_00_bar__plus_00_dot_46)\n (sliceable Egg_bar__minus_00_dot_10_bar__plus_00_dot_95_bar__plus_00_dot_21)\n (sliceable Apple_bar__minus_00_dot_92_bar__plus_01_dot_08_bar__minus_01_dot_67)\n (sliceable Potato_bar__minus_01_dot_03_bar__plus_01_dot_05_bar__minus_01_dot_77)\n \n (inReceptacle SaltShaker_bar__minus_02_dot_07_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 ButterKnife_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 Egg_bar__minus_01_dot_93_bar__plus_00_dot_99_bar__plus_00_dot_70 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45)\n (inReceptacle Fork_bar__minus_02_dot_20_bar__plus_00_dot_95_bar__plus_00_dot_35 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45)\n (inReceptacle Lettuce_bar__minus_02_dot_48_bar__plus_01_dot_04_bar__plus_00_dot_35 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45)\n (inReceptacle Plate_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__plus_00_dot_26 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45)\n (inReceptacle ButterKnife_bar__minus_02_dot_61_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 Mug_bar__minus_01_dot_79_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_01_dot_93_bar__plus_00_dot_98_bar__plus_00_dot_26 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45)\n (inReceptacle Cup_bar__plus_00_dot_39_bar__plus_00_dot_11_bar__minus_01_dot_58 Cabinet_bar__plus_00_dot_10_bar__plus_00_dot_40_bar__minus_01_dot_35)\n (inReceptacle Tomato_bar__plus_00_dot_17_bar__plus_00_dot_96_bar__plus_00_dot_29 CounterTop_bar__plus_00_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_46)\n (inReceptacle Egg_bar__minus_00_dot_10_bar__plus_00_dot_95_bar__plus_00_dot_21 CounterTop_bar__plus_00_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_46)\n (inReceptacle Cup_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 Spatula_bar__plus_00_dot_30_bar__plus_00_dot_93_bar__plus_00_dot_21 CounterTop_bar__plus_00_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_46)\n (inReceptacle Bread_bar__minus_00_dot_10_bar__plus_01_dot_00_bar__plus_00_dot_46 CounterTop_bar__plus_00_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_46)\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 Spatula_bar__plus_01_dot_66_bar__plus_00_dot_93_bar__minus_01_dot_57 CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65)\n (inReceptacle Pan_bar__minus_00_dot_36_bar__plus_00_dot_91_bar__minus_01_dot_57 CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65)\n (inReceptacle PepperShaker_bar__minus_00_dot_54_bar__plus_00_dot_91_bar__minus_01_dot_74 CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65)\n (inReceptacle Kettle_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56 StoveBurner_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56)\n (inReceptacle Pot_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_56 StoveBurner_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_56)\n (inReceptacle Bowl_bar__minus_00_dot_15_bar__plus_00_dot_11_bar__minus_01_dot_51 Cabinet_bar__plus_00_dot_06_bar__plus_00_dot_40_bar__minus_01_dot_35)\n (inReceptacle SaltShaker_bar__plus_00_dot_56_bar__plus_00_dot_11_bar__plus_00_dot_42 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 SaltShaker_bar__plus_01_dot_79_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 Mug_bar__plus_01_dot_85_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 DishSponge_bar__plus_01_dot_66_bar__plus_00_dot_91_bar__plus_00_dot_46 CounterTop_bar__plus_01_dot_78_bar__plus_00_dot_95_bar__plus_00_dot_46)\n (inReceptacle Apple_bar__minus_00_dot_92_bar__plus_01_dot_08_bar__minus_01_dot_67 Microwave_bar__minus_01_dot_04_bar__plus_00_dot_90_bar__minus_01_dot_72)\n (inReceptacle Potato_bar__minus_01_dot_03_bar__plus_01_dot_05_bar__minus_01_dot_77 Microwave_bar__minus_01_dot_04_bar__plus_00_dot_90_bar__minus_01_dot_72)\n (inReceptacle PaperTowelRoll_bar__minus_00_dot_43_bar__plus_00_dot_17_bar__plus_00_dot_48 GarbageCan_bar__minus_00_dot_36_bar__plus_00_dot_00_bar__plus_00_dot_54)\n (inReceptacle Potato_bar__minus_01_dot_87_bar__plus_01_dot_52_bar__minus_01_dot_76 Fridge_bar__minus_02_dot_14_bar__plus_00_dot_00_bar__minus_01_dot_69)\n (inReceptacle Tomato_bar__minus_02_dot_40_bar__plus_00_dot_56_bar__minus_01_dot_76 Fridge_bar__minus_02_dot_14_bar__plus_00_dot_00_bar__minus_01_dot_69)\n (inReceptacle Potato_bar__minus_02_dot_14_bar__plus_00_dot_54_bar__minus_01_dot_72 Fridge_bar__minus_02_dot_14_bar__plus_00_dot_00_bar__minus_01_dot_69)\n (inReceptacle Tomato_bar__minus_02_dot_14_bar__plus_01_dot_10_bar__minus_01_dot_72 Fridge_bar__minus_02_dot_14_bar__plus_00_dot_00_bar__minus_01_dot_69)\n (inReceptacle Plate_bar__minus_01_dot_96_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)\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_79_bar__plus_00_dot_95_bar__plus_00_dot_52 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Pan_bar__plus_01_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_29 loc_bar_4_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Potato_bar__minus_01_dot_03_bar__plus_01_dot_05_bar__minus_01_dot_77 loc_bar__minus_4_bar__minus_4_bar_2_bar_45)\n (objectAtLocation ButterKnife_bar__minus_02_dot_61_bar__plus_00_dot_95_bar__plus_00_dot_52 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation SaltShaker_bar__plus_00_dot_56_bar__plus_00_dot_11_bar__plus_00_dot_42 loc_bar_4_bar__minus_3_bar_0_bar_60)\n (objectAtLocation Egg_bar__minus_01_dot_93_bar__plus_00_dot_99_bar__plus_00_dot_70 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Spatula_bar__plus_01_dot_66_bar__plus_00_dot_93_bar__minus_01_dot_57 loc_bar_6_bar__minus_4_bar_3_bar_15)\n (objectAtLocation Plate_bar__minus_01_dot_96_bar__plus_00_dot_78_bar__minus_01_dot_76 loc_bar__minus_9_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Tomato_bar__minus_02_dot_40_bar__plus_00_dot_56_bar__minus_01_dot_76 loc_bar__minus_9_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Cup_bar__plus_00_dot_39_bar__plus_00_dot_11_bar__minus_01_dot_58 loc_bar_3_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Knife_bar__plus_00_dot_70_bar__plus_00_dot_94_bar__minus_01_dot_65 loc_bar_1_bar__minus_4_bar_2_bar_60)\n (objectAtLocation SaltShaker_bar__minus_02_dot_07_bar__plus_00_dot_95_bar__plus_00_dot_61 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Tomato_bar__plus_00_dot_17_bar__plus_00_dot_96_bar__plus_00_dot_29 loc_bar_1_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Potato_bar__minus_02_dot_14_bar__plus_00_dot_54_bar__minus_01_dot_72 loc_bar__minus_9_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Sink_bar__plus_00_dot_71_bar__plus_00_dot_82_bar__minus_01_dot_77 loc_bar_6_bar__minus_4_bar_3_bar_15)\n (objectAtLocation Bread_bar__minus_00_dot_10_bar__plus_01_dot_00_bar__plus_00_dot_46 loc_bar_1_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Knife_bar__minus_01_dot_93_bar__plus_00_dot_98_bar__plus_00_dot_26 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Fork_bar__minus_02_dot_20_bar__plus_00_dot_95_bar__plus_00_dot_35 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Bowl_bar__minus_00_dot_15_bar__plus_00_dot_11_bar__minus_01_dot_51 loc_bar_1_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Kettle_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56 loc_bar_4_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Cup_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 Tomato_bar__minus_02_dot_14_bar__plus_01_dot_10_bar__minus_01_dot_72 loc_bar__minus_9_bar__minus_3_bar_2_bar_60)\n (objectAtLocation SoapBottle_bar__plus_00_dot_65_bar__plus_00_dot_92_bar__minus_01_dot_45 loc_bar_1_bar__minus_4_bar_2_bar_60)\n (objectAtLocation Plate_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__plus_00_dot_26 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation LightSwitch_bar__minus_02_dot_76_bar__plus_01_dot_31_bar__minus_00_dot_99 loc_bar__minus_9_bar__minus_3_bar_3_bar_30)\n (objectAtLocation Pot_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_56 loc_bar_5_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Window_bar__plus_00_dot_58_bar__plus_01_dot_61_bar__minus_01_dot_97 loc_bar_2_bar__minus_4_bar_2_bar_0)\n (objectAtLocation Window_bar__plus_01_dot_97_bar__plus_01_dot_50_bar__minus_00_dot_62 loc_bar_6_bar__minus_2_bar_1_bar_15)\n (objectAtLocation Spatula_bar__plus_00_dot_30_bar__plus_00_dot_93_bar__plus_00_dot_21 loc_bar_1_bar__minus_1_bar_0_bar_45)\n (objectAtLocation PaperTowelRoll_bar__minus_00_dot_43_bar__plus_00_dot_17_bar__plus_00_dot_48 loc_bar__minus_2_bar_0_bar_0_bar_60)\n (objectAtLocation Egg_bar__minus_00_dot_10_bar__plus_00_dot_95_bar__plus_00_dot_21 loc_bar_1_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Lettuce_bar__minus_02_dot_48_bar__plus_01_dot_04_bar__plus_00_dot_35 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation SaltShaker_bar__plus_01_dot_79_bar__plus_00_dot_91_bar__plus_00_dot_62 loc_bar_6_bar__minus_1_bar_0_bar_45)\n (objectAtLocation PepperShaker_bar__minus_00_dot_54_bar__plus_00_dot_91_bar__minus_01_dot_74 loc_bar_6_bar__minus_4_bar_3_bar_15)\n (objectAtLocation Apple_bar__minus_00_dot_92_bar__plus_01_dot_08_bar__minus_01_dot_67 loc_bar__minus_4_bar__minus_4_bar_2_bar_45)\n (objectAtLocation ButterKnife_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 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_87_bar__plus_01_dot_52_bar__minus_01_dot_76 loc_bar__minus_9_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Pan_bar__minus_00_dot_36_bar__plus_00_dot_91_bar__minus_01_dot_57 loc_bar_6_bar__minus_4_bar_3_bar_15)\n (objectAtLocation Chair_bar__minus_02_dot_42_bar__plus_00_dot_56_bar__plus_00_dot_41 loc_bar__minus_9_bar__minus_1_bar_0_bar_60)\n (objectAtLocation DishSponge_bar__plus_01_dot_66_bar__plus_00_dot_91_bar__plus_00_dot_46 loc_bar_6_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Spoon_bar__plus_00_dot_91_bar__plus_00_dot_92_bar__minus_01_dot_52 loc_bar_1_bar__minus_4_bar_2_bar_60)\n (objectAtLocation Mug_bar__plus_01_dot_85_bar__plus_00_dot_91_bar__plus_00_dot_29 loc_bar_6_bar__minus_1_bar_0_bar_45)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (cleanable ?o)\n (objectType ?o PotatoType)\n (receptacleType ?r MicrowaveType)\n (isClean ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to microwave 1", "open microwave 1", "take potato 3 from microwave 1", "go to sinkbasin 1", "clean potato 3 with sinkbasin 1", "go to microwave 1", "move potato 3 to microwave 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Potato-None-Microwave-11/trial_T20190908_215925_201428/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Potato-None-Microwave-11/trial_T20190908_215925_201428/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..ee082566168ae4f1182176bbdd1c910aaf0a152d --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Potato-None-Microwave-11/trial_T20190908_215925_201428/initial_state.pddl @@ -0,0 +1,986 @@ + +(define (problem plan_trial_T20190908_215925_201428) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Apple_bar__minus_00_dot_92_bar__plus_01_dot_08_bar__minus_01_dot_67 - object + Bowl_bar__minus_00_dot_15_bar__plus_00_dot_11_bar__minus_01_dot_51 - object + Bread_bar__minus_00_dot_10_bar__plus_01_dot_00_bar__plus_00_dot_46 - object + ButterKnife_bar__minus_02_dot_34_bar__plus_00_dot_95_bar__plus_00_dot_52 - 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__plus_00_dot_39_bar__plus_00_dot_11_bar__minus_01_dot_58 - object + Cup_bar__plus_00_dot_56_bar__plus_00_dot_91_bar__plus_00_dot_21 - object + DishSponge_bar__plus_01_dot_66_bar__plus_00_dot_91_bar__plus_00_dot_46 - object + Egg_bar__minus_00_dot_10_bar__plus_00_dot_95_bar__plus_00_dot_21 - object + Egg_bar__minus_01_dot_93_bar__plus_00_dot_99_bar__plus_00_dot_70 - object + Faucet_bar__plus_00_dot_55_bar__plus_01_dot_05_bar__minus_01_dot_83 - object + Fork_bar__minus_02_dot_20_bar__plus_00_dot_95_bar__plus_00_dot_35 - object + Kettle_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56 - object + Knife_bar__plus_00_dot_70_bar__plus_00_dot_94_bar__minus_01_dot_65 - object + Knife_bar__minus_01_dot_93_bar__plus_00_dot_98_bar__plus_00_dot_26 - object + Lettuce_bar__minus_02_dot_48_bar__plus_01_dot_04_bar__plus_00_dot_35 - object + LightSwitch_bar__minus_02_dot_76_bar__plus_01_dot_31_bar__minus_00_dot_99 - object + Mug_bar__plus_01_dot_85_bar__plus_00_dot_91_bar__plus_00_dot_29 - object + Mug_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__plus_00_dot_52 - object + Pan_bar__plus_01_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_29 - object + Pan_bar__minus_00_dot_36_bar__plus_00_dot_91_bar__minus_01_dot_57 - object + PaperTowelRoll_bar__minus_00_dot_43_bar__plus_00_dot_17_bar__plus_00_dot_48 - object + PepperShaker_bar__minus_00_dot_54_bar__plus_00_dot_91_bar__minus_01_dot_74 - object + Plate_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__plus_00_dot_26 - object + Plate_bar__minus_01_dot_96_bar__plus_00_dot_78_bar__minus_01_dot_76 - object + Potato_bar__minus_01_dot_03_bar__plus_01_dot_05_bar__minus_01_dot_77 - object + Potato_bar__minus_01_dot_87_bar__plus_01_dot_52_bar__minus_01_dot_76 - object + Potato_bar__minus_02_dot_14_bar__plus_00_dot_54_bar__minus_01_dot_72 - object + Pot_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_56 - object + SaltShaker_bar__plus_00_dot_56_bar__plus_00_dot_11_bar__plus_00_dot_42 - object + SaltShaker_bar__plus_01_dot_79_bar__plus_00_dot_91_bar__plus_00_dot_62 - object + SaltShaker_bar__minus_02_dot_07_bar__plus_00_dot_95_bar__plus_00_dot_61 - object + Sink_bar__plus_00_dot_71_bar__plus_00_dot_82_bar__minus_01_dot_77 - object + SoapBottle_bar__plus_00_dot_65_bar__plus_00_dot_92_bar__minus_01_dot_45 - object + Spatula_bar__plus_00_dot_30_bar__plus_00_dot_93_bar__plus_00_dot_21 - object + Spatula_bar__plus_01_dot_66_bar__plus_00_dot_93_bar__minus_01_dot_57 - object + Spoon_bar__plus_00_dot_91_bar__plus_00_dot_92_bar__minus_01_dot_52 - object + StoveKnob_bar__plus_01_dot_00_bar__plus_00_dot_91_bar__plus_00_dot_12 - object + StoveKnob_bar__plus_01_dot_13_bar__plus_00_dot_91_bar__plus_00_dot_12 - object + StoveKnob_bar__plus_01_dot_25_bar__plus_00_dot_91_bar__plus_00_dot_12 - object + StoveKnob_bar__plus_01_dot_37_bar__plus_00_dot_91_bar__plus_00_dot_12 - object + Tomato_bar__plus_00_dot_17_bar__plus_00_dot_96_bar__plus_00_dot_29 - object + Tomato_bar__minus_02_dot_14_bar__plus_01_dot_10_bar__minus_01_dot_72 - object + Tomato_bar__minus_02_dot_40_bar__plus_00_dot_56_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 + 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loc_bar_2_bar__minus_1_bar_0_bar_45 - location + loc_bar__minus_9_bar__minus_4_bar_0_bar_30 - location + ) + + +(:init + + + (receptacleType Drawer_bar__plus_00_dot_50_bar__plus_00_dot_79_bar__plus_00_dot_30 DrawerType) + (receptacleType GarbageCan_bar__minus_00_dot_36_bar__plus_00_dot_00_bar__plus_00_dot_54 GarbageCanType) + (receptacleType StoveBurner_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56 StoveBurnerType) + (receptacleType Cabinet_bar__minus_00_dot_18_bar__plus_00_dot_40_bar__plus_00_dot_15 CabinetType) + (receptacleType Sink_bar__plus_00_dot_71_bar__plus_00_dot_82_bar__minus_01_dot_77_bar_SinkBasin SinkBasinType) + (receptacleType Cabinet_bar__plus_01_dot_08_bar__plus_00_dot_40_bar__minus_01_dot_35 CabinetType) + (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 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0.781660438, + "z": -1.76346016 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pot_da74902f", + "position": { + "x": 1.361, + "y": 0.962147355, + "z": 0.5617 + }, + "rotation": { + "x": 0.0, + "y": 269.9999, + "z": 0.0 + } + }, + { + "objectName": "Spatula_b4e2a06a", + "position": { + "x": 1.658355, + "y": 0.927299857, + "z": -1.5719192 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "PaperTowelRoll_54f2d061", + "position": { + "x": -0.427205324, + "y": 0.174490839, + "z": 0.4826764 + }, + "rotation": { + "x": 0.0, + "y": 89.99995, + "z": 0.0 + } + }, + { + "objectName": "Egg_7c2e9408", + "position": { + "x": -1.92895377, + "y": 0.9873883, + "z": 0.704894543 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Lettuce_22e053cf", + "position": { + "x": -2.47704625, + "y": 1.04246557, + "z": 0.345098346 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "SaltShaker_42ce5824", + "position": { + "x": 0.5628937, + "y": 0.106492281, + "z": 0.421292961 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "PepperShaker_213d034a", + "position": { + "x": -0.5441669, + "y": 0.9086062, + "z": -1.73768091 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Apple_41d4caea", + "position": { + "x": -0.923949659, + "y": 1.082603, + "z": -1.67189026 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "ButterKnife_d4975865", + "position": { + "x": -2.61406946, + "y": 0.9522671, + "z": 0.524996459 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "Potato_483d2614", + "position": { + "x": -1.02781177, + "y": 1.04528785, + "z": -1.77092588 + }, + "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": 1.66300225, + "y": 0.9118642, + "z": 0.4581 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Spoon_9fcd93ca", + "position": { + "x": 0.9085692, + "y": 0.9206794, + "z": -1.51627707 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_841024df", + "position": { + "x": -1.79193056, + "y": 0.947225034, + "z": 0.52499634 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 4274547804, + "scene_num": 11 + }, + "task_id": "trial_T20190908_215925_201428", + "task_type": "pick_clean_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A2TUUIV61CR0C7_354P56DE9NUBNCY6EEZX9YXXB0RS7M", + "high_descs": [ + "Turn right and move forward to face the microwave.", + "Remove the potato from the microwave.", + "Turn left, walk forward to the sink and turn right to face it.", + "Wash the potato in the sink with fresh water.", + "Turn right, move forward to the microwave and face it.", + "Place the potato in the microwave." + ], + "task_desc": "Wash the potato in the microwave and return it.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A320QA9HJFUOZO_3EFVCAY5L60MONKZ1PIPVX25Q2UJ8W", + "high_descs": [ + "Turn right and walk forward then turn right to face the microwave", + "Open the microwave and pick up the potato from it", + "Turn left and walk a few feet over to the kitchen sink", + "Rinse the potato under water in the sink then remove it", + "Turn right and walk back over to the microwave", + "Put the potato in the microwave" + ], + "task_desc": "Put the washed potato in the microwave", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1SX8IVV82M0LW_3WSELTNVR6TULE9JAHG7TUV9ER8TA0", + "high_descs": [ + "Walk to the microwave on your left.", + "Grab a potato from the microwave.", + "Walk to the kitchen sink ahead of you.", + "Put the potato in the sink, wash it, then grab it.", + "Walk back to the microwave.", + "Put the potato in the microwave." + ], + "task_desc": "Wash a potato and reheat 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-Potato-None-Microwave-11/trial_T20190908_215946_926015/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Potato-None-Microwave-11/trial_T20190908_215946_926015/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..445e2ea3d0bc1930817c44ff1d0aecee7ad0d2b1 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Potato-None-Microwave-11/trial_T20190908_215946_926015/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\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 potato and put it in microwave.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190908_215946_926015)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\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_66_bar__plus_00_dot_98_bar__plus_00_dot_38 - object\n Apple_bar__minus_00_dot_33_bar__plus_00_dot_14_bar__plus_00_dot_53 - object\n Apple_bar__minus_02_dot_14_bar__plus_00_dot_58_bar__minus_01_dot_72 - object\n Bowl_bar__plus_01_dot_85_bar__plus_00_dot_91_bar__plus_00_dot_46 - object\n Bread_bar__minus_00_dot_10_bar__plus_01_dot_00_bar__plus_00_dot_29 - object\n Bread_bar__minus_02_dot_07_bar__plus_01_dot_04_bar__plus_00_dot_44 - object\n ButterKnife_bar__plus_01_dot_66_bar__plus_00_dot_91_bar__minus_01_dot_82 - object\n ButterKnife_bar__minus_00_dot_36_bar__plus_00_dot_91_bar__minus_01_dot_82 - object\n ButterKnife_bar__minus_02_dot_34_bar__plus_00_dot_95_bar__plus_00_dot_44 - 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_17_bar__plus_00_dot_91_bar__plus_00_dot_21 - object\n Cup_bar__plus_00_dot_80_bar__plus_00_dot_92_bar__minus_01_dot_52 - object\n Cup_bar__plus_01_dot_29_bar__plus_00_dot_91_bar__minus_01_dot_41 - object\n DishSponge_bar__minus_00_dot_59_bar__plus_00_dot_77_bar__minus_01_dot_47 - object\n Egg_bar__plus_00_dot_96_bar__plus_00_dot_95_bar__minus_01_dot_72 - object\n Faucet_bar__plus_00_dot_55_bar__plus_01_dot_05_bar__minus_01_dot_83 - object\n Fork_bar__plus_01_dot_72_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_52 - object\n Kettle_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56 - object\n Knife_bar__plus_00_dot_65_bar__plus_00_dot_94_bar__minus_01_dot_58 - object\n Knife_bar__plus_01_dot_78_bar__plus_00_dot_94_bar__minus_01_dot_65 - object\n Lettuce_bar__minus_02_dot_14_bar__plus_01_dot_14_bar__minus_01_dot_76 - object\n LightSwitch_bar__minus_02_dot_76_bar__plus_01_dot_31_bar__minus_00_dot_99 - object\n Mug_bar__minus_02_dot_05_bar__plus_00_dot_78_bar__minus_01_dot_76 - object\n Pan_bar__plus_01_dot_29_bar__plus_00_dot_91_bar__minus_01_dot_74 - object\n Pan_bar__minus_00_dot_57_bar__plus_01_dot_33_bar__minus_01_dot_81 - object\n Pan_bar__minus_02_dot_05_bar__plus_01_dot_49_bar__minus_01_dot_76 - object\n PaperTowelRoll_bar__minus_02_dot_34_bar__plus_01_dot_06_bar__plus_00_dot_17 - object\n PepperShaker_bar__minus_02_dot_07_bar__plus_00_dot_95_bar__plus_00_dot_17 - object\n Plate_bar__minus_00_dot_10_bar__plus_00_dot_91_bar__plus_00_dot_62 - object\n Potato_bar__plus_00_dot_70_bar__plus_00_dot_95_bar__minus_01_dot_65 - object\n Potato_bar__minus_00_dot_92_bar__plus_01_dot_05_bar__minus_01_dot_77 - object\n Potato_bar__minus_01_dot_03_bar__plus_01_dot_05_bar__minus_01_dot_77 - object\n Potato_bar__minus_02_dot_31_bar__plus_01_dot_08_bar__minus_01_dot_85 - object\n Pot_bar__minus_02_dot_38_bar__plus_00_dot_94_bar__plus_00_dot_58 - object\n SaltShaker_bar__minus_00_dot_59_bar__plus_00_dot_11_bar__minus_01_dot_55 - object\n Sink_bar__plus_00_dot_71_bar__plus_00_dot_82_bar__minus_01_dot_77 - object\n SoapBottle_bar__plus_00_dot_52_bar__plus_00_dot_11_bar__minus_01_dot_47 - object\n SoapBottle_bar__plus_00_dot_91_bar__plus_00_dot_92_bar__minus_01_dot_52 - object\n Spatula_bar__plus_00_dot_17_bar__plus_00_dot_93_bar__plus_00_dot_38 - object\n Spatula_bar__minus_02_dot_20_bar__plus_00_dot_97_bar__plus_00_dot_17 - object\n Spoon_bar__plus_00_dot_30_bar__plus_00_dot_91_bar__plus_00_dot_21 - object\n Spoon_bar__minus_02_dot_61_bar__plus_00_dot_95_bar__plus_00_dot_61 - object\n StoveKnob_bar__plus_01_dot_00_bar__plus_00_dot_91_bar__plus_00_dot_12 - object\n StoveKnob_bar__plus_01_dot_13_bar__plus_00_dot_91_bar__plus_00_dot_12 - object\n StoveKnob_bar__plus_01_dot_25_bar__plus_00_dot_91_bar__plus_00_dot_12 - object\n StoveKnob_bar__plus_01_dot_37_bar__plus_00_dot_91_bar__plus_00_dot_12 - object\n Tomato_bar__minus_00_dot_27_bar__plus_00_dot_96_bar__minus_01_dot_82 - 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 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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_3_bar__minus_3_bar_1_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Drawer_bar__plus_00_dot_50_bar__plus_00_dot_79_bar__plus_00_dot_30 DrawerType)\n (receptacleType GarbageCan_bar__minus_00_dot_36_bar__plus_00_dot_00_bar__plus_00_dot_54 GarbageCanType)\n (receptacleType StoveBurner_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56 StoveBurnerType)\n (receptacleType Cabinet_bar__minus_00_dot_18_bar__plus_00_dot_40_bar__plus_00_dot_15 CabinetType)\n (receptacleType Sink_bar__plus_00_dot_71_bar__plus_00_dot_82_bar__minus_01_dot_77_bar_SinkBasin SinkBasinType)\n (receptacleType Cabinet_bar__plus_01_dot_08_bar__plus_00_dot_40_bar__minus_01_dot_35 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(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 Apple_bar__minus_00_dot_33_bar__plus_00_dot_14_bar__plus_00_dot_53 AppleType)\n (objectType StoveKnob_bar__plus_01_dot_13_bar__plus_00_dot_91_bar__plus_00_dot_12 StoveKnobType)\n (objectType PaperTowelRoll_bar__minus_02_dot_34_bar__plus_01_dot_06_bar__plus_00_dot_17 PaperTowelRollType)\n (objectType Mug_bar__minus_02_dot_05_bar__plus_00_dot_78_bar__minus_01_dot_76 MugType)\n (objectType ButterKnife_bar__minus_00_dot_36_bar__plus_00_dot_91_bar__minus_01_dot_82 ButterKnifeType)\n (objectType Cup_bar__plus_01_dot_29_bar__plus_00_dot_91_bar__minus_01_dot_41 CupType)\n (objectType ButterKnife_bar__plus_01_dot_66_bar__plus_00_dot_91_bar__minus_01_dot_82 ButterKnifeType)\n (objectType Bowl_bar__plus_01_dot_85_bar__plus_00_dot_91_bar__plus_00_dot_46 BowlType)\n (objectType 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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 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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)\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 Spoon_bar__plus_00_dot_30_bar__plus_00_dot_91_bar__plus_00_dot_21 loc_bar_1_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Pan_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 Potato_bar__minus_00_dot_92_bar__plus_01_dot_05_bar__minus_01_dot_77 loc_bar__minus_4_bar__minus_4_bar_2_bar_45)\n (objectAtLocation ButterKnife_bar__minus_00_dot_36_bar__plus_00_dot_91_bar__minus_01_dot_82 loc_bar_6_bar__minus_4_bar_3_bar_15)\n (objectAtLocation Apple_bar__minus_02_dot_14_bar__plus_00_dot_58_bar__minus_01_dot_72 loc_bar__minus_9_bar__minus_3_bar_2_bar_60)\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 SoapBottle_bar__plus_00_dot_91_bar__plus_00_dot_92_bar__minus_01_dot_52 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 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 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Cup_bar__plus_00_dot_80_bar__plus_00_dot_92_bar__minus_01_dot_52 loc_bar_1_bar__minus_4_bar_2_bar_60)\n (objectAtLocation Tomato_bar__minus_00_dot_27_bar__plus_00_dot_96_bar__minus_01_dot_82 loc_bar_6_bar__minus_4_bar_3_bar_15)\n (objectAtLocation SoapBottle_bar__plus_00_dot_52_bar__plus_00_dot_11_bar__minus_01_dot_47 loc_bar_3_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Plate_bar__minus_00_dot_10_bar__plus_00_dot_91_bar__plus_00_dot_62 loc_bar_1_bar__minus_1_bar_0_bar_45)\n (objectAtLocation LightSwitch_bar__minus_02_dot_76_bar__plus_01_dot_31_bar__minus_00_dot_99 loc_bar__minus_9_bar__minus_3_bar_3_bar_30)\n (objectAtLocation Pot_bar__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_00_dot_17_bar__plus_00_dot_93_bar__plus_00_dot_38 loc_bar_1_bar__minus_1_bar_0_bar_45)\n (objectAtLocation PaperTowelRoll_bar__minus_02_dot_34_bar__plus_01_dot_06_bar__plus_00_dot_17 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Egg_bar__plus_00_dot_96_bar__plus_00_dot_95_bar__minus_01_dot_72 loc_bar_1_bar__minus_4_bar_2_bar_60)\n (objectAtLocation Lettuce_bar__minus_02_dot_14_bar__plus_01_dot_14_bar__minus_01_dot_76 loc_bar__minus_9_bar__minus_3_bar_2_bar_60)\n (objectAtLocation SaltShaker_bar__minus_00_dot_59_bar__plus_00_dot_11_bar__minus_01_dot_55 loc_bar__minus_4_bar__minus_2_bar_2_bar_60)\n (objectAtLocation PepperShaker_bar__minus_02_dot_07_bar__plus_00_dot_95_bar__plus_00_dot_17 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Apple_bar__plus_01_dot_66_bar__plus_00_dot_98_bar__plus_00_dot_38 loc_bar_6_bar__minus_1_bar_0_bar_45)\n (objectAtLocation ButterKnife_bar__plus_01_dot_66_bar__plus_00_dot_91_bar__minus_01_dot_82 loc_bar_6_bar__minus_4_bar_3_bar_15)\n (objectAtLocation StoveKnob_bar__plus_01_dot_25_bar__plus_00_dot_91_bar__plus_00_dot_12 loc_bar_5_bar__minus_1_bar_0_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_37_bar__plus_00_dot_91_bar__plus_00_dot_12 loc_bar_5_bar__minus_1_bar_0_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_00_bar__plus_00_dot_91_bar__plus_00_dot_12 loc_bar_4_bar__minus_1_bar_0_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_13_bar__plus_00_dot_91_bar__plus_00_dot_12 loc_bar_5_bar__minus_1_bar_0_bar_60)\n (objectAtLocation Potato_bar__plus_00_dot_70_bar__plus_00_dot_95_bar__minus_01_dot_65 loc_bar_1_bar__minus_4_bar_2_bar_60)\n (objectAtLocation Pan_bar__minus_02_dot_05_bar__plus_01_dot_49_bar__minus_01_dot_76 loc_bar__minus_9_bar__minus_3_bar_2_bar_60)\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_59_bar__plus_00_dot_77_bar__minus_01_dot_47 loc_bar__minus_5_bar__minus_4_bar_1_bar_45)\n (objectAtLocation Spoon_bar__minus_02_dot_61_bar__plus_00_dot_95_bar__plus_00_dot_61 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Mug_bar__minus_02_dot_05_bar__plus_00_dot_78_bar__minus_01_dot_76 loc_bar__minus_9_bar__minus_3_bar_2_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (cleanable ?o)\n (objectType ?o PotatoType)\n (receptacleType ?r MicrowaveType)\n (isClean ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to microwave 1", "open microwave 1", "take potato 4 from microwave 1", "go to sinkbasin 1", "clean potato 4 with sinkbasin 1", "go to microwave 1", "move potato 4 to microwave 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Potato-None-Microwave-11/trial_T20190908_215946_926015/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Potato-None-Microwave-11/trial_T20190908_215946_926015/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..06b83e30796919d6e1e23f8183e01cecd6a3ab4d --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Potato-None-Microwave-11/trial_T20190908_215946_926015/initial_state.pddl @@ -0,0 +1,1015 @@ + +(define (problem plan_trial_T20190908_215946_926015) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + 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__minus_00_dot_33_bar__plus_00_dot_14_bar__plus_00_dot_53 - object + Apple_bar__minus_02_dot_14_bar__plus_00_dot_58_bar__minus_01_dot_72 - object + Bowl_bar__plus_01_dot_85_bar__plus_00_dot_91_bar__plus_00_dot_46 - object + Bread_bar__minus_00_dot_10_bar__plus_01_dot_00_bar__plus_00_dot_29 - object + Bread_bar__minus_02_dot_07_bar__plus_01_dot_04_bar__plus_00_dot_44 - object + ButterKnife_bar__plus_01_dot_66_bar__plus_00_dot_91_bar__minus_01_dot_82 - object + ButterKnife_bar__minus_00_dot_36_bar__plus_00_dot_91_bar__minus_01_dot_82 - object + ButterKnife_bar__minus_02_dot_34_bar__plus_00_dot_95_bar__plus_00_dot_44 - object + Chair_bar__minus_02_dot_42_bar__plus_00_dot_56_bar__plus_00_dot_41 - object + Cup_bar__plus_00_dot_17_bar__plus_00_dot_91_bar__plus_00_dot_21 - object + Cup_bar__plus_00_dot_80_bar__plus_00_dot_92_bar__minus_01_dot_52 - object + Cup_bar__plus_01_dot_29_bar__plus_00_dot_91_bar__minus_01_dot_41 - object + DishSponge_bar__minus_00_dot_59_bar__plus_00_dot_77_bar__minus_01_dot_47 - object + Egg_bar__plus_00_dot_96_bar__plus_00_dot_95_bar__minus_01_dot_72 - object + Faucet_bar__plus_00_dot_55_bar__plus_01_dot_05_bar__minus_01_dot_83 - object + Fork_bar__plus_01_dot_72_bar__plus_00_dot_91_bar__plus_00_dot_21 - object + Fork_bar__minus_02_dot_07_bar__plus_00_dot_95_bar__plus_00_dot_52 - object + Kettle_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56 - object + Knife_bar__plus_00_dot_65_bar__plus_00_dot_94_bar__minus_01_dot_58 - object + Knife_bar__plus_01_dot_78_bar__plus_00_dot_94_bar__minus_01_dot_65 - object + Lettuce_bar__minus_02_dot_14_bar__plus_01_dot_14_bar__minus_01_dot_76 - object + LightSwitch_bar__minus_02_dot_76_bar__plus_01_dot_31_bar__minus_00_dot_99 - object + Mug_bar__minus_02_dot_05_bar__plus_00_dot_78_bar__minus_01_dot_76 - object + Pan_bar__plus_01_dot_29_bar__plus_00_dot_91_bar__minus_01_dot_74 - object + Pan_bar__minus_00_dot_57_bar__plus_01_dot_33_bar__minus_01_dot_81 - object + Pan_bar__minus_02_dot_05_bar__plus_01_dot_49_bar__minus_01_dot_76 - object + PaperTowelRoll_bar__minus_02_dot_34_bar__plus_01_dot_06_bar__plus_00_dot_17 - object + PepperShaker_bar__minus_02_dot_07_bar__plus_00_dot_95_bar__plus_00_dot_17 - object + Plate_bar__minus_00_dot_10_bar__plus_00_dot_91_bar__plus_00_dot_62 - object + Potato_bar__plus_00_dot_70_bar__plus_00_dot_95_bar__minus_01_dot_65 - object + Potato_bar__minus_00_dot_92_bar__plus_01_dot_05_bar__minus_01_dot_77 - object + Potato_bar__minus_01_dot_03_bar__plus_01_dot_05_bar__minus_01_dot_77 - object + Potato_bar__minus_02_dot_31_bar__plus_01_dot_08_bar__minus_01_dot_85 - object + Pot_bar__minus_02_dot_38_bar__plus_00_dot_94_bar__plus_00_dot_58 - object + SaltShaker_bar__minus_00_dot_59_bar__plus_00_dot_11_bar__minus_01_dot_55 - object + Sink_bar__plus_00_dot_71_bar__plus_00_dot_82_bar__minus_01_dot_77 - object + SoapBottle_bar__plus_00_dot_52_bar__plus_00_dot_11_bar__minus_01_dot_47 - object + SoapBottle_bar__plus_00_dot_91_bar__plus_00_dot_92_bar__minus_01_dot_52 - object + Spatula_bar__plus_00_dot_17_bar__plus_00_dot_93_bar__plus_00_dot_38 - object + Spatula_bar__minus_02_dot_20_bar__plus_00_dot_97_bar__plus_00_dot_17 - object + Spoon_bar__plus_00_dot_30_bar__plus_00_dot_91_bar__plus_00_dot_21 - object + Spoon_bar__minus_02_dot_61_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__minus_00_dot_27_bar__plus_00_dot_96_bar__minus_01_dot_82 - object + Tomato_bar__minus_01_dot_79_bar__plus_01_dot_00_bar__plus_00_dot_52 - 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_3_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 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Fork_bar__plus_01_dot_72_bar__plus_00_dot_91_bar__plus_00_dot_21) + (cleanable Plate_bar__minus_00_dot_10_bar__plus_00_dot_91_bar__plus_00_dot_62) + (cleanable Pan_bar__plus_01_dot_29_bar__plus_00_dot_91_bar__minus_01_dot_74) + (cleanable Spatula_bar__minus_02_dot_20_bar__plus_00_dot_97_bar__plus_00_dot_17) + (cleanable Apple_bar__plus_01_dot_66_bar__plus_00_dot_98_bar__plus_00_dot_38) + (cleanable Knife_bar__plus_01_dot_78_bar__plus_00_dot_94_bar__minus_01_dot_65) + (cleanable ButterKnife_bar__minus_02_dot_34_bar__plus_00_dot_95_bar__plus_00_dot_44) + (cleanable Potato_bar__plus_00_dot_70_bar__plus_00_dot_95_bar__minus_01_dot_65) + (cleanable Pan_bar__minus_02_dot_05_bar__plus_01_dot_49_bar__minus_01_dot_76) + (cleanable Apple_bar__minus_02_dot_14_bar__plus_00_dot_58_bar__minus_01_dot_72) + (cleanable Egg_bar__plus_00_dot_96_bar__plus_00_dot_95_bar__minus_01_dot_72) + (cleanable Potato_bar__minus_02_dot_31_bar__plus_01_dot_08_bar__minus_01_dot_85) + (cleanable Cup_bar__plus_00_dot_80_bar__plus_00_dot_92_bar__minus_01_dot_52) + (cleanable Pan_bar__minus_00_dot_57_bar__plus_01_dot_33_bar__minus_01_dot_81) + (cleanable Spatula_bar__plus_00_dot_17_bar__plus_00_dot_93_bar__plus_00_dot_38) + (cleanable Potato_bar__minus_01_dot_03_bar__plus_01_dot_05_bar__minus_01_dot_77) + (cleanable Fork_bar__minus_02_dot_07_bar__plus_00_dot_95_bar__plus_00_dot_52) + (cleanable Cup_bar__plus_00_dot_17_bar__plus_00_dot_91_bar__plus_00_dot_21) + + (heatable Potato_bar__minus_00_dot_92_bar__plus_01_dot_05_bar__minus_01_dot_77) + (heatable Apple_bar__minus_00_dot_33_bar__plus_00_dot_14_bar__plus_00_dot_53) + (heatable Mug_bar__minus_02_dot_05_bar__plus_00_dot_78_bar__minus_01_dot_76) + (heatable Cup_bar__plus_01_dot_29_bar__plus_00_dot_91_bar__minus_01_dot_41) + (heatable Bread_bar__minus_02_dot_07_bar__plus_01_dot_04_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_00_dot_27_bar__plus_00_dot_96_bar__minus_01_dot_82) + (heatable Plate_bar__minus_00_dot_10_bar__plus_00_dot_91_bar__plus_00_dot_62) + (heatable Apple_bar__plus_01_dot_66_bar__plus_00_dot_98_bar__plus_00_dot_38) + (heatable Potato_bar__plus_00_dot_70_bar__plus_00_dot_95_bar__minus_01_dot_65) + (heatable Apple_bar__minus_02_dot_14_bar__plus_00_dot_58_bar__minus_01_dot_72) + (heatable Egg_bar__plus_00_dot_96_bar__plus_00_dot_95_bar__minus_01_dot_72) + (heatable Potato_bar__minus_02_dot_31_bar__plus_01_dot_08_bar__minus_01_dot_85) + (heatable Cup_bar__plus_00_dot_80_bar__plus_00_dot_92_bar__minus_01_dot_52) + (heatable Potato_bar__minus_01_dot_03_bar__plus_01_dot_05_bar__minus_01_dot_77) + (heatable Cup_bar__plus_00_dot_17_bar__plus_00_dot_91_bar__plus_00_dot_21) + (heatable Bread_bar__minus_00_dot_10_bar__plus_01_dot_00_bar__plus_00_dot_29) + (coolable Potato_bar__minus_00_dot_92_bar__plus_01_dot_05_bar__minus_01_dot_77) + (coolable 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DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45) + (inReceptacle PaperTowelRoll_bar__minus_02_dot_34_bar__plus_01_dot_06_bar__plus_00_dot_17 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45) + (inReceptacle PepperShaker_bar__minus_02_dot_07_bar__plus_00_dot_95_bar__plus_00_dot_17 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 Fork_bar__minus_02_dot_07_bar__plus_00_dot_95_bar__plus_00_dot_52 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45) + (inReceptacle Spoon_bar__minus_02_dot_61_bar__plus_00_dot_95_bar__plus_00_dot_61 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45) + (inReceptacle SoapBottle_bar__plus_00_dot_52_bar__plus_00_dot_11_bar__minus_01_dot_47 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0.9547133, + "z": -1.71562362 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "Lettuce_22e053cf", + "position": { + "x": -2.135, + "y": 1.14204216, + "z": -1.76346016 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SaltShaker_42ce5824", + "position": { + "x": -0.586564064, + "y": 0.107191741, + "z": -1.54564261 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "PepperShaker_213d034a", + "position": { + "x": -2.06597686, + "y": 0.9485312, + "z": 0.165200174 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Apple_41d4caea", + "position": { + "x": -2.135, + "y": 0.578452945, + "z": -1.72059894 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "ButterKnife_d4975865", + "position": { + "x": -0.3596393, + "y": 0.9123421, + "z": -1.82056189 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Potato_483d2614", + "position": { + "x": -0.923949659, + "y": 1.04528785, + "z": -1.77092588 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pan_4b842b85", + "position": { + "x": 1.28993368, + "y": 0.911909461, + "z": -1.73768091 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_932ef12a", + "position": { + "x": -0.5868, + "y": 0.7723391, + "z": -1.47316957 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Spoon_9fcd93ca", + "position": { + "x": 0.3000576, + "y": 0.9134294, + "z": 0.209457338 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_841024df", + "position": { + "x": -2.0475, + "y": 0.775801659, + "z": -1.76346016 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 4282525506, + "scene_num": 11 + }, + "task_id": "trial_T20190908_215946_926015", + "task_type": "pick_clean_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "AJQGWGESKQT4Y_35K3O9HUAE4NSM8UV2D4896Z8YEEFQ", + "high_descs": [ + "Turn to the right and face the microwave.", + "Open the microwave and take the potato on the right out.", + "Go left and turn to face the sink.", + "Put the potato in the sink and turn it on and then off and pick the potato up again.", + "Turn to the right and then the left to face the microwave.", + "Put the potato in the microwave." + ], + "task_desc": "Put a cleaned potato in the microwave.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1HKHM4NVAO98H_3EQHHY4HQVJTA3BWVLQJM00YWKI5GI", + "high_descs": [ + "turn around and walk over to the microwave on the left", + "grab the potato out of the microwave there", + "turn left and walk over to the kitchen sink on the right", + "place the potato inside the right side sink, rinse it off, then take it back out", + "turn right and walk over to the microwave on the left side at the end of the kitchen counter space", + "place the potato inside of the microwave" + ], + "task_desc": "place a rinsed off potato inside of the microwave", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1RLO9LNUJIW5S_3JPSL1DZ5VQWQ14ZDLUVKVPHPA6AN2", + "high_descs": [ + "Turn right and take a step to your right so you're facing the microwave.", + "Open the microwave and take out the potato that's furthest to the right then close the door.", + "Turn left and walk to the sink then turn right to face it when you get to it.", + "Wash the potato in the sink and then pick it back up and shut off the water.", + "Walk back to stand in front of the microwave please.", + "Put the potato back where you got it and close the microwave door please." + ], + "task_desc": "Put a clean potato in the microwave.", + "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-Potato-None-Microwave-11/trial_T20190908_220010_320199/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Potato-None-Microwave-11/trial_T20190908_220010_320199/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..6b418e67592c448737517f754bcf0c640a9b38ae --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Potato-None-Microwave-11/trial_T20190908_220010_320199/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\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 potato and put it in microwave.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190908_220010_320199)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\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_39_bar__plus_00_dot_14_bar__plus_00_dot_57 - object\n Apple_bar__minus_01_dot_93_bar__plus_01_dot_02_bar__plus_00_dot_52 - object\n Bowl_bar__minus_02_dot_14_bar__plus_00_dot_51_bar__minus_01_dot_72 - object\n Bread_bar__plus_01_dot_66_bar__plus_01_dot_00_bar__minus_01_dot_65 - object\n Bread_bar__minus_00_dot_10_bar__plus_01_dot_00_bar__plus_00_dot_38 - object\n Bread_bar__minus_02_dot_07_bar__plus_01_dot_04_bar__plus_00_dot_17 - object\n ButterKnife_bar__plus_00_dot_80_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__minus_02_dot_20_bar__plus_00_dot_95_bar__plus_00_dot_35 - object\n Cup_bar__minus_02_dot_61_bar__plus_00_dot_95_bar__plus_00_dot_44 - object\n DishSponge_bar__plus_01_dot_86_bar__plus_00_dot_77_bar__plus_00_dot_34 - object\n DishSponge_bar__minus_02_dot_34_bar__plus_00_dot_95_bar__plus_00_dot_61 - object\n Egg_bar__plus_01_dot_29_bar__plus_00_dot_95_bar__minus_01_dot_74 - object\n Egg_bar__minus_02_dot_05_bar__plus_00_dot_82_bar__minus_01_dot_81 - object\n Faucet_bar__plus_00_dot_55_bar__plus_01_dot_05_bar__minus_01_dot_83 - object\n Fork_bar__plus_01_dot_90_bar__plus_00_dot_91_bar__minus_01_dot_41 - object\n Fork_bar__minus_00_dot_15_bar__plus_00_dot_77_bar__minus_01_dot_51 - object\n Fork_bar__minus_00_dot_27_bar__plus_00_dot_91_bar__minus_01_dot_41 - object\n Kettle_bar__plus_01_dot_79_bar__plus_00_dot_91_bar__plus_00_dot_29 - object\n Knife_bar__minus_01_dot_79_bar__plus_00_dot_98_bar__plus_00_dot_26 - object\n Knife_bar__minus_01_dot_93_bar__plus_00_dot_98_bar__plus_00_dot_44 - object\n Lettuce_bar__minus_00_dot_10_bar__plus_01_dot_00_bar__plus_00_dot_62 - object\n LightSwitch_bar__minus_02_dot_76_bar__plus_01_dot_31_bar__minus_00_dot_99 - object\n Mug_bar__plus_00_dot_62_bar__plus_00_dot_95_bar__plus_00_dot_47 - object\n Pan_bar__plus_01_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_29 - object\n PaperTowelRoll_bar__plus_01_dot_85_bar__plus_01_dot_02_bar__plus_00_dot_54 - object\n PepperShaker_bar__plus_00_dot_21_bar__plus_00_dot_10_bar__minus_01_dot_58 - object\n PepperShaker_bar__minus_00_dot_54_bar__plus_00_dot_11_bar__minus_01_dot_47 - object\n Plate_bar__minus_00_dot_49_bar__plus_01_dot_33_bar__minus_01_dot_81 - object\n Potato_bar__minus_00_dot_33_bar__plus_00_dot_10_bar__plus_00_dot_40 - object\n Potato_bar__minus_02_dot_61_bar__plus_00_dot_98_bar__plus_00_dot_61 - 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_46_bar__plus_00_dot_10_bar__minus_01_dot_62 - 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__plus_00_dot_70_bar__plus_00_dot_92_bar__minus_01_dot_65 - object\n SoapBottle_bar__plus_01_dot_41_bar__plus_00_dot_91_bar__minus_01_dot_41 - object\n Spatula_bar__plus_00_dot_17_bar__plus_00_dot_93_bar__plus_00_dot_38 - object\n Spatula_bar__plus_01_dot_29_bar__plus_00_dot_93_bar__minus_01_dot_57 - object\n Spatula_bar__plus_01_dot_60_bar__plus_00_dot_93_bar__plus_00_dot_46 - object\n Spoon_bar__plus_00_dot_41_bar__plus_00_dot_78_bar__minus_01_dot_55 - object\n Spoon_bar__plus_01_dot_90_bar__plus_00_dot_91_bar__minus_01_dot_82 - object\n StoveKnob_bar__plus_01_dot_00_bar__plus_00_dot_91_bar__plus_00_dot_12 - object\n StoveKnob_bar__plus_01_dot_13_bar__plus_00_dot_91_bar__plus_00_dot_12 - object\n StoveKnob_bar__plus_01_dot_25_bar__plus_00_dot_91_bar__plus_00_dot_12 - object\n StoveKnob_bar__plus_01_dot_37_bar__plus_00_dot_91_bar__plus_00_dot_12 - object\n Tomato_bar__minus_01_dot_87_bar__plus_01_dot_10_bar__minus_01_dot_76 - object\n Tomato_bar__minus_02_dot_07_bar__plus_01_dot_00_bar__plus_00_dot_35 - object\n Tomato_bar__minus_02_dot_22_bar__plus_00_dot_83_bar__minus_01_dot_68 - 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 - 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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_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_0_bar__minus_4_bar_1_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Drawer_bar__plus_00_dot_50_bar__plus_00_dot_79_bar__plus_00_dot_30 DrawerType)\n (receptacleType GarbageCan_bar__minus_00_dot_36_bar__plus_00_dot_00_bar__plus_00_dot_54 GarbageCanType)\n (receptacleType StoveBurner_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56 StoveBurnerType)\n (receptacleType Cabinet_bar__minus_00_dot_18_bar__plus_00_dot_40_bar__plus_00_dot_15 CabinetType)\n (receptacleType Sink_bar__plus_00_dot_71_bar__plus_00_dot_82_bar__minus_01_dot_77_bar_SinkBasin 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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 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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)\n (inReceptacle Knife_bar__minus_01_dot_93_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 Cup_bar__minus_02_dot_20_bar__plus_00_dot_95_bar__plus_00_dot_35 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45)\n (inReceptacle PepperShaker_bar__plus_00_dot_21_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 SaltShaker_bar__plus_00_dot_46_bar__plus_00_dot_10_bar__minus_01_dot_62 Cabinet_bar__plus_00_dot_10_bar__plus_00_dot_40_bar__minus_01_dot_35)\n (inReceptacle Mug_bar__plus_00_dot_62_bar__plus_00_dot_95_bar__plus_00_dot_47 CounterTop_bar__plus_00_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_46)\n (inReceptacle Spatula_bar__plus_00_dot_17_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 Lettuce_bar__minus_00_dot_10_bar__plus_01_dot_00_bar__plus_00_dot_62 CounterTop_bar__plus_00_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_46)\n (inReceptacle Bread_bar__minus_00_dot_10_bar__plus_01_dot_00_bar__plus_00_dot_38 CounterTop_bar__plus_00_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_46)\n (inReceptacle 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 Spatula_bar__plus_01_dot_29_bar__plus_00_dot_93_bar__minus_01_dot_57 CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65)\n (inReceptacle Fork_bar__minus_00_dot_27_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 Spoon_bar__plus_01_dot_90_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 Egg_bar__plus_01_dot_29_bar__plus_00_dot_95_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_66_bar__plus_01_dot_00_bar__minus_01_dot_65 CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65)\n (inReceptacle Fork_bar__plus_01_dot_90_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 SoapBottle_bar__plus_01_dot_41_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 DishSponge_bar__plus_01_dot_86_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)\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 Fork_bar__minus_00_dot_15_bar__plus_00_dot_77_bar__minus_01_dot_51 Drawer_bar__minus_00_dot_15_bar__plus_00_dot_79_bar__minus_01_dot_50)\n (inReceptacle Pot_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_56 StoveBurner_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_56)\n (inReceptacle Pan_bar__plus_01_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_29 StoveBurner_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_29)\n (inReceptacle PepperShaker_bar__minus_00_dot_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)\n (inReceptacle Spatula_bar__plus_01_dot_60_bar__plus_00_dot_93_bar__plus_00_dot_46 CounterTop_bar__plus_01_dot_78_bar__plus_00_dot_95_bar__plus_00_dot_46)\n (inReceptacle Kettle_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 PaperTowelRoll_bar__plus_01_dot_85_bar__plus_01_dot_02_bar__plus_00_dot_54 CounterTop_bar__plus_01_dot_78_bar__plus_00_dot_95_bar__plus_00_dot_46)\n (inReceptacle Spoon_bar__plus_00_dot_41_bar__plus_00_dot_78_bar__minus_01_dot_55 Sink_bar__plus_00_dot_71_bar__plus_00_dot_82_bar__minus_01_dot_77_bar_SinkBasin)\n (inReceptacle Apple_bar__minus_00_dot_39_bar__plus_00_dot_14_bar__plus_00_dot_57 GarbageCan_bar__minus_00_dot_36_bar__plus_00_dot_00_bar__plus_00_dot_54)\n (inReceptacle Potato_bar__minus_00_dot_33_bar__plus_00_dot_10_bar__plus_00_dot_40 GarbageCan_bar__minus_00_dot_36_bar__plus_00_dot_00_bar__plus_00_dot_54)\n (inReceptacle Egg_bar__minus_02_dot_05_bar__plus_00_dot_82_bar__minus_01_dot_81 Fridge_bar__minus_02_dot_14_bar__plus_00_dot_00_bar__minus_01_dot_69)\n (inReceptacle Bowl_bar__minus_02_dot_14_bar__plus_00_dot_51_bar__minus_01_dot_72 Fridge_bar__minus_02_dot_14_bar__plus_00_dot_00_bar__minus_01_dot_69)\n (inReceptacle Tomato_bar__minus_01_dot_87_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)\n (inReceptacle Tomato_bar__minus_02_dot_22_bar__plus_00_dot_83_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 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(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 Spoon_bar__plus_01_dot_90_bar__plus_00_dot_91_bar__minus_01_dot_82 loc_bar_6_bar__minus_4_bar_3_bar_15)\n (objectAtLocation DishSponge_bar__minus_02_dot_34_bar__plus_00_dot_95_bar__plus_00_dot_61 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Potato_bar__minus_00_dot_33_bar__plus_00_dot_10_bar__plus_00_dot_40 loc_bar__minus_2_bar_0_bar_0_bar_60)\n (objectAtLocation Apple_bar__minus_00_dot_39_bar__plus_00_dot_14_bar__plus_00_dot_57 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loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation SoapBottle_bar__plus_00_dot_70_bar__plus_00_dot_92_bar__minus_01_dot_65 loc_bar_1_bar__minus_4_bar_2_bar_60)\n (objectAtLocation Plate_bar__minus_00_dot_49_bar__plus_01_dot_33_bar__minus_01_dot_81 loc_bar__minus_2_bar__minus_4_bar_2_bar_0)\n (objectAtLocation LightSwitch_bar__minus_02_dot_76_bar__plus_01_dot_31_bar__minus_00_dot_99 loc_bar__minus_9_bar__minus_3_bar_3_bar_30)\n (objectAtLocation Pot_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_56 loc_bar_5_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Window_bar__plus_00_dot_58_bar__plus_01_dot_61_bar__minus_01_dot_97 loc_bar_2_bar__minus_4_bar_2_bar_0)\n (objectAtLocation Window_bar__plus_01_dot_97_bar__plus_01_dot_50_bar__minus_00_dot_62 loc_bar_6_bar__minus_2_bar_1_bar_15)\n (objectAtLocation Spatula_bar__plus_01_dot_60_bar__plus_00_dot_93_bar__plus_00_dot_46 loc_bar_6_bar__minus_1_bar_0_bar_45)\n (objectAtLocation PaperTowelRoll_bar__plus_01_dot_85_bar__plus_01_dot_02_bar__plus_00_dot_54 loc_bar_6_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Egg_bar__plus_01_dot_29_bar__plus_00_dot_95_bar__minus_01_dot_74 loc_bar_6_bar__minus_4_bar_3_bar_15)\n (objectAtLocation Lettuce_bar__minus_00_dot_10_bar__plus_01_dot_00_bar__plus_00_dot_62 loc_bar_1_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__minus_00_dot_54_bar__plus_00_dot_11_bar__minus_01_dot_47 loc_bar__minus_4_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Apple_bar__minus_01_dot_93_bar__plus_01_dot_02_bar__plus_00_dot_52 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation ButterKnife_bar__plus_00_dot_80_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_02_dot_61_bar__plus_00_dot_98_bar__plus_00_dot_61 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Pan_bar__plus_01_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_29 loc_bar_4_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Chair_bar__minus_02_dot_42_bar__plus_00_dot_56_bar__plus_00_dot_41 loc_bar__minus_9_bar__minus_1_bar_0_bar_60)\n (objectAtLocation DishSponge_bar__plus_01_dot_86_bar__plus_00_dot_77_bar__plus_00_dot_34 loc_bar_6_bar__minus_1_bar_0_bar_60)\n (objectAtLocation Spoon_bar__plus_00_dot_41_bar__plus_00_dot_78_bar__minus_01_dot_55 loc_bar_1_bar__minus_4_bar_2_bar_60)\n (objectAtLocation Mug_bar__plus_00_dot_62_bar__plus_00_dot_95_bar__plus_00_dot_47 loc_bar_1_bar__minus_1_bar_0_bar_45)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (cleanable ?o)\n (objectType ?o PotatoType)\n (receptacleType ?r MicrowaveType)\n (isClean ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to garbagecan 1", "take potato 2 from garbagecan 1", "go to sinkbasin 1", "clean potato 2 with sinkbasin 1", "go to microwave 1", "open microwave 1", "move potato 2 to microwave 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Potato-None-Microwave-11/trial_T20190908_220010_320199/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Potato-None-Microwave-11/trial_T20190908_220010_320199/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..d3f8f8303b271c5ac12280f4eabe7348d739aa2c --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Potato-None-Microwave-11/trial_T20190908_220010_320199/initial_state.pddl @@ -0,0 +1,1013 @@ + +(define (problem plan_trial_T20190908_220010_320199) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + 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_39_bar__plus_00_dot_14_bar__plus_00_dot_57 - object + Apple_bar__minus_01_dot_93_bar__plus_01_dot_02_bar__plus_00_dot_52 - object + Bowl_bar__minus_02_dot_14_bar__plus_00_dot_51_bar__minus_01_dot_72 - object + Bread_bar__plus_01_dot_66_bar__plus_01_dot_00_bar__minus_01_dot_65 - object + Bread_bar__minus_00_dot_10_bar__plus_01_dot_00_bar__plus_00_dot_38 - object + Bread_bar__minus_02_dot_07_bar__plus_01_dot_04_bar__plus_00_dot_17 - object + ButterKnife_bar__plus_00_dot_80_bar__plus_00_dot_92_bar__minus_01_dot_58 - object + Chair_bar__minus_02_dot_42_bar__plus_00_dot_56_bar__plus_00_dot_41 - object + Cup_bar__minus_02_dot_20_bar__plus_00_dot_95_bar__plus_00_dot_35 - object + Cup_bar__minus_02_dot_61_bar__plus_00_dot_95_bar__plus_00_dot_44 - object + DishSponge_bar__plus_01_dot_86_bar__plus_00_dot_77_bar__plus_00_dot_34 - object + DishSponge_bar__minus_02_dot_34_bar__plus_00_dot_95_bar__plus_00_dot_61 - object + Egg_bar__plus_01_dot_29_bar__plus_00_dot_95_bar__minus_01_dot_74 - object + Egg_bar__minus_02_dot_05_bar__plus_00_dot_82_bar__minus_01_dot_81 - object + Faucet_bar__plus_00_dot_55_bar__plus_01_dot_05_bar__minus_01_dot_83 - object + Fork_bar__plus_01_dot_90_bar__plus_00_dot_91_bar__minus_01_dot_41 - object + Fork_bar__minus_00_dot_15_bar__plus_00_dot_77_bar__minus_01_dot_51 - object + Fork_bar__minus_00_dot_27_bar__plus_00_dot_91_bar__minus_01_dot_41 - object + Kettle_bar__plus_01_dot_79_bar__plus_00_dot_91_bar__plus_00_dot_29 - object + Knife_bar__minus_01_dot_79_bar__plus_00_dot_98_bar__plus_00_dot_26 - object + Knife_bar__minus_01_dot_93_bar__plus_00_dot_98_bar__plus_00_dot_44 - object + Lettuce_bar__minus_00_dot_10_bar__plus_01_dot_00_bar__plus_00_dot_62 - object + LightSwitch_bar__minus_02_dot_76_bar__plus_01_dot_31_bar__minus_00_dot_99 - object + Mug_bar__plus_00_dot_62_bar__plus_00_dot_95_bar__plus_00_dot_47 - object + Pan_bar__plus_01_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_29 - object + PaperTowelRoll_bar__plus_01_dot_85_bar__plus_01_dot_02_bar__plus_00_dot_54 - object + PepperShaker_bar__plus_00_dot_21_bar__plus_00_dot_10_bar__minus_01_dot_58 - object + PepperShaker_bar__minus_00_dot_54_bar__plus_00_dot_11_bar__minus_01_dot_47 - object + Plate_bar__minus_00_dot_49_bar__plus_01_dot_33_bar__minus_01_dot_81 - object + Potato_bar__minus_00_dot_33_bar__plus_00_dot_10_bar__plus_00_dot_40 - object + Potato_bar__minus_02_dot_61_bar__plus_00_dot_98_bar__plus_00_dot_61 - 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_46_bar__plus_00_dot_10_bar__minus_01_dot_62 - object + SaltShaker_bar__minus_02_dot_07_bar__plus_00_dot_95_bar__plus_00_dot_70 - object + Sink_bar__plus_00_dot_71_bar__plus_00_dot_82_bar__minus_01_dot_77 - object + SoapBottle_bar__plus_00_dot_70_bar__plus_00_dot_92_bar__minus_01_dot_65 - object + SoapBottle_bar__plus_01_dot_41_bar__plus_00_dot_91_bar__minus_01_dot_41 - object + Spatula_bar__plus_00_dot_17_bar__plus_00_dot_93_bar__plus_00_dot_38 - object + Spatula_bar__plus_01_dot_29_bar__plus_00_dot_93_bar__minus_01_dot_57 - object + Spatula_bar__plus_01_dot_60_bar__plus_00_dot_93_bar__plus_00_dot_46 - object + Spoon_bar__plus_00_dot_41_bar__plus_00_dot_78_bar__minus_01_dot_55 - object + Spoon_bar__plus_01_dot_90_bar__plus_00_dot_91_bar__minus_01_dot_82 - 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_87_bar__plus_01_dot_10_bar__minus_01_dot_76 - object + Tomato_bar__minus_02_dot_07_bar__plus_01_dot_00_bar__plus_00_dot_35 - object + Tomato_bar__minus_02_dot_22_bar__plus_00_dot_83_bar__minus_01_dot_68 - 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_0_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 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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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Drawer_bar__plus_00_dot_50_bar__plus_00_dot_79_bar__plus_00_dot_30) + (openable Cabinet_bar__minus_00_dot_18_bar__plus_00_dot_40_bar__plus_00_dot_15) + (openable Cabinet_bar__plus_01_dot_08_bar__plus_00_dot_40_bar__minus_01_dot_35) + (openable Cabinet_bar__minus_00_dot_19_bar__plus_01_dot_69_bar__minus_01_dot_65) + (openable Cabinet_bar__plus_00_dot_10_bar__plus_00_dot_40_bar__minus_01_dot_35) + (openable Drawer_bar__minus_01_dot_10_bar__plus_00_dot_79_bar__minus_01_dot_50) + (openable Drawer_bar__minus_00_dot_59_bar__plus_00_dot_79_bar__minus_01_dot_50) + (openable Cabinet_bar__plus_00_dot_06_bar__plus_00_dot_40_bar__minus_01_dot_35) + (openable Microwave_bar__minus_01_dot_04_bar__plus_00_dot_90_bar__minus_01_dot_72) + (openable Cabinet_bar__plus_01_dot_67_bar__plus_00_dot_40_bar__plus_00_dot_15) + (openable Drawer_bar__plus_00_dot_02_bar__plus_00_dot_79_bar__plus_00_dot_30) + (openable Cabinet_bar__plus_01_dot_97_bar__plus_01_dot_69_bar__minus_01_dot_65) + (openable Cabinet_bar__minus_00_dot_40_bar__plus_00_dot_40_bar__minus_01_dot_35) + (openable Fridge_bar__minus_02_dot_14_bar__plus_00_dot_00_bar__minus_01_dot_69) + (openable Cabinet_bar__minus_00_dot_82_bar__plus_00_dot_40_bar__minus_01_dot_35) + (openable Drawer_bar__minus_00_dot_15_bar__plus_00_dot_79_bar__minus_01_dot_50) + (openable Cabinet_bar__plus_00_dot_73_bar__plus_00_dot_40_bar__plus_00_dot_15) + + (atLocation agent1 loc_bar_0_bar__minus_4_bar_1_bar_30) + + (cleanable ButterKnife_bar__plus_00_dot_80_bar__plus_00_dot_92_bar__minus_01_dot_58) + (cleanable Tomato_bar__minus_02_dot_07_bar__plus_01_dot_00_bar__plus_00_dot_35) + (cleanable DishSponge_bar__minus_02_dot_34_bar__plus_00_dot_95_bar__plus_00_dot_61) + (cleanable Fork_bar__minus_00_dot_27_bar__plus_00_dot_91_bar__minus_01_dot_41) + (cleanable Spatula_bar__plus_01_dot_60_bar__plus_00_dot_93_bar__plus_00_dot_46) + (cleanable Pot_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_56) + (cleanable Kettle_bar__plus_01_dot_79_bar__plus_00_dot_91_bar__plus_00_dot_29) + (cleanable Tomato_bar__minus_01_dot_87_bar__plus_01_dot_10_bar__minus_01_dot_76) + (cleanable Mug_bar__plus_00_dot_62_bar__plus_00_dot_95_bar__plus_00_dot_47) + (cleanable DishSponge_bar__plus_01_dot_86_bar__plus_00_dot_77_bar__plus_00_dot_34) + (cleanable Egg_bar__minus_02_dot_05_bar__plus_00_dot_82_bar__minus_01_dot_81) + (cleanable Spoon_bar__plus_00_dot_41_bar__plus_00_dot_78_bar__minus_01_dot_55) + (cleanable Tomato_bar__minus_02_dot_22_bar__plus_00_dot_83_bar__minus_01_dot_68) + (cleanable Apple_bar__minus_00_dot_39_bar__plus_00_dot_14_bar__plus_00_dot_57) + (cleanable Apple_bar__minus_01_dot_93_bar__plus_01_dot_02_bar__plus_00_dot_52) + (cleanable Spatula_bar__plus_01_dot_29_bar__plus_00_dot_93_bar__minus_01_dot_57) + (cleanable Spoon_bar__plus_01_dot_90_bar__plus_00_dot_91_bar__minus_01_dot_82) + (cleanable Pot_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56) + (cleanable Fork_bar__minus_00_dot_15_bar__plus_00_dot_77_bar__minus_01_dot_51) + (cleanable Egg_bar__plus_01_dot_29_bar__plus_00_dot_95_bar__minus_01_dot_74) + (cleanable Fork_bar__plus_01_dot_90_bar__plus_00_dot_91_bar__minus_01_dot_41) + (cleanable Potato_bar__minus_00_dot_33_bar__plus_00_dot_10_bar__plus_00_dot_40) + (cleanable Bowl_bar__minus_02_dot_14_bar__plus_00_dot_51_bar__minus_01_dot_72) + (cleanable Lettuce_bar__minus_00_dot_10_bar__plus_01_dot_00_bar__plus_00_dot_62) + (cleanable Knife_bar__minus_01_dot_93_bar__plus_00_dot_98_bar__plus_00_dot_44) + (cleanable Plate_bar__minus_00_dot_49_bar__plus_01_dot_33_bar__minus_01_dot_81) + (cleanable Cup_bar__minus_02_dot_20_bar__plus_00_dot_95_bar__plus_00_dot_35) + (cleanable Cup_bar__minus_02_dot_61_bar__plus_00_dot_95_bar__plus_00_dot_44) + (cleanable Pan_bar__plus_01_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_29) + (cleanable Potato_bar__minus_02_dot_61_bar__plus_00_dot_98_bar__plus_00_dot_61) + (cleanable Knife_bar__minus_01_dot_79_bar__plus_00_dot_98_bar__plus_00_dot_26) + (cleanable Spatula_bar__plus_00_dot_17_bar__plus_00_dot_93_bar__plus_00_dot_38) + + (heatable Tomato_bar__minus_02_dot_07_bar__plus_01_dot_00_bar__plus_00_dot_35) + (heatable Bread_bar__plus_01_dot_66_bar__plus_01_dot_00_bar__minus_01_dot_65) + (heatable Tomato_bar__minus_01_dot_87_bar__plus_01_dot_10_bar__minus_01_dot_76) + (heatable Mug_bar__plus_00_dot_62_bar__plus_00_dot_95_bar__plus_00_dot_47) + (heatable Egg_bar__minus_02_dot_05_bar__plus_00_dot_82_bar__minus_01_dot_81) + (heatable Tomato_bar__minus_02_dot_22_bar__plus_00_dot_83_bar__minus_01_dot_68) + (heatable Apple_bar__minus_00_dot_39_bar__plus_00_dot_14_bar__plus_00_dot_57) + (heatable Apple_bar__minus_01_dot_93_bar__plus_01_dot_02_bar__plus_00_dot_52) + (heatable Egg_bar__plus_01_dot_29_bar__plus_00_dot_95_bar__minus_01_dot_74) + (heatable Potato_bar__minus_00_dot_33_bar__plus_00_dot_10_bar__plus_00_dot_40) + (heatable Plate_bar__minus_00_dot_49_bar__plus_01_dot_33_bar__minus_01_dot_81) + (heatable Cup_bar__minus_02_dot_20_bar__plus_00_dot_95_bar__plus_00_dot_35) + (heatable Bread_bar__minus_02_dot_07_bar__plus_01_dot_04_bar__plus_00_dot_17) + (heatable Cup_bar__minus_02_dot_61_bar__plus_00_dot_95_bar__plus_00_dot_44) + (heatable Potato_bar__minus_02_dot_61_bar__plus_00_dot_98_bar__plus_00_dot_61) + (heatable Bread_bar__minus_00_dot_10_bar__plus_01_dot_00_bar__plus_00_dot_38) + (coolable Tomato_bar__minus_02_dot_07_bar__plus_01_dot_00_bar__plus_00_dot_35) + (coolable Bread_bar__plus_01_dot_66_bar__plus_01_dot_00_bar__minus_01_dot_65) + (coolable Pot_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_56) + (coolable Tomato_bar__minus_01_dot_87_bar__plus_01_dot_10_bar__minus_01_dot_76) + (coolable Mug_bar__plus_00_dot_62_bar__plus_00_dot_95_bar__plus_00_dot_47) + (coolable Egg_bar__minus_02_dot_05_bar__plus_00_dot_82_bar__minus_01_dot_81) + (coolable Tomato_bar__minus_02_dot_22_bar__plus_00_dot_83_bar__minus_01_dot_68) + (coolable Apple_bar__minus_00_dot_39_bar__plus_00_dot_14_bar__plus_00_dot_57) + (coolable Apple_bar__minus_01_dot_93_bar__plus_01_dot_02_bar__plus_00_dot_52) + (coolable Pot_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56) + (coolable Egg_bar__plus_01_dot_29_bar__plus_00_dot_95_bar__minus_01_dot_74) + (coolable Potato_bar__minus_00_dot_33_bar__plus_00_dot_10_bar__plus_00_dot_40) + (coolable Bowl_bar__minus_02_dot_14_bar__plus_00_dot_51_bar__minus_01_dot_72) + (coolable Lettuce_bar__minus_00_dot_10_bar__plus_01_dot_00_bar__plus_00_dot_62) + (coolable Plate_bar__minus_00_dot_49_bar__plus_01_dot_33_bar__minus_01_dot_81) + (coolable Cup_bar__minus_02_dot_20_bar__plus_00_dot_95_bar__plus_00_dot_35) + (coolable Bread_bar__minus_02_dot_07_bar__plus_01_dot_04_bar__plus_00_dot_17) + (coolable Cup_bar__minus_02_dot_61_bar__plus_00_dot_95_bar__plus_00_dot_44) + (coolable Pan_bar__plus_01_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_29) + (coolable Potato_bar__minus_02_dot_61_bar__plus_00_dot_98_bar__plus_00_dot_61) + (coolable Bread_bar__minus_00_dot_10_bar__plus_01_dot_00_bar__plus_00_dot_38) + + + + + + (sliceable Tomato_bar__minus_02_dot_07_bar__plus_01_dot_00_bar__plus_00_dot_35) + (sliceable Bread_bar__plus_01_dot_66_bar__plus_01_dot_00_bar__minus_01_dot_65) + (sliceable Tomato_bar__minus_01_dot_87_bar__plus_01_dot_10_bar__minus_01_dot_76) + (sliceable Egg_bar__minus_02_dot_05_bar__plus_00_dot_82_bar__minus_01_dot_81) + (sliceable Tomato_bar__minus_02_dot_22_bar__plus_00_dot_83_bar__minus_01_dot_68) + (sliceable Apple_bar__minus_00_dot_39_bar__plus_00_dot_14_bar__plus_00_dot_57) + (sliceable Apple_bar__minus_01_dot_93_bar__plus_01_dot_02_bar__plus_00_dot_52) + (sliceable Egg_bar__plus_01_dot_29_bar__plus_00_dot_95_bar__minus_01_dot_74) + (sliceable Potato_bar__minus_00_dot_33_bar__plus_00_dot_10_bar__plus_00_dot_40) + (sliceable Lettuce_bar__minus_00_dot_10_bar__plus_01_dot_00_bar__plus_00_dot_62) + (sliceable Bread_bar__minus_02_dot_07_bar__plus_01_dot_04_bar__plus_00_dot_17) + (sliceable Potato_bar__minus_02_dot_61_bar__plus_00_dot_98_bar__plus_00_dot_61) + (sliceable Bread_bar__minus_00_dot_10_bar__plus_01_dot_00_bar__plus_00_dot_38) + + (inReceptacle Plate_bar__minus_00_dot_49_bar__plus_01_dot_33_bar__minus_01_dot_81 Cabinet_bar__minus_00_dot_19_bar__plus_01_dot_69_bar__minus_01_dot_65) + (inReceptacle Bread_bar__minus_02_dot_07_bar__plus_01_dot_04_bar__plus_00_dot_17 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45) + (inReceptacle Cup_bar__minus_02_dot_61_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 Apple_bar__minus_01_dot_93_bar__plus_01_dot_02_bar__plus_00_dot_52 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45) + (inReceptacle Potato_bar__minus_02_dot_61_bar__plus_00_dot_98_bar__plus_00_dot_61 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45) + (inReceptacle Knife_bar__minus_01_dot_79_bar__plus_00_dot_98_bar__plus_00_dot_26 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45) + (inReceptacle Tomato_bar__minus_02_dot_07_bar__plus_01_dot_00_bar__plus_00_dot_35 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45) + (inReceptacle DishSponge_bar__minus_02_dot_34_bar__plus_00_dot_95_bar__plus_00_dot_61 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45) + (inReceptacle 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 Knife_bar__minus_01_dot_93_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 Cup_bar__minus_02_dot_20_bar__plus_00_dot_95_bar__plus_00_dot_35 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45) + (inReceptacle PepperShaker_bar__plus_00_dot_21_bar__plus_00_dot_10_bar__minus_01_dot_58 Cabinet_bar__plus_00_dot_10_bar__plus_00_dot_40_bar__minus_01_dot_35) + (inReceptacle SaltShaker_bar__plus_00_dot_46_bar__plus_00_dot_10_bar__minus_01_dot_62 Cabinet_bar__plus_00_dot_10_bar__plus_00_dot_40_bar__minus_01_dot_35) + (inReceptacle Mug_bar__plus_00_dot_62_bar__plus_00_dot_95_bar__plus_00_dot_47 CounterTop_bar__plus_00_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_46) + (inReceptacle Spatula_bar__plus_00_dot_17_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 Lettuce_bar__minus_00_dot_10_bar__plus_01_dot_00_bar__plus_00_dot_62 CounterTop_bar__plus_00_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_46) + (inReceptacle Bread_bar__minus_00_dot_10_bar__plus_01_dot_00_bar__plus_00_dot_38 CounterTop_bar__plus_00_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_46) + (inReceptacle Sink_bar__plus_00_dot_71_bar__plus_00_dot_82_bar__minus_01_dot_77 CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65) + (inReceptacle Spatula_bar__plus_01_dot_29_bar__plus_00_dot_93_bar__minus_01_dot_57 CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65) + (inReceptacle Fork_bar__minus_00_dot_27_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 Spoon_bar__plus_01_dot_90_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 Egg_bar__plus_01_dot_29_bar__plus_00_dot_95_bar__minus_01_dot_74 CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65) + (inReceptacle 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StoveBurner_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_56) + (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 PepperShaker_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 Spatula_bar__plus_01_dot_60_bar__plus_00_dot_93_bar__plus_00_dot_46 CounterTop_bar__plus_01_dot_78_bar__plus_00_dot_95_bar__plus_00_dot_46) + (inReceptacle Kettle_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 PaperTowelRoll_bar__plus_01_dot_85_bar__plus_01_dot_02_bar__plus_00_dot_54 CounterTop_bar__plus_01_dot_78_bar__plus_00_dot_95_bar__plus_00_dot_46) + (inReceptacle Spoon_bar__plus_00_dot_41_bar__plus_00_dot_78_bar__minus_01_dot_55 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[ + "Turn around and take two steps then turn right and walk to the wall then turn right and walk to the green garbage.", + "Pick up the potato that's in front of you in the right corner of the garbage.", + "Take a large step to your right then walk to the middle of the sink that's to your right and stand in front of it facing it.", + "Wash the potato in the sink and then pick it back up and shut off the water.", + "Turn right and walk to the microwave that's on your left and stand in front of it facing it so you can use it.", + "Put the potato in the microwave then close the door please." + ], + "task_desc": "Put a clean potato in the microwave.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "ANBWJZYU2A68T_3ZV9H2YQQGYMTAESW768T6O2CB4W33", + "high_descs": [ + "Go to the green bin to the left of cabinet with the toaster", + "Pick up the potato from the bin", + "Turn around and go to the sink", + "Put the potato in the sink, run the water and pick the potato up", + "Go to the microwave", + "Put the potato inside the microwave" + ], + "task_desc": "Put the clean potato inside the microwave", + "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-Potato-None-SideTable-21/trial_T20190906_192433_616768/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Potato-None-SideTable-21/trial_T20190906_192433_616768/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..b6630ebda2da31e2f24121a652c0ca8c6f5265e0 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Potato-None-SideTable-21/trial_T20190906_192433_616768/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\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 potato and put it in sidetable.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190906_192433_616768)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\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_94_bar__minus_00_dot_04 - object\n Blinds_bar__minus_02_dot_34_bar__plus_02_dot_15_bar__minus_02_dot_44 - object\n Bowl_bar__plus_00_dot_75_bar__plus_00_dot_66_bar__minus_01_dot_80 - object\n Bowl_bar__plus_00_dot_80_bar__plus_00_dot_77_bar__minus_00_dot_74 - object\n Bread_bar__minus_01_dot_72_bar__plus_00_dot_75_bar__minus_01_dot_20 - object\n ButterKnife_bar__plus_00_dot_15_bar__plus_00_dot_90_bar__plus_01_dot_19 - object\n ButterKnife_bar__minus_01_dot_89_bar__plus_00_dot_70_bar__minus_01_dot_52 - object\n Chair_bar__minus_01_dot_90_bar__minus_00_dot_03_bar__minus_01_dot_87 - object\n Cup_bar__plus_00_dot_66_bar__plus_00_dot_66_bar__plus_00_dot_63 - object\n Cup_bar__minus_02_dot_14_bar__plus_00_dot_70_bar__minus_01_dot_31 - object\n DishSponge_bar__plus_00_dot_72_bar__plus_00_dot_76_bar__minus_00_dot_25 - object\n DishSponge_bar__plus_00_dot_90_bar__plus_01_dot_46_bar__minus_00_dot_08 - object\n DishSponge_bar__minus_01_dot_60_bar__plus_00_dot_70_bar__minus_03_dot_36 - object\n Egg_bar__minus_01_dot_26_bar__plus_00_dot_09_bar__minus_03_dot_61 - object\n Egg_bar__minus_01_dot_90_bar__plus_00_dot_84_bar__minus_03_dot_64 - object\n Faucet_bar__plus_01_dot_03_bar__plus_00_dot_87_bar__minus_00_dot_68 - object\n Fork_bar__plus_00_dot_67_bar__plus_00_dot_76_bar__minus_00_dot_06 - object\n Fork_bar__plus_00_dot_72_bar__plus_00_dot_76_bar__minus_00_dot_19 - object\n Fork_bar__plus_00_dot_80_bar__plus_00_dot_77_bar__minus_00_dot_57 - object\n Knife_bar__plus_00_dot_57_bar__plus_00_dot_78_bar__plus_00_dot_00 - object\n Knife_bar__plus_00_dot_96_bar__plus_00_dot_69_bar__plus_00_dot_45 - object\n Lettuce_bar__plus_00_dot_71_bar__plus_00_dot_75_bar__minus_02_dot_04 - object\n Lettuce_bar__plus_00_dot_72_bar__plus_00_dot_75_bar__plus_00_dot_39 - object\n LightSwitch_bar__plus_01_dot_10_bar__plus_01_dot_37_bar__minus_03_dot_74 - object\n Mirror_bar__plus_01_dot_09_bar__plus_01_dot_60_bar__minus_00_dot_64 - object\n Mug_bar__minus_00_dot_05_bar__plus_00_dot_90_bar__plus_01_dot_02 - object\n Pan_bar__plus_00_dot_74_bar__minus_00_dot_01_bar__minus_00_dot_60 - object\n PepperShaker_bar__minus_00_dot_25_bar__plus_00_dot_90_bar__plus_00_dot_84 - object\n Plate_bar__plus_00_dot_15_bar__plus_00_dot_90_bar__plus_00_dot_84 - object\n Potato_bar__minus_02_dot_05_bar__plus_00_dot_83_bar__minus_03_dot_67 - object\n Pot_bar__minus_01_dot_56_bar__plus_00_dot_93_bar__plus_01_dot_05 - object\n Pot_bar__minus_02_dot_10_bar__plus_00_dot_93_bar__plus_01_dot_05 - object\n SaltShaker_bar__plus_00_dot_58_bar__plus_00_dot_88_bar__plus_00_dot_03 - object\n Sink_bar__plus_00_dot_75_bar__plus_00_dot_88_bar__minus_00_dot_68 - object\n SoapBottle_bar__minus_00_dot_05_bar__plus_00_dot_90_bar__plus_01_dot_19 - object\n Spatula_bar__plus_00_dot_95_bar__plus_00_dot_90_bar__minus_00_dot_31 - object\n Spoon_bar__plus_00_dot_88_bar__plus_00_dot_88_bar__plus_00_dot_10 - object\n StoveKnob_bar__minus_01_dot_60_bar__plus_00_dot_87_bar__plus_00_dot_52 - object\n StoveKnob_bar__minus_01_dot_75_bar__plus_00_dot_87_bar__plus_00_dot_52 - object\n StoveKnob_bar__minus_01_dot_90_bar__plus_00_dot_87_bar__plus_00_dot_52 - object\n StoveKnob_bar__minus_02_dot_06_bar__plus_00_dot_87_bar__plus_00_dot_52 - object\n Tomato_bar__plus_00_dot_75_bar__plus_01_dot_21_bar__minus_01_dot_96 - object\n Window_bar__minus_02_dot_42_bar__plus_01_dot_64_bar__minus_02_dot_45 - object\n Cabinet_bar__plus_00_dot_51_bar__plus_00_dot_35_bar__plus_00_dot_16 - receptacle\n Cabinet_bar__plus_00_dot_51_bar__plus_00_dot_35_bar__minus_00_dot_43 - receptacle\n Cabinet_bar__plus_00_dot_72_bar__plus_01_dot_82_bar__plus_00_dot_67 - receptacle\n Cabinet_bar__plus_00_dot_72_bar__plus_01_dot_82_bar__minus_00_dot_40 - receptacle\n CoffeeMachine_bar__plus_00_dot_88_bar__plus_00_dot_86_bar__minus_01_dot_26 - receptacle\n CounterTop_bar__plus_00_dot_79_bar__plus_00_dot_92_bar__minus_00_dot_11 - receptacle\n DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95 - receptacle\n DiningTable_bar__minus_01_dot_73_bar__minus_00_dot_03_bar__minus_00_dot_96 - receptacle\n DiningTable_bar__minus_02_dot_17_bar__minus_00_dot_03_bar__minus_03_dot_37 - receptacle\n Drawer_bar__plus_00_dot_71_bar__plus_00_dot_77_bar__minus_00_dot_13 - receptacle\n Fridge_bar__plus_00_dot_68_bar__minus_00_dot_03_bar__minus_01_dot_96 - receptacle\n GarbageCan_bar__minus_01_dot_26_bar__minus_00_dot_03_bar__minus_03_dot_61 - receptacle\n Microwave_bar__minus_02_dot_01_bar__plus_00_dot_69_bar__minus_03_dot_69 - receptacle\n SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45 - receptacle\n Sink_bar__plus_00_dot_75_bar__plus_00_dot_88_bar__minus_00_dot_68_bar_SinkBasin - receptacle\n StoveBurner_bar__minus_01_dot_55_bar__plus_00_dot_89_bar__plus_00_dot_79 - receptacle\n StoveBurner_bar__minus_01_dot_56_bar__plus_00_dot_89_bar__plus_01_dot_05 - receptacle\n StoveBurner_bar__minus_02_dot_10_bar__plus_00_dot_89_bar__plus_00_dot_79 - receptacle\n StoveBurner_bar__minus_02_dot_10_bar__plus_00_dot_89_bar__plus_01_dot_05 - receptacle\n Toaster_bar__minus_00_dot_52_bar__plus_00_dot_89_bar__plus_01_dot_07 - receptacle\n loc_bar__minus_6_bar_0_bar_0_bar_45 - location\n loc_bar__minus_4_bar__minus_5_bar_3_bar_60 - location\n loc_bar_1_bar__minus_3_bar_1_bar_0 - location\n loc_bar__minus_7_bar_0_bar_0_bar_30 - location\n loc_bar__minus_7_bar__minus_11_bar_2_bar_45 - location\n loc_bar_1_bar_1_bar_1_bar__minus_30 - location\n loc_bar__minus_7_bar_0_bar_0_bar_60 - location\n loc_bar__minus_6_bar_0_bar_0_bar_60 - location\n loc_bar__minus_7_bar__minus_11_bar_2_bar_60 - location\n loc_bar_1_bar__minus_2_bar_1_bar_60 - location\n loc_bar__minus_7_bar_0_bar_0_bar_45 - location\n loc_bar_0_bar_1_bar_0_bar_60 - location\n loc_bar__minus_1_bar__minus_8_bar_1_bar_60 - location\n loc_bar__minus_2_bar__minus_1_bar_1_bar_45 - location\n loc_bar__minus_1_bar__minus_1_bar_1_bar_45 - location\n loc_bar__minus_6_bar_0_bar_0_bar_30 - location\n loc_bar__minus_7_bar__minus_10_bar_3_bar_0 - location\n loc_bar_1_bar_0_bar_1_bar_45 - location\n loc_bar_2_bar__minus_13_bar_1_bar_30 - location\n loc_bar_0_bar__minus_5_bar_1_bar_45 - location\n loc_bar__minus_1_bar_1_bar_1_bar_45 - location\n loc_bar__minus_4_bar__minus_13_bar_2_bar_60 - location\n loc_bar__minus_2_bar_1_bar_1_bar_45 - location\n loc_bar_1_bar__minus_3_bar_1_bar_60 - location\n loc_bar__minus_2_bar_1_bar_0_bar_45 - location\n loc_bar__minus_5_bar__minus_7_bar_3_bar_60 - location\n loc_bar_1_bar_0_bar_1_bar__minus_30 - location\n loc_bar__minus_7_bar__minus_10_bar_3_bar__minus_30 - location\n loc_bar__minus_3_bar_0_bar_0_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Fridge_bar__plus_00_dot_68_bar__minus_00_dot_03_bar__minus_01_dot_96 FridgeType)\n (receptacleType StoveBurner_bar__minus_01_dot_55_bar__plus_00_dot_89_bar__plus_00_dot_79 StoveBurnerType)\n (receptacleType CoffeeMachine_bar__plus_00_dot_88_bar__plus_00_dot_86_bar__minus_01_dot_26 CoffeeMachineType)\n (receptacleType GarbageCan_bar__minus_01_dot_26_bar__minus_00_dot_03_bar__minus_03_dot_61 GarbageCanType)\n (receptacleType SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45 SideTableType)\n (receptacleType Microwave_bar__minus_02_dot_01_bar__plus_00_dot_69_bar__minus_03_dot_69 MicrowaveType)\n (receptacleType Cabinet_bar__plus_00_dot_72_bar__plus_01_dot_82_bar__plus_00_dot_67 CabinetType)\n (receptacleType CounterTop_bar__plus_00_dot_79_bar__plus_00_dot_92_bar__minus_00_dot_11 CounterTopType)\n (receptacleType Cabinet_bar__plus_00_dot_72_bar__plus_01_dot_82_bar__minus_00_dot_40 CabinetType)\n (receptacleType Sink_bar__plus_00_dot_75_bar__plus_00_dot_88_bar__minus_00_dot_68_bar_SinkBasin SinkBasinType)\n (receptacleType Cabinet_bar__plus_00_dot_51_bar__plus_00_dot_35_bar__plus_00_dot_16 CabinetType)\n (receptacleType DiningTable_bar__minus_01_dot_73_bar__minus_00_dot_03_bar__minus_00_dot_96 DiningTableType)\n (receptacleType Drawer_bar__plus_00_dot_71_bar__plus_00_dot_77_bar__minus_00_dot_13 DrawerType)\n (receptacleType Toaster_bar__minus_00_dot_52_bar__plus_00_dot_89_bar__plus_01_dot_07 ToasterType)\n (receptacleType StoveBurner_bar__minus_02_dot_10_bar__plus_00_dot_89_bar__plus_00_dot_79 StoveBurnerType)\n (receptacleType DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95 DiningTableType)\n (receptacleType StoveBurner_bar__minus_02_dot_10_bar__plus_00_dot_89_bar__plus_01_dot_05 StoveBurnerType)\n (receptacleType Cabinet_bar__plus_00_dot_51_bar__plus_00_dot_35_bar__minus_00_dot_43 CabinetType)\n (receptacleType DiningTable_bar__minus_02_dot_17_bar__minus_00_dot_03_bar__minus_03_dot_37 DiningTableType)\n (receptacleType StoveBurner_bar__minus_01_dot_56_bar__plus_00_dot_89_bar__plus_01_dot_05 StoveBurnerType)\n (objectType Pot_bar__minus_02_dot_10_bar__plus_00_dot_93_bar__plus_01_dot_05 PotType)\n (objectType Plate_bar__plus_00_dot_15_bar__plus_00_dot_90_bar__plus_00_dot_84 PlateType)\n (objectType StoveKnob_bar__minus_01_dot_90_bar__plus_00_dot_87_bar__plus_00_dot_52 StoveKnobType)\n (objectType Cup_bar__minus_02_dot_14_bar__plus_00_dot_70_bar__minus_01_dot_31 CupType)\n (objectType Egg_bar__minus_01_dot_90_bar__plus_00_dot_84_bar__minus_03_dot_64 EggType)\n (objectType Apple_bar__plus_00_dot_88_bar__plus_00_dot_94_bar__minus_00_dot_04 AppleType)\n (objectType StoveKnob_bar__minus_01_dot_60_bar__plus_00_dot_87_bar__plus_00_dot_52 StoveKnobType)\n (objectType StoveKnob_bar__minus_02_dot_06_bar__plus_00_dot_87_bar__plus_00_dot_52 StoveKnobType)\n (objectType Cup_bar__plus_00_dot_66_bar__plus_00_dot_66_bar__plus_00_dot_63 CupType)\n (objectType Pot_bar__minus_01_dot_56_bar__plus_00_dot_93_bar__plus_01_dot_05 PotType)\n (objectType StoveKnob_bar__minus_01_dot_75_bar__plus_00_dot_87_bar__plus_00_dot_52 StoveKnobType)\n (objectType PepperShaker_bar__minus_00_dot_25_bar__plus_00_dot_90_bar__plus_00_dot_84 PepperShakerType)\n (objectType Lettuce_bar__plus_00_dot_71_bar__plus_00_dot_75_bar__minus_02_dot_04 LettuceType)\n (objectType Mirror_bar__plus_01_dot_09_bar__plus_01_dot_60_bar__minus_00_dot_64 MirrorType)\n (objectType Bowl_bar__plus_00_dot_80_bar__plus_00_dot_77_bar__minus_00_dot_74 BowlType)\n (objectType SoapBottle_bar__minus_00_dot_05_bar__plus_00_dot_90_bar__plus_01_dot_19 SoapBottleType)\n (objectType Window_bar__minus_02_dot_42_bar__plus_01_dot_64_bar__minus_02_dot_45 WindowType)\n (objectType Blinds_bar__minus_02_dot_34_bar__plus_02_dot_15_bar__minus_02_dot_44 BlindsType)\n (objectType ButterKnife_bar__plus_00_dot_15_bar__plus_00_dot_90_bar__plus_01_dot_19 ButterKnifeType)\n (objectType DishSponge_bar__minus_01_dot_60_bar__plus_00_dot_70_bar__minus_03_dot_36 DishSpongeType)\n (objectType Knife_bar__plus_00_dot_57_bar__plus_00_dot_78_bar__plus_00_dot_00 KnifeType)\n (objectType SaltShaker_bar__plus_00_dot_58_bar__plus_00_dot_88_bar__plus_00_dot_03 SaltShakerType)\n (objectType Mug_bar__minus_00_dot_05_bar__plus_00_dot_90_bar__plus_01_dot_02 MugType)\n (objectType Chair_bar__minus_01_dot_90_bar__minus_00_dot_03_bar__minus_01_dot_87 ChairType)\n (objectType Spatula_bar__plus_00_dot_95_bar__plus_00_dot_90_bar__minus_00_dot_31 SpatulaType)\n (objectType ButterKnife_bar__minus_01_dot_89_bar__plus_00_dot_70_bar__minus_01_dot_52 ButterKnifeType)\n (objectType Fork_bar__plus_00_dot_67_bar__plus_00_dot_76_bar__minus_00_dot_06 ForkType)\n (objectType DishSponge_bar__plus_00_dot_90_bar__plus_01_dot_46_bar__minus_00_dot_08 DishSpongeType)\n (objectType Tomato_bar__plus_00_dot_75_bar__plus_01_dot_21_bar__minus_01_dot_96 TomatoType)\n (objectType Bowl_bar__plus_00_dot_75_bar__plus_00_dot_66_bar__minus_01_dot_80 BowlType)\n (objectType Knife_bar__plus_00_dot_96_bar__plus_00_dot_69_bar__plus_00_dot_45 KnifeType)\n (objectType LightSwitch_bar__plus_01_dot_10_bar__plus_01_dot_37_bar__minus_03_dot_74 LightSwitchType)\n (objectType Sink_bar__plus_00_dot_75_bar__plus_00_dot_88_bar__minus_00_dot_68 SinkType)\n (objectType Lettuce_bar__plus_00_dot_72_bar__plus_00_dot_75_bar__plus_00_dot_39 LettuceType)\n (objectType DishSponge_bar__plus_00_dot_72_bar__plus_00_dot_76_bar__minus_00_dot_25 DishSpongeType)\n (objectType Bread_bar__minus_01_dot_72_bar__plus_00_dot_75_bar__minus_01_dot_20 BreadType)\n (objectType Fork_bar__plus_00_dot_80_bar__plus_00_dot_77_bar__minus_00_dot_57 ForkType)\n (objectType Potato_bar__minus_02_dot_05_bar__plus_00_dot_83_bar__minus_03_dot_67 PotatoType)\n (objectType Pan_bar__plus_00_dot_74_bar__minus_00_dot_01_bar__minus_00_dot_60 PanType)\n (objectType Fork_bar__plus_00_dot_72_bar__plus_00_dot_76_bar__minus_00_dot_19 ForkType)\n (objectType Egg_bar__minus_01_dot_26_bar__plus_00_dot_09_bar__minus_03_dot_61 EggType)\n (objectType Spoon_bar__plus_00_dot_88_bar__plus_00_dot_88_bar__plus_00_dot_10 SpoonType)\n (canContain FridgeType BreadType)\n (canContain FridgeType BowlType)\n (canContain 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Fork_bar__plus_00_dot_72_bar__plus_00_dot_76_bar__minus_00_dot_19 Drawer_bar__plus_00_dot_71_bar__plus_00_dot_77_bar__minus_00_dot_13)\n (inReceptacle Knife_bar__plus_00_dot_57_bar__plus_00_dot_78_bar__plus_00_dot_00 Drawer_bar__plus_00_dot_71_bar__plus_00_dot_77_bar__minus_00_dot_13)\n (inReceptacle DishSponge_bar__plus_00_dot_72_bar__plus_00_dot_76_bar__minus_00_dot_25 Drawer_bar__plus_00_dot_71_bar__plus_00_dot_77_bar__minus_00_dot_13)\n (inReceptacle Spatula_bar__plus_00_dot_95_bar__plus_00_dot_90_bar__minus_00_dot_31 CounterTop_bar__plus_00_dot_79_bar__plus_00_dot_92_bar__minus_00_dot_11)\n (inReceptacle SaltShaker_bar__plus_00_dot_58_bar__plus_00_dot_88_bar__plus_00_dot_03 CounterTop_bar__plus_00_dot_79_bar__plus_00_dot_92_bar__minus_00_dot_11)\n (inReceptacle Apple_bar__plus_00_dot_88_bar__plus_00_dot_94_bar__minus_00_dot_04 CounterTop_bar__plus_00_dot_79_bar__plus_00_dot_92_bar__minus_00_dot_11)\n (inReceptacle Spoon_bar__plus_00_dot_88_bar__plus_00_dot_88_bar__plus_00_dot_10 CounterTop_bar__plus_00_dot_79_bar__plus_00_dot_92_bar__minus_00_dot_11)\n (inReceptacle Pot_bar__minus_02_dot_10_bar__plus_00_dot_93_bar__plus_01_dot_05 StoveBurner_bar__minus_02_dot_10_bar__plus_00_dot_89_bar__plus_00_dot_79)\n (inReceptacle Pan_bar__plus_00_dot_74_bar__minus_00_dot_01_bar__minus_00_dot_60 Cabinet_bar__plus_00_dot_51_bar__plus_00_dot_35_bar__minus_00_dot_43)\n (inReceptacle Pot_bar__minus_01_dot_56_bar__plus_00_dot_93_bar__plus_01_dot_05 StoveBurner_bar__minus_01_dot_55_bar__plus_00_dot_89_bar__plus_00_dot_79)\n (inReceptacle Cup_bar__minus_02_dot_14_bar__plus_00_dot_70_bar__minus_01_dot_31 DiningTable_bar__minus_01_dot_73_bar__minus_00_dot_03_bar__minus_00_dot_96)\n (inReceptacle Bread_bar__minus_01_dot_72_bar__plus_00_dot_75_bar__minus_01_dot_20 DiningTable_bar__minus_01_dot_73_bar__minus_00_dot_03_bar__minus_00_dot_96)\n (inReceptacle ButterKnife_bar__minus_01_dot_89_bar__plus_00_dot_70_bar__minus_01_dot_52 DiningTable_bar__minus_01_dot_73_bar__minus_00_dot_03_bar__minus_00_dot_96)\n (inReceptacle Pot_bar__minus_02_dot_10_bar__plus_00_dot_93_bar__plus_01_dot_05 StoveBurner_bar__minus_02_dot_10_bar__plus_00_dot_89_bar__plus_01_dot_05)\n (inReceptacle Knife_bar__plus_00_dot_96_bar__plus_00_dot_69_bar__plus_00_dot_45 SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45)\n (inReceptacle Cup_bar__plus_00_dot_66_bar__plus_00_dot_66_bar__plus_00_dot_63 SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45)\n (inReceptacle Lettuce_bar__plus_00_dot_72_bar__plus_00_dot_75_bar__plus_00_dot_39 SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45)\n (inReceptacle Pot_bar__minus_01_dot_56_bar__plus_00_dot_93_bar__plus_01_dot_05 StoveBurner_bar__minus_01_dot_56_bar__plus_00_dot_89_bar__plus_01_dot_05)\n (inReceptacle DishSponge_bar__plus_00_dot_90_bar__plus_01_dot_46_bar__minus_00_dot_08 Cabinet_bar__plus_00_dot_72_bar__plus_01_dot_82_bar__minus_00_dot_40)\n (inReceptacle SoapBottle_bar__minus_00_dot_05_bar__plus_00_dot_90_bar__plus_01_dot_19 DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95)\n (inReceptacle Plate_bar__plus_00_dot_15_bar__plus_00_dot_90_bar__plus_00_dot_84 DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95)\n (inReceptacle ButterKnife_bar__plus_00_dot_15_bar__plus_00_dot_90_bar__plus_01_dot_19 DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95)\n (inReceptacle Mug_bar__minus_00_dot_05_bar__plus_00_dot_90_bar__plus_01_dot_02 DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95)\n (inReceptacle PepperShaker_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)\n (inReceptacle DishSponge_bar__minus_01_dot_60_bar__plus_00_dot_70_bar__minus_03_dot_36 DiningTable_bar__minus_02_dot_17_bar__minus_00_dot_03_bar__minus_03_dot_37)\n (inReceptacle Egg_bar__minus_01_dot_26_bar__plus_00_dot_09_bar__minus_03_dot_61 GarbageCan_bar__minus_01_dot_26_bar__minus_00_dot_03_bar__minus_03_dot_61)\n (inReceptacle Lettuce_bar__plus_00_dot_71_bar__plus_00_dot_75_bar__minus_02_dot_04 Fridge_bar__plus_00_dot_68_bar__minus_00_dot_03_bar__minus_01_dot_96)\n (inReceptacle Tomato_bar__plus_00_dot_75_bar__plus_01_dot_21_bar__minus_01_dot_96 Fridge_bar__plus_00_dot_68_bar__minus_00_dot_03_bar__minus_01_dot_96)\n (inReceptacle Bowl_bar__plus_00_dot_75_bar__plus_00_dot_66_bar__minus_01_dot_80 Fridge_bar__plus_00_dot_68_bar__minus_00_dot_03_bar__minus_01_dot_96)\n (inReceptacle Potato_bar__minus_02_dot_05_bar__plus_00_dot_83_bar__minus_03_dot_67 Microwave_bar__minus_02_dot_01_bar__plus_00_dot_69_bar__minus_03_dot_69)\n (inReceptacle Egg_bar__minus_01_dot_90_bar__plus_00_dot_84_bar__minus_03_dot_64 Microwave_bar__minus_02_dot_01_bar__plus_00_dot_69_bar__minus_03_dot_69)\n (inReceptacle Bowl_bar__plus_00_dot_80_bar__plus_00_dot_77_bar__minus_00_dot_74 Sink_bar__plus_00_dot_75_bar__plus_00_dot_88_bar__minus_00_dot_68_bar_SinkBasin)\n \n \n (receptacleAtLocation Cabinet_bar__plus_00_dot_51_bar__plus_00_dot_35_bar__plus_00_dot_16 loc_bar__minus_2_bar_1_bar_1_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_51_bar__plus_00_dot_35_bar__minus_00_dot_43 loc_bar__minus_2_bar__minus_1_bar_1_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_72_bar__plus_01_dot_82_bar__plus_00_dot_67 loc_bar_1_bar_1_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_72_bar__plus_01_dot_82_bar__minus_00_dot_40 loc_bar_1_bar_0_bar_1_bar__minus_30)\n (receptacleAtLocation CoffeeMachine_bar__plus_00_dot_88_bar__plus_00_dot_86_bar__minus_01_dot_26 loc_bar_0_bar__minus_5_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_00_dot_79_bar__plus_00_dot_92_bar__minus_00_dot_11 loc_bar_1_bar_0_bar_1_bar_45)\n (receptacleAtLocation DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95 loc_bar_0_bar_1_bar_0_bar_60)\n (receptacleAtLocation DiningTable_bar__minus_01_dot_73_bar__minus_00_dot_03_bar__minus_00_dot_96 loc_bar__minus_4_bar__minus_5_bar_3_bar_60)\n (receptacleAtLocation DiningTable_bar__minus_02_dot_17_bar__minus_00_dot_03_bar__minus_03_dot_37 loc_bar__minus_7_bar__minus_11_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__plus_00_dot_71_bar__plus_00_dot_77_bar__minus_00_dot_13 loc_bar__minus_1_bar__minus_1_bar_1_bar_45)\n (receptacleAtLocation Fridge_bar__plus_00_dot_68_bar__minus_00_dot_03_bar__minus_01_dot_96 loc_bar__minus_1_bar__minus_8_bar_1_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_01_dot_26_bar__minus_00_dot_03_bar__minus_03_dot_61 loc_bar__minus_4_bar__minus_13_bar_2_bar_60)\n (receptacleAtLocation Microwave_bar__minus_02_dot_01_bar__plus_00_dot_69_bar__minus_03_dot_69 loc_bar__minus_7_bar__minus_11_bar_2_bar_45)\n (receptacleAtLocation SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45 loc_bar__minus_1_bar_1_bar_1_bar_45)\n (receptacleAtLocation Sink_bar__plus_00_dot_75_bar__plus_00_dot_88_bar__minus_00_dot_68_bar_SinkBasin loc_bar_1_bar__minus_2_bar_1_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_01_dot_55_bar__plus_00_dot_89_bar__plus_00_dot_79 loc_bar__minus_6_bar_0_bar_0_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_01_dot_56_bar__plus_00_dot_89_bar__plus_01_dot_05 loc_bar__minus_6_bar_0_bar_0_bar_30)\n (receptacleAtLocation StoveBurner_bar__minus_02_dot_10_bar__plus_00_dot_89_bar__plus_00_dot_79 loc_bar__minus_7_bar_0_bar_0_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_02_dot_10_bar__plus_00_dot_89_bar__plus_01_dot_05 loc_bar__minus_7_bar_0_bar_0_bar_30)\n (receptacleAtLocation Toaster_bar__minus_00_dot_52_bar__plus_00_dot_89_bar__plus_01_dot_07 loc_bar__minus_2_bar_1_bar_0_bar_45)\n (objectAtLocation Bowl_bar__plus_00_dot_80_bar__plus_00_dot_77_bar__minus_00_dot_74 loc_bar_1_bar__minus_2_bar_1_bar_60)\n (objectAtLocation Knife_bar__plus_00_dot_96_bar__plus_00_dot_69_bar__plus_00_dot_45 loc_bar__minus_1_bar_1_bar_1_bar_45)\n (objectAtLocation Lettuce_bar__plus_00_dot_72_bar__plus_00_dot_75_bar__plus_00_dot_39 loc_bar__minus_1_bar_1_bar_1_bar_45)\n (objectAtLocation DishSponge_bar__minus_01_dot_60_bar__plus_00_dot_70_bar__minus_03_dot_36 loc_bar__minus_7_bar__minus_11_bar_2_bar_60)\n (objectAtLocation ButterKnife_bar__plus_00_dot_15_bar__plus_00_dot_90_bar__plus_01_dot_19 loc_bar_0_bar_1_bar_0_bar_60)\n (objectAtLocation Cup_bar__minus_02_dot_14_bar__plus_00_dot_70_bar__minus_01_dot_31 loc_bar__minus_4_bar__minus_5_bar_3_bar_60)\n (objectAtLocation Egg_bar__minus_01_dot_90_bar__plus_00_dot_84_bar__minus_03_dot_64 loc_bar__minus_7_bar__minus_11_bar_2_bar_45)\n (objectAtLocation Fork_bar__plus_00_dot_80_bar__plus_00_dot_77_bar__minus_00_dot_57 loc_bar_1_bar__minus_2_bar_1_bar_60)\n (objectAtLocation Pot_bar__minus_01_dot_56_bar__plus_00_dot_93_bar__plus_01_dot_05 loc_bar__minus_6_bar_0_bar_0_bar_30)\n (objectAtLocation Fork_bar__plus_00_dot_72_bar__plus_00_dot_76_bar__minus_00_dot_19 loc_bar__minus_1_bar__minus_1_bar_1_bar_45)\n (objectAtLocation DishSponge_bar__plus_00_dot_72_bar__plus_00_dot_76_bar__minus_00_dot_25 loc_bar__minus_1_bar__minus_1_bar_1_bar_45)\n (objectAtLocation Mirror_bar__plus_01_dot_09_bar__plus_01_dot_60_bar__minus_00_dot_64 loc_bar_1_bar__minus_3_bar_1_bar_0)\n (objectAtLocation Sink_bar__plus_00_dot_75_bar__plus_00_dot_88_bar__minus_00_dot_68 loc_bar_1_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Pot_bar__minus_02_dot_10_bar__plus_00_dot_93_bar__plus_01_dot_05 loc_bar__minus_7_bar_0_bar_0_bar_30)\n (objectAtLocation Plate_bar__plus_00_dot_15_bar__plus_00_dot_90_bar__plus_00_dot_84 loc_bar_0_bar_1_bar_0_bar_60)\n (objectAtLocation StoveKnob_bar__minus_01_dot_90_bar__plus_00_dot_87_bar__plus_00_dot_52 loc_bar__minus_7_bar_0_bar_0_bar_60)\n (objectAtLocation StoveKnob_bar__minus_01_dot_75_bar__plus_00_dot_87_bar__plus_00_dot_52 loc_bar__minus_7_bar_0_bar_0_bar_60)\n (objectAtLocation StoveKnob_bar__minus_02_dot_06_bar__plus_00_dot_87_bar__plus_00_dot_52 loc_bar__minus_7_bar_0_bar_0_bar_60)\n (objectAtLocation StoveKnob_bar__minus_01_dot_60_bar__plus_00_dot_87_bar__plus_00_dot_52 loc_bar__minus_6_bar_0_bar_0_bar_60)\n (objectAtLocation Fork_bar__plus_00_dot_67_bar__plus_00_dot_76_bar__minus_00_dot_06 loc_bar__minus_1_bar__minus_1_bar_1_bar_45)\n (objectAtLocation SoapBottle_bar__minus_00_dot_05_bar__plus_00_dot_90_bar__plus_01_dot_19 loc_bar_0_bar_1_bar_0_bar_60)\n (objectAtLocation Apple_bar__plus_00_dot_88_bar__plus_00_dot_94_bar__minus_00_dot_04 loc_bar_1_bar_0_bar_1_bar_45)\n (objectAtLocation Pan_bar__plus_00_dot_74_bar__minus_00_dot_01_bar__minus_00_dot_60 loc_bar__minus_2_bar__minus_1_bar_1_bar_45)\n (objectAtLocation Window_bar__minus_02_dot_42_bar__plus_01_dot_64_bar__minus_02_dot_45 loc_bar__minus_7_bar__minus_10_bar_3_bar_0)\n (objectAtLocation Egg_bar__minus_01_dot_26_bar__plus_00_dot_09_bar__minus_03_dot_61 loc_bar__minus_4_bar__minus_13_bar_2_bar_60)\n (objectAtLocation Spatula_bar__plus_00_dot_95_bar__plus_00_dot_90_bar__minus_00_dot_31 loc_bar_1_bar_0_bar_1_bar_45)\n (objectAtLocation Potato_bar__minus_02_dot_05_bar__plus_00_dot_83_bar__minus_03_dot_67 loc_bar__minus_7_bar__minus_11_bar_2_bar_45)\n (objectAtLocation Cup_bar__plus_00_dot_66_bar__plus_00_dot_66_bar__plus_00_dot_63 loc_bar__minus_1_bar_1_bar_1_bar_45)\n (objectAtLocation SaltShaker_bar__plus_00_dot_58_bar__plus_00_dot_88_bar__plus_00_dot_03 loc_bar_1_bar_0_bar_1_bar_45)\n (objectAtLocation PepperShaker_bar__minus_00_dot_25_bar__plus_00_dot_90_bar__plus_00_dot_84 loc_bar_0_bar_1_bar_0_bar_60)\n (objectAtLocation ButterKnife_bar__minus_01_dot_89_bar__plus_00_dot_70_bar__minus_01_dot_52 loc_bar__minus_4_bar__minus_5_bar_3_bar_60)\n (objectAtLocation DishSponge_bar__plus_00_dot_90_bar__plus_01_dot_46_bar__minus_00_dot_08 loc_bar_1_bar_0_bar_1_bar__minus_30)\n (objectAtLocation Bread_bar__minus_01_dot_72_bar__plus_00_dot_75_bar__minus_01_dot_20 loc_bar__minus_4_bar__minus_5_bar_3_bar_60)\n (objectAtLocation LightSwitch_bar__plus_01_dot_10_bar__plus_01_dot_37_bar__minus_03_dot_74 loc_bar_2_bar__minus_13_bar_1_bar_30)\n (objectAtLocation Lettuce_bar__plus_00_dot_71_bar__plus_00_dot_75_bar__minus_02_dot_04 loc_bar__minus_1_bar__minus_8_bar_1_bar_60)\n (objectAtLocation Chair_bar__minus_01_dot_90_bar__minus_00_dot_03_bar__minus_01_dot_87 loc_bar__minus_5_bar__minus_7_bar_3_bar_60)\n (objectAtLocation Tomato_bar__plus_00_dot_75_bar__plus_01_dot_21_bar__minus_01_dot_96 loc_bar__minus_1_bar__minus_8_bar_1_bar_60)\n (objectAtLocation Spoon_bar__plus_00_dot_88_bar__plus_00_dot_88_bar__plus_00_dot_10 loc_bar_1_bar_0_bar_1_bar_45)\n (objectAtLocation Knife_bar__plus_00_dot_57_bar__plus_00_dot_78_bar__plus_00_dot_00 loc_bar__minus_1_bar__minus_1_bar_1_bar_45)\n (objectAtLocation Mug_bar__minus_00_dot_05_bar__plus_00_dot_90_bar__plus_01_dot_02 loc_bar_0_bar_1_bar_0_bar_60)\n (objectAtLocation Blinds_bar__minus_02_dot_34_bar__plus_02_dot_15_bar__minus_02_dot_44 loc_bar__minus_7_bar__minus_10_bar_3_bar__minus_30)\n (objectAtLocation Bowl_bar__plus_00_dot_75_bar__plus_00_dot_66_bar__minus_01_dot_80 loc_bar__minus_1_bar__minus_8_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 PotatoType)\n (receptacleType ?r SideTableType)\n (isClean ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to microwave 1", "open microwave 1", "take potato 1 from microwave 1", "go to sinkbasin 1", "clean potato 1 with sinkbasin 1", "go to sidetable 1", "move potato 1 to sidetable 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Potato-None-SideTable-21/trial_T20190906_192433_616768/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Potato-None-SideTable-21/trial_T20190906_192433_616768/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..e70598db6bd4166dec132afdc1160ace5debc83b --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Potato-None-SideTable-21/trial_T20190906_192433_616768/initial_state.pddl @@ -0,0 +1,802 @@ + +(define (problem plan_trial_T20190906_192433_616768) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype 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receptacle + DiningTable_bar__minus_02_dot_17_bar__minus_00_dot_03_bar__minus_03_dot_37 - receptacle + Drawer_bar__plus_00_dot_71_bar__plus_00_dot_77_bar__minus_00_dot_13 - receptacle + Fridge_bar__plus_00_dot_68_bar__minus_00_dot_03_bar__minus_01_dot_96 - receptacle + GarbageCan_bar__minus_01_dot_26_bar__minus_00_dot_03_bar__minus_03_dot_61 - receptacle + Microwave_bar__minus_02_dot_01_bar__plus_00_dot_69_bar__minus_03_dot_69 - receptacle + SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45 - receptacle + Sink_bar__plus_00_dot_75_bar__plus_00_dot_88_bar__minus_00_dot_68_bar_SinkBasin - receptacle + StoveBurner_bar__minus_01_dot_55_bar__plus_00_dot_89_bar__plus_00_dot_79 - receptacle + StoveBurner_bar__minus_01_dot_56_bar__plus_00_dot_89_bar__plus_01_dot_05 - receptacle + StoveBurner_bar__minus_02_dot_10_bar__plus_00_dot_89_bar__plus_00_dot_79 - receptacle + StoveBurner_bar__minus_02_dot_10_bar__plus_00_dot_89_bar__plus_01_dot_05 - receptacle + Toaster_bar__minus_00_dot_52_bar__plus_00_dot_89_bar__plus_01_dot_07 - receptacle + loc_bar__minus_6_bar_0_bar_0_bar_45 - location + loc_bar__minus_4_bar__minus_5_bar_3_bar_60 - location + loc_bar_1_bar__minus_3_bar_1_bar_0 - location + loc_bar__minus_7_bar_0_bar_0_bar_30 - location + loc_bar__minus_7_bar__minus_11_bar_2_bar_45 - location + loc_bar_1_bar_1_bar_1_bar__minus_30 - location + loc_bar__minus_7_bar_0_bar_0_bar_60 - location + loc_bar__minus_6_bar_0_bar_0_bar_60 - location + loc_bar__minus_7_bar__minus_11_bar_2_bar_60 - location + loc_bar_1_bar__minus_2_bar_1_bar_60 - location + loc_bar__minus_7_bar_0_bar_0_bar_45 - location + loc_bar_0_bar_1_bar_0_bar_60 - location + loc_bar__minus_1_bar__minus_8_bar_1_bar_60 - location + loc_bar__minus_2_bar__minus_1_bar_1_bar_45 - location + loc_bar__minus_1_bar__minus_1_bar_1_bar_45 - location + loc_bar__minus_6_bar_0_bar_0_bar_30 - location + loc_bar__minus_7_bar__minus_10_bar_3_bar_0 - location + loc_bar_1_bar_0_bar_1_bar_45 - location + loc_bar_2_bar__minus_13_bar_1_bar_30 - location + loc_bar_0_bar__minus_5_bar_1_bar_45 - location + loc_bar__minus_1_bar_1_bar_1_bar_45 - location + loc_bar__minus_4_bar__minus_13_bar_2_bar_60 - location + loc_bar__minus_2_bar_1_bar_1_bar_45 - location + loc_bar_1_bar__minus_3_bar_1_bar_60 - location + loc_bar__minus_2_bar_1_bar_0_bar_45 - location + loc_bar__minus_5_bar__minus_7_bar_3_bar_60 - location + loc_bar_1_bar_0_bar_1_bar__minus_30 - location + loc_bar__minus_7_bar__minus_10_bar_3_bar__minus_30 - location + loc_bar__minus_3_bar_0_bar_0_bar_30 - location + ) + + +(:init + + + (receptacleType Fridge_bar__plus_00_dot_68_bar__minus_00_dot_03_bar__minus_01_dot_96 FridgeType) + (receptacleType StoveBurner_bar__minus_01_dot_55_bar__plus_00_dot_89_bar__plus_00_dot_79 StoveBurnerType) + (receptacleType CoffeeMachine_bar__plus_00_dot_88_bar__plus_00_dot_86_bar__minus_01_dot_26 CoffeeMachineType) + (receptacleType GarbageCan_bar__minus_01_dot_26_bar__minus_00_dot_03_bar__minus_03_dot_61 GarbageCanType) + (receptacleType SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45 SideTableType) + (receptacleType Microwave_bar__minus_02_dot_01_bar__plus_00_dot_69_bar__minus_03_dot_69 MicrowaveType) + (receptacleType Cabinet_bar__plus_00_dot_72_bar__plus_01_dot_82_bar__plus_00_dot_67 CabinetType) + (receptacleType CounterTop_bar__plus_00_dot_79_bar__plus_00_dot_92_bar__minus_00_dot_11 CounterTopType) + (receptacleType Cabinet_bar__plus_00_dot_72_bar__plus_01_dot_82_bar__minus_00_dot_40 CabinetType) + (receptacleType Sink_bar__plus_00_dot_75_bar__plus_00_dot_88_bar__minus_00_dot_68_bar_SinkBasin SinkBasinType) + (receptacleType Cabinet_bar__plus_00_dot_51_bar__plus_00_dot_35_bar__plus_00_dot_16 CabinetType) + (receptacleType DiningTable_bar__minus_01_dot_73_bar__minus_00_dot_03_bar__minus_00_dot_96 DiningTableType) + (receptacleType Drawer_bar__plus_00_dot_71_bar__plus_00_dot_77_bar__minus_00_dot_13 DrawerType) + (receptacleType Toaster_bar__minus_00_dot_52_bar__plus_00_dot_89_bar__plus_01_dot_07 ToasterType) + (receptacleType StoveBurner_bar__minus_02_dot_10_bar__plus_00_dot_89_bar__plus_00_dot_79 StoveBurnerType) + (receptacleType DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95 DiningTableType) + (receptacleType StoveBurner_bar__minus_02_dot_10_bar__plus_00_dot_89_bar__plus_01_dot_05 StoveBurnerType) + (receptacleType Cabinet_bar__plus_00_dot_51_bar__plus_00_dot_35_bar__minus_00_dot_43 CabinetType) + (receptacleType DiningTable_bar__minus_02_dot_17_bar__minus_00_dot_03_bar__minus_03_dot_37 DiningTableType) + (receptacleType StoveBurner_bar__minus_01_dot_56_bar__plus_00_dot_89_bar__plus_01_dot_05 StoveBurnerType) + (objectType Pot_bar__minus_02_dot_10_bar__plus_00_dot_93_bar__plus_01_dot_05 PotType) + (objectType Plate_bar__plus_00_dot_15_bar__plus_00_dot_90_bar__plus_00_dot_84 PlateType) + (objectType StoveKnob_bar__minus_01_dot_90_bar__plus_00_dot_87_bar__plus_00_dot_52 StoveKnobType) + (objectType Cup_bar__minus_02_dot_14_bar__plus_00_dot_70_bar__minus_01_dot_31 CupType) + (objectType Egg_bar__minus_01_dot_90_bar__plus_00_dot_84_bar__minus_03_dot_64 EggType) + (objectType Apple_bar__plus_00_dot_88_bar__plus_00_dot_94_bar__minus_00_dot_04 AppleType) + (objectType StoveKnob_bar__minus_01_dot_60_bar__plus_00_dot_87_bar__plus_00_dot_52 StoveKnobType) + (objectType StoveKnob_bar__minus_02_dot_06_bar__plus_00_dot_87_bar__plus_00_dot_52 StoveKnobType) + (objectType Cup_bar__plus_00_dot_66_bar__plus_00_dot_66_bar__plus_00_dot_63 CupType) + (objectType Pot_bar__minus_01_dot_56_bar__plus_00_dot_93_bar__plus_01_dot_05 PotType) + (objectType StoveKnob_bar__minus_01_dot_75_bar__plus_00_dot_87_bar__plus_00_dot_52 StoveKnobType) + (objectType PepperShaker_bar__minus_00_dot_25_bar__plus_00_dot_90_bar__plus_00_dot_84 PepperShakerType) + (objectType Lettuce_bar__plus_00_dot_71_bar__plus_00_dot_75_bar__minus_02_dot_04 LettuceType) + (objectType 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Chair_bar__minus_01_dot_90_bar__minus_00_dot_03_bar__minus_01_dot_87 ChairType) + (objectType Spatula_bar__plus_00_dot_95_bar__plus_00_dot_90_bar__minus_00_dot_31 SpatulaType) + (objectType ButterKnife_bar__minus_01_dot_89_bar__plus_00_dot_70_bar__minus_01_dot_52 ButterKnifeType) + (objectType Fork_bar__plus_00_dot_67_bar__plus_00_dot_76_bar__minus_00_dot_06 ForkType) + (objectType DishSponge_bar__plus_00_dot_90_bar__plus_01_dot_46_bar__minus_00_dot_08 DishSpongeType) + (objectType Tomato_bar__plus_00_dot_75_bar__plus_01_dot_21_bar__minus_01_dot_96 TomatoType) + (objectType Bowl_bar__plus_00_dot_75_bar__plus_00_dot_66_bar__minus_01_dot_80 BowlType) + (objectType Knife_bar__plus_00_dot_96_bar__plus_00_dot_69_bar__plus_00_dot_45 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 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(canContain FridgeType LettuceType) + (canContain FridgeType PotatoType) + (canContain FridgeType CupType) + (canContain FridgeType PlateType) + (canContain FridgeType TomatoType) + (canContain FridgeType AppleType) + (canContain FridgeType PanType) + (canContain StoveBurnerType PotType) + (canContain StoveBurnerType PanType) + (canContain CoffeeMachineType MugType) + (canContain GarbageCanType BreadType) + (canContain GarbageCanType DishSpongeType) + (canContain GarbageCanType EggType) + (canContain GarbageCanType SoapBottleType) + (canContain GarbageCanType LettuceType) + (canContain GarbageCanType PotatoType) + (canContain GarbageCanType TomatoType) + (canContain GarbageCanType AppleType) + (canContain SideTableType SaltShakerType) + (canContain SideTableType BreadType) + (canContain SideTableType DishSpongeType) + (canContain SideTableType BowlType) + (canContain SideTableType PotType) + (canContain SideTableType MugType) + (canContain SideTableType EggType) + (canContain 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+ "rotation": { + "x": 7.58303337e-22, + "y": 270.0, + "z": -1.40334191e-14 + } + } + ], + "object_toggles": [], + "random_seed": 1953359886, + "scene_num": 21 + }, + "task_id": "trial_T20190906_192433_616768", + "task_type": "pick_clean_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A3HL2LL0LEPZT8_3I0BTBYZA02MGYOXWDHWBJR9PEKY0P", + "high_descs": [ + "Turn around, go to the table with the microwave on it across the room.", + "Take a potato out of the microwave.", + "Turn around, walk towards the oven, then turn right and go to the sink.", + "Put the potato in the sink. Turn the water on then off. Take the potato from the sink.", + "Go to the black stand to the left of the sink. ", + "Put the potato on the lower right corner of the stand." + ], + "task_desc": "Put a washed potato on a stand.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1CY7IOJ9YH136_3JV9LGBJWWV7XOVG4SX1UKGNII2GOL", + "high_descs": [ + "Go over to microwave", + "Open microwave, take out potato on right", + "Go over to sink", + "place potato in sink, fill sink with water, pick up potato", + "Go to black table with green melon", + "Place potato on black table to right of green melon" + ], + "task_desc": "Wash potato, place next to melon", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1HKHM4NVAO98H_336KAV9KYT9TC8RBB0LAU7KOM9U2YX", + "high_descs": [ + "walk over to the microwave", + "take an egg out of the microwave", + "walk over to the kitchen sink", + "place the egg inside the kitchen sink and rinse it, then pick it back up", + "walk over to the black shelves to the left of the kitchen counter", + "place the egg on top of the black shelves" + ], + "task_desc": "place a rinsed egg on top of the black shelves in the kitchen", + "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-Potato-None-SideTable-21/trial_T20190906_192500_491052/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Potato-None-SideTable-21/trial_T20190906_192500_491052/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..806742fb0399c358a6adde3b799f7d502c560453 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Potato-None-SideTable-21/trial_T20190906_192500_491052/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\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 potato and put it in sidetable.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190906_192500_491052)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Apple_bar__plus_00_dot_67_bar__plus_01_dot_43_bar__minus_01_dot_96 - object\n Apple_bar__minus_01_dot_33_bar__plus_00_dot_11_bar__minus_03_dot_57 - object\n Apple_bar__minus_01_dot_80_bar__plus_00_dot_76_bar__minus_01_dot_52 - object\n 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Egg_bar__plus_00_dot_67_bar__plus_00_dot_81_bar__minus_00_dot_52 - object\n Egg_bar__plus_00_dot_88_bar__plus_00_dot_92_bar__minus_00_dot_31 - object\n Egg_bar__plus_01_dot_06_bar__plus_00_dot_92_bar__minus_00_dot_91 - object\n Faucet_bar__plus_01_dot_03_bar__plus_00_dot_87_bar__minus_00_dot_68 - object\n Fork_bar__minus_01_dot_58_bar__plus_00_dot_70_bar__minus_03_dot_53 - object\n Knife_bar__plus_00_dot_82_bar__plus_00_dot_78_bar__plus_00_dot_00 - object\n Knife_bar__minus_00_dot_05_bar__plus_00_dot_92_bar__plus_01_dot_19 - object\n Lettuce_bar__plus_00_dot_66_bar__plus_00_dot_97_bar__minus_00_dot_18 - object\n LightSwitch_bar__plus_01_dot_10_bar__plus_01_dot_37_bar__minus_03_dot_74 - object\n Mirror_bar__plus_01_dot_09_bar__plus_01_dot_60_bar__minus_00_dot_64 - object\n Mug_bar__plus_00_dot_70_bar__plus_00_dot_94_bar__minus_01_dot_36 - object\n Pan_bar__plus_00_dot_74_bar__minus_00_dot_01_bar__minus_00_dot_60 - object\n PepperShaker_bar__plus_00_dot_60_bar__plus_00_dot_66_bar__plus_00_dot_57 - object\n PepperShaker_bar__plus_01_dot_04_bar__plus_01_dot_46_bar__minus_00_dot_02 - object\n Plate_bar__minus_02_dot_02_bar__plus_00_dot_69_bar__minus_01_dot_45 - object\n Potato_bar__minus_01_dot_79_bar__plus_00_dot_83_bar__minus_03_dot_71 - object\n Pot_bar__minus_01_dot_56_bar__plus_00_dot_93_bar__plus_01_dot_05 - object\n Pot_bar__minus_02_dot_10_bar__plus_00_dot_93_bar__plus_00_dot_79 - object\n SaltShaker_bar__plus_00_dot_84_bar__plus_00_dot_66_bar__plus_00_dot_57 - object\n Sink_bar__plus_00_dot_75_bar__plus_00_dot_88_bar__minus_00_dot_68 - object\n SoapBottle_bar__plus_00_dot_79_bar__plus_00_dot_01_bar__plus_00_dot_01 - object\n SoapBottle_bar__plus_00_dot_84_bar__plus_00_dot_01_bar__minus_00_dot_12 - object\n SoapBottle_bar__minus_01_dot_58_bar__plus_00_dot_70_bar__minus_03_dot_36 - object\n Spatula_bar__minus_02_dot_05_bar__plus_00_dot_72_bar__minus_01_dot_20 - object\n Spoon_bar__minus_00_dot_25_bar__plus_00_dot_90_bar__plus_00_dot_93 - object\n StoveKnob_bar__minus_01_dot_60_bar__plus_00_dot_87_bar__plus_00_dot_52 - object\n StoveKnob_bar__minus_01_dot_75_bar__plus_00_dot_87_bar__plus_00_dot_52 - object\n StoveKnob_bar__minus_01_dot_90_bar__plus_00_dot_87_bar__plus_00_dot_52 - object\n StoveKnob_bar__minus_02_dot_06_bar__plus_00_dot_87_bar__plus_00_dot_52 - object\n Tomato_bar__minus_01_dot_58_bar__plus_00_dot_75_bar__minus_03_dot_78 - object\n Window_bar__minus_02_dot_42_bar__plus_01_dot_64_bar__minus_02_dot_45 - object\n Cabinet_bar__plus_00_dot_51_bar__plus_00_dot_35_bar__plus_00_dot_16 - receptacle\n Cabinet_bar__plus_00_dot_51_bar__plus_00_dot_35_bar__minus_00_dot_43 - receptacle\n Cabinet_bar__plus_00_dot_72_bar__plus_01_dot_82_bar__plus_00_dot_67 - receptacle\n Cabinet_bar__plus_00_dot_72_bar__plus_01_dot_82_bar__minus_00_dot_40 - receptacle\n CoffeeMachine_bar__plus_00_dot_88_bar__plus_00_dot_86_bar__minus_01_dot_26 - receptacle\n CounterTop_bar__plus_00_dot_79_bar__plus_00_dot_92_bar__minus_00_dot_11 - receptacle\n DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95 - receptacle\n DiningTable_bar__minus_01_dot_73_bar__minus_00_dot_03_bar__minus_00_dot_96 - receptacle\n DiningTable_bar__minus_02_dot_17_bar__minus_00_dot_03_bar__minus_03_dot_37 - receptacle\n Drawer_bar__plus_00_dot_71_bar__plus_00_dot_77_bar__minus_00_dot_13 - receptacle\n Fridge_bar__plus_00_dot_68_bar__minus_00_dot_03_bar__minus_01_dot_96 - receptacle\n GarbageCan_bar__minus_01_dot_26_bar__minus_00_dot_03_bar__minus_03_dot_61 - receptacle\n Microwave_bar__minus_02_dot_01_bar__plus_00_dot_69_bar__minus_03_dot_69 - receptacle\n SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45 - receptacle\n Sink_bar__plus_00_dot_75_bar__plus_00_dot_88_bar__minus_00_dot_68_bar_SinkBasin - receptacle\n StoveBurner_bar__minus_01_dot_55_bar__plus_00_dot_89_bar__plus_00_dot_79 - receptacle\n StoveBurner_bar__minus_01_dot_56_bar__plus_00_dot_89_bar__plus_01_dot_05 - receptacle\n StoveBurner_bar__minus_02_dot_10_bar__plus_00_dot_89_bar__plus_00_dot_79 - receptacle\n StoveBurner_bar__minus_02_dot_10_bar__plus_00_dot_89_bar__plus_01_dot_05 - receptacle\n Toaster_bar__minus_00_dot_52_bar__plus_00_dot_89_bar__plus_01_dot_07 - receptacle\n loc_bar__minus_6_bar_0_bar_0_bar_45 - location\n loc_bar__minus_4_bar__minus_5_bar_3_bar_60 - location\n loc_bar_1_bar__minus_3_bar_1_bar_0 - location\n loc_bar__minus_7_bar_0_bar_0_bar_30 - location\n loc_bar__minus_7_bar__minus_11_bar_2_bar_45 - location\n loc_bar_1_bar_1_bar_1_bar__minus_30 - location\n loc_bar__minus_7_bar_0_bar_0_bar_60 - location\n loc_bar__minus_6_bar_0_bar_0_bar_60 - location\n loc_bar__minus_7_bar__minus_11_bar_2_bar_60 - location\n loc_bar_1_bar__minus_2_bar_1_bar_60 - location\n loc_bar__minus_7_bar_0_bar_0_bar_45 - location\n loc_bar_0_bar_1_bar_0_bar_60 - location\n loc_bar__minus_1_bar__minus_8_bar_1_bar_60 - location\n loc_bar__minus_2_bar__minus_1_bar_1_bar_45 - location\n loc_bar__minus_1_bar__minus_1_bar_1_bar_45 - location\n loc_bar__minus_6_bar_0_bar_0_bar_30 - location\n loc_bar__minus_7_bar__minus_10_bar_3_bar_0 - location\n loc_bar_1_bar_0_bar_1_bar_45 - location\n loc_bar_2_bar__minus_13_bar_1_bar_30 - location\n loc_bar_0_bar__minus_5_bar_1_bar_45 - location\n loc_bar__minus_1_bar_1_bar_1_bar_45 - location\n loc_bar__minus_4_bar__minus_13_bar_2_bar_60 - location\n loc_bar__minus_2_bar_1_bar_1_bar_45 - location\n loc_bar_1_bar__minus_3_bar_1_bar_60 - location\n loc_bar__minus_2_bar_1_bar_0_bar_45 - location\n loc_bar__minus_5_bar__minus_7_bar_3_bar_60 - location\n loc_bar_1_bar_0_bar_1_bar__minus_30 - location\n loc_bar__minus_7_bar__minus_10_bar_3_bar__minus_30 - location\n loc_bar__minus_3_bar__minus_9_bar_2_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Fridge_bar__plus_00_dot_68_bar__minus_00_dot_03_bar__minus_01_dot_96 FridgeType)\n (receptacleType StoveBurner_bar__minus_01_dot_55_bar__plus_00_dot_89_bar__plus_00_dot_79 StoveBurnerType)\n (receptacleType CoffeeMachine_bar__plus_00_dot_88_bar__plus_00_dot_86_bar__minus_01_dot_26 CoffeeMachineType)\n (receptacleType GarbageCan_bar__minus_01_dot_26_bar__minus_00_dot_03_bar__minus_03_dot_61 GarbageCanType)\n (receptacleType SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45 SideTableType)\n (receptacleType Microwave_bar__minus_02_dot_01_bar__plus_00_dot_69_bar__minus_03_dot_69 MicrowaveType)\n (receptacleType Cabinet_bar__plus_00_dot_72_bar__plus_01_dot_82_bar__plus_00_dot_67 CabinetType)\n (receptacleType CounterTop_bar__plus_00_dot_79_bar__plus_00_dot_92_bar__minus_00_dot_11 CounterTopType)\n (receptacleType Cabinet_bar__plus_00_dot_72_bar__plus_01_dot_82_bar__minus_00_dot_40 CabinetType)\n (receptacleType Sink_bar__plus_00_dot_75_bar__plus_00_dot_88_bar__minus_00_dot_68_bar_SinkBasin SinkBasinType)\n (receptacleType Cabinet_bar__plus_00_dot_51_bar__plus_00_dot_35_bar__plus_00_dot_16 CabinetType)\n (receptacleType DiningTable_bar__minus_01_dot_73_bar__minus_00_dot_03_bar__minus_00_dot_96 DiningTableType)\n (receptacleType Drawer_bar__plus_00_dot_71_bar__plus_00_dot_77_bar__minus_00_dot_13 DrawerType)\n (receptacleType Toaster_bar__minus_00_dot_52_bar__plus_00_dot_89_bar__plus_01_dot_07 ToasterType)\n (receptacleType StoveBurner_bar__minus_02_dot_10_bar__plus_00_dot_89_bar__plus_00_dot_79 StoveBurnerType)\n (receptacleType DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95 DiningTableType)\n (receptacleType StoveBurner_bar__minus_02_dot_10_bar__plus_00_dot_89_bar__plus_01_dot_05 StoveBurnerType)\n (receptacleType Cabinet_bar__plus_00_dot_51_bar__plus_00_dot_35_bar__minus_00_dot_43 CabinetType)\n (receptacleType DiningTable_bar__minus_02_dot_17_bar__minus_00_dot_03_bar__minus_03_dot_37 DiningTableType)\n (receptacleType 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CounterTop_bar__plus_00_dot_79_bar__plus_00_dot_92_bar__minus_00_dot_11)\n (inReceptacle Egg_bar__plus_00_dot_88_bar__plus_00_dot_92_bar__minus_00_dot_31 CounterTop_bar__plus_00_dot_79_bar__plus_00_dot_92_bar__minus_00_dot_11)\n (inReceptacle Pot_bar__minus_02_dot_10_bar__plus_00_dot_93_bar__plus_00_dot_79 StoveBurner_bar__minus_02_dot_10_bar__plus_00_dot_89_bar__plus_00_dot_79)\n (inReceptacle Pan_bar__plus_00_dot_74_bar__minus_00_dot_01_bar__minus_00_dot_60 Cabinet_bar__plus_00_dot_51_bar__plus_00_dot_35_bar__minus_00_dot_43)\n (inReceptacle Pot_bar__minus_01_dot_56_bar__plus_00_dot_93_bar__plus_01_dot_05 StoveBurner_bar__minus_01_dot_55_bar__plus_00_dot_89_bar__plus_00_dot_79)\n (inReceptacle Plate_bar__minus_02_dot_02_bar__plus_00_dot_69_bar__minus_01_dot_45 DiningTable_bar__minus_01_dot_73_bar__minus_00_dot_03_bar__minus_00_dot_96)\n (inReceptacle Apple_bar__minus_01_dot_80_bar__plus_00_dot_76_bar__minus_01_dot_52 DiningTable_bar__minus_01_dot_73_bar__minus_00_dot_03_bar__minus_00_dot_96)\n (inReceptacle DishSponge_bar__minus_01_dot_89_bar__plus_00_dot_70_bar__minus_01_dot_20 DiningTable_bar__minus_01_dot_73_bar__minus_00_dot_03_bar__minus_00_dot_96)\n (inReceptacle Spatula_bar__minus_02_dot_05_bar__plus_00_dot_72_bar__minus_01_dot_20 DiningTable_bar__minus_01_dot_73_bar__minus_00_dot_03_bar__minus_00_dot_96)\n (inReceptacle SaltShaker_bar__plus_00_dot_84_bar__plus_00_dot_66_bar__plus_00_dot_57 SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45)\n (inReceptacle Bread_bar__plus_00_dot_66_bar__plus_00_dot_71_bar__plus_00_dot_39 SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45)\n (inReceptacle PepperShaker_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)\n (inReceptacle Pot_bar__minus_01_dot_56_bar__plus_00_dot_93_bar__plus_01_dot_05 StoveBurner_bar__minus_01_dot_56_bar__plus_00_dot_89_bar__plus_01_dot_05)\n (inReceptacle SoapBottle_bar__plus_00_dot_84_bar__plus_00_dot_01_bar__minus_00_dot_12 Cabinet_bar__plus_00_dot_51_bar__plus_00_dot_35_bar__plus_00_dot_16)\n (inReceptacle SoapBottle_bar__plus_00_dot_79_bar__plus_00_dot_01_bar__plus_00_dot_01 Cabinet_bar__plus_00_dot_51_bar__plus_00_dot_35_bar__plus_00_dot_16)\n (inReceptacle PepperShaker_bar__plus_01_dot_04_bar__plus_01_dot_46_bar__minus_00_dot_02 Cabinet_bar__plus_00_dot_72_bar__plus_01_dot_82_bar__minus_00_dot_40)\n (inReceptacle DishSponge_bar__plus_00_dot_86_bar__plus_01_dot_46_bar__plus_00_dot_53 Cabinet_bar__plus_00_dot_72_bar__plus_01_dot_82_bar__plus_00_dot_67)\n (inReceptacle Knife_bar__minus_00_dot_05_bar__plus_00_dot_92_bar__plus_01_dot_19 DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95)\n (inReceptacle Spoon_bar__minus_00_dot_25_bar__plus_00_dot_90_bar__plus_00_dot_93 DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95)\n (inReceptacle Bowl_bar__minus_00_dot_86_bar__plus_00_dot_90_bar__plus_00_dot_93 DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95)\n (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)\n (inReceptacle Bowl_bar__plus_00_dot_15_bar__plus_00_dot_90_bar__plus_01_dot_02 DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95)\n (inReceptacle Fork_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)\n (inReceptacle SoapBottle_bar__minus_01_dot_58_bar__plus_00_dot_70_bar__minus_03_dot_36 DiningTable_bar__minus_02_dot_17_bar__minus_00_dot_03_bar__minus_03_dot_37)\n (inReceptacle Tomato_bar__minus_01_dot_58_bar__plus_00_dot_75_bar__minus_03_dot_78 DiningTable_bar__minus_02_dot_17_bar__minus_00_dot_03_bar__minus_03_dot_37)\n (inReceptacle Mug_bar__plus_00_dot_70_bar__plus_00_dot_94_bar__minus_01_dot_36 CoffeeMachine_bar__plus_00_dot_88_bar__plus_00_dot_86_bar__minus_01_dot_26)\n (inReceptacle Apple_bar__minus_01_dot_33_bar__plus_00_dot_11_bar__minus_03_dot_57 GarbageCan_bar__minus_01_dot_26_bar__minus_00_dot_03_bar__minus_03_dot_61)\n (inReceptacle Apple_bar__plus_00_dot_67_bar__plus_01_dot_43_bar__minus_01_dot_96 Fridge_bar__plus_00_dot_68_bar__minus_00_dot_03_bar__minus_01_dot_96)\n (inReceptacle Cup_bar__plus_00_dot_82_bar__plus_00_dot_66_bar__minus_02_dot_11 Fridge_bar__plus_00_dot_68_bar__minus_00_dot_03_bar__minus_01_dot_96)\n (inReceptacle Potato_bar__minus_01_dot_79_bar__plus_00_dot_83_bar__minus_03_dot_71 Microwave_bar__minus_02_dot_01_bar__plus_00_dot_69_bar__minus_03_dot_69)\n (inReceptacle Egg_bar__plus_00_dot_67_bar__plus_00_dot_81_bar__minus_00_dot_52 Sink_bar__plus_00_dot_75_bar__plus_00_dot_88_bar__minus_00_dot_68_bar_SinkBasin)\n (inReceptacle ButterKnife_bar__plus_00_dot_76_bar__plus_00_dot_77_bar__minus_00_dot_63 Sink_bar__plus_00_dot_75_bar__plus_00_dot_88_bar__minus_00_dot_68_bar_SinkBasin)\n (inReceptacle Bowl_bar__plus_00_dot_80_bar__plus_00_dot_77_bar__minus_00_dot_74 Sink_bar__plus_00_dot_75_bar__plus_00_dot_88_bar__minus_00_dot_68_bar_SinkBasin)\n \n \n (receptacleAtLocation Cabinet_bar__plus_00_dot_51_bar__plus_00_dot_35_bar__plus_00_dot_16 loc_bar__minus_2_bar_1_bar_1_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_51_bar__plus_00_dot_35_bar__minus_00_dot_43 loc_bar__minus_2_bar__minus_1_bar_1_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_72_bar__plus_01_dot_82_bar__plus_00_dot_67 loc_bar_1_bar_1_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_72_bar__plus_01_dot_82_bar__minus_00_dot_40 loc_bar_1_bar_0_bar_1_bar__minus_30)\n (receptacleAtLocation CoffeeMachine_bar__plus_00_dot_88_bar__plus_00_dot_86_bar__minus_01_dot_26 loc_bar_0_bar__minus_5_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_00_dot_79_bar__plus_00_dot_92_bar__minus_00_dot_11 loc_bar_1_bar_0_bar_1_bar_45)\n (receptacleAtLocation DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95 loc_bar_0_bar_1_bar_0_bar_60)\n (receptacleAtLocation DiningTable_bar__minus_01_dot_73_bar__minus_00_dot_03_bar__minus_00_dot_96 loc_bar__minus_4_bar__minus_5_bar_3_bar_60)\n (receptacleAtLocation DiningTable_bar__minus_02_dot_17_bar__minus_00_dot_03_bar__minus_03_dot_37 loc_bar__minus_7_bar__minus_11_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__plus_00_dot_71_bar__plus_00_dot_77_bar__minus_00_dot_13 loc_bar__minus_1_bar__minus_1_bar_1_bar_45)\n (receptacleAtLocation Fridge_bar__plus_00_dot_68_bar__minus_00_dot_03_bar__minus_01_dot_96 loc_bar__minus_1_bar__minus_8_bar_1_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_01_dot_26_bar__minus_00_dot_03_bar__minus_03_dot_61 loc_bar__minus_4_bar__minus_13_bar_2_bar_60)\n (receptacleAtLocation Microwave_bar__minus_02_dot_01_bar__plus_00_dot_69_bar__minus_03_dot_69 loc_bar__minus_7_bar__minus_11_bar_2_bar_45)\n (receptacleAtLocation SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45 loc_bar__minus_1_bar_1_bar_1_bar_45)\n (receptacleAtLocation Sink_bar__plus_00_dot_75_bar__plus_00_dot_88_bar__minus_00_dot_68_bar_SinkBasin loc_bar_1_bar__minus_2_bar_1_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_01_dot_55_bar__plus_00_dot_89_bar__plus_00_dot_79 loc_bar__minus_6_bar_0_bar_0_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_01_dot_56_bar__plus_00_dot_89_bar__plus_01_dot_05 loc_bar__minus_6_bar_0_bar_0_bar_30)\n (receptacleAtLocation StoveBurner_bar__minus_02_dot_10_bar__plus_00_dot_89_bar__plus_00_dot_79 loc_bar__minus_7_bar_0_bar_0_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_02_dot_10_bar__plus_00_dot_89_bar__plus_01_dot_05 loc_bar__minus_7_bar_0_bar_0_bar_30)\n (receptacleAtLocation Toaster_bar__minus_00_dot_52_bar__plus_00_dot_89_bar__plus_01_dot_07 loc_bar__minus_2_bar_1_bar_0_bar_45)\n (objectAtLocation Bowl_bar__plus_00_dot_15_bar__plus_00_dot_90_bar__plus_01_dot_02 loc_bar_0_bar_1_bar_0_bar_60)\n (objectAtLocation Knife_bar__minus_00_dot_05_bar__plus_00_dot_92_bar__plus_01_dot_19 loc_bar_0_bar_1_bar_0_bar_60)\n (objectAtLocation Bread_bar__plus_00_dot_66_bar__plus_00_dot_71_bar__plus_00_dot_39 loc_bar__minus_1_bar_1_bar_1_bar_45)\n (objectAtLocation DishSponge_bar__plus_00_dot_86_bar__plus_01_dot_46_bar__plus_00_dot_53 loc_bar_1_bar_1_bar_1_bar__minus_30)\n (objectAtLocation ButterKnife_bar__plus_00_dot_76_bar__plus_00_dot_77_bar__minus_00_dot_63 loc_bar_1_bar__minus_2_bar_1_bar_60)\n (objectAtLocation PepperShaker_bar__plus_00_dot_60_bar__plus_00_dot_66_bar__plus_00_dot_57 loc_bar__minus_1_bar_1_bar_1_bar_45)\n (objectAtLocation Egg_bar__plus_00_dot_67_bar__plus_00_dot_81_bar__minus_00_dot_52 loc_bar_1_bar__minus_2_bar_1_bar_60)\n (objectAtLocation Apple_bar__minus_01_dot_33_bar__plus_00_dot_11_bar__minus_03_dot_57 loc_bar__minus_4_bar__minus_13_bar_2_bar_60)\n (objectAtLocation SoapBottle_bar__plus_00_dot_84_bar__plus_00_dot_01_bar__minus_00_dot_12 loc_bar__minus_2_bar_1_bar_1_bar_45)\n (objectAtLocation Pot_bar__minus_01_dot_56_bar__plus_00_dot_93_bar__plus_01_dot_05 loc_bar__minus_6_bar_0_bar_0_bar_30)\n (objectAtLocation Apple_bar__minus_01_dot_80_bar__plus_00_dot_76_bar__minus_01_dot_52 loc_bar__minus_4_bar__minus_5_bar_3_bar_60)\n (objectAtLocation Bowl_bar__minus_00_dot_86_bar__plus_00_dot_90_bar__plus_00_dot_93 loc_bar_0_bar_1_bar_0_bar_60)\n (objectAtLocation SoapBottle_bar__minus_01_dot_58_bar__plus_00_dot_70_bar__minus_03_dot_36 loc_bar__minus_7_bar__minus_11_bar_2_bar_60)\n (objectAtLocation Egg_bar__plus_00_dot_88_bar__plus_00_dot_92_bar__minus_00_dot_31 loc_bar_1_bar_0_bar_1_bar_45)\n (objectAtLocation Mirror_bar__plus_01_dot_09_bar__plus_01_dot_60_bar__minus_00_dot_64 loc_bar_1_bar__minus_3_bar_1_bar_0)\n (objectAtLocation Sink_bar__plus_00_dot_75_bar__plus_00_dot_88_bar__minus_00_dot_68 loc_bar_1_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Pot_bar__minus_02_dot_10_bar__plus_00_dot_93_bar__plus_00_dot_79 loc_bar__minus_7_bar_0_bar_0_bar_45)\n (objectAtLocation Plate_bar__minus_02_dot_02_bar__plus_00_dot_69_bar__minus_01_dot_45 loc_bar__minus_4_bar__minus_5_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_01_dot_90_bar__plus_00_dot_87_bar__plus_00_dot_52 loc_bar__minus_7_bar_0_bar_0_bar_60)\n (objectAtLocation StoveKnob_bar__minus_01_dot_75_bar__plus_00_dot_87_bar__plus_00_dot_52 loc_bar__minus_7_bar_0_bar_0_bar_60)\n (objectAtLocation StoveKnob_bar__minus_02_dot_06_bar__plus_00_dot_87_bar__plus_00_dot_52 loc_bar__minus_7_bar_0_bar_0_bar_60)\n (objectAtLocation StoveKnob_bar__minus_01_dot_60_bar__plus_00_dot_87_bar__plus_00_dot_52 loc_bar__minus_6_bar_0_bar_0_bar_60)\n (objectAtLocation Fork_bar__minus_01_dot_58_bar__plus_00_dot_70_bar__minus_03_dot_53 loc_bar__minus_7_bar__minus_11_bar_2_bar_60)\n (objectAtLocation SoapBottle_bar__plus_00_dot_79_bar__plus_00_dot_01_bar__plus_00_dot_01 loc_bar__minus_2_bar_1_bar_1_bar_45)\n (objectAtLocation Apple_bar__plus_00_dot_67_bar__plus_01_dot_43_bar__minus_01_dot_96 loc_bar__minus_1_bar__minus_8_bar_1_bar_60)\n (objectAtLocation Pan_bar__plus_00_dot_74_bar__minus_00_dot_01_bar__minus_00_dot_60 loc_bar__minus_2_bar__minus_1_bar_1_bar_45)\n (objectAtLocation Window_bar__minus_02_dot_42_bar__plus_01_dot_64_bar__minus_02_dot_45 loc_bar__minus_7_bar__minus_10_bar_3_bar_0)\n (objectAtLocation Egg_bar__plus_01_dot_06_bar__plus_00_dot_92_bar__minus_00_dot_91 loc_bar_1_bar_0_bar_1_bar_45)\n (objectAtLocation Spatula_bar__minus_02_dot_05_bar__plus_00_dot_72_bar__minus_01_dot_20 loc_bar__minus_4_bar__minus_5_bar_3_bar_60)\n (objectAtLocation Potato_bar__minus_01_dot_79_bar__plus_00_dot_83_bar__minus_03_dot_71 loc_bar__minus_7_bar__minus_11_bar_2_bar_45)\n (objectAtLocation Cup_bar__plus_00_dot_82_bar__plus_00_dot_66_bar__minus_02_dot_11 loc_bar__minus_1_bar__minus_8_bar_1_bar_60)\n (objectAtLocation SaltShaker_bar__plus_00_dot_84_bar__plus_00_dot_66_bar__plus_00_dot_57 loc_bar__minus_1_bar_1_bar_1_bar_45)\n (objectAtLocation PepperShaker_bar__plus_01_dot_04_bar__plus_01_dot_46_bar__minus_00_dot_02 loc_bar_1_bar_0_bar_1_bar__minus_30)\n (objectAtLocation ButterKnife_bar__plus_00_dot_88_bar__plus_00_dot_88_bar__minus_00_dot_04 loc_bar_1_bar_0_bar_1_bar_45)\n (objectAtLocation DishSponge_bar__minus_01_dot_89_bar__plus_00_dot_70_bar__minus_01_dot_20 loc_bar__minus_4_bar__minus_5_bar_3_bar_60)\n (objectAtLocation 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)\n (objectAtLocation LightSwitch_bar__plus_01_dot_10_bar__plus_01_dot_37_bar__minus_03_dot_74 loc_bar_2_bar__minus_13_bar_1_bar_30)\n (objectAtLocation Lettuce_bar__plus_00_dot_66_bar__plus_00_dot_97_bar__minus_00_dot_18 loc_bar_1_bar_0_bar_1_bar_45)\n (objectAtLocation Chair_bar__minus_01_dot_90_bar__minus_00_dot_03_bar__minus_01_dot_87 loc_bar__minus_5_bar__minus_7_bar_3_bar_60)\n (objectAtLocation Tomato_bar__minus_01_dot_58_bar__plus_00_dot_75_bar__minus_03_dot_78 loc_bar__minus_7_bar__minus_11_bar_2_bar_60)\n (objectAtLocation Spoon_bar__minus_00_dot_25_bar__plus_00_dot_90_bar__plus_00_dot_93 loc_bar_0_bar_1_bar_0_bar_60)\n (objectAtLocation Knife_bar__plus_00_dot_82_bar__plus_00_dot_78_bar__plus_00_dot_00 loc_bar__minus_1_bar__minus_1_bar_1_bar_45)\n (objectAtLocation Mug_bar__plus_00_dot_70_bar__plus_00_dot_94_bar__minus_01_dot_36 loc_bar_0_bar__minus_5_bar_1_bar_45)\n (objectAtLocation Blinds_bar__minus_02_dot_34_bar__plus_02_dot_15_bar__minus_02_dot_44 loc_bar__minus_7_bar__minus_10_bar_3_bar__minus_30)\n (objectAtLocation Bowl_bar__plus_00_dot_80_bar__plus_00_dot_77_bar__minus_00_dot_74 loc_bar_1_bar__minus_2_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 PotatoType)\n (receptacleType ?r SideTableType)\n (isClean ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to microwave 1", "open microwave 1", "take potato 1 from microwave 1", "go to sinkbasin 1", "clean potato 1 with sinkbasin 1", "go to sidetable 1", "move potato 1 to sidetable 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Potato-None-SideTable-21/trial_T20190906_192500_491052/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Potato-None-SideTable-21/trial_T20190906_192500_491052/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..c3daa183d829d7cf0ad320b2f367391426f1a4e0 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Potato-None-SideTable-21/trial_T20190906_192500_491052/initial_state.pddl @@ -0,0 +1,825 @@ + +(define (problem plan_trial_T20190906_192500_491052) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Apple_bar__plus_00_dot_67_bar__plus_01_dot_43_bar__minus_01_dot_96 - object + Apple_bar__minus_01_dot_33_bar__plus_00_dot_11_bar__minus_03_dot_57 - object + Apple_bar__minus_01_dot_80_bar__plus_00_dot_76_bar__minus_01_dot_52 - 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_02 - object + Bowl_bar__plus_00_dot_80_bar__plus_00_dot_77_bar__minus_00_dot_74 - object + Bowl_bar__minus_00_dot_86_bar__plus_00_dot_90_bar__plus_00_dot_93 - object + 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Toaster_bar__minus_00_dot_52_bar__plus_00_dot_89_bar__plus_01_dot_07 - receptacle + loc_bar__minus_6_bar_0_bar_0_bar_45 - location + loc_bar__minus_4_bar__minus_5_bar_3_bar_60 - location + loc_bar_1_bar__minus_3_bar_1_bar_0 - location + loc_bar__minus_7_bar_0_bar_0_bar_30 - location + loc_bar__minus_7_bar__minus_11_bar_2_bar_45 - location + loc_bar_1_bar_1_bar_1_bar__minus_30 - location + loc_bar__minus_7_bar_0_bar_0_bar_60 - location + loc_bar__minus_6_bar_0_bar_0_bar_60 - location + loc_bar__minus_7_bar__minus_11_bar_2_bar_60 - location + loc_bar_1_bar__minus_2_bar_1_bar_60 - location + loc_bar__minus_7_bar_0_bar_0_bar_45 - location + loc_bar_0_bar_1_bar_0_bar_60 - location + loc_bar__minus_1_bar__minus_8_bar_1_bar_60 - location + loc_bar__minus_2_bar__minus_1_bar_1_bar_45 - location + loc_bar__minus_1_bar__minus_1_bar_1_bar_45 - location + loc_bar__minus_6_bar_0_bar_0_bar_30 - location + loc_bar__minus_7_bar__minus_10_bar_3_bar_0 - location + loc_bar_1_bar_0_bar_1_bar_45 - location + loc_bar_2_bar__minus_13_bar_1_bar_30 - location + loc_bar_0_bar__minus_5_bar_1_bar_45 - location + loc_bar__minus_1_bar_1_bar_1_bar_45 - location + loc_bar__minus_4_bar__minus_13_bar_2_bar_60 - location + loc_bar__minus_2_bar_1_bar_1_bar_45 - location + loc_bar_1_bar__minus_3_bar_1_bar_60 - location + loc_bar__minus_2_bar_1_bar_0_bar_45 - location + loc_bar__minus_5_bar__minus_7_bar_3_bar_60 - location + loc_bar_1_bar_0_bar_1_bar__minus_30 - location + loc_bar__minus_7_bar__minus_10_bar_3_bar__minus_30 - location + loc_bar__minus_3_bar__minus_9_bar_2_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 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+ "z": -3.78265572 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Spoon_93a81026", + "position": { + "x": -0.252732337, + "y": 0.901750147, + "z": 0.929707944 + }, + "rotation": { + "x": 0.0, + "y": 90.00033, + "z": 0.0 + } + }, + { + "objectName": "Knife_33d4fba0", + "position": { + "x": -0.0518234968, + "y": 0.923701346, + "z": 1.18701339 + }, + "rotation": { + "x": 0.0, + "y": 270.000336, + "z": 0.0 + } + }, + { + "objectName": "Mug_288ff1e3", + "position": { + "x": 0.698199749, + "y": 0.941000044, + "z": -1.36019969 + }, + "rotation": { + "x": 0.0, + "y": 270.000122, + "z": 0.0 + } + }, + { + "objectName": "Bowl_737b77b7", + "position": { + "x": 0.1490829, + "y": 0.899054945, + "z": 1.01547456 + }, + "rotation": { + "x": 0.0, + "y": 270.000336, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 244214030, + "scene_num": 21 + }, + "task_id": "trial_T20190906_192500_491052", + "task_type": "pick_clean_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A22ON3MIIG0IJA_35H6S234SDHJSL0SN0SG9N3775W65Y", + "high_descs": [ + "Turn right and walk forward to the wall then turn left to face the microwave.", + "Take the potato out of the microwave.", + "Turn around and walk to the oven on the other side of the room, then turn right and walk to the sink.", + "Put the potato in the sink and rinse it off, then pick it up.", + "Walk to the black stand next to the left of the sink.", + "Put the potato behind the loaf of bread on the black stand." + ], + "task_desc": "Put a clean potato on the black stand next to the sink.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A3A0VPWPASCO9J_379J5II41RX17PWSL5RL20RHA0HLEX", + "high_descs": [ + "Go to the microwave next to the trash can.", + "Take the potato out of the microwave.", + "Go across the room to the sink.", + "Wash the potato in the sink.", + "Go to the crate at the end of the counter to the left.", + "Set the potato down on the crate behind the loaf of bread." + ], + "task_desc": "Put a potato on the crate.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "AFU00NU09CFXE_39ASUFLU60OW7JDHZOU9DUM4H3DEXM", + "high_descs": [ + "Move to stand directly in front of the microwave on the table in the corner. ", + "Remove the brown object from inside the microwave on the table.", + "Cross the room with the brown object to stand in front of the sink. ", + "Wash the brown object in the kitchen sink and then remove it. ", + "Move to stand in front of the black shelving unit directly to the left of the kitchen counter and sink.", + "Place the brown object on the top shelf of the shelving unit just behind the loaf of bread. " + ], + "task_desc": "Place a brown object on a shelving unit from the microwave. ", + "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-Potato-None-SideTable-21/trial_T20190906_192526_089769/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Potato-None-SideTable-21/trial_T20190906_192526_089769/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..cc0243da76863a01715eef73d909e26184390e55 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Potato-None-SideTable-21/trial_T20190906_192526_089769/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\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 potato and put it in sidetable.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190906_192526_089769)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\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_19_bar__plus_00_dot_11_bar__minus_03_dot_57 - object\n Blinds_bar__minus_02_dot_34_bar__plus_02_dot_15_bar__minus_02_dot_44 - object\n Bowl_bar__minus_02_dot_04_bar__plus_00_dot_69_bar__minus_01_dot_00 - object\n 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CoffeeMachine_bar__plus_00_dot_88_bar__plus_00_dot_86_bar__minus_01_dot_26 - receptacle\n CounterTop_bar__plus_00_dot_79_bar__plus_00_dot_92_bar__minus_00_dot_11 - receptacle\n DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95 - receptacle\n DiningTable_bar__minus_01_dot_73_bar__minus_00_dot_03_bar__minus_00_dot_96 - receptacle\n DiningTable_bar__minus_02_dot_17_bar__minus_00_dot_03_bar__minus_03_dot_37 - receptacle\n Drawer_bar__plus_00_dot_71_bar__plus_00_dot_77_bar__minus_00_dot_13 - receptacle\n Fridge_bar__plus_00_dot_68_bar__minus_00_dot_03_bar__minus_01_dot_96 - receptacle\n GarbageCan_bar__minus_01_dot_26_bar__minus_00_dot_03_bar__minus_03_dot_61 - receptacle\n Microwave_bar__minus_02_dot_01_bar__plus_00_dot_69_bar__minus_03_dot_69 - receptacle\n SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45 - receptacle\n Sink_bar__plus_00_dot_75_bar__plus_00_dot_88_bar__minus_00_dot_68_bar_SinkBasin - receptacle\n 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loc_bar_0_bar_1_bar_0_bar_60 - location\n loc_bar__minus_1_bar__minus_8_bar_1_bar_60 - location\n loc_bar__minus_2_bar__minus_1_bar_1_bar_45 - location\n loc_bar__minus_1_bar__minus_1_bar_1_bar_45 - location\n loc_bar__minus_6_bar_0_bar_0_bar_30 - location\n loc_bar__minus_7_bar__minus_10_bar_3_bar_0 - location\n loc_bar_1_bar_0_bar_1_bar_45 - location\n loc_bar_2_bar__minus_13_bar_1_bar_30 - location\n loc_bar_0_bar__minus_5_bar_1_bar_45 - location\n loc_bar__minus_1_bar_1_bar_1_bar_45 - location\n loc_bar__minus_4_bar__minus_13_bar_2_bar_60 - location\n loc_bar__minus_2_bar_1_bar_1_bar_45 - location\n loc_bar_1_bar__minus_3_bar_1_bar_60 - location\n loc_bar__minus_2_bar_1_bar_0_bar_45 - location\n loc_bar__minus_5_bar__minus_7_bar_3_bar_60 - location\n loc_bar_1_bar_0_bar_1_bar__minus_30 - location\n loc_bar__minus_7_bar__minus_10_bar_3_bar__minus_30 - location\n loc_bar_0_bar__minus_6_bar_3_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType 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Sink_bar__plus_00_dot_75_bar__plus_00_dot_88_bar__minus_00_dot_68_bar_SinkBasin SinkBasinType)\n (receptacleType Cabinet_bar__plus_00_dot_51_bar__plus_00_dot_35_bar__plus_00_dot_16 CabinetType)\n (receptacleType DiningTable_bar__minus_01_dot_73_bar__minus_00_dot_03_bar__minus_00_dot_96 DiningTableType)\n (receptacleType Drawer_bar__plus_00_dot_71_bar__plus_00_dot_77_bar__minus_00_dot_13 DrawerType)\n (receptacleType Toaster_bar__minus_00_dot_52_bar__plus_00_dot_89_bar__plus_01_dot_07 ToasterType)\n (receptacleType StoveBurner_bar__minus_02_dot_10_bar__plus_00_dot_89_bar__plus_00_dot_79 StoveBurnerType)\n (receptacleType DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95 DiningTableType)\n (receptacleType StoveBurner_bar__minus_02_dot_10_bar__plus_00_dot_89_bar__plus_01_dot_05 StoveBurnerType)\n (receptacleType Cabinet_bar__plus_00_dot_51_bar__plus_00_dot_35_bar__minus_00_dot_43 CabinetType)\n (receptacleType 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ButterKnife_bar__plus_00_dot_88_bar__plus_00_dot_88_bar__plus_00_dot_03 CounterTop_bar__plus_00_dot_79_bar__plus_00_dot_92_bar__minus_00_dot_11)\n (inReceptacle DishSponge_bar__plus_00_dot_80_bar__plus_00_dot_88_bar__minus_00_dot_25 CounterTop_bar__plus_00_dot_79_bar__plus_00_dot_92_bar__minus_00_dot_11)\n (inReceptacle Fork_bar__plus_01_dot_02_bar__plus_00_dot_88_bar__minus_00_dot_11 CounterTop_bar__plus_00_dot_79_bar__plus_00_dot_92_bar__minus_00_dot_11)\n (inReceptacle Pot_bar__minus_02_dot_10_bar__plus_00_dot_93_bar__plus_01_dot_05 StoveBurner_bar__minus_02_dot_10_bar__plus_00_dot_89_bar__plus_00_dot_79)\n (inReceptacle Pan_bar__plus_00_dot_74_bar__minus_00_dot_01_bar__minus_00_dot_60 Cabinet_bar__plus_00_dot_51_bar__plus_00_dot_35_bar__minus_00_dot_43)\n (inReceptacle PepperShaker_bar__plus_00_dot_57_bar__plus_00_dot_01_bar__minus_00_dot_77 Cabinet_bar__plus_00_dot_51_bar__plus_00_dot_35_bar__minus_00_dot_43)\n (inReceptacle Pot_bar__minus_01_dot_56_bar__plus_00_dot_93_bar__plus_01_dot_05 StoveBurner_bar__minus_01_dot_55_bar__plus_00_dot_89_bar__plus_00_dot_79)\n (inReceptacle Plate_bar__minus_02_dot_02_bar__plus_00_dot_69_bar__minus_01_dot_45 DiningTable_bar__minus_01_dot_73_bar__minus_00_dot_03_bar__minus_00_dot_96)\n (inReceptacle Bowl_bar__minus_02_dot_04_bar__plus_00_dot_69_bar__minus_01_dot_00 DiningTable_bar__minus_01_dot_73_bar__minus_00_dot_03_bar__minus_00_dot_96)\n (inReceptacle SoapBottle_bar__minus_01_dot_80_bar__plus_00_dot_70_bar__minus_01_dot_09 DiningTable_bar__minus_01_dot_73_bar__minus_00_dot_03_bar__minus_00_dot_96)\n (inReceptacle Pot_bar__minus_02_dot_10_bar__plus_00_dot_93_bar__plus_01_dot_05 StoveBurner_bar__minus_02_dot_10_bar__plus_00_dot_89_bar__plus_01_dot_05)\n (inReceptacle DishSponge_bar__plus_00_dot_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)\n (inReceptacle Tomato_bar__plus_00_dot_78_bar__plus_00_dot_71_bar__plus_00_dot_33 SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45)\n (inReceptacle Cup_bar__plus_00_dot_60_bar__plus_00_dot_66_bar__plus_00_dot_51 SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45)\n (inReceptacle 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)\n (inReceptacle Potato_bar__plus_00_dot_72_bar__plus_00_dot_70_bar__plus_00_dot_51 SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45)\n (inReceptacle Bread_bar__plus_00_dot_90_bar__plus_00_dot_71_bar__plus_00_dot_51 SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45)\n (inReceptacle Pot_bar__minus_01_dot_56_bar__plus_00_dot_93_bar__plus_01_dot_05 StoveBurner_bar__minus_01_dot_56_bar__plus_00_dot_89_bar__plus_01_dot_05)\n (inReceptacle SaltShaker_bar__plus_00_dot_90_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)\n (inReceptacle Mug_bar__plus_00_dot_81_bar__plus_01_dot_46_bar__minus_00_dot_15 Cabinet_bar__plus_00_dot_72_bar__plus_01_dot_82_bar__minus_00_dot_40)\n (inReceptacle Mug_bar__plus_00_dot_90_bar__plus_01_dot_46_bar__minus_00_dot_02 Cabinet_bar__plus_00_dot_72_bar__plus_01_dot_82_bar__minus_00_dot_40)\n (inReceptacle Cup_bar__minus_01_dot_06_bar__plus_00_dot_90_bar__plus_00_dot_76 DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95)\n (inReceptacle ButterKnife_bar__plus_00_dot_15_bar__plus_00_dot_90_bar__plus_01_dot_10 DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95)\n (inReceptacle Fork_bar__minus_00_dot_05_bar__plus_00_dot_90_bar__plus_01_dot_02 DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95)\n (inReceptacle Bread_bar__plus_00_dot_15_bar__plus_00_dot_94_bar__plus_00_dot_93 DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95)\n (inReceptacle Lettuce_bar__minus_00_dot_86_bar__plus_00_dot_99_bar__plus_00_dot_93 DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95)\n (inReceptacle Mug_bar__plus_00_dot_15_bar__plus_00_dot_90_bar__plus_01_dot_19 DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95)\n (inReceptacle ButterKnife_bar__minus_00_dot_45_bar__plus_00_dot_90_bar__plus_00_dot_84 DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95)\n (inReceptacle Spatula_bar__minus_01_dot_54_bar__plus_00_dot_72_bar__minus_03_dot_78 DiningTable_bar__minus_02_dot_17_bar__minus_00_dot_03_bar__minus_03_dot_37)\n (inReceptacle SaltShaker_bar__minus_01_dot_54_bar__plus_00_dot_69_bar__minus_03_dot_36 DiningTable_bar__minus_02_dot_17_bar__minus_00_dot_03_bar__minus_03_dot_37)\n (inReceptacle Egg_bar__minus_01_dot_22_bar__plus_00_dot_09_bar__minus_03_dot_68 GarbageCan_bar__minus_01_dot_26_bar__minus_00_dot_03_bar__minus_03_dot_61)\n (inReceptacle Apple_bar__minus_01_dot_19_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)\n (inReceptacle Cup_bar__plus_00_dot_82_bar__plus_01_dot_37_bar__minus_01_dot_80 Fridge_bar__plus_00_dot_68_bar__minus_00_dot_03_bar__minus_01_dot_96)\n (inReceptacle Tomato_bar__plus_00_dot_71_bar__plus_00_dot_51_bar__minus_01_dot_73 Fridge_bar__plus_00_dot_68_bar__minus_00_dot_03_bar__minus_01_dot_96)\n (inReceptacle Tomato_bar__plus_00_dot_72_bar__plus_00_dot_82_bar__minus_00_dot_79 Sink_bar__plus_00_dot_75_bar__plus_00_dot_88_bar__minus_00_dot_68_bar_SinkBasin)\n \n \n (receptacleAtLocation Cabinet_bar__plus_00_dot_51_bar__plus_00_dot_35_bar__plus_00_dot_16 loc_bar__minus_2_bar_1_bar_1_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_51_bar__plus_00_dot_35_bar__minus_00_dot_43 loc_bar__minus_2_bar__minus_1_bar_1_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_72_bar__plus_01_dot_82_bar__plus_00_dot_67 loc_bar_1_bar_1_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_72_bar__plus_01_dot_82_bar__minus_00_dot_40 loc_bar_1_bar_0_bar_1_bar__minus_30)\n (receptacleAtLocation CoffeeMachine_bar__plus_00_dot_88_bar__plus_00_dot_86_bar__minus_01_dot_26 loc_bar_0_bar__minus_5_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_00_dot_79_bar__plus_00_dot_92_bar__minus_00_dot_11 loc_bar_1_bar_0_bar_1_bar_45)\n (receptacleAtLocation DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95 loc_bar_0_bar_1_bar_0_bar_60)\n (receptacleAtLocation DiningTable_bar__minus_01_dot_73_bar__minus_00_dot_03_bar__minus_00_dot_96 loc_bar__minus_4_bar__minus_5_bar_3_bar_60)\n (receptacleAtLocation DiningTable_bar__minus_02_dot_17_bar__minus_00_dot_03_bar__minus_03_dot_37 loc_bar__minus_7_bar__minus_11_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__plus_00_dot_71_bar__plus_00_dot_77_bar__minus_00_dot_13 loc_bar__minus_1_bar__minus_1_bar_1_bar_45)\n (receptacleAtLocation Fridge_bar__plus_00_dot_68_bar__minus_00_dot_03_bar__minus_01_dot_96 loc_bar__minus_1_bar__minus_8_bar_1_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_01_dot_26_bar__minus_00_dot_03_bar__minus_03_dot_61 loc_bar__minus_4_bar__minus_13_bar_2_bar_60)\n (receptacleAtLocation Microwave_bar__minus_02_dot_01_bar__plus_00_dot_69_bar__minus_03_dot_69 loc_bar__minus_7_bar__minus_11_bar_2_bar_45)\n (receptacleAtLocation SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45 loc_bar__minus_1_bar_1_bar_1_bar_45)\n (receptacleAtLocation Sink_bar__plus_00_dot_75_bar__plus_00_dot_88_bar__minus_00_dot_68_bar_SinkBasin loc_bar_1_bar__minus_2_bar_1_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_01_dot_55_bar__plus_00_dot_89_bar__plus_00_dot_79 loc_bar__minus_6_bar_0_bar_0_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_01_dot_56_bar__plus_00_dot_89_bar__plus_01_dot_05 loc_bar__minus_6_bar_0_bar_0_bar_30)\n (receptacleAtLocation StoveBurner_bar__minus_02_dot_10_bar__plus_00_dot_89_bar__plus_00_dot_79 loc_bar__minus_7_bar_0_bar_0_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_02_dot_10_bar__plus_00_dot_89_bar__plus_01_dot_05 loc_bar__minus_7_bar_0_bar_0_bar_30)\n (receptacleAtLocation Toaster_bar__minus_00_dot_52_bar__plus_00_dot_89_bar__plus_01_dot_07 loc_bar__minus_2_bar_1_bar_0_bar_45)\n (objectAtLocation Mug_bar__plus_00_dot_90_bar__plus_01_dot_46_bar__minus_00_dot_02 loc_bar_1_bar_0_bar_1_bar__minus_30)\n (objectAtLocation Knife_bar__plus_00_dot_67_bar__plus_00_dot_78_bar__plus_00_dot_00 loc_bar__minus_1_bar__minus_1_bar_1_bar_45)\n (objectAtLocation Spoon_bar__plus_00_dot_72_bar__plus_00_dot_76_bar__plus_00_dot_00 loc_bar__minus_1_bar__minus_1_bar_1_bar_45)\n (objectAtLocation Tomato_bar__plus_00_dot_78_bar__plus_00_dot_71_bar__plus_00_dot_33 loc_bar__minus_1_bar_1_bar_1_bar_45)\n (objectAtLocation Bread_bar__plus_00_dot_90_bar__plus_00_dot_71_bar__plus_00_dot_51 loc_bar__minus_1_bar_1_bar_1_bar_45)\n (objectAtLocation DishSponge_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)\n (objectAtLocation ButterKnife_bar__minus_00_dot_45_bar__plus_00_dot_90_bar__plus_00_dot_84 loc_bar_0_bar_1_bar_0_bar_60)\n (objectAtLocation SaltShaker_bar__minus_01_dot_54_bar__plus_00_dot_69_bar__minus_03_dot_36 loc_bar__minus_7_bar__minus_11_bar_2_bar_60)\n (objectAtLocation Cup_bar__plus_00_dot_60_bar__plus_00_dot_66_bar__plus_00_dot_51 loc_bar__minus_1_bar_1_bar_1_bar_45)\n (objectAtLocation Fork_bar__plus_00_dot_72_bar__plus_00_dot_67_bar__plus_00_dot_57 loc_bar__minus_1_bar_1_bar_1_bar_45)\n (objectAtLocation Pot_bar__minus_01_dot_56_bar__plus_00_dot_93_bar__plus_01_dot_05 loc_bar__minus_6_bar_0_bar_0_bar_30)\n (objectAtLocation Mug_bar__plus_00_dot_15_bar__plus_00_dot_90_bar__plus_01_dot_19 loc_bar_0_bar_1_bar_0_bar_60)\n (objectAtLocation Tomato_bar__plus_00_dot_71_bar__plus_00_dot_51_bar__minus_01_dot_73 loc_bar__minus_1_bar__minus_8_bar_1_bar_60)\n (objectAtLocation Cup_bar__plus_00_dot_82_bar__plus_01_dot_37_bar__minus_01_dot_80 loc_bar__minus_1_bar__minus_8_bar_1_bar_60)\n (objectAtLocation Fork_bar__minus_00_dot_05_bar__plus_00_dot_90_bar__plus_01_dot_02 loc_bar_0_bar_1_bar_0_bar_60)\n (objectAtLocation ButterKnife_bar__plus_00_dot_88_bar__plus_00_dot_88_bar__plus_00_dot_03 loc_bar_1_bar_0_bar_1_bar_45)\n (objectAtLocation Mirror_bar__plus_01_dot_09_bar__plus_01_dot_60_bar__minus_00_dot_64 loc_bar_1_bar__minus_3_bar_1_bar_0)\n (objectAtLocation Sink_bar__plus_00_dot_75_bar__plus_00_dot_88_bar__minus_00_dot_68 loc_bar_1_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Pot_bar__minus_02_dot_10_bar__plus_00_dot_93_bar__plus_01_dot_05 loc_bar__minus_7_bar_0_bar_0_bar_30)\n (objectAtLocation Plate_bar__minus_02_dot_02_bar__plus_00_dot_69_bar__minus_01_dot_45 loc_bar__minus_4_bar__minus_5_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_01_dot_90_bar__plus_00_dot_87_bar__plus_00_dot_52 loc_bar__minus_7_bar_0_bar_0_bar_60)\n (objectAtLocation StoveKnob_bar__minus_01_dot_75_bar__plus_00_dot_87_bar__plus_00_dot_52 loc_bar__minus_7_bar_0_bar_0_bar_60)\n (objectAtLocation StoveKnob_bar__minus_02_dot_06_bar__plus_00_dot_87_bar__plus_00_dot_52 loc_bar__minus_7_bar_0_bar_0_bar_60)\n (objectAtLocation StoveKnob_bar__minus_01_dot_60_bar__plus_00_dot_87_bar__plus_00_dot_52 loc_bar__minus_6_bar_0_bar_0_bar_60)\n (objectAtLocation Fork_bar__plus_01_dot_02_bar__plus_00_dot_88_bar__minus_00_dot_11 loc_bar_1_bar_0_bar_1_bar_45)\n (objectAtLocation SoapBottle_bar__minus_01_dot_80_bar__plus_00_dot_70_bar__minus_01_dot_09 loc_bar__minus_4_bar__minus_5_bar_3_bar_60)\n (objectAtLocation Apple_bar__minus_01_dot_19_bar__plus_00_dot_11_bar__minus_03_dot_57 loc_bar__minus_4_bar__minus_13_bar_2_bar_60)\n (objectAtLocation Pan_bar__plus_00_dot_74_bar__minus_00_dot_01_bar__minus_00_dot_60 loc_bar__minus_2_bar__minus_1_bar_1_bar_45)\n (objectAtLocation Window_bar__minus_02_dot_42_bar__plus_01_dot_64_bar__minus_02_dot_45 loc_bar__minus_7_bar__minus_10_bar_3_bar_0)\n (objectAtLocation Egg_bar__minus_01_dot_22_bar__plus_00_dot_09_bar__minus_03_dot_68 loc_bar__minus_4_bar__minus_13_bar_2_bar_60)\n (objectAtLocation Spatula_bar__minus_01_dot_54_bar__plus_00_dot_72_bar__minus_03_dot_78 loc_bar__minus_7_bar__minus_11_bar_2_bar_60)\n (objectAtLocation Potato_bar__plus_00_dot_72_bar__plus_00_dot_70_bar__plus_00_dot_51 loc_bar__minus_1_bar_1_bar_1_bar_45)\n (objectAtLocation Cup_bar__minus_01_dot_06_bar__plus_00_dot_90_bar__plus_00_dot_76 loc_bar_0_bar_1_bar_0_bar_60)\n (objectAtLocation SaltShaker_bar__plus_00_dot_90_bar__plus_00_dot_01_bar__minus_00_dot_18 loc_bar__minus_2_bar_1_bar_1_bar_45)\n (objectAtLocation PepperShaker_bar__plus_00_dot_57_bar__plus_00_dot_01_bar__minus_00_dot_77 loc_bar__minus_2_bar__minus_1_bar_1_bar_45)\n (objectAtLocation ButterKnife_bar__plus_00_dot_15_bar__plus_00_dot_90_bar__plus_01_dot_10 loc_bar_0_bar_1_bar_0_bar_60)\n (objectAtLocation DishSponge_bar__plus_00_dot_80_bar__plus_00_dot_88_bar__minus_00_dot_25 loc_bar_1_bar_0_bar_1_bar_45)\n (objectAtLocation Bread_bar__plus_00_dot_15_bar__plus_00_dot_94_bar__plus_00_dot_93 loc_bar_0_bar_1_bar_0_bar_60)\n (objectAtLocation LightSwitch_bar__plus_01_dot_10_bar__plus_01_dot_37_bar__minus_03_dot_74 loc_bar_2_bar__minus_13_bar_1_bar_30)\n (objectAtLocation Lettuce_bar__minus_00_dot_86_bar__plus_00_dot_99_bar__plus_00_dot_93 loc_bar_0_bar_1_bar_0_bar_60)\n (objectAtLocation Chair_bar__minus_01_dot_90_bar__minus_00_dot_03_bar__minus_01_dot_87 loc_bar__minus_5_bar__minus_7_bar_3_bar_60)\n (objectAtLocation Tomato_bar__plus_00_dot_72_bar__plus_00_dot_82_bar__minus_00_dot_79 loc_bar_1_bar__minus_2_bar_1_bar_60)\n (objectAtLocation Spoon_bar__plus_00_dot_72_bar__plus_00_dot_76_bar__minus_00_dot_19 loc_bar__minus_1_bar__minus_1_bar_1_bar_45)\n (objectAtLocation Knife_bar__plus_00_dot_62_bar__plus_00_dot_78_bar__plus_00_dot_00 loc_bar__minus_1_bar__minus_1_bar_1_bar_45)\n (objectAtLocation Mug_bar__plus_00_dot_81_bar__plus_01_dot_46_bar__minus_00_dot_15 loc_bar_1_bar_0_bar_1_bar__minus_30)\n (objectAtLocation Blinds_bar__minus_02_dot_34_bar__plus_02_dot_15_bar__minus_02_dot_44 loc_bar__minus_7_bar__minus_10_bar_3_bar__minus_30)\n (objectAtLocation Bowl_bar__minus_02_dot_04_bar__plus_00_dot_69_bar__minus_01_dot_00 loc_bar__minus_4_bar__minus_5_bar_3_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (cleanable ?o)\n (objectType ?o PotatoType)\n (receptacleType ?r SideTableType)\n (isClean ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to sidetable 1", "take potato 1 from sidetable 1", "go to sinkbasin 1", "clean potato 1 with sinkbasin 1", "go to sidetable 1", "move potato 1 to sidetable 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Potato-None-SideTable-21/trial_T20190906_192526_089769/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Potato-None-SideTable-21/trial_T20190906_192526_089769/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..72de4b2430765071c848a4bff788afbc25e84773 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Potato-None-SideTable-21/trial_T20190906_192526_089769/initial_state.pddl @@ -0,0 +1,843 @@ + +(define (problem plan_trial_T20190906_192526_089769) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + 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_19_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 + 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CoffeeMachine_bar__plus_00_dot_88_bar__plus_00_dot_86_bar__minus_01_dot_26 - receptacle + CounterTop_bar__plus_00_dot_79_bar__plus_00_dot_92_bar__minus_00_dot_11 - receptacle + DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95 - receptacle + DiningTable_bar__minus_01_dot_73_bar__minus_00_dot_03_bar__minus_00_dot_96 - receptacle + DiningTable_bar__minus_02_dot_17_bar__minus_00_dot_03_bar__minus_03_dot_37 - receptacle + Drawer_bar__plus_00_dot_71_bar__plus_00_dot_77_bar__minus_00_dot_13 - receptacle + Fridge_bar__plus_00_dot_68_bar__minus_00_dot_03_bar__minus_01_dot_96 - receptacle + GarbageCan_bar__minus_01_dot_26_bar__minus_00_dot_03_bar__minus_03_dot_61 - receptacle + Microwave_bar__minus_02_dot_01_bar__plus_00_dot_69_bar__minus_03_dot_69 - receptacle + SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45 - receptacle + Sink_bar__plus_00_dot_75_bar__plus_00_dot_88_bar__minus_00_dot_68_bar_SinkBasin - receptacle + StoveBurner_bar__minus_01_dot_55_bar__plus_00_dot_89_bar__plus_00_dot_79 - receptacle + StoveBurner_bar__minus_01_dot_56_bar__plus_00_dot_89_bar__plus_01_dot_05 - receptacle + StoveBurner_bar__minus_02_dot_10_bar__plus_00_dot_89_bar__plus_00_dot_79 - receptacle + StoveBurner_bar__minus_02_dot_10_bar__plus_00_dot_89_bar__plus_01_dot_05 - receptacle + Toaster_bar__minus_00_dot_52_bar__plus_00_dot_89_bar__plus_01_dot_07 - receptacle + loc_bar__minus_6_bar_0_bar_0_bar_45 - location + loc_bar__minus_4_bar__minus_5_bar_3_bar_60 - location + loc_bar_1_bar__minus_3_bar_1_bar_0 - location + loc_bar__minus_7_bar_0_bar_0_bar_30 - location + loc_bar__minus_7_bar__minus_11_bar_2_bar_45 - location + loc_bar_1_bar_1_bar_1_bar__minus_30 - location + loc_bar__minus_7_bar_0_bar_0_bar_60 - location + loc_bar__minus_6_bar_0_bar_0_bar_60 - location + loc_bar__minus_7_bar__minus_11_bar_2_bar_60 - location + loc_bar_1_bar__minus_2_bar_1_bar_60 - location + loc_bar__minus_7_bar_0_bar_0_bar_45 - location + loc_bar_0_bar_1_bar_0_bar_60 - location + loc_bar__minus_1_bar__minus_8_bar_1_bar_60 - location + loc_bar__minus_2_bar__minus_1_bar_1_bar_45 - location + loc_bar__minus_1_bar__minus_1_bar_1_bar_45 - location + loc_bar__minus_6_bar_0_bar_0_bar_30 - location + loc_bar__minus_7_bar__minus_10_bar_3_bar_0 - location + loc_bar_1_bar_0_bar_1_bar_45 - location + loc_bar_2_bar__minus_13_bar_1_bar_30 - location + loc_bar_0_bar__minus_5_bar_1_bar_45 - location + loc_bar__minus_1_bar_1_bar_1_bar_45 - location + loc_bar__minus_4_bar__minus_13_bar_2_bar_60 - location + loc_bar__minus_2_bar_1_bar_1_bar_45 - location + loc_bar_1_bar__minus_3_bar_1_bar_60 - location + loc_bar__minus_2_bar_1_bar_0_bar_45 - location + loc_bar__minus_5_bar__minus_7_bar_3_bar_60 - location + loc_bar_1_bar_0_bar_1_bar__minus_30 - location + loc_bar__minus_7_bar__minus_10_bar_3_bar__minus_30 - location + loc_bar_0_bar__minus_6_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 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the small table next to the trash bag.", + "Place the peach to the right of the sponge on the corner of the table." + ], + "task_desc": "Place a washed peach on a table.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1GVTH5YS3WOK0_3FE2ERCCZ0PDA1OF7BNOOTUFJCDPOS", + "high_descs": [ + "Turn right, head towards the white table, and then turn left to face the black table.", + "Pick up the plum beside the bread on the table.", + "Turn right and head towards the sink on your left.", + "Place the plum in the sink, rinse it, and pick it back up.", + "Turn left and head towards the black table on your left.", + "Place the plum to the right of the green sponge on the table." + ], + "task_desc": "Wash the plum from the black 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-Spatula-None-SideTable-3/trial_T20190907_195009_657003/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Spatula-None-SideTable-3/trial_T20190907_195009_657003/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..661642c2e0d82db6ec42dae8c3bc6b1d61302167 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Spatula-None-SideTable-3/trial_T20190907_195009_657003/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\n\\n#task#\"\n }\n ],\n\n \"notImplemented\": [\n {\n \"rhs\": \"TODO\"\n }\n ],\n\n \"task\": [\n {\n \"rhs\": \"Your task is to: clean some spatula and put it in 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_195009_657003)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\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_94_bar__plus_01_dot_81_bar__plus_02_dot_35 - object\n Apple_bar__plus_01_dot_03_bar__plus_01_dot_26_bar__plus_01_dot_24 - object\n Apple_bar__minus_01_dot_17_bar__plus_01_dot_37_bar__minus_03_dot_43 - object\n Bowl_bar__minus_01_dot_82_bar__plus_00_dot_34_bar__plus_01_dot_21 - object\n Bread_bar__minus_01_dot_53_bar__plus_01_dot_40_bar__minus_01_dot_94 - object\n Bread_bar__minus_02_dot_05_bar__plus_01_dot_40_bar__plus_00_dot_77 - 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_63_bar__plus_01_dot_32_bar__minus_02_dot_79 - object\n DishSponge_bar__plus_00_dot_98_bar__plus_00_dot_74_bar__plus_01_dot_02 - object\n Egg_bar__plus_01_dot_21_bar__plus_01_dot_35_bar__plus_00_dot_81 - object\n Egg_bar__minus_01_dot_70_bar__plus_01_dot_09_bar__minus_00_dot_54 - object\n Egg_bar__minus_01_dot_83_bar__plus_01_dot_37_bar__minus_00_dot_91 - object\n Faucet_bar__minus_02_dot_06_bar__plus_01_dot_36_bar__minus_00_dot_73 - object\n Fork_bar__minus_02_dot_05_bar__plus_01_dot_32_bar__minus_02_dot_72 - object\n HousePlant_bar__minus_02_dot_03_bar__plus_01_dot_31_bar__minus_00_dot_03 - object\n Kettle_bar__minus_01_dot_69_bar__plus_01_dot_31_bar__minus_03_dot_16 - object\n Knife_bar__minus_01_dot_79_bar__plus_01_dot_35_bar__plus_01_dot_74 - object\n Knife_bar__minus_01_dot_79_bar__plus_01_dot_35_bar__minus_02_dot_20 - object\n Lettuce_bar__plus_01_dot_03_bar__plus_01_dot_40_bar__minus_02_dot_42 - object\n Lettuce_bar__minus_01_dot_92_bar__plus_01_dot_40_bar__plus_00_dot_45 - object\n Lettuce_bar__minus_01_dot_92_bar__plus_01_dot_40_bar__minus_02_dot_72 - object\n LightSwitch_bar__plus_01_dot_39_bar__plus_01_dot_57_bar__minus_00_dot_66 - object\n Mug_bar__minus_02_dot_18_bar__plus_01_dot_32_bar__plus_00_dot_45 - 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_60_bar__plus_00_dot_34_bar__minus_01_dot_96 - object\n PepperShaker_bar__minus_01_dot_66_bar__plus_01_dot_32_bar__plus_01_dot_42 - 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_52 - object\n Potato_bar__plus_01_dot_10_bar__plus_01_dot_80_bar__plus_02_dot_11 - object\n Pot_bar__minus_00_dot_24_bar__plus_01_dot_33_bar__minus_03_dot_30 - object\n Pot_bar__minus_00_dot_75_bar__plus_01_dot_33_bar__minus_02_dot_97 - object\n SaltShaker_bar__minus_01_dot_24_bar__plus_01_dot_32_bar__minus_03_dot_20 - 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_09_bar__plus_01_dot_32_bar__minus_02_dot_87 - object\n SoapBottle_bar__minus_01_dot_52_bar__plus_01_dot_32_bar__minus_03_dot_43 - object\n SoapBottle_bar__minus_01_dot_59_bar__plus_00_dot_28_bar__plus_02_dot_15 - object\n Spatula_bar__minus_01_dot_66_bar__plus_01_dot_34_bar__minus_02_dot_72 - object\n Spatula_bar__minus_02_dot_00_bar__plus_01_dot_34_bar__minus_00_dot_98 - object\n Spatula_bar__minus_02_dot_00_bar__plus_01_dot_35_bar__minus_01_dot_19 - object\n Spoon_bar__minus_01_dot_40_bar__plus_01_dot_32_bar__minus_02_dot_98 - object\n Spoon_bar__minus_01_dot_92_bar__plus_01_dot_32_bar__minus_01_dot_94 - 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_12_bar__plus_01_dot_56_bar__plus_01_dot_85 - object\n Window_bar__minus_02_dot_57_bar__plus_01_dot_80_bar__minus_00_dot_82 - object\n WineBottle_bar__minus_01_dot_17_bar__plus_01_dot_32_bar__minus_02_dot_76 - object\n WineBottle_bar__minus_01_dot_95_bar__plus_00_dot_34_bar__plus_00_dot_71 - object\n Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_78_bar__minus_02_dot_05 - receptacle\n Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_00_dot_47 - receptacle\n Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_01_dot_31 - receptacle\n Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__minus_02_dot_00 - receptacle\n CoffeeMachine_bar__plus_01_dot_13_bar__plus_01_dot_31_bar__minus_01_dot_43 - receptacle\n CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18 - receptacle\n Drawer_bar__plus_00_dot_71_bar__plus_00_dot_85_bar__plus_01_dot_02 - receptacle\n Drawer_bar__plus_00_dot_71_bar__plus_01_dot_06_bar__plus_01_dot_02 - receptacle\n Drawer_bar__plus_00_dot_72_bar__plus_00_dot_59_bar__plus_00_dot_68 - receptacle\n Drawer_bar__plus_00_dot_72_bar__plus_00_dot_59_bar__plus_01_dot_02 - receptacle\n Drawer_bar__plus_00_dot_72_bar__plus_00_dot_84_bar__plus_00_dot_68 - receptacle\n Drawer_bar__plus_00_dot_72_bar__plus_01_dot_06_bar__plus_00_dot_68 - receptacle\n Drawer_bar__minus_01_dot_61_bar__plus_00_dot_68_bar__minus_00_dot_43 - receptacle\n Drawer_bar__minus_01_dot_61_bar__plus_00_dot_68_bar__minus_01_dot_22 - receptacle\n Fridge_bar__plus_01_dot_01_bar__plus_00_dot_23_bar__plus_01_dot_92 - receptacle\n GarbageCan_bar__minus_01_dot_63_bar__plus_00_dot_22_bar__plus_02_dot_19 - receptacle\n Microwave_bar__plus_01_dot_16_bar__plus_01_dot_19_bar__plus_00_dot_85 - receptacle\n SideTable_bar__plus_01_dot_02_bar__plus_01_dot_24_bar__plus_00_dot_87 - receptacle\n Sink_bar__minus_01_dot_99_bar__plus_01_dot_14_bar__minus_00_dot_98_bar_SinkBasin - receptacle\n StoveBurner_bar__minus_00_dot_13_bar__plus_01_dot_33_bar__minus_02_dot_97 - receptacle\n StoveBurner_bar__minus_00_dot_24_bar__plus_01_dot_33_bar__minus_03_dot_30 - receptacle\n StoveBurner_bar__minus_00_dot_63_bar__plus_01_dot_33_bar__minus_03_dot_30 - receptacle\n StoveBurner_bar__minus_00_dot_75_bar__plus_01_dot_33_bar__minus_02_dot_97 - receptacle\n Toaster_bar__minus_01_dot_89_bar__plus_01_dot_31_bar__minus_02_dot_51 - receptacle\n loc_bar__minus_4_bar__minus_2_bar_3_bar_60 - location\n loc_bar__minus_4_bar__minus_5_bar_3_bar_60 - location\n loc_bar_0_bar_1_bar_1_bar_60 - location\n loc_bar__minus_1_bar_0_bar_1_bar_60 - location\n loc_bar__minus_2_bar_7_bar_3_bar_45 - location\n loc_bar_0_bar_3_bar_1_bar_45 - location\n loc_bar__minus_2_bar__minus_6_bar_3_bar_45 - location\n loc_bar__minus_4_bar__minus_3_bar_3_bar_0 - location\n loc_bar__minus_3_bar__minus_9_bar_2_bar_45 - location\n loc_bar__minus_4_bar__minus_9_bar_3_bar_30 - location\n loc_bar_1_bar_3_bar_1_bar_30 - location\n loc_bar__minus_1_bar__minus_9_bar_2_bar_30 - location\n loc_bar__minus_1_bar__minus_9_bar_2_bar_45 - location\n loc_bar__minus_2_bar__minus_9_bar_2_bar_45 - location\n loc_bar_1_bar_4_bar_1_bar_45 - location\n loc_bar__minus_3_bar__minus_9_bar_2_bar_30 - location\n loc_bar_3_bar__minus_1_bar_1_bar_30 - location\n loc_bar_0_bar_6_bar_1_bar_60 - location\n loc_bar__minus_4_bar_5_bar_0_bar_60 - location\n loc_bar__minus_2_bar_0_bar_3_bar_45 - location\n loc_bar__minus_4_bar__minus_4_bar_3_bar_30 - location\n loc_bar__minus_1_bar_2_bar_1_bar_60 - location\n loc_bar_0_bar_1_bar_1_bar_45 - location\n loc_bar_0_bar_8_bar_1_bar_60 - location\n loc_bar__minus_1_bar__minus_9_bar_1_bar_60 - location\n loc_bar_0_bar__minus_4_bar_1_bar_60 - location\n loc_bar_0_bar__minus_6_bar_1_bar_30 - location\n loc_bar__minus_4_bar__minus_3_bar_3_bar_45 - location\n loc_bar__minus_4_bar_5_bar_3_bar_30 - location\n loc_bar__minus_3_bar__minus_2_bar_2_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Drawer_bar__plus_00_dot_71_bar__plus_01_dot_06_bar__plus_01_dot_02 DrawerType)\n (receptacleType Toaster_bar__minus_01_dot_89_bar__plus_01_dot_31_bar__minus_02_dot_51 ToasterType)\n (receptacleType SideTable_bar__plus_01_dot_02_bar__plus_01_dot_24_bar__plus_00_dot_87 SideTableType)\n (receptacleType Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_00_dot_47 CabinetType)\n (receptacleType Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_78_bar__minus_02_dot_05 CabinetType)\n (receptacleType GarbageCan_bar__minus_01_dot_63_bar__plus_00_dot_22_bar__plus_02_dot_19 GarbageCanType)\n (receptacleType StoveBurner_bar__minus_00_dot_24_bar__plus_01_dot_33_bar__minus_03_dot_30 StoveBurnerType)\n (receptacleType StoveBurner_bar__minus_00_dot_75_bar__plus_01_dot_33_bar__minus_02_dot_97 StoveBurnerType)\n (receptacleType Microwave_bar__plus_01_dot_16_bar__plus_01_dot_19_bar__plus_00_dot_85 MicrowaveType)\n (receptacleType StoveBurner_bar__minus_00_dot_63_bar__plus_01_dot_33_bar__minus_03_dot_30 StoveBurnerType)\n (receptacleType Drawer_bar__minus_01_dot_61_bar__plus_00_dot_68_bar__minus_01_dot_22 DrawerType)\n (receptacleType Fridge_bar__plus_01_dot_01_bar__plus_00_dot_23_bar__plus_01_dot_92 FridgeType)\n (receptacleType Drawer_bar__minus_01_dot_61_bar__plus_00_dot_68_bar__minus_00_dot_43 DrawerType)\n (receptacleType Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__minus_02_dot_00 CabinetType)\n (receptacleType Drawer_bar__plus_00_dot_71_bar__plus_00_dot_85_bar__plus_01_dot_02 DrawerType)\n (receptacleType Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_01_dot_31 CabinetType)\n (receptacleType Drawer_bar__plus_00_dot_72_bar__plus_00_dot_59_bar__plus_00_dot_68 DrawerType)\n (receptacleType Drawer_bar__plus_00_dot_72_bar__plus_00_dot_59_bar__plus_01_dot_02 DrawerType)\n (receptacleType CoffeeMachine_bar__plus_01_dot_13_bar__plus_01_dot_31_bar__minus_01_dot_43 CoffeeMachineType)\n (receptacleType StoveBurner_bar__minus_00_dot_13_bar__plus_01_dot_33_bar__minus_02_dot_97 StoveBurnerType)\n (receptacleType CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18 CounterTopType)\n (receptacleType Drawer_bar__plus_00_dot_72_bar__plus_00_dot_84_bar__plus_00_dot_68 DrawerType)\n (receptacleType Drawer_bar__plus_00_dot_72_bar__plus_01_dot_06_bar__plus_00_dot_68 DrawerType)\n (receptacleType Sink_bar__minus_01_dot_99_bar__plus_01_dot_14_bar__minus_00_dot_98_bar_SinkBasin SinkBasinType)\n (objectType Spatula_bar__minus_02_dot_00_bar__plus_01_dot_34_bar__minus_00_dot_98 SpatulaType)\n (objectType StoveKnob_bar__minus_00_dot_57_bar__plus_01_dot_34_bar__minus_02_dot_74 StoveKnobType)\n (objectType SoapBottle_bar__minus_01_dot_52_bar__plus_01_dot_32_bar__minus_03_dot_43 SoapBottleType)\n (objectType DishSponge_bar__plus_00_dot_98_bar__plus_00_dot_74_bar__plus_01_dot_02 DishSpongeType)\n (objectType Lettuce_bar__minus_01_dot_92_bar__plus_01_dot_40_bar__minus_02_dot_72 LettuceType)\n (objectType PepperShaker_bar__minus_01_dot_66_bar__plus_01_dot_32_bar__plus_01_dot_42 PepperShakerType)\n (objectType Fork_bar__minus_02_dot_05_bar__plus_01_dot_32_bar__minus_02_dot_72 ForkType)\n (objectType Egg_bar__minus_01_dot_83_bar__plus_01_dot_37_bar__minus_00_dot_91 EggType)\n (objectType Lettuce_bar__plus_01_dot_03_bar__plus_01_dot_40_bar__minus_02_dot_42 LettuceType)\n (objectType PepperShaker_bar__minus_01_dot_60_bar__plus_00_dot_34_bar__minus_01_dot_96 PepperShakerType)\n (objectType Apple_bar__minus_01_dot_17_bar__plus_01_dot_37_bar__minus_03_dot_43 AppleType)\n (objectType Sink_bar__minus_01_dot_99_bar__plus_01_dot_14_bar__minus_00_dot_98 SinkType)\n (objectType Window_bar__minus_02_dot_57_bar__plus_01_dot_80_bar__minus_00_dot_82 WindowType)\n (objectType StoveKnob_bar__minus_00_dot_71_bar__plus_01_dot_34_bar__minus_02_dot_74 StoveKnobType)\n (objectType StoveKnob_bar__minus_00_dot_34_bar__plus_01_dot_34_bar__minus_02_dot_74 StoveKnobType)\n (objectType Tomato_bar__plus_01_dot_12_bar__plus_01_dot_56_bar__plus_01_dot_85 TomatoType)\n (objectType SoapBottle_bar__minus_01_dot_59_bar__plus_00_dot_28_bar__plus_02_dot_15 SoapBottleType)\n (objectType Apple_bar__plus_00_dot_94_bar__plus_01_dot_81_bar__plus_02_dot_35 AppleType)\n (objectType PaperTowelRoll_bar__plus_01_dot_28_bar__plus_01_dot_31_bar__plus_01_dot_24 PaperTowelRollType)\n (objectType 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Apple_bar__minus_01_dot_17_bar__plus_01_dot_37_bar__minus_03_dot_43 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle Spoon_bar__minus_01_dot_92_bar__plus_01_dot_32_bar__minus_01_dot_94 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle Lettuce_bar__minus_01_dot_92_bar__plus_01_dot_40_bar__plus_00_dot_45 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle Spoon_bar__minus_01_dot_40_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 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 Cup_bar__plus_00_dot_63_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 SaltShaker_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 Kettle_bar__minus_01_dot_69_bar__plus_01_dot_31_bar__minus_03_dot_16 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle Bread_bar__minus_01_dot_53_bar__plus_01_dot_40_bar__minus_01_dot_94 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 Bread_bar__minus_02_dot_05_bar__plus_01_dot_40_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_09_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 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Fridge_bar__plus_01_dot_01_bar__plus_00_dot_23_bar__plus_01_dot_92)\n (inReceptacle Egg_bar__plus_01_dot_21_bar__plus_01_dot_35_bar__plus_00_dot_81 Microwave_bar__plus_01_dot_16_bar__plus_01_dot_19_bar__plus_00_dot_85)\n (inReceptacle SoapBottle_bar__minus_01_dot_59_bar__plus_00_dot_28_bar__plus_02_dot_15 GarbageCan_bar__minus_01_dot_63_bar__plus_00_dot_22_bar__plus_02_dot_19)\n (inReceptacle Egg_bar__minus_01_dot_70_bar__plus_01_dot_09_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 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Spoon_bar__minus_01_dot_92_bar__plus_01_dot_32_bar__minus_01_dot_94 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation PepperShaker_bar__minus_01_dot_66_bar__plus_01_dot_32_bar__plus_01_dot_42 loc_bar__minus_4_bar_5_bar_3_bar_30)\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 Spatula_bar__minus_02_dot_00_bar__plus_01_dot_34_bar__minus_00_dot_98 loc_bar__minus_4_bar__minus_3_bar_3_bar_45)\n (objectAtLocation Lettuce_bar__plus_01_dot_03_bar__plus_01_dot_40_bar__minus_02_dot_42 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation WineBottle_bar__minus_01_dot_17_bar__plus_01_dot_32_bar__minus_02_dot_76 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation Egg_bar__minus_01_dot_83_bar__plus_01_dot_37_bar__minus_00_dot_91 loc_bar__minus_4_bar__minus_3_bar_3_bar_45)\n (objectAtLocation SoapBottle_bar__minus_01_dot_59_bar__plus_00_dot_28_bar__plus_02_dot_15 loc_bar__minus_4_bar_5_bar_0_bar_60)\n (objectAtLocation Knife_bar__minus_01_dot_79_bar__plus_01_dot_35_bar__minus_02_dot_20 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation Pot_bar__minus_00_dot_24_bar__plus_01_dot_33_bar__minus_03_dot_30 loc_bar__minus_1_bar__minus_9_bar_2_bar_30)\n (objectAtLocation Bread_bar__minus_01_dot_53_bar__plus_01_dot_40_bar__minus_01_dot_94 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation Apple_bar__plus_01_dot_03_bar__plus_01_dot_26_bar__plus_01_dot_24 loc_bar_1_bar_4_bar_1_bar_45)\n (objectAtLocation Lettuce_bar__minus_01_dot_92_bar__plus_01_dot_40_bar__plus_00_dot_45 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation SoapBottle_bar__minus_01_dot_52_bar__plus_01_dot_32_bar__minus_03_dot_43 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation Egg_bar__plus_01_dot_21_bar__plus_01_dot_35_bar__plus_00_dot_81 loc_bar_1_bar_3_bar_1_bar_30)\n (objectAtLocation Spatula_bar__minus_01_dot_66_bar__plus_01_dot_34_bar__minus_02_dot_72 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_02_dot_05_bar__plus_01_dot_40_bar__plus_00_dot_77 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__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 Bowl_bar__minus_01_dot_82_bar__plus_00_dot_34_bar__plus_01_dot_21 loc_bar__minus_2_bar_7_bar_3_bar_45)\n (objectAtLocation Potato_bar__plus_01_dot_10_bar__plus_01_dot_80_bar__plus_02_dot_11 loc_bar_0_bar_8_bar_1_bar_60)\n (objectAtLocation SoapBottle_bar__minus_01_dot_09_bar__plus_01_dot_32_bar__minus_02_dot_87 loc_bar__minus_4_bar_5_bar_3_bar_30)\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_02_dot_05_bar__plus_01_dot_32_bar__minus_02_dot_72 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation Cup_bar__plus_00_dot_63_bar__plus_01_dot_32_bar__minus_02_dot_79 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation Kettle_bar__minus_01_dot_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_70_bar__plus_01_dot_09_bar__minus_00_dot_54 loc_bar__minus_4_bar__minus_3_bar_3_bar_45)\n (objectAtLocation LightSwitch_bar__plus_01_dot_39_bar__plus_01_dot_57_bar__minus_00_dot_66 loc_bar_3_bar__minus_1_bar_1_bar_30)\n (objectAtLocation Pan_bar__minus_01_dot_88_bar__plus_00_dot_33_bar__minus_02_dot_04 loc_bar__minus_2_bar__minus_6_bar_3_bar_45)\n (objectAtLocation SaltShaker_bar__minus_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 WineBottle_bar__minus_01_dot_95_bar__plus_00_dot_34_bar__plus_00_dot_71 loc_bar__minus_2_bar_0_bar_3_bar_45)\n (objectAtLocation Lettuce_bar__minus_01_dot_92_bar__plus_01_dot_40_bar__minus_02_dot_72 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation HousePlant_bar__minus_02_dot_03_bar__plus_01_dot_31_bar__minus_00_dot_03 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation Spatula_bar__minus_02_dot_00_bar__plus_01_dot_35_bar__minus_01_dot_19 loc_bar__minus_4_bar__minus_3_bar_3_bar_45)\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__plus_01_dot_12_bar__plus_01_dot_56_bar__plus_01_dot_85 loc_bar_0_bar_8_bar_1_bar_60)\n (objectAtLocation Plate_bar__minus_01_dot_82_bar__plus_00_dot_34_bar__plus_01_dot_52 loc_bar__minus_2_bar_7_bar_3_bar_45)\n (objectAtLocation PepperShaker_bar__minus_01_dot_60_bar__plus_00_dot_34_bar__minus_01_dot_96 loc_bar__minus_2_bar__minus_6_bar_3_bar_45)\n (objectAtLocation Chair_bar__plus_00_dot_60_bar__plus_00_dot_95_bar__minus_01_dot_09 loc_bar_0_bar__minus_4_bar_1_bar_60)\n (objectAtLocation DishSponge_bar__plus_00_dot_98_bar__plus_00_dot_74_bar__plus_01_dot_02 loc_bar_0_bar_6_bar_1_bar_60)\n (objectAtLocation Spoon_bar__minus_01_dot_40_bar__plus_01_dot_32_bar__minus_02_dot_98 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation Apple_bar__plus_00_dot_94_bar__plus_01_dot_81_bar__plus_02_dot_35 loc_bar_0_bar_8_bar_1_bar_60)\n (objectAtLocation Mug_bar__minus_02_dot_18_bar__plus_01_dot_32_bar__plus_00_dot_45 loc_bar__minus_4_bar_5_bar_3_bar_30)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (cleanable ?o)\n (objectType ?o SpatulaType)\n (receptacleType ?r SideTableType)\n (isClean ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 1", "take spatula 3 from countertop 1", "go to sinkbasin 1", "clean spatula 3 with sinkbasin 1", "go to sidetable 1", "move spatula 3 to sidetable 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Spatula-None-SideTable-3/trial_T20190907_195009_657003/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Spatula-None-SideTable-3/trial_T20190907_195009_657003/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..454564c9617b341c30d1a0a603d85f71320ab6f7 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Spatula-None-SideTable-3/trial_T20190907_195009_657003/initial_state.pddl @@ -0,0 +1,877 @@ + +(define (problem plan_trial_T20190907_195009_657003) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + 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_94_bar__plus_01_dot_81_bar__plus_02_dot_35 - object + Apple_bar__plus_01_dot_03_bar__plus_01_dot_26_bar__plus_01_dot_24 - object + Apple_bar__minus_01_dot_17_bar__plus_01_dot_37_bar__minus_03_dot_43 - object + Bowl_bar__minus_01_dot_82_bar__plus_00_dot_34_bar__plus_01_dot_21 - object + Bread_bar__minus_01_dot_53_bar__plus_01_dot_40_bar__minus_01_dot_94 - object + Bread_bar__minus_02_dot_05_bar__plus_01_dot_40_bar__plus_00_dot_77 - object + Chair_bar__plus_00_dot_60_bar__plus_00_dot_95_bar__minus_01_dot_09 - object + Cup_bar__plus_00_dot_63_bar__plus_01_dot_32_bar__minus_02_dot_79 - object + DishSponge_bar__plus_00_dot_98_bar__plus_00_dot_74_bar__plus_01_dot_02 - object + Egg_bar__plus_01_dot_21_bar__plus_01_dot_35_bar__plus_00_dot_81 - object + Egg_bar__minus_01_dot_70_bar__plus_01_dot_09_bar__minus_00_dot_54 - object + Egg_bar__minus_01_dot_83_bar__plus_01_dot_37_bar__minus_00_dot_91 - object + Faucet_bar__minus_02_dot_06_bar__plus_01_dot_36_bar__minus_00_dot_73 - object + Fork_bar__minus_02_dot_05_bar__plus_01_dot_32_bar__minus_02_dot_72 - object + HousePlant_bar__minus_02_dot_03_bar__plus_01_dot_31_bar__minus_00_dot_03 - object + Kettle_bar__minus_01_dot_69_bar__plus_01_dot_31_bar__minus_03_dot_16 - object + Knife_bar__minus_01_dot_79_bar__plus_01_dot_35_bar__plus_01_dot_74 - object + Knife_bar__minus_01_dot_79_bar__plus_01_dot_35_bar__minus_02_dot_20 - object + Lettuce_bar__plus_01_dot_03_bar__plus_01_dot_40_bar__minus_02_dot_42 - object + Lettuce_bar__minus_01_dot_92_bar__plus_01_dot_40_bar__plus_00_dot_45 - object + Lettuce_bar__minus_01_dot_92_bar__plus_01_dot_40_bar__minus_02_dot_72 - object + LightSwitch_bar__plus_01_dot_39_bar__plus_01_dot_57_bar__minus_00_dot_66 - object + Mug_bar__minus_02_dot_18_bar__plus_01_dot_32_bar__plus_00_dot_45 - 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_60_bar__plus_00_dot_34_bar__minus_01_dot_96 - object + PepperShaker_bar__minus_01_dot_66_bar__plus_01_dot_32_bar__plus_01_dot_42 - 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_52 - object + Potato_bar__plus_01_dot_10_bar__plus_01_dot_80_bar__plus_02_dot_11 - object + Pot_bar__minus_00_dot_24_bar__plus_01_dot_33_bar__minus_03_dot_30 - object + Pot_bar__minus_00_dot_75_bar__plus_01_dot_33_bar__minus_02_dot_97 - object + SaltShaker_bar__minus_01_dot_24_bar__plus_01_dot_32_bar__minus_03_dot_20 - object + Sink_bar__minus_01_dot_99_bar__plus_01_dot_14_bar__minus_00_dot_98 - object + SoapBottle_bar__minus_01_dot_09_bar__plus_01_dot_32_bar__minus_02_dot_87 - object + SoapBottle_bar__minus_01_dot_52_bar__plus_01_dot_32_bar__minus_03_dot_43 - object + SoapBottle_bar__minus_01_dot_59_bar__plus_00_dot_28_bar__plus_02_dot_15 - object + Spatula_bar__minus_01_dot_66_bar__plus_01_dot_34_bar__minus_02_dot_72 - object + Spatula_bar__minus_02_dot_00_bar__plus_01_dot_34_bar__minus_00_dot_98 - object + Spatula_bar__minus_02_dot_00_bar__plus_01_dot_35_bar__minus_01_dot_19 - object + Spoon_bar__minus_01_dot_40_bar__plus_01_dot_32_bar__minus_02_dot_98 - object + Spoon_bar__minus_01_dot_92_bar__plus_01_dot_32_bar__minus_01_dot_94 - 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_12_bar__plus_01_dot_56_bar__plus_01_dot_85 - object + Window_bar__minus_02_dot_57_bar__plus_01_dot_80_bar__minus_00_dot_82 - object + WineBottle_bar__minus_01_dot_17_bar__plus_01_dot_32_bar__minus_02_dot_76 - object + WineBottle_bar__minus_01_dot_95_bar__plus_00_dot_34_bar__plus_00_dot_71 - object + Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_78_bar__minus_02_dot_05 - receptacle + Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_00_dot_47 - receptacle + Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_01_dot_31 - receptacle + Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__minus_02_dot_00 - receptacle + CoffeeMachine_bar__plus_01_dot_13_bar__plus_01_dot_31_bar__minus_01_dot_43 - receptacle + CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18 - receptacle + Drawer_bar__plus_00_dot_71_bar__plus_00_dot_85_bar__plus_01_dot_02 - receptacle + Drawer_bar__plus_00_dot_71_bar__plus_01_dot_06_bar__plus_01_dot_02 - receptacle + Drawer_bar__plus_00_dot_72_bar__plus_00_dot_59_bar__plus_00_dot_68 - receptacle + Drawer_bar__plus_00_dot_72_bar__plus_00_dot_59_bar__plus_01_dot_02 - receptacle + Drawer_bar__plus_00_dot_72_bar__plus_00_dot_84_bar__plus_00_dot_68 - receptacle + Drawer_bar__plus_00_dot_72_bar__plus_01_dot_06_bar__plus_00_dot_68 - receptacle + Drawer_bar__minus_01_dot_61_bar__plus_00_dot_68_bar__minus_00_dot_43 - receptacle + Drawer_bar__minus_01_dot_61_bar__plus_00_dot_68_bar__minus_01_dot_22 - receptacle + Fridge_bar__plus_01_dot_01_bar__plus_00_dot_23_bar__plus_01_dot_92 - receptacle + GarbageCan_bar__minus_01_dot_63_bar__plus_00_dot_22_bar__plus_02_dot_19 - receptacle + Microwave_bar__plus_01_dot_16_bar__plus_01_dot_19_bar__plus_00_dot_85 - receptacle + SideTable_bar__plus_01_dot_02_bar__plus_01_dot_24_bar__plus_00_dot_87 - receptacle + Sink_bar__minus_01_dot_99_bar__plus_01_dot_14_bar__minus_00_dot_98_bar_SinkBasin - receptacle + StoveBurner_bar__minus_00_dot_13_bar__plus_01_dot_33_bar__minus_02_dot_97 - receptacle + StoveBurner_bar__minus_00_dot_24_bar__plus_01_dot_33_bar__minus_03_dot_30 - receptacle + StoveBurner_bar__minus_00_dot_63_bar__plus_01_dot_33_bar__minus_03_dot_30 - receptacle + StoveBurner_bar__minus_00_dot_75_bar__plus_01_dot_33_bar__minus_02_dot_97 - receptacle + Toaster_bar__minus_01_dot_89_bar__plus_01_dot_31_bar__minus_02_dot_51 - receptacle + loc_bar__minus_4_bar__minus_2_bar_3_bar_60 - location + loc_bar__minus_4_bar__minus_5_bar_3_bar_60 - location + loc_bar_0_bar_1_bar_1_bar_60 - location + loc_bar__minus_1_bar_0_bar_1_bar_60 - location + loc_bar__minus_2_bar_7_bar_3_bar_45 - location + loc_bar_0_bar_3_bar_1_bar_45 - location + loc_bar__minus_2_bar__minus_6_bar_3_bar_45 - location + loc_bar__minus_4_bar__minus_3_bar_3_bar_0 - location + loc_bar__minus_3_bar__minus_9_bar_2_bar_45 - location + loc_bar__minus_4_bar__minus_9_bar_3_bar_30 - location + loc_bar_1_bar_3_bar_1_bar_30 - location + loc_bar__minus_1_bar__minus_9_bar_2_bar_30 - location + loc_bar__minus_1_bar__minus_9_bar_2_bar_45 - location + loc_bar__minus_2_bar__minus_9_bar_2_bar_45 - location + loc_bar_1_bar_4_bar_1_bar_45 - location + loc_bar__minus_3_bar__minus_9_bar_2_bar_30 - location + loc_bar_3_bar__minus_1_bar_1_bar_30 - location + loc_bar_0_bar_6_bar_1_bar_60 - location + loc_bar__minus_4_bar_5_bar_0_bar_60 - location + loc_bar__minus_2_bar_0_bar_3_bar_45 - location + loc_bar__minus_4_bar__minus_4_bar_3_bar_30 - location + loc_bar__minus_1_bar_2_bar_1_bar_60 - location + loc_bar_0_bar_1_bar_1_bar_45 - location + loc_bar_0_bar_8_bar_1_bar_60 - location + loc_bar__minus_1_bar__minus_9_bar_1_bar_60 - location + loc_bar_0_bar__minus_4_bar_1_bar_60 - location + loc_bar_0_bar__minus_6_bar_1_bar_30 - location + loc_bar__minus_4_bar__minus_3_bar_3_bar_45 - location + loc_bar__minus_4_bar_5_bar_3_bar_30 - location + loc_bar__minus_3_bar__minus_2_bar_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 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Apple_bar__plus_00_dot_94_bar__plus_01_dot_81_bar__plus_02_dot_35) + (cleanable Plate_bar__minus_01_dot_68_bar__plus_00_dot_34_bar__plus_00_dot_51) + (cleanable Spoon_bar__minus_01_dot_92_bar__plus_01_dot_32_bar__minus_01_dot_94) + (cleanable Lettuce_bar__minus_01_dot_92_bar__plus_01_dot_40_bar__plus_00_dot_45) + (cleanable Plate_bar__minus_01_dot_82_bar__plus_00_dot_34_bar__plus_01_dot_52) + (cleanable Pan_bar__minus_01_dot_88_bar__plus_00_dot_33_bar__minus_02_dot_04) + (cleanable Spoon_bar__minus_01_dot_40_bar__plus_01_dot_32_bar__minus_02_dot_98) + (cleanable Bowl_bar__minus_01_dot_82_bar__plus_00_dot_34_bar__plus_01_dot_21) + (cleanable Egg_bar__plus_01_dot_21_bar__plus_01_dot_35_bar__plus_00_dot_81) + (cleanable Egg_bar__minus_01_dot_70_bar__plus_01_dot_09_bar__minus_00_dot_54) + (cleanable Cup_bar__plus_00_dot_63_bar__plus_01_dot_32_bar__minus_02_dot_79) + (cleanable Kettle_bar__minus_01_dot_69_bar__plus_01_dot_31_bar__minus_03_dot_16) + (cleanable Apple_bar__plus_01_dot_03_bar__plus_01_dot_26_bar__plus_01_dot_24) + (cleanable Pot_bar__minus_00_dot_75_bar__plus_01_dot_33_bar__minus_02_dot_97) + (cleanable Knife_bar__minus_01_dot_79_bar__plus_01_dot_35_bar__plus_01_dot_74) + (cleanable Potato_bar__plus_01_dot_10_bar__plus_01_dot_80_bar__plus_02_dot_11) + (cleanable Spatula_bar__minus_02_dot_00_bar__plus_01_dot_35_bar__minus_01_dot_19) + (cleanable Pot_bar__minus_00_dot_24_bar__plus_01_dot_33_bar__minus_03_dot_30) + (cleanable Knife_bar__minus_01_dot_79_bar__plus_01_dot_35_bar__minus_02_dot_20) + (cleanable Spatula_bar__minus_01_dot_66_bar__plus_01_dot_34_bar__minus_02_dot_72) + (cleanable Mug_bar__minus_02_dot_18_bar__plus_01_dot_32_bar__plus_00_dot_45) + + (heatable Egg_bar__minus_01_dot_83_bar__plus_01_dot_37_bar__minus_00_dot_91) + (heatable Apple_bar__minus_01_dot_17_bar__plus_01_dot_37_bar__minus_03_dot_43) + (heatable Tomato_bar__plus_01_dot_12_bar__plus_01_dot_56_bar__plus_01_dot_85) + (heatable Apple_bar__plus_00_dot_94_bar__plus_01_dot_81_bar__plus_02_dot_35) + (heatable Plate_bar__minus_01_dot_68_bar__plus_00_dot_34_bar__plus_00_dot_51) + (heatable Plate_bar__minus_01_dot_82_bar__plus_00_dot_34_bar__plus_01_dot_52) + (heatable Egg_bar__plus_01_dot_21_bar__plus_01_dot_35_bar__plus_00_dot_81) + (heatable Egg_bar__minus_01_dot_70_bar__plus_01_dot_09_bar__minus_00_dot_54) + (heatable Cup_bar__plus_00_dot_63_bar__plus_01_dot_32_bar__minus_02_dot_79) + (heatable Apple_bar__plus_01_dot_03_bar__plus_01_dot_26_bar__plus_01_dot_24) + (heatable Bread_bar__minus_01_dot_53_bar__plus_01_dot_40_bar__minus_01_dot_94) + (heatable Potato_bar__plus_01_dot_10_bar__plus_01_dot_80_bar__plus_02_dot_11) + (heatable Bread_bar__minus_02_dot_05_bar__plus_01_dot_40_bar__plus_00_dot_77) + (heatable Mug_bar__minus_02_dot_18_bar__plus_01_dot_32_bar__plus_00_dot_45) + (coolable Lettuce_bar__minus_01_dot_92_bar__plus_01_dot_40_bar__minus_02_dot_72) + (coolable Egg_bar__minus_01_dot_83_bar__plus_01_dot_37_bar__minus_00_dot_91) + (coolable Lettuce_bar__plus_01_dot_03_bar__plus_01_dot_40_bar__minus_02_dot_42) + (coolable Apple_bar__minus_01_dot_17_bar__plus_01_dot_37_bar__minus_03_dot_43) + (coolable Tomato_bar__plus_01_dot_12_bar__plus_01_dot_56_bar__plus_01_dot_85) + (coolable Apple_bar__plus_00_dot_94_bar__plus_01_dot_81_bar__plus_02_dot_35) + (coolable Plate_bar__minus_01_dot_68_bar__plus_00_dot_34_bar__plus_00_dot_51) + (coolable Lettuce_bar__minus_01_dot_92_bar__plus_01_dot_40_bar__plus_00_dot_45) + (coolable Plate_bar__minus_01_dot_82_bar__plus_00_dot_34_bar__plus_01_dot_52) + (coolable Pan_bar__minus_01_dot_88_bar__plus_00_dot_33_bar__minus_02_dot_04) + (coolable Bowl_bar__minus_01_dot_82_bar__plus_00_dot_34_bar__plus_01_dot_21) + (coolable Egg_bar__plus_01_dot_21_bar__plus_01_dot_35_bar__plus_00_dot_81) + (coolable WineBottle_bar__minus_01_dot_95_bar__plus_00_dot_34_bar__plus_00_dot_71) + (coolable Egg_bar__minus_01_dot_70_bar__plus_01_dot_09_bar__minus_00_dot_54) + (coolable Cup_bar__plus_00_dot_63_bar__plus_01_dot_32_bar__minus_02_dot_79) + (coolable Apple_bar__plus_01_dot_03_bar__plus_01_dot_26_bar__plus_01_dot_24) + (coolable Bread_bar__minus_01_dot_53_bar__plus_01_dot_40_bar__minus_01_dot_94) + (coolable Pot_bar__minus_00_dot_75_bar__plus_01_dot_33_bar__minus_02_dot_97) + (coolable Potato_bar__plus_01_dot_10_bar__plus_01_dot_80_bar__plus_02_dot_11) + (coolable Pot_bar__minus_00_dot_24_bar__plus_01_dot_33_bar__minus_03_dot_30) + (coolable Bread_bar__minus_02_dot_05_bar__plus_01_dot_40_bar__plus_00_dot_77) + (coolable Mug_bar__minus_02_dot_18_bar__plus_01_dot_32_bar__plus_00_dot_45) + (coolable WineBottle_bar__minus_01_dot_17_bar__plus_01_dot_32_bar__minus_02_dot_76) + + + + + + (sliceable Lettuce_bar__minus_01_dot_92_bar__plus_01_dot_40_bar__minus_02_dot_72) + (sliceable Egg_bar__minus_01_dot_83_bar__plus_01_dot_37_bar__minus_00_dot_91) + (sliceable Lettuce_bar__plus_01_dot_03_bar__plus_01_dot_40_bar__minus_02_dot_42) + (sliceable Apple_bar__minus_01_dot_17_bar__plus_01_dot_37_bar__minus_03_dot_43) + (sliceable Tomato_bar__plus_01_dot_12_bar__plus_01_dot_56_bar__plus_01_dot_85) + (sliceable Apple_bar__plus_00_dot_94_bar__plus_01_dot_81_bar__plus_02_dot_35) + (sliceable Lettuce_bar__minus_01_dot_92_bar__plus_01_dot_40_bar__plus_00_dot_45) + (sliceable Egg_bar__plus_01_dot_21_bar__plus_01_dot_35_bar__plus_00_dot_81) + (sliceable Egg_bar__minus_01_dot_70_bar__plus_01_dot_09_bar__minus_00_dot_54) + (sliceable Apple_bar__plus_01_dot_03_bar__plus_01_dot_26_bar__plus_01_dot_24) + (sliceable Bread_bar__minus_01_dot_53_bar__plus_01_dot_40_bar__minus_01_dot_94) + (sliceable Potato_bar__plus_01_dot_10_bar__plus_01_dot_80_bar__plus_02_dot_11) + (sliceable Bread_bar__minus_02_dot_05_bar__plus_01_dot_40_bar__plus_00_dot_77) + + (inReceptacle Pot_bar__minus_00_dot_24_bar__plus_01_dot_33_bar__minus_03_dot_30 StoveBurner_bar__minus_00_dot_24_bar__plus_01_dot_33_bar__minus_03_dot_30) + (inReceptacle PepperShaker_bar__minus_01_dot_60_bar__plus_00_dot_34_bar__minus_01_dot_96 Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__minus_02_dot_00) + (inReceptacle Pan_bar__minus_01_dot_88_bar__plus_00_dot_33_bar__minus_02_dot_04 Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__minus_02_dot_00) + (inReceptacle WineBottle_bar__minus_01_dot_95_bar__plus_00_dot_34_bar__plus_00_dot_71 Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_00_dot_47) + (inReceptacle 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) + (inReceptacle SoapBottle_bar__minus_01_dot_52_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 Lettuce_bar__minus_01_dot_92_bar__plus_01_dot_40_bar__minus_02_dot_72 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle PepperShaker_bar__minus_01_dot_66_bar__plus_01_dot_32_bar__plus_01_dot_42 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle Fork_bar__minus_02_dot_05_bar__plus_01_dot_32_bar__minus_02_dot_72 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle Lettuce_bar__plus_01_dot_03_bar__plus_01_dot_40_bar__minus_02_dot_42 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle Apple_bar__minus_01_dot_17_bar__plus_01_dot_37_bar__minus_03_dot_43 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle Spoon_bar__minus_01_dot_92_bar__plus_01_dot_32_bar__minus_01_dot_94 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle Lettuce_bar__minus_01_dot_92_bar__plus_01_dot_40_bar__plus_00_dot_45 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle Spoon_bar__minus_01_dot_40_bar__plus_01_dot_32_bar__minus_02_dot_98 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle HousePlant_bar__minus_02_dot_03_bar__plus_01_dot_31_bar__minus_00_dot_03 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle Cup_bar__plus_00_dot_63_bar__plus_01_dot_32_bar__minus_02_dot_79 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle SaltShaker_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) + (inReceptacle Kettle_bar__minus_01_dot_69_bar__plus_01_dot_31_bar__minus_03_dot_16 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle Bread_bar__minus_01_dot_53_bar__plus_01_dot_40_bar__minus_01_dot_94 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (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) + (inReceptacle Bread_bar__minus_02_dot_05_bar__plus_01_dot_40_bar__plus_00_dot_77 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle SoapBottle_bar__minus_01_dot_09_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) + (inReceptacle Knife_bar__minus_01_dot_79_bar__plus_01_dot_35_bar__minus_02_dot_20 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle Spatula_bar__minus_01_dot_66_bar__plus_01_dot_34_bar__minus_02_dot_72 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle Mug_bar__minus_02_dot_18_bar__plus_01_dot_32_bar__plus_00_dot_45 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle WineBottle_bar__minus_01_dot_17_bar__plus_01_dot_32_bar__minus_02_dot_76 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle Plate_bar__minus_01_dot_82_bar__plus_00_dot_34_bar__plus_01_dot_52 Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_01_dot_31) + (inReceptacle Bowl_bar__minus_01_dot_82_bar__plus_00_dot_34_bar__plus_01_dot_21 Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_01_dot_31) + (inReceptacle DishSponge_bar__plus_00_dot_98_bar__plus_00_dot_74_bar__plus_01_dot_02 Drawer_bar__plus_00_dot_71_bar__plus_00_dot_85_bar__plus_01_dot_02) + (inReceptacle Pot_bar__minus_00_dot_75_bar__plus_01_dot_33_bar__minus_02_dot_97 StoveBurner_bar__minus_00_dot_75_bar__plus_01_dot_33_bar__minus_02_dot_97) + (inReceptacle 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) + (inReceptacle Apple_bar__plus_01_dot_03_bar__plus_01_dot_26_bar__plus_01_dot_24 SideTable_bar__plus_01_dot_02_bar__plus_01_dot_24_bar__plus_00_dot_87) + (inReceptacle Apple_bar__plus_00_dot_94_bar__plus_01_dot_81_bar__plus_02_dot_35 Fridge_bar__plus_01_dot_01_bar__plus_00_dot_23_bar__plus_01_dot_92) + (inReceptacle Potato_bar__plus_01_dot_10_bar__plus_01_dot_80_bar__plus_02_dot_11 Fridge_bar__plus_01_dot_01_bar__plus_00_dot_23_bar__plus_01_dot_92) + (inReceptacle Tomato_bar__plus_01_dot_12_bar__plus_01_dot_56_bar__plus_01_dot_85 Fridge_bar__plus_01_dot_01_bar__plus_00_dot_23_bar__plus_01_dot_92) + (inReceptacle Egg_bar__plus_01_dot_21_bar__plus_01_dot_35_bar__plus_00_dot_81 Microwave_bar__plus_01_dot_16_bar__plus_01_dot_19_bar__plus_00_dot_85) + (inReceptacle SoapBottle_bar__minus_01_dot_59_bar__plus_00_dot_28_bar__plus_02_dot_15 GarbageCan_bar__minus_01_dot_63_bar__plus_00_dot_22_bar__plus_02_dot_19) + 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Drawer_bar__plus_00_dot_71_bar__plus_00_dot_85_bar__plus_01_dot_02 loc_bar_0_bar_6_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_00_dot_71_bar__plus_01_dot_06_bar__plus_01_dot_02 loc_bar_0_bar_3_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_00_dot_72_bar__plus_00_dot_59_bar__plus_00_dot_68 loc_bar__minus_1_bar_0_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_00_dot_72_bar__plus_00_dot_59_bar__plus_01_dot_02 loc_bar__minus_1_bar_2_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_00_dot_72_bar__plus_00_dot_84_bar__plus_00_dot_68 loc_bar_0_bar_1_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_00_dot_72_bar__plus_01_dot_06_bar__plus_00_dot_68 loc_bar_0_bar_1_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_61_bar__plus_00_dot_68_bar__minus_00_dot_43 loc_bar__minus_4_bar__minus_2_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_01_dot_61_bar__plus_00_dot_68_bar__minus_01_dot_22 loc_bar__minus_4_bar__minus_5_bar_3_bar_60) + (receptacleAtLocation Fridge_bar__plus_01_dot_01_bar__plus_00_dot_23_bar__plus_01_dot_92 loc_bar_0_bar_8_bar_1_bar_60) + (receptacleAtLocation GarbageCan_bar__minus_01_dot_63_bar__plus_00_dot_22_bar__plus_02_dot_19 loc_bar__minus_4_bar_5_bar_0_bar_60) + (receptacleAtLocation Microwave_bar__plus_01_dot_16_bar__plus_01_dot_19_bar__plus_00_dot_85 loc_bar_1_bar_3_bar_1_bar_30) + (receptacleAtLocation SideTable_bar__plus_01_dot_02_bar__plus_01_dot_24_bar__plus_00_dot_87 loc_bar_1_bar_4_bar_1_bar_45) + (receptacleAtLocation Sink_bar__minus_01_dot_99_bar__plus_01_dot_14_bar__minus_00_dot_98_bar_SinkBasin loc_bar__minus_4_bar__minus_3_bar_3_bar_45) + (receptacleAtLocation StoveBurner_bar__minus_00_dot_13_bar__plus_01_dot_33_bar__minus_02_dot_97 loc_bar__minus_1_bar__minus_9_bar_2_bar_30) + (receptacleAtLocation StoveBurner_bar__minus_00_dot_24_bar__plus_01_dot_33_bar__minus_03_dot_30 loc_bar__minus_1_bar__minus_9_bar_2_bar_30) + (receptacleAtLocation StoveBurner_bar__minus_00_dot_63_bar__plus_01_dot_33_bar__minus_03_dot_30 loc_bar__minus_3_bar__minus_9_bar_2_bar_30) + (receptacleAtLocation StoveBurner_bar__minus_00_dot_75_bar__plus_01_dot_33_bar__minus_02_dot_97 loc_bar__minus_3_bar__minus_9_bar_2_bar_30) + (receptacleAtLocation Toaster_bar__minus_01_dot_89_bar__plus_01_dot_31_bar__minus_02_dot_51 loc_bar__minus_4_bar__minus_9_bar_3_bar_30) + (objectAtLocation Apple_bar__minus_01_dot_17_bar__plus_01_dot_37_bar__minus_03_dot_43 loc_bar__minus_4_bar_5_bar_3_bar_30) + (objectAtLocation Spoon_bar__minus_01_dot_92_bar__plus_01_dot_32_bar__minus_01_dot_94 loc_bar__minus_4_bar_5_bar_3_bar_30) + (objectAtLocation PepperShaker_bar__minus_01_dot_66_bar__plus_01_dot_32_bar__plus_01_dot_42 loc_bar__minus_4_bar_5_bar_3_bar_30) + (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) + (objectAtLocation Spatula_bar__minus_02_dot_00_bar__plus_01_dot_34_bar__minus_00_dot_98 loc_bar__minus_4_bar__minus_3_bar_3_bar_45) + (objectAtLocation Lettuce_bar__plus_01_dot_03_bar__plus_01_dot_40_bar__minus_02_dot_42 loc_bar__minus_4_bar_5_bar_3_bar_30) + (objectAtLocation WineBottle_bar__minus_01_dot_17_bar__plus_01_dot_32_bar__minus_02_dot_76 loc_bar__minus_4_bar_5_bar_3_bar_30) + (objectAtLocation Egg_bar__minus_01_dot_83_bar__plus_01_dot_37_bar__minus_00_dot_91 loc_bar__minus_4_bar__minus_3_bar_3_bar_45) + (objectAtLocation SoapBottle_bar__minus_01_dot_59_bar__plus_00_dot_28_bar__plus_02_dot_15 loc_bar__minus_4_bar_5_bar_0_bar_60) + (objectAtLocation Knife_bar__minus_01_dot_79_bar__plus_01_dot_35_bar__minus_02_dot_20 loc_bar__minus_4_bar_5_bar_3_bar_30) + (objectAtLocation Pot_bar__minus_00_dot_24_bar__plus_01_dot_33_bar__minus_03_dot_30 loc_bar__minus_1_bar__minus_9_bar_2_bar_30) + (objectAtLocation Bread_bar__minus_01_dot_53_bar__plus_01_dot_40_bar__minus_01_dot_94 loc_bar__minus_4_bar_5_bar_3_bar_30) + (objectAtLocation 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SaltShaker_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) + (objectAtLocation WineBottle_bar__minus_01_dot_95_bar__plus_00_dot_34_bar__plus_00_dot_71 loc_bar__minus_2_bar_0_bar_3_bar_45) + (objectAtLocation Lettuce_bar__minus_01_dot_92_bar__plus_01_dot_40_bar__minus_02_dot_72 loc_bar__minus_4_bar_5_bar_3_bar_30) + (objectAtLocation HousePlant_bar__minus_02_dot_03_bar__plus_01_dot_31_bar__minus_00_dot_03 loc_bar__minus_4_bar_5_bar_3_bar_30) + (objectAtLocation Spatula_bar__minus_02_dot_00_bar__plus_01_dot_35_bar__minus_01_dot_19 loc_bar__minus_4_bar__minus_3_bar_3_bar_45) + (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) + (objectAtLocation Tomato_bar__plus_01_dot_12_bar__plus_01_dot_56_bar__plus_01_dot_85 loc_bar_0_bar_8_bar_1_bar_60) + (objectAtLocation Plate_bar__minus_01_dot_82_bar__plus_00_dot_34_bar__plus_01_dot_52 loc_bar__minus_2_bar_7_bar_3_bar_45) + (objectAtLocation PepperShaker_bar__minus_01_dot_60_bar__plus_00_dot_34_bar__minus_01_dot_96 loc_bar__minus_2_bar__minus_6_bar_3_bar_45) + (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_98_bar__plus_00_dot_74_bar__plus_01_dot_02 loc_bar_0_bar_6_bar_1_bar_60) + (objectAtLocation Spoon_bar__minus_01_dot_40_bar__plus_01_dot_32_bar__minus_02_dot_98 loc_bar__minus_4_bar_5_bar_3_bar_30) + (objectAtLocation Apple_bar__plus_00_dot_94_bar__plus_01_dot_81_bar__plus_02_dot_35 loc_bar_0_bar_8_bar_1_bar_60) + (objectAtLocation Mug_bar__minus_02_dot_18_bar__plus_01_dot_32_bar__plus_00_dot_45 loc_bar__minus_4_bar_5_bar_3_bar_30) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (cleanable ?o) + (objectType ?o SpatulaType) + (receptacleType ?r SideTableType) + (isClean ?o) + (inReceptacle ?o ?r) + ) + ) + ) + ) + ) + ) + \ No newline at end of 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-2.20134926 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Bowl_eef34b87", + "position": { + "x": -1.81848335, + "y": 0.3421222, + "z": 1.21397424 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Potato_e8912d85", + "position": { + "x": 1.09558511, + "y": 1.79697371, + "z": 2.11270857 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "SoapBottle_cf9afd50", + "position": { + "x": -1.5869925, + "y": 0.280376852, + "z": 2.151774 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "Fork_61df51be", + "position": { + "x": -2.04982066, + "y": 1.32354856, + "z": -2.72122478 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Cup_f306e730", + "position": { + "x": 0.6347654, + "y": 1.32039762, + "z": -2.78936434 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Kettle_299f2c2a", + "position": { + "x": -1.691, + "y": 1.31039894, + "z": -3.156 + }, + "rotation": { + "x": 0.0, + "y": 150.0004, + "z": 0.0 + } + }, + { + "objectName": "Egg_7c718722", + "position": { + "x": -1.82652426, + "y": 1.37396622, + "z": -0.9118071 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pan_9d168802", + "position": { + "x": -1.88114953, + "y": 0.327762932, + "z": -2.03532434 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SaltShaker_b13b6e3e", + "position": { + "x": -1.23730922, + "y": 1.31800008, + "z": -3.203495 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "WineBottle_560d3534", + "position": { + "x": -1.16594541, + "y": 1.32392883, + "z": -2.76001024 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Lettuce_b5e01a1e", + "position": { + "x": 1.02584076, + "y": 1.39912164, + "z": -2.42411566 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Spatula_f0a2d64c", + "position": { + "x": -2.00441241, + "y": 1.343986, + "z": -0.9805181 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + } + }, + { + "objectName": "PaperTowelRoll_ddd73f57", + "position": { + "x": 1.27624369, + "y": 1.31208539, + "z": 1.23849058 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Tomato_93b30017", + "position": { + "x": 1.123344, + "y": 1.55844033, + "z": 1.848439 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "Plate_d5570300", + "position": { + "x": -1.6817342, + "y": 0.344428062, + "z": 0.5126284 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "PepperShaker_c15f34b3", + "position": { + "x": -1.66056263, + "y": 1.31800008, + "z": 1.4197371 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_a15664d1", + "position": { + "x": 0.9818125, + "y": 0.7403729, + "z": 1.019027 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Spoon_e0793d4c", + "position": { + "x": -1.92006814, + "y": 1.32412946, + "z": -1.94141138 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Apple_e84ad935", + "position": { + "x": -1.16594541, + "y": 1.37188375, + "z": -3.42523718 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_259b36f2", + "position": { + "x": -2.17957425, + "y": 1.318, + "z": 0.445294976 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 1816391572, + "scene_num": 3 + }, + "task_id": "trial_T20190907_195009_657003", + "task_type": "pick_clean_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A3F7G1FSFWQPLE_3CFJTT4SXW7E899CDUG24A7887NI7V", + "high_descs": [ + "Take a couple steps forward, then turn right and walk up to the kitchen sink.", + "Pick up the spatula that is on the counter closest to the sink basin.", + "Turn right and take a step forward, then turn left to face the sink.", + "Put the spatula in the sink basin, then turn on the water, after a couple seconds turn the water off and remove the spatula from the sink basin.", + "Turn right and begin walking across the room, then hang a right and walk up to the microwave.", + "Place the spatula handle up on the counter where the microwave is in front of the apple." + ], + "task_desc": "Put a clean spatula on the counter.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A24RGLS3BRZ60J_3NPFYT4IZFLURX985JKXDX7GVN7XGA", + "high_descs": [ + "Turn right to face the sink.", + "Pick up the spatula from the back of the sink.", + "Hold the spatula, and take a step to the right.", + "Place the spatula in the right side of the sink and turn the water on. Turn the water off and pick up the spatula.", + "Turn to the right and go straight down, then right again to locate the microwave.", + "Place the spatula in front of the apple on the table." + ], + "task_desc": "Rinse off a spatula and place it on the table.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AJQGWGESKQT4Y_3OB0CAO74K6XRYUTULOHHBQQCUEYHI", + "high_descs": [ + "Turn to the right and face the sink.", + "Pick the spatula up from the counter.", + "Go right and turn to face the sink.", + "Put the spatula in the sink and turn the water on and then turn it off and pick the spatula up from the sink.", + "Go right and turn to face the microwave.", + "Put the spatula down in front of the apple near the microwave." + ], + "task_desc": "Put a clean spatula on a table.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Spatula-None-SideTable-3/trial_T20190907_195153_458779/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Spatula-None-SideTable-3/trial_T20190907_195153_458779/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..57d5524af18d95fcc4739a04bffd4f82ab58500a --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Spatula-None-SideTable-3/trial_T20190907_195153_458779/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\n\\n#task#\"\n }\n ],\n\n \"notImplemented\": [\n {\n \"rhs\": \"TODO\"\n }\n ],\n\n \"task\": [\n {\n \"rhs\": \"Your task is to: clean some spatula and put it in 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_195153_458779)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Apple_bar__plus_00_dot_28_bar__plus_01_dot_37_bar__minus_02_dot_68 - object\n Bowl_bar__minus_02_dot_18_bar__plus_01_dot_32_bar__plus_00_dot_45 - object\n Bread_bar__minus_01_dot_66_bar__plus_01_dot_40_bar__plus_01_dot_42 - object\n Bread_bar__minus_02_dot_05_bar__plus_01_dot_40_bar__minus_02_dot_20 - object\n Chair_bar__plus_00_dot_60_bar__plus_00_dot_95_bar__minus_01_dot_09 - object\n Cup_bar__plus_00_dot_75_bar__plus_00_dot_34_bar__minus_02_dot_16 - object\n DishSponge_bar__plus_00_dot_94_bar__plus_00_dot_46_bar__plus_00_dot_98 - object\n DishSponge_bar__minus_01_dot_66_bar__plus_01_dot_32_bar__plus_00_dot_77 - object\n DishSponge_bar__minus_01_dot_82_bar__plus_00_dot_34_bar__plus_00_dot_61 - object\n Egg_bar__plus_01_dot_12_bar__plus_01_dot_35_bar__plus_00_dot_91 - object\n Egg_bar__minus_01_dot_68_bar__plus_00_dot_32_bar__plus_02_dot_19 - object\n Faucet_bar__minus_02_dot_06_bar__plus_01_dot_36_bar__minus_00_dot_73 - object\n Fork_bar__minus_01_dot_40_bar__plus_01_dot_32_bar__minus_02_dot_98 - object\n HousePlant_bar__minus_02_dot_03_bar__plus_01_dot_31_bar__minus_00_dot_03 - object\n Kettle_bar__minus_00_dot_63_bar__plus_01_dot_33_bar__minus_03_dot_30 - object\n Kettle_bar__minus_01_dot_69_bar__plus_01_dot_31_bar__minus_03_dot_16 - object\n Kettle_bar__minus_01_dot_82_bar__plus_00_dot_34_bar__plus_01_dot_42 - object\n Knife_bar__plus_01_dot_16_bar__plus_01_dot_35_bar__minus_00_dot_94 - object\n Knife_bar__minus_01_dot_66_bar__plus_01_dot_35_bar__plus_00_dot_12 - object\n Knife_bar__minus_01_dot_79_bar__plus_01_dot_35_bar__plus_02_dot_07 - object\n Lettuce_bar__minus_01_dot_40_bar__plus_01_dot_40_bar__minus_03_dot_24 - object\n LightSwitch_bar__plus_01_dot_39_bar__plus_01_dot_57_bar__minus_00_dot_66 - object\n Mug_bar__plus_00_dot_97_bar__plus_01_dot_37_bar__minus_01_dot_53 - object\n Mug_bar__plus_01_dot_02_bar__plus_01_dot_75_bar__plus_02_dot_29 - object\n Mug_bar__plus_01_dot_21_bar__plus_01_dot_31_bar__plus_00_dot_97 - object\n Pan_bar__minus_01_dot_66_bar__plus_01_dot_32_bar__plus_01_dot_09 - object\n Pan_bar__minus_01_dot_88_bar__plus_00_dot_33_bar__minus_02_dot_04 - object\n PaperTowelRoll_bar__minus_01_dot_63_bar__plus_00_dot_38_bar__plus_02_dot_32 - object\n PepperShaker_bar__minus_01_dot_54_bar__plus_00_dot_34_bar__minus_01_dot_76 - object\n PepperShaker_bar__minus_01_dot_92_bar__plus_01_dot_32_bar__plus_01_dot_09 - object\n PepperShaker_bar__minus_01_dot_92_bar__plus_01_dot_32_bar__minus_02_dot_20 - object\n Plate_bar__minus_01_dot_66_bar__plus_01_dot_32_bar__minus_01_dot_68 - object\n Potato_bar__plus_00_dot_97_bar__plus_01_dot_56_bar__plus_01_dot_48 - object\n Potato_bar__plus_01_dot_15_bar__plus_01_dot_35_bar__plus_00_dot_81 - object\n Pot_bar__plus_01_dot_16_bar__plus_01_dot_33_bar__minus_02_dot_05 - object\n Pot_bar__minus_00_dot_13_bar__plus_01_dot_33_bar__minus_02_dot_97 - object\n Pot_bar__minus_00_dot_24_bar__plus_01_dot_33_bar__minus_03_dot_30 - object\n SaltShaker_bar__minus_01_dot_60_bar__plus_00_dot_42_bar__minus_01_dot_22 - object\n SaltShaker_bar__minus_01_dot_75_bar__plus_00_dot_34_bar__plus_01_dot_63 - object\n 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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 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loc_bar__minus_1_bar__minus_9_bar_2_bar_45 - location\n loc_bar__minus_2_bar__minus_9_bar_2_bar_45 - location\n loc_bar_1_bar_4_bar_1_bar_45 - location\n loc_bar__minus_3_bar__minus_9_bar_2_bar_30 - location\n loc_bar_3_bar__minus_1_bar_1_bar_30 - location\n loc_bar_0_bar_6_bar_1_bar_60 - location\n loc_bar__minus_4_bar_5_bar_0_bar_60 - location\n loc_bar__minus_2_bar_0_bar_3_bar_45 - location\n loc_bar__minus_4_bar__minus_4_bar_3_bar_30 - location\n loc_bar__minus_1_bar_2_bar_1_bar_60 - location\n loc_bar_0_bar_1_bar_1_bar_45 - location\n loc_bar_0_bar_8_bar_1_bar_60 - location\n loc_bar__minus_1_bar__minus_9_bar_1_bar_60 - location\n loc_bar_0_bar__minus_4_bar_1_bar_60 - location\n loc_bar_0_bar__minus_6_bar_1_bar_30 - location\n loc_bar__minus_4_bar__minus_3_bar_3_bar_45 - location\n loc_bar__minus_4_bar_5_bar_3_bar_30 - location\n loc_bar__minus_2_bar__minus_7_bar_2_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType 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(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 Potato_bar__plus_00_dot_97_bar__plus_01_dot_56_bar__plus_01_dot_48 PotatoType)\n (objectType SaltShaker_bar__minus_01_dot_95_bar__plus_00_dot_34_bar__plus_00_dot_31 SaltShakerType)\n (objectType Spoon_bar__plus_00_dot_94_bar__plus_00_dot_74_bar__plus_01_dot_05 SpoonType)\n (objectType Tomato_bar__minus_01_dot_66_bar__plus_00_dot_31_bar__plus_02_dot_11 TomatoType)\n (objectType StoveKnob_bar__minus_00_dot_57_bar__plus_01_dot_34_bar__minus_02_dot_74 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(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 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WineBottle_bar__minus_01_dot_61_bar__plus_00_dot_34_bar__plus_00_dot_51 loc_bar__minus_2_bar_0_bar_3_bar_45)\n (objectAtLocation Lettuce_bar__minus_01_dot_40_bar__plus_01_dot_40_bar__minus_03_dot_24 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation HousePlant_bar__minus_02_dot_03_bar__plus_01_dot_31_bar__minus_00_dot_03 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation Spatula_bar__minus_01_dot_53_bar__plus_01_dot_34_bar__plus_01_dot_74 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation PaperTowelRoll_bar__minus_01_dot_63_bar__plus_00_dot_38_bar__plus_02_dot_32 loc_bar__minus_4_bar_5_bar_0_bar_60)\n (objectAtLocation Tomato_bar__plus_00_dot_96_bar__plus_01_dot_98_bar__plus_01_dot_49 loc_bar_0_bar_8_bar_1_bar_60)\n (objectAtLocation Plate_bar__minus_01_dot_66_bar__plus_01_dot_32_bar__minus_01_dot_68 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation PepperShaker_bar__minus_01_dot_92_bar__plus_01_dot_32_bar__minus_02_dot_20 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_94_bar__plus_00_dot_46_bar__plus_00_dot_98 loc_bar__minus_1_bar_2_bar_1_bar_60)\n (objectAtLocation Spoon_bar__plus_00_dot_42_bar__plus_01_dot_32_bar__minus_02_dot_90 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation Apple_bar__plus_00_dot_28_bar__plus_01_dot_37_bar__minus_02_dot_68 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation Mug_bar__plus_00_dot_97_bar__plus_01_dot_37_bar__minus_01_dot_53 loc_bar_0_bar__minus_6_bar_1_bar_30)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (cleanable ?o)\n (objectType ?o SpatulaType)\n (receptacleType ?r SideTableType)\n (isClean ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 1", "take spatula 1 from countertop 1", "go to sinkbasin 1", "clean spatula 1 with sinkbasin 1", "go to sidetable 1", "move spatula 1 to sidetable 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Spatula-None-SideTable-3/trial_T20190907_195153_458779/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Spatula-None-SideTable-3/trial_T20190907_195153_458779/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..6643a58b177f549bd3cba85e3feb13c05a526787 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Spatula-None-SideTable-3/trial_T20190907_195153_458779/initial_state.pddl @@ -0,0 +1,907 @@ + +(define (problem plan_trial_T20190907_195153_458779) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Apple_bar__plus_00_dot_28_bar__plus_01_dot_37_bar__minus_02_dot_68 - object + Bowl_bar__minus_02_dot_18_bar__plus_01_dot_32_bar__plus_00_dot_45 - object + Bread_bar__minus_01_dot_66_bar__plus_01_dot_40_bar__plus_01_dot_42 - object + Bread_bar__minus_02_dot_05_bar__plus_01_dot_40_bar__minus_02_dot_20 - object + Chair_bar__plus_00_dot_60_bar__plus_00_dot_95_bar__minus_01_dot_09 - object + Cup_bar__plus_00_dot_75_bar__plus_00_dot_34_bar__minus_02_dot_16 - object + DishSponge_bar__plus_00_dot_94_bar__plus_00_dot_46_bar__plus_00_dot_98 - object + DishSponge_bar__minus_01_dot_66_bar__plus_01_dot_32_bar__plus_00_dot_77 - object + DishSponge_bar__minus_01_dot_82_bar__plus_00_dot_34_bar__plus_00_dot_61 - object + Egg_bar__plus_01_dot_12_bar__plus_01_dot_35_bar__plus_00_dot_91 - object + Egg_bar__minus_01_dot_68_bar__plus_00_dot_32_bar__plus_02_dot_19 - object + Faucet_bar__minus_02_dot_06_bar__plus_01_dot_36_bar__minus_00_dot_73 - object + Fork_bar__minus_01_dot_40_bar__plus_01_dot_32_bar__minus_02_dot_98 - object + HousePlant_bar__minus_02_dot_03_bar__plus_01_dot_31_bar__minus_00_dot_03 - object + Kettle_bar__minus_00_dot_63_bar__plus_01_dot_33_bar__minus_03_dot_30 - object + Kettle_bar__minus_01_dot_69_bar__plus_01_dot_31_bar__minus_03_dot_16 - object + Kettle_bar__minus_01_dot_82_bar__plus_00_dot_34_bar__plus_01_dot_42 - object + Knife_bar__plus_01_dot_16_bar__plus_01_dot_35_bar__minus_00_dot_94 - object + Knife_bar__minus_01_dot_66_bar__plus_01_dot_35_bar__plus_00_dot_12 - object + Knife_bar__minus_01_dot_79_bar__plus_01_dot_35_bar__plus_02_dot_07 - object + Lettuce_bar__minus_01_dot_40_bar__plus_01_dot_40_bar__minus_03_dot_24 - object + LightSwitch_bar__plus_01_dot_39_bar__plus_01_dot_57_bar__minus_00_dot_66 - object + Mug_bar__plus_00_dot_97_bar__plus_01_dot_37_bar__minus_01_dot_53 - object + Mug_bar__plus_01_dot_02_bar__plus_01_dot_75_bar__plus_02_dot_29 - object + Mug_bar__plus_01_dot_21_bar__plus_01_dot_31_bar__plus_00_dot_97 - object + Pan_bar__minus_01_dot_66_bar__plus_01_dot_32_bar__plus_01_dot_09 - object + Pan_bar__minus_01_dot_88_bar__plus_00_dot_33_bar__minus_02_dot_04 - object + PaperTowelRoll_bar__minus_01_dot_63_bar__plus_00_dot_38_bar__plus_02_dot_32 - object + PepperShaker_bar__minus_01_dot_54_bar__plus_00_dot_34_bar__minus_01_dot_76 - object + PepperShaker_bar__minus_01_dot_92_bar__plus_01_dot_32_bar__plus_01_dot_09 - object + PepperShaker_bar__minus_01_dot_92_bar__plus_01_dot_32_bar__minus_02_dot_20 - object + Plate_bar__minus_01_dot_66_bar__plus_01_dot_32_bar__minus_01_dot_68 - object + Potato_bar__plus_00_dot_97_bar__plus_01_dot_56_bar__plus_01_dot_48 - object + Potato_bar__plus_01_dot_15_bar__plus_01_dot_35_bar__plus_00_dot_81 - object + Pot_bar__plus_01_dot_16_bar__plus_01_dot_33_bar__minus_02_dot_05 - object + Pot_bar__minus_00_dot_13_bar__plus_01_dot_33_bar__minus_02_dot_97 - object + Pot_bar__minus_00_dot_24_bar__plus_01_dot_33_bar__minus_03_dot_30 - object + SaltShaker_bar__minus_01_dot_60_bar__plus_00_dot_42_bar__minus_01_dot_22 - object + SaltShaker_bar__minus_01_dot_75_bar__plus_00_dot_34_bar__plus_01_dot_63 - object + SaltShaker_bar__minus_01_dot_95_bar__plus_00_dot_34_bar__plus_00_dot_31 - object + Sink_bar__minus_01_dot_99_bar__plus_01_dot_14_bar__minus_00_dot_98 - object + SoapBottle_bar__minus_01_dot_73_bar__plus_00_dot_34_bar__minus_02_dot_26 - object + Spatula_bar__minus_01_dot_53_bar__plus_01_dot_34_bar__plus_01_dot_74 - object + Spoon_bar__plus_00_dot_42_bar__plus_01_dot_32_bar__minus_02_dot_90 - object + Spoon_bar__plus_00_dot_94_bar__plus_00_dot_74_bar__plus_01_dot_05 - object + StoveKnob_bar__minus_00_dot_19_bar__plus_01_dot_34_bar__minus_02_dot_74 - object + StoveKnob_bar__minus_00_dot_34_bar__plus_01_dot_34_bar__minus_02_dot_74 - object + StoveKnob_bar__minus_00_dot_57_bar__plus_01_dot_34_bar__minus_02_dot_74 - object + StoveKnob_bar__minus_00_dot_71_bar__plus_01_dot_34_bar__minus_02_dot_74 - object + Tomato_bar__plus_00_dot_96_bar__plus_01_dot_98_bar__plus_01_dot_49 - object + Tomato_bar__minus_01_dot_36_bar__plus_01_dot_36_bar__minus_01_dot_27 - object + Tomato_bar__minus_01_dot_66_bar__plus_00_dot_31_bar__plus_02_dot_11 - object + Window_bar__minus_02_dot_57_bar__plus_01_dot_80_bar__minus_00_dot_82 - object + WineBottle_bar__minus_01_dot_61_bar__plus_00_dot_34_bar__plus_00_dot_51 - 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_2_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 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 Potato_bar__plus_00_dot_97_bar__plus_01_dot_56_bar__plus_01_dot_48 PotatoType) + (objectType SaltShaker_bar__minus_01_dot_95_bar__plus_00_dot_34_bar__plus_00_dot_31 SaltShakerType) + (objectType Spoon_bar__plus_00_dot_94_bar__plus_00_dot_74_bar__plus_01_dot_05 SpoonType) + (objectType Tomato_bar__minus_01_dot_66_bar__plus_00_dot_31_bar__plus_02_dot_11 TomatoType) + (objectType StoveKnob_bar__minus_00_dot_57_bar__plus_01_dot_34_bar__minus_02_dot_74 StoveKnobType) + (objectType Lettuce_bar__minus_01_dot_40_bar__plus_01_dot_40_bar__minus_03_dot_24 LettuceType) + (objectType SoapBottle_bar__minus_01_dot_73_bar__plus_00_dot_34_bar__minus_02_dot_26 SoapBottleType) + (objectType Pot_bar__minus_00_dot_13_bar__plus_01_dot_33_bar__minus_02_dot_97 PotType) + (objectType PepperShaker_bar__minus_01_dot_54_bar__plus_00_dot_34_bar__minus_01_dot_76 PepperShakerType) + (objectType Mug_bar__plus_01_dot_21_bar__plus_01_dot_31_bar__plus_00_dot_97 MugType) + (objectType Cup_bar__plus_00_dot_75_bar__plus_00_dot_34_bar__minus_02_dot_16 CupType) + (objectType Potato_bar__plus_01_dot_15_bar__plus_01_dot_35_bar__plus_00_dot_81 PotatoType) + (objectType Sink_bar__minus_01_dot_99_bar__plus_01_dot_14_bar__minus_00_dot_98 SinkType) + (objectType Knife_bar__minus_01_dot_66_bar__plus_01_dot_35_bar__plus_00_dot_12 KnifeType) + (objectType DishSponge_bar__minus_01_dot_82_bar__plus_00_dot_34_bar__plus_00_dot_61 DishSpongeType) + (objectType Window_bar__minus_02_dot_57_bar__plus_01_dot_80_bar__minus_00_dot_82 WindowType) + (objectType StoveKnob_bar__minus_00_dot_34_bar__plus_01_dot_34_bar__minus_02_dot_74 StoveKnobType) + (objectType Mug_bar__plus_01_dot_02_bar__plus_01_dot_75_bar__plus_02_dot_29 MugType) + (objectType StoveKnob_bar__minus_00_dot_71_bar__plus_01_dot_34_bar__minus_02_dot_74 StoveKnobType) + (objectType Egg_bar__minus_01_dot_68_bar__plus_00_dot_32_bar__plus_02_dot_19 EggType) + (objectType Spoon_bar__plus_00_dot_42_bar__plus_01_dot_32_bar__minus_02_dot_90 SpoonType) + (objectType Pot_bar__plus_01_dot_16_bar__plus_01_dot_33_bar__minus_02_dot_05 PotType) + (objectType PepperShaker_bar__minus_01_dot_92_bar__plus_01_dot_32_bar__plus_01_dot_09 PepperShakerType) + (objectType StoveKnob_bar__minus_00_dot_19_bar__plus_01_dot_34_bar__minus_02_dot_74 StoveKnobType) + (objectType PaperTowelRoll_bar__minus_01_dot_63_bar__plus_00_dot_38_bar__plus_02_dot_32 PaperTowelRollType) + (objectType 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Drawer_bar__plus_00_dot_72_bar__plus_00_dot_59_bar__plus_01_dot_02) + (inReceptacle Pot_bar__minus_00_dot_24_bar__plus_01_dot_33_bar__minus_03_dot_30 StoveBurner_bar__minus_00_dot_24_bar__plus_01_dot_33_bar__minus_03_dot_30) + (inReceptacle PepperShaker_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) + (inReceptacle SoapBottle_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) + (inReceptacle Pan_bar__minus_01_dot_88_bar__plus_00_dot_33_bar__minus_02_dot_04 Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__minus_02_dot_00) + (inReceptacle Kettle_bar__minus_00_dot_63_bar__plus_01_dot_33_bar__minus_03_dot_30 StoveBurner_bar__minus_00_dot_63_bar__plus_01_dot_33_bar__minus_03_dot_30) + (inReceptacle SaltShaker_bar__minus_01_dot_95_bar__plus_00_dot_34_bar__plus_00_dot_31 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0.0 + } + } + ], + "object_toggles": [], + "random_seed": 3293701796, + "scene_num": 3 + }, + "task_id": "trial_T20190907_195153_458779", + "task_type": "pick_clean_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A24RGLS3BRZ60J_3DY4FPOOA45TCYDRLFDROGO2HLXRVK", + "high_descs": [ + "Turn around and go straight back the room. Turn to the left at the counter.", + "Pick up the spatula from the counter.", + "Carry the spatula to the left and find the sink.", + "Put the spatula in the sink, and turn on the water. Turn off the water and pick up the spatula. ", + "Carry the spatula and go to the right, then turn right to find the microwave.", + "Place the spatula in front of the microwave." + ], + "task_desc": "Rinse off a spatula and place it on a counter.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A272X64FOZFYLB_3LOZAJ85YGU4C31164Z8BTDFL5VX2M", + "high_descs": [ + "Turn around and walk forward to the counter by the recycling bin on the floor.", + "Pick up the spatula from the counter.", + "Turn left and walk forward to the sink.", + "Put the spatula in the sink, rinse it off, and take it back out of the sink.", + "Turn around and walk to the side table containing the microwave.", + "Put the spatula on the table, in front of and to the left of the microwave." + ], + "task_desc": "Place a cleaned spatula on a side table.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3F7G1FSFWQPLE_3MHW492WW3U2FI0ZG7HA2HUSBYDMV6", + "high_descs": [ + "Turn around and start walking across the room, then hang a left and walk up to the end of the wooden counter.", + "Pick up the metal spatula off of the counter.", + "Turn left and walk over to the kitchen sink.", + "Place the spatula into the sink basin then turn on the water, after a couple seconds turn the water off and remove the spatula.", + "Turn right and begin walking across the room, then hang a right and walk over to the microwave.", + "Place the clean spatula on the counter in front and to the left of the microwave." + ], + "task_desc": "Put a clean spatula on the counter.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Spatula-None-SideTable-3/trial_T20190907_230305_502659/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Spatula-None-SideTable-3/trial_T20190907_230305_502659/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..50b08818f5341510683272486d5d06fb5caaadfe --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Spatula-None-SideTable-3/trial_T20190907_230305_502659/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\n\\n#task#\"\n }\n ],\n\n \"notImplemented\": [\n {\n \"rhs\": \"TODO\"\n }\n ],\n\n \"task\": [\n {\n \"rhs\": \"Your task is to: put a clean spatula in 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_230305_502659)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\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_12_bar__plus_01_dot_36_bar__plus_00_dot_86 - object\n Apple_bar__minus_01_dot_63_bar__plus_00_dot_33_bar__plus_02_dot_15 - object\n Bowl_bar__plus_00_dot_49_bar__plus_01_dot_32_bar__minus_03_dot_23 - object\n Bread_bar__minus_01_dot_40_bar__plus_01_dot_40_bar__minus_01_dot_94 - object\n Bread_bar__minus_01_dot_51_bar__plus_01_dot_38_bar__plus_00_dot_66 - object\n Bread_bar__minus_01_dot_92_bar__plus_01_dot_40_bar__plus_02_dot_07 - object\n Chair_bar__plus_00_dot_60_bar__plus_00_dot_95_bar__minus_01_dot_09 - object\n Cup_bar__plus_00_dot_75_bar__plus_00_dot_34_bar__minus_02_dot_16 - object\n Cup_bar__plus_01_dot_02_bar__plus_01_dot_67_bar__plus_01_dot_60 - object\n Cup_bar__minus_02_dot_18_bar__plus_01_dot_32_bar__minus_01_dot_94 - object\n DishSponge_bar__minus_01_dot_61_bar__plus_00_dot_34_bar__plus_00_dot_61 - object\n DishSponge_bar__minus_01_dot_66_bar__plus_01_dot_32_bar__plus_01_dot_09 - object\n DishSponge_bar__minus_01_dot_89_bar__plus_00_dot_34_bar__plus_01_dot_52 - object\n Egg_bar__plus_00_dot_90_bar__plus_01_dot_72_bar__plus_01_dot_60 - object\n Egg_bar__plus_01_dot_25_bar__plus_01_dot_35_bar__plus_00_dot_81 - object\n Faucet_bar__minus_02_dot_06_bar__plus_01_dot_36_bar__minus_00_dot_73 - object\n Fork_bar__plus_00_dot_77_bar__plus_01_dot_32_bar__minus_03_dot_16 - object\n Fork_bar__minus_01_dot_24_bar__plus_01_dot_32_bar__minus_03_dot_31 - object\n HousePlant_bar__minus_02_dot_03_bar__plus_01_dot_31_bar__minus_00_dot_03 - object\n Kettle_bar__minus_01_dot_69_bar__plus_01_dot_31_bar__minus_03_dot_16 - object\n Knife_bar__plus_00_dot_49_bar__plus_01_dot_35_bar__minus_02_dot_79 - object\n Knife_bar__plus_01_dot_03_bar__plus_01_dot_35_bar__minus_02_dot_05 - object\n Knife_bar__minus_01_dot_38_bar__plus_01_dot_35_bar__minus_03_dot_20 - object\n Lettuce_bar__minus_01_dot_89_bar__plus_01_dot_40_bar__minus_01_dot_07 - object\n LightSwitch_bar__plus_01_dot_39_bar__plus_01_dot_57_bar__minus_00_dot_66 - object\n Mug_bar__minus_02_dot_18_bar__plus_01_dot_32_bar__plus_01_dot_09 - object\n Pan_bar__minus_00_dot_63_bar__plus_01_dot_33_bar__minus_03_dot_30 - object\n PaperTowelRoll_bar__minus_01_dot_79_bar__plus_01_dot_43_bar__minus_02_dot_72 - object\n PepperShaker_bar__plus_01_dot_13_bar__plus_00_dot_34_bar__minus_02_dot_37 - object\n PepperShaker_bar__minus_01_dot_75_bar__plus_00_dot_34_bar__plus_00_dot_71 - object\n PepperShaker_bar__minus_01_dot_79_bar__plus_01_dot_32_bar__plus_01_dot_09 - object\n Plate_bar__minus_01_dot_75_bar__plus_00_dot_34_bar__plus_00_dot_41 - object\n Plate_bar__minus_01_dot_75_bar__plus_00_dot_34_bar__plus_01_dot_11 - object\n Potato_bar__plus_00_dot_92_bar__plus_01_dot_56_bar__plus_01_dot_60 - object\n Pot_bar__minus_00_dot_13_bar__plus_01_dot_33_bar__minus_02_dot_97 - object\n Pot_bar__minus_00_dot_24_bar__plus_01_dot_33_bar__minus_03_dot_30 - object\n SaltShaker_bar__plus_00_dot_98_bar__plus_00_dot_34_bar__minus_01_dot_96 - object\n SaltShaker_bar__minus_01_dot_79_bar__plus_01_dot_32_bar__minus_01_dot_68 - object\n Sink_bar__minus_01_dot_99_bar__plus_01_dot_14_bar__minus_00_dot_98 - object\n SoapBottle_bar__plus_00_dot_35_bar__plus_01_dot_32_bar__minus_03_dot_23 - object\n SoapBottle_bar__minus_01_dot_67_bar__plus_00_dot_34_bar__minus_01_dot_96 - object\n Spatula_bar__minus_01_dot_66_bar__plus_01_dot_34_bar__plus_01_dot_09 - object\n Spoon_bar__minus_01_dot_40_bar__plus_01_dot_32_bar__plus_00_dot_45 - object\n StoveKnob_bar__minus_00_dot_19_bar__plus_01_dot_34_bar__minus_02_dot_74 - object\n StoveKnob_bar__minus_00_dot_34_bar__plus_01_dot_34_bar__minus_02_dot_74 - object\n StoveKnob_bar__minus_00_dot_57_bar__plus_01_dot_34_bar__minus_02_dot_74 - object\n StoveKnob_bar__minus_00_dot_71_bar__plus_01_dot_34_bar__minus_02_dot_74 - object\n Tomato_bar__plus_00_dot_87_bar__plus_01_dot_56_bar__plus_01_dot_48 - object\n Tomato_bar__plus_00_dot_94_bar__plus_01_dot_79_bar__plus_02_dot_17 - object\n Window_bar__minus_02_dot_57_bar__plus_01_dot_80_bar__minus_00_dot_82 - object\n WineBottle_bar__plus_01_dot_05_bar__plus_00_dot_35_bar__minus_01_dot_75 - object\n Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_78_bar__minus_02_dot_05 - receptacle\n Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_00_dot_47 - receptacle\n Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_01_dot_31 - receptacle\n Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__minus_02_dot_00 - receptacle\n CoffeeMachine_bar__plus_01_dot_13_bar__plus_01_dot_31_bar__minus_01_dot_43 - receptacle\n CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18 - receptacle\n Drawer_bar__plus_00_dot_71_bar__plus_00_dot_85_bar__plus_01_dot_02 - receptacle\n Drawer_bar__plus_00_dot_71_bar__plus_01_dot_06_bar__plus_01_dot_02 - receptacle\n Drawer_bar__plus_00_dot_72_bar__plus_00_dot_59_bar__plus_00_dot_68 - receptacle\n Drawer_bar__plus_00_dot_72_bar__plus_00_dot_59_bar__plus_01_dot_02 - receptacle\n Drawer_bar__plus_00_dot_72_bar__plus_00_dot_84_bar__plus_00_dot_68 - receptacle\n Drawer_bar__plus_00_dot_72_bar__plus_01_dot_06_bar__plus_00_dot_68 - receptacle\n Drawer_bar__minus_01_dot_61_bar__plus_00_dot_68_bar__minus_00_dot_43 - receptacle\n Drawer_bar__minus_01_dot_61_bar__plus_00_dot_68_bar__minus_01_dot_22 - receptacle\n Fridge_bar__plus_01_dot_01_bar__plus_00_dot_23_bar__plus_01_dot_92 - receptacle\n GarbageCan_bar__minus_01_dot_63_bar__plus_00_dot_22_bar__plus_02_dot_19 - receptacle\n Microwave_bar__plus_01_dot_16_bar__plus_01_dot_19_bar__plus_00_dot_85 - receptacle\n SideTable_bar__plus_01_dot_02_bar__plus_01_dot_24_bar__plus_00_dot_87 - receptacle\n Sink_bar__minus_01_dot_99_bar__plus_01_dot_14_bar__minus_00_dot_98_bar_SinkBasin - receptacle\n StoveBurner_bar__minus_00_dot_13_bar__plus_01_dot_33_bar__minus_02_dot_97 - receptacle\n StoveBurner_bar__minus_00_dot_24_bar__plus_01_dot_33_bar__minus_03_dot_30 - receptacle\n StoveBurner_bar__minus_00_dot_63_bar__plus_01_dot_33_bar__minus_03_dot_30 - receptacle\n StoveBurner_bar__minus_00_dot_75_bar__plus_01_dot_33_bar__minus_02_dot_97 - receptacle\n Toaster_bar__minus_01_dot_89_bar__plus_01_dot_31_bar__minus_02_dot_51 - receptacle\n loc_bar__minus_4_bar__minus_2_bar_3_bar_60 - location\n loc_bar__minus_4_bar__minus_5_bar_3_bar_60 - location\n loc_bar_0_bar_1_bar_1_bar_60 - location\n loc_bar__minus_1_bar_0_bar_1_bar_60 - location\n loc_bar__minus_2_bar_7_bar_3_bar_45 - location\n loc_bar_0_bar_3_bar_1_bar_45 - location\n loc_bar__minus_2_bar__minus_6_bar_3_bar_45 - location\n loc_bar__minus_4_bar__minus_3_bar_3_bar_0 - location\n loc_bar__minus_3_bar__minus_9_bar_2_bar_45 - location\n loc_bar__minus_4_bar__minus_9_bar_3_bar_30 - location\n loc_bar_1_bar_3_bar_1_bar_30 - location\n loc_bar__minus_1_bar__minus_9_bar_2_bar_30 - location\n loc_bar__minus_1_bar__minus_9_bar_2_bar_45 - location\n loc_bar__minus_2_bar__minus_9_bar_2_bar_45 - location\n loc_bar_1_bar_4_bar_1_bar_45 - location\n loc_bar__minus_3_bar__minus_9_bar_2_bar_30 - location\n loc_bar_3_bar__minus_1_bar_1_bar_30 - location\n loc_bar_0_bar_6_bar_1_bar_60 - location\n loc_bar__minus_4_bar_5_bar_0_bar_60 - location\n loc_bar__minus_2_bar_0_bar_3_bar_45 - location\n loc_bar__minus_4_bar__minus_4_bar_3_bar_30 - location\n loc_bar__minus_1_bar_2_bar_1_bar_60 - location\n loc_bar_0_bar_1_bar_1_bar_45 - location\n loc_bar_0_bar_8_bar_1_bar_60 - location\n loc_bar__minus_1_bar__minus_9_bar_1_bar_60 - location\n loc_bar_0_bar__minus_4_bar_1_bar_60 - location\n loc_bar_0_bar__minus_6_bar_1_bar_30 - location\n loc_bar__minus_4_bar__minus_3_bar_3_bar_45 - location\n loc_bar__minus_4_bar_5_bar_3_bar_30 - location\n loc_bar__minus_2_bar_1_bar_1_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Drawer_bar__plus_00_dot_71_bar__plus_01_dot_06_bar__plus_01_dot_02 DrawerType)\n (receptacleType Toaster_bar__minus_01_dot_89_bar__plus_01_dot_31_bar__minus_02_dot_51 ToasterType)\n (receptacleType SideTable_bar__plus_01_dot_02_bar__plus_01_dot_24_bar__plus_00_dot_87 SideTableType)\n (receptacleType Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_00_dot_47 CabinetType)\n (receptacleType Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_78_bar__minus_02_dot_05 CabinetType)\n (receptacleType GarbageCan_bar__minus_01_dot_63_bar__plus_00_dot_22_bar__plus_02_dot_19 GarbageCanType)\n (receptacleType StoveBurner_bar__minus_00_dot_24_bar__plus_01_dot_33_bar__minus_03_dot_30 StoveBurnerType)\n (receptacleType StoveBurner_bar__minus_00_dot_75_bar__plus_01_dot_33_bar__minus_02_dot_97 StoveBurnerType)\n (receptacleType Microwave_bar__plus_01_dot_16_bar__plus_01_dot_19_bar__plus_00_dot_85 MicrowaveType)\n (receptacleType StoveBurner_bar__minus_00_dot_63_bar__plus_01_dot_33_bar__minus_03_dot_30 StoveBurnerType)\n (receptacleType Drawer_bar__minus_01_dot_61_bar__plus_00_dot_68_bar__minus_01_dot_22 DrawerType)\n (receptacleType Fridge_bar__plus_01_dot_01_bar__plus_00_dot_23_bar__plus_01_dot_92 FridgeType)\n (receptacleType Drawer_bar__minus_01_dot_61_bar__plus_00_dot_68_bar__minus_00_dot_43 DrawerType)\n (receptacleType Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__minus_02_dot_00 CabinetType)\n (receptacleType Drawer_bar__plus_00_dot_71_bar__plus_00_dot_85_bar__plus_01_dot_02 DrawerType)\n (receptacleType Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_01_dot_31 CabinetType)\n (receptacleType Drawer_bar__plus_00_dot_72_bar__plus_00_dot_59_bar__plus_00_dot_68 DrawerType)\n (receptacleType Drawer_bar__plus_00_dot_72_bar__plus_00_dot_59_bar__plus_01_dot_02 DrawerType)\n (receptacleType CoffeeMachine_bar__plus_01_dot_13_bar__plus_01_dot_31_bar__minus_01_dot_43 CoffeeMachineType)\n (receptacleType StoveBurner_bar__minus_00_dot_13_bar__plus_01_dot_33_bar__minus_02_dot_97 StoveBurnerType)\n (receptacleType CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18 CounterTopType)\n (receptacleType Drawer_bar__plus_00_dot_72_bar__plus_00_dot_84_bar__plus_00_dot_68 DrawerType)\n (receptacleType Drawer_bar__plus_00_dot_72_bar__plus_01_dot_06_bar__plus_00_dot_68 DrawerType)\n (receptacleType Sink_bar__minus_01_dot_99_bar__plus_01_dot_14_bar__minus_00_dot_98_bar_SinkBasin SinkBasinType)\n (objectType StoveKnob_bar__minus_00_dot_57_bar__plus_01_dot_34_bar__minus_02_dot_74 StoveKnobType)\n (objectType Plate_bar__minus_01_dot_75_bar__plus_00_dot_34_bar__plus_01_dot_11 PlateType)\n (objectType Pot_bar__minus_00_dot_13_bar__plus_01_dot_33_bar__minus_02_dot_97 PotType)\n (objectType SoapBottle_bar__plus_00_dot_35_bar__plus_01_dot_32_bar__minus_03_dot_23 SoapBottleType)\n (objectType Mug_bar__minus_02_dot_18_bar__plus_01_dot_32_bar__plus_01_dot_09 MugType)\n (objectType Bread_bar__minus_01_dot_51_bar__plus_01_dot_38_bar__plus_00_dot_66 BreadType)\n (objectType Cup_bar__plus_00_dot_75_bar__plus_00_dot_34_bar__minus_02_dot_16 CupType)\n (objectType Egg_bar__plus_01_dot_25_bar__plus_01_dot_35_bar__plus_00_dot_81 EggType)\n (objectType SaltShaker_bar__minus_01_dot_79_bar__plus_01_dot_32_bar__minus_01_dot_68 SaltShakerType)\n (objectType Tomato_bar__plus_00_dot_87_bar__plus_01_dot_56_bar__plus_01_dot_48 TomatoType)\n (objectType Lettuce_bar__minus_01_dot_89_bar__plus_01_dot_40_bar__minus_01_dot_07 LettuceType)\n (objectType Sink_bar__minus_01_dot_99_bar__plus_01_dot_14_bar__minus_00_dot_98 SinkType)\n (objectType Potato_bar__plus_00_dot_92_bar__plus_01_dot_56_bar__plus_01_dot_60 PotatoType)\n (objectType Window_bar__minus_02_dot_57_bar__plus_01_dot_80_bar__minus_00_dot_82 WindowType)\n (objectType StoveKnob_bar__minus_00_dot_71_bar__plus_01_dot_34_bar__minus_02_dot_74 StoveKnobType)\n (objectType Cup_bar__plus_01_dot_02_bar__plus_01_dot_67_bar__plus_01_dot_60 CupType)\n (objectType StoveKnob_bar__minus_00_dot_34_bar__plus_01_dot_34_bar__minus_02_dot_74 StoveKnobType)\n (objectType PaperTowelRoll_bar__minus_01_dot_79_bar__plus_01_dot_43_bar__minus_02_dot_72 PaperTowelRollType)\n (objectType StoveKnob_bar__minus_00_dot_19_bar__plus_01_dot_34_bar__minus_02_dot_74 StoveKnobType)\n (objectType Knife_bar__minus_01_dot_38_bar__plus_01_dot_35_bar__minus_03_dot_20 KnifeType)\n (objectType PepperShaker_bar__plus_01_dot_13_bar__plus_00_dot_34_bar__minus_02_dot_37 PepperShakerType)\n (objectType Knife_bar__plus_01_dot_03_bar__plus_01_dot_35_bar__minus_02_dot_05 KnifeType)\n (objectType HousePlant_bar__minus_02_dot_03_bar__plus_01_dot_31_bar__minus_00_dot_03 HousePlantType)\n (objectType Chair_bar__plus_00_dot_60_bar__plus_00_dot_95_bar__minus_01_dot_09 ChairType)\n (objectType SaltShaker_bar__plus_00_dot_98_bar__plus_00_dot_34_bar__minus_01_dot_96 SaltShakerType)\n (objectType Bowl_bar__plus_00_dot_49_bar__plus_01_dot_32_bar__minus_03_dot_23 BowlType)\n (objectType Plate_bar__minus_01_dot_75_bar__plus_00_dot_34_bar__plus_00_dot_41 PlateType)\n (objectType Bread_bar__minus_01_dot_40_bar__plus_01_dot_40_bar__minus_01_dot_94 BreadType)\n (objectType PepperShaker_bar__minus_01_dot_79_bar__plus_01_dot_32_bar__plus_01_dot_09 PepperShakerType)\n (objectType Pan_bar__minus_00_dot_63_bar__plus_01_dot_33_bar__minus_03_dot_30 PanType)\n (objectType Spatula_bar__minus_01_dot_66_bar__plus_01_dot_34_bar__plus_01_dot_09 SpatulaType)\n (objectType SoapBottle_bar__minus_01_dot_67_bar__plus_00_dot_34_bar__minus_01_dot_96 SoapBottleType)\n (objectType Bread_bar__minus_01_dot_92_bar__plus_01_dot_40_bar__plus_02_dot_07 BreadType)\n (objectType LightSwitch_bar__plus_01_dot_39_bar__plus_01_dot_57_bar__minus_00_dot_66 LightSwitchType)\n (objectType Kettle_bar__minus_01_dot_69_bar__plus_01_dot_31_bar__minus_03_dot_16 KettleType)\n (objectType Fork_bar__plus_00_dot_77_bar__plus_01_dot_32_bar__minus_03_dot_16 ForkType)\n (objectType Fork_bar__minus_01_dot_24_bar__plus_01_dot_32_bar__minus_03_dot_31 ForkType)\n (objectType WineBottle_bar__plus_01_dot_05_bar__plus_00_dot_35_bar__minus_01_dot_75 WineBottleType)\n (objectType PepperShaker_bar__minus_01_dot_75_bar__plus_00_dot_34_bar__plus_00_dot_71 PepperShakerType)\n (objectType Egg_bar__plus_00_dot_90_bar__plus_01_dot_72_bar__plus_01_dot_60 EggType)\n (objectType DishSponge_bar__minus_01_dot_66_bar__plus_01_dot_32_bar__plus_01_dot_09 DishSpongeType)\n (objectType Tomato_bar__plus_00_dot_94_bar__plus_01_dot_79_bar__plus_02_dot_17 TomatoType)\n (objectType Spoon_bar__minus_01_dot_40_bar__plus_01_dot_32_bar__plus_00_dot_45 SpoonType)\n (objectType Apple_bar__plus_01_dot_12_bar__plus_01_dot_36_bar__plus_00_dot_86 AppleType)\n (objectType Apple_bar__minus_01_dot_63_bar__plus_00_dot_33_bar__plus_02_dot_15 AppleType)\n (objectType Pot_bar__minus_00_dot_24_bar__plus_01_dot_33_bar__minus_03_dot_30 PotType)\n (objectType Knife_bar__plus_00_dot_49_bar__plus_01_dot_35_bar__minus_02_dot_79 KnifeType)\n (objectType DishSponge_bar__minus_01_dot_61_bar__plus_00_dot_34_bar__plus_00_dot_61 DishSpongeType)\n (objectType 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WineBottle_bar__plus_01_dot_05_bar__plus_00_dot_35_bar__minus_01_dot_75 Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_78_bar__minus_02_dot_05)\n (inReceptacle Cup_bar__plus_00_dot_75_bar__plus_00_dot_34_bar__minus_02_dot_16 Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_78_bar__minus_02_dot_05)\n (inReceptacle PepperShaker_bar__plus_01_dot_13_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_35_bar__plus_01_dot_32_bar__minus_03_dot_23 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle Mug_bar__minus_02_dot_18_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 Bread_bar__minus_01_dot_51_bar__plus_01_dot_38_bar__plus_00_dot_66 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle SaltShaker_bar__minus_01_dot_79_bar__plus_01_dot_32_bar__minus_01_dot_68 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle PaperTowelRoll_bar__minus_01_dot_79_bar__plus_01_dot_43_bar__minus_02_dot_72 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle Knife_bar__minus_01_dot_38_bar__plus_01_dot_35_bar__minus_03_dot_20 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle Knife_bar__plus_01_dot_03_bar__plus_01_dot_35_bar__minus_02_dot_05 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 Bowl_bar__plus_00_dot_49_bar__plus_01_dot_32_bar__minus_03_dot_23 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle Bread_bar__minus_01_dot_40_bar__plus_01_dot_40_bar__minus_01_dot_94 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle PepperShaker_bar__minus_01_dot_79_bar__plus_01_dot_32_bar__plus_01_dot_09 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle Spatula_bar__minus_01_dot_66_bar__plus_01_dot_34_bar__plus_01_dot_09 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle Bread_bar__minus_01_dot_92_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 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 Fork_bar__plus_00_dot_77_bar__plus_01_dot_32_bar__minus_03_dot_16 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle Fork_bar__minus_01_dot_24_bar__plus_01_dot_32_bar__minus_03_dot_31 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle DishSponge_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 Spoon_bar__minus_01_dot_40_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 Knife_bar__plus_00_dot_49_bar__plus_01_dot_35_bar__minus_02_dot_79 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle Cup_bar__minus_02_dot_18_bar__plus_01_dot_32_bar__minus_01_dot_94 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle DishSponge_bar__minus_01_dot_89_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 Plate_bar__minus_01_dot_75_bar__plus_00_dot_34_bar__plus_01_dot_11 Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_01_dot_31)\n (inReceptacle Pan_bar__minus_00_dot_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 Pot_bar__minus_00_dot_13_bar__plus_01_dot_33_bar__minus_02_dot_97 StoveBurner_bar__minus_00_dot_13_bar__plus_01_dot_33_bar__minus_02_dot_97)\n (inReceptacle Egg_bar__plus_00_dot_90_bar__plus_01_dot_72_bar__plus_01_dot_60 Fridge_bar__plus_01_dot_01_bar__plus_00_dot_23_bar__plus_01_dot_92)\n (inReceptacle Tomato_bar__plus_00_dot_94_bar__plus_01_dot_79_bar__plus_02_dot_17 Fridge_bar__plus_01_dot_01_bar__plus_00_dot_23_bar__plus_01_dot_92)\n (inReceptacle Tomato_bar__plus_00_dot_87_bar__plus_01_dot_56_bar__plus_01_dot_48 Fridge_bar__plus_01_dot_01_bar__plus_00_dot_23_bar__plus_01_dot_92)\n (inReceptacle Potato_bar__plus_00_dot_92_bar__plus_01_dot_56_bar__plus_01_dot_60 Fridge_bar__plus_01_dot_01_bar__plus_00_dot_23_bar__plus_01_dot_92)\n (inReceptacle Cup_bar__plus_01_dot_02_bar__plus_01_dot_67_bar__plus_01_dot_60 Fridge_bar__plus_01_dot_01_bar__plus_00_dot_23_bar__plus_01_dot_92)\n (inReceptacle Apple_bar__plus_01_dot_12_bar__plus_01_dot_36_bar__plus_00_dot_86 Microwave_bar__plus_01_dot_16_bar__plus_01_dot_19_bar__plus_00_dot_85)\n (inReceptacle Egg_bar__plus_01_dot_25_bar__plus_01_dot_35_bar__plus_00_dot_81 Microwave_bar__plus_01_dot_16_bar__plus_01_dot_19_bar__plus_00_dot_85)\n (inReceptacle 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 \n \n (receptacleAtLocation Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_78_bar__minus_02_dot_05 loc_bar__minus_1_bar__minus_9_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_00_dot_47 loc_bar__minus_2_bar_0_bar_3_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_01_dot_31 loc_bar__minus_2_bar_7_bar_3_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__minus_02_dot_00 loc_bar__minus_2_bar__minus_6_bar_3_bar_45)\n (receptacleAtLocation CoffeeMachine_bar__plus_01_dot_13_bar__plus_01_dot_31_bar__minus_01_dot_43 loc_bar_0_bar__minus_6_bar_1_bar_30)\n (receptacleAtLocation CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (receptacleAtLocation Drawer_bar__plus_00_dot_71_bar__plus_00_dot_85_bar__plus_01_dot_02 loc_bar_0_bar_6_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_00_dot_71_bar__plus_01_dot_06_bar__plus_01_dot_02 loc_bar_0_bar_3_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_72_bar__plus_00_dot_59_bar__plus_00_dot_68 loc_bar__minus_1_bar_0_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_00_dot_72_bar__plus_00_dot_59_bar__plus_01_dot_02 loc_bar__minus_1_bar_2_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_00_dot_72_bar__plus_00_dot_84_bar__plus_00_dot_68 loc_bar_0_bar_1_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_00_dot_72_bar__plus_01_dot_06_bar__plus_00_dot_68 loc_bar_0_bar_1_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_61_bar__plus_00_dot_68_bar__minus_00_dot_43 loc_bar__minus_4_bar__minus_2_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_61_bar__plus_00_dot_68_bar__minus_01_dot_22 loc_bar__minus_4_bar__minus_5_bar_3_bar_60)\n (receptacleAtLocation Fridge_bar__plus_01_dot_01_bar__plus_00_dot_23_bar__plus_01_dot_92 loc_bar_0_bar_8_bar_1_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_01_dot_63_bar__plus_00_dot_22_bar__plus_02_dot_19 loc_bar__minus_4_bar_5_bar_0_bar_60)\n (receptacleAtLocation Microwave_bar__plus_01_dot_16_bar__plus_01_dot_19_bar__plus_00_dot_85 loc_bar_1_bar_3_bar_1_bar_30)\n (receptacleAtLocation SideTable_bar__plus_01_dot_02_bar__plus_01_dot_24_bar__plus_00_dot_87 loc_bar_1_bar_4_bar_1_bar_45)\n (receptacleAtLocation Sink_bar__minus_01_dot_99_bar__plus_01_dot_14_bar__minus_00_dot_98_bar_SinkBasin loc_bar__minus_4_bar__minus_3_bar_3_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_13_bar__plus_01_dot_33_bar__minus_02_dot_97 loc_bar__minus_1_bar__minus_9_bar_2_bar_30)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_24_bar__plus_01_dot_33_bar__minus_03_dot_30 loc_bar__minus_1_bar__minus_9_bar_2_bar_30)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_63_bar__plus_01_dot_33_bar__minus_03_dot_30 loc_bar__minus_3_bar__minus_9_bar_2_bar_30)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_75_bar__plus_01_dot_33_bar__minus_02_dot_97 loc_bar__minus_3_bar__minus_9_bar_2_bar_30)\n (receptacleAtLocation Toaster_bar__minus_01_dot_89_bar__plus_01_dot_31_bar__minus_02_dot_51 loc_bar__minus_4_bar__minus_9_bar_3_bar_30)\n (objectAtLocation Apple_bar__plus_01_dot_12_bar__plus_01_dot_36_bar__plus_00_dot_86 loc_bar_1_bar_3_bar_1_bar_30)\n (objectAtLocation DishSponge_bar__minus_01_dot_89_bar__plus_00_dot_34_bar__plus_01_dot_52 loc_bar__minus_2_bar_7_bar_3_bar_45)\n (objectAtLocation PepperShaker_bar__plus_01_dot_13_bar__plus_00_dot_34_bar__minus_02_dot_37 loc_bar__minus_1_bar__minus_9_bar_1_bar_60)\n (objectAtLocation Plate_bar__minus_01_dot_75_bar__plus_00_dot_34_bar__plus_00_dot_41 loc_bar__minus_2_bar_0_bar_3_bar_45)\n (objectAtLocation Tomato_bar__plus_00_dot_87_bar__plus_01_dot_56_bar__plus_01_dot_48 loc_bar_0_bar_8_bar_1_bar_60)\n (objectAtLocation SaltShaker_bar__minus_01_dot_79_bar__plus_01_dot_32_bar__minus_01_dot_68 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation Egg_bar__plus_00_dot_90_bar__plus_01_dot_72_bar__plus_01_dot_60 loc_bar_0_bar_8_bar_1_bar_60)\n (objectAtLocation Cup_bar__minus_02_dot_18_bar__plus_01_dot_32_bar__minus_01_dot_94 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation Fork_bar__minus_01_dot_24_bar__plus_01_dot_32_bar__minus_03_dot_31 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation SoapBottle_bar__minus_01_dot_67_bar__plus_00_dot_34_bar__minus_01_dot_96 loc_bar__minus_2_bar__minus_6_bar_3_bar_45)\n (objectAtLocation Knife_bar__minus_01_dot_38_bar__plus_01_dot_35_bar__minus_03_dot_20 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation Pot_bar__minus_00_dot_13_bar__plus_01_dot_33_bar__minus_02_dot_97 loc_bar__minus_1_bar__minus_9_bar_2_bar_30)\n (objectAtLocation Bread_bar__minus_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 Bread_bar__minus_01_dot_92_bar__plus_01_dot_40_bar__plus_02_dot_07 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation PepperShaker_bar__minus_01_dot_79_bar__plus_01_dot_32_bar__plus_01_dot_09 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation Knife_bar__plus_01_dot_03_bar__plus_01_dot_35_bar__minus_02_dot_05 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation Cup_bar__plus_01_dot_02_bar__plus_01_dot_67_bar__plus_01_dot_60 loc_bar_0_bar_8_bar_1_bar_60)\n (objectAtLocation DishSponge_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 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_40_bar__plus_01_dot_40_bar__minus_01_dot_94 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation Pot_bar__minus_00_dot_24_bar__plus_01_dot_33_bar__minus_03_dot_30 loc_bar__minus_1_bar__minus_9_bar_2_bar_30)\n (objectAtLocation Knife_bar__plus_00_dot_49_bar__plus_01_dot_35_bar__minus_02_dot_79 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation Bowl_bar__plus_00_dot_49_bar__plus_01_dot_32_bar__minus_03_dot_23 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation Potato_bar__plus_00_dot_92_bar__plus_01_dot_56_bar__plus_01_dot_60 loc_bar_0_bar_8_bar_1_bar_60)\n (objectAtLocation SoapBottle_bar__plus_00_dot_35_bar__plus_01_dot_32_bar__minus_03_dot_23 loc_bar__minus_4_bar_5_bar_3_bar_30)\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_77_bar__plus_01_dot_32_bar__minus_03_dot_16 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation Cup_bar__plus_00_dot_75_bar__plus_00_dot_34_bar__minus_02_dot_16 loc_bar__minus_1_bar__minus_9_bar_1_bar_60)\n (objectAtLocation Kettle_bar__minus_01_dot_69_bar__plus_01_dot_31_bar__minus_03_dot_16 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation Egg_bar__plus_01_dot_25_bar__plus_01_dot_35_bar__plus_00_dot_81 loc_bar_1_bar_3_bar_1_bar_30)\n (objectAtLocation LightSwitch_bar__plus_01_dot_39_bar__plus_01_dot_57_bar__minus_00_dot_66 loc_bar_3_bar__minus_1_bar_1_bar_30)\n (objectAtLocation Pan_bar__minus_00_dot_63_bar__plus_01_dot_33_bar__minus_03_dot_30 loc_bar__minus_3_bar__minus_9_bar_2_bar_30)\n (objectAtLocation SaltShaker_bar__plus_00_dot_98_bar__plus_00_dot_34_bar__minus_01_dot_96 loc_bar__minus_1_bar__minus_9_bar_1_bar_60)\n (objectAtLocation WineBottle_bar__plus_01_dot_05_bar__plus_00_dot_35_bar__minus_01_dot_75 loc_bar__minus_1_bar__minus_9_bar_1_bar_60)\n (objectAtLocation Lettuce_bar__minus_01_dot_89_bar__plus_01_dot_40_bar__minus_01_dot_07 loc_bar__minus_4_bar__minus_3_bar_3_bar_45)\n (objectAtLocation 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_66_bar__plus_01_dot_34_bar__plus_01_dot_09 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation PaperTowelRoll_bar__minus_01_dot_79_bar__plus_01_dot_43_bar__minus_02_dot_72 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation Tomato_bar__plus_00_dot_94_bar__plus_01_dot_79_bar__plus_02_dot_17 loc_bar_0_bar_8_bar_1_bar_60)\n (objectAtLocation Plate_bar__minus_01_dot_75_bar__plus_00_dot_34_bar__plus_01_dot_11 loc_bar__minus_2_bar_7_bar_3_bar_45)\n (objectAtLocation PepperShaker_bar__minus_01_dot_75_bar__plus_00_dot_34_bar__plus_00_dot_71 loc_bar__minus_2_bar_0_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_61_bar__plus_00_dot_34_bar__plus_00_dot_61 loc_bar__minus_2_bar_0_bar_3_bar_45)\n (objectAtLocation Spoon_bar__minus_01_dot_40_bar__plus_01_dot_32_bar__plus_00_dot_45 loc_bar__minus_4_bar_5_bar_3_bar_30)\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 Mug_bar__minus_02_dot_18_bar__plus_01_dot_32_bar__plus_01_dot_09 loc_bar__minus_4_bar_5_bar_3_bar_30)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (cleanable ?o)\n (objectType ?o SpatulaType)\n (receptacleType ?r SideTableType)\n (isClean ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 1", "take spatula 1 from countertop 1", "go to sinkbasin 1", "clean spatula 1 with sinkbasin 1", "go to sidetable 1", "move spatula 1 to sidetable 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Spatula-None-SideTable-3/trial_T20190907_230305_502659/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Spatula-None-SideTable-3/trial_T20190907_230305_502659/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..389620c0fde3d8af1400c4ef94d87190258a822f --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Spatula-None-SideTable-3/trial_T20190907_230305_502659/initial_state.pddl @@ -0,0 +1,887 @@ + +(define (problem plan_trial_T20190907_230305_502659) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + 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_12_bar__plus_01_dot_36_bar__plus_00_dot_86 - object + Apple_bar__minus_01_dot_63_bar__plus_00_dot_33_bar__plus_02_dot_15 - object + Bowl_bar__plus_00_dot_49_bar__plus_01_dot_32_bar__minus_03_dot_23 - object + Bread_bar__minus_01_dot_40_bar__plus_01_dot_40_bar__minus_01_dot_94 - object + Bread_bar__minus_01_dot_51_bar__plus_01_dot_38_bar__plus_00_dot_66 - object + Bread_bar__minus_01_dot_92_bar__plus_01_dot_40_bar__plus_02_dot_07 - object + Chair_bar__plus_00_dot_60_bar__plus_00_dot_95_bar__minus_01_dot_09 - object + Cup_bar__plus_00_dot_75_bar__plus_00_dot_34_bar__minus_02_dot_16 - object + Cup_bar__plus_01_dot_02_bar__plus_01_dot_67_bar__plus_01_dot_60 - object + Cup_bar__minus_02_dot_18_bar__plus_01_dot_32_bar__minus_01_dot_94 - object + DishSponge_bar__minus_01_dot_61_bar__plus_00_dot_34_bar__plus_00_dot_61 - object + DishSponge_bar__minus_01_dot_66_bar__plus_01_dot_32_bar__plus_01_dot_09 - object + DishSponge_bar__minus_01_dot_89_bar__plus_00_dot_34_bar__plus_01_dot_52 - object + Egg_bar__plus_00_dot_90_bar__plus_01_dot_72_bar__plus_01_dot_60 - object + Egg_bar__plus_01_dot_25_bar__plus_01_dot_35_bar__plus_00_dot_81 - object + Faucet_bar__minus_02_dot_06_bar__plus_01_dot_36_bar__minus_00_dot_73 - object + Fork_bar__plus_00_dot_77_bar__plus_01_dot_32_bar__minus_03_dot_16 - object + Fork_bar__minus_01_dot_24_bar__plus_01_dot_32_bar__minus_03_dot_31 - 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__plus_00_dot_49_bar__plus_01_dot_35_bar__minus_02_dot_79 - object + Knife_bar__plus_01_dot_03_bar__plus_01_dot_35_bar__minus_02_dot_05 - object + Knife_bar__minus_01_dot_38_bar__plus_01_dot_35_bar__minus_03_dot_20 - object + Lettuce_bar__minus_01_dot_89_bar__plus_01_dot_40_bar__minus_01_dot_07 - object + LightSwitch_bar__plus_01_dot_39_bar__plus_01_dot_57_bar__minus_00_dot_66 - object + Mug_bar__minus_02_dot_18_bar__plus_01_dot_32_bar__plus_01_dot_09 - object + Pan_bar__minus_00_dot_63_bar__plus_01_dot_33_bar__minus_03_dot_30 - object + PaperTowelRoll_bar__minus_01_dot_79_bar__plus_01_dot_43_bar__minus_02_dot_72 - object + PepperShaker_bar__plus_01_dot_13_bar__plus_00_dot_34_bar__minus_02_dot_37 - object + PepperShaker_bar__minus_01_dot_75_bar__plus_00_dot_34_bar__plus_00_dot_71 - object + PepperShaker_bar__minus_01_dot_79_bar__plus_01_dot_32_bar__plus_01_dot_09 - object + Plate_bar__minus_01_dot_75_bar__plus_00_dot_34_bar__plus_00_dot_41 - object + Plate_bar__minus_01_dot_75_bar__plus_00_dot_34_bar__plus_01_dot_11 - object + Potato_bar__plus_00_dot_92_bar__plus_01_dot_56_bar__plus_01_dot_60 - object + Pot_bar__minus_00_dot_13_bar__plus_01_dot_33_bar__minus_02_dot_97 - object + Pot_bar__minus_00_dot_24_bar__plus_01_dot_33_bar__minus_03_dot_30 - object + SaltShaker_bar__plus_00_dot_98_bar__plus_00_dot_34_bar__minus_01_dot_96 - object + SaltShaker_bar__minus_01_dot_79_bar__plus_01_dot_32_bar__minus_01_dot_68 - object + Sink_bar__minus_01_dot_99_bar__plus_01_dot_14_bar__minus_00_dot_98 - object + SoapBottle_bar__plus_00_dot_35_bar__plus_01_dot_32_bar__minus_03_dot_23 - object + SoapBottle_bar__minus_01_dot_67_bar__plus_00_dot_34_bar__minus_01_dot_96 - object + Spatula_bar__minus_01_dot_66_bar__plus_01_dot_34_bar__plus_01_dot_09 - object + Spoon_bar__minus_01_dot_40_bar__plus_01_dot_32_bar__plus_00_dot_45 - object + StoveKnob_bar__minus_00_dot_19_bar__plus_01_dot_34_bar__minus_02_dot_74 - object + StoveKnob_bar__minus_00_dot_34_bar__plus_01_dot_34_bar__minus_02_dot_74 - object + StoveKnob_bar__minus_00_dot_57_bar__plus_01_dot_34_bar__minus_02_dot_74 - object + StoveKnob_bar__minus_00_dot_71_bar__plus_01_dot_34_bar__minus_02_dot_74 - object + Tomato_bar__plus_00_dot_87_bar__plus_01_dot_56_bar__plus_01_dot_48 - object + Tomato_bar__plus_00_dot_94_bar__plus_01_dot_79_bar__plus_02_dot_17 - object + Window_bar__minus_02_dot_57_bar__plus_01_dot_80_bar__minus_00_dot_82 - object + WineBottle_bar__plus_01_dot_05_bar__plus_00_dot_35_bar__minus_01_dot_75 - 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_2_bar_1_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) + 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Apple_bar__minus_01_dot_63_bar__plus_00_dot_33_bar__plus_02_dot_15) + (cleanable Pot_bar__minus_00_dot_24_bar__plus_01_dot_33_bar__minus_03_dot_30) + (cleanable Knife_bar__plus_00_dot_49_bar__plus_01_dot_35_bar__minus_02_dot_79) + (cleanable DishSponge_bar__minus_01_dot_61_bar__plus_00_dot_34_bar__plus_00_dot_61) + (cleanable Cup_bar__minus_02_dot_18_bar__plus_01_dot_32_bar__minus_01_dot_94) + (cleanable DishSponge_bar__minus_01_dot_89_bar__plus_00_dot_34_bar__plus_01_dot_52) + + (heatable Plate_bar__minus_01_dot_75_bar__plus_00_dot_34_bar__plus_01_dot_11) + (heatable Mug_bar__minus_02_dot_18_bar__plus_01_dot_32_bar__plus_01_dot_09) + (heatable Bread_bar__minus_01_dot_51_bar__plus_01_dot_38_bar__plus_00_dot_66) + (heatable Cup_bar__plus_00_dot_75_bar__plus_00_dot_34_bar__minus_02_dot_16) + (heatable Egg_bar__plus_01_dot_25_bar__plus_01_dot_35_bar__plus_00_dot_81) + (heatable Tomato_bar__plus_00_dot_87_bar__plus_01_dot_56_bar__plus_01_dot_48) + (heatable Potato_bar__plus_00_dot_92_bar__plus_01_dot_56_bar__plus_01_dot_60) + (heatable Cup_bar__plus_01_dot_02_bar__plus_01_dot_67_bar__plus_01_dot_60) + (heatable Plate_bar__minus_01_dot_75_bar__plus_00_dot_34_bar__plus_00_dot_41) + (heatable Bread_bar__minus_01_dot_40_bar__plus_01_dot_40_bar__minus_01_dot_94) + (heatable Bread_bar__minus_01_dot_92_bar__plus_01_dot_40_bar__plus_02_dot_07) + (heatable Egg_bar__plus_00_dot_90_bar__plus_01_dot_72_bar__plus_01_dot_60) + (heatable Tomato_bar__plus_00_dot_94_bar__plus_01_dot_79_bar__plus_02_dot_17) + (heatable Apple_bar__plus_01_dot_12_bar__plus_01_dot_36_bar__plus_00_dot_86) + (heatable Apple_bar__minus_01_dot_63_bar__plus_00_dot_33_bar__plus_02_dot_15) + (heatable Cup_bar__minus_02_dot_18_bar__plus_01_dot_32_bar__minus_01_dot_94) + (coolable Plate_bar__minus_01_dot_75_bar__plus_00_dot_34_bar__plus_01_dot_11) + (coolable Pot_bar__minus_00_dot_13_bar__plus_01_dot_33_bar__minus_02_dot_97) + (coolable 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Bread_bar__minus_01_dot_92_bar__plus_01_dot_40_bar__plus_02_dot_07) + (coolable WineBottle_bar__plus_01_dot_05_bar__plus_00_dot_35_bar__minus_01_dot_75) + (coolable Egg_bar__plus_00_dot_90_bar__plus_01_dot_72_bar__plus_01_dot_60) + (coolable Tomato_bar__plus_00_dot_94_bar__plus_01_dot_79_bar__plus_02_dot_17) + (coolable Apple_bar__plus_01_dot_12_bar__plus_01_dot_36_bar__plus_00_dot_86) + (coolable Apple_bar__minus_01_dot_63_bar__plus_00_dot_33_bar__plus_02_dot_15) + (coolable Pot_bar__minus_00_dot_24_bar__plus_01_dot_33_bar__minus_03_dot_30) + (coolable Cup_bar__minus_02_dot_18_bar__plus_01_dot_32_bar__minus_01_dot_94) + + + + + + (sliceable Bread_bar__minus_01_dot_51_bar__plus_01_dot_38_bar__plus_00_dot_66) + (sliceable Egg_bar__plus_01_dot_25_bar__plus_01_dot_35_bar__plus_00_dot_81) + (sliceable Tomato_bar__plus_00_dot_87_bar__plus_01_dot_56_bar__plus_01_dot_48) + (sliceable Lettuce_bar__minus_01_dot_89_bar__plus_01_dot_40_bar__minus_01_dot_07) + (sliceable Potato_bar__plus_00_dot_92_bar__plus_01_dot_56_bar__plus_01_dot_60) + (sliceable Bread_bar__minus_01_dot_40_bar__plus_01_dot_40_bar__minus_01_dot_94) + (sliceable Bread_bar__minus_01_dot_92_bar__plus_01_dot_40_bar__plus_02_dot_07) + (sliceable Egg_bar__plus_00_dot_90_bar__plus_01_dot_72_bar__plus_01_dot_60) + (sliceable Tomato_bar__plus_00_dot_94_bar__plus_01_dot_79_bar__plus_02_dot_17) + (sliceable Apple_bar__plus_01_dot_12_bar__plus_01_dot_36_bar__plus_00_dot_86) + (sliceable Apple_bar__minus_01_dot_63_bar__plus_00_dot_33_bar__plus_02_dot_15) + + (inReceptacleObject DishSponge_bar__minus_01_dot_61_bar__plus_00_dot_34_bar__plus_00_dot_61 Plate_bar__minus_01_dot_75_bar__plus_00_dot_34_bar__plus_00_dot_41) + (inReceptacle Pot_bar__minus_00_dot_24_bar__plus_01_dot_33_bar__minus_03_dot_30 StoveBurner_bar__minus_00_dot_24_bar__plus_01_dot_33_bar__minus_03_dot_30) + (inReceptacle SoapBottle_bar__minus_01_dot_67_bar__plus_00_dot_34_bar__minus_01_dot_96 Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__minus_02_dot_00) + (inReceptacle 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 PepperShaker_bar__minus_01_dot_75_bar__plus_00_dot_34_bar__plus_00_dot_71 Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_00_dot_47) + (inReceptacle Plate_bar__minus_01_dot_75_bar__plus_00_dot_34_bar__plus_00_dot_41 Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_00_dot_47) + (inReceptacle DishSponge_bar__minus_01_dot_61_bar__plus_00_dot_34_bar__plus_00_dot_61 Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_00_dot_47) + (inReceptacle SaltShaker_bar__plus_00_dot_98_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) + (inReceptacle WineBottle_bar__plus_01_dot_05_bar__plus_00_dot_35_bar__minus_01_dot_75 Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_78_bar__minus_02_dot_05) + (inReceptacle Cup_bar__plus_00_dot_75_bar__plus_00_dot_34_bar__minus_02_dot_16 Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_78_bar__minus_02_dot_05) + (inReceptacle PepperShaker_bar__plus_01_dot_13_bar__plus_00_dot_34_bar__minus_02_dot_37 Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_78_bar__minus_02_dot_05) + (inReceptacle SoapBottle_bar__plus_00_dot_35_bar__plus_01_dot_32_bar__minus_03_dot_23 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle Mug_bar__minus_02_dot_18_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 Bread_bar__minus_01_dot_51_bar__plus_01_dot_38_bar__plus_00_dot_66 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle SaltShaker_bar__minus_01_dot_79_bar__plus_01_dot_32_bar__minus_01_dot_68 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle PaperTowelRoll_bar__minus_01_dot_79_bar__plus_01_dot_43_bar__minus_02_dot_72 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle Knife_bar__minus_01_dot_38_bar__plus_01_dot_35_bar__minus_03_dot_20 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle Knife_bar__plus_01_dot_03_bar__plus_01_dot_35_bar__minus_02_dot_05 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle HousePlant_bar__minus_02_dot_03_bar__plus_01_dot_31_bar__minus_00_dot_03 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle Bowl_bar__plus_00_dot_49_bar__plus_01_dot_32_bar__minus_03_dot_23 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle Bread_bar__minus_01_dot_40_bar__plus_01_dot_40_bar__minus_01_dot_94 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle PepperShaker_bar__minus_01_dot_79_bar__plus_01_dot_32_bar__plus_01_dot_09 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle Spatula_bar__minus_01_dot_66_bar__plus_01_dot_34_bar__plus_01_dot_09 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle Bread_bar__minus_01_dot_92_bar__plus_01_dot_40_bar__plus_02_dot_07 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle Kettle_bar__minus_01_dot_69_bar__plus_01_dot_31_bar__minus_03_dot_16 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle Fork_bar__plus_00_dot_77_bar__plus_01_dot_32_bar__minus_03_dot_16 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle Fork_bar__minus_01_dot_24_bar__plus_01_dot_32_bar__minus_03_dot_31 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle DishSponge_bar__minus_01_dot_66_bar__plus_01_dot_32_bar__plus_01_dot_09 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle Spoon_bar__minus_01_dot_40_bar__plus_01_dot_32_bar__plus_00_dot_45 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle Knife_bar__plus_00_dot_49_bar__plus_01_dot_35_bar__minus_02_dot_79 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle Cup_bar__minus_02_dot_18_bar__plus_01_dot_32_bar__minus_01_dot_94 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle DishSponge_bar__minus_01_dot_89_bar__plus_00_dot_34_bar__plus_01_dot_52 Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_01_dot_31) + (inReceptacle Plate_bar__minus_01_dot_75_bar__plus_00_dot_34_bar__plus_01_dot_11 Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_01_dot_31) + (inReceptacle Pan_bar__minus_00_dot_63_bar__plus_01_dot_33_bar__minus_03_dot_30 StoveBurner_bar__minus_00_dot_75_bar__plus_01_dot_33_bar__minus_02_dot_97) + (inReceptacle Pot_bar__minus_00_dot_13_bar__plus_01_dot_33_bar__minus_02_dot_97 StoveBurner_bar__minus_00_dot_13_bar__plus_01_dot_33_bar__minus_02_dot_97) + (inReceptacle Egg_bar__plus_00_dot_90_bar__plus_01_dot_72_bar__plus_01_dot_60 Fridge_bar__plus_01_dot_01_bar__plus_00_dot_23_bar__plus_01_dot_92) + (inReceptacle Tomato_bar__plus_00_dot_94_bar__plus_01_dot_79_bar__plus_02_dot_17 Fridge_bar__plus_01_dot_01_bar__plus_00_dot_23_bar__plus_01_dot_92) + (inReceptacle Tomato_bar__plus_00_dot_87_bar__plus_01_dot_56_bar__plus_01_dot_48 Fridge_bar__plus_01_dot_01_bar__plus_00_dot_23_bar__plus_01_dot_92) + (inReceptacle Potato_bar__plus_00_dot_92_bar__plus_01_dot_56_bar__plus_01_dot_60 Fridge_bar__plus_01_dot_01_bar__plus_00_dot_23_bar__plus_01_dot_92) + (inReceptacle Cup_bar__plus_01_dot_02_bar__plus_01_dot_67_bar__plus_01_dot_60 Fridge_bar__plus_01_dot_01_bar__plus_00_dot_23_bar__plus_01_dot_92) + (inReceptacle Apple_bar__plus_01_dot_12_bar__plus_01_dot_36_bar__plus_00_dot_86 Microwave_bar__plus_01_dot_16_bar__plus_01_dot_19_bar__plus_00_dot_85) + (inReceptacle Egg_bar__plus_01_dot_25_bar__plus_01_dot_35_bar__plus_00_dot_81 Microwave_bar__plus_01_dot_16_bar__plus_01_dot_19_bar__plus_00_dot_85) + (inReceptacle 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) + + + (receptacleAtLocation Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_78_bar__minus_02_dot_05 loc_bar__minus_1_bar__minus_9_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_00_dot_47 loc_bar__minus_2_bar_0_bar_3_bar_45) + (receptacleAtLocation Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_01_dot_31 loc_bar__minus_2_bar_7_bar_3_bar_45) + 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"position": { + "x": 1.12929857, + "y": 0.339971542, + "z": -2.37100124 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_a15664d1", + "position": { + "x": -1.88644969, + "y": 0.343378425, + "z": 1.52389443 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Spoon_e0793d4c", + "position": { + "x": -1.40105689, + "y": 1.32412946, + "z": 0.445294976 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Apple_e84ad935", + "position": { + "x": 1.11572361, + "y": 1.3592943, + "z": 0.861990035 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + }, + { + "objectName": "Mug_259b36f2", + "position": { + "x": -2.17957425, + "y": 1.318, + "z": 1.094923 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 1716506336, + "scene_num": 3 + }, + "task_id": "trial_T20190907_230305_502659", + "task_type": "pick_clean_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A36DK84J5YJ942_3P59JYT76O1XVMSH1UYBMQS98A42T7", + "high_descs": [ + "Move to the counter to the right of the sink", + "Pick up a spatula from the counter", + "Move to the sink to the left", + "Clean the spatula in the sink", + "Move to the counter to the right of the fridge", + "Put the spatula on the counter to the right of the fridge" + ], + "task_desc": "Put a cleaned spatula to the counter to the right of the fridge.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A6U2C66WQ7QQN_3QECW5O0KKIPUJB4JD09KXVLSJ1T53", + "high_descs": [ + "Turn around, head to the counter", + "Take the spatula from the counter", + "Turn to the left, head to the sink", + "Put the spatula in the sink, turn on the water", + "Turn off the water, take the spatula from the sink", + "Turn to the right, head to the microwave, put the spatula in front of the microwave" + ], + "task_desc": "Wash the spatula, put it in front of the microwave", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AJQGWGESKQT4Y_3TPZPLC3M3TOOCVTOD3W0QW4PLCP3T", + "high_descs": [ + "Turn left and the left again to face the cabinet with the bread on it.", + "Pick the spatula up from the table.", + "Go left and turn to the right to face the sink.", + "Put the spatula in the sink and turn the water on and then off and then pick the spatula up.", + "Turn to the right and then the right again to face the microwave.", + "Put the spatula down on the table in front of the microwave." + ], + "task_desc": "Put a clean spatula down in front of a microwave.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Tomato-None-SideTable-3/trial_T20190909_002446_748693/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Tomato-None-SideTable-3/trial_T20190909_002446_748693/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..bc1b2142d944b89a0ced68a42b22bf658a699080 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Tomato-None-SideTable-3/trial_T20190909_002446_748693/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\n\\n#task#\"\n }\n ],\n\n \"notImplemented\": [\n {\n \"rhs\": \"TODO\"\n }\n ],\n\n \"task\": [\n {\n \"rhs\": \"Your task is to: put a clean tomato in 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_002446_748693)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\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_11_bar__plus_01_dot_26_bar__plus_01_dot_24 - object\n Bowl_bar__plus_01_dot_05_bar__plus_00_dot_34_bar__minus_02_dot_37 - object\n Bowl_bar__plus_01_dot_06_bar__plus_01_dot_67_bar__plus_01_dot_72 - object\n Bread_bar__minus_01_dot_79_bar__plus_01_dot_40_bar__minus_02_dot_20 - 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_49_bar__plus_01_dot_32_bar__minus_03_dot_34 - object\n DishSponge_bar__plus_00_dot_51_bar__plus_01_dot_32_bar__minus_01_dot_31 - object\n DishSponge_bar__plus_00_dot_94_bar__plus_00_dot_46_bar__plus_01_dot_05 - object\n Egg_bar__plus_00_dot_93_bar__plus_02_dot_07_bar__plus_01_dot_99 - object\n Faucet_bar__minus_02_dot_06_bar__plus_01_dot_36_bar__minus_00_dot_73 - object\n Fork_bar__minus_01_dot_66_bar__plus_01_dot_32_bar__minus_02_dot_20 - 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_51_bar__plus_01_dot_32_bar__minus_00_dot_94 - object\n Kettle_bar__minus_01_dot_79_bar__plus_01_dot_32_bar__plus_01_dot_42 - object\n Knife_bar__plus_00_dot_42_bar__plus_01_dot_35_bar__minus_02_dot_79 - object\n Knife_bar__plus_00_dot_42_bar__plus_01_dot_35_bar__minus_03_dot_23 - object\n Knife_bar__minus_01_dot_66_bar__plus_01_dot_35_bar__plus_00_dot_77 - object\n Lettuce_bar__plus_01_dot_02_bar__plus_01_dot_83_bar__plus_02_dot_29 - 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_01_dot_21_bar__plus_01_dot_31_bar__plus_00_dot_97 - object\n Mug_bar__plus_01_dot_28_bar__plus_01_dot_20_bar__plus_01_dot_24 - object\n Pan_bar__plus_00_dot_90_bar__plus_00_dot_34_bar__minus_02_dot_06 - object\n Pan_bar__minus_01_dot_75_bar__plus_00_dot_34_bar__plus_01_dot_52 - object\n PaperTowelRoll_bar__minus_01_dot_61_bar__plus_00_dot_38_bar__plus_02_dot_19 - object\n PepperShaker_bar__plus_00_dot_63_bar__plus_01_dot_32_bar__minus_03_dot_12 - object\n PepperShaker_bar__minus_01_dot_73_bar__plus_00_dot_42_bar__minus_01_dot_09 - object\n PepperShaker_bar__minus_01_dot_79_bar__plus_01_dot_32_bar__plus_01_dot_74 - object\n 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WineBottle_bar__minus_01_dot_63_bar__plus_00_dot_28_bar__plus_02_dot_28 - object\n Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_78_bar__minus_02_dot_05 - receptacle\n Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_00_dot_47 - receptacle\n Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_01_dot_31 - receptacle\n Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__minus_02_dot_00 - receptacle\n CoffeeMachine_bar__plus_01_dot_13_bar__plus_01_dot_31_bar__minus_01_dot_43 - receptacle\n CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18 - receptacle\n Drawer_bar__plus_00_dot_71_bar__plus_00_dot_85_bar__plus_01_dot_02 - receptacle\n Drawer_bar__plus_00_dot_71_bar__plus_01_dot_06_bar__plus_01_dot_02 - receptacle\n Drawer_bar__plus_00_dot_72_bar__plus_00_dot_59_bar__plus_00_dot_68 - receptacle\n Drawer_bar__plus_00_dot_72_bar__plus_00_dot_59_bar__plus_01_dot_02 - receptacle\n Drawer_bar__plus_00_dot_72_bar__plus_00_dot_84_bar__plus_00_dot_68 - receptacle\n Drawer_bar__plus_00_dot_72_bar__plus_01_dot_06_bar__plus_00_dot_68 - receptacle\n Drawer_bar__minus_01_dot_61_bar__plus_00_dot_68_bar__minus_00_dot_43 - receptacle\n Drawer_bar__minus_01_dot_61_bar__plus_00_dot_68_bar__minus_01_dot_22 - receptacle\n Fridge_bar__plus_01_dot_01_bar__plus_00_dot_23_bar__plus_01_dot_92 - receptacle\n GarbageCan_bar__minus_01_dot_63_bar__plus_00_dot_22_bar__plus_02_dot_19 - receptacle\n Microwave_bar__plus_01_dot_16_bar__plus_01_dot_19_bar__plus_00_dot_85 - receptacle\n SideTable_bar__plus_01_dot_02_bar__plus_01_dot_24_bar__plus_00_dot_87 - receptacle\n Sink_bar__minus_01_dot_99_bar__plus_01_dot_14_bar__minus_00_dot_98_bar_SinkBasin - receptacle\n StoveBurner_bar__minus_00_dot_13_bar__plus_01_dot_33_bar__minus_02_dot_97 - receptacle\n StoveBurner_bar__minus_00_dot_24_bar__plus_01_dot_33_bar__minus_03_dot_30 - receptacle\n StoveBurner_bar__minus_00_dot_63_bar__plus_01_dot_33_bar__minus_03_dot_30 - receptacle\n StoveBurner_bar__minus_00_dot_75_bar__plus_01_dot_33_bar__minus_02_dot_97 - receptacle\n Toaster_bar__minus_01_dot_89_bar__plus_01_dot_31_bar__minus_02_dot_51 - receptacle\n loc_bar__minus_4_bar__minus_2_bar_3_bar_60 - location\n loc_bar__minus_4_bar__minus_5_bar_3_bar_60 - location\n loc_bar_0_bar_1_bar_1_bar_60 - location\n loc_bar__minus_1_bar_0_bar_1_bar_60 - location\n loc_bar__minus_2_bar_7_bar_3_bar_45 - location\n loc_bar_0_bar_3_bar_1_bar_45 - location\n loc_bar__minus_2_bar__minus_6_bar_3_bar_45 - location\n loc_bar__minus_4_bar__minus_3_bar_3_bar_0 - location\n loc_bar__minus_3_bar__minus_9_bar_2_bar_45 - location\n loc_bar__minus_4_bar__minus_9_bar_3_bar_30 - location\n loc_bar_1_bar_3_bar_1_bar_30 - location\n loc_bar__minus_1_bar__minus_9_bar_2_bar_30 - location\n loc_bar__minus_1_bar__minus_9_bar_2_bar_45 - location\n loc_bar__minus_2_bar__minus_9_bar_2_bar_45 - location\n loc_bar_1_bar_4_bar_1_bar_45 - location\n loc_bar__minus_3_bar__minus_9_bar_2_bar_30 - location\n loc_bar_3_bar__minus_1_bar_1_bar_30 - location\n loc_bar_0_bar_6_bar_1_bar_60 - location\n loc_bar__minus_4_bar_5_bar_0_bar_60 - location\n loc_bar__minus_2_bar_0_bar_3_bar_45 - location\n loc_bar__minus_4_bar__minus_4_bar_3_bar_30 - location\n loc_bar__minus_1_bar_2_bar_1_bar_60 - location\n loc_bar_0_bar_1_bar_1_bar_45 - location\n loc_bar_0_bar_8_bar_1_bar_60 - location\n loc_bar__minus_1_bar__minus_9_bar_1_bar_60 - location\n loc_bar_0_bar__minus_4_bar_1_bar_60 - location\n loc_bar_0_bar__minus_6_bar_1_bar_30 - location\n loc_bar__minus_4_bar__minus_3_bar_3_bar_45 - location\n loc_bar__minus_4_bar_5_bar_3_bar_30 - location\n loc_bar__minus_2_bar_6_bar_3_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Drawer_bar__plus_00_dot_71_bar__plus_01_dot_06_bar__plus_01_dot_02 DrawerType)\n (receptacleType Toaster_bar__minus_01_dot_89_bar__plus_01_dot_31_bar__minus_02_dot_51 ToasterType)\n (receptacleType SideTable_bar__plus_01_dot_02_bar__plus_01_dot_24_bar__plus_00_dot_87 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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 StoveKnob_bar__minus_00_dot_57_bar__plus_01_dot_34_bar__minus_02_dot_74 StoveKnobType)\n (objectType Egg_bar__plus_00_dot_93_bar__plus_02_dot_07_bar__plus_01_dot_99 EggType)\n (objectType Knife_bar__plus_00_dot_42_bar__plus_01_dot_35_bar__minus_02_dot_79 KnifeType)\n (objectType WineBottle_bar__minus_01_dot_63_bar__plus_00_dot_28_bar__plus_02_dot_28 WineBottleType)\n (objectType Pot_bar__minus_00_dot_13_bar__plus_01_dot_33_bar__minus_02_dot_97 PotType)\n (objectType Tomato_bar__plus_01_dot_07_bar__plus_01_dot_56_bar__plus_01_dot_48 TomatoType)\n (objectType Potato_bar__minus_01_dot_40_bar__plus_01_dot_36_bar__minus_03_dot_24 PotatoType)\n (objectType Mug_bar__plus_01_dot_21_bar__plus_01_dot_31_bar__plus_00_dot_97 MugType)\n (objectType 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CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle Cup_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 Potato_bar__minus_01_dot_38_bar__plus_01_dot_36_bar__minus_03_dot_09 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle SaltShaker_bar__minus_01_dot_55_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 SoapBottle_bar__minus_01_dot_89_bar__plus_00_dot_34_bar__plus_01_dot_11 Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_01_dot_31)\n (inReceptacle 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 PepperShaker_bar__minus_01_dot_73_bar__plus_00_dot_42_bar__minus_01_dot_09 Drawer_bar__minus_01_dot_61_bar__plus_00_dot_68_bar__minus_01_dot_22)\n (inReceptacle Mug_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 Apple_bar__plus_01_dot_11_bar__plus_01_dot_26_bar__plus_01_dot_24 SideTable_bar__plus_01_dot_02_bar__plus_01_dot_24_bar__plus_00_dot_87)\n (inReceptacle Pot_bar__minus_00_dot_13_bar__plus_01_dot_33_bar__minus_02_dot_97 StoveBurner_bar__minus_00_dot_13_bar__plus_01_dot_33_bar__minus_02_dot_97)\n (inReceptacle Egg_bar__plus_00_dot_93_bar__plus_02_dot_07_bar__plus_01_dot_99 Fridge_bar__plus_01_dot_01_bar__plus_00_dot_23_bar__plus_01_dot_92)\n (inReceptacle Lettuce_bar__plus_01_dot_02_bar__plus_01_dot_83_bar__plus_02_dot_29 Fridge_bar__plus_01_dot_01_bar__plus_00_dot_23_bar__plus_01_dot_92)\n (inReceptacle Bowl_bar__plus_01_dot_06_bar__plus_01_dot_67_bar__plus_01_dot_72 Fridge_bar__plus_01_dot_01_bar__plus_00_dot_23_bar__plus_01_dot_92)\n (inReceptacle Tomato_bar__plus_01_dot_07_bar__plus_01_dot_56_bar__plus_01_dot_48 Fridge_bar__plus_01_dot_01_bar__plus_00_dot_23_bar__plus_01_dot_92)\n (inReceptacle Tomato_bar__plus_01_dot_02_bar__plus_01_dot_56_bar__plus_01_dot_72 Fridge_bar__plus_01_dot_01_bar__plus_00_dot_23_bar__plus_01_dot_92)\n (inReceptacle Potato_bar__plus_01_dot_15_bar__plus_01_dot_35_bar__plus_00_dot_81 Microwave_bar__plus_01_dot_16_bar__plus_01_dot_19_bar__plus_00_dot_85)\n (inReceptacle Mug_bar__plus_01_dot_21_bar__plus_01_dot_31_bar__plus_00_dot_97 Microwave_bar__plus_01_dot_16_bar__plus_01_dot_19_bar__plus_00_dot_85)\n (inReceptacle PaperTowelRoll_bar__minus_01_dot_61_bar__plus_00_dot_38_bar__plus_02_dot_19 GarbageCan_bar__minus_01_dot_63_bar__plus_00_dot_22_bar__plus_02_dot_19)\n (inReceptacle WineBottle_bar__minus_01_dot_63_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 Spoon_bar__minus_01_dot_89_bar__plus_01_dot_05_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 Spatula_bar__minus_01_dot_70_bar__plus_01_dot_07_bar__minus_00_dot_63 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 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(receptacleAtLocation Drawer_bar__minus_01_dot_61_bar__plus_00_dot_68_bar__minus_01_dot_22 loc_bar__minus_4_bar__minus_5_bar_3_bar_60)\n (receptacleAtLocation Fridge_bar__plus_01_dot_01_bar__plus_00_dot_23_bar__plus_01_dot_92 loc_bar_0_bar_8_bar_1_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_01_dot_63_bar__plus_00_dot_22_bar__plus_02_dot_19 loc_bar__minus_4_bar_5_bar_0_bar_60)\n (receptacleAtLocation Microwave_bar__plus_01_dot_16_bar__plus_01_dot_19_bar__plus_00_dot_85 loc_bar_1_bar_3_bar_1_bar_30)\n (receptacleAtLocation SideTable_bar__plus_01_dot_02_bar__plus_01_dot_24_bar__plus_00_dot_87 loc_bar_1_bar_4_bar_1_bar_45)\n (receptacleAtLocation Sink_bar__minus_01_dot_99_bar__plus_01_dot_14_bar__minus_00_dot_98_bar_SinkBasin loc_bar__minus_4_bar__minus_3_bar_3_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_13_bar__plus_01_dot_33_bar__minus_02_dot_97 loc_bar__minus_1_bar__minus_9_bar_2_bar_30)\n (receptacleAtLocation 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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__plus_00_dot_12 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation PaperTowelRoll_bar__minus_01_dot_61_bar__plus_00_dot_38_bar__plus_02_dot_19 loc_bar__minus_4_bar_5_bar_0_bar_60)\n (objectAtLocation Tomato_bar__plus_01_dot_02_bar__plus_01_dot_56_bar__plus_01_dot_72 loc_bar_0_bar_8_bar_1_bar_60)\n (objectAtLocation Plate_bar__minus_01_dot_79_bar__plus_00_dot_34_bar__minus_01_dot_96 loc_bar__minus_2_bar__minus_6_bar_3_bar_45)\n (objectAtLocation PepperShaker_bar__plus_00_dot_63_bar__plus_01_dot_32_bar__minus_03_dot_12 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation Chair_bar__plus_00_dot_60_bar__plus_00_dot_95_bar__minus_01_dot_09 loc_bar_0_bar__minus_4_bar_1_bar_60)\n (objectAtLocation DishSponge_bar__plus_00_dot_51_bar__plus_01_dot_32_bar__minus_01_dot_31 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation Spoon_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 Apple_bar__plus_01_dot_11_bar__plus_01_dot_26_bar__plus_01_dot_24 loc_bar_1_bar_4_bar_1_bar_45)\n (objectAtLocation Mug_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 )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (cleanable ?o)\n (objectType ?o TomatoType)\n (receptacleType ?r SideTableType)\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 tomato 2 from fridge 1", "go to sinkbasin 1", "clean tomato 2 with sinkbasin 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_clean_then_place_in_recep-Tomato-None-SideTable-3/trial_T20190909_002446_748693/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Tomato-None-SideTable-3/trial_T20190909_002446_748693/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..d92263efe2c5dd360217a82e0eb44b9cf4c2ba22 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Tomato-None-SideTable-3/trial_T20190909_002446_748693/initial_state.pddl @@ -0,0 +1,895 @@ + +(define (problem plan_trial_T20190909_002446_748693) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + 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_11_bar__plus_01_dot_26_bar__plus_01_dot_24 - object + Bowl_bar__plus_01_dot_05_bar__plus_00_dot_34_bar__minus_02_dot_37 - object + Bowl_bar__plus_01_dot_06_bar__plus_01_dot_67_bar__plus_01_dot_72 - object + Bread_bar__minus_01_dot_79_bar__plus_01_dot_40_bar__minus_02_dot_20 - object + Chair_bar__plus_00_dot_60_bar__plus_00_dot_95_bar__minus_01_dot_09 - object + Cup_bar__plus_00_dot_49_bar__plus_01_dot_32_bar__minus_03_dot_34 - object + DishSponge_bar__plus_00_dot_51_bar__plus_01_dot_32_bar__minus_01_dot_31 - object + DishSponge_bar__plus_00_dot_94_bar__plus_00_dot_46_bar__plus_01_dot_05 - object + Egg_bar__plus_00_dot_93_bar__plus_02_dot_07_bar__plus_01_dot_99 - object + Faucet_bar__minus_02_dot_06_bar__plus_01_dot_36_bar__minus_00_dot_73 - object + Fork_bar__minus_01_dot_66_bar__plus_01_dot_32_bar__minus_02_dot_20 - object + HousePlant_bar__minus_02_dot_03_bar__plus_01_dot_31_bar__minus_00_dot_03 - object + Kettle_bar__plus_00_dot_51_bar__plus_01_dot_32_bar__minus_00_dot_94 - object + Kettle_bar__minus_01_dot_79_bar__plus_01_dot_32_bar__plus_01_dot_42 - object + Knife_bar__plus_00_dot_42_bar__plus_01_dot_35_bar__minus_02_dot_79 - object + Knife_bar__plus_00_dot_42_bar__plus_01_dot_35_bar__minus_03_dot_23 - object + Knife_bar__minus_01_dot_66_bar__plus_01_dot_35_bar__plus_00_dot_77 - object + Lettuce_bar__plus_01_dot_02_bar__plus_01_dot_83_bar__plus_02_dot_29 - 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_01_dot_21_bar__plus_01_dot_31_bar__plus_00_dot_97 - object + Mug_bar__plus_01_dot_28_bar__plus_01_dot_20_bar__plus_01_dot_24 - object + Pan_bar__plus_00_dot_90_bar__plus_00_dot_34_bar__minus_02_dot_06 - object + Pan_bar__minus_01_dot_75_bar__plus_00_dot_34_bar__plus_01_dot_52 - object + PaperTowelRoll_bar__minus_01_dot_61_bar__plus_00_dot_38_bar__plus_02_dot_19 - object + PepperShaker_bar__plus_00_dot_63_bar__plus_01_dot_32_bar__minus_03_dot_12 - object + PepperShaker_bar__minus_01_dot_73_bar__plus_00_dot_42_bar__minus_01_dot_09 - object + PepperShaker_bar__minus_01_dot_79_bar__plus_01_dot_32_bar__plus_01_dot_74 - object + Plate_bar__minus_01_dot_79_bar__plus_00_dot_34_bar__minus_01_dot_96 - object + Potato_bar__plus_01_dot_15_bar__plus_01_dot_35_bar__plus_00_dot_81 - object + Potato_bar__minus_01_dot_38_bar__plus_01_dot_36_bar__minus_03_dot_09 - object + Potato_bar__minus_01_dot_40_bar__plus_01_dot_36_bar__minus_03_dot_24 - object + Pot_bar__minus_00_dot_13_bar__plus_01_dot_33_bar__minus_02_dot_97 - object + Pot_bar__minus_00_dot_24_bar__plus_01_dot_33_bar__minus_03_dot_30 - object + SaltShaker_bar__minus_01_dot_55_bar__plus_00_dot_34_bar__plus_01_dot_52 - object + Sink_bar__minus_01_dot_99_bar__plus_01_dot_14_bar__minus_00_dot_98 - object + SoapBottle_bar__minus_01_dot_89_bar__plus_00_dot_34_bar__plus_01_dot_11 - object + Spatula_bar__minus_01_dot_70_bar__plus_01_dot_07_bar__minus_00_dot_63 - object + Spatula_bar__minus_01_dot_92_bar__plus_01_dot_34_bar__minus_01_dot_32 - object + Spatula_bar__minus_02_dot_18_bar__plus_01_dot_34_bar__plus_00_dot_12 - object + Spoon_bar__plus_01_dot_03_bar__plus_01_dot_32_bar__minus_02_dot_42 - object + Spoon_bar__minus_01_dot_31_bar__plus_01_dot_32_bar__minus_02_dot_76 - object + Spoon_bar__minus_01_dot_89_bar__plus_01_dot_05_bar__minus_00_dot_59 - 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_02_bar__plus_01_dot_56_bar__plus_01_dot_72 - object + Tomato_bar__plus_01_dot_07_bar__plus_01_dot_56_bar__plus_01_dot_48 - object + Window_bar__minus_02_dot_57_bar__plus_01_dot_80_bar__minus_00_dot_82 - object + WineBottle_bar__plus_00_dot_49_bar__plus_01_dot_32_bar__minus_02_dot_90 - object + WineBottle_bar__minus_01_dot_53_bar__plus_01_dot_32_bar__minus_02_dot_46 - object + WineBottle_bar__minus_01_dot_63_bar__plus_00_dot_28_bar__plus_02_dot_28 - object + Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_78_bar__minus_02_dot_05 - receptacle + Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_00_dot_47 - receptacle + Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_01_dot_31 - receptacle + Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__minus_02_dot_00 - receptacle + CoffeeMachine_bar__plus_01_dot_13_bar__plus_01_dot_31_bar__minus_01_dot_43 - receptacle + CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18 - receptacle + Drawer_bar__plus_00_dot_71_bar__plus_00_dot_85_bar__plus_01_dot_02 - receptacle + Drawer_bar__plus_00_dot_71_bar__plus_01_dot_06_bar__plus_01_dot_02 - 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_2_bar_6_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType Drawer_bar__plus_00_dot_71_bar__plus_01_dot_06_bar__plus_01_dot_02 DrawerType) + (receptacleType Toaster_bar__minus_01_dot_89_bar__plus_01_dot_31_bar__minus_02_dot_51 ToasterType) + (receptacleType SideTable_bar__plus_01_dot_02_bar__plus_01_dot_24_bar__plus_00_dot_87 SideTableType) + (receptacleType Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_00_dot_47 CabinetType) + (receptacleType Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_78_bar__minus_02_dot_05 CabinetType) + (receptacleType GarbageCan_bar__minus_01_dot_63_bar__plus_00_dot_22_bar__plus_02_dot_19 GarbageCanType) + (receptacleType StoveBurner_bar__minus_00_dot_24_bar__plus_01_dot_33_bar__minus_03_dot_30 StoveBurnerType) + (receptacleType StoveBurner_bar__minus_00_dot_75_bar__plus_01_dot_33_bar__minus_02_dot_97 StoveBurnerType) + (receptacleType Microwave_bar__plus_01_dot_16_bar__plus_01_dot_19_bar__plus_00_dot_85 MicrowaveType) + (receptacleType StoveBurner_bar__minus_00_dot_63_bar__plus_01_dot_33_bar__minus_03_dot_30 StoveBurnerType) + (receptacleType Drawer_bar__minus_01_dot_61_bar__plus_00_dot_68_bar__minus_01_dot_22 DrawerType) + (receptacleType Fridge_bar__plus_01_dot_01_bar__plus_00_dot_23_bar__plus_01_dot_92 FridgeType) + (receptacleType Drawer_bar__minus_01_dot_61_bar__plus_00_dot_68_bar__minus_00_dot_43 DrawerType) + (receptacleType Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__minus_02_dot_00 CabinetType) + (receptacleType Drawer_bar__plus_00_dot_71_bar__plus_00_dot_85_bar__plus_01_dot_02 DrawerType) + (receptacleType Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_01_dot_31 CabinetType) + (receptacleType Drawer_bar__plus_00_dot_72_bar__plus_00_dot_59_bar__plus_00_dot_68 DrawerType) + (receptacleType Drawer_bar__plus_00_dot_72_bar__plus_00_dot_59_bar__plus_01_dot_02 DrawerType) + (receptacleType CoffeeMachine_bar__plus_01_dot_13_bar__plus_01_dot_31_bar__minus_01_dot_43 CoffeeMachineType) + (receptacleType StoveBurner_bar__minus_00_dot_13_bar__plus_01_dot_33_bar__minus_02_dot_97 StoveBurnerType) + (receptacleType CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18 CounterTopType) + (receptacleType Drawer_bar__plus_00_dot_72_bar__plus_00_dot_84_bar__plus_00_dot_68 DrawerType) + (receptacleType Drawer_bar__plus_00_dot_72_bar__plus_01_dot_06_bar__plus_00_dot_68 DrawerType) + (receptacleType Sink_bar__minus_01_dot_99_bar__plus_01_dot_14_bar__minus_00_dot_98_bar_SinkBasin SinkBasinType) + (objectType StoveKnob_bar__minus_00_dot_57_bar__plus_01_dot_34_bar__minus_02_dot_74 StoveKnobType) + (objectType Egg_bar__plus_00_dot_93_bar__plus_02_dot_07_bar__plus_01_dot_99 EggType) + (objectType Knife_bar__plus_00_dot_42_bar__plus_01_dot_35_bar__minus_02_dot_79 KnifeType) + (objectType WineBottle_bar__minus_01_dot_63_bar__plus_00_dot_28_bar__plus_02_dot_28 WineBottleType) + (objectType Pot_bar__minus_00_dot_13_bar__plus_01_dot_33_bar__minus_02_dot_97 PotType) + (objectType Tomato_bar__plus_01_dot_07_bar__plus_01_dot_56_bar__plus_01_dot_48 TomatoType) + (objectType Potato_bar__minus_01_dot_40_bar__plus_01_dot_36_bar__minus_03_dot_24 PotatoType) + (objectType Mug_bar__plus_01_dot_21_bar__plus_01_dot_31_bar__plus_00_dot_97 MugType) + (objectType Spatula_bar__minus_01_dot_92_bar__plus_01_dot_34_bar__minus_01_dot_32 SpatulaType) + (objectType Bread_bar__minus_01_dot_79_bar__plus_01_dot_40_bar__minus_02_dot_20 BreadType) + (objectType Pan_bar__minus_01_dot_75_bar__plus_00_dot_34_bar__plus_01_dot_52 PanType) + (objectType Knife_bar__minus_01_dot_66_bar__plus_01_dot_35_bar__plus_00_dot_77 KnifeType) + (objectType Tomato_bar__plus_01_dot_02_bar__plus_01_dot_56_bar__plus_01_dot_72 TomatoType) + (objectType Lettuce_bar__minus_01_dot_89_bar__plus_01_dot_40_bar__minus_01_dot_07 LettuceType) + (objectType Sink_bar__minus_01_dot_99_bar__plus_01_dot_14_bar__minus_00_dot_98 SinkType) + (objectType Potato_bar__plus_01_dot_15_bar__plus_01_dot_35_bar__plus_00_dot_81 PotatoType) + (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 WineBottle_bar__plus_00_dot_49_bar__plus_01_dot_32_bar__minus_02_dot_90 WineBottleType) + (objectType PepperShaker_bar__plus_00_dot_63_bar__plus_01_dot_32_bar__minus_03_dot_12 PepperShakerType) + (objectType Fork_bar__minus_01_dot_66_bar__plus_01_dot_32_bar__minus_02_dot_20 ForkType) + (objectType Bowl_bar__plus_01_dot_05_bar__plus_00_dot_34_bar__minus_02_dot_37 BowlType) + (objectType PaperTowelRoll_bar__minus_01_dot_61_bar__plus_00_dot_38_bar__plus_02_dot_19 PaperTowelRollType) + (objectType Apple_bar__plus_01_dot_11_bar__plus_01_dot_26_bar__plus_01_dot_24 AppleType) + (objectType Spoon_bar__minus_01_dot_31_bar__plus_01_dot_32_bar__minus_02_dot_76 SpoonType) + (objectType StoveKnob_bar__minus_00_dot_19_bar__plus_01_dot_34_bar__minus_02_dot_74 StoveKnobType) + (objectType Plate_bar__minus_01_dot_79_bar__plus_00_dot_34_bar__minus_01_dot_96 PlateType) + 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", + "Bring the tomato to the sink behind you.", + "Put the tomato in the sink, wash it with water.", + "Take the washed tomato to the microwave, behind you, right of the fridge.", + "Put the washed tomato on the table next to the microwave." + ], + "task_desc": "Put a washed tomato next to the microwave. ", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1RLO9LNUJIW5S_3HYA4D452UAVX6WE2II368XABVZ2FN", + "high_descs": [ + "Turn around and take a step to your left then walk to the fridge.", + "Open the fridge and grab the tomato that's to the left of another tomato and close the door.", + "Turn right and walk to the stool then turn right and walk to the sink.", + "Wash the tomato in the sink and then pick it back up and shut off the water.", + "Turn right and walk until you're even with the microwave on your right and turn right and walk to it once you're even with it.", + "Put the tomato near the front left corner of the counter the microwave is on." + ], + "task_desc": "Put a clean tomato on the counter.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A3UF6XXFFRR237_3VBEN272MNQUG5977H3RFBAQA42GS7", + "high_descs": [ + "to the refrigerator", + "take the tomato from the fridge", + "take the tomato to the sink", + "wash the tomato in the sink", + "take the tomato to the stand with the microwave", + "put the tomato on the corner of the stand" + ], + "task_desc": "wash a tomato from the fridge before placing it on the counter", + "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-Tomato-None-SideTable-3/trial_T20190909_002515_745057/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Tomato-None-SideTable-3/trial_T20190909_002515_745057/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..a953a614803a2d899d26eaf6b6ce09c660e5d04d --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Tomato-None-SideTable-3/trial_T20190909_002515_745057/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\n\\n#task#\"\n }\n ],\n\n \"notImplemented\": [\n {\n \"rhs\": \"TODO\"\n }\n ],\n\n \"task\": [\n {\n \"rhs\": \"Your task is to: clean some tomato and put it in 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_002515_745057)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\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_77_bar__plus_01_dot_37_bar__minus_01_dot_68 - object\n Apple_bar__minus_01_dot_66_bar__plus_00_dot_33_bar__plus_02_dot_19 - object\n Bowl_bar__minus_01_dot_75_bar__plus_00_dot_34_bar__plus_00_dot_51 - object\n Bowl_bar__minus_01_dot_88_bar__plus_00_dot_34_bar__plus_00_dot_31 - object\n Bread_bar__plus_01_dot_16_bar__plus_01_dot_40_bar__minus_02_dot_05 - object\n Bread_bar__minus_01_dot_79_bar__plus_01_dot_40_bar__minus_02_dot_72 - object\n Chair_bar__plus_00_dot_60_bar__plus_00_dot_95_bar__minus_01_dot_09 - object\n Cup_bar__plus_01_dot_18_bar__plus_01_dot_31_bar__plus_01_dot_02 - object\n Cup_bar__minus_01_dot_82_bar__plus_00_dot_34_bar__plus_01_dot_01 - object\n Cup_bar__minus_02_dot_09_bar__plus_01_dot_33_bar__minus_01_dot_12 - object\n DishSponge_bar__plus_00_dot_77_bar__plus_01_dot_32_bar__minus_02_dot_79 - object\n DishSponge_bar__plus_00_dot_90_bar__plus_00_dot_34_bar__minus_02_dot_06 - object\n DishSponge_bar__minus_01_dot_92_bar__plus_01_dot_33_bar__minus_01_dot_26 - object\n Egg_bar__minus_01_dot_52_bar__plus_01_dot_36_bar__minus_03_dot_43 - object\n Egg_bar__minus_01_dot_83_bar__plus_01_dot_09_bar__minus_00_dot_45 - object\n Faucet_bar__minus_02_dot_06_bar__plus_01_dot_36_bar__minus_00_dot_73 - object\n Fork_bar__plus_01_dot_03_bar__plus_01_dot_32_bar__minus_02_dot_42 - object\n Fork_bar__minus_01_dot_92_bar__plus_01_dot_32_bar__plus_00_dot_77 - object\n HousePlant_bar__minus_02_dot_03_bar__plus_01_dot_31_bar__minus_00_dot_03 - object\n Kettle_bar__minus_01_dot_40_bar__plus_01_dot_32_bar__plus_02_dot_07 - object\n Knife_bar__minus_01_dot_17_bar__plus_01_dot_35_bar__minus_02_dot_98 - object\n Knife_bar__minus_01_dot_66_bar__plus_01_dot_35_bar__plus_00_dot_12 - object\n Lettuce_bar__minus_01_dot_66_bar__plus_01_dot_40_bar__plus_01_dot_42 - 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_93_bar__plus_02_dot_02_bar__plus_02_dot_17 - object\n Pan_bar__minus_00_dot_63_bar__plus_01_dot_33_bar__minus_03_dot_30 - object\n PaperTowelRoll_bar__minus_01_dot_92_bar__plus_01_dot_43_bar__minus_02_dot_72 - object\n PepperShaker_bar__plus_01_dot_11_bar__plus_01_dot_20_bar__plus_01_dot_24 - object\n Plate_bar__plus_00_dot_82_bar__plus_00_dot_35_bar__minus_01_dot_85 - object\n Plate_bar__plus_00_dot_98_bar__plus_00_dot_35_bar__minus_02_dot_27 - object\n Plate_bar__minus_01_dot_53_bar__plus_01_dot_32_bar__minus_02_dot_72 - object\n Potato_bar__plus_00_dot_98_bar__plus_01_dot_71_bar__plus_01_dot_66 - object\n Potato_bar__minus_01_dot_70_bar__plus_01_dot_09_bar__minus_00_dot_45 - object\n Pot_bar__plus_00_dot_35_bar__plus_01_dot_33_bar__minus_03_dot_12 - object\n SaltShaker_bar__minus_01_dot_61_bar__plus_00_dot_34_bar__plus_00_dot_11 - 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_60_bar__plus_00_dot_34_bar__minus_02_dot_26 - object\n SoapBottle_bar__minus_01_dot_66_bar__plus_01_dot_32_bar__minus_02_dot_20 - object\n Spatula_bar__minus_01_dot_52_bar__plus_00_dot_44_bar__minus_00_dot_56 - object\n Spoon_bar__plus_00_dot_51_bar__plus_01_dot_32_bar__minus_00_dot_94 - object\n Spoon_bar__plus_00_dot_86_bar__plus_01_dot_21_bar__plus_01_dot_21 - object\n Spoon_bar__minus_01_dot_76_bar__plus_01_dot_05_bar__minus_00_dot_54 - 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_06_bar__plus_01_dot_71_bar__plus_01_dot_78 - object\n Window_bar__minus_02_dot_57_bar__plus_01_dot_80_bar__minus_00_dot_82 - object\n WineBottle_bar__minus_01_dot_66_bar__plus_01_dot_32_bar__plus_02_dot_07 - 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_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 Cup_bar__plus_01_dot_18_bar__plus_01_dot_31_bar__plus_01_dot_02 CupType)\n (objectType StoveKnob_bar__minus_00_dot_57_bar__plus_01_dot_34_bar__minus_02_dot_74 StoveKnobType)\n (objectType Bread_bar__minus_01_dot_79_bar__plus_01_dot_40_bar__minus_02_dot_72 BreadType)\n (objectType Spoon_bar__plus_00_dot_51_bar__plus_01_dot_32_bar__minus_00_dot_94 SpoonType)\n (objectType Cup_bar__minus_02_dot_09_bar__plus_01_dot_33_bar__minus_01_dot_12 CupType)\n (objectType Tomato_bar__plus_01_dot_06_bar__plus_01_dot_71_bar__plus_01_dot_78 TomatoType)\n (objectType PaperTowelRoll_bar__minus_01_dot_92_bar__plus_01_dot_43_bar__minus_02_dot_72 PaperTowelRollType)\n (objectType Fork_bar__minus_01_dot_92_bar__plus_01_dot_32_bar__plus_00_dot_77 ForkType)\n (objectType Spoon_bar__minus_01_dot_76_bar__plus_01_dot_05_bar__minus_00_dot_54 SpoonType)\n (objectType 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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 SideTableType SaltShakerType)\n (canContain SideTableType BreadType)\n (canContain SideTableType DishSpongeType)\n (canContain SideTableType BowlType)\n (canContain SideTableType KettleType)\n (canContain SideTableType PotType)\n (canContain SideTableType WineBottleType)\n (canContain SideTableType MugType)\n (canContain SideTableType EggType)\n (canContain SideTableType ForkType)\n (canContain SideTableType SpoonType)\n (canContain SideTableType SoapBottleType)\n (canContain SideTableType LettuceType)\n (canContain SideTableType PotatoType)\n (canContain SideTableType CupType)\n (canContain SideTableType PlateType)\n (canContain SideTableType PepperShakerType)\n (canContain SideTableType TomatoType)\n (canContain SideTableType KnifeType)\n (canContain SideTableType AppleType)\n (canContain SideTableType PanType)\n (canContain SideTableType SpatulaType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType BowlType)\n (canContain CabinetType KettleType)\n (canContain CabinetType PotType)\n (canContain CabinetType WineBottleType)\n (canContain CabinetType MugType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType CupType)\n (canContain CabinetType PlateType)\n (canContain CabinetType PepperShakerType)\n (canContain CabinetType PanType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType BowlType)\n (canContain CabinetType KettleType)\n (canContain CabinetType PotType)\n (canContain CabinetType WineBottleType)\n (canContain CabinetType MugType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType CupType)\n (canContain CabinetType PlateType)\n (canContain CabinetType PepperShakerType)\n (canContain CabinetType PanType)\n (canContain GarbageCanType 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 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Bread_bar__minus_01_dot_79_bar__plus_01_dot_40_bar__minus_02_dot_72)\n (sliceable Tomato_bar__plus_01_dot_06_bar__plus_01_dot_71_bar__plus_01_dot_78)\n (sliceable Lettuce_bar__minus_01_dot_89_bar__plus_01_dot_40_bar__minus_01_dot_07)\n (sliceable Bread_bar__plus_01_dot_16_bar__plus_01_dot_40_bar__minus_02_dot_05)\n (sliceable Apple_bar__minus_01_dot_66_bar__plus_00_dot_33_bar__plus_02_dot_19)\n (sliceable Egg_bar__minus_01_dot_83_bar__plus_01_dot_09_bar__minus_00_dot_45)\n (sliceable Egg_bar__minus_01_dot_52_bar__plus_01_dot_36_bar__minus_03_dot_43)\n (sliceable Apple_bar__plus_00_dot_77_bar__plus_01_dot_37_bar__minus_01_dot_68)\n (sliceable Potato_bar__minus_01_dot_70_bar__plus_01_dot_09_bar__minus_00_dot_45)\n (sliceable Lettuce_bar__minus_01_dot_66_bar__plus_01_dot_40_bar__plus_01_dot_42)\n (sliceable Potato_bar__plus_00_dot_98_bar__plus_01_dot_71_bar__plus_01_dot_66)\n \n (inReceptacleObject DishSponge_bar__plus_00_dot_90_bar__plus_00_dot_34_bar__minus_02_dot_06 Plate_bar__plus_00_dot_82_bar__plus_00_dot_35_bar__minus_01_dot_85)\n (inReceptacle SoapBottle_bar__minus_01_dot_60_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 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)\n (inReceptacle Bowl_bar__minus_01_dot_75_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_61_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 Bowl_bar__minus_01_dot_88_bar__plus_00_dot_34_bar__plus_00_dot_31 Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_00_dot_47)\n (inReceptacle DishSponge_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 Plate_bar__plus_00_dot_82_bar__plus_00_dot_35_bar__minus_01_dot_85 Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_78_bar__minus_02_dot_05)\n (inReceptacle Plate_bar__plus_00_dot_98_bar__plus_00_dot_35_bar__minus_02_dot_27 Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_78_bar__minus_02_dot_05)\n (inReceptacle Apple_bar__plus_00_dot_77_bar__plus_01_dot_37_bar__minus_01_dot_68 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle Bread_bar__plus_01_dot_16_bar__plus_01_dot_40_bar__minus_02_dot_05 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle Bread_bar__minus_01_dot_79_bar__plus_01_dot_40_bar__minus_02_dot_72 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle Spoon_bar__plus_00_dot_51_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 Egg_bar__minus_01_dot_52_bar__plus_01_dot_36_bar__minus_03_dot_43 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle Knife_bar__minus_01_dot_17_bar__plus_01_dot_35_bar__minus_02_dot_98 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle Pot_bar__plus_00_dot_35_bar__plus_01_dot_33_bar__minus_03_dot_12 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle PaperTowelRoll_bar__minus_01_dot_92_bar__plus_01_dot_43_bar__minus_02_dot_72 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle Fork_bar__minus_01_dot_92_bar__plus_01_dot_32_bar__plus_00_dot_77 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle Fork_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 Lettuce_bar__minus_01_dot_66_bar__plus_01_dot_40_bar__plus_01_dot_42 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\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_53_bar__plus_01_dot_32_bar__minus_02_dot_72 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle Kettle_bar__minus_01_dot_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 DishSponge_bar__plus_00_dot_77_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 WineBottle_bar__minus_01_dot_66_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 Knife_bar__minus_01_dot_66_bar__plus_01_dot_35_bar__plus_00_dot_12 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle SoapBottle_bar__minus_01_dot_66_bar__plus_01_dot_32_bar__minus_02_dot_20 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle Cup_bar__minus_01_dot_82_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 Pan_bar__minus_00_dot_63_bar__plus_01_dot_33_bar__minus_03_dot_30 StoveBurner_bar__minus_00_dot_75_bar__plus_01_dot_33_bar__minus_02_dot_97)\n (inReceptacle Spatula_bar__minus_01_dot_52_bar__plus_00_dot_44_bar__minus_00_dot_56 Drawer_bar__minus_01_dot_61_bar__plus_00_dot_68_bar__minus_00_dot_43)\n (inReceptacle Spoon_bar__plus_00_dot_86_bar__plus_01_dot_21_bar__plus_01_dot_21 SideTable_bar__plus_01_dot_02_bar__plus_01_dot_24_bar__plus_00_dot_87)\n (inReceptacle PepperShaker_bar__plus_01_dot_11_bar__plus_01_dot_20_bar__plus_01_dot_24 SideTable_bar__plus_01_dot_02_bar__plus_01_dot_24_bar__plus_00_dot_87)\n (inReceptacle Potato_bar__plus_00_dot_98_bar__plus_01_dot_71_bar__plus_01_dot_66 Fridge_bar__plus_01_dot_01_bar__plus_00_dot_23_bar__plus_01_dot_92)\n (inReceptacle Tomato_bar__plus_01_dot_06_bar__plus_01_dot_71_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_18_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 Apple_bar__minus_01_dot_66_bar__plus_00_dot_33_bar__plus_02_dot_19 GarbageCan_bar__minus_01_dot_63_bar__plus_00_dot_22_bar__plus_02_dot_19)\n (inReceptacle Egg_bar__minus_01_dot_83_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 Potato_bar__minus_01_dot_70_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 Spoon_bar__minus_01_dot_76_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 Apple_bar__plus_00_dot_77_bar__plus_01_dot_37_bar__minus_01_dot_68 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation Spoon_bar__plus_00_dot_51_bar__plus_01_dot_32_bar__minus_00_dot_94 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation DishSponge_bar__minus_01_dot_92_bar__plus_01_dot_33_bar__minus_01_dot_26 loc_bar__minus_4_bar__minus_3_bar_3_bar_45)\n (objectAtLocation Plate_bar__plus_00_dot_98_bar__plus_00_dot_35_bar__minus_02_dot_27 loc_bar__minus_1_bar__minus_9_bar_1_bar_60)\n (objectAtLocation Lettuce_bar__minus_01_dot_89_bar__plus_01_dot_40_bar__minus_01_dot_07 loc_bar__minus_4_bar__minus_3_bar_3_bar_45)\n (objectAtLocation Egg_bar__minus_01_dot_83_bar__plus_01_dot_09_bar__minus_00_dot_45 loc_bar__minus_4_bar__minus_3_bar_3_bar_45)\n (objectAtLocation Cup_bar__minus_01_dot_82_bar__plus_00_dot_34_bar__plus_01_dot_01 loc_bar__minus_2_bar_7_bar_3_bar_45)\n (objectAtLocation Fork_bar__minus_01_dot_92_bar__plus_01_dot_32_bar__plus_00_dot_77 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation SoapBottle_bar__minus_01_dot_66_bar__plus_01_dot_32_bar__minus_02_dot_20 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation Potato_bar__plus_00_dot_98_bar__plus_01_dot_71_bar__plus_01_dot_66 loc_bar_0_bar_8_bar_1_bar_60)\n (objectAtLocation Bowl_bar__minus_01_dot_88_bar__plus_00_dot_34_bar__plus_00_dot_31 loc_bar__minus_2_bar_0_bar_3_bar_45)\n (objectAtLocation Knife_bar__minus_01_dot_17_bar__plus_01_dot_35_bar__minus_02_dot_98 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation Bread_bar__plus_01_dot_16_bar__plus_01_dot_40_bar__minus_02_dot_05 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation Plate_bar__plus_00_dot_82_bar__plus_00_dot_35_bar__minus_01_dot_85 loc_bar__minus_1_bar__minus_9_bar_1_bar_60)\n (objectAtLocation Cup_bar__minus_02_dot_09_bar__plus_01_dot_33_bar__minus_01_dot_12 loc_bar__minus_4_bar__minus_3_bar_3_bar_45)\n (objectAtLocation Spoon_bar__plus_00_dot_86_bar__plus_01_dot_21_bar__plus_01_dot_21 loc_bar_1_bar_4_bar_1_bar_45)\n (objectAtLocation DishSponge_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 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_79_bar__plus_01_dot_40_bar__minus_02_dot_72 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation Pot_bar__plus_00_dot_35_bar__plus_01_dot_33_bar__minus_03_dot_12 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation Knife_bar__minus_01_dot_66_bar__plus_01_dot_35_bar__plus_00_dot_12 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation Bowl_bar__minus_01_dot_75_bar__plus_00_dot_34_bar__plus_00_dot_51 loc_bar__minus_2_bar_0_bar_3_bar_45)\n (objectAtLocation Potato_bar__minus_01_dot_70_bar__plus_01_dot_09_bar__minus_00_dot_45 loc_bar__minus_4_bar__minus_3_bar_3_bar_45)\n (objectAtLocation SoapBottle_bar__minus_01_dot_60_bar__plus_00_dot_34_bar__minus_02_dot_26 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__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 Cup_bar__plus_01_dot_18_bar__plus_01_dot_31_bar__plus_01_dot_02 loc_bar_1_bar_3_bar_1_bar_30)\n (objectAtLocation Kettle_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 Egg_bar__minus_01_dot_52_bar__plus_01_dot_36_bar__minus_03_dot_43 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation LightSwitch_bar__plus_01_dot_39_bar__plus_01_dot_57_bar__minus_00_dot_66 loc_bar_3_bar__minus_1_bar_1_bar_30)\n (objectAtLocation Pan_bar__minus_00_dot_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_61_bar__plus_00_dot_34_bar__plus_00_dot_11 loc_bar__minus_2_bar_0_bar_3_bar_45)\n (objectAtLocation WineBottle_bar__minus_01_dot_66_bar__plus_01_dot_32_bar__plus_02_dot_07 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation Lettuce_bar__minus_01_dot_66_bar__plus_01_dot_40_bar__plus_01_dot_42 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_52_bar__plus_00_dot_44_bar__minus_00_dot_56 loc_bar__minus_4_bar__minus_2_bar_3_bar_60)\n (objectAtLocation PaperTowelRoll_bar__minus_01_dot_92_bar__plus_01_dot_43_bar__minus_02_dot_72 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation Tomato_bar__plus_01_dot_06_bar__plus_01_dot_71_bar__plus_01_dot_78 loc_bar_0_bar_8_bar_1_bar_60)\n (objectAtLocation Plate_bar__minus_01_dot_53_bar__plus_01_dot_32_bar__minus_02_dot_72 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation PepperShaker_bar__plus_01_dot_11_bar__plus_01_dot_20_bar__plus_01_dot_24 loc_bar_1_bar_4_bar_1_bar_45)\n (objectAtLocation Chair_bar__plus_00_dot_60_bar__plus_00_dot_95_bar__minus_01_dot_09 loc_bar_0_bar__minus_4_bar_1_bar_60)\n (objectAtLocation DishSponge_bar__plus_00_dot_77_bar__plus_01_dot_32_bar__minus_02_dot_79 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation Spoon_bar__minus_01_dot_76_bar__plus_01_dot_05_bar__minus_00_dot_54 loc_bar__minus_4_bar__minus_3_bar_3_bar_45)\n (objectAtLocation Apple_bar__minus_01_dot_66_bar__plus_00_dot_33_bar__plus_02_dot_19 loc_bar__minus_4_bar_5_bar_0_bar_60)\n (objectAtLocation Mug_bar__plus_00_dot_93_bar__plus_02_dot_02_bar__plus_02_dot_17 loc_bar_0_bar_8_bar_1_bar__minus_15)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (cleanable ?o)\n (objectType ?o TomatoType)\n (receptacleType ?r SideTableType)\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 tomato 1 from fridge 1", "go to sinkbasin 1", "clean tomato 1 with sinkbasin 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_clean_then_place_in_recep-Tomato-None-SideTable-3/trial_T20190909_002515_745057/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Tomato-None-SideTable-3/trial_T20190909_002515_745057/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..50fdd460459a0f967a829d9924f2852c4c92b954 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Tomato-None-SideTable-3/trial_T20190909_002515_745057/initial_state.pddl @@ -0,0 +1,885 @@ + +(define (problem plan_trial_T20190909_002515_745057) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Apple_bar__plus_00_dot_77_bar__plus_01_dot_37_bar__minus_01_dot_68 - object + Apple_bar__minus_01_dot_66_bar__plus_00_dot_33_bar__plus_02_dot_19 - object + Bowl_bar__minus_01_dot_75_bar__plus_00_dot_34_bar__plus_00_dot_51 - object + Bowl_bar__minus_01_dot_88_bar__plus_00_dot_34_bar__plus_00_dot_31 - object + Bread_bar__plus_01_dot_16_bar__plus_01_dot_40_bar__minus_02_dot_05 - object + Bread_bar__minus_01_dot_79_bar__plus_01_dot_40_bar__minus_02_dot_72 - object + Chair_bar__plus_00_dot_60_bar__plus_00_dot_95_bar__minus_01_dot_09 - object + Cup_bar__plus_01_dot_18_bar__plus_01_dot_31_bar__plus_01_dot_02 - object + Cup_bar__minus_01_dot_82_bar__plus_00_dot_34_bar__plus_01_dot_01 - object + Cup_bar__minus_02_dot_09_bar__plus_01_dot_33_bar__minus_01_dot_12 - object + DishSponge_bar__plus_00_dot_77_bar__plus_01_dot_32_bar__minus_02_dot_79 - object + DishSponge_bar__plus_00_dot_90_bar__plus_00_dot_34_bar__minus_02_dot_06 - object + DishSponge_bar__minus_01_dot_92_bar__plus_01_dot_33_bar__minus_01_dot_26 - object + Egg_bar__minus_01_dot_52_bar__plus_01_dot_36_bar__minus_03_dot_43 - object + Egg_bar__minus_01_dot_83_bar__plus_01_dot_09_bar__minus_00_dot_45 - object + Faucet_bar__minus_02_dot_06_bar__plus_01_dot_36_bar__minus_00_dot_73 - object + Fork_bar__plus_01_dot_03_bar__plus_01_dot_32_bar__minus_02_dot_42 - object + Fork_bar__minus_01_dot_92_bar__plus_01_dot_32_bar__plus_00_dot_77 - object + HousePlant_bar__minus_02_dot_03_bar__plus_01_dot_31_bar__minus_00_dot_03 - object + Kettle_bar__minus_01_dot_40_bar__plus_01_dot_32_bar__plus_02_dot_07 - object + Knife_bar__minus_01_dot_17_bar__plus_01_dot_35_bar__minus_02_dot_98 - object + Knife_bar__minus_01_dot_66_bar__plus_01_dot_35_bar__plus_00_dot_12 - object + Lettuce_bar__minus_01_dot_66_bar__plus_01_dot_40_bar__plus_01_dot_42 - 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_93_bar__plus_02_dot_02_bar__plus_02_dot_17 - object + Pan_bar__minus_00_dot_63_bar__plus_01_dot_33_bar__minus_03_dot_30 - object + PaperTowelRoll_bar__minus_01_dot_92_bar__plus_01_dot_43_bar__minus_02_dot_72 - object + PepperShaker_bar__plus_01_dot_11_bar__plus_01_dot_20_bar__plus_01_dot_24 - object + Plate_bar__plus_00_dot_82_bar__plus_00_dot_35_bar__minus_01_dot_85 - object + Plate_bar__plus_00_dot_98_bar__plus_00_dot_35_bar__minus_02_dot_27 - object + Plate_bar__minus_01_dot_53_bar__plus_01_dot_32_bar__minus_02_dot_72 - object + Potato_bar__plus_00_dot_98_bar__plus_01_dot_71_bar__plus_01_dot_66 - object + Potato_bar__minus_01_dot_70_bar__plus_01_dot_09_bar__minus_00_dot_45 - object + Pot_bar__plus_00_dot_35_bar__plus_01_dot_33_bar__minus_03_dot_12 - object + SaltShaker_bar__minus_01_dot_61_bar__plus_00_dot_34_bar__plus_00_dot_11 - object + Sink_bar__minus_01_dot_99_bar__plus_01_dot_14_bar__minus_00_dot_98 - object + SoapBottle_bar__minus_01_dot_60_bar__plus_00_dot_34_bar__minus_02_dot_26 - object + SoapBottle_bar__minus_01_dot_66_bar__plus_01_dot_32_bar__minus_02_dot_20 - object + Spatula_bar__minus_01_dot_52_bar__plus_00_dot_44_bar__minus_00_dot_56 - object + Spoon_bar__plus_00_dot_51_bar__plus_01_dot_32_bar__minus_00_dot_94 - object + Spoon_bar__plus_00_dot_86_bar__plus_01_dot_21_bar__plus_01_dot_21 - object + Spoon_bar__minus_01_dot_76_bar__plus_01_dot_05_bar__minus_00_dot_54 - object + StoveKnob_bar__minus_00_dot_19_bar__plus_01_dot_34_bar__minus_02_dot_74 - object + StoveKnob_bar__minus_00_dot_34_bar__plus_01_dot_34_bar__minus_02_dot_74 - object + StoveKnob_bar__minus_00_dot_57_bar__plus_01_dot_34_bar__minus_02_dot_74 - object + StoveKnob_bar__minus_00_dot_71_bar__plus_01_dot_34_bar__minus_02_dot_74 - object + Tomato_bar__plus_01_dot_06_bar__plus_01_dot_71_bar__plus_01_dot_78 - 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_01_dot_32_bar__plus_02_dot_07 - 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__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_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 Cup_bar__plus_01_dot_18_bar__plus_01_dot_31_bar__plus_01_dot_02 CupType) + (objectType StoveKnob_bar__minus_00_dot_57_bar__plus_01_dot_34_bar__minus_02_dot_74 StoveKnobType) + (objectType Bread_bar__minus_01_dot_79_bar__plus_01_dot_40_bar__minus_02_dot_72 BreadType) + (objectType Spoon_bar__plus_00_dot_51_bar__plus_01_dot_32_bar__minus_00_dot_94 SpoonType) + (objectType Cup_bar__minus_02_dot_09_bar__plus_01_dot_33_bar__minus_01_dot_12 CupType) + (objectType Tomato_bar__plus_01_dot_06_bar__plus_01_dot_71_bar__plus_01_dot_78 TomatoType) + (objectType PaperTowelRoll_bar__minus_01_dot_92_bar__plus_01_dot_43_bar__minus_02_dot_72 PaperTowelRollType) + (objectType Fork_bar__minus_01_dot_92_bar__plus_01_dot_32_bar__plus_00_dot_77 ForkType) + (objectType Spoon_bar__minus_01_dot_76_bar__plus_01_dot_05_bar__minus_00_dot_54 SpoonType) + (objectType DishSponge_bar__minus_01_dot_92_bar__plus_01_dot_33_bar__minus_01_dot_26 DishSpongeType) + (objectType Lettuce_bar__minus_01_dot_89_bar__plus_01_dot_40_bar__minus_01_dot_07 LettuceType) + (objectType Bowl_bar__minus_01_dot_88_bar__plus_00_dot_34_bar__plus_00_dot_31 BowlType) + (objectType Window_bar__minus_02_dot_57_bar__plus_01_dot_80_bar__minus_00_dot_82 WindowType) + (objectType Sink_bar__minus_01_dot_99_bar__plus_01_dot_14_bar__minus_00_dot_98 SinkType) + (objectType Knife_bar__minus_01_dot_66_bar__plus_01_dot_35_bar__plus_00_dot_12 KnifeType) + (objectType StoveKnob_bar__minus_00_dot_34_bar__plus_01_dot_34_bar__minus_02_dot_74 StoveKnobType) + (objectType StoveKnob_bar__minus_00_dot_71_bar__plus_01_dot_34_bar__minus_02_dot_74 StoveKnobType) + (objectType WineBottle_bar__minus_01_dot_66_bar__plus_01_dot_32_bar__plus_02_dot_07 WineBottleType) + (objectType Bread_bar__plus_01_dot_16_bar__plus_01_dot_40_bar__minus_02_dot_05 BreadType) + (objectType Spatula_bar__minus_01_dot_52_bar__plus_00_dot_44_bar__minus_00_dot_56 SpatulaType) + (objectType Apple_bar__minus_01_dot_66_bar__plus_00_dot_33_bar__plus_02_dot_19 AppleType) + (objectType Mug_bar__plus_00_dot_93_bar__plus_02_dot_02_bar__plus_02_dot_17 MugType) + (objectType SoapBottle_bar__minus_01_dot_60_bar__plus_00_dot_34_bar__minus_02_dot_26 SoapBottleType) + (objectType Egg_bar__minus_01_dot_83_bar__plus_01_dot_09_bar__minus_00_dot_45 EggType) + (objectType Plate_bar__plus_00_dot_82_bar__plus_00_dot_35_bar__minus_01_dot_85 PlateType) + (objectType Egg_bar__minus_01_dot_52_bar__plus_01_dot_36_bar__minus_03_dot_43 EggType) + (objectType Knife_bar__minus_01_dot_17_bar__plus_01_dot_35_bar__minus_02_dot_98 KnifeType) + (objectType StoveKnob_bar__minus_00_dot_19_bar__plus_01_dot_34_bar__minus_02_dot_74 StoveKnobType) + (objectType Plate_bar__plus_00_dot_98_bar__plus_00_dot_35_bar__minus_02_dot_27 PlateType) + (objectType Plate_bar__minus_01_dot_53_bar__plus_01_dot_32_bar__minus_02_dot_72 PlateType) + (objectType HousePlant_bar__minus_02_dot_03_bar__plus_01_dot_31_bar__minus_00_dot_03 HousePlantType) + (objectType Kettle_bar__minus_01_dot_40_bar__plus_01_dot_32_bar__plus_02_dot_07 KettleType) + (objectType Chair_bar__plus_00_dot_60_bar__plus_00_dot_95_bar__minus_01_dot_09 ChairType) + (objectType 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Lettuce_bar__minus_01_dot_66_bar__plus_01_dot_40_bar__plus_01_dot_42 LettuceType) + (objectType Fork_bar__plus_01_dot_03_bar__plus_01_dot_32_bar__minus_02_dot_42 ForkType) + (objectType Potato_bar__plus_00_dot_98_bar__plus_01_dot_71_bar__plus_01_dot_66 PotatoType) + (objectType Spoon_bar__plus_00_dot_86_bar__plus_01_dot_21_bar__plus_01_dot_21 SpoonType) + (objectType SoapBottle_bar__minus_01_dot_66_bar__plus_01_dot_32_bar__minus_02_dot_20 SoapBottleType) + (objectType Cup_bar__minus_01_dot_82_bar__plus_00_dot_34_bar__plus_01_dot_01 CupType) + (canContain DrawerType SaltShakerType) + (canContain DrawerType DishSpongeType) + (canContain DrawerType ForkType) + (canContain DrawerType SpoonType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType PepperShakerType) + (canContain DrawerType KnifeType) + (canContain DrawerType SpatulaType) + (canContain SideTableType SaltShakerType) + (canContain SideTableType BreadType) + (canContain SideTableType DishSpongeType) + (canContain 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Plate_bar__plus_00_dot_98_bar__plus_00_dot_35_bar__minus_02_dot_27) + (isReceptacleObject Plate_bar__minus_01_dot_53_bar__plus_01_dot_32_bar__minus_02_dot_72) + (isReceptacleObject Pan_bar__minus_00_dot_63_bar__plus_01_dot_33_bar__minus_03_dot_30) + (isReceptacleObject Pot_bar__plus_00_dot_35_bar__plus_01_dot_33_bar__minus_03_dot_12) + (isReceptacleObject Bowl_bar__minus_01_dot_75_bar__plus_00_dot_34_bar__plus_00_dot_51) + (isReceptacleObject Cup_bar__minus_01_dot_82_bar__plus_00_dot_34_bar__plus_01_dot_01) + (openable Drawer_bar__plus_00_dot_71_bar__plus_01_dot_06_bar__plus_01_dot_02) + (openable Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_00_dot_47) + (openable Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_78_bar__minus_02_dot_05) + (openable Microwave_bar__plus_01_dot_16_bar__plus_01_dot_19_bar__plus_00_dot_85) + (openable Fridge_bar__plus_01_dot_01_bar__plus_00_dot_23_bar__plus_01_dot_92) + (openable 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Fork_bar__minus_01_dot_92_bar__plus_01_dot_32_bar__plus_00_dot_77) + (cleanable Spoon_bar__minus_01_dot_76_bar__plus_01_dot_05_bar__minus_00_dot_54) + (cleanable DishSponge_bar__minus_01_dot_92_bar__plus_01_dot_33_bar__minus_01_dot_26) + (cleanable Lettuce_bar__minus_01_dot_89_bar__plus_01_dot_40_bar__minus_01_dot_07) + (cleanable Bowl_bar__minus_01_dot_88_bar__plus_00_dot_34_bar__plus_00_dot_31) + (cleanable Knife_bar__minus_01_dot_66_bar__plus_01_dot_35_bar__plus_00_dot_12) + (cleanable Spatula_bar__minus_01_dot_52_bar__plus_00_dot_44_bar__minus_00_dot_56) + (cleanable Apple_bar__minus_01_dot_66_bar__plus_00_dot_33_bar__plus_02_dot_19) + (cleanable Mug_bar__plus_00_dot_93_bar__plus_02_dot_02_bar__plus_02_dot_17) + (cleanable Egg_bar__minus_01_dot_83_bar__plus_01_dot_09_bar__minus_00_dot_45) + (cleanable Plate_bar__plus_00_dot_82_bar__plus_00_dot_35_bar__minus_01_dot_85) + (cleanable Egg_bar__minus_01_dot_52_bar__plus_01_dot_36_bar__minus_03_dot_43) + (cleanable Knife_bar__minus_01_dot_17_bar__plus_01_dot_35_bar__minus_02_dot_98) + (cleanable Plate_bar__plus_00_dot_98_bar__plus_00_dot_35_bar__minus_02_dot_27) + (cleanable Plate_bar__minus_01_dot_53_bar__plus_01_dot_32_bar__minus_02_dot_72) + (cleanable Kettle_bar__minus_01_dot_40_bar__plus_01_dot_32_bar__plus_02_dot_07) + (cleanable Apple_bar__plus_00_dot_77_bar__plus_01_dot_37_bar__minus_01_dot_68) + (cleanable Potato_bar__minus_01_dot_70_bar__plus_01_dot_09_bar__minus_00_dot_45) + (cleanable Pan_bar__minus_00_dot_63_bar__plus_01_dot_33_bar__minus_03_dot_30) + (cleanable Pot_bar__plus_00_dot_35_bar__plus_01_dot_33_bar__minus_03_dot_12) + (cleanable DishSponge_bar__plus_00_dot_90_bar__plus_00_dot_34_bar__minus_02_dot_06) + (cleanable DishSponge_bar__plus_00_dot_77_bar__plus_01_dot_32_bar__minus_02_dot_79) + (cleanable Bowl_bar__minus_01_dot_75_bar__plus_00_dot_34_bar__plus_00_dot_51) + (cleanable Lettuce_bar__minus_01_dot_66_bar__plus_01_dot_40_bar__plus_01_dot_42) + (cleanable Fork_bar__plus_01_dot_03_bar__plus_01_dot_32_bar__minus_02_dot_42) + (cleanable Potato_bar__plus_00_dot_98_bar__plus_01_dot_71_bar__plus_01_dot_66) + (cleanable Spoon_bar__plus_00_dot_86_bar__plus_01_dot_21_bar__plus_01_dot_21) + (cleanable Cup_bar__minus_01_dot_82_bar__plus_00_dot_34_bar__plus_01_dot_01) + + (heatable Cup_bar__plus_01_dot_18_bar__plus_01_dot_31_bar__plus_01_dot_02) + (heatable Bread_bar__minus_01_dot_79_bar__plus_01_dot_40_bar__minus_02_dot_72) + (heatable Cup_bar__minus_02_dot_09_bar__plus_01_dot_33_bar__minus_01_dot_12) + (heatable Tomato_bar__plus_01_dot_06_bar__plus_01_dot_71_bar__plus_01_dot_78) + (heatable Bread_bar__plus_01_dot_16_bar__plus_01_dot_40_bar__minus_02_dot_05) + (heatable Apple_bar__minus_01_dot_66_bar__plus_00_dot_33_bar__plus_02_dot_19) + (heatable Mug_bar__plus_00_dot_93_bar__plus_02_dot_02_bar__plus_02_dot_17) + (heatable Egg_bar__minus_01_dot_83_bar__plus_01_dot_09_bar__minus_00_dot_45) + (heatable Plate_bar__plus_00_dot_82_bar__plus_00_dot_35_bar__minus_01_dot_85) + (heatable Egg_bar__minus_01_dot_52_bar__plus_01_dot_36_bar__minus_03_dot_43) + (heatable Plate_bar__plus_00_dot_98_bar__plus_00_dot_35_bar__minus_02_dot_27) + (heatable Plate_bar__minus_01_dot_53_bar__plus_01_dot_32_bar__minus_02_dot_72) + (heatable Apple_bar__plus_00_dot_77_bar__plus_01_dot_37_bar__minus_01_dot_68) + (heatable Potato_bar__minus_01_dot_70_bar__plus_01_dot_09_bar__minus_00_dot_45) + (heatable Potato_bar__plus_00_dot_98_bar__plus_01_dot_71_bar__plus_01_dot_66) + (heatable Cup_bar__minus_01_dot_82_bar__plus_00_dot_34_bar__plus_01_dot_01) + (coolable Cup_bar__plus_01_dot_18_bar__plus_01_dot_31_bar__plus_01_dot_02) + (coolable Bread_bar__minus_01_dot_79_bar__plus_01_dot_40_bar__minus_02_dot_72) + (coolable Cup_bar__minus_02_dot_09_bar__plus_01_dot_33_bar__minus_01_dot_12) + (coolable Tomato_bar__plus_01_dot_06_bar__plus_01_dot_71_bar__plus_01_dot_78) + (coolable Lettuce_bar__minus_01_dot_89_bar__plus_01_dot_40_bar__minus_01_dot_07) + (coolable Bowl_bar__minus_01_dot_88_bar__plus_00_dot_34_bar__plus_00_dot_31) + (coolable WineBottle_bar__minus_01_dot_66_bar__plus_01_dot_32_bar__plus_02_dot_07) + (coolable Bread_bar__plus_01_dot_16_bar__plus_01_dot_40_bar__minus_02_dot_05) + (coolable Apple_bar__minus_01_dot_66_bar__plus_00_dot_33_bar__plus_02_dot_19) + (coolable Mug_bar__plus_00_dot_93_bar__plus_02_dot_02_bar__plus_02_dot_17) + (coolable Egg_bar__minus_01_dot_83_bar__plus_01_dot_09_bar__minus_00_dot_45) + (coolable Plate_bar__plus_00_dot_82_bar__plus_00_dot_35_bar__minus_01_dot_85) + (coolable Egg_bar__minus_01_dot_52_bar__plus_01_dot_36_bar__minus_03_dot_43) + (coolable Plate_bar__plus_00_dot_98_bar__plus_00_dot_35_bar__minus_02_dot_27) + (coolable Plate_bar__minus_01_dot_53_bar__plus_01_dot_32_bar__minus_02_dot_72) + (coolable Apple_bar__plus_00_dot_77_bar__plus_01_dot_37_bar__minus_01_dot_68) + (coolable 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Apple_bar__minus_01_dot_66_bar__plus_00_dot_33_bar__plus_02_dot_19) + (sliceable Egg_bar__minus_01_dot_83_bar__plus_01_dot_09_bar__minus_00_dot_45) + (sliceable Egg_bar__minus_01_dot_52_bar__plus_01_dot_36_bar__minus_03_dot_43) + (sliceable Apple_bar__plus_00_dot_77_bar__plus_01_dot_37_bar__minus_01_dot_68) + (sliceable Potato_bar__minus_01_dot_70_bar__plus_01_dot_09_bar__minus_00_dot_45) + (sliceable Lettuce_bar__minus_01_dot_66_bar__plus_01_dot_40_bar__plus_01_dot_42) + (sliceable Potato_bar__plus_00_dot_98_bar__plus_01_dot_71_bar__plus_01_dot_66) + + (inReceptacleObject DishSponge_bar__plus_00_dot_90_bar__plus_00_dot_34_bar__minus_02_dot_06 Plate_bar__plus_00_dot_82_bar__plus_00_dot_35_bar__minus_01_dot_85) + (inReceptacle SoapBottle_bar__minus_01_dot_60_bar__plus_00_dot_34_bar__minus_02_dot_26 Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__minus_02_dot_00) + (inReceptacle 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 Bowl_bar__minus_01_dot_75_bar__plus_00_dot_34_bar__plus_00_dot_51 Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_00_dot_47) + (inReceptacle SaltShaker_bar__minus_01_dot_61_bar__plus_00_dot_34_bar__plus_00_dot_11 Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_00_dot_47) + (inReceptacle Bowl_bar__minus_01_dot_88_bar__plus_00_dot_34_bar__plus_00_dot_31 Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_00_dot_47) + (inReceptacle DishSponge_bar__plus_00_dot_90_bar__plus_00_dot_34_bar__minus_02_dot_06 Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_78_bar__minus_02_dot_05) + (inReceptacle Plate_bar__plus_00_dot_82_bar__plus_00_dot_35_bar__minus_01_dot_85 Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_78_bar__minus_02_dot_05) + (inReceptacle Plate_bar__plus_00_dot_98_bar__plus_00_dot_35_bar__minus_02_dot_27 Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_78_bar__minus_02_dot_05) + (inReceptacle Apple_bar__plus_00_dot_77_bar__plus_01_dot_37_bar__minus_01_dot_68 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle Bread_bar__plus_01_dot_16_bar__plus_01_dot_40_bar__minus_02_dot_05 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle Bread_bar__minus_01_dot_79_bar__plus_01_dot_40_bar__minus_02_dot_72 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle Spoon_bar__plus_00_dot_51_bar__plus_01_dot_32_bar__minus_00_dot_94 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle Egg_bar__minus_01_dot_52_bar__plus_01_dot_36_bar__minus_03_dot_43 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle Knife_bar__minus_01_dot_17_bar__plus_01_dot_35_bar__minus_02_dot_98 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle Pot_bar__plus_00_dot_35_bar__plus_01_dot_33_bar__minus_03_dot_12 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle PaperTowelRoll_bar__minus_01_dot_92_bar__plus_01_dot_43_bar__minus_02_dot_72 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle Fork_bar__minus_01_dot_92_bar__plus_01_dot_32_bar__plus_00_dot_77 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle Fork_bar__plus_01_dot_03_bar__plus_01_dot_32_bar__minus_02_dot_42 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle Lettuce_bar__minus_01_dot_66_bar__plus_01_dot_40_bar__plus_01_dot_42 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle HousePlant_bar__minus_02_dot_03_bar__plus_01_dot_31_bar__minus_00_dot_03 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle 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Cup_bar__minus_01_dot_82_bar__plus_00_dot_34_bar__plus_01_dot_01 Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_01_dot_31) + (inReceptacle Pan_bar__minus_00_dot_63_bar__plus_01_dot_33_bar__minus_03_dot_30 StoveBurner_bar__minus_00_dot_75_bar__plus_01_dot_33_bar__minus_02_dot_97) + (inReceptacle Spatula_bar__minus_01_dot_52_bar__plus_00_dot_44_bar__minus_00_dot_56 Drawer_bar__minus_01_dot_61_bar__plus_00_dot_68_bar__minus_00_dot_43) + (inReceptacle Spoon_bar__plus_00_dot_86_bar__plus_01_dot_21_bar__plus_01_dot_21 SideTable_bar__plus_01_dot_02_bar__plus_01_dot_24_bar__plus_00_dot_87) + (inReceptacle PepperShaker_bar__plus_01_dot_11_bar__plus_01_dot_20_bar__plus_01_dot_24 SideTable_bar__plus_01_dot_02_bar__plus_01_dot_24_bar__plus_00_dot_87) + (inReceptacle Potato_bar__plus_00_dot_98_bar__plus_01_dot_71_bar__plus_01_dot_66 Fridge_bar__plus_01_dot_01_bar__plus_00_dot_23_bar__plus_01_dot_92) + (inReceptacle Tomato_bar__plus_01_dot_06_bar__plus_01_dot_71_bar__plus_01_dot_78 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"Egg_7c718722", + "position": { + "x": -1.82631838, + "y": 1.09187412, + "z": -0.4510209 + }, + "rotation": { + "x": 1.40334191e-14, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pan_9d168802", + "position": { + "x": -0.6309, + "y": 1.3317, + "z": -3.3019 + }, + "rotation": { + "x": 0.0, + "y": 179.999664, + "z": 0.0 + } + }, + { + "objectName": "SaltShaker_b13b6e3e", + "position": { + "x": -1.6140399, + "y": 0.338814139, + "z": 0.110898912 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "WineBottle_560d3534", + "position": { + "x": -1.66056263, + "y": 1.32392883, + "z": 2.069365 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Lettuce_b5e01a1e", + "position": { + "x": -1.89179516, + "y": 1.40040708, + "z": -1.07334352 + }, + "rotation": { + "x": 1.09848678, + "y": 359.6954, + "z": 355.7319 + } + }, + { + "objectName": "Spatula_f0a2d64c", + "position": { + "x": -1.5189867, + "y": 0.4350211, + "z": -0.561244547 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "PaperTowelRoll_ddd73f57", + "position": { + "x": -1.92006814, + "y": 1.42728543, + "z": -2.72122478 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Tomato_93b30017", + "position": { + "x": 1.056315, + "y": 1.70904112, + "z": 1.78130639 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "Plate_d5570300", + "position": { + "x": 0.976771951, + "y": 0.345585465, + "z": -2.26769447 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + } + }, + { + "objectName": "PepperShaker_c15f34b3", + "position": { + "x": 1.11029458, + "y": 1.2028, + "z": 1.23849058 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_a15664d1", + "position": { + "x": -1.91705513, + "y": 1.328974, + "z": -1.25540757 + }, + "rotation": { + "x": 359.960846, + "y": 359.910217, + "z": 3.76938629 + } + }, + { + "objectName": "Spoon_e0793d4c", + "position": { + "x": 0.5068307, + "y": 1.32412946, + "z": -0.942471862 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Apple_e84ad935", + "position": { + "x": 0.766335964, + "y": 1.37188375, + "z": -1.68329394 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_259b36f2", + "position": { + "x": 0.9286004, + "y": 2.0238204, + "z": 2.170708 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 2181346276, + "scene_num": 3 + }, + "task_id": "trial_T20190909_002515_745057", + "task_type": "pick_clean_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "ABR580YP0ST7X_3IO1LGZLKCOA0S5SH6O0MTX04VZ680", + "high_descs": [ + "Turn left, walk to wall, turn right facing fridge", + "Open refrigerator, grab tomato off of shelf, close refrigerator ", + "Turn right, walk to table, turn right, walk to sink", + "Put tomato into sink, turn on water, turn off water, pick up tomato", + "Turn right, walk forward, turn right, walk forward to counter with microwave", + "Place tomato on right hand side of counter beside microwave" + ], + "task_desc": "Take tomato from fridge to sink, followed by taking it to counter with microwave", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1CY7IOJ9YH136_3JV9LGBJWW5FIDHE00MIV60PDF4OGN", + "high_descs": [ + "go to refrigerator to the left", + "take red tomato out of refrigerator, close refrigerator", + "turn around, go to sink ", + "place tomato in sink to the left of potato, turn on water, turn off water, pick up tomato from sink", + "turn around, go to black cabinet with microwave", + "place tomato behind shaker to the left of microwave" + ], + "task_desc": "place chilled, cleaned tomato behind shaker next to microwave", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AM2KK02JXXW48_3LRLIPTPET0VIVJWG82FS38DVF1KA7", + "high_descs": [ + "Move to the fridge on the left.", + "Pick up the tomato in the fridge. ", + "Turn right, bring the tomato to the sink on the right.", + "Wash the tomato in the sink with water. ", + "Bring the washed tomato back to the black table sitting right of the fridge.", + "Put the tomato on the table, left of the microwave. " + ], + "task_desc": "Put a washed tomato next to the microwave 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-TomatoSliced-None-Microwave-20/trial_T20190906_200120_945716/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-TomatoSliced-None-Microwave-20/trial_T20190906_200120_945716/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..1e017ec8fbc2aa5ed44750aff02643204cb2ca21 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-TomatoSliced-None-Microwave-20/trial_T20190906_200120_945716/initial_state.pddl @@ -0,0 +1,1016 @@ + +(define (problem plan_trial_T20190906_200120_945716) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + 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_10 - object + Apple_bar__minus_00_dot_21_bar__plus_00_dot_84_bar__minus_01_dot_98 - object + Apple_bar__minus_01_dot_55_bar__plus_01_dot_25_bar__minus_00_dot_91 - object + Bowl_bar__minus_00_dot_70_bar__plus_00_dot_11_bar__minus_01_dot_92 - object + Bread_bar__plus_00_dot_41_bar__plus_00_dot_98_bar__plus_00_dot_53 - object + Bread_bar__minus_00_dot_05_bar__plus_00_dot_97_bar__plus_00_dot_76 - object + ButterKnife_bar__minus_00_dot_11_bar__plus_00_dot_91_bar__minus_01_dot_75 - object + Chair_bar__minus_00_dot_54_bar__plus_00_dot_61_bar__plus_01_dot_26 - object + Cup_bar__plus_01_dot_34_bar__plus_01_dot_66_bar__minus_02_dot_12 - object + Cup_bar__plus_01_dot_36_bar__plus_00_dot_55_bar__plus_02_dot_48 - object + Cup_bar__minus_01_dot_38_bar__plus_00_dot_86_bar__minus_01_dot_01 - object + DishSponge_bar__plus_01_dot_83_bar__plus_00_dot_91_bar__minus_01_dot_21 - object + Egg_bar__plus_00_dot_41_bar__plus_00_dot_98_bar__plus_00_dot_31 - object + Egg_bar__plus_02_dot_01_bar__plus_00_dot_97_bar__minus_01_dot_56 - object + Egg_bar__minus_01_dot_44_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_01_dot_92_bar__plus_00_dot_91_bar__minus_01_dot_10 - object + Fork_bar__minus_00_dot_35_bar__plus_00_dot_91_bar__minus_01_dot_73 - object + Knife_bar__plus_00_dot_12_bar__plus_00_dot_94_bar__minus_01_dot_74 - object + Knife_bar__plus_00_dot_29_bar__plus_00_dot_95_bar__plus_01_dot_22 - object + Knife_bar__plus_01_dot_92_bar__plus_00_dot_94_bar__minus_01_dot_33 - object + Ladle_bar__plus_00_dot_41_bar__plus_00_dot_98_bar__plus_00_dot_99 - 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__plus_01_dot_47_bar__plus_00_dot_91_bar__minus_01_dot_68 - object + Mug_bar__minus_00_dot_67_bar__plus_00_dot_91_bar__minus_02_dot_23 - object + Pan_bar__plus_01_dot_57_bar__plus_00_dot_95_bar__minus_00_dot_36 - object + Pan_bar__plus_01_dot_63_bar__plus_00_dot_12_bar__minus_01_dot_27 - object + Pan_bar__plus_01_dot_91_bar__plus_01_dot_66_bar__minus_01_dot_61 - object + PepperShaker_bar__plus_01_dot_67_bar__plus_00_dot_88_bar__plus_02_dot_54 - object + PepperShaker_bar__minus_00_dot_56_bar__plus_00_dot_91_bar__minus_02_dot_23 - object + Plate_bar__plus_00_dot_18_bar__plus_00_dot_93_bar__plus_01_dot_45 - object + Plate_bar__plus_01_dot_91_bar__plus_01_dot_66_bar__minus_01_dot_20 - object + Plate_bar__minus_01_dot_50_bar__plus_01_dot_19_bar__minus_00_dot_50 - object + Potato_bar__minus_01_dot_57_bar__plus_01_dot_53_bar__minus_01_dot_01 - object + Pot_bar__plus_01_dot_85_bar__plus_00_dot_95_bar__minus_00_dot_36 - object + SaltShaker_bar__plus_01_dot_46_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_01_dot_85_bar__plus_00_dot_91_bar__minus_01_dot_83 - object + SoapBottle_bar__minus_00_dot_16_bar__plus_00_dot_93_bar__plus_00_dot_08 - object + SoapBottle_bar__minus_01_dot_07_bar__plus_00_dot_91_bar__minus_02_dot_19 - object + Spatula_bar__plus_01_dot_83_bar__plus_00_dot_93_bar__minus_01_dot_45 - object + Spatula_bar__minus_00_dot_05_bar__plus_00_dot_94_bar__plus_01_dot_22 - object + Spatula_bar__minus_00_dot_06_bar__plus_00_dot_78_bar__minus_02_dot_12 - object + Spoon_bar__minus_00_dot_14_bar__plus_00_dot_77_bar__minus_01_dot_98 - object + Spoon_bar__minus_00_dot_96_bar__plus_00_dot_91_bar__minus_02_dot_08 - 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_07_bar__plus_00_dot_98_bar__plus_00_dot_53 - object + Window_bar__plus_02_dot_11_bar__plus_01_dot_50_bar__plus_01_dot_07 - object + WineBottle_bar__plus_00_dot_29_bar__plus_00_dot_93_bar__plus_00_dot_99 - 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 + 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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 + 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loc_bar_4_bar__minus_3_bar_1_bar_30) + (objectAtLocation Tomato_bar__plus_00_dot_07_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 DishSponge_bar__plus_01_dot_83_bar__plus_00_dot_91_bar__minus_01_dot_21 loc_bar_3_bar__minus_5_bar_2_bar_45) + (objectAtLocation Egg_bar__plus_02_dot_01_bar__plus_00_dot_97_bar__minus_01_dot_56 loc_bar_3_bar__minus_5_bar_2_bar_45) + (objectAtLocation Spoon_bar__minus_00_dot_96_bar__plus_00_dot_91_bar__minus_02_dot_08 loc_bar_3_bar__minus_5_bar_2_bar_45) + (objectAtLocation Knife_bar__plus_00_dot_12_bar__plus_00_dot_94_bar__minus_01_dot_74 loc_bar_3_bar__minus_5_bar_2_bar_45) + (objectAtLocation Mug_bar__minus_00_dot_67_bar__plus_00_dot_91_bar__minus_02_dot_23 loc_bar_3_bar__minus_5_bar_2_bar_45) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + 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-0.160943776, + "y": 0.925586164, + "z": 0.076635 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Fork_a1e5049a", + "position": { + "x": -0.346631646, + "y": 0.9140485, + "z": -1.72573566 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Ladle_bd8f96dd", + "position": { + "x": 0.408444166, + "y": 0.975006938, + "z": 0.99143815 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Bread_b4d69cc9", + "position": { + "x": -0.0470661819, + "y": 0.972077966, + "z": 0.7627374 + }, + "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": 0.294566572, + "y": 0.9315732, + "z": 0.99143815 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Spatula_33e0bb4d", + "position": { + "x": 1.82878232, + "y": 0.9284998, + "z": -1.446528 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "Plate_d1e14b30", + "position": { + "x": -1.49556267, + "y": 1.18709588, + "z": -0.495992541 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + }, + { + "objectName": "SaltShaker_725f4a28", + "position": { + "x": 1.46438551, + "y": 0.877137065, + "z": 2.45643163 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pot_d7116d9f", + "position": { + "x": 1.8451, + "y": 0.948799968, + "z": -0.3554 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Cup_5f9ea4fe", + "position": { + "x": 1.359133, + "y": 0.553277135, + "z": 2.4829 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "PepperShaker_6ea32579", + "position": { + "x": 1.669092, + "y": 0.8771373, + "z": 2.53793621 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pan_bc4f8581", + "position": { + "x": 1.90938592, + "y": 1.65724719, + "z": -1.60884356 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": -7.062251e-30 + } + }, + { + "objectName": "ButterKnife_8db17fc4", + "position": { + "x": -0.11366187, + "y": 0.913542032, + "z": -1.75013757 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Tomato_de47916c", + "position": { + "x": 0.06681141, + "y": 0.9824485, + "z": 0.534036636 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_c9c37476", + "position": { + "x": 1.82878232, + "y": 0.9130642, + "z": -1.21257389 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Egg_8bcb7893", + "position": { + "x": -1.43811274, + "y": 0.9130036, + "z": -0.392487168 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + }, + { + "objectName": "Spoon_a85d92ad", + "position": { + "x": -0.137785524, + "y": 0.765585542, + "z": -1.98148525 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 1.40334191e-14 + } + }, + { + "objectName": "Knife_416e93ae", + "position": { + "x": 1.91925633, + "y": 0.936580539, + "z": -1.329551 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_0e2bb95a", + "position": { + "x": 1.466886, + "y": 0.908499956, + "z": -1.680482 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 2609789670, + "scene_num": 20 + }, + "task_id": "trial_T20190906_200120_945716", + "task_type": "pick_clean_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A1CY7IOJ9YH136_30LB5CDZNFRMLOY2SZJFPQ0BV5XZ0K", + "high_descs": [ + "Turn left, go forward to sink", + "Pick up knife in the middle", + "Go to table in center on side with tomato", + "Slice tomato with knife", + "Go to sink on the right", + "Place knife in sink to the right of the apple", + "Go to center table by tomato", + "Pick up tomato slice from the table", + "Go back to sink", + "Place tomato slice in sink to right of knife, turn on water,", + "turn on water, pick up tomato slice", + "Go to microwave on right, place tomato slice on plate in microwave" + ], + "task_desc": "Slice, clean, put away tomato", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1RLO9LNUJIW5S_3KIBXJ1WD8BCZARZUJIGSC8GP00KOB", + "high_descs": [ + "Walk forward to the wall then turn left and make your way over to the sink and stand facing it.", + "Pick up the butter knife that's touching the yellow handled knife.", + "Turn around and walk over to the brown stool that is to the left of the counter island and then turn right to face the island.", + "Use the knife to cut the tomato.", + "Walk back over to the sink.", + "Put the knife in the sink.", + "Walk back over to the counter where you cut the tomato.", + "Pick up the slice to the left of the slice all the way to the right of the tomato.", + "Turn right and walk back over to the sink.", + "Wash the tomato in the sink and then pick it back up and turn off the faucet.", + "Turn to your right.", + "Put the slice of tomato in the microwave." + ], + "task_desc": "Put a slice of tomato in the microwave.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3HL2LL0LEPZT8_3NGI5ARFTWMSE9HE19PDCXH7Q9BP1T", + "high_descs": [ + "Turn left, go to the sink at the other side of the room.", + "Take the small knife from in from of the sink.", + "Turn around, go to the left side of the table and face the table.", + "Cut the tomato on the table into slices.", + "Turn right, go back to the sink.", + "Put the knife in the sink.", + "Turn around, go to the left side of the table and face the table.", + "Take a slice of tomato from the table.", + "Turn right, go back to the sink.", + "Wash the tomato in the sink. Take the tomato from the sink.", + "Turn right to face the microwave.", + "Put the tomato in the microwave." + ], + "task_desc": "Put a clean slice of tomato in a microwave.", + "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-TomatoSliced-None-Microwave-20/trial_T20190912_012146_633153/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-TomatoSliced-None-Microwave-20/trial_T20190912_012146_633153/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..7beca9b63b9ba13542ac6ecc2c24bb30b01465e5 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-TomatoSliced-None-Microwave-20/trial_T20190912_012146_633153/initial_state.pddl @@ -0,0 +1,1036 @@ + +(define (problem plan_trial_T20190912_012146_633153) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + 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_82_bar__plus_00_dot_98_bar__minus_02_dot_17 - object + Apple_bar__minus_00_dot_96_bar__plus_00_dot_98_bar__minus_02_dot_26 - object + Bowl_bar__plus_01_dot_87_bar__plus_01_dot_65_bar__minus_01_dot_67 - object + Bowl_bar__minus_00_dot_05_bar__plus_00_dot_92_bar__plus_00_dot_76 - object + Bowl_bar__minus_00_dot_70_bar__plus_00_dot_11_bar__minus_01_dot_92 - object + Bread_bar__minus_00_dot_05_bar__plus_00_dot_97_bar__plus_00_dot_08 - object + ButterKnife_bar__plus_01_dot_62_bar__plus_00_dot_91_bar__minus_01_dot_83 - object + ButterKnife_bar__plus_01_dot_74_bar__plus_00_dot_91_bar__minus_01_dot_56 - object + ButterKnife_bar__minus_00_dot_77_bar__plus_00_dot_91_bar__minus_02_dot_20 - 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_99 - object + Cup_bar__minus_00_dot_05_bar__plus_00_dot_93_bar__plus_00_dot_31 - object + DishSponge_bar__plus_01_dot_57_bar__plus_00_dot_12_bar__minus_01_dot_20 - object + DishSponge_bar__plus_01_dot_77_bar__plus_00_dot_88_bar__plus_02_dot_46 - object + Egg_bar__plus_01_dot_65_bar__plus_00_dot_97_bar__minus_01_dot_21 - object + Egg_bar__minus_00_dot_16_bar__plus_00_dot_98_bar__plus_00_dot_99 - object + Egg_bar__minus_01_dot_32_bar__plus_00_dot_91_bar__minus_00_dot_70 - 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_31 - object + Fork_bar__plus_00_dot_52_bar__plus_00_dot_93_bar__plus_00_dot_99 - object + Fork_bar__minus_00_dot_35_bar__plus_00_dot_91_bar__minus_01_dot_73 - object + Knife_bar__plus_00_dot_00_bar__plus_00_dot_94_bar__minus_01_dot_76 - object + Knife_bar__plus_00_dot_29_bar__plus_00_dot_95_bar__plus_00_dot_76 - object + Ladle_bar__plus_00_dot_29_bar__plus_00_dot_97_bar__plus_00_dot_99 - object + Ladle_bar__plus_01_dot_22_bar__plus_00_dot_16_bar__minus_01_dot_86 - object + Ladle_bar__plus_01_dot_63_bar__plus_00_dot_16_bar__minus_01_dot_40 - object + Lettuce_bar__plus_00_dot_07_bar__plus_01_dot_01_bar__plus_01_dot_22 - object + Lettuce_bar__plus_01_dot_85_bar__plus_00_dot_99_bar__minus_02_dot_09 - object + LightSwitch_bar__plus_00_dot_11_bar__plus_01_dot_32_bar__plus_02_dot_75 - object + Mug_bar__plus_00_dot_50_bar__plus_01_dot_65_bar__minus_02_dot_20 - object + Mug_bar__plus_01_dot_26_bar__plus_00_dot_95_bar__minus_01_dot_93 - object + Mug_bar__plus_01_dot_57_bar__plus_00_dot_88_bar__plus_02_dot_46 - object + Pan_bar__plus_01_dot_82_bar__plus_00_dot_95_bar__minus_00_dot_35 - object + PepperShaker_bar__plus_01_dot_47_bar__plus_00_dot_91_bar__minus_01_dot_10 - object + Plate_bar__minus_01_dot_44_bar__plus_01_dot_19_bar__minus_00_dot_91 - object + Plate_bar__minus_01_dot_50_bar__plus_00_dot_86_bar__minus_00_dot_60 - object + Potato_bar__plus_01_dot_56_bar__plus_00_dot_94_bar__minus_01_dot_68 - object + Potato_bar__minus_01_dot_22_bar__plus_01_dot_04_bar__minus_01_dot_64 - object + Pot_bar__plus_01_dot_56_bar__plus_00_dot_91_bar__minus_01_dot_45 - object + Pot_bar__plus_01_dot_57_bar__plus_00_dot_95_bar__minus_00_dot_76 - object + SaltShaker_bar__plus_00_dot_07_bar__plus_00_dot_93_bar__plus_01_dot_45 - object + SaltShaker_bar__plus_01_dot_83_bar__plus_00_dot_91_bar__minus_01_dot_10 - object + SaltShaker_bar__plus_01_dot_88_bar__plus_00_dot_55_bar__plus_02_dot_43 - object + Sink_bar__minus_00_dot_11_bar__plus_00_dot_89_bar__minus_02_dot_01 - object + SoapBottle_bar__plus_00_dot_38_bar__plus_01_dot_66_bar__minus_02_dot_24 - object + SoapBottle_bar__plus_01_dot_83_bar__plus_00_dot_91_bar__minus_01_dot_33 - object + Spatula_bar__plus_00_dot_46_bar__plus_00_dot_93_bar__minus_02_dot_09 - object + Spoon_bar__plus_00_dot_07_bar__plus_00_dot_93_bar__plus_00_dot_53 - object + Spoon_bar__plus_00_dot_07_bar__plus_00_dot_93_bar__plus_00_dot_99 - 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_01_dot_22 - 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_13_bar__minus_01_dot_46 - 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 + 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DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68 - receptacle + Drawer_bar__minus_00_dot_82_bar__plus_00_dot_75_bar__minus_01_dot_69 - receptacle + Fridge_bar__minus_01_dot_50_bar__plus_00_dot_00_bar__minus_00_dot_70 - receptacle + GarbageCan_bar__plus_01_dot_87_bar__plus_00_dot_00_bar__plus_00_dot_13 - receptacle + Microwave_bar__minus_01_dot_23_bar__plus_00_dot_90_bar__minus_01_dot_68 - receptacle + Shelf_bar__plus_01_dot_55_bar__plus_00_dot_16_bar__plus_02_dot_48 - receptacle + Shelf_bar__plus_01_dot_55_bar__plus_00_dot_54_bar__plus_02_dot_48 - receptacle + Shelf_bar__plus_01_dot_55_bar__plus_00_dot_87_bar__plus_02_dot_48 - receptacle + Sink_bar__minus_00_dot_11_bar__plus_00_dot_89_bar__minus_02_dot_01_bar_SinkBasin - receptacle + StoveBurner_bar__plus_01_dot_57_bar__plus_00_dot_94_bar__minus_00_dot_36 - receptacle + StoveBurner_bar__plus_01_dot_57_bar__plus_00_dot_94_bar__minus_00_dot_76 - receptacle + 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+ "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Cup_5f9ea4fe", + "position": { + "x": 0.180688992, + "y": 0.930863, + "z": 0.99143815 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Plate_d1e14b30", + "position": { + "x": -1.43811154, + "y": 1.18709588, + "z": -0.9100073 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + }, + { + "objectName": "Knife_416e93ae", + "position": { + "x": 0.00282304, + "y": 0.936580539, + "z": -1.76233852 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SoapBottle_11e2985b", + "position": { + "x": 0.38467744, + "y": 1.65761971, + "z": -2.23820162 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Bowl_980e4fc9", + "position": { + "x": -0.69762665, + "y": 0.108493865, + "z": -1.91738248 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Bowl_980e4fc9", + "position": { + "x": 1.87150991, + "y": 1.65424371, + "z": -1.67331362 + }, + "rotation": { + "x": -7.062251e-30, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "Lettuce_aebda124", + "position": { + "x": 1.850235, + "y": 0.994656861, + "z": -2.08555484 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SaltShaker_725f4a28", + "position": { + "x": 1.82878232, + "y": 0.909806132, + "z": -1.09559679 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SaltShaker_725f4a28", + "position": { + "x": 0.06681141, + "y": 0.9269507, + "z": 1.44883978 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_0e2bb95a", + "position": { + "x": 1.56673884, + "y": 0.8758309, + "z": 2.45643163 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_0e2bb95a", + "position": { + "x": 0.503681839, + "y": 1.65396607, + "z": -2.20059633 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Apple_792121da", + "position": { + "x": -0.8244117, + "y": 0.9844253, + "z": -2.16755772 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Apple_792121da", + "position": { + "x": -0.963619769, + "y": 0.9844253, + "z": -2.26071715 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Potato_4e602a34", + "position": { + "x": -1.21946883, + "y": 1.0447588, + "z": -1.63809991 + }, + "rotation": { + "x": 0.0, + "y": 89.99989, + "z": 0.0 + } + }, + { + "objectName": "Bowl_980e4fc9", + "position": { + "x": -0.0470661819, + "y": 0.9235385, + "z": 0.7627374 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SoapBottle_11e2985b", + "position": { + "x": 1.82878232, + "y": 0.9121536, + "z": -1.329551 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Fork_a1e5049a", + "position": { + "x": 0.06681141, + "y": 0.927481055, + "z": 0.30533576 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Ladle_bd8f96dd", + "position": { + "x": 0.294566572, + "y": 0.97129494, + "z": 0.99143815 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Bread_b4d69cc9", + "position": { + "x": -0.0470661819, + "y": 0.9720779, + "z": 0.076635 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Lettuce_aebda124", + "position": { + "x": 0.06681141, + "y": 1.01180136, + "z": 1.220139 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "WineBottle_620f4eaa", + "position": { + "x": -1.07263923, + "y": 0.12749958, + "z": -1.46382689 + }, + "rotation": { + "x": -1.40334208e-14, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Spatula_33e0bb4d", + "position": { + "x": 0.457472026, + "y": 0.9284999, + "z": -2.08555484 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Plate_d1e14b30", + "position": { + "x": -1.49556231, + "y": 0.8628615, + "z": -0.599495769 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + }, + { + "objectName": "SaltShaker_725f4a28", + "position": { + "x": 1.87763333, + "y": 0.549364865, + "z": 2.431126 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pot_d7116d9f", + "position": { + "x": 1.5675, + "y": 0.948799968, + "z": -0.7576 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Cup_5f9ea4fe", + "position": { + "x": -0.0470661819, + "y": 0.930863, + "z": 0.30533576 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "PepperShaker_6ea32579", + "position": { + "x": 1.466886, + "y": 0.909806132, + "z": -1.09559679 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pan_bc4f8581", + "position": { + "x": 1.82486081, + "y": 0.9453135, + "z": -0.3461054 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "ButterKnife_8db17fc4", + "position": { + "x": -0.772480667, + "y": 0.913542032, + "z": -2.200757 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Tomato_de47916c", + "position": { + "x": -0.160943776, + "y": 0.9787365, + "z": 1.220139 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_c9c37476", + "position": { + "x": 1.57290637, + "y": 0.120089114, + "z": -1.20084989 + }, + "rotation": { + "x": -7.062251e-30, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "Egg_8bcb7893", + "position": { + "x": -0.160943776, + "y": 0.980486035, + "z": 0.99143815 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Spoon_a85d92ad", + "position": { + "x": 0.06681141, + "y": 0.9317739, + "z": 0.534036636 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Knife_416e93ae", + "position": { + "x": 0.294566572, + "y": 0.9537251, + "z": 0.7627374 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_0e2bb95a", + "position": { + "x": 1.26109993, + "y": 0.951999962, + "z": -1.93409991 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 240349865, + "scene_num": 20 + }, + "task_id": "trial_T20190912_012146_633153", + "task_type": "pick_clean_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "AKVQTFH16ICGZ_3FTOP5WARI5WL9TYADGT1WCLCBK0J8", + "high_descs": [ + "Turn around and walk over to the kitchen sink", + "Pick up the knife that's in front of you", + "Turn around and walk over to the wooden stool on your left", + "Slice up the tomato that's on the table", + "Turn around and go back to the sink", + "Place the knife into the sink", + "Turn around and go back over to the tomato you just sliced", + "Pick up a tomato slice from the table", + "Turn back around and go back to the sink", + "Put the tomato slice into the sink, rinse it off, and pick it back up", + "Turn to your right and look at the microwave", + "Place the tomato slice into the left side of the microwave" + ], + "task_desc": "Cut up a tomato, heat the sliced tomato piece", + "votes": [ + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "ACSS93E03ZUGX_3IQ1VMJRYW13GAE7G3M918AVPZL9AS", + "high_descs": [ + "Turn around, walk to the counter and go to the right to face the sink.", + "Pick the knife up from off of the sink.", + "Turn around, walk towards the counter, and face the brown stool.", + "Cut the tomato on the counter in to several slices.", + "Turn around and go straight to face the sink.", + "Place the knife in to the sink.", + "Turn around and walk straight towards the brown stool next to the counter.", + "Pick up a slice of the tomato on the counter.", + "Turn around and walk back towards the sink.", + "Place the tomato slice in to the sink, run some water over it, turn the water off, and pick up the tomato slice.", + "Turn right to face the microwave.", + "Open the microwave, place the tomato slice inside, and close the microwave." + ], + "task_desc": "Place the slice of tomato in to the microwave on the counter.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1O3TWBUDONVLO_34MAJL3QP742ZJ9AQTB8XSL9YQ5347", + "high_descs": [ + "Walk to the opposite corner of the room and face the counter to the left of the sink.", + "Pick up the knife on the counter.", + "Turn around and walk forward to the stool in front of the counter and face the tomato on the counter.", + "Cut the tomato on the table into slices.", + "Turn around and walk forward to face the sink.", + "Place the knife in the sink.", + "Turn around and walk forward to face the tomato on the counter in front of the stool.", + "Pick up a slice of tomato on the counter.", + "Turn around and walk forward to face the sink.", + "Wash the tomato slice in the sink and remove it.", + "Turn to the right to face the microwave on the counter.", + "Place the slice of tomato into the microwave." + ], + "task_desc": "TO cut a tomato, clean it, plus place it into the microwave.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "APRZ7BR8C0ZMQ_38YMOXR4MXGD54FCJ1FPZNGKRTKW67", + "high_descs": [ + "Go to the kitchen sink on the other side of the room", + "Pick up the knife with the yellow handle from the front sill of the sink.", + "Carry the knife to the counter in the middle of the kitchen.", + "Slice up the tomato", + "Take the knife back to the sink.", + "Set the knife inside the sink.", + "Go back to the center table where the tomato is.", + "Take the rightmost end of the tomato that has been sliced toward the kitchen sink.", + "Set the end of the tomato inside the sink.", + "Turn the water on at the sink then let the water drain from the sink.", + "Pick up the slice from the sink. ", + "Go to the microwave, put the slice of tomato inside the microwave door." + ], + "task_desc": "Get a knife, cut up a tomato, take a piece of the tomato, wash it. Put it in the microwave shut the door.", + "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-BreadSliced-None-DiningTable-4/trial_T20190909_082501_592535/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-BreadSliced-None-DiningTable-4/trial_T20190909_082501_592535/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..fc733a81996eb4485108e8b92fc559f9b0e09705 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-BreadSliced-None-DiningTable-4/trial_T20190909_082501_592535/initial_state.pddl @@ -0,0 +1,882 @@ + +(define (problem plan_trial_T20190909_082501_592535) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + 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_32_bar__plus_00_dot_99_bar__plus_02_dot_38 - object + Apple_bar__minus_03_dot_57_bar__plus_01_dot_35_bar__plus_02_dot_92 - object + Apple_bar__minus_03_dot_80_bar__plus_00_dot_18_bar__plus_02_dot_04 - object + Bowl_bar__minus_01_dot_56_bar__plus_00_dot_05_bar__plus_00_dot_61 - object + Bowl_bar__minus_02_dot_39_bar__plus_01_dot_12_bar__plus_00_dot_28 - object + Bread_bar__minus_00_dot_66_bar__plus_01_dot_13_bar__plus_02_dot_82 - object + ButterKnife_bar__minus_01_dot_29_bar__plus_00_dot_93_bar__plus_00_dot_57 - object + ButterKnife_bar__minus_03_dot_85_bar__plus_01_dot_12_bar__plus_00_dot_57 - object + Cup_bar__minus_00_dot_91_bar__plus_01_dot_05_bar__plus_02_dot_37 - object + Cup_bar__minus_03_dot_57_bar__plus_01_dot_56_bar__plus_02_dot_85 - object + DishSponge_bar__minus_00_dot_91_bar__plus_01_dot_05_bar__plus_01_dot_92 - object + Egg_bar__minus_00_dot_79_bar__plus_01_dot_08_bar__plus_03_dot_04 - object + Egg_bar__minus_01_dot_57_bar__plus_01_dot_18_bar__plus_00_dot_08 - object + Egg_bar__minus_03_dot_78_bar__plus_01_dot_16_bar__plus_00_dot_10 - object + Faucet_bar__minus_01_dot_39_bar__plus_01_dot_37_bar__plus_00_dot_17 - object + Fork_bar__minus_01_dot_47_bar__plus_00_dot_93_bar__plus_00_dot_43 - object + Fork_bar__minus_02_dot_04_bar__plus_00_dot_49_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_37 - object + Knife_bar__minus_00_dot_54_bar__plus_01_dot_08_bar__plus_02_dot_59 - object + Knife_bar__minus_02_dot_26_bar__plus_01_dot_16_bar__plus_00_dot_38 - object + Ladle_bar__minus_02_dot_01_bar__plus_01_dot_16_bar__plus_00_dot_19 - object + Ladle_bar__minus_02_dot_01_bar__plus_01_dot_16_bar__plus_00_dot_57 - object + Lettuce_bar__minus_00_dot_79_bar__plus_01_dot_13_bar__plus_02_dot_59 - object + Lettuce_bar__minus_03_dot_51_bar__plus_01_dot_64_bar__plus_03_dot_13 - object + LightSwitch_bar__minus_02_dot_58_bar__plus_01_dot_30_bar__plus_03_dot_50 - object + Mug_bar__minus_01_dot_64_bar__plus_00_dot_93_bar__plus_00_dot_50 - object + Mug_bar__minus_03_dot_78_bar__plus_01_dot_12_bar__plus_00_dot_66 - object + Pan_bar__minus_00_dot_27_bar__plus_01_dot_04_bar__plus_02_dot_56 - object + PepperShaker_bar__minus_00_dot_94_bar__plus_01_dot_12_bar__plus_00_dot_39 - object + PepperShaker_bar__minus_01_dot_60_bar__plus_00_dot_05_bar__plus_00_dot_38 - object + Plate_bar__minus_00_dot_54_bar__plus_01_dot_05_bar__plus_02_dot_14 - object + Plate_bar__minus_00_dot_66_bar__plus_01_dot_05_bar__plus_03_dot_27 - object + Potato_bar__minus_03_dot_59_bar__plus_00_dot_14_bar__plus_01_dot_95 - object + Pot_bar__minus_01_dot_20_bar__plus_00_dot_05_bar__plus_00_dot_55 - object + SaltShaker_bar__minus_02_dot_46_bar__plus_00_dot_90_bar__plus_00_dot_54 - object + Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44 - object + SoapBottle_bar__minus_02_dot_14_bar__plus_00_dot_49_bar__plus_00_dot_55 - object + 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Knife_bar__minus_02_dot_26_bar__plus_01_dot_16_bar__plus_00_dot_38 CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38) + (inReceptacle Bowl_bar__minus_02_dot_39_bar__plus_01_dot_12_bar__plus_00_dot_28 CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38) + (inReceptacle 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_39 CounterTop_bar__minus_00_dot_52_bar__plus_01_dot_16_bar__plus_00_dot_49) + (inReceptacle SoapBottle_bar__minus_02_dot_45_bar__plus_00_dot_49_bar__plus_00_dot_55 Drawer_bar__minus_02_dot_50_bar__plus_00_dot_61_bar__plus_00_dot_59) + (inReceptacle Bowl_bar__minus_01_dot_56_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 PepperShaker_bar__minus_01_dot_60_bar__plus_00_dot_05_bar__plus_00_dot_38 Cabinet_bar__minus_01_dot_73_bar__plus_00_dot_39_bar__plus_00_dot_73) + (inReceptacle Apple_bar__minus_03_dot_57_bar__plus_01_dot_35_bar__plus_02_dot_92 Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72) + (inReceptacle Cup_bar__minus_03_dot_57_bar__plus_01_dot_56_bar__plus_02_dot_85 Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72) + (inReceptacle Lettuce_bar__minus_03_dot_51_bar__plus_01_dot_64_bar__plus_03_dot_13 Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72) + (inReceptacle Apple_bar__minus_03_dot_32_bar__plus_00_dot_99_bar__plus_02_dot_38 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_01_dot_95 GarbageCan_bar__minus_03_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_01) + (inReceptacle Apple_bar__minus_03_dot_80_bar__plus_00_dot_18_bar__plus_02_dot_04 GarbageCan_bar__minus_03_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_01) + (inReceptacle Mug_bar__minus_01_dot_64_bar__plus_00_dot_93_bar__plus_00_dot_50 Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44_bar_SinkBasin) + (inReceptacle Fork_bar__minus_01_dot_47_bar__plus_00_dot_93_bar__plus_00_dot_43 Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44_bar_SinkBasin) + (inReceptacle ButterKnife_bar__minus_01_dot_29_bar__plus_00_dot_93_bar__plus_00_dot_57 Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44_bar_SinkBasin) + (inReceptacle Spatula_bar__minus_01_dot_20_bar__plus_00_dot_95_bar__plus_00_dot_43 Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44_bar_SinkBasin) + (inReceptacle Spatula_bar__minus_01_dot_55_bar__plus_00_dot_95_bar__plus_00_dot_36 Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44_bar_SinkBasin) + + + (receptacleAtLocation Cabinet_bar__minus_01_dot_00_bar__plus_00_dot_39_bar__plus_00_dot_73 loc_bar__minus_7_bar_7_bar_2_bar_45) + (receptacleAtLocation Cabinet_bar__minus_01_dot_73_bar__plus_00_dot_39_bar__plus_00_dot_73 loc_bar__minus_7_bar_7_bar_2_bar_45) + (receptacleAtLocation CoffeeMachine_bar__minus_00_dot_15_bar__plus_01_dot_04_bar__plus_03_dot_19 loc_bar__minus_5_bar_12_bar_1_bar_30) + (receptacleAtLocation CounterTop_bar__minus_00_dot_52_bar__plus_01_dot_16_bar__plus_00_dot_49 loc_bar__minus_4_bar_4_bar_2_bar_45) + (receptacleAtLocation CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38 loc_bar__minus_7_bar_4_bar_2_bar_45) + (receptacleAtLocation CounterTop_bar__minus_03_dot_86_bar__plus_01_dot_16_bar__plus_00_dot_38 loc_bar__minus_13_bar_6_bar_2_bar_30) + (receptacleAtLocation DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49 loc_bar__minus_5_bar_9_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__minus_02_dot_04_bar__plus_00_dot_22_bar__plus_00_dot_59 loc_bar__minus_4_bar_4_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_02_dot_04_bar__plus_00_dot_61_bar__plus_00_dot_59 loc_bar__minus_5_bar_4_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_02_dot_04_bar__plus_00_dot_94_bar__plus_00_dot_60 loc_bar__minus_6_bar_4_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_02_dot_50_bar__plus_00_dot_22_bar__plus_00_dot_59 loc_bar__minus_6_bar_4_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_02_dot_50_bar__plus_00_dot_61_bar__plus_00_dot_59 loc_bar__minus_7_bar_4_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_02_dot_51_bar__plus_00_dot_94_bar__plus_00_dot_60 loc_bar__minus_8_bar_4_bar_3_bar_60) + (receptacleAtLocation Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72 loc_bar__minus_10_bar_11_bar_3_bar_60) + (receptacleAtLocation GarbageCan_bar__minus_03_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_01 loc_bar__minus_14_bar_6_bar_0_bar_60) + (receptacleAtLocation Microwave_bar__minus_00_dot_37_bar__plus_01_dot_11_bar__plus_00_dot_43 loc_bar__minus_6_bar_4_bar_1_bar_30) + (receptacleAtLocation Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44_bar_SinkBasin loc_bar__minus_4_bar_5_bar_2_bar_45) + (receptacleAtLocation StoveBurner_bar__minus_03_dot_00_bar__plus_01_dot_10_bar__plus_00_dot_23 loc_bar__minus_12_bar_5_bar_2_bar_30) + (receptacleAtLocation StoveBurner_bar__minus_03_dot_00_bar__plus_01_dot_10_bar__plus_00_dot_48 loc_bar__minus_12_bar_5_bar_2_bar_30) + (receptacleAtLocation StoveBurner_bar__minus_03_dot_48_bar__plus_01_dot_10_bar__plus_00_dot_23 loc_bar__minus_14_bar_5_bar_2_bar_30) + (receptacleAtLocation StoveBurner_bar__minus_03_dot_48_bar__plus_01_dot_10_bar__plus_00_dot_48 loc_bar__minus_14_bar_5_bar_2_bar_30) + (receptacleAtLocation Toaster_bar__minus_00_dot_23_bar__plus_01_dot_04_bar__plus_02_dot_87 loc_bar__minus_5_bar_11_bar_1_bar_30) + (objectAtLocation Mug_bar__minus_01_dot_64_bar__plus_00_dot_93_bar__plus_00_dot_50 loc_bar__minus_4_bar_5_bar_2_bar_45) + (objectAtLocation Apple_bar__minus_03_dot_80_bar__plus_00_dot_18_bar__plus_02_dot_04 loc_bar__minus_14_bar_6_bar_0_bar_60) + (objectAtLocation ButterKnife_bar__minus_01_dot_29_bar__plus_00_dot_93_bar__plus_00_dot_57 loc_bar__minus_4_bar_5_bar_2_bar_45) + (objectAtLocation PepperShaker_bar__minus_01_dot_60_bar__plus_00_dot_05_bar__plus_00_dot_38 loc_bar__minus_7_bar_7_bar_2_bar_45) + (objectAtLocation Bowl_bar__minus_02_dot_39_bar__plus_01_dot_12_bar__plus_00_dot_28 loc_bar__minus_7_bar_4_bar_2_bar_45) + (objectAtLocation Knife_bar__minus_02_dot_26_bar__plus_01_dot_16_bar__plus_00_dot_38 loc_bar__minus_7_bar_4_bar_2_bar_45) + (objectAtLocation Cup_bar__minus_00_dot_91_bar__plus_01_dot_05_bar__plus_02_dot_37 loc_bar__minus_5_bar_9_bar_1_bar_60) + (objectAtLocation Egg_bar__minus_00_dot_79_bar__plus_01_dot_08_bar__plus_03_dot_04 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 Lettuce_bar__minus_03_dot_51_bar__plus_01_dot_64_bar__plus_03_dot_13 loc_bar__minus_10_bar_11_bar_3_bar_60) + (objectAtLocation Plate_bar__minus_00_dot_66_bar__plus_01_dot_05_bar__plus_03_dot_27 loc_bar__minus_5_bar_9_bar_1_bar_60) + (objectAtLocation Ladle_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 SoapBottle_bar__minus_02_dot_45_bar__plus_00_dot_49_bar__plus_00_dot_55 loc_bar__minus_7_bar_4_bar_3_bar_60) + (objectAtLocation Fork_bar__minus_01_dot_47_bar__plus_00_dot_93_bar__plus_00_dot_43 loc_bar__minus_4_bar_5_bar_2_bar_45) + (objectAtLocation Apple_bar__minus_03_dot_57_bar__plus_01_dot_35_bar__plus_02_dot_92 loc_bar__minus_10_bar_11_bar_3_bar_60) + (objectAtLocation Knife_bar__minus_00_dot_42_bar__plus_01_dot_08_bar__plus_02_dot_37 loc_bar__minus_5_bar_9_bar_1_bar_60) + (objectAtLocation Egg_bar__minus_03_dot_78_bar__plus_01_dot_16_bar__plus_00_dot_10 loc_bar__minus_13_bar_6_bar_2_bar_30) + (objectAtLocation Spatula_bar__minus_01_dot_55_bar__plus_00_dot_95_bar__plus_00_dot_36 loc_bar__minus_4_bar_5_bar_2_bar_45) + (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_04_bar__plus_00_dot_49_bar__plus_00_dot_58 loc_bar__minus_5_bar_4_bar_3_bar_60) + (objectAtLocation SoapBottle_bar__minus_02_dot_14_bar__plus_00_dot_49_bar__plus_00_dot_55 loc_bar__minus_5_bar_4_bar_3_bar_60) + (objectAtLocation Pot_bar__minus_01_dot_20_bar__plus_00_dot_05_bar__plus_00_dot_55 loc_bar__minus_7_bar_7_bar_2_bar_45) + (objectAtLocation Ladle_bar__minus_02_dot_01_bar__plus_01_dot_16_bar__plus_00_dot_57 loc_bar__minus_7_bar_4_bar_2_bar_45) + (objectAtLocation Potato_bar__minus_03_dot_59_bar__plus_00_dot_14_bar__plus_01_dot_95 loc_bar__minus_14_bar_6_bar_0_bar_60) + (objectAtLocation Plate_bar__minus_00_dot_54_bar__plus_01_dot_05_bar__plus_02_dot_14 loc_bar__minus_5_bar_9_bar_1_bar_60) + (objectAtLocation Bread_bar__minus_00_dot_66_bar__plus_01_dot_13_bar__plus_02_dot_82 loc_bar__minus_5_bar_9_bar_1_bar_60) + (objectAtLocation Lettuce_bar__minus_00_dot_79_bar__plus_01_dot_13_bar__plus_02_dot_59 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_01_dot_20_bar__plus_00_dot_95_bar__plus_00_dot_43 loc_bar__minus_4_bar_5_bar_2_bar_45) + (objectAtLocation Pan_bar__minus_00_dot_27_bar__plus_01_dot_04_bar__plus_02_dot_56 loc_bar__minus_5_bar_9_bar_1_bar_60) + (objectAtLocation Egg_bar__minus_01_dot_57_bar__plus_01_dot_18_bar__plus_00_dot_08 loc_bar__minus_4_bar_5_bar_2_bar_45) + (objectAtLocation Cup_bar__minus_03_dot_57_bar__plus_01_dot_56_bar__plus_02_dot_85 loc_bar__minus_10_bar_11_bar_3_bar_60) + (objectAtLocation SaltShaker_bar__minus_02_dot_46_bar__plus_00_dot_90_bar__plus_00_dot_54 loc_bar__minus_8_bar_4_bar_3_bar_60) + (objectAtLocation Knife_bar__minus_00_dot_54_bar__plus_01_dot_08_bar__plus_02_dot_59 loc_bar__minus_5_bar_9_bar_1_bar_60) + (objectAtLocation Bowl_bar__minus_01_dot_56_bar__plus_00_dot_05_bar__plus_00_dot_61 loc_bar__minus_7_bar_7_bar_2_bar_45) + (objectAtLocation PepperShaker_bar__minus_00_dot_94_bar__plus_01_dot_12_bar__plus_00_dot_39 loc_bar__minus_4_bar_4_bar_2_bar_45) + (objectAtLocation ButterKnife_bar__minus_03_dot_85_bar__plus_01_dot_12_bar__plus_00_dot_57 loc_bar__minus_13_bar_6_bar_2_bar_30) + (objectAtLocation Apple_bar__minus_03_dot_32_bar__plus_00_dot_99_bar__plus_02_dot_38 loc_bar__minus_10_bar_11_bar_3_bar_60) + (objectAtLocation Tomato_bar__minus_03_dot_78_bar__plus_01_dot_17_bar__plus_00_dot_28 loc_bar__minus_13_bar_6_bar_2_bar_30) + (objectAtLocation DishSponge_bar__minus_00_dot_91_bar__plus_01_dot_05_bar__plus_01_dot_92 loc_bar__minus_5_bar_9_bar_1_bar_60) + (objectAtLocation HousePlant_bar__minus_02_dot_16_bar__plus_01_dot_11_bar__plus_00_dot_17 loc_bar__minus_7_bar_4_bar_2_bar_45) + (objectAtLocation LightSwitch_bar__minus_02_dot_58_bar__plus_01_dot_30_bar__plus_03_dot_50 loc_bar__minus_10_bar_12_bar_0_bar_30) + (objectAtLocation Spoon_bar__minus_00_dot_91_bar__plus_01_dot_05_bar__plus_03_dot_04 loc_bar__minus_5_bar_9_bar_1_bar_60) + (objectAtLocation Mug_bar__minus_03_dot_78_bar__plus_01_dot_12_bar__plus_00_dot_66 loc_bar__minus_13_bar_6_bar_2_bar_30) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (sliceable ?o) + (isSliced ?o) + (coolable ?o) + (objectType ?o BreadType) + (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-BreadSliced-None-DiningTable-4/trial_T20190909_082501_592535/traj_data.json b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-BreadSliced-None-DiningTable-4/trial_T20190909_082501_592535/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..9fa2d34b1fc85cd0a01af5e9947c5cbf7a921956 --- /dev/null +++ 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a/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-BreadSliced-None-DiningTable-4/trial_T20190909_082657_053185/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-BreadSliced-None-DiningTable-4/trial_T20190909_082657_053185/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..5a8322072b6f4783aba147c6bc3f8d885af07e43 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-BreadSliced-None-DiningTable-4/trial_T20190909_082657_053185/initial_state.pddl @@ -0,0 +1,945 @@ + +(define (problem plan_trial_T20190909_082657_053185) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Apple_bar__minus_01_dot_20_bar__plus_01_dot_00_bar__plus_00_dot_22 - object + Apple_bar__minus_02_dot_14_bar__plus_01_dot_19_bar__plus_00_dot_66 - object + Bowl_bar__minus_01_dot_20_bar__plus_00_dot_05_bar__plus_00_dot_55 - object + Bread_bar__minus_00_dot_66_bar__plus_01_dot_13_bar__plus_02_dot_82 - object + Bread_bar__minus_00_dot_79_bar__plus_01_dot_13_bar__plus_01_dot_92 - object + Bread_bar__minus_00_dot_79_bar__plus_01_dot_13_bar__plus_02_dot_14 - object + Bread_bar__minus_00_dot_79_bar__plus_01_dot_13_bar__plus_03_dot_27 - object + ButterKnife_bar__minus_00_dot_54_bar__plus_01_dot_05_bar__plus_03_dot_04 - object + ButterKnife_bar__minus_00_dot_66_bar__plus_01_dot_05_bar__plus_03_dot_27 - object + ButterKnife_bar__minus_01_dot_55_bar__plus_00_dot_93_bar__plus_00_dot_57 - object + Cup_bar__minus_00_dot_29_bar__plus_01_dot_05_bar__plus_02_dot_14 - object + Cup_bar__minus_03_dot_44_bar__plus_00_dot_91_bar__plus_03_dot_13 - object + Cup_bar__minus_03_dot_57_bar__plus_01_dot_28_bar__plus_03_dot_20 - object + DishSponge_bar__minus_00_dot_79_bar__plus_01_dot_05_bar__plus_02_dot_59 - object + DishSponge_bar__minus_01_dot_29_bar__plus_00_dot_93_bar__plus_00_dot_36 - object + Egg_bar__minus_01_dot_47_bar__plus_00_dot_96_bar__plus_00_dot_64 - object + Egg_bar__minus_02_dot_39_bar__plus_01_dot_16_bar__plus_00_dot_10 - object + Egg_bar__minus_02_dot_64_bar__plus_01_dot_16_bar__plus_00_dot_66 - object + Faucet_bar__minus_01_dot_39_bar__plus_01_dot_37_bar__plus_00_dot_17 - object + Fork_bar__minus_01_dot_55_bar__plus_00_dot_93_bar__plus_00_dot_36 - object + Fork_bar__minus_02_dot_01_bar__plus_01_dot_13_bar__plus_00_dot_66 - object + Fork_bar__minus_02_dot_51_bar__plus_01_dot_13_bar__plus_00_dot_38 - object + HousePlant_bar__minus_02_dot_16_bar__plus_01_dot_11_bar__plus_00_dot_17 - object + Knife_bar__minus_00_dot_66_bar__plus_01_dot_08_bar__plus_01_dot_92 - object + Knife_bar__minus_01_dot_38_bar__plus_00_dot_96_bar__plus_00_dot_43 - object + Knife_bar__minus_02_dot_26_bar__plus_01_dot_16_bar__plus_00_dot_66 - object + Ladle_bar__minus_03_dot_78_bar__plus_01_dot_16_bar__plus_00_dot_57 - object + Lettuce_bar__minus_00_dot_91_bar__plus_01_dot_13_bar__plus_02_dot_59 - object + Lettuce_bar__minus_03_dot_51_bar__plus_01_dot_36_bar__plus_02_dot_92 - object + LightSwitch_bar__minus_02_dot_58_bar__plus_01_dot_30_bar__plus_03_dot_50 - object + Mug_bar__minus_00_dot_42_bar__plus_01_dot_22_bar__plus_00_dot_48 - object + Mug_bar__minus_03_dot_44_bar__plus_01_dot_56_bar__plus_02_dot_85 - object + Pan_bar__minus_00_dot_27_bar__plus_01_dot_04_bar__plus_02_dot_56 - object + PepperShaker_bar__minus_01_dot_90_bar__plus_00_dot_48_bar__plus_00_dot_65 - object + Plate_bar__minus_00_dot_91_bar__plus_01_dot_05_bar__plus_02_dot_82 - object + Plate_bar__minus_01_dot_60_bar__plus_00_dot_05_bar__plus_00_dot_55 - object + Plate_bar__minus_03_dot_57_bar__plus_00_dot_91_bar__plus_02_dot_92 - object + Potato_bar__minus_00_dot_31_bar__plus_01_dot_24_bar__plus_00_dot_44 - object + Potato_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__plus_00_dot_57 - object + Potato_bar__minus_03_dot_27_bar__plus_00_dot_76_bar__plus_03_dot_06 - object + Pot_bar__minus_03_dot_00_bar__plus_01_dot_13_bar__plus_00_dot_23 - object + Pot_bar__minus_03_dot_44_bar__plus_01_dot_56_bar__plus_03_dot_13 - object + Pot_bar__minus_03_dot_48_bar__plus_01_dot_13_bar__plus_00_dot_23 - object + SaltShaker_bar__minus_01_dot_16_bar__plus_00_dot_05_bar__plus_00_dot_38 - object + SaltShaker_bar__minus_01_dot_60_bar__plus_00_dot_05_bar__plus_00_dot_38 - object + Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44 - object + SoapBottle_bar__minus_01_dot_19_bar__plus_01_dot_15_bar__plus_00_dot_10 - object + Spatula_bar__minus_00_dot_94_bar__plus_01_dot_14_bar__plus_00_dot_48 - object + Spoon_bar__minus_03_dot_85_bar__plus_01_dot_13_bar__plus_00_dot_57 - object + StoveKnob_bar__minus_02_dot_99_bar__plus_01_dot_05_bar__plus_00_dot_71 - object + StoveKnob_bar__minus_03_dot_16_bar__plus_01_dot_05_bar__plus_00_dot_71 - object + StoveKnob_bar__minus_03_dot_32_bar__plus_01_dot_05_bar__plus_00_dot_71 - object + StoveKnob_bar__minus_03_dot_49_bar__plus_01_dot_05_bar__plus_00_dot_71 - object + Tomato_bar__minus_03_dot_59_bar__plus_00_dot_15_bar__plus_02_dot_04 - object + Tomato_bar__minus_03_dot_75_bar__plus_00_dot_15_bar__plus_02_dot_04 - object + Window_bar__minus_01_dot_39_bar__plus_01_dot_93_bar__plus_00_dot_02 - object + Window_bar__minus_03_dot_27_bar__plus_01_dot_93_bar__plus_00_dot_02 - object + Cabinet_bar__minus_01_dot_00_bar__plus_00_dot_39_bar__plus_00_dot_73 - receptacle + Cabinet_bar__minus_01_dot_73_bar__plus_00_dot_39_bar__plus_00_dot_73 - receptacle + CoffeeMachine_bar__minus_00_dot_15_bar__plus_01_dot_04_bar__plus_03_dot_19 - receptacle + CounterTop_bar__minus_00_dot_52_bar__plus_01_dot_16_bar__plus_00_dot_49 - receptacle + CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38 - receptacle + CounterTop_bar__minus_03_dot_86_bar__plus_01_dot_16_bar__plus_00_dot_38 - receptacle + DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49 - receptacle + Drawer_bar__minus_02_dot_04_bar__plus_00_dot_22_bar__plus_00_dot_59 - receptacle + Drawer_bar__minus_02_dot_04_bar__plus_00_dot_61_bar__plus_00_dot_59 - receptacle + Drawer_bar__minus_02_dot_04_bar__plus_00_dot_94_bar__plus_00_dot_60 - receptacle + Drawer_bar__minus_02_dot_50_bar__plus_00_dot_22_bar__plus_00_dot_59 - receptacle + Drawer_bar__minus_02_dot_50_bar__plus_00_dot_61_bar__plus_00_dot_59 - receptacle + Drawer_bar__minus_02_dot_51_bar__plus_00_dot_94_bar__plus_00_dot_60 - receptacle + Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72 - receptacle + GarbageCan_bar__minus_03_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_01 - receptacle + Microwave_bar__minus_00_dot_37_bar__plus_01_dot_11_bar__plus_00_dot_43 - receptacle + Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44_bar_SinkBasin - receptacle + StoveBurner_bar__minus_03_dot_00_bar__plus_01_dot_10_bar__plus_00_dot_23 - receptacle + StoveBurner_bar__minus_03_dot_00_bar__plus_01_dot_10_bar__plus_00_dot_48 - receptacle + StoveBurner_bar__minus_03_dot_48_bar__plus_01_dot_10_bar__plus_00_dot_23 - receptacle + StoveBurner_bar__minus_03_dot_48_bar__plus_01_dot_10_bar__plus_00_dot_48 - receptacle + Toaster_bar__minus_00_dot_23_bar__plus_01_dot_04_bar__plus_02_dot_87 - receptacle + loc_bar__minus_7_bar_7_bar_2_bar_45 - location + loc_bar__minus_14_bar_5_bar_2_bar_45 - location + loc_bar__minus_10_bar_11_bar_3_bar_60 - location + loc_bar__minus_6_bar_4_bar_2_bar_45 - location + loc_bar__minus_8_bar_4_bar_3_bar_60 - location + loc_bar__minus_7_bar_4_bar_3_bar_60 - location + loc_bar__minus_4_bar_4_bar_3_bar_60 - location + loc_bar__minus_5_bar_12_bar_1_bar_30 - location + loc_bar__minus_13_bar_5_bar_2_bar_45 - location + loc_bar__minus_6_bar_4_bar_2_bar__minus_15 - location + loc_bar__minus_5_bar_11_bar_1_bar_30 - location + loc_bar__minus_10_bar_12_bar_0_bar_30 - location + loc_bar__minus_14_bar_5_bar_2_bar_30 - location + loc_bar__minus_12_bar_5_bar_2_bar_45 - location + loc_bar__minus_5_bar_9_bar_1_bar_60 - location + loc_bar__minus_6_bar_4_bar_3_bar_60 - location + loc_bar__minus_4_bar_4_bar_2_bar_45 - location + loc_bar__minus_14_bar_6_bar_0_bar_60 - location + loc_bar__minus_4_bar_5_bar_2_bar_45 - location + loc_bar__minus_7_bar_4_bar_2_bar_45 - location + loc_bar__minus_5_bar_4_bar_3_bar_60 - location + loc_bar__minus_13_bar_5_bar_2_bar__minus_15 - location + loc_bar__minus_12_bar_5_bar_2_bar_30 - location + loc_bar__minus_6_bar_4_bar_1_bar_30 - location + loc_bar__minus_13_bar_6_bar_2_bar_30 - location + loc_bar__minus_9_bar_12_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 DishSponge_bar__minus_01_dot_29_bar__plus_00_dot_93_bar__plus_00_dot_36 DishSpongeType) + (objectType Pot_bar__minus_03_dot_48_bar__plus_01_dot_13_bar__plus_00_dot_23 PotType) + (objectType Bowl_bar__minus_01_dot_20_bar__plus_00_dot_05_bar__plus_00_dot_55 BowlType) + (objectType Plate_bar__minus_00_dot_91_bar__plus_01_dot_05_bar__plus_02_dot_82 PlateType) + (objectType Spoon_bar__minus_03_dot_85_bar__plus_01_dot_13_bar__plus_00_dot_57 SpoonType) + (objectType Knife_bar__minus_02_dot_26_bar__plus_01_dot_16_bar__plus_00_dot_66 KnifeType) + (objectType SaltShaker_bar__minus_01_dot_16_bar__plus_00_dot_05_bar__plus_00_dot_38 SaltShakerType) + (objectType StoveKnob_bar__minus_03_dot_16_bar__plus_01_dot_05_bar__plus_00_dot_71 StoveKnobType) + (objectType Plate_bar__minus_01_dot_60_bar__plus_00_dot_05_bar__plus_00_dot_55 PlateType) + (objectType Cup_bar__minus_00_dot_29_bar__plus_01_dot_05_bar__plus_02_dot_14 CupType) + (objectType Lettuce_bar__minus_03_dot_51_bar__plus_01_dot_36_bar__plus_02_dot_92 LettuceType) + (objectType HousePlant_bar__minus_02_dot_16_bar__plus_01_dot_11_bar__plus_00_dot_17 HousePlantType) + (objectType Pot_bar__minus_03_dot_00_bar__plus_01_dot_13_bar__plus_00_dot_23 PotType) + (objectType Tomato_bar__minus_03_dot_59_bar__plus_00_dot_15_bar__plus_02_dot_04 TomatoType) + (objectType ButterKnife_bar__minus_01_dot_55_bar__plus_00_dot_93_bar__plus_00_dot_57 ButterKnifeType) + (objectType Potato_bar__minus_03_dot_27_bar__plus_00_dot_76_bar__plus_03_dot_06 PotatoType) + (objectType Potato_bar__minus_00_dot_31_bar__plus_01_dot_24_bar__plus_00_dot_44 PotatoType) + (objectType Knife_bar__minus_00_dot_66_bar__plus_01_dot_08_bar__plus_01_dot_92 KnifeType) + (objectType Bread_bar__minus_00_dot_79_bar__plus_01_dot_13_bar__plus_02_dot_14 BreadType) + (objectType Pan_bar__minus_00_dot_27_bar__plus_01_dot_04_bar__plus_02_dot_56 PanType) + (objectType SaltShaker_bar__minus_01_dot_60_bar__plus_00_dot_05_bar__plus_00_dot_38 SaltShakerType) + (objectType Fork_bar__minus_02_dot_51_bar__plus_01_dot_13_bar__plus_00_dot_38 ForkType) + (objectType Apple_bar__minus_02_dot_14_bar__plus_01_dot_19_bar__plus_00_dot_66 AppleType) + (objectType StoveKnob_bar__minus_03_dot_49_bar__plus_01_dot_05_bar__plus_00_dot_71 StoveKnobType) + (objectType Mug_bar__minus_03_dot_44_bar__plus_01_dot_56_bar__plus_02_dot_85 MugType) + (objectType Bread_bar__minus_00_dot_66_bar__plus_01_dot_13_bar__plus_02_dot_82 BreadType) + (objectType Bread_bar__minus_00_dot_79_bar__plus_01_dot_13_bar__plus_01_dot_92 BreadType) + (objectType StoveKnob_bar__minus_02_dot_99_bar__plus_01_dot_05_bar__plus_00_dot_71 StoveKnobType) + (objectType ButterKnife_bar__minus_00_dot_66_bar__plus_01_dot_05_bar__plus_03_dot_27 ButterKnifeType) + (objectType Ladle_bar__minus_03_dot_78_bar__plus_01_dot_16_bar__plus_00_dot_57 LadleType) + (objectType Potato_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__plus_00_dot_57 PotatoType) + (objectType SoapBottle_bar__minus_01_dot_19_bar__plus_01_dot_15_bar__plus_00_dot_10 SoapBottleType) + (objectType Mug_bar__minus_00_dot_42_bar__plus_01_dot_22_bar__plus_00_dot_48 MugType) + (objectType Cup_bar__minus_03_dot_57_bar__plus_01_dot_28_bar__plus_03_dot_20 CupType) + (objectType LightSwitch_bar__minus_02_dot_58_bar__plus_01_dot_30_bar__plus_03_dot_50 LightSwitchType) + (objectType Knife_bar__minus_01_dot_38_bar__plus_00_dot_96_bar__plus_00_dot_43 KnifeType) + (objectType Cup_bar__minus_03_dot_44_bar__plus_00_dot_91_bar__plus_03_dot_13 CupType) + (objectType Bread_bar__minus_00_dot_79_bar__plus_01_dot_13_bar__plus_03_dot_27 BreadType) + (objectType Window_bar__minus_03_dot_27_bar__plus_01_dot_93_bar__plus_00_dot_02 WindowType) + (objectType Spatula_bar__minus_00_dot_94_bar__plus_01_dot_14_bar__plus_00_dot_48 SpatulaType) + (objectType Fork_bar__minus_01_dot_55_bar__plus_00_dot_93_bar__plus_00_dot_36 ForkType) + (objectType DishSponge_bar__minus_00_dot_79_bar__plus_01_dot_05_bar__plus_02_dot_59 DishSpongeType) + (objectType Pot_bar__minus_03_dot_44_bar__plus_01_dot_56_bar__plus_03_dot_13 PotType) + (objectType Tomato_bar__minus_03_dot_75_bar__plus_00_dot_15_bar__plus_02_dot_04 TomatoType) + (objectType Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44 SinkType) + (objectType Lettuce_bar__minus_00_dot_91_bar__plus_01_dot_13_bar__plus_02_dot_59 LettuceType) + (objectType ButterKnife_bar__minus_00_dot_54_bar__plus_01_dot_05_bar__plus_03_dot_04 ButterKnifeType) + (objectType Egg_bar__minus_01_dot_47_bar__plus_00_dot_96_bar__plus_00_dot_64 EggType) + (objectType 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Egg_bar__minus_02_dot_39_bar__plus_01_dot_16_bar__plus_00_dot_10) + + (heatable Plate_bar__minus_00_dot_91_bar__plus_01_dot_05_bar__plus_02_dot_82) + (heatable Plate_bar__minus_01_dot_60_bar__plus_00_dot_05_bar__plus_00_dot_55) + (heatable Cup_bar__minus_00_dot_29_bar__plus_01_dot_05_bar__plus_02_dot_14) + (heatable Tomato_bar__minus_03_dot_59_bar__plus_00_dot_15_bar__plus_02_dot_04) + (heatable Potato_bar__minus_03_dot_27_bar__plus_00_dot_76_bar__plus_03_dot_06) + (heatable Potato_bar__minus_00_dot_31_bar__plus_01_dot_24_bar__plus_00_dot_44) + (heatable Bread_bar__minus_00_dot_79_bar__plus_01_dot_13_bar__plus_02_dot_14) + (heatable Apple_bar__minus_02_dot_14_bar__plus_01_dot_19_bar__plus_00_dot_66) + (heatable Mug_bar__minus_03_dot_44_bar__plus_01_dot_56_bar__plus_02_dot_85) + (heatable Bread_bar__minus_00_dot_66_bar__plus_01_dot_13_bar__plus_02_dot_82) + (heatable Bread_bar__minus_00_dot_79_bar__plus_01_dot_13_bar__plus_01_dot_92) + (heatable Potato_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__plus_00_dot_57) + (heatable Mug_bar__minus_00_dot_42_bar__plus_01_dot_22_bar__plus_00_dot_48) + (heatable Cup_bar__minus_03_dot_57_bar__plus_01_dot_28_bar__plus_03_dot_20) + (heatable Cup_bar__minus_03_dot_44_bar__plus_00_dot_91_bar__plus_03_dot_13) + (heatable Bread_bar__minus_00_dot_79_bar__plus_01_dot_13_bar__plus_03_dot_27) + (heatable Tomato_bar__minus_03_dot_75_bar__plus_00_dot_15_bar__plus_02_dot_04) + (heatable Egg_bar__minus_01_dot_47_bar__plus_00_dot_96_bar__plus_00_dot_64) + (heatable Plate_bar__minus_03_dot_57_bar__plus_00_dot_91_bar__plus_02_dot_92) + (heatable Apple_bar__minus_01_dot_20_bar__plus_01_dot_00_bar__plus_00_dot_22) + (heatable Egg_bar__minus_02_dot_64_bar__plus_01_dot_16_bar__plus_00_dot_66) + (heatable Egg_bar__minus_02_dot_39_bar__plus_01_dot_16_bar__plus_00_dot_10) + (coolable Pot_bar__minus_03_dot_48_bar__plus_01_dot_13_bar__plus_00_dot_23) + (coolable Bowl_bar__minus_01_dot_20_bar__plus_00_dot_05_bar__plus_00_dot_55) + (coolable Plate_bar__minus_00_dot_91_bar__plus_01_dot_05_bar__plus_02_dot_82) + (coolable Plate_bar__minus_01_dot_60_bar__plus_00_dot_05_bar__plus_00_dot_55) + (coolable Cup_bar__minus_00_dot_29_bar__plus_01_dot_05_bar__plus_02_dot_14) + (coolable Lettuce_bar__minus_03_dot_51_bar__plus_01_dot_36_bar__plus_02_dot_92) + (coolable Pot_bar__minus_03_dot_00_bar__plus_01_dot_13_bar__plus_00_dot_23) + (coolable Tomato_bar__minus_03_dot_59_bar__plus_00_dot_15_bar__plus_02_dot_04) + (coolable Potato_bar__minus_03_dot_27_bar__plus_00_dot_76_bar__plus_03_dot_06) + (coolable Potato_bar__minus_00_dot_31_bar__plus_01_dot_24_bar__plus_00_dot_44) + (coolable Bread_bar__minus_00_dot_79_bar__plus_01_dot_13_bar__plus_02_dot_14) + (coolable Pan_bar__minus_00_dot_27_bar__plus_01_dot_04_bar__plus_02_dot_56) + (coolable Apple_bar__minus_02_dot_14_bar__plus_01_dot_19_bar__plus_00_dot_66) + (coolable Mug_bar__minus_03_dot_44_bar__plus_01_dot_56_bar__plus_02_dot_85) + (coolable Bread_bar__minus_00_dot_66_bar__plus_01_dot_13_bar__plus_02_dot_82) + (coolable Bread_bar__minus_00_dot_79_bar__plus_01_dot_13_bar__plus_01_dot_92) + (coolable Potato_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__plus_00_dot_57) + (coolable Mug_bar__minus_00_dot_42_bar__plus_01_dot_22_bar__plus_00_dot_48) + (coolable Cup_bar__minus_03_dot_57_bar__plus_01_dot_28_bar__plus_03_dot_20) + (coolable Cup_bar__minus_03_dot_44_bar__plus_00_dot_91_bar__plus_03_dot_13) + (coolable Bread_bar__minus_00_dot_79_bar__plus_01_dot_13_bar__plus_03_dot_27) + (coolable Pot_bar__minus_03_dot_44_bar__plus_01_dot_56_bar__plus_03_dot_13) + (coolable Tomato_bar__minus_03_dot_75_bar__plus_00_dot_15_bar__plus_02_dot_04) + (coolable Lettuce_bar__minus_00_dot_91_bar__plus_01_dot_13_bar__plus_02_dot_59) + (coolable Egg_bar__minus_01_dot_47_bar__plus_00_dot_96_bar__plus_00_dot_64) + (coolable Plate_bar__minus_03_dot_57_bar__plus_00_dot_91_bar__plus_02_dot_92) + (coolable Apple_bar__minus_01_dot_20_bar__plus_01_dot_00_bar__plus_00_dot_22) + (coolable Egg_bar__minus_02_dot_64_bar__plus_01_dot_16_bar__plus_00_dot_66) + (coolable Egg_bar__minus_02_dot_39_bar__plus_01_dot_16_bar__plus_00_dot_10) + + + + + + (sliceable Lettuce_bar__minus_03_dot_51_bar__plus_01_dot_36_bar__plus_02_dot_92) + (sliceable Tomato_bar__minus_03_dot_59_bar__plus_00_dot_15_bar__plus_02_dot_04) + (sliceable Potato_bar__minus_03_dot_27_bar__plus_00_dot_76_bar__plus_03_dot_06) + (sliceable Potato_bar__minus_00_dot_31_bar__plus_01_dot_24_bar__plus_00_dot_44) + (sliceable Bread_bar__minus_00_dot_79_bar__plus_01_dot_13_bar__plus_02_dot_14) + (sliceable Apple_bar__minus_02_dot_14_bar__plus_01_dot_19_bar__plus_00_dot_66) + (sliceable Bread_bar__minus_00_dot_66_bar__plus_01_dot_13_bar__plus_02_dot_82) + (sliceable Bread_bar__minus_00_dot_79_bar__plus_01_dot_13_bar__plus_01_dot_92) + (sliceable Potato_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__plus_00_dot_57) + (sliceable Bread_bar__minus_00_dot_79_bar__plus_01_dot_13_bar__plus_03_dot_27) + (sliceable Tomato_bar__minus_03_dot_75_bar__plus_00_dot_15_bar__plus_02_dot_04) + (sliceable Lettuce_bar__minus_00_dot_91_bar__plus_01_dot_13_bar__plus_02_dot_59) + (sliceable Egg_bar__minus_01_dot_47_bar__plus_00_dot_96_bar__plus_00_dot_64) + (sliceable Apple_bar__minus_01_dot_20_bar__plus_01_dot_00_bar__plus_00_dot_22) + (sliceable Egg_bar__minus_02_dot_64_bar__plus_01_dot_16_bar__plus_00_dot_66) + (sliceable Egg_bar__minus_02_dot_39_bar__plus_01_dot_16_bar__plus_00_dot_10) + + (inReceptacle Pot_bar__minus_03_dot_48_bar__plus_01_dot_13_bar__plus_00_dot_23 StoveBurner_bar__minus_03_dot_48_bar__plus_01_dot_10_bar__plus_00_dot_23) + (inReceptacle Lettuce_bar__minus_00_dot_91_bar__plus_01_dot_13_bar__plus_02_dot_59 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle ButterKnife_bar__minus_00_dot_54_bar__plus_01_dot_05_bar__plus_03_dot_04 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle Knife_bar__minus_00_dot_66_bar__plus_01_dot_08_bar__plus_01_dot_92 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle Plate_bar__minus_00_dot_91_bar__plus_01_dot_05_bar__plus_02_dot_82 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle Bread_bar__minus_00_dot_79_bar__plus_01_dot_13_bar__plus_02_dot_14 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle Pan_bar__minus_00_dot_27_bar__plus_01_dot_04_bar__plus_02_dot_56 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle Bread_bar__minus_00_dot_79_bar__plus_01_dot_13_bar__plus_03_dot_27 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle Bread_bar__minus_00_dot_66_bar__plus_01_dot_13_bar__plus_02_dot_82 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle Bread_bar__minus_00_dot_79_bar__plus_01_dot_13_bar__plus_01_dot_92 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle ButterKnife_bar__minus_00_dot_66_bar__plus_01_dot_05_bar__plus_03_dot_27 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle DishSponge_bar__minus_00_dot_79_bar__plus_01_dot_05_bar__plus_02_dot_59 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle Cup_bar__minus_00_dot_29_bar__plus_01_dot_05_bar__plus_02_dot_14 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle PepperShaker_bar__minus_01_dot_90_bar__plus_00_dot_48_bar__plus_00_dot_65 Drawer_bar__minus_02_dot_04_bar__plus_00_dot_61_bar__plus_00_dot_59) + (inReceptacle SaltShaker_bar__minus_01_dot_16_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 Bowl_bar__minus_01_dot_20_bar__plus_00_dot_05_bar__plus_00_dot_55 Cabinet_bar__minus_01_dot_00_bar__plus_00_dot_39_bar__plus_00_dot_73) + (inReceptacle Spoon_bar__minus_03_dot_85_bar__plus_01_dot_13_bar__plus_00_dot_57 CounterTop_bar__minus_03_dot_86_bar__plus_01_dot_16_bar__plus_00_dot_38) + (inReceptacle Ladle_bar__minus_03_dot_78_bar__plus_01_dot_16_bar__plus_00_dot_57 CounterTop_bar__minus_03_dot_86_bar__plus_01_dot_16_bar__plus_00_dot_38) + (inReceptacle Egg_bar__minus_02_dot_64_bar__plus_01_dot_16_bar__plus_00_dot_66 CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38) + (inReceptacle Fork_bar__minus_02_dot_51_bar__plus_01_dot_13_bar__plus_00_dot_38 CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38) + (inReceptacle Apple_bar__minus_02_dot_14_bar__plus_01_dot_19_bar__plus_00_dot_66 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_66 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 HousePlant_bar__minus_02_dot_16_bar__plus_01_dot_11_bar__plus_00_dot_17 CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38) + (inReceptacle Egg_bar__minus_02_dot_39_bar__plus_01_dot_16_bar__plus_00_dot_10 CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38) + (inReceptacle Spatula_bar__minus_00_dot_94_bar__plus_01_dot_14_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 StoveBurner_bar__minus_03_dot_00_bar__plus_01_dot_10_bar__plus_00_dot_23) + (inReceptacle Plate_bar__minus_01_dot_60_bar__plus_00_dot_05_bar__plus_00_dot_55 Cabinet_bar__minus_01_dot_73_bar__plus_00_dot_39_bar__plus_00_dot_73) + (inReceptacle SaltShaker_bar__minus_01_dot_60_bar__plus_00_dot_05_bar__plus_00_dot_38 Cabinet_bar__minus_01_dot_73_bar__plus_00_dot_39_bar__plus_00_dot_73) + (inReceptacle Plate_bar__minus_03_dot_57_bar__plus_00_dot_91_bar__plus_02_dot_92 Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72) + (inReceptacle Cup_bar__minus_03_dot_57_bar__plus_01_dot_28_bar__plus_03_dot_20 Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72) + (inReceptacle Potato_bar__minus_03_dot_27_bar__plus_00_dot_76_bar__plus_03_dot_06 Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72) + (inReceptacle Cup_bar__minus_03_dot_44_bar__plus_00_dot_91_bar__plus_03_dot_13 Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72) + (inReceptacle Mug_bar__minus_03_dot_44_bar__plus_01_dot_56_bar__plus_02_dot_85 Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72) + (inReceptacle Pot_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 Lettuce_bar__minus_03_dot_51_bar__plus_01_dot_36_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_75_bar__plus_00_dot_15_bar__plus_02_dot_04 GarbageCan_bar__minus_03_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_01) + (inReceptacle Tomato_bar__minus_03_dot_59_bar__plus_00_dot_15_bar__plus_02_dot_04 GarbageCan_bar__minus_03_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_01) + (inReceptacle DishSponge_bar__minus_01_dot_29_bar__plus_00_dot_93_bar__plus_00_dot_36 Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44_bar_SinkBasin) + (inReceptacle ButterKnife_bar__minus_01_dot_55_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_47_bar__plus_00_dot_96_bar__plus_00_dot_64 Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44_bar_SinkBasin) + (inReceptacle Apple_bar__minus_01_dot_20_bar__plus_01_dot_00_bar__plus_00_dot_22 Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44_bar_SinkBasin) + (inReceptacle Knife_bar__minus_01_dot_38_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_55_bar__plus_00_dot_93_bar__plus_00_dot_36 Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44_bar_SinkBasin) + (inReceptacle Potato_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__plus_00_dot_57 Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44_bar_SinkBasin) + (inReceptacle Mug_bar__minus_00_dot_42_bar__plus_01_dot_22_bar__plus_00_dot_48 Microwave_bar__minus_00_dot_37_bar__plus_01_dot_11_bar__plus_00_dot_43) + (inReceptacle Potato_bar__minus_00_dot_31_bar__plus_01_dot_24_bar__plus_00_dot_44 Microwave_bar__minus_00_dot_37_bar__plus_01_dot_11_bar__plus_00_dot_43) + + + (receptacleAtLocation Cabinet_bar__minus_01_dot_00_bar__plus_00_dot_39_bar__plus_00_dot_73 loc_bar__minus_7_bar_7_bar_2_bar_45) + (receptacleAtLocation Cabinet_bar__minus_01_dot_73_bar__plus_00_dot_39_bar__plus_00_dot_73 loc_bar__minus_7_bar_7_bar_2_bar_45) + (receptacleAtLocation CoffeeMachine_bar__minus_00_dot_15_bar__plus_01_dot_04_bar__plus_03_dot_19 loc_bar__minus_5_bar_12_bar_1_bar_30) + (receptacleAtLocation CounterTop_bar__minus_00_dot_52_bar__plus_01_dot_16_bar__plus_00_dot_49 loc_bar__minus_4_bar_4_bar_2_bar_45) + (receptacleAtLocation CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38 loc_bar__minus_7_bar_4_bar_2_bar_45) + (receptacleAtLocation CounterTop_bar__minus_03_dot_86_bar__plus_01_dot_16_bar__plus_00_dot_38 loc_bar__minus_13_bar_6_bar_2_bar_30) + (receptacleAtLocation DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49 loc_bar__minus_5_bar_9_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__minus_02_dot_04_bar__plus_00_dot_22_bar__plus_00_dot_59 loc_bar__minus_4_bar_4_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_02_dot_04_bar__plus_00_dot_61_bar__plus_00_dot_59 loc_bar__minus_5_bar_4_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_02_dot_04_bar__plus_00_dot_94_bar__plus_00_dot_60 loc_bar__minus_6_bar_4_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_02_dot_50_bar__plus_00_dot_22_bar__plus_00_dot_59 loc_bar__minus_6_bar_4_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_02_dot_50_bar__plus_00_dot_61_bar__plus_00_dot_59 loc_bar__minus_7_bar_4_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_02_dot_51_bar__plus_00_dot_94_bar__plus_00_dot_60 loc_bar__minus_8_bar_4_bar_3_bar_60) + (receptacleAtLocation Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72 loc_bar__minus_10_bar_11_bar_3_bar_60) + (receptacleAtLocation GarbageCan_bar__minus_03_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_01 loc_bar__minus_14_bar_6_bar_0_bar_60) + (receptacleAtLocation Microwave_bar__minus_00_dot_37_bar__plus_01_dot_11_bar__plus_00_dot_43 loc_bar__minus_6_bar_4_bar_1_bar_30) + (receptacleAtLocation Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44_bar_SinkBasin loc_bar__minus_4_bar_5_bar_2_bar_45) + (receptacleAtLocation StoveBurner_bar__minus_03_dot_00_bar__plus_01_dot_10_bar__plus_00_dot_23 loc_bar__minus_12_bar_5_bar_2_bar_30) + (receptacleAtLocation StoveBurner_bar__minus_03_dot_00_bar__plus_01_dot_10_bar__plus_00_dot_48 loc_bar__minus_12_bar_5_bar_2_bar_30) + (receptacleAtLocation StoveBurner_bar__minus_03_dot_48_bar__plus_01_dot_10_bar__plus_00_dot_23 loc_bar__minus_14_bar_5_bar_2_bar_30) + 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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_03_dot_85_bar__plus_01_dot_13_bar__plus_00_dot_57 loc_bar__minus_13_bar_6_bar_2_bar_30) + (objectAtLocation Mug_bar__minus_03_dot_44_bar__plus_01_dot_56_bar__plus_02_dot_85 loc_bar__minus_10_bar_11_bar_3_bar_60) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (sliceable ?o) + (isSliced ?o) + (coolable ?o) + (objectType ?o BreadType) + (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-BreadSliced-None-DiningTable-4/trial_T20190909_082657_053185/traj_data.json 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0000000000000000000000000000000000000000..fa59a52e368f1ad64b8a3502343a367c54232137 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-BreadSliced-None-DiningTable-4/trial_T20190909_082735_729386/initial_state.pddl @@ -0,0 +1,930 @@ + +(define (problem plan_trial_T20190909_082735_729386) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + 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TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + 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loc_bar__minus_4_bar_5_bar_2_bar_45 - location + loc_bar__minus_7_bar_4_bar_2_bar_45 - location + loc_bar__minus_5_bar_4_bar_3_bar_60 - location + loc_bar__minus_13_bar_5_bar_2_bar__minus_15 - location + loc_bar__minus_12_bar_5_bar_2_bar_30 - location + loc_bar__minus_6_bar_4_bar_1_bar_30 - location + loc_bar__minus_13_bar_6_bar_2_bar_30 - location + loc_bar__minus_10_bar_9_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType StoveBurner_bar__minus_03_dot_00_bar__plus_01_dot_10_bar__plus_00_dot_48 StoveBurnerType) + (receptacleType 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 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Cup_bar__minus_00_dot_17_bar__plus_01_dot_05_bar__plus_01_dot_92) + (coolable Apple_bar__minus_00_dot_20_bar__plus_01_dot_30_bar__plus_00_dot_44) + (coolable Apple_bar__minus_00_dot_54_bar__plus_01_dot_11_bar__plus_02_dot_82) + (coolable Potato_bar__minus_00_dot_31_bar__plus_01_dot_24_bar__plus_00_dot_38) + (coolable Mug_bar__minus_00_dot_72_bar__plus_01_dot_12_bar__plus_00_dot_57) + (coolable Mug_bar__minus_01_dot_12_bar__plus_00_dot_04_bar__plus_00_dot_38) + (coolable Bread_bar__minus_00_dot_79_bar__plus_01_dot_13_bar__plus_01_dot_92) + (coolable Plate_bar__minus_01_dot_16_bar__plus_00_dot_05_bar__plus_00_dot_61) + (coolable Potato_bar__minus_03_dot_37_bar__plus_01_dot_59_bar__plus_02_dot_92) + (coolable Mug_bar__minus_00_dot_42_bar__plus_01_dot_22_bar__plus_00_dot_48) + (coolable Bowl_bar__minus_00_dot_91_bar__plus_01_dot_04_bar__plus_03_dot_27) + (coolable Bread_bar__minus_00_dot_79_bar__plus_01_dot_13_bar__plus_02_dot_82) + (coolable Pot_bar__minus_01_dot_29_bar__plus_00_dot_94_bar__plus_00_dot_29) + (coolable Cup_bar__minus_00_dot_94_bar__plus_01_dot_12_bar__plus_00_dot_30) + (coolable Plate_bar__minus_03_dot_57_bar__plus_01_dot_56_bar__plus_02_dot_85) + (coolable Pot_bar__minus_03_dot_37_bar__plus_00_dot_92_bar__plus_03_dot_06) + (coolable Bowl_bar__minus_01_dot_52_bar__plus_00_dot_05_bar__plus_00_dot_61) + (coolable Pan_bar__minus_03_dot_00_bar__plus_01_dot_13_bar__plus_00_dot_48) + (coolable Potato_bar__minus_03_dot_31_bar__plus_01_dot_59_bar__plus_03_dot_20) + (coolable Egg_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__plus_00_dot_57) + (coolable Lettuce_bar__minus_00_dot_79_bar__plus_01_dot_13_bar__plus_02_dot_59) + (coolable Tomato_bar__minus_03_dot_57_bar__plus_01_dot_33_bar__plus_02_dot_99) + + + + + + (sliceable Apple_bar__minus_03_dot_44_bar__plus_01_dot_35_bar__plus_02_dot_92) + (sliceable Apple_bar__minus_00_dot_20_bar__plus_01_dot_30_bar__plus_00_dot_44) + (sliceable Apple_bar__minus_00_dot_54_bar__plus_01_dot_11_bar__plus_02_dot_82) + (sliceable Potato_bar__minus_00_dot_31_bar__plus_01_dot_24_bar__plus_00_dot_38) + (sliceable Bread_bar__minus_00_dot_79_bar__plus_01_dot_13_bar__plus_01_dot_92) + (sliceable Potato_bar__minus_03_dot_37_bar__plus_01_dot_59_bar__plus_02_dot_92) + (sliceable Bread_bar__minus_00_dot_79_bar__plus_01_dot_13_bar__plus_02_dot_82) + (sliceable Potato_bar__minus_03_dot_31_bar__plus_01_dot_59_bar__plus_03_dot_20) + (sliceable Egg_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__plus_00_dot_57) + (sliceable Lettuce_bar__minus_00_dot_79_bar__plus_01_dot_13_bar__plus_02_dot_59) + (sliceable Tomato_bar__minus_03_dot_57_bar__plus_01_dot_33_bar__plus_02_dot_99) + + (inReceptacle Pot_bar__minus_03_dot_48_bar__plus_01_dot_13_bar__plus_00_dot_23 StoveBurner_bar__minus_03_dot_48_bar__plus_01_dot_10_bar__plus_00_dot_23) + (inReceptacle PepperShaker_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 PepperShaker_bar__minus_00_dot_29_bar__plus_01_dot_04_bar__plus_01_dot_92 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle SaltShaker_bar__minus_00_dot_91_bar__plus_01_dot_04_bar__plus_02_dot_59 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle Ladle_bar__minus_00_dot_66_bar__plus_01_dot_09_bar__plus_03_dot_27 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle SoapBottle_bar__minus_00_dot_91_bar__plus_01_dot_05_bar__plus_02_dot_82 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle Cup_bar__minus_00_dot_17_bar__plus_01_dot_05_bar__plus_01_dot_92 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle Bowl_bar__minus_00_dot_91_bar__plus_01_dot_04_bar__plus_03_dot_27 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle Apple_bar__minus_00_dot_54_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 Spoon_bar__minus_00_dot_54_bar__plus_01_dot_05_bar__plus_02_dot_14 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle Fork_bar__minus_00_dot_42_bar__plus_01_dot_05_bar__plus_02_dot_14 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle Spatula_bar__minus_00_dot_54_bar__plus_01_dot_06_bar__plus_02_dot_37 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle Bread_bar__minus_00_dot_79_bar__plus_01_dot_13_bar__plus_01_dot_92 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle ButterKnife_bar__minus_00_dot_66_bar__plus_01_dot_05_bar__plus_01_dot_92 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle Lettuce_bar__minus_00_dot_79_bar__plus_01_dot_13_bar__plus_02_dot_59 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle Bread_bar__minus_00_dot_79_bar__plus_01_dot_13_bar__plus_02_dot_82 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle SaltShaker_bar__minus_00_dot_66_bar__plus_01_dot_04_bar__plus_02_dot_82 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle Plate_bar__minus_01_dot_16_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 Mug_bar__minus_01_dot_12_bar__plus_00_dot_04_bar__plus_00_dot_38 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 Knife_bar__minus_02_dot_51_bar__plus_01_dot_16_bar__plus_00_dot_28 CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38) + (inReceptacle Spoon_bar__minus_01_dot_89_bar__plus_01_dot_13_bar__plus_00_dot_10 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 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 Fork_bar__minus_02_dot_14_bar__plus_01_dot_13_bar__plus_00_dot_66 CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38) + (inReceptacle DishSponge_bar__minus_02_dot_51_bar__plus_01_dot_12_bar__plus_00_dot_19 CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38) + (inReceptacle Fork_bar__minus_02_dot_51_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 Knife_bar__minus_02_dot_14_bar__plus_01_dot_16_bar__plus_00_dot_47 CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38) + (inReceptacle Cup_bar__minus_00_dot_94_bar__plus_01_dot_12_bar__plus_00_dot_30 CounterTop_bar__minus_00_dot_52_bar__plus_01_dot_16_bar__plus_00_dot_49) + (inReceptacle Ladle_bar__minus_00_dot_83_bar__plus_01_dot_16_bar__plus_00_dot_48 CounterTop_bar__minus_00_dot_52_bar__plus_01_dot_16_bar__plus_00_dot_49) + (inReceptacle Mug_bar__minus_00_dot_72_bar__plus_01_dot_12_bar__plus_00_dot_57 CounterTop_bar__minus_00_dot_52_bar__plus_01_dot_16_bar__plus_00_dot_49) + (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 SaltShaker_bar__minus_01_dot_52_bar__plus_00_dot_05_bar__plus_00_dot_33 Cabinet_bar__minus_01_dot_73_bar__plus_00_dot_39_bar__plus_00_dot_73) + (inReceptacle Bowl_bar__minus_01_dot_52_bar__plus_00_dot_05_bar__plus_00_dot_61 Cabinet_bar__minus_01_dot_73_bar__plus_00_dot_39_bar__plus_00_dot_73) + (inReceptacle Plate_bar__minus_03_dot_57_bar__plus_01_dot_56_bar__plus_02_dot_85 Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72) + (inReceptacle Apple_bar__minus_03_dot_44_bar__plus_01_dot_35_bar__plus_02_dot_92 Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72) + (inReceptacle Pot_bar__minus_03_dot_37_bar__plus_00_dot_92_bar__plus_03_dot_06 Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72) + (inReceptacle Potato_bar__minus_03_dot_37_bar__plus_01_dot_59_bar__plus_02_dot_92 Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72) + (inReceptacle Potato_bar__minus_03_dot_31_bar__plus_01_dot_59_bar__plus_03_dot_20 Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72) + (inReceptacle Tomato_bar__minus_03_dot_57_bar__plus_01_dot_33_bar__plus_02_dot_99 Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72) + (inReceptacle SoapBottle_bar__minus_03_dot_85_bar__plus_00_dot_11_bar__plus_02_dot_01 GarbageCan_bar__minus_03_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_01) + (inReceptacle Pot_bar__minus_01_dot_29_bar__plus_00_dot_94_bar__plus_00_dot_29 Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44_bar_SinkBasin) + (inReceptacle ButterKnife_bar__minus_01_dot_47_bar__plus_00_dot_93_bar__plus_00_dot_50 Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44_bar_SinkBasin) + (inReceptacle Spatula_bar__minus_01_dot_11_bar__plus_00_dot_95_bar__plus_00_dot_50 Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44_bar_SinkBasin) + (inReceptacle Egg_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__plus_00_dot_57 Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44_bar_SinkBasin) + (inReceptacle DishSponge_bar__minus_01_dot_55_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 Mug_bar__minus_00_dot_42_bar__plus_01_dot_22_bar__plus_00_dot_48 Microwave_bar__minus_00_dot_37_bar__plus_01_dot_11_bar__plus_00_dot_43) + (inReceptacle Apple_bar__minus_00_dot_20_bar__plus_01_dot_30_bar__plus_00_dot_44 Microwave_bar__minus_00_dot_37_bar__plus_01_dot_11_bar__plus_00_dot_43) + (inReceptacle Potato_bar__minus_00_dot_31_bar__plus_01_dot_24_bar__plus_00_dot_38 Microwave_bar__minus_00_dot_37_bar__plus_01_dot_11_bar__plus_00_dot_43) + + + (receptacleAtLocation Cabinet_bar__minus_01_dot_00_bar__plus_00_dot_39_bar__plus_00_dot_73 loc_bar__minus_7_bar_7_bar_2_bar_45) + (receptacleAtLocation Cabinet_bar__minus_01_dot_73_bar__plus_00_dot_39_bar__plus_00_dot_73 loc_bar__minus_7_bar_7_bar_2_bar_45) + (receptacleAtLocation CoffeeMachine_bar__minus_00_dot_15_bar__plus_01_dot_04_bar__plus_03_dot_19 loc_bar__minus_5_bar_12_bar_1_bar_30) + (receptacleAtLocation CounterTop_bar__minus_00_dot_52_bar__plus_01_dot_16_bar__plus_00_dot_49 loc_bar__minus_4_bar_4_bar_2_bar_45) + (receptacleAtLocation CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38 loc_bar__minus_7_bar_4_bar_2_bar_45) + (receptacleAtLocation CounterTop_bar__minus_03_dot_86_bar__plus_01_dot_16_bar__plus_00_dot_38 loc_bar__minus_13_bar_6_bar_2_bar_30) + (receptacleAtLocation DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49 loc_bar__minus_5_bar_9_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__minus_02_dot_04_bar__plus_00_dot_22_bar__plus_00_dot_59 loc_bar__minus_4_bar_4_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_02_dot_04_bar__plus_00_dot_61_bar__plus_00_dot_59 loc_bar__minus_5_bar_4_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_02_dot_04_bar__plus_00_dot_94_bar__plus_00_dot_60 loc_bar__minus_6_bar_4_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_02_dot_50_bar__plus_00_dot_22_bar__plus_00_dot_59 loc_bar__minus_6_bar_4_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_02_dot_50_bar__plus_00_dot_61_bar__plus_00_dot_59 loc_bar__minus_7_bar_4_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_02_dot_51_bar__plus_00_dot_94_bar__plus_00_dot_60 loc_bar__minus_8_bar_4_bar_3_bar_60) + (receptacleAtLocation Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72 loc_bar__minus_10_bar_11_bar_3_bar_60) + (receptacleAtLocation GarbageCan_bar__minus_03_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_01 loc_bar__minus_14_bar_6_bar_0_bar_60) + (receptacleAtLocation Microwave_bar__minus_00_dot_37_bar__plus_01_dot_11_bar__plus_00_dot_43 loc_bar__minus_6_bar_4_bar_1_bar_30) + (receptacleAtLocation Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44_bar_SinkBasin loc_bar__minus_4_bar_5_bar_2_bar_45) + (receptacleAtLocation StoveBurner_bar__minus_03_dot_00_bar__plus_01_dot_10_bar__plus_00_dot_23 loc_bar__minus_12_bar_5_bar_2_bar_30) + (receptacleAtLocation StoveBurner_bar__minus_03_dot_00_bar__plus_01_dot_10_bar__plus_00_dot_48 loc_bar__minus_12_bar_5_bar_2_bar_30) + (receptacleAtLocation StoveBurner_bar__minus_03_dot_48_bar__plus_01_dot_10_bar__plus_00_dot_23 loc_bar__minus_14_bar_5_bar_2_bar_30) + (receptacleAtLocation StoveBurner_bar__minus_03_dot_48_bar__plus_01_dot_10_bar__plus_00_dot_48 loc_bar__minus_14_bar_5_bar_2_bar_30) + (receptacleAtLocation Toaster_bar__minus_00_dot_23_bar__plus_01_dot_04_bar__plus_02_dot_87 loc_bar__minus_5_bar_11_bar_1_bar_30) + (objectAtLocation Mug_bar__minus_00_dot_72_bar__plus_01_dot_12_bar__plus_00_dot_57 loc_bar__minus_4_bar_4_bar_2_bar_45) + (objectAtLocation Spoon_bar__minus_00_dot_54_bar__plus_01_dot_05_bar__plus_02_dot_14 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Cup_bar__minus_00_dot_17_bar__plus_01_dot_05_bar__plus_01_dot_92 loc_bar__minus_5_bar_9_bar_1_bar_60) + (objectAtLocation Spatula_bar__minus_00_dot_54_bar__plus_01_dot_06_bar__plus_02_dot_37 loc_bar__minus_5_bar_9_bar_1_bar_60) + (objectAtLocation Bread_bar__minus_00_dot_79_bar__plus_01_dot_13_bar__plus_02_dot_82 loc_bar__minus_5_bar_9_bar_1_bar_60) + (objectAtLocation Plate_bar__minus_01_dot_16_bar__plus_00_dot_05_bar__plus_00_dot_61 loc_bar__minus_7_bar_7_bar_2_bar_45) + (objectAtLocation Potato_bar__minus_03_dot_31_bar__plus_01_dot_59_bar__plus_03_dot_20 loc_bar__minus_10_bar_11_bar_3_bar_60) + (objectAtLocation Ladle_bar__minus_00_dot_83_bar__plus_01_dot_16_bar__plus_00_dot_48 loc_bar__minus_4_bar_4_bar_2_bar_45) + (objectAtLocation Pot_bar__minus_01_dot_29_bar__plus_00_dot_94_bar__plus_00_dot_29 loc_bar__minus_4_bar_5_bar_2_bar_45) + (objectAtLocation SoapBottle_bar__minus_03_dot_85_bar__plus_00_dot_11_bar__plus_02_dot_01 loc_bar__minus_14_bar_6_bar_0_bar_60) + (objectAtLocation 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Open the fridge door and take out the bread slice. Close the fridge door.", + "Turn around and go to the brown table.", + "Put the bread slice on the table." + ], + "task_desc": "Refrigerate a bread slice and put it on a table.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1O3TWBUDONVLO_34S6N1K2ZYALCO9S7EO8OP8WXFLHLH", + "high_descs": [ + "Turn left and step forward to face the counter.", + "Pick up the knife on the counter.", + "Turn around and walk forward and right to face the table.", + "Cut the bread on the table into slices.", + "Turn around and cross the room to face the fridge.", + "Place the knife in the fridge.", + "Turn around and walk forward to face the table.", + "Pick up a slice of bread on the table.", + "Turn around and cross the room to face the fridge.", + "Cool the bread slice in the fridge and remove it.", + "Turn around and walk forward to face the table.", + "Place the slice of bread on the table." + ], + "task_desc": "To cool a slice of bread and place it on the table.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A3OYZK65C2G39N_39PAAFCODPRED2CHLC73PH9MZ7YVT4", + "high_descs": [ + " turn and walk to the counter to the left of the Stove pick up the knife", + " pick up the knife that is in the back", + " turn and walk to the table ", + "slice the bread that is on the table ", + " turn and walk to the refrigerator ", + "Put The Knife into the refrigerator ", + " walk to the table ", + " take the bread from the table ", + " turn and walk to the refrigerator ", + " put the bread in the refrigerator take the bread out of the refrigerator", + " turn and walk back to the table", + "put the bread on the table to the right of the pan" + ], + "task_desc": " put a chilled sliced piece of bread on the table", + "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-Egg-None-Microwave-24/trial_T20190908_234042_793019/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Egg-None-Microwave-24/trial_T20190908_234042_793019/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..aece74efb294ab9caa4c2b1fc79de92d29678318 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Egg-None-Microwave-24/trial_T20190908_234042_793019/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\n\\n#task#\"\n }\n ],\n\n \"notImplemented\": [\n {\n \"rhs\": \"TODO\"\n }\n ],\n\n \"task\": [\n {\n \"rhs\": \"Your task is to: cool some egg and put it in microwave.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190908_234042_793019)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\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_25 - object\n Apple_bar__minus_01_dot_05_bar__plus_00_dot_96_bar__plus_01_dot_45 - object\n Apple_bar__minus_02_dot_61_bar__plus_01_dot_67_bar__plus_02_dot_45 - object\n Bowl_bar__minus_02_dot_69_bar__plus_00_dot_77_bar__plus_02_dot_28 - object\n Bread_bar__plus_00_dot_82_bar__plus_00_dot_88_bar__plus_02_dot_44 - object\n ButterKnife_bar__minus_01_dot_32_bar__plus_00_dot_90_bar__plus_01_dot_35 - 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_95_bar__plus_00_dot_82_bar__plus_02_dot_29 - object\n Cup_bar__minus_01_dot_05_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_04 - object\n Egg_bar__minus_01_dot_32_bar__plus_00_dot_94_bar__plus_01_dot_45 - object\n Egg_bar__minus_01_dot_91_bar__plus_00_dot_73_bar__plus_03_dot_82 - object\n Egg_bar__minus_02_dot_87_bar__plus_00_dot_86_bar__plus_04_dot_02 - 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_84_bar__plus_00_dot_69_bar__plus_00_dot_94 - object\n Fork_bar__minus_01_dot_46_bar__plus_00_dot_82_bar__plus_03_dot_54 - object\n Knife_bar__plus_00_dot_94_bar__plus_00_dot_84_bar__plus_02_dot_55 - object\n Knife_bar__plus_01_dot_10_bar__plus_00_dot_85_bar__plus_02_dot_29 - 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_02_dot_58_bar__plus_00_dot_76_bar__plus_02_dot_11 - 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_73_bar__plus_00_dot_93_bar__plus_02_dot_29 - object\n PepperShaker_bar__minus_00_dot_52_bar__plus_00_dot_90_bar__plus_01_dot_56 - object\n Plate_bar__minus_01_dot_75_bar__plus_01_dot_69_bar__plus_03_dot_90 - object\n Potato_bar__plus_00_dot_93_bar__plus_00_dot_07_bar__plus_02_dot_89 - object\n Potato_bar__minus_01_dot_49_bar__plus_01_dot_40_bar__plus_03_dot_97 - object\n Pot_bar__plus_00_dot_64_bar__plus_00_dot_85_bar__plus_01_dot_77 - object\n SaltShaker_bar__plus_00_dot_65_bar__plus_00_dot_82_bar__plus_01_dot_12 - object\n SaltShaker_bar__plus_01_dot_02_bar__plus_00_dot_82_bar__plus_00_dot_85 - object\n SaltShaker_bar__minus_01_dot_00_bar__plus_00_dot_16_bar__plus_03_dot_81 - 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_92_bar__plus_00_dot_90_bar__plus_01_dot_56 - object\n Spatula_bar__plus_00_dot_71_bar__plus_00_dot_85_bar__plus_02_dot_13 - object\n Spatula_bar__plus_01_dot_10_bar__plus_00_dot_84_bar__plus_01_dot_07 - object\n Spoon_bar__plus_00_dot_73_bar__plus_00_dot_82_bar__plus_00_dot_98 - object\n Spoon_bar__minus_00_dot_66_bar__plus_00_dot_90_bar__plus_01_dot_14 - object\n Spoon_bar__minus_02_dot_09_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_02_dot_46_bar__plus_01_dot_06_bar__plus_02_dot_39 - object\n Tomato_bar__minus_02_dot_64_bar__plus_01_dot_48_bar__plus_02_dot_33 - 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_2_bar_13_bar_3_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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(inReceptacle Apple_bar__minus_01_dot_05_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)\n (inReceptacle Cup_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_00_dot_92_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 SoapBottle_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)\n (inReceptacle DishSponge_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 ButterKnife_bar__minus_01_dot_32_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_01_dot_45 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 Spoon_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 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 Fork_bar__minus_01_dot_46_bar__plus_00_dot_82_bar__plus_03_dot_54 CounterTop_bar__minus_02_dot_08_bar__plus_00_dot_86_bar__plus_03_dot_80)\n (inReceptacle Egg_bar__minus_02_dot_87_bar__plus_00_dot_86_bar__plus_04_dot_02 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 Potato_bar__minus_01_dot_49_bar__plus_01_dot_40_bar__plus_03_dot_97 Microwave_bar__minus_01_dot_53_bar__plus_01_dot_25_bar__plus_03_dot_88)\n (inReceptacle Mug_bar__minus_02_dot_58_bar__plus_00_dot_76_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_77_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_61_bar__plus_01_dot_67_bar__plus_02_dot_45 Fridge_bar__minus_02_dot_64_bar__plus_00_dot_00_bar__plus_02_dot_13)\n (inReceptacle Tomato_bar__minus_02_dot_46_bar__plus_01_dot_06_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_48_bar__plus_02_dot_33 Fridge_bar__minus_02_dot_64_bar__plus_00_dot_00_bar__plus_02_dot_13)\n (inReceptacle Potato_bar__plus_00_dot_93_bar__plus_00_dot_07_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_91_bar__plus_00_dot_73_bar__plus_03_dot_82 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 Knife_bar__plus_00_dot_94_bar__plus_00_dot_84_bar__plus_02_dot_55 loc_bar_1_bar_10_bar_1_bar_45)\n (objectAtLocation Apple_bar__minus_01_dot_05_bar__plus_00_dot_96_bar__plus_01_dot_45 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_63 loc_bar__minus_7_bar_12_bar_0_bar_60)\n (objectAtLocation Tomato_bar__minus_02_dot_64_bar__plus_01_dot_48_bar__plus_02_dot_33 loc_bar__minus_7_bar_9_bar_3_bar_60)\n (objectAtLocation SaltShaker_bar__plus_00_dot_65_bar__plus_00_dot_82_bar__plus_01_dot_12 loc_bar_0_bar_5_bar_1_bar_45)\n (objectAtLocation Cup_bar__plus_00_dot_95_bar__plus_00_dot_82_bar__plus_02_dot_29 loc_bar_1_bar_10_bar_1_bar_45)\n (objectAtLocation Egg_bar__minus_01_dot_91_bar__plus_00_dot_73_bar__plus_03_dot_82 loc_bar__minus_6_bar_13_bar_0_bar_60)\n (objectAtLocation Potato_bar__plus_00_dot_93_bar__plus_00_dot_07_bar__plus_02_dot_89 loc_bar_2_bar_12_bar_1_bar_60)\n (objectAtLocation Spatula_bar__plus_00_dot_71_bar__plus_00_dot_85_bar__plus_02_dot_13 loc_bar_1_bar_10_bar_1_bar_45)\n (objectAtLocation Fork_bar__minus_01_dot_46_bar__plus_00_dot_82_bar__plus_03_dot_54 loc_bar__minus_7_bar_12_bar_0_bar_45)\n (objectAtLocation Apple_bar__minus_00_dot_92_bar__plus_00_dot_96_bar__plus_01_dot_25 loc_bar__minus_4_bar_8_bar_2_bar_60)\n (objectAtLocation SaltShaker_bar__minus_01_dot_00_bar__plus_00_dot_16_bar__plus_03_dot_81 loc_bar__minus_3_bar_12_bar_0_bar_60)\n (objectAtLocation Egg_bar__minus_01_dot_32_bar__plus_00_dot_94_bar__plus_01_dot_45 loc_bar__minus_4_bar_8_bar_2_bar_60)\n (objectAtLocation Spoon_bar__plus_00_dot_73_bar__plus_00_dot_82_bar__plus_00_dot_98 loc_bar_0_bar_5_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_75_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_84_bar__plus_00_dot_69_bar__plus_00_dot_94 loc_bar_0_bar_7_bar_2_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_82_bar__plus_00_dot_88_bar__plus_02_dot_44 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_00_dot_73_bar__plus_00_dot_93_bar__plus_02_dot_29 loc_bar_1_bar_10_bar_1_bar_45)\n (objectAtLocation Potato_bar__minus_01_dot_49_bar__plus_01_dot_40_bar__plus_03_dot_97 loc_bar__minus_6_bar_13_bar_0_bar_30)\n (objectAtLocation SoapBottle_bar__minus_00_dot_92_bar__plus_00_dot_90_bar__plus_01_dot_56 loc_bar__minus_4_bar_8_bar_2_bar_60)\n (objectAtLocation Egg_bar__minus_02_dot_87_bar__plus_00_dot_86_bar__plus_04_dot_02 loc_bar__minus_7_bar_12_bar_0_bar_45)\n (objectAtLocation Cup_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 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 SaltShaker_bar__plus_01_dot_02_bar__plus_00_dot_82_bar__plus_00_dot_85 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_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 ButterKnife_bar__minus_01_dot_32_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__minus_02_dot_46_bar__plus_01_dot_06_bar__plus_02_dot_39 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_04 loc_bar__minus_4_bar_8_bar_2_bar_60)\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_66_bar__plus_00_dot_90_bar__plus_01_dot_14 loc_bar__minus_4_bar_8_bar_2_bar_60)\n (objectAtLocation Apple_bar__minus_02_dot_61_bar__plus_01_dot_67_bar__plus_02_dot_45 loc_bar__minus_7_bar_9_bar_3_bar_60)\n (objectAtLocation Knife_bar__plus_01_dot_10_bar__plus_00_dot_85_bar__plus_02_dot_29 loc_bar_1_bar_10_bar_1_bar_45)\n (objectAtLocation Mug_bar__minus_02_dot_58_bar__plus_00_dot_76_bar__plus_02_dot_11 loc_bar__minus_7_bar_9_bar_3_bar_60)\n (objectAtLocation Bowl_bar__minus_02_dot_69_bar__plus_00_dot_77_bar__plus_02_dot_28 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 (coolable ?o)\n (objectType ?o EggType)\n (receptacleType ?r MicrowaveType)\n (isCool ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to diningtable 1", "take egg 3 from diningtable 1", "go to fridge 1", "cool egg 3 with fridge 1", "go to microwave 1", "open microwave 1", "move egg 3 to microwave 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Egg-None-Microwave-24/trial_T20190908_234042_793019/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Egg-None-Microwave-24/trial_T20190908_234042_793019/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..e8cc9ae07779140d8a8e18b4655ff669981e1187 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Egg-None-Microwave-24/trial_T20190908_234042_793019/initial_state.pddl @@ -0,0 +1,1117 @@ + +(define (problem plan_trial_T20190908_234042_793019) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + 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_25 - object + Apple_bar__minus_01_dot_05_bar__plus_00_dot_96_bar__plus_01_dot_45 - object + Apple_bar__minus_02_dot_61_bar__plus_01_dot_67_bar__plus_02_dot_45 - object + Bowl_bar__minus_02_dot_69_bar__plus_00_dot_77_bar__plus_02_dot_28 - object + Bread_bar__plus_00_dot_82_bar__plus_00_dot_88_bar__plus_02_dot_44 - object + ButterKnife_bar__minus_01_dot_32_bar__plus_00_dot_90_bar__plus_01_dot_35 - object + Chair_bar__minus_00_dot_87_bar__plus_00_dot_49_bar__plus_01_dot_50 - object + Cup_bar__plus_00_dot_95_bar__plus_00_dot_82_bar__plus_02_dot_29 - object + Cup_bar__minus_01_dot_05_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_04 - object + Egg_bar__minus_01_dot_32_bar__plus_00_dot_94_bar__plus_01_dot_45 - object + Egg_bar__minus_01_dot_91_bar__plus_00_dot_73_bar__plus_03_dot_82 - object + Egg_bar__minus_02_dot_87_bar__plus_00_dot_86_bar__plus_04_dot_02 - 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_84_bar__plus_00_dot_69_bar__plus_00_dot_94 - object + Fork_bar__minus_01_dot_46_bar__plus_00_dot_82_bar__plus_03_dot_54 - object + Knife_bar__plus_00_dot_94_bar__plus_00_dot_84_bar__plus_02_dot_55 - object + Knife_bar__plus_01_dot_10_bar__plus_00_dot_85_bar__plus_02_dot_29 - 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_02_dot_58_bar__plus_00_dot_76_bar__plus_02_dot_11 - object + Pan_bar__minus_02_dot_67_bar__plus_00_dot_81_bar__plus_03_dot_74 - object + PaperTowelRoll_bar__plus_00_dot_73_bar__plus_00_dot_93_bar__plus_02_dot_29 - object + PepperShaker_bar__minus_00_dot_52_bar__plus_00_dot_90_bar__plus_01_dot_56 - object + Plate_bar__minus_01_dot_75_bar__plus_01_dot_69_bar__plus_03_dot_90 - object + Potato_bar__plus_00_dot_93_bar__plus_00_dot_07_bar__plus_02_dot_89 - object + Potato_bar__minus_01_dot_49_bar__plus_01_dot_40_bar__plus_03_dot_97 - object + Pot_bar__plus_00_dot_64_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__plus_01_dot_02_bar__plus_00_dot_82_bar__plus_00_dot_85 - object + SaltShaker_bar__minus_01_dot_00_bar__plus_00_dot_16_bar__plus_03_dot_81 - 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_00_dot_90_bar__plus_01_dot_56 - object + Spatula_bar__plus_00_dot_71_bar__plus_00_dot_85_bar__plus_02_dot_13 - object + Spatula_bar__plus_01_dot_10_bar__plus_00_dot_84_bar__plus_01_dot_07 - object + Spoon_bar__plus_00_dot_73_bar__plus_00_dot_82_bar__plus_00_dot_98 - object + Spoon_bar__minus_00_dot_66_bar__plus_00_dot_90_bar__plus_01_dot_14 - object + Spoon_bar__minus_02_dot_09_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_02_dot_46_bar__plus_01_dot_06_bar__plus_02_dot_39 - object + Tomato_bar__minus_02_dot_64_bar__plus_01_dot_48_bar__plus_02_dot_33 - object + Window_bar__minus_01_dot_13_bar__plus_01_dot_67_bar__plus_00_dot_81 - object + Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_39_bar__plus_00_dot_82 - receptacle + Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_39_bar__plus_02_dot_36 - receptacle + Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_39_bar__plus_02_dot_69 - receptacle + Cabinet_bar__minus_00_dot_42_bar__plus_00_dot_67_bar__plus_03_dot_74 - receptacle + Cabinet_bar__minus_00_dot_42_bar__plus_01_dot_70_bar__plus_03_dot_74 - receptacle + Cabinet_bar__minus_01_dot_10_bar__plus_01_dot_93_bar__plus_03_dot_73 - receptacle + Cabinet_bar__minus_01_dot_14_bar__plus_00_dot_39_bar__plus_03_dot_52 - receptacle + Cabinet_bar__minus_01_dot_96_bar__plus_01_dot_93_bar__plus_03_dot_73 - receptacle + Cabinet_bar__minus_01_dot_97_bar__plus_00_dot_39_bar__plus_03_dot_52 - receptacle + Cabinet_bar__minus_01_dot_98_bar__plus_01_dot_78_bar__plus_03_dot_73 - receptacle + Cabinet_bar__minus_01_dot_99_bar__plus_00_dot_39_bar__plus_03_dot_51 - receptacle + Cabinet_bar__minus_02_dot_38_bar__plus_00_dot_64_bar__plus_01_dot_68 - receptacle + Cabinet_bar__minus_02_dot_38_bar__plus_01_dot_41_bar__plus_01_dot_68 - receptacle + Cabinet_bar__minus_02_dot_38_bar__plus_01_dot_69_bar__plus_02_dot_57 - receptacle + Cabinet_bar__minus_02_dot_38_bar__plus_01_dot_93_bar__plus_01_dot_69 - receptacle + Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_01_dot_06 - receptacle + Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_01_dot_69 - receptacle + Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_02_dot_56 - receptacle + Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_03_dot_18 - receptacle + Cabinet_bar__minus_02_dot_43_bar__plus_00_dot_44_bar__plus_03_dot_17 - receptacle + Cabinet_bar__minus_02_dot_43_bar__plus_00_dot_44_bar__plus_03_dot_42 - receptacle + Cabinet_bar__minus_02_dot_62_bar__plus_01_dot_93_bar__plus_03_dot_73 - receptacle + Cabinet_bar__minus_02_dot_95_bar__plus_01_dot_93_bar__plus_03_dot_73 - receptacle + CoffeeMachine_bar__minus_01_dot_00_bar__plus_00_dot_89_bar__plus_01_dot_03 - receptacle + CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_00_dot_98 - receptacle + CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_02_dot_37 - receptacle + CounterTop_bar__minus_02_dot_08_bar__plus_00_dot_86_bar__plus_03_dot_80 - receptacle + DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32 - receptacle + Drawer_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_00_dot_98 - receptacle + Drawer_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_02_dot_20 - receptacle + Drawer_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_02_dot_53 - receptacle + Drawer_bar__minus_02_dot_11_bar__plus_00_dot_71_bar__plus_03_dot_66 - receptacle + Fridge_bar__minus_02_dot_64_bar__plus_00_dot_00_bar__plus_02_dot_13 - receptacle + GarbageCan_bar__plus_00_dot_93_bar__plus_00_dot_00_bar__plus_02_dot_92 - receptacle + Microwave_bar__minus_01_dot_53_bar__plus_01_dot_25_bar__plus_03_dot_88 - receptacle + Sink_bar__minus_01_dot_70_bar__plus_00_dot_73_bar__plus_03_dot_83_bar_SinkBasin - receptacle + StoveBurner_bar__plus_00_dot_64_bar__plus_00_dot_84_bar__plus_01_dot_38 - receptacle + StoveBurner_bar__plus_00_dot_64_bar__plus_00_dot_84_bar__plus_01_dot_77 - receptacle + StoveBurner_bar__plus_00_dot_91_bar__plus_00_dot_84_bar__plus_01_dot_38 - receptacle + StoveBurner_bar__plus_00_dot_91_bar__plus_00_dot_84_bar__plus_01_dot_77 - receptacle + Toaster_bar__minus_02_dot_25_bar__plus_00_dot_81_bar__plus_03_dot_86 - receptacle + loc_bar__minus_6_bar_13_bar_0_bar_60 - location + loc_bar__minus_7_bar_11_bar_3_bar_0 - location + loc_bar__minus_5_bar_13_bar_3_bar_45 - location + loc_bar_1_bar_10_bar_1_bar_45 - location + loc_bar_0_bar_6_bar_1_bar_30 - location + loc_bar_0_bar_7_bar_1_bar_45 - location + loc_bar__minus_7_bar_6_bar_3_bar_15 - location + loc_bar__minus_7_bar_11_bar_0_bar_0 - location + loc_bar__minus_6_bar_13_bar_0_bar__minus_30 - location + loc_bar__minus_3_bar_12_bar_0_bar_60 - location + loc_bar_2_bar_12_bar_1_bar_60 - location + loc_bar_0_bar_5_bar_1_bar_60 - location + loc_bar__minus_3_bar_10_bar_0_bar_45 - location + loc_bar__minus_1_bar_10_bar_1_bar_45 - location + loc_bar__minus_6_bar_9_bar_3_bar__minus_15 - location + loc_bar_0_bar_7_bar_2_bar_45 - location + loc_bar__minus_7_bar_12_bar_3_bar__minus_30 - location + loc_bar__minus_5_bar_10_bar_0_bar_45 - location + loc_bar__minus_6_bar_13_bar_0_bar_30 - location + loc_bar_0_bar_7_bar_1_bar_30 - location + loc_bar__minus_7_bar_9_bar_3_bar_60 - location + loc_bar__minus_4_bar_8_bar_2_bar_45 - location + loc_bar_0_bar_8_bar_1_bar_30 - location + loc_bar__minus_1_bar_12_bar_1_bar_60 - location + loc_bar__minus_3_bar_8_bar_2_bar_60 - location + loc_bar__minus_7_bar_7_bar_3_bar__minus_30 - location + loc_bar_2_bar_14_bar_0_bar_30 - location + loc_bar__minus_7_bar_12_bar_0_bar_60 - location + loc_bar__minus_4_bar_8_bar_2_bar_60 - location + loc_bar__minus_6_bar_13_bar_3_bar__minus_15 - location + loc_bar_0_bar_5_bar_1_bar_45 - location + loc_bar_0_bar_5_bar_1_bar_30 - location + loc_bar__minus_5_bar_8_bar_3_bar_45 - location + loc_bar_0_bar_6_bar_1_bar_45 - location + loc_bar__minus_7_bar_12_bar_0_bar_45 - location + loc_bar__minus_7_bar_6_bar_3_bar__minus_30 - location + loc_bar__minus_3_bar_13_bar_0_bar_0 - location + loc_bar__minus_1_bar_11_bar_1_bar_60 - location + loc_bar__minus_7_bar_6_bar_2_bar_0 - location + loc_bar__minus_6_bar_12_bar_3_bar_60 - location + loc_bar__minus_1_bar_12_bar_1_bar_45 - location + loc_bar__minus_2_bar_13_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_39_bar__plus_02_dot_36 CabinetType) + (receptacleType CoffeeMachine_bar__minus_01_dot_00_bar__plus_00_dot_89_bar__plus_01_dot_03 CoffeeMachineType) + (receptacleType Drawer_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_02_dot_20 DrawerType) + (receptacleType Cabinet_bar__minus_02_dot_43_bar__plus_00_dot_44_bar__plus_03_dot_42 CabinetType) + (receptacleType Cabinet_bar__minus_02_dot_38_bar__plus_01_dot_41_bar__plus_01_dot_68 CabinetType) + (receptacleType Cabinet_bar__minus_02_dot_38_bar__plus_01_dot_69_bar__plus_02_dot_57 CabinetType) + (receptacleType Cabinet_bar__minus_02_dot_38_bar__plus_01_dot_93_bar__plus_01_dot_69 CabinetType) + (receptacleType Drawer_bar__minus_02_dot_11_bar__plus_00_dot_71_bar__plus_03_dot_66 DrawerType) + (receptacleType CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_00_dot_98 CounterTopType) + (receptacleType Drawer_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_02_dot_53 DrawerType) + (receptacleType Cabinet_bar__minus_00_dot_42_bar__plus_01_dot_70_bar__plus_03_dot_74 CabinetType) + (receptacleType Cabinet_bar__minus_00_dot_42_bar__plus_00_dot_67_bar__plus_03_dot_74 CabinetType) + (receptacleType Cabinet_bar__minus_01_dot_14_bar__plus_00_dot_39_bar__plus_03_dot_52 CabinetType) + (receptacleType Toaster_bar__minus_02_dot_25_bar__plus_00_dot_81_bar__plus_03_dot_86 ToasterType) + (receptacleType Cabinet_bar__minus_02_dot_38_bar__plus_00_dot_64_bar__plus_01_dot_68 CabinetType) + (receptacleType Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_03_dot_18 CabinetType) + (receptacleType DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32 DiningTableType) + (receptacleType Cabinet_bar__minus_01_dot_96_bar__plus_01_dot_93_bar__plus_03_dot_73 CabinetType) + (receptacleType StoveBurner_bar__plus_00_dot_91_bar__plus_00_dot_84_bar__plus_01_dot_77 StoveBurnerType) + (receptacleType Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_01_dot_06 CabinetType) + (receptacleType Cabinet_bar__minus_02_dot_95_bar__plus_01_dot_93_bar__plus_03_dot_73 CabinetType) + (receptacleType CounterTop_bar__minus_02_dot_08_bar__plus_00_dot_86_bar__plus_03_dot_80 CounterTopType) + (receptacleType Cabinet_bar__minus_02_dot_43_bar__plus_00_dot_44_bar__plus_03_dot_17 CabinetType) + (receptacleType StoveBurner_bar__plus_00_dot_64_bar__plus_00_dot_84_bar__plus_01_dot_38 StoveBurnerType) + (receptacleType Microwave_bar__minus_01_dot_53_bar__plus_01_dot_25_bar__plus_03_dot_88 MicrowaveType) + (receptacleType Fridge_bar__minus_02_dot_64_bar__plus_00_dot_00_bar__plus_02_dot_13 FridgeType) + (receptacleType StoveBurner_bar__plus_00_dot_64_bar__plus_00_dot_84_bar__plus_01_dot_77 StoveBurnerType) + (receptacleType 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Fork_bar__minus_01_dot_46_bar__plus_00_dot_82_bar__plus_03_dot_54) + (pickupable Apple_bar__minus_00_dot_92_bar__plus_00_dot_96_bar__plus_01_dot_25) + (pickupable Fork_bar__plus_00_dot_84_bar__plus_00_dot_69_bar__plus_00_dot_94) + (pickupable SoapBottle_bar__minus_00_dot_92_bar__plus_00_dot_90_bar__plus_01_dot_56) + (pickupable Pot_bar__plus_00_dot_64_bar__plus_00_dot_85_bar__plus_01_dot_77) + (pickupable Bowl_bar__minus_02_dot_69_bar__plus_00_dot_77_bar__plus_02_dot_28) + (pickupable DishSponge_bar__minus_01_dot_32_bar__plus_00_dot_90_bar__plus_01_dot_04) + (pickupable Potato_bar__plus_00_dot_93_bar__plus_00_dot_07_bar__plus_02_dot_89) + (pickupable Spatula_bar__plus_01_dot_10_bar__plus_00_dot_84_bar__plus_01_dot_07) + (pickupable Tomato_bar__minus_02_dot_46_bar__plus_01_dot_06_bar__plus_02_dot_39) + (pickupable Bread_bar__plus_00_dot_82_bar__plus_00_dot_88_bar__plus_02_dot_44) + (pickupable Tomato_bar__minus_02_dot_64_bar__plus_01_dot_48_bar__plus_02_dot_33) + (pickupable Apple_bar__minus_02_dot_61_bar__plus_01_dot_67_bar__plus_02_dot_45) + (pickupable ButterKnife_bar__minus_01_dot_32_bar__plus_00_dot_90_bar__plus_01_dot_35) + (pickupable Egg_bar__minus_01_dot_32_bar__plus_00_dot_94_bar__plus_01_dot_45) + (pickupable Potato_bar__minus_01_dot_49_bar__plus_01_dot_40_bar__plus_03_dot_97) + (pickupable Knife_bar__plus_00_dot_94_bar__plus_00_dot_84_bar__plus_02_dot_55) + (pickupable SaltShaker_bar__minus_01_dot_00_bar__plus_00_dot_16_bar__plus_03_dot_81) + (pickupable SaltShaker_bar__plus_00_dot_65_bar__plus_00_dot_82_bar__plus_01_dot_12) + (isReceptacleObject Plate_bar__minus_01_dot_75_bar__plus_01_dot_69_bar__plus_03_dot_90) + (isReceptacleObject Cup_bar__minus_01_dot_05_bar__plus_00_dot_90_bar__plus_01_dot_56) + (isReceptacleObject Pan_bar__minus_02_dot_67_bar__plus_00_dot_81_bar__plus_03_dot_74) + (isReceptacleObject Cup_bar__plus_00_dot_95_bar__plus_00_dot_82_bar__plus_02_dot_29) + (isReceptacleObject Mug_bar__minus_02_dot_58_bar__plus_00_dot_76_bar__plus_02_dot_11) + (isReceptacleObject Pot_bar__plus_00_dot_64_bar__plus_00_dot_85_bar__plus_01_dot_77) + (isReceptacleObject Bowl_bar__minus_02_dot_69_bar__plus_00_dot_77_bar__plus_02_dot_28) + (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_2_bar_13_bar_3_bar_30) + + (cleanable Plate_bar__minus_01_dot_75_bar__plus_01_dot_69_bar__plus_03_dot_90) + (cleanable Apple_bar__minus_01_dot_05_bar__plus_00_dot_96_bar__plus_01_dot_45) + (cleanable Spoon_bar__minus_02_dot_09_bar__plus_00_dot_70_bar__plus_03_dot_63) + (cleanable Cup_bar__minus_01_dot_05_bar__plus_00_dot_90_bar__plus_01_dot_56) + (cleanable Spoon_bar__plus_00_dot_73_bar__plus_00_dot_82_bar__plus_00_dot_98) + (cleanable Egg_bar__minus_01_dot_91_bar__plus_00_dot_73_bar__plus_03_dot_82) + (cleanable Pan_bar__minus_02_dot_67_bar__plus_00_dot_81_bar__plus_03_dot_74) + (cleanable Egg_bar__minus_02_dot_87_bar__plus_00_dot_86_bar__plus_04_dot_02) + (cleanable Cup_bar__plus_00_dot_95_bar__plus_00_dot_82_bar__plus_02_dot_29) + (cleanable Spatula_bar__plus_00_dot_71_bar__plus_00_dot_85_bar__plus_02_dot_13) + (cleanable Lettuce_bar__minus_00_dot_58_bar__plus_00_dot_96_bar__plus_01_dot_36) + (cleanable Spoon_bar__minus_00_dot_66_bar__plus_00_dot_90_bar__plus_01_dot_14) + (cleanable Knife_bar__plus_01_dot_10_bar__plus_00_dot_85_bar__plus_02_dot_29) + (cleanable Mug_bar__minus_02_dot_58_bar__plus_00_dot_76_bar__plus_02_dot_11) + (cleanable Fork_bar__minus_01_dot_46_bar__plus_00_dot_82_bar__plus_03_dot_54) + (cleanable Apple_bar__minus_00_dot_92_bar__plus_00_dot_96_bar__plus_01_dot_25) + (cleanable Fork_bar__plus_00_dot_84_bar__plus_00_dot_69_bar__plus_00_dot_94) + (cleanable Pot_bar__plus_00_dot_64_bar__plus_00_dot_85_bar__plus_01_dot_77) + (cleanable Bowl_bar__minus_02_dot_69_bar__plus_00_dot_77_bar__plus_02_dot_28) + (cleanable DishSponge_bar__minus_01_dot_32_bar__plus_00_dot_90_bar__plus_01_dot_04) + (cleanable Potato_bar__plus_00_dot_93_bar__plus_00_dot_07_bar__plus_02_dot_89) + (cleanable Spatula_bar__plus_01_dot_10_bar__plus_00_dot_84_bar__plus_01_dot_07) + (cleanable Tomato_bar__minus_02_dot_46_bar__plus_01_dot_06_bar__plus_02_dot_39) + (cleanable Tomato_bar__minus_02_dot_64_bar__plus_01_dot_48_bar__plus_02_dot_33) + (cleanable Apple_bar__minus_02_dot_61_bar__plus_01_dot_67_bar__plus_02_dot_45) + (cleanable ButterKnife_bar__minus_01_dot_32_bar__plus_00_dot_90_bar__plus_01_dot_35) + (cleanable Egg_bar__minus_01_dot_32_bar__plus_00_dot_94_bar__plus_01_dot_45) + (cleanable Potato_bar__minus_01_dot_49_bar__plus_01_dot_40_bar__plus_03_dot_97) + (cleanable Knife_bar__plus_00_dot_94_bar__plus_00_dot_84_bar__plus_02_dot_55) + + (heatable Plate_bar__minus_01_dot_75_bar__plus_01_dot_69_bar__plus_03_dot_90) + (heatable Apple_bar__minus_01_dot_05_bar__plus_00_dot_96_bar__plus_01_dot_45) + (heatable Cup_bar__minus_01_dot_05_bar__plus_00_dot_90_bar__plus_01_dot_56) + (heatable Egg_bar__minus_01_dot_91_bar__plus_00_dot_73_bar__plus_03_dot_82) + (heatable Egg_bar__minus_02_dot_87_bar__plus_00_dot_86_bar__plus_04_dot_02) + (heatable Cup_bar__plus_00_dot_95_bar__plus_00_dot_82_bar__plus_02_dot_29) + (heatable Mug_bar__minus_02_dot_58_bar__plus_00_dot_76_bar__plus_02_dot_11) + (heatable Apple_bar__minus_00_dot_92_bar__plus_00_dot_96_bar__plus_01_dot_25) + (heatable Potato_bar__plus_00_dot_93_bar__plus_00_dot_07_bar__plus_02_dot_89) + (heatable Tomato_bar__minus_02_dot_46_bar__plus_01_dot_06_bar__plus_02_dot_39) + (heatable Bread_bar__plus_00_dot_82_bar__plus_00_dot_88_bar__plus_02_dot_44) + (heatable Tomato_bar__minus_02_dot_64_bar__plus_01_dot_48_bar__plus_02_dot_33) + (heatable Apple_bar__minus_02_dot_61_bar__plus_01_dot_67_bar__plus_02_dot_45) + (heatable Egg_bar__minus_01_dot_32_bar__plus_00_dot_94_bar__plus_01_dot_45) + (heatable Potato_bar__minus_01_dot_49_bar__plus_01_dot_40_bar__plus_03_dot_97) + (coolable Plate_bar__minus_01_dot_75_bar__plus_01_dot_69_bar__plus_03_dot_90) + (coolable Apple_bar__minus_01_dot_05_bar__plus_00_dot_96_bar__plus_01_dot_45) + (coolable Cup_bar__minus_01_dot_05_bar__plus_00_dot_90_bar__plus_01_dot_56) + (coolable Egg_bar__minus_01_dot_91_bar__plus_00_dot_73_bar__plus_03_dot_82) + (coolable Pan_bar__minus_02_dot_67_bar__plus_00_dot_81_bar__plus_03_dot_74) + (coolable Egg_bar__minus_02_dot_87_bar__plus_00_dot_86_bar__plus_04_dot_02) + (coolable Cup_bar__plus_00_dot_95_bar__plus_00_dot_82_bar__plus_02_dot_29) + (coolable Lettuce_bar__minus_00_dot_58_bar__plus_00_dot_96_bar__plus_01_dot_36) + (coolable Mug_bar__minus_02_dot_58_bar__plus_00_dot_76_bar__plus_02_dot_11) + (coolable Apple_bar__minus_00_dot_92_bar__plus_00_dot_96_bar__plus_01_dot_25) + (coolable Pot_bar__plus_00_dot_64_bar__plus_00_dot_85_bar__plus_01_dot_77) + (coolable Bowl_bar__minus_02_dot_69_bar__plus_00_dot_77_bar__plus_02_dot_28) + (coolable Potato_bar__plus_00_dot_93_bar__plus_00_dot_07_bar__plus_02_dot_89) + (coolable Tomato_bar__minus_02_dot_46_bar__plus_01_dot_06_bar__plus_02_dot_39) + (coolable Bread_bar__plus_00_dot_82_bar__plus_00_dot_88_bar__plus_02_dot_44) + (coolable Tomato_bar__minus_02_dot_64_bar__plus_01_dot_48_bar__plus_02_dot_33) + (coolable Apple_bar__minus_02_dot_61_bar__plus_01_dot_67_bar__plus_02_dot_45) + (coolable Egg_bar__minus_01_dot_32_bar__plus_00_dot_94_bar__plus_01_dot_45) + (coolable Potato_bar__minus_01_dot_49_bar__plus_01_dot_40_bar__plus_03_dot_97) + + + + + + (sliceable Apple_bar__minus_01_dot_05_bar__plus_00_dot_96_bar__plus_01_dot_45) + (sliceable Egg_bar__minus_01_dot_91_bar__plus_00_dot_73_bar__plus_03_dot_82) + (sliceable Egg_bar__minus_02_dot_87_bar__plus_00_dot_86_bar__plus_04_dot_02) + (sliceable Lettuce_bar__minus_00_dot_58_bar__plus_00_dot_96_bar__plus_01_dot_36) + (sliceable Apple_bar__minus_00_dot_92_bar__plus_00_dot_96_bar__plus_01_dot_25) + (sliceable Potato_bar__plus_00_dot_93_bar__plus_00_dot_07_bar__plus_02_dot_89) + (sliceable Tomato_bar__minus_02_dot_46_bar__plus_01_dot_06_bar__plus_02_dot_39) + (sliceable Bread_bar__plus_00_dot_82_bar__plus_00_dot_88_bar__plus_02_dot_44) + (sliceable Tomato_bar__minus_02_dot_64_bar__plus_01_dot_48_bar__plus_02_dot_33) + (sliceable Apple_bar__minus_02_dot_61_bar__plus_01_dot_67_bar__plus_02_dot_45) + (sliceable Egg_bar__minus_01_dot_32_bar__plus_00_dot_94_bar__plus_01_dot_45) + (sliceable Potato_bar__minus_01_dot_49_bar__plus_01_dot_40_bar__plus_03_dot_97) + + (inReceptacle Plate_bar__minus_01_dot_75_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 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 Spoon_bar__plus_00_dot_73_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 SaltShaker_bar__plus_00_dot_65_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 SaltShaker_bar__plus_01_dot_02_bar__plus_00_dot_82_bar__plus_00_dot_85 CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_00_dot_98) + (inReceptacle Knife_bar__plus_01_dot_10_bar__plus_00_dot_85_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_88_bar__plus_02_dot_44 CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_02_dot_37) + (inReceptacle PaperTowelRoll_bar__plus_00_dot_73_bar__plus_00_dot_93_bar__plus_02_dot_29 CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_02_dot_37) + (inReceptacle Knife_bar__plus_00_dot_94_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 Cup_bar__plus_00_dot_95_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 Spatula_bar__plus_00_dot_71_bar__plus_00_dot_85_bar__plus_02_dot_13 CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_02_dot_37) + (inReceptacle SaltShaker_bar__minus_01_dot_00_bar__plus_00_dot_16_bar__plus_03_dot_81 Cabinet_bar__minus_00_dot_42_bar__plus_00_dot_67_bar__plus_03_dot_74) + (inReceptacle Fork_bar__plus_00_dot_84_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_63 Drawer_bar__minus_02_dot_11_bar__plus_00_dot_71_bar__plus_03_dot_66) + (inReceptacle Apple_bar__minus_01_dot_05_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 Cup_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_00_dot_92_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 SoapBottle_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 DishSponge_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 ButterKnife_bar__minus_01_dot_32_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 Egg_bar__minus_01_dot_32_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 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 Spoon_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 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 Fork_bar__minus_01_dot_46_bar__plus_00_dot_82_bar__plus_03_dot_54 CounterTop_bar__minus_02_dot_08_bar__plus_00_dot_86_bar__plus_03_dot_80) + (inReceptacle Egg_bar__minus_02_dot_87_bar__plus_00_dot_86_bar__plus_04_dot_02 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 Potato_bar__minus_01_dot_49_bar__plus_01_dot_40_bar__plus_03_dot_97 Microwave_bar__minus_01_dot_53_bar__plus_01_dot_25_bar__plus_03_dot_88) + (inReceptacle Mug_bar__minus_02_dot_58_bar__plus_00_dot_76_bar__plus_02_dot_11 Fridge_bar__minus_02_dot_64_bar__plus_00_dot_00_bar__plus_02_dot_13) + (inReceptacle Bowl_bar__minus_02_dot_69_bar__plus_00_dot_77_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_61_bar__plus_01_dot_67_bar__plus_02_dot_45 Fridge_bar__minus_02_dot_64_bar__plus_00_dot_00_bar__plus_02_dot_13) + (inReceptacle Tomato_bar__minus_02_dot_46_bar__plus_01_dot_06_bar__plus_02_dot_39 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ButterKnife_bar__minus_01_dot_32_bar__plus_00_dot_90_bar__plus_01_dot_35 loc_bar__minus_4_bar_8_bar_2_bar_60) + (objectAtLocation StoveKnob_bar__plus_01_dot_10_bar__plus_01_dot_00_bar__plus_01_dot_89 loc_bar_0_bar_8_bar_1_bar_30) + (objectAtLocation StoveKnob_bar__plus_01_dot_10_bar__plus_01_dot_00_bar__plus_01_dot_73 loc_bar_0_bar_7_bar_1_bar_30) + (objectAtLocation StoveKnob_bar__plus_01_dot_10_bar__plus_01_dot_00_bar__plus_01_dot_32 loc_bar_0_bar_5_bar_1_bar_30) + (objectAtLocation StoveKnob_bar__plus_01_dot_10_bar__plus_01_dot_00_bar__plus_01_dot_48 loc_bar_0_bar_6_bar_1_bar_30) + (objectAtLocation Tomato_bar__minus_02_dot_46_bar__plus_01_dot_06_bar__plus_02_dot_39 loc_bar__minus_7_bar_9_bar_3_bar_60) + (objectAtLocation DishSponge_bar__minus_01_dot_32_bar__plus_00_dot_90_bar__plus_01_dot_04 loc_bar__minus_4_bar_8_bar_2_bar_60) + (objectAtLocation 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 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"Turn around, then turn left and return to the sink, then look up to the microwave above it.", + "Put the egg in the microwave, then close it." + ], + "task_desc": "Put a cold egg in the microwave.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A24RGLS3BRZ60J_3X4JMASXCP0YOFHKITST4UDAZZI0BE", + "high_descs": [ + "Move forward two steps and turn right to face the sink.", + "Pick up the egg from the left side of the sink.", + "Hold the egg and turn around. Turn right to face the fridge.", + "Open the fridge and place the egg inside. Shut the door and then open the door. Take out the egg and shut the door.", + "Carry the egg and turn to the right to face the sink.", + "Place the egg above the sink in the microwave and shut the door. " + ], + "task_desc": "Chill an egg and place it in the microwave.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Egg-None-Microwave-24/trial_T20190908_234229_979522/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Egg-None-Microwave-24/trial_T20190908_234229_979522/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..707069ec4a2e09b59c7432a8f61997841f9ee588 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Egg-None-Microwave-24/trial_T20190908_234229_979522/initial_state.pddl @@ -0,0 +1,1162 @@ + +(define (problem plan_trial_T20190908_234229_979522) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - 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- 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 + 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Fork_bar__plus_00_dot_70_bar__plus_00_dot_69_bar__plus_02_dot_24) + (pickupable Spatula_bar__minus_00_dot_66_bar__plus_00_dot_92_bar__plus_01_dot_04) + (pickupable DishSponge_bar__minus_02_dot_46_bar__plus_01_dot_63_bar__plus_02_dot_65) + (pickupable SoapBottle_bar__minus_01_dot_19_bar__plus_00_dot_90_bar__plus_01_dot_56) + (pickupable ButterKnife_bar__minus_01_dot_05_bar__plus_00_dot_90_bar__plus_01_dot_35) + (pickupable Pan_bar__minus_02_dot_67_bar__plus_00_dot_81_bar__plus_03_dot_74) + (pickupable SaltShaker_bar__minus_02_dot_54_bar__plus_01_dot_85_bar__plus_02_dot_35) + (pickupable Mug_bar__minus_01_dot_69_bar__plus_01_dot_35_bar__plus_03_dot_97) + (pickupable SaltShaker_bar__minus_02_dot_59_bar__plus_00_dot_12_bar__plus_03_dot_24) + (pickupable Cup_bar__minus_01_dot_85_bar__plus_01_dot_68_bar__plus_03_dot_98) + (pickupable SoapBottle_bar__plus_01_dot_02_bar__plus_00_dot_82_bar__plus_01_dot_07) + (pickupable Apple_bar__minus_00_dot_66_bar__plus_00_dot_96_bar__plus_01_dot_56) + (pickupable Fork_bar__plus_00_dot_67_bar__plus_00_dot_69_bar__plus_02_dot_50) + (pickupable SoapBottle_bar__minus_00_dot_92_bar__plus_00_dot_90_bar__plus_01_dot_45) + (pickupable Mug_bar__minus_01_dot_11_bar__plus_00_dot_94_bar__plus_01_dot_20) + (pickupable Apple_bar__minus_02_dot_64_bar__plus_00_dot_83_bar__plus_02_dot_39) + (pickupable PepperShaker_bar__minus_01_dot_70_bar__plus_00_dot_82_bar__plus_03_dot_55) + (pickupable Tomato_bar__minus_00_dot_52_bar__plus_00_dot_97_bar__plus_01_dot_25) + (pickupable DishSponge_bar__minus_01_dot_32_bar__plus_00_dot_90_bar__plus_00_dot_94) + (pickupable Fork_bar__plus_00_dot_81_bar__plus_00_dot_69_bar__plus_02_dot_24) + (pickupable Egg_bar__minus_01_dot_47_bar__plus_00_dot_73_bar__plus_03_dot_86) + (pickupable Lettuce_bar__minus_01_dot_32_bar__plus_00_dot_98_bar__plus_01_dot_14) + (pickupable Bowl_bar__minus_02_dot_54_bar__plus_01_dot_85_bar__plus_01_dot_18) + (pickupable Cup_bar__minus_02_dot_54_bar__plus_01_dot_40_bar__plus_03_dot_86) + (pickupable Bread_bar__plus_00_dot_83_bar__plus_00_dot_86_bar__plus_02_dot_45) + (pickupable Lettuce_bar__minus_02_dot_52_bar__plus_01_dot_07_bar__plus_02_dot_39) + (pickupable Cup_bar__plus_00_dot_88_bar__plus_00_dot_82_bar__plus_02_dot_20) + (pickupable Apple_bar__plus_00_dot_90_bar__plus_00_dot_09_bar__plus_02_dot_95) + (pickupable DishSponge_bar__plus_00_dot_77_bar__plus_00_dot_69_bar__plus_02_dot_61) + (pickupable Pot_bar__plus_00_dot_91_bar__plus_00_dot_85_bar__plus_01_dot_77) + (pickupable Plate_bar__minus_02_dot_14_bar__plus_01_dot_40_bar__plus_03_dot_90) + (pickupable Tomato_bar__minus_02_dot_46_bar__plus_01_dot_26_bar__plus_02_dot_39) + (pickupable Plate_bar__plus_00_dot_86_bar__plus_00_dot_81_bar__plus_00_dot_98) + (isReceptacleObject Pan_bar__minus_02_dot_67_bar__plus_00_dot_81_bar__plus_03_dot_74) + (isReceptacleObject Mug_bar__minus_01_dot_69_bar__plus_01_dot_35_bar__plus_03_dot_97) + (isReceptacleObject Cup_bar__minus_01_dot_85_bar__plus_01_dot_68_bar__plus_03_dot_98) + (isReceptacleObject Mug_bar__minus_01_dot_11_bar__plus_00_dot_94_bar__plus_01_dot_20) + (isReceptacleObject Bowl_bar__minus_02_dot_54_bar__plus_01_dot_85_bar__plus_01_dot_18) + (isReceptacleObject Cup_bar__minus_02_dot_54_bar__plus_01_dot_40_bar__plus_03_dot_86) + (isReceptacleObject Cup_bar__plus_00_dot_88_bar__plus_00_dot_82_bar__plus_02_dot_20) + (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) + (isReceptacleObject Plate_bar__plus_00_dot_86_bar__plus_00_dot_81_bar__plus_00_dot_98) + (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_5_bar_8_bar_2_bar_30) + + (cleanable Potato_bar__minus_01_dot_42_bar__plus_00_dot_74_bar__plus_03_dot_69) + (cleanable Tomato_bar__minus_02_dot_69_bar__plus_01_dot_26_bar__plus_02_dot_39) + (cleanable ButterKnife_bar__minus_00_dot_79_bar__plus_00_dot_90_bar__plus_01_dot_25) + (cleanable Knife_bar__minus_00_dot_66_bar__plus_00_dot_92_bar__plus_00_dot_94) + (cleanable Spoon_bar__plus_00_dot_74_bar__plus_00_dot_69_bar__plus_01_dot_02) + (cleanable Spoon_bar__minus_01_dot_32_bar__plus_00_dot_90_bar__plus_01_dot_45) + (cleanable ButterKnife_bar__minus_00_dot_52_bar__plus_00_dot_90_bar__plus_01_dot_35) + (cleanable Fork_bar__plus_00_dot_70_bar__plus_00_dot_69_bar__plus_02_dot_24) + (cleanable Spatula_bar__minus_00_dot_66_bar__plus_00_dot_92_bar__plus_01_dot_04) + (cleanable DishSponge_bar__minus_02_dot_46_bar__plus_01_dot_63_bar__plus_02_dot_65) + (cleanable ButterKnife_bar__minus_01_dot_05_bar__plus_00_dot_90_bar__plus_01_dot_35) + (cleanable Pan_bar__minus_02_dot_67_bar__plus_00_dot_81_bar__plus_03_dot_74) + (cleanable Mug_bar__minus_01_dot_69_bar__plus_01_dot_35_bar__plus_03_dot_97) + (cleanable Cup_bar__minus_01_dot_85_bar__plus_01_dot_68_bar__plus_03_dot_98) + (cleanable Apple_bar__minus_00_dot_66_bar__plus_00_dot_96_bar__plus_01_dot_56) + (cleanable Fork_bar__plus_00_dot_67_bar__plus_00_dot_69_bar__plus_02_dot_50) + (cleanable Mug_bar__minus_01_dot_11_bar__plus_00_dot_94_bar__plus_01_dot_20) + (cleanable Apple_bar__minus_02_dot_64_bar__plus_00_dot_83_bar__plus_02_dot_39) + (cleanable Tomato_bar__minus_00_dot_52_bar__plus_00_dot_97_bar__plus_01_dot_25) + (cleanable DishSponge_bar__minus_01_dot_32_bar__plus_00_dot_90_bar__plus_00_dot_94) + (cleanable Fork_bar__plus_00_dot_81_bar__plus_00_dot_69_bar__plus_02_dot_24) + (cleanable Egg_bar__minus_01_dot_47_bar__plus_00_dot_73_bar__plus_03_dot_86) + (cleanable Lettuce_bar__minus_01_dot_32_bar__plus_00_dot_98_bar__plus_01_dot_14) + (cleanable Bowl_bar__minus_02_dot_54_bar__plus_01_dot_85_bar__plus_01_dot_18) + (cleanable Cup_bar__minus_02_dot_54_bar__plus_01_dot_40_bar__plus_03_dot_86) + (cleanable Lettuce_bar__minus_02_dot_52_bar__plus_01_dot_07_bar__plus_02_dot_39) + (cleanable Cup_bar__plus_00_dot_88_bar__plus_00_dot_82_bar__plus_02_dot_20) + (cleanable Apple_bar__plus_00_dot_90_bar__plus_00_dot_09_bar__plus_02_dot_95) + (cleanable DishSponge_bar__plus_00_dot_77_bar__plus_00_dot_69_bar__plus_02_dot_61) + (cleanable Pot_bar__plus_00_dot_91_bar__plus_00_dot_85_bar__plus_01_dot_77) + (cleanable Plate_bar__minus_02_dot_14_bar__plus_01_dot_40_bar__plus_03_dot_90) + (cleanable Tomato_bar__minus_02_dot_46_bar__plus_01_dot_26_bar__plus_02_dot_39) + (cleanable Plate_bar__plus_00_dot_86_bar__plus_00_dot_81_bar__plus_00_dot_98) + + (heatable Potato_bar__minus_01_dot_42_bar__plus_00_dot_74_bar__plus_03_dot_69) + (heatable Tomato_bar__minus_02_dot_69_bar__plus_01_dot_26_bar__plus_02_dot_39) + (heatable Mug_bar__minus_01_dot_69_bar__plus_01_dot_35_bar__plus_03_dot_97) + (heatable Cup_bar__minus_01_dot_85_bar__plus_01_dot_68_bar__plus_03_dot_98) + (heatable Apple_bar__minus_00_dot_66_bar__plus_00_dot_96_bar__plus_01_dot_56) + (heatable Mug_bar__minus_01_dot_11_bar__plus_00_dot_94_bar__plus_01_dot_20) + (heatable Apple_bar__minus_02_dot_64_bar__plus_00_dot_83_bar__plus_02_dot_39) + (heatable Tomato_bar__minus_00_dot_52_bar__plus_00_dot_97_bar__plus_01_dot_25) + (heatable Egg_bar__minus_01_dot_47_bar__plus_00_dot_73_bar__plus_03_dot_86) + (heatable Cup_bar__minus_02_dot_54_bar__plus_01_dot_40_bar__plus_03_dot_86) + (heatable Bread_bar__plus_00_dot_83_bar__plus_00_dot_86_bar__plus_02_dot_45) + (heatable Cup_bar__plus_00_dot_88_bar__plus_00_dot_82_bar__plus_02_dot_20) + (heatable Apple_bar__plus_00_dot_90_bar__plus_00_dot_09_bar__plus_02_dot_95) + (heatable Plate_bar__minus_02_dot_14_bar__plus_01_dot_40_bar__plus_03_dot_90) + (heatable Tomato_bar__minus_02_dot_46_bar__plus_01_dot_26_bar__plus_02_dot_39) + (heatable Plate_bar__plus_00_dot_86_bar__plus_00_dot_81_bar__plus_00_dot_98) + (coolable Potato_bar__minus_01_dot_42_bar__plus_00_dot_74_bar__plus_03_dot_69) + (coolable Tomato_bar__minus_02_dot_69_bar__plus_01_dot_26_bar__plus_02_dot_39) + (coolable Pan_bar__minus_02_dot_67_bar__plus_00_dot_81_bar__plus_03_dot_74) + (coolable Mug_bar__minus_01_dot_69_bar__plus_01_dot_35_bar__plus_03_dot_97) + (coolable Cup_bar__minus_01_dot_85_bar__plus_01_dot_68_bar__plus_03_dot_98) + (coolable Apple_bar__minus_00_dot_66_bar__plus_00_dot_96_bar__plus_01_dot_56) + (coolable Mug_bar__minus_01_dot_11_bar__plus_00_dot_94_bar__plus_01_dot_20) + (coolable Apple_bar__minus_02_dot_64_bar__plus_00_dot_83_bar__plus_02_dot_39) + (coolable Tomato_bar__minus_00_dot_52_bar__plus_00_dot_97_bar__plus_01_dot_25) + (coolable Egg_bar__minus_01_dot_47_bar__plus_00_dot_73_bar__plus_03_dot_86) + (coolable Lettuce_bar__minus_01_dot_32_bar__plus_00_dot_98_bar__plus_01_dot_14) + (coolable Bowl_bar__minus_02_dot_54_bar__plus_01_dot_85_bar__plus_01_dot_18) + (coolable Cup_bar__minus_02_dot_54_bar__plus_01_dot_40_bar__plus_03_dot_86) + (coolable Bread_bar__plus_00_dot_83_bar__plus_00_dot_86_bar__plus_02_dot_45) + (coolable Lettuce_bar__minus_02_dot_52_bar__plus_01_dot_07_bar__plus_02_dot_39) + (coolable Cup_bar__plus_00_dot_88_bar__plus_00_dot_82_bar__plus_02_dot_20) + (coolable Apple_bar__plus_00_dot_90_bar__plus_00_dot_09_bar__plus_02_dot_95) + (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) + (coolable Tomato_bar__minus_02_dot_46_bar__plus_01_dot_26_bar__plus_02_dot_39) + (coolable Plate_bar__plus_00_dot_86_bar__plus_00_dot_81_bar__plus_00_dot_98) + + + + + + (sliceable Potato_bar__minus_01_dot_42_bar__plus_00_dot_74_bar__plus_03_dot_69) + (sliceable Tomato_bar__minus_02_dot_69_bar__plus_01_dot_26_bar__plus_02_dot_39) + (sliceable Apple_bar__minus_00_dot_66_bar__plus_00_dot_96_bar__plus_01_dot_56) + (sliceable Apple_bar__minus_02_dot_64_bar__plus_00_dot_83_bar__plus_02_dot_39) + (sliceable Tomato_bar__minus_00_dot_52_bar__plus_00_dot_97_bar__plus_01_dot_25) + (sliceable Egg_bar__minus_01_dot_47_bar__plus_00_dot_73_bar__plus_03_dot_86) + (sliceable Lettuce_bar__minus_01_dot_32_bar__plus_00_dot_98_bar__plus_01_dot_14) + (sliceable Bread_bar__plus_00_dot_83_bar__plus_00_dot_86_bar__plus_02_dot_45) + (sliceable Lettuce_bar__minus_02_dot_52_bar__plus_01_dot_07_bar__plus_02_dot_39) + (sliceable Apple_bar__plus_00_dot_90_bar__plus_00_dot_09_bar__plus_02_dot_95) + (sliceable Tomato_bar__minus_02_dot_46_bar__plus_01_dot_26_bar__plus_02_dot_39) + + (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) + (inReceptacle Fork_bar__plus_00_dot_81_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 Cup_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) + (inReceptacle Bowl_bar__minus_02_dot_54_bar__plus_01_dot_85_bar__plus_01_dot_18 Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_01_dot_06) + (inReceptacle Fork_bar__plus_00_dot_67_bar__plus_00_dot_69_bar__plus_02_dot_50 Drawer_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_02_dot_53) + (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 Cup_bar__minus_02_dot_54_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) + (inReceptacle PepperShaker_bar__plus_01_dot_10_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 SoapBottle_bar__plus_01_dot_02_bar__plus_00_dot_82_bar__plus_01_dot_07 CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_00_dot_98) + (inReceptacle Plate_bar__plus_00_dot_86_bar__plus_00_dot_81_bar__plus_00_dot_98 CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_00_dot_98) + (inReceptacle 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 Cup_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 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 SaltShaker_bar__minus_02_dot_54_bar__plus_01_dot_85_bar__plus_02_dot_35 Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_02_dot_56) + (inReceptacle Spoon_bar__plus_00_dot_74_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 DishSponge_bar__minus_02_dot_46_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 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 ButterKnife_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_66_bar__plus_00_dot_92_bar__plus_01_dot_04 DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32) + (inReceptacle 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 ButterKnife_bar__minus_01_dot_05_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 Tomato_bar__minus_00_dot_52_bar__plus_00_dot_97_bar__plus_01_dot_25 DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32) + (inReceptacle PaperTowelRoll_bar__minus_00_dot_92_bar__plus_01_dot_00_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_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 ButterKnife_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 Knife_bar__minus_00_dot_66_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 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 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) + (inReceptacle Apple_bar__minus_00_dot_66_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 SoapBottle_bar__minus_00_dot_92_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 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 SaltShaker_bar__minus_01_dot_92_bar__plus_00_dot_12_bar__plus_03_dot_60 Cabinet_bar__minus_01_dot_97_bar__plus_00_dot_39_bar__plus_03_dot_52) + (inReceptacle PepperShaker_bar__minus_01_dot_70_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 SaltShaker_bar__minus_02_dot_59_bar__plus_00_dot_12_bar__plus_03_dot_24 Cabinet_bar__minus_02_dot_43_bar__plus_00_dot_44_bar__plus_03_dot_17) + (inReceptacle Mug_bar__minus_01_dot_69_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) + (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 Tomato_bar__minus_02_dot_46_bar__plus_01_dot_26_bar__plus_02_dot_39 Fridge_bar__minus_02_dot_64_bar__plus_00_dot_00_bar__plus_02_dot_13) + (inReceptacle Lettuce_bar__minus_02_dot_52_bar__plus_01_dot_07_bar__plus_02_dot_39 Fridge_bar__minus_02_dot_64_bar__plus_00_dot_00_bar__plus_02_dot_13) + (inReceptacle Apple_bar__minus_02_dot_64_bar__plus_00_dot_83_bar__plus_02_dot_39 Fridge_bar__minus_02_dot_64_bar__plus_00_dot_00_bar__plus_02_dot_13) + (inReceptacle Tomato_bar__minus_02_dot_69_bar__plus_01_dot_26_bar__plus_02_dot_39 Fridge_bar__minus_02_dot_64_bar__plus_00_dot_00_bar__plus_02_dot_13) + (inReceptacle Apple_bar__plus_00_dot_90_bar__plus_00_dot_09_bar__plus_02_dot_95 GarbageCan_bar__plus_00_dot_93_bar__plus_00_dot_00_bar__plus_02_dot_92) + (inReceptacle Potato_bar__minus_01_dot_42_bar__plus_00_dot_74_bar__plus_03_dot_69 Sink_bar__minus_01_dot_70_bar__plus_00_dot_73_bar__plus_03_dot_83_bar_SinkBasin) + (inReceptacle Egg_bar__minus_01_dot_47_bar__plus_00_dot_73_bar__plus_03_dot_86 Sink_bar__minus_01_dot_70_bar__plus_00_dot_73_bar__plus_03_dot_83_bar_SinkBasin) + + + (receptacleAtLocation Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_39_bar__plus_00_dot_82 loc_bar_0_bar_5_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_39_bar__plus_02_dot_36 loc_bar__minus_1_bar_11_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_39_bar__plus_02_dot_69 loc_bar__minus_1_bar_12_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__minus_00_dot_42_bar__plus_00_dot_67_bar__plus_03_dot_74 loc_bar__minus_3_bar_12_bar_0_bar_60) + (receptacleAtLocation Cabinet_bar__minus_00_dot_42_bar__plus_01_dot_70_bar__plus_03_dot_74 loc_bar__minus_3_bar_13_bar_0_bar_0) + (receptacleAtLocation Cabinet_bar__minus_01_dot_10_bar__plus_01_dot_93_bar__plus_03_dot_73 loc_bar__minus_6_bar_13_bar_0_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_01_dot_14_bar__plus_00_dot_39_bar__plus_03_dot_52 loc_bar__minus_3_bar_10_bar_0_bar_45) + (receptacleAtLocation Cabinet_bar__minus_01_dot_96_bar__plus_01_dot_93_bar__plus_03_dot_73 loc_bar__minus_6_bar_13_bar_0_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_01_dot_97_bar__plus_00_dot_39_bar__plus_03_dot_52 loc_bar__minus_5_bar_10_bar_0_bar_45) + (receptacleAtLocation Cabinet_bar__minus_01_dot_98_bar__plus_01_dot_78_bar__plus_03_dot_73 loc_bar__minus_7_bar_11_bar_0_bar_0) + (receptacleAtLocation Cabinet_bar__minus_01_dot_99_bar__plus_00_dot_39_bar__plus_03_dot_51 loc_bar__minus_7_bar_12_bar_0_bar_60) + (receptacleAtLocation Cabinet_bar__minus_02_dot_38_bar__plus_00_dot_64_bar__plus_01_dot_68 loc_bar__minus_5_bar_8_bar_3_bar_45) + (receptacleAtLocation Cabinet_bar__minus_02_dot_38_bar__plus_01_dot_41_bar__plus_01_dot_68 loc_bar__minus_7_bar_6_bar_3_bar_15) + (receptacleAtLocation 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 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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 Mug_bar__minus_01_dot_69_bar__plus_01_dot_35_bar__plus_03_dot_97 loc_bar__minus_6_bar_13_bar_0_bar_30) + (objectAtLocation Apple_bar__plus_00_dot_90_bar__plus_00_dot_09_bar__plus_02_dot_95 loc_bar_2_bar_12_bar_1_bar_60) + (objectAtLocation Spoon_bar__plus_00_dot_74_bar__plus_00_dot_69_bar__plus_01_dot_02 loc_bar_0_bar_7_bar_2_bar_45) + (objectAtLocation Lettuce_bar__minus_02_dot_52_bar__plus_01_dot_07_bar__plus_02_dot_39 loc_bar__minus_7_bar_9_bar_3_bar_60) + (objectAtLocation DishSponge_bar__minus_01_dot_32_bar__plus_00_dot_90_bar__plus_00_dot_94 loc_bar__minus_4_bar_8_bar_2_bar_60) + (objectAtLocation Tomato_bar__minus_02_dot_46_bar__plus_01_dot_26_bar__plus_02_dot_39 loc_bar__minus_7_bar_9_bar_3_bar_60) + (objectAtLocation ButterKnife_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) + (objectAtLocation PepperShaker_bar__plus_01_dot_10_bar__plus_00_dot_82_bar__plus_00_dot_94 loc_bar_0_bar_5_bar_1_bar_45) + (objectAtLocation SaltShaker_bar__minus_02_dot_54_bar__plus_01_dot_85_bar__plus_02_dot_35 loc_bar__minus_6_bar_9_bar_3_bar__minus_15) + (objectAtLocation Cup_bar__minus_02_dot_54_bar__plus_01_dot_40_bar__plus_03_dot_86 loc_bar__minus_6_bar_13_bar_3_bar__minus_15) + (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) + (objectAtLocation Fork_bar__plus_00_dot_67_bar__plus_00_dot_69_bar__plus_02_dot_50 loc_bar__minus_1_bar_12_bar_1_bar_45) + (objectAtLocation Plate_bar__plus_00_dot_86_bar__plus_00_dot_81_bar__plus_00_dot_98 loc_bar_0_bar_5_bar_1_bar_45) + (objectAtLocation Apple_bar__minus_00_dot_66_bar__plus_00_dot_96_bar__plus_01_dot_56 loc_bar__minus_4_bar_8_bar_2_bar_60) + (objectAtLocation SaltShaker_bar__minus_01_dot_92_bar__plus_00_dot_12_bar__plus_03_dot_60 loc_bar__minus_5_bar_10_bar_0_bar_45) + (objectAtLocation Tomato_bar__minus_02_dot_69_bar__plus_01_dot_26_bar__plus_02_dot_39 loc_bar__minus_7_bar_9_bar_3_bar_60) + (objectAtLocation SoapBottle_bar__minus_00_dot_92_bar__plus_00_dot_90_bar__plus_01_dot_45 loc_bar__minus_4_bar_8_bar_2_bar_60) + (objectAtLocation Cup_bar__plus_00_dot_88_bar__plus_00_dot_82_bar__plus_02_dot_20 loc_bar_1_bar_10_bar_1_bar_45) + (objectAtLocation Fork_bar__plus_00_dot_81_bar__plus_00_dot_69_bar__plus_02_dot_24 loc_bar__minus_1_bar_10_bar_1_bar_45) + (objectAtLocation ButterKnife_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) + (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) + (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_02_dot_14_bar__plus_01_dot_40_bar__plus_03_dot_90 loc_bar__minus_7_bar_11_bar_0_bar_0) + (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) + (objectAtLocation LightSwitch_bar__plus_00_dot_83_bar__plus_01_dot_40_bar__plus_04_dot_08 loc_bar_2_bar_14_bar_0_bar_30) + (objectAtLocation Bread_bar__plus_00_dot_83_bar__plus_00_dot_86_bar__plus_02_dot_45 loc_bar_1_bar_10_bar_1_bar_45) + (objectAtLocation Chair_bar__minus_00_dot_87_bar__plus_00_dot_49_bar__plus_01_dot_50 loc_bar__minus_3_bar_8_bar_2_bar_60) + (objectAtLocation Window_bar__minus_01_dot_13_bar__plus_01_dot_67_bar__plus_00_dot_81 loc_bar__minus_7_bar_6_bar_2_bar_0) + (objectAtLocation Spatula_bar__minus_00_dot_66_bar__plus_00_dot_92_bar__plus_01_dot_04 loc_bar__minus_4_bar_8_bar_2_bar_60) + (objectAtLocation PaperTowelRoll_bar__minus_00_dot_92_bar__plus_01_dot_00_bar__plus_01_dot_25 loc_bar__minus_4_bar_8_bar_2_bar_60) + (objectAtLocation Potato_bar__minus_01_dot_42_bar__plus_00_dot_74_bar__plus_03_dot_69 loc_bar__minus_6_bar_13_bar_0_bar_60) + (objectAtLocation SoapBottle_bar__plus_01_dot_02_bar__plus_00_dot_82_bar__plus_01_dot_07 loc_bar_0_bar_5_bar_1_bar_45) + (objectAtLocation Egg_bar__minus_01_dot_47_bar__plus_00_dot_73_bar__plus_03_dot_86 loc_bar__minus_6_bar_13_bar_0_bar_60) + (objectAtLocation Cup_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) + (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_59_bar__plus_00_dot_12_bar__plus_03_dot_24 loc_bar__minus_5_bar_13_bar_3_bar_45) + (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_70_bar__plus_00_dot_82_bar__plus_03_dot_55 loc_bar__minus_7_bar_12_bar_0_bar_45) + (objectAtLocation ButterKnife_bar__minus_01_dot_05_bar__plus_00_dot_90_bar__plus_01_dot_35 loc_bar__minus_4_bar_8_bar_2_bar_60) + (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_00_dot_52_bar__plus_00_dot_97_bar__plus_01_dot_25 loc_bar__minus_4_bar_8_bar_2_bar_60) + (objectAtLocation DishSponge_bar__minus_02_dot_46_bar__plus_01_dot_63_bar__plus_02_dot_65 loc_bar__minus_7_bar_11_bar_3_bar_0) + (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) + (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) + (objectAtLocation Apple_bar__minus_02_dot_64_bar__plus_00_dot_83_bar__plus_02_dot_39 loc_bar__minus_7_bar_9_bar_3_bar_60) + (objectAtLocation Knife_bar__minus_00_dot_66_bar__plus_00_dot_92_bar__plus_00_dot_94 loc_bar__minus_4_bar_8_bar_2_bar_60) + (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_54_bar__plus_01_dot_85_bar__plus_01_dot_18 loc_bar__minus_7_bar_6_bar_3_bar__minus_30) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (coolable ?o) + (objectType ?o EggType) + (receptacleType ?r MicrowaveType) + (isCool ?o) + (inReceptacle ?o ?r) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git 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0.923701346, + "z": 0.9374152 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_2e53b233", + "position": { + "x": -1.69432342, + "y": 1.35451162, + "z": 3.96729255 + }, + "rotation": { + "x": 0.0, + "y": 269.999664, + "z": 0.0 + } + }, + { + "objectName": "Bowl_f44f174d", + "position": { + "x": -2.54156351, + "y": 1.84721029, + "z": 1.18116426 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 3600306786, + "scene_num": 24 + }, + "task_id": "trial_T20190908_234229_979522", + "task_type": "pick_cool_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A2KAGFQU28JY43_3IXQG4FA2WPGK95XIPBMX5E3240B9R", + "high_descs": [ + "Turn around and go across the kitchen to the large sink on the right. ", + "Pick up the egg in the back of the sink, behind the potato. ", + " Turn around and go to the refrigerator ahead, to your right. ", + "Place the egg on the second shelf of the refrigerator, wait a moment for it to chill, then remove the egg from the refrigerator. ", + "Turn to your right and go to the microwave above the sink. ", + "Place the egg in the microwave. " + ], + "task_desc": "Put a cold egg in the microwave. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3MLUEOP3CCLXL_3VZLGYJEYO1233QBRJX3ZQ7O097XZU", + "high_descs": [ + "Turn around and walk to the sink", + "Pick up the egg that is sitting in the sink on the right, behind the potato", + "Turn around and walk to the fridge on your right", + "Open the fridge and place the egg on the second shelf to the left of the lettuce and apple then close the fridge. Then open the fridge and pick up the egg then shut the door", + "Turn to the right and walk to the sink", + "Open the microwave that is above the sink and place the egg on the right side of the plate inside then close the door" + ], + "task_desc": "Place a chilled egg in a microwave", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3F7G1FSFWQPLE_3WYP994K1AIPFYWAUAMUL6L2XB5Y6B", + "high_descs": [ + "Turn right and walk up to the fridge, then turn right and walk over to the sink.", + "Pick up the egg out of the sink.", + "Turn around and walk forward, then turn right and walk up to the fridge.", + "Open the fridge and put the egg inside on the top shelf then close the fridge, after a couple seconds open the fridge back up and take out the now chilled egg, then close the fridge.", + "Turn around and walk forward, then hang a left and walk up to the sink and look up at the microwave.", + "Open the microwave and put the chilled egg inside on the right side, then close the microwave." + ], + "task_desc": "Put a chilled egg in the microwave.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Plate-None-Cabinet-4/trial_T20190908_082502_482243/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Plate-None-Cabinet-4/trial_T20190908_082502_482243/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..9b24f8043b2b67edacf62db442d765e3bbd8ef5c --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Plate-None-Cabinet-4/trial_T20190908_082502_482243/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\n\\n#task#\"\n }\n ],\n\n \"notImplemented\": [\n {\n \"rhs\": \"TODO\"\n }\n ],\n\n \"task\": [\n {\n \"rhs\": \"Your task is to: cool some plate and put it in 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_082502_482243)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Apple_bar__minus_00_dot_20_bar__plus_01_dot_30_bar__plus_00_dot_41 - object\n Apple_bar__minus_00_dot_79_bar__plus_01_dot_11_bar__plus_01_dot_92 - object\n Apple_bar__minus_00_dot_79_bar__plus_01_dot_11_bar__plus_03_dot_27 - object\n 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StoveKnob_bar__minus_02_dot_99_bar__plus_01_dot_05_bar__plus_00_dot_71 - object\n StoveKnob_bar__minus_03_dot_16_bar__plus_01_dot_05_bar__plus_00_dot_71 - object\n StoveKnob_bar__minus_03_dot_32_bar__plus_01_dot_05_bar__plus_00_dot_71 - object\n StoveKnob_bar__minus_03_dot_49_bar__plus_01_dot_05_bar__plus_00_dot_71 - object\n Tomato_bar__minus_00_dot_54_bar__plus_01_dot_09_bar__plus_02_dot_82 - object\n Window_bar__minus_01_dot_39_bar__plus_01_dot_93_bar__plus_00_dot_02 - object\n Window_bar__minus_03_dot_27_bar__plus_01_dot_93_bar__plus_00_dot_02 - object\n Cabinet_bar__minus_01_dot_00_bar__plus_00_dot_39_bar__plus_00_dot_73 - receptacle\n Cabinet_bar__minus_01_dot_73_bar__plus_00_dot_39_bar__plus_00_dot_73 - receptacle\n CoffeeMachine_bar__minus_00_dot_15_bar__plus_01_dot_04_bar__plus_03_dot_19 - receptacle\n CounterTop_bar__minus_00_dot_52_bar__plus_01_dot_16_bar__plus_00_dot_49 - receptacle\n CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38 - receptacle\n 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loc_bar__minus_6_bar_4_bar_2_bar__minus_15 - location\n loc_bar__minus_5_bar_11_bar_1_bar_30 - location\n loc_bar__minus_10_bar_12_bar_0_bar_30 - location\n loc_bar__minus_14_bar_5_bar_2_bar_30 - location\n loc_bar__minus_12_bar_5_bar_2_bar_45 - location\n loc_bar__minus_5_bar_9_bar_1_bar_60 - location\n loc_bar__minus_6_bar_4_bar_3_bar_60 - location\n loc_bar__minus_4_bar_4_bar_2_bar_45 - location\n loc_bar__minus_14_bar_6_bar_0_bar_60 - location\n loc_bar__minus_4_bar_5_bar_2_bar_45 - location\n loc_bar__minus_7_bar_4_bar_2_bar_45 - location\n loc_bar__minus_5_bar_4_bar_3_bar_60 - location\n loc_bar__minus_13_bar_5_bar_2_bar__minus_15 - location\n loc_bar__minus_12_bar_5_bar_2_bar_30 - location\n loc_bar__minus_6_bar_4_bar_1_bar_30 - location\n loc_bar__minus_13_bar_6_bar_2_bar_30 - location\n loc_bar__minus_5_bar_5_bar_0_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType StoveBurner_bar__minus_03_dot_00_bar__plus_01_dot_10_bar__plus_00_dot_48 StoveBurnerType)\n (receptacleType 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Bowl_bar__minus_00_dot_79_bar__plus_01_dot_05_bar__plus_02_dot_14)\n (coolable Apple_bar__minus_00_dot_79_bar__plus_01_dot_11_bar__plus_03_dot_27)\n (coolable Bread_bar__minus_00_dot_18_bar__plus_01_dot_12_bar__plus_01_dot_89)\n (coolable Pot_bar__minus_03_dot_51_bar__plus_01_dot_56_bar__plus_02_dot_85)\n (coolable Egg_bar__minus_00_dot_42_bar__plus_01_dot_26_bar__plus_00_dot_38)\n (coolable Lettuce_bar__minus_03_dot_44_bar__plus_01_dot_36_bar__plus_02_dot_92)\n (coolable Apple_bar__minus_00_dot_20_bar__plus_01_dot_30_bar__plus_00_dot_41)\n (coolable Bowl_bar__minus_03_dot_31_bar__plus_01_dot_28_bar__plus_03_dot_13)\n (coolable Egg_bar__minus_03_dot_64_bar__plus_00_dot_14_bar__plus_01_dot_98)\n \n \n \n \n \n (sliceable Potato_bar__minus_00_dot_66_bar__plus_01_dot_08_bar__plus_01_dot_92)\n (sliceable Apple_bar__minus_00_dot_79_bar__plus_01_dot_11_bar__plus_01_dot_92)\n (sliceable Tomato_bar__minus_00_dot_54_bar__plus_01_dot_09_bar__plus_02_dot_82)\n (sliceable Lettuce_bar__minus_02_dot_51_bar__plus_01_dot_20_bar__plus_00_dot_57)\n (sliceable Potato_bar__minus_03_dot_37_bar__plus_00_dot_94_bar__plus_03_dot_20)\n (sliceable Egg_bar__minus_01_dot_66_bar__plus_01_dot_18_bar__plus_00_dot_10)\n (sliceable Potato_bar__minus_03_dot_75_bar__plus_00_dot_14_bar__plus_02_dot_04)\n (sliceable Apple_bar__minus_00_dot_79_bar__plus_01_dot_11_bar__plus_03_dot_27)\n (sliceable Bread_bar__minus_00_dot_18_bar__plus_01_dot_12_bar__plus_01_dot_89)\n (sliceable Egg_bar__minus_00_dot_42_bar__plus_01_dot_26_bar__plus_00_dot_38)\n (sliceable Lettuce_bar__minus_03_dot_44_bar__plus_01_dot_36_bar__plus_02_dot_92)\n (sliceable Apple_bar__minus_00_dot_20_bar__plus_01_dot_30_bar__plus_00_dot_41)\n (sliceable Egg_bar__minus_03_dot_64_bar__plus_00_dot_14_bar__plus_01_dot_98)\n \n (inReceptacle Pot_bar__minus_03_dot_48_bar__plus_01_dot_13_bar__plus_00_dot_23 StoveBurner_bar__minus_03_dot_48_bar__plus_01_dot_10_bar__plus_00_dot_23)\n (inReceptacle ButterKnife_bar__minus_00_dot_54_bar__plus_01_dot_05_bar__plus_03_dot_27 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49)\n (inReceptacle Tomato_bar__minus_00_dot_54_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)\n (inReceptacle Mug_bar__minus_00_dot_66_bar__plus_01_dot_04_bar__plus_02_dot_82 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49)\n (inReceptacle Bowl_bar__minus_00_dot_79_bar__plus_01_dot_05_bar__plus_02_dot_14 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49)\n (inReceptacle DishSponge_bar__minus_00_dot_17_bar__plus_01_dot_05_bar__plus_02_dot_14 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49)\n (inReceptacle Spatula_bar__minus_00_dot_54_bar__plus_01_dot_06_bar__plus_03_dot_04 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49)\n (inReceptacle Plate_bar__minus_00_dot_54_bar__plus_01_dot_05_bar__plus_02_dot_37 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49)\n (inReceptacle SoapBottle_bar__minus_00_dot_66_bar__plus_01_dot_05_bar__plus_02_dot_59 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49)\n (inReceptacle Pan_bar__minus_00_dot_27_bar__plus_01_dot_04_bar__plus_02_dot_56 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49)\n (inReceptacle Bread_bar__minus_00_dot_18_bar__plus_01_dot_12_bar__plus_01_dot_89 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49)\n (inReceptacle Apple_bar__minus_00_dot_79_bar__plus_01_dot_11_bar__plus_03_dot_27 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49)\n (inReceptacle Potato_bar__minus_00_dot_66_bar__plus_01_dot_08_bar__plus_01_dot_92 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49)\n (inReceptacle Fork_bar__minus_00_dot_66_bar__plus_01_dot_05_bar__plus_02_dot_14 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49)\n (inReceptacle SaltShaker_bar__minus_00_dot_66_bar__plus_01_dot_04_bar__plus_03_dot_27 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49)\n (inReceptacle Apple_bar__minus_00_dot_79_bar__plus_01_dot_11_bar__plus_01_dot_92 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49)\n (inReceptacle PepperShaker_bar__minus_01_dot_90_bar__plus_00_dot_09_bar__plus_00_dot_55 Drawer_bar__minus_02_dot_04_bar__plus_00_dot_22_bar__plus_00_dot_59)\n (inReceptacle SaltShaker_bar__minus_02_dot_14_bar__plus_00_dot_09_bar__plus_00_dot_51 Drawer_bar__minus_02_dot_04_bar__plus_00_dot_22_bar__plus_00_dot_59)\n (inReceptacle Spoon_bar__minus_02_dot_50_bar__plus_00_dot_10_bar__plus_00_dot_58 Drawer_bar__minus_02_dot_50_bar__plus_00_dot_22_bar__plus_00_dot_59)\n (inReceptacle SoapBottle_bar__minus_03_dot_85_bar__plus_01_dot_13_bar__plus_00_dot_28 CounterTop_bar__minus_03_dot_86_bar__plus_01_dot_16_bar__plus_00_dot_38)\n (inReceptacle Fork_bar__minus_03_dot_85_bar__plus_01_dot_13_bar__plus_00_dot_57 CounterTop_bar__minus_03_dot_86_bar__plus_01_dot_16_bar__plus_00_dot_38)\n (inReceptacle PepperShaker_bar__minus_02_dot_56_bar__plus_00_dot_90_bar__plus_00_dot_61 Drawer_bar__minus_02_dot_51_bar__plus_00_dot_94_bar__plus_00_dot_60)\n (inReceptacle DishSponge_bar__minus_02_dot_42_bar__plus_00_dot_90_bar__plus_00_dot_54 Drawer_bar__minus_02_dot_51_bar__plus_00_dot_94_bar__plus_00_dot_60)\n (inReceptacle Plate_bar__minus_02_dot_26_bar__plus_01_dot_12_bar__plus_00_dot_57 CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38)\n (inReceptacle Ladle_bar__minus_02_dot_01_bar__plus_01_dot_16_bar__plus_00_dot_57 CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38)\n (inReceptacle PepperShaker_bar__minus_02_dot_39_bar__plus_01_dot_12_bar__plus_00_dot_10 CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38)\n (inReceptacle Lettuce_bar__minus_02_dot_51_bar__plus_01_dot_20_bar__plus_00_dot_57 CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38)\n (inReceptacle Spatula_bar__minus_02_dot_01_bar__plus_01_dot_14_bar__plus_00_dot_10 CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38)\n (inReceptacle SaltShaker_bar__minus_02_dot_26_bar__plus_01_dot_12_bar__plus_00_dot_38 CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38)\n (inReceptacle HousePlant_bar__minus_02_dot_16_bar__plus_01_dot_11_bar__plus_00_dot_17 CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38)\n (inReceptacle Spoon_bar__minus_00_dot_77_bar__plus_01_dot_13_bar__plus_00_dot_66 CounterTop_bar__minus_00_dot_52_bar__plus_01_dot_16_bar__plus_00_dot_49)\n (inReceptacle Plate_bar__minus_00_dot_88_bar__plus_01_dot_12_bar__plus_00_dot_21 CounterTop_bar__minus_00_dot_52_bar__plus_01_dot_16_bar__plus_00_dot_49)\n (inReceptacle Pot_bar__minus_03_dot_00_bar__plus_01_dot_13_bar__plus_00_dot_23 StoveBurner_bar__minus_03_dot_00_bar__plus_01_dot_10_bar__plus_00_dot_23)\n (inReceptacle Lettuce_bar__minus_03_dot_44_bar__plus_01_dot_36_bar__plus_02_dot_92 Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72)\n (inReceptacle Cup_bar__minus_03_dot_25_bar__plus_00_dot_73_bar__plus_02_dot_92 Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72)\n (inReceptacle Bowl_bar__minus_03_dot_31_bar__plus_01_dot_28_bar__plus_03_dot_13 Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72)\n (inReceptacle Potato_bar__minus_03_dot_37_bar__plus_00_dot_94_bar__plus_03_dot_20 Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72)\n (inReceptacle Pot_bar__minus_03_dot_51_bar__plus_01_dot_56_bar__plus_02_dot_85 Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72)\n (inReceptacle Mug_bar__minus_03_dot_44_bar__plus_00_dot_91_bar__plus_02_dot_92 Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72)\n (inReceptacle Egg_bar__minus_03_dot_64_bar__plus_00_dot_14_bar__plus_01_dot_98 GarbageCan_bar__minus_03_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_01)\n (inReceptacle Potato_bar__minus_03_dot_75_bar__plus_00_dot_14_bar__plus_02_dot_04 GarbageCan_bar__minus_03_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_01)\n (inReceptacle Fork_bar__minus_01_dot_55_bar__plus_00_dot_93_bar__plus_00_dot_57 Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44_bar_SinkBasin)\n (inReceptacle ButterKnife_bar__minus_01_dot_20_bar__plus_00_dot_93_bar__plus_00_dot_50 Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44_bar_SinkBasin)\n (inReceptacle Spatula_bar__minus_01_dot_11_bar__plus_00_dot_95_bar__plus_00_dot_29 Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44_bar_SinkBasin)\n (inReceptacle 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)\n (inReceptacle Knife_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__plus_00_dot_50 Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44_bar_SinkBasin)\n (inReceptacle Apple_bar__minus_00_dot_20_bar__plus_01_dot_30_bar__plus_00_dot_41 Microwave_bar__minus_00_dot_37_bar__plus_01_dot_11_bar__plus_00_dot_43)\n (inReceptacle Egg_bar__minus_00_dot_42_bar__plus_01_dot_26_bar__plus_00_dot_38 Microwave_bar__minus_00_dot_37_bar__plus_01_dot_11_bar__plus_00_dot_43)\n \n \n (receptacleAtLocation Cabinet_bar__minus_01_dot_00_bar__plus_00_dot_39_bar__plus_00_dot_73 loc_bar__minus_7_bar_7_bar_2_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_73_bar__plus_00_dot_39_bar__plus_00_dot_73 loc_bar__minus_7_bar_7_bar_2_bar_45)\n (receptacleAtLocation CoffeeMachine_bar__minus_00_dot_15_bar__plus_01_dot_04_bar__plus_03_dot_19 loc_bar__minus_5_bar_12_bar_1_bar_30)\n (receptacleAtLocation CounterTop_bar__minus_00_dot_52_bar__plus_01_dot_16_bar__plus_00_dot_49 loc_bar__minus_4_bar_4_bar_2_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38 loc_bar__minus_7_bar_4_bar_2_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_03_dot_86_bar__plus_01_dot_16_bar__plus_00_dot_38 loc_bar__minus_13_bar_6_bar_2_bar_30)\n (receptacleAtLocation DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49 loc_bar__minus_5_bar_9_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__minus_02_dot_04_bar__plus_00_dot_22_bar__plus_00_dot_59 loc_bar__minus_4_bar_4_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_02_dot_04_bar__plus_00_dot_61_bar__plus_00_dot_59 loc_bar__minus_5_bar_4_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_02_dot_04_bar__plus_00_dot_94_bar__plus_00_dot_60 loc_bar__minus_6_bar_4_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_02_dot_50_bar__plus_00_dot_22_bar__plus_00_dot_59 loc_bar__minus_6_bar_4_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_02_dot_50_bar__plus_00_dot_61_bar__plus_00_dot_59 loc_bar__minus_7_bar_4_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_02_dot_51_bar__plus_00_dot_94_bar__plus_00_dot_60 loc_bar__minus_8_bar_4_bar_3_bar_60)\n (receptacleAtLocation Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72 loc_bar__minus_10_bar_11_bar_3_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_03_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_01 loc_bar__minus_14_bar_6_bar_0_bar_60)\n (receptacleAtLocation Microwave_bar__minus_00_dot_37_bar__plus_01_dot_11_bar__plus_00_dot_43 loc_bar__minus_6_bar_4_bar_1_bar_30)\n (receptacleAtLocation Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44_bar_SinkBasin loc_bar__minus_4_bar_5_bar_2_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_03_dot_00_bar__plus_01_dot_10_bar__plus_00_dot_23 loc_bar__minus_12_bar_5_bar_2_bar_30)\n (receptacleAtLocation StoveBurner_bar__minus_03_dot_00_bar__plus_01_dot_10_bar__plus_00_dot_48 loc_bar__minus_12_bar_5_bar_2_bar_30)\n (receptacleAtLocation StoveBurner_bar__minus_03_dot_48_bar__plus_01_dot_10_bar__plus_00_dot_23 loc_bar__minus_14_bar_5_bar_2_bar_30)\n (receptacleAtLocation StoveBurner_bar__minus_03_dot_48_bar__plus_01_dot_10_bar__plus_00_dot_48 loc_bar__minus_14_bar_5_bar_2_bar_30)\n (receptacleAtLocation Toaster_bar__minus_00_dot_23_bar__plus_01_dot_04_bar__plus_02_dot_87 loc_bar__minus_5_bar_11_bar_1_bar_30)\n (objectAtLocation Mug_bar__minus_03_dot_44_bar__plus_00_dot_91_bar__plus_02_dot_92 loc_bar__minus_10_bar_11_bar_3_bar_60)\n (objectAtLocation Spoon_bar__minus_02_dot_50_bar__plus_00_dot_10_bar__plus_00_dot_58 loc_bar__minus_6_bar_4_bar_3_bar_60)\n (objectAtLocation DishSponge_bar__minus_00_dot_17_bar__plus_01_dot_05_bar__plus_02_dot_14 loc_bar__minus_5_bar_9_bar_1_bar_60)\n (objectAtLocation Apple_bar__minus_00_dot_79_bar__plus_01_dot_11_bar__plus_01_dot_92 loc_bar__minus_5_bar_9_bar_1_bar_60)\n (objectAtLocation ButterKnife_bar__minus_01_dot_20_bar__plus_00_dot_93_bar__plus_00_dot_50 loc_bar__minus_4_bar_5_bar_2_bar_45)\n (objectAtLocation PepperShaker_bar__minus_01_dot_90_bar__plus_00_dot_09_bar__plus_00_dot_55 loc_bar__minus_4_bar_4_bar_3_bar_60)\n (objectAtLocation Bowl_bar__minus_03_dot_31_bar__plus_01_dot_28_bar__plus_03_dot_13 loc_bar__minus_10_bar_11_bar_3_bar_60)\n (objectAtLocation Knife_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__plus_00_dot_50 loc_bar__minus_4_bar_5_bar_2_bar_45)\n (objectAtLocation SaltShaker_bar__minus_02_dot_26_bar__plus_01_dot_12_bar__plus_00_dot_38 loc_bar__minus_7_bar_4_bar_2_bar_45)\n (objectAtLocation Egg_bar__minus_01_dot_66_bar__plus_01_dot_18_bar__plus_00_dot_10 loc_bar__minus_4_bar_5_bar_2_bar_45)\n (objectAtLocation Spatula_bar__minus_00_dot_54_bar__plus_01_dot_06_bar__plus_03_dot_04 loc_bar__minus_5_bar_9_bar_1_bar_60)\n (objectAtLocation Lettuce_bar__minus_03_dot_44_bar__plus_01_dot_36_bar__plus_02_dot_92 loc_bar__minus_10_bar_11_bar_3_bar_60)\n (objectAtLocation Plate_bar__minus_02_dot_26_bar__plus_01_dot_12_bar__plus_00_dot_57 loc_bar__minus_7_bar_4_bar_2_bar_45)\n (objectAtLocation Potato_bar__minus_03_dot_75_bar__plus_00_dot_14_bar__plus_02_dot_04 loc_bar__minus_14_bar_6_bar_0_bar_60)\n (objectAtLocation Pot_bar__minus_03_dot_48_bar__plus_01_dot_13_bar__plus_00_dot_23 loc_bar__minus_14_bar_5_bar_2_bar_30)\n (objectAtLocation SoapBottle_bar__minus_00_dot_66_bar__plus_01_dot_05_bar__plus_02_dot_59 loc_bar__minus_5_bar_9_bar_1_bar_60)\n (objectAtLocation Fork_bar__minus_00_dot_66_bar__plus_01_dot_05_bar__plus_02_dot_14 loc_bar__minus_5_bar_9_bar_1_bar_60)\n (objectAtLocation Apple_bar__minus_00_dot_20_bar__plus_01_dot_30_bar__plus_00_dot_41 loc_bar__minus_6_bar_4_bar_1_bar_30)\n (objectAtLocation PepperShaker_bar__minus_02_dot_39_bar__plus_01_dot_12_bar__plus_00_dot_10 loc_bar__minus_7_bar_4_bar_2_bar_45)\n (objectAtLocation SaltShaker_bar__minus_02_dot_14_bar__plus_00_dot_09_bar__plus_00_dot_51 loc_bar__minus_4_bar_4_bar_3_bar_60)\n (objectAtLocation Plate_bar__minus_00_dot_88_bar__plus_01_dot_12_bar__plus_00_dot_21 loc_bar__minus_4_bar_4_bar_2_bar_45)\n (objectAtLocation Egg_bar__minus_03_dot_64_bar__plus_00_dot_14_bar__plus_01_dot_98 loc_bar__minus_14_bar_6_bar_0_bar_60)\n (objectAtLocation Spatula_bar__minus_01_dot_11_bar__plus_00_dot_95_bar__plus_00_dot_29 loc_bar__minus_4_bar_5_bar_2_bar_45)\n (objectAtLocation Fork_bar__minus_01_dot_55_bar__plus_00_dot_93_bar__plus_00_dot_57 loc_bar__minus_4_bar_5_bar_2_bar_45)\n (objectAtLocation Pot_bar__minus_03_dot_51_bar__plus_01_dot_56_bar__plus_02_dot_85 loc_bar__minus_10_bar_11_bar_3_bar_60)\n (objectAtLocation Potato_bar__minus_03_dot_37_bar__plus_00_dot_94_bar__plus_03_dot_20 loc_bar__minus_10_bar_11_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_03_dot_32_bar__plus_01_dot_05_bar__plus_00_dot_71 loc_bar__minus_13_bar_5_bar_2_bar_45)\n (objectAtLocation Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44 loc_bar__minus_6_bar_4_bar_2_bar_45)\n (objectAtLocation StoveKnob_bar__minus_03_dot_16_bar__plus_01_dot_05_bar__plus_00_dot_71 loc_bar__minus_13_bar_5_bar_2_bar_45)\n (objectAtLocation StoveKnob_bar__minus_03_dot_49_bar__plus_01_dot_05_bar__plus_00_dot_71 loc_bar__minus_14_bar_5_bar_2_bar_45)\n (objectAtLocation StoveKnob_bar__minus_02_dot_99_bar__plus_01_dot_05_bar__plus_00_dot_71 loc_bar__minus_12_bar_5_bar_2_bar_45)\n (objectAtLocation Fork_bar__minus_03_dot_85_bar__plus_01_dot_13_bar__plus_00_dot_57 loc_bar__minus_13_bar_6_bar_2_bar_30)\n (objectAtLocation SoapBottle_bar__minus_03_dot_85_bar__plus_01_dot_13_bar__plus_00_dot_28 loc_bar__minus_13_bar_6_bar_2_bar_30)\n (objectAtLocation Pot_bar__minus_03_dot_00_bar__plus_01_dot_13_bar__plus_00_dot_23 loc_bar__minus_12_bar_5_bar_2_bar_30)\n (objectAtLocation Ladle_bar__minus_02_dot_01_bar__plus_01_dot_16_bar__plus_00_dot_57 loc_bar__minus_7_bar_4_bar_2_bar_45)\n (objectAtLocation Potato_bar__minus_00_dot_66_bar__plus_01_dot_08_bar__plus_01_dot_92 loc_bar__minus_5_bar_9_bar_1_bar_60)\n (objectAtLocation Plate_bar__minus_00_dot_54_bar__plus_01_dot_05_bar__plus_02_dot_37 loc_bar__minus_5_bar_9_bar_1_bar_60)\n (objectAtLocation Bread_bar__minus_00_dot_18_bar__plus_01_dot_12_bar__plus_01_dot_89 loc_bar__minus_5_bar_9_bar_1_bar_60)\n (objectAtLocation Lettuce_bar__minus_02_dot_51_bar__plus_01_dot_20_bar__plus_00_dot_57 loc_bar__minus_7_bar_4_bar_2_bar_45)\n (objectAtLocation Window_bar__minus_01_dot_39_bar__plus_01_dot_93_bar__plus_00_dot_02 loc_bar__minus_6_bar_4_bar_2_bar__minus_15)\n (objectAtLocation Window_bar__minus_03_dot_27_bar__plus_01_dot_93_bar__plus_00_dot_02 loc_bar__minus_13_bar_5_bar_2_bar__minus_15)\n (objectAtLocation Spatula_bar__minus_02_dot_01_bar__plus_01_dot_14_bar__plus_00_dot_10 loc_bar__minus_7_bar_4_bar_2_bar_45)\n (objectAtLocation Pan_bar__minus_00_dot_27_bar__plus_01_dot_04_bar__plus_02_dot_56 loc_bar__minus_5_bar_9_bar_1_bar_60)\n (objectAtLocation Egg_bar__minus_00_dot_42_bar__plus_01_dot_26_bar__plus_00_dot_38 loc_bar__minus_6_bar_4_bar_1_bar_30)\n (objectAtLocation Cup_bar__minus_03_dot_25_bar__plus_00_dot_73_bar__plus_02_dot_92 loc_bar__minus_10_bar_11_bar_3_bar_60)\n (objectAtLocation SaltShaker_bar__minus_00_dot_66_bar__plus_01_dot_04_bar__plus_03_dot_27 loc_bar__minus_5_bar_9_bar_1_bar_60)\n (objectAtLocation Knife_bar__minus_01_dot_47_bar__plus_00_dot_96_bar__plus_00_dot_43 loc_bar__minus_4_bar_5_bar_2_bar_45)\n (objectAtLocation Bowl_bar__minus_00_dot_79_bar__plus_01_dot_05_bar__plus_02_dot_14 loc_bar__minus_5_bar_9_bar_1_bar_60)\n (objectAtLocation PepperShaker_bar__minus_02_dot_56_bar__plus_00_dot_90_bar__plus_00_dot_61 loc_bar__minus_8_bar_4_bar_3_bar_60)\n (objectAtLocation ButterKnife_bar__minus_00_dot_54_bar__plus_01_dot_05_bar__plus_03_dot_27 loc_bar__minus_5_bar_9_bar_1_bar_60)\n (objectAtLocation Apple_bar__minus_00_dot_79_bar__plus_01_dot_11_bar__plus_03_dot_27 loc_bar__minus_5_bar_9_bar_1_bar_60)\n (objectAtLocation Tomato_bar__minus_00_dot_54_bar__plus_01_dot_09_bar__plus_02_dot_82 loc_bar__minus_5_bar_9_bar_1_bar_60)\n (objectAtLocation DishSponge_bar__minus_02_dot_42_bar__plus_00_dot_90_bar__plus_00_dot_54 loc_bar__minus_8_bar_4_bar_3_bar_60)\n (objectAtLocation HousePlant_bar__minus_02_dot_16_bar__plus_01_dot_11_bar__plus_00_dot_17 loc_bar__minus_7_bar_4_bar_2_bar_45)\n (objectAtLocation LightSwitch_bar__minus_02_dot_58_bar__plus_01_dot_30_bar__plus_03_dot_50 loc_bar__minus_10_bar_12_bar_0_bar_30)\n (objectAtLocation Spoon_bar__minus_00_dot_77_bar__plus_01_dot_13_bar__plus_00_dot_66 loc_bar__minus_4_bar_4_bar_2_bar_45)\n (objectAtLocation Mug_bar__minus_00_dot_66_bar__plus_01_dot_04_bar__plus_02_dot_82 loc_bar__minus_5_bar_9_bar_1_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (coolable ?o)\n (objectType ?o PlateType)\n (receptacleType ?r CabinetType)\n (isCool ?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 fridge 1", "cool plate 2 with fridge 1", "go to cabinet 2", "open cabinet 1", "move plate 2 to cabinet 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Plate-None-Cabinet-4/trial_T20190908_082502_482243/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Plate-None-Cabinet-4/trial_T20190908_082502_482243/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..de73232642804b3a9f165d8e30a0022bd73464f4 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Plate-None-Cabinet-4/trial_T20190908_082502_482243/initial_state.pddl @@ -0,0 +1,935 @@ + +(define (problem plan_trial_T20190908_082502_482243) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + 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_79_bar__plus_01_dot_11_bar__plus_01_dot_92 - object + Apple_bar__minus_00_dot_79_bar__plus_01_dot_11_bar__plus_03_dot_27 - object + Bowl_bar__minus_00_dot_79_bar__plus_01_dot_05_bar__plus_02_dot_14 - object + Bowl_bar__minus_03_dot_31_bar__plus_01_dot_28_bar__plus_03_dot_13 - object + Bread_bar__minus_00_dot_18_bar__plus_01_dot_12_bar__plus_01_dot_89 - object + ButterKnife_bar__minus_00_dot_54_bar__plus_01_dot_05_bar__plus_03_dot_27 - object + ButterKnife_bar__minus_01_dot_20_bar__plus_00_dot_93_bar__plus_00_dot_50 - object + Cup_bar__minus_03_dot_25_bar__plus_00_dot_73_bar__plus_02_dot_92 - object + DishSponge_bar__minus_00_dot_17_bar__plus_01_dot_05_bar__plus_02_dot_14 - object + DishSponge_bar__minus_02_dot_42_bar__plus_00_dot_90_bar__plus_00_dot_54 - object + Egg_bar__minus_00_dot_42_bar__plus_01_dot_26_bar__plus_00_dot_38 - object + Egg_bar__minus_01_dot_66_bar__plus_01_dot_18_bar__plus_00_dot_10 - object + Egg_bar__minus_03_dot_64_bar__plus_00_dot_14_bar__plus_01_dot_98 - 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_14 - object + Fork_bar__minus_01_dot_55_bar__plus_00_dot_93_bar__plus_00_dot_57 - object + Fork_bar__minus_03_dot_85_bar__plus_01_dot_13_bar__plus_00_dot_57 - object + HousePlant_bar__minus_02_dot_16_bar__plus_01_dot_11_bar__plus_00_dot_17 - object + Knife_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__plus_00_dot_50 - object + Knife_bar__minus_01_dot_47_bar__plus_00_dot_96_bar__plus_00_dot_43 - object + Ladle_bar__minus_02_dot_01_bar__plus_01_dot_16_bar__plus_00_dot_57 - object + Lettuce_bar__minus_02_dot_51_bar__plus_01_dot_20_bar__plus_00_dot_57 - object + Lettuce_bar__minus_03_dot_44_bar__plus_01_dot_36_bar__plus_02_dot_92 - object + LightSwitch_bar__minus_02_dot_58_bar__plus_01_dot_30_bar__plus_03_dot_50 - object + Mug_bar__minus_00_dot_66_bar__plus_01_dot_04_bar__plus_02_dot_82 - object + Mug_bar__minus_03_dot_44_bar__plus_00_dot_91_bar__plus_02_dot_92 - object + Pan_bar__minus_00_dot_27_bar__plus_01_dot_04_bar__plus_02_dot_56 - object + PepperShaker_bar__minus_01_dot_90_bar__plus_00_dot_09_bar__plus_00_dot_55 - object + PepperShaker_bar__minus_02_dot_39_bar__plus_01_dot_12_bar__plus_00_dot_10 - object + PepperShaker_bar__minus_02_dot_56_bar__plus_00_dot_90_bar__plus_00_dot_61 - object + Plate_bar__minus_00_dot_54_bar__plus_01_dot_05_bar__plus_02_dot_37 - object + Plate_bar__minus_00_dot_88_bar__plus_01_dot_12_bar__plus_00_dot_21 - object + Plate_bar__minus_02_dot_26_bar__plus_01_dot_12_bar__plus_00_dot_57 - object + Potato_bar__minus_00_dot_66_bar__plus_01_dot_08_bar__plus_01_dot_92 - object + Potato_bar__minus_03_dot_37_bar__plus_00_dot_94_bar__plus_03_dot_20 - object + Potato_bar__minus_03_dot_75_bar__plus_00_dot_14_bar__plus_02_dot_04 - object + Pot_bar__minus_03_dot_00_bar__plus_01_dot_13_bar__plus_00_dot_23 - object + Pot_bar__minus_03_dot_48_bar__plus_01_dot_13_bar__plus_00_dot_23 - object + Pot_bar__minus_03_dot_51_bar__plus_01_dot_56_bar__plus_02_dot_85 - object + SaltShaker_bar__minus_00_dot_66_bar__plus_01_dot_04_bar__plus_03_dot_27 - object + SaltShaker_bar__minus_02_dot_14_bar__plus_00_dot_09_bar__plus_00_dot_51 - object + SaltShaker_bar__minus_02_dot_26_bar__plus_01_dot_12_bar__plus_00_dot_38 - object + Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44 - object + SoapBottle_bar__minus_00_dot_66_bar__plus_01_dot_05_bar__plus_02_dot_59 - object + SoapBottle_bar__minus_03_dot_85_bar__plus_01_dot_13_bar__plus_00_dot_28 - object + Spatula_bar__minus_00_dot_54_bar__plus_01_dot_06_bar__plus_03_dot_04 - object + Spatula_bar__minus_01_dot_11_bar__plus_00_dot_95_bar__plus_00_dot_29 - object + Spatula_bar__minus_02_dot_01_bar__plus_01_dot_14_bar__plus_00_dot_10 - object + Spoon_bar__minus_00_dot_77_bar__plus_01_dot_13_bar__plus_00_dot_66 - object + Spoon_bar__minus_02_dot_50_bar__plus_00_dot_10_bar__plus_00_dot_58 - object + StoveKnob_bar__minus_02_dot_99_bar__plus_01_dot_05_bar__plus_00_dot_71 - object + StoveKnob_bar__minus_03_dot_16_bar__plus_01_dot_05_bar__plus_00_dot_71 - object + StoveKnob_bar__minus_03_dot_32_bar__plus_01_dot_05_bar__plus_00_dot_71 - object + StoveKnob_bar__minus_03_dot_49_bar__plus_01_dot_05_bar__plus_00_dot_71 - object + Tomato_bar__minus_00_dot_54_bar__plus_01_dot_09_bar__plus_02_dot_82 - object + Window_bar__minus_01_dot_39_bar__plus_01_dot_93_bar__plus_00_dot_02 - object + Window_bar__minus_03_dot_27_bar__plus_01_dot_93_bar__plus_00_dot_02 - object + Cabinet_bar__minus_01_dot_00_bar__plus_00_dot_39_bar__plus_00_dot_73 - receptacle + Cabinet_bar__minus_01_dot_73_bar__plus_00_dot_39_bar__plus_00_dot_73 - receptacle + CoffeeMachine_bar__minus_00_dot_15_bar__plus_01_dot_04_bar__plus_03_dot_19 - receptacle + CounterTop_bar__minus_00_dot_52_bar__plus_01_dot_16_bar__plus_00_dot_49 - receptacle + CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38 - receptacle + CounterTop_bar__minus_03_dot_86_bar__plus_01_dot_16_bar__plus_00_dot_38 - receptacle + DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49 - receptacle + Drawer_bar__minus_02_dot_04_bar__plus_00_dot_22_bar__plus_00_dot_59 - receptacle + Drawer_bar__minus_02_dot_04_bar__plus_00_dot_61_bar__plus_00_dot_59 - receptacle + Drawer_bar__minus_02_dot_04_bar__plus_00_dot_94_bar__plus_00_dot_60 - receptacle + Drawer_bar__minus_02_dot_50_bar__plus_00_dot_22_bar__plus_00_dot_59 - receptacle + Drawer_bar__minus_02_dot_50_bar__plus_00_dot_61_bar__plus_00_dot_59 - receptacle + Drawer_bar__minus_02_dot_51_bar__plus_00_dot_94_bar__plus_00_dot_60 - receptacle + Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72 - receptacle + GarbageCan_bar__minus_03_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_01 - receptacle + Microwave_bar__minus_00_dot_37_bar__plus_01_dot_11_bar__plus_00_dot_43 - receptacle + Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44_bar_SinkBasin - receptacle + StoveBurner_bar__minus_03_dot_00_bar__plus_01_dot_10_bar__plus_00_dot_23 - receptacle + StoveBurner_bar__minus_03_dot_00_bar__plus_01_dot_10_bar__plus_00_dot_48 - receptacle + StoveBurner_bar__minus_03_dot_48_bar__plus_01_dot_10_bar__plus_00_dot_23 - receptacle + StoveBurner_bar__minus_03_dot_48_bar__plus_01_dot_10_bar__plus_00_dot_48 - receptacle + Toaster_bar__minus_00_dot_23_bar__plus_01_dot_04_bar__plus_02_dot_87 - receptacle + loc_bar__minus_7_bar_7_bar_2_bar_45 - location + loc_bar__minus_14_bar_5_bar_2_bar_45 - location + loc_bar__minus_10_bar_11_bar_3_bar_60 - location + loc_bar__minus_6_bar_4_bar_2_bar_45 - location + loc_bar__minus_8_bar_4_bar_3_bar_60 - location + loc_bar__minus_7_bar_4_bar_3_bar_60 - location + loc_bar__minus_4_bar_4_bar_3_bar_60 - location + loc_bar__minus_5_bar_12_bar_1_bar_30 - location + loc_bar__minus_13_bar_5_bar_2_bar_45 - location + loc_bar__minus_6_bar_4_bar_2_bar__minus_15 - location + loc_bar__minus_5_bar_11_bar_1_bar_30 - location + loc_bar__minus_10_bar_12_bar_0_bar_30 - location + loc_bar__minus_14_bar_5_bar_2_bar_30 - location + loc_bar__minus_12_bar_5_bar_2_bar_45 - location + loc_bar__minus_5_bar_9_bar_1_bar_60 - location + loc_bar__minus_6_bar_4_bar_3_bar_60 - location + loc_bar__minus_4_bar_4_bar_2_bar_45 - location + loc_bar__minus_14_bar_6_bar_0_bar_60 - location + loc_bar__minus_4_bar_5_bar_2_bar_45 - location + loc_bar__minus_7_bar_4_bar_2_bar_45 - location + loc_bar__minus_5_bar_4_bar_3_bar_60 - location + loc_bar__minus_13_bar_5_bar_2_bar__minus_15 - location + loc_bar__minus_12_bar_5_bar_2_bar_30 - location + loc_bar__minus_6_bar_4_bar_1_bar_30 - location + loc_bar__minus_13_bar_6_bar_2_bar_30 - location + loc_bar__minus_5_bar_5_bar_0_bar_30 - location + ) + + +(:init + + + (receptacleType StoveBurner_bar__minus_03_dot_00_bar__plus_01_dot_10_bar__plus_00_dot_48 StoveBurnerType) + (receptacleType CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38 CounterTopType) + (receptacleType StoveBurner_bar__minus_03_dot_00_bar__plus_01_dot_10_bar__plus_00_dot_23 StoveBurnerType) + (receptacleType Drawer_bar__minus_02_dot_50_bar__plus_00_dot_61_bar__plus_00_dot_59 DrawerType) + (receptacleType 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Cabinet_bar__minus_01_dot_00_bar__plus_00_dot_39_bar__plus_00_dot_73) + (openable Microwave_bar__minus_00_dot_37_bar__plus_01_dot_11_bar__plus_00_dot_43) + (openable Drawer_bar__minus_02_dot_50_bar__plus_00_dot_22_bar__plus_00_dot_59) + (openable Drawer_bar__minus_02_dot_04_bar__plus_00_dot_94_bar__plus_00_dot_60) + (openable Cabinet_bar__minus_01_dot_73_bar__plus_00_dot_39_bar__plus_00_dot_73) + (openable Drawer_bar__minus_02_dot_04_bar__plus_00_dot_22_bar__plus_00_dot_59) + (openable Drawer_bar__minus_02_dot_04_bar__plus_00_dot_61_bar__plus_00_dot_59) + + (atLocation agent1 loc_bar__minus_5_bar_5_bar_0_bar_30) + + (cleanable Fork_bar__minus_01_dot_55_bar__plus_00_dot_93_bar__plus_00_dot_57) + (cleanable Pot_bar__minus_03_dot_48_bar__plus_01_dot_13_bar__plus_00_dot_23) + (cleanable Cup_bar__minus_03_dot_25_bar__plus_00_dot_73_bar__plus_02_dot_92) + (cleanable ButterKnife_bar__minus_01_dot_20_bar__plus_00_dot_93_bar__plus_00_dot_50) + (cleanable 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Ladle_bar__minus_02_dot_01_bar__plus_01_dot_16_bar__plus_00_dot_57) + (cleanable Apple_bar__minus_00_dot_79_bar__plus_01_dot_11_bar__plus_03_dot_27) + (cleanable Pot_bar__minus_03_dot_51_bar__plus_01_dot_56_bar__plus_02_dot_85) + (cleanable Spoon_bar__minus_02_dot_50_bar__plus_00_dot_10_bar__plus_00_dot_58) + (cleanable Egg_bar__minus_00_dot_42_bar__plus_01_dot_26_bar__plus_00_dot_38) + (cleanable Lettuce_bar__minus_03_dot_44_bar__plus_01_dot_36_bar__plus_02_dot_92) + (cleanable Apple_bar__minus_00_dot_20_bar__plus_01_dot_30_bar__plus_00_dot_41) + (cleanable Spatula_bar__minus_00_dot_54_bar__plus_01_dot_06_bar__plus_03_dot_04) + (cleanable Bowl_bar__minus_03_dot_31_bar__plus_01_dot_28_bar__plus_03_dot_13) + (cleanable Egg_bar__minus_03_dot_64_bar__plus_00_dot_14_bar__plus_01_dot_98) + (cleanable Knife_bar__minus_01_dot_47_bar__plus_00_dot_96_bar__plus_00_dot_43) + + (heatable Cup_bar__minus_03_dot_25_bar__plus_00_dot_73_bar__plus_02_dot_92) + (heatable Plate_bar__minus_02_dot_26_bar__plus_01_dot_12_bar__plus_00_dot_57) + (heatable Potato_bar__minus_00_dot_66_bar__plus_01_dot_08_bar__plus_01_dot_92) + (heatable Mug_bar__minus_03_dot_44_bar__plus_00_dot_91_bar__plus_02_dot_92) + (heatable Apple_bar__minus_00_dot_79_bar__plus_01_dot_11_bar__plus_01_dot_92) + (heatable Tomato_bar__minus_00_dot_54_bar__plus_01_dot_09_bar__plus_02_dot_82) + (heatable Mug_bar__minus_00_dot_66_bar__plus_01_dot_04_bar__plus_02_dot_82) + (heatable Plate_bar__minus_00_dot_54_bar__plus_01_dot_05_bar__plus_02_dot_37) + (heatable Potato_bar__minus_03_dot_37_bar__plus_00_dot_94_bar__plus_03_dot_20) + (heatable Egg_bar__minus_01_dot_66_bar__plus_01_dot_18_bar__plus_00_dot_10) + (heatable Potato_bar__minus_03_dot_75_bar__plus_00_dot_14_bar__plus_02_dot_04) + (heatable Plate_bar__minus_00_dot_88_bar__plus_01_dot_12_bar__plus_00_dot_21) + (heatable Apple_bar__minus_00_dot_79_bar__plus_01_dot_11_bar__plus_03_dot_27) + (heatable Bread_bar__minus_00_dot_18_bar__plus_01_dot_12_bar__plus_01_dot_89) + (heatable Egg_bar__minus_00_dot_42_bar__plus_01_dot_26_bar__plus_00_dot_38) + (heatable Apple_bar__minus_00_dot_20_bar__plus_01_dot_30_bar__plus_00_dot_41) + (heatable Egg_bar__minus_03_dot_64_bar__plus_00_dot_14_bar__plus_01_dot_98) + (coolable Pot_bar__minus_03_dot_48_bar__plus_01_dot_13_bar__plus_00_dot_23) + (coolable Cup_bar__minus_03_dot_25_bar__plus_00_dot_73_bar__plus_02_dot_92) + (coolable Plate_bar__minus_02_dot_26_bar__plus_01_dot_12_bar__plus_00_dot_57) + (coolable Potato_bar__minus_00_dot_66_bar__plus_01_dot_08_bar__plus_01_dot_92) + (coolable Mug_bar__minus_03_dot_44_bar__plus_00_dot_91_bar__plus_02_dot_92) + (coolable Apple_bar__minus_00_dot_79_bar__plus_01_dot_11_bar__plus_01_dot_92) + (coolable Pot_bar__minus_03_dot_00_bar__plus_01_dot_13_bar__plus_00_dot_23) + (coolable Tomato_bar__minus_00_dot_54_bar__plus_01_dot_09_bar__plus_02_dot_82) + (coolable Mug_bar__minus_00_dot_66_bar__plus_01_dot_04_bar__plus_02_dot_82) + (coolable Plate_bar__minus_00_dot_54_bar__plus_01_dot_05_bar__plus_02_dot_37) + (coolable Lettuce_bar__minus_02_dot_51_bar__plus_01_dot_20_bar__plus_00_dot_57) + (coolable Pan_bar__minus_00_dot_27_bar__plus_01_dot_04_bar__plus_02_dot_56) + (coolable Potato_bar__minus_03_dot_37_bar__plus_00_dot_94_bar__plus_03_dot_20) + (coolable Egg_bar__minus_01_dot_66_bar__plus_01_dot_18_bar__plus_00_dot_10) + (coolable Potato_bar__minus_03_dot_75_bar__plus_00_dot_14_bar__plus_02_dot_04) + (coolable Plate_bar__minus_00_dot_88_bar__plus_01_dot_12_bar__plus_00_dot_21) + (coolable Bowl_bar__minus_00_dot_79_bar__plus_01_dot_05_bar__plus_02_dot_14) + (coolable Apple_bar__minus_00_dot_79_bar__plus_01_dot_11_bar__plus_03_dot_27) + (coolable Bread_bar__minus_00_dot_18_bar__plus_01_dot_12_bar__plus_01_dot_89) + (coolable Pot_bar__minus_03_dot_51_bar__plus_01_dot_56_bar__plus_02_dot_85) + (coolable Egg_bar__minus_00_dot_42_bar__plus_01_dot_26_bar__plus_00_dot_38) + (coolable Lettuce_bar__minus_03_dot_44_bar__plus_01_dot_36_bar__plus_02_dot_92) + (coolable Apple_bar__minus_00_dot_20_bar__plus_01_dot_30_bar__plus_00_dot_41) + (coolable Bowl_bar__minus_03_dot_31_bar__plus_01_dot_28_bar__plus_03_dot_13) + (coolable Egg_bar__minus_03_dot_64_bar__plus_00_dot_14_bar__plus_01_dot_98) + + + + + + (sliceable Potato_bar__minus_00_dot_66_bar__plus_01_dot_08_bar__plus_01_dot_92) + (sliceable Apple_bar__minus_00_dot_79_bar__plus_01_dot_11_bar__plus_01_dot_92) + (sliceable Tomato_bar__minus_00_dot_54_bar__plus_01_dot_09_bar__plus_02_dot_82) + (sliceable Lettuce_bar__minus_02_dot_51_bar__plus_01_dot_20_bar__plus_00_dot_57) + (sliceable Potato_bar__minus_03_dot_37_bar__plus_00_dot_94_bar__plus_03_dot_20) + (sliceable Egg_bar__minus_01_dot_66_bar__plus_01_dot_18_bar__plus_00_dot_10) + (sliceable Potato_bar__minus_03_dot_75_bar__plus_00_dot_14_bar__plus_02_dot_04) + (sliceable Apple_bar__minus_00_dot_79_bar__plus_01_dot_11_bar__plus_03_dot_27) + (sliceable Bread_bar__minus_00_dot_18_bar__plus_01_dot_12_bar__plus_01_dot_89) + (sliceable Egg_bar__minus_00_dot_42_bar__plus_01_dot_26_bar__plus_00_dot_38) + (sliceable Lettuce_bar__minus_03_dot_44_bar__plus_01_dot_36_bar__plus_02_dot_92) + (sliceable Apple_bar__minus_00_dot_20_bar__plus_01_dot_30_bar__plus_00_dot_41) + (sliceable Egg_bar__minus_03_dot_64_bar__plus_00_dot_14_bar__plus_01_dot_98) + + (inReceptacle Pot_bar__minus_03_dot_48_bar__plus_01_dot_13_bar__plus_00_dot_23 StoveBurner_bar__minus_03_dot_48_bar__plus_01_dot_10_bar__plus_00_dot_23) + (inReceptacle ButterKnife_bar__minus_00_dot_54_bar__plus_01_dot_05_bar__plus_03_dot_27 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle Tomato_bar__minus_00_dot_54_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 Mug_bar__minus_00_dot_66_bar__plus_01_dot_04_bar__plus_02_dot_82 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle Bowl_bar__minus_00_dot_79_bar__plus_01_dot_05_bar__plus_02_dot_14 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle DishSponge_bar__minus_00_dot_17_bar__plus_01_dot_05_bar__plus_02_dot_14 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle Spatula_bar__minus_00_dot_54_bar__plus_01_dot_06_bar__plus_03_dot_04 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle Plate_bar__minus_00_dot_54_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 SoapBottle_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 Pan_bar__minus_00_dot_27_bar__plus_01_dot_04_bar__plus_02_dot_56 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle Bread_bar__minus_00_dot_18_bar__plus_01_dot_12_bar__plus_01_dot_89 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle Apple_bar__minus_00_dot_79_bar__plus_01_dot_11_bar__plus_03_dot_27 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle Potato_bar__minus_00_dot_66_bar__plus_01_dot_08_bar__plus_01_dot_92 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle Fork_bar__minus_00_dot_66_bar__plus_01_dot_05_bar__plus_02_dot_14 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle SaltShaker_bar__minus_00_dot_66_bar__plus_01_dot_04_bar__plus_03_dot_27 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle 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PepperShaker_bar__minus_02_dot_56_bar__plus_00_dot_90_bar__plus_00_dot_61 Drawer_bar__minus_02_dot_51_bar__plus_00_dot_94_bar__plus_00_dot_60) + (inReceptacle DishSponge_bar__minus_02_dot_42_bar__plus_00_dot_90_bar__plus_00_dot_54 Drawer_bar__minus_02_dot_51_bar__plus_00_dot_94_bar__plus_00_dot_60) + (inReceptacle Plate_bar__minus_02_dot_26_bar__plus_01_dot_12_bar__plus_00_dot_57 CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38) + (inReceptacle Ladle_bar__minus_02_dot_01_bar__plus_01_dot_16_bar__plus_00_dot_57 CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38) + (inReceptacle PepperShaker_bar__minus_02_dot_39_bar__plus_01_dot_12_bar__plus_00_dot_10 CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38) + (inReceptacle Lettuce_bar__minus_02_dot_51_bar__plus_01_dot_20_bar__plus_00_dot_57 CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38) + (inReceptacle 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GarbageCan_bar__minus_03_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_01) + (inReceptacle Potato_bar__minus_03_dot_75_bar__plus_00_dot_14_bar__plus_02_dot_04 GarbageCan_bar__minus_03_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_01) + (inReceptacle Fork_bar__minus_01_dot_55_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 ButterKnife_bar__minus_01_dot_20_bar__plus_00_dot_93_bar__plus_00_dot_50 Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44_bar_SinkBasin) + (inReceptacle Spatula_bar__minus_01_dot_11_bar__plus_00_dot_95_bar__plus_00_dot_29 Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44_bar_SinkBasin) + (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 Knife_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__plus_00_dot_50 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(objectAtLocation Tomato_bar__minus_00_dot_54_bar__plus_01_dot_09_bar__plus_02_dot_82 loc_bar__minus_5_bar_9_bar_1_bar_60) + (objectAtLocation DishSponge_bar__minus_02_dot_42_bar__plus_00_dot_90_bar__plus_00_dot_54 loc_bar__minus_8_bar_4_bar_3_bar_60) + (objectAtLocation HousePlant_bar__minus_02_dot_16_bar__plus_01_dot_11_bar__plus_00_dot_17 loc_bar__minus_7_bar_4_bar_2_bar_45) + (objectAtLocation LightSwitch_bar__minus_02_dot_58_bar__plus_01_dot_30_bar__plus_03_dot_50 loc_bar__minus_10_bar_12_bar_0_bar_30) + (objectAtLocation Spoon_bar__minus_00_dot_77_bar__plus_01_dot_13_bar__plus_00_dot_66 loc_bar__minus_4_bar_4_bar_2_bar_45) + (objectAtLocation Mug_bar__minus_00_dot_66_bar__plus_01_dot_04_bar__plus_02_dot_82 loc_bar__minus_5_bar_9_bar_1_bar_60) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (coolable ?o) + (objectType ?o PlateType) + (receptacleType ?r CabinetType) + (isCool ?o) + (inReceptacle ?o ?r) + ) + ) + ) + ) + ) + ) + \ No newline at 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"position": { + "x": -1.663368, + "y": 1.18456626, + "z": 0.09527105 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Cup_7b1a480e", + "position": { + "x": -3.24800014, + "y": 0.7260677, + "z": 2.9200983 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "SaltShaker_e61894bc", + "position": { + "x": -2.262703, + "y": 1.12120628, + "z": 0.379 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Knife_e6e9017d", + "position": { + "x": -1.28814924, + "y": 0.9639934, + "z": 0.498063982 + }, + "rotation": { + "x": 1.40334191e-14, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Bowl_9496ee5e", + "position": { + "x": -3.30718732, + "y": 1.28435814, + "z": 3.13280272 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "PepperShaker_4cc43937", + "position": { + "x": -1.90128517, + "y": 0.09206425, + "z": 0.5459646 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "ButterKnife_8393cb4d", + "position": { + "x": -1.19964325, + "y": 0.931598246, + "z": 0.498063982 + }, + "rotation": { + "x": 1.40334191e-14, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Apple_f6bdaee7", + "position": { + "x": -0.785364747, + "y": 1.11452734, + "z": 1.9207176 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Tomato_1473e57e", + "position": { + "x": -0.5388072, + "y": 1.08882356, + "z": 2.817812 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_130c30e2", + "position": { + "x": -0.168970883, + "y": 1.0467118, + "z": 2.14499116 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Spoon_9dba57b8", + "position": { + "x": -2.4979, + "y": 0.09601659, + "z": 0.579597354 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_ff353859", + "position": { + "x": -3.44, + "y": 0.906860232, + "z": 2.92009878 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 27139382, + "scene_num": 4 + }, + "task_id": "trial_T20190908_082502_482243", + "task_type": "pick_cool_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A4CHLWPHZIP7Y_3E1QT0TDFS0QTC0TJ7XPJWN5DHB8I3", + "high_descs": [ + "Go toward the door and turn right to face the wooden table.", + "Take the gray plate from the wooden table.", + "Turn left, go to the door, turn left, and go to the refrigerator.", + "Open the refrigerator, put the plate in the refrigerator, close the refrigerator, wait for three seconds, open the refrigerator, take the plate from the refrigerator, and close the refrigerator.", + "Turn around, go to the table, turn right, and go to the counter.", + "Open the second cabinet door, put the plate inside the cabinet, and close the cabinet door." + ], + "task_desc": "Place a chilled plate inside the second cabinet on the left.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A98E8M4QLI9RS_3LPW2N6LKWTCFLCRFQF0QF1P5LJU5F", + "high_descs": [ + "turn to the right to face the table", + "pick up the silver plate to the right of the white bottle from the table", + "turn around and move to the fridge", + "open the doors to the fridge, put the plate on the top shelf in the back right corner, close the doors for 8 seconds, open the doors and remove the plate and shut the doors again", + "turn to the left and move forward to the sink", + "open the right cabinet door underneath the sink and put the plate in to the cabinet and shut the door" + ], + "task_desc": "put a chilled plate in to the cabinet", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A2871R3LEPWMMK_3RRCEFRB7P3FN3ZL1UFVGX3NG4HB4A", + "high_descs": [ + "Cross the room and walk to the large wooden table on the right.", + "Pick up the gray plate to the right of the white bottle in the middle of the table.", + "Turn left, hang a left at the wall and walk to the black fridge ahead.", + "Put the plate inside the fridge on the top back right corner, chill it for seven seconds, remove it, and close the doors.", + "Turn around and hang a right at the table to reach the cabinets under the sink.", + "Open the bottom right cabinet under the sink, put the chilled plate inside the cabinet and close the door." + ], + "task_desc": "Place a chilled plate in a cabinet.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Plate-None-Cabinet-4/trial_T20190908_082525_878826/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Plate-None-Cabinet-4/trial_T20190908_082525_878826/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..2e7339f79525f02f81e0219b2345eca9b2bf1c11 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Plate-None-Cabinet-4/trial_T20190908_082525_878826/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\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 plate 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_082525_878826)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\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_77_bar__plus_01_dot_19_bar__plus_00_dot_12 - object\n Apple_bar__minus_00_dot_91_bar__plus_01_dot_11_bar__plus_03_dot_27 - object\n Apple_bar__minus_03_dot_70_bar__plus_00_dot_18_bar__plus_02_dot_04 - object\n Bowl_bar__minus_00_dot_91_bar__plus_01_dot_05_bar__plus_02_dot_82 - object\n Bowl_bar__minus_02_dot_26_bar__plus_01_dot_12_bar__plus_00_dot_47 - object\n Bowl_bar__minus_02_dot_51_bar__plus_01_dot_12_bar__plus_00_dot_28 - object\n Bread_bar__minus_00_dot_91_bar__plus_01_dot_13_bar__plus_02_dot_59 - object\n ButterKnife_bar__minus_00_dot_54_bar__plus_01_dot_05_bar__plus_03_dot_04 - object\n ButterKnife_bar__minus_00_dot_72_bar__plus_01_dot_12_bar__plus_00_dot_66 - object\n Cup_bar__minus_03_dot_44_bar__plus_00_dot_91_bar__plus_03_dot_06 - object\n DishSponge_bar__minus_01_dot_89_bar__plus_01_dot_12_bar__plus_00_dot_57 - object\n DishSponge_bar__minus_02_dot_09_bar__plus_00_dot_90_bar__plus_00_dot_58 - object\n Egg_bar__minus_00_dot_17_bar__plus_01_dot_08_bar__plus_02_dot_14 - object\n Egg_bar__minus_02_dot_01_bar__plus_01_dot_16_bar__plus_00_dot_66 - object\n Faucet_bar__minus_01_dot_39_bar__plus_01_dot_37_bar__plus_00_dot_17 - object\n Fork_bar__minus_00_dot_54_bar__plus_01_dot_05_bar__plus_02_dot_37 - object\n HousePlant_bar__minus_02_dot_16_bar__plus_01_dot_11_bar__plus_00_dot_17 - object\n Knife_bar__minus_00_dot_66_bar__plus_01_dot_08_bar__plus_02_dot_82 - object\n Knife_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__plus_00_dot_36 - object\n Knife_bar__minus_03_dot_85_bar__plus_01_dot_16_bar__plus_00_dot_47 - object\n Ladle_bar__minus_00_dot_54_bar__plus_01_dot_09_bar__plus_02_dot_37 - object\n Ladle_bar__minus_01_dot_92_bar__plus_01_dot_14_bar__plus_00_dot_38 - object\n Lettuce_bar__minus_00_dot_79_bar__plus_01_dot_12_bar__plus_01_dot_92 - object\n Lettuce_bar__minus_03_dot_44_bar__plus_01_dot_64_bar__plus_02_dot_92 - object\n Lettuce_bar__minus_03_dot_51_bar__plus_01_dot_36_bar__plus_03_dot_06 - object\n LightSwitch_bar__minus_02_dot_58_bar__plus_01_dot_30_bar__plus_03_dot_50 - object\n Mug_bar__minus_00_dot_38_bar__plus_01_dot_09_bar__plus_03_dot_19 - object\n Mug_bar__minus_01_dot_64_bar__plus_00_dot_93_bar__plus_00_dot_50 - object\n Pan_bar__minus_00_dot_27_bar__plus_01_dot_04_bar__plus_02_dot_56 - object\n PepperShaker_bar__minus_00_dot_72_bar__plus_01_dot_12_bar__plus_00_dot_48 - object\n PepperShaker_bar__minus_02_dot_00_bar__plus_00_dot_90_bar__plus_00_dot_65 - object\n Plate_bar__minus_00_dot_42_bar__plus_01_dot_05_bar__plus_01_dot_92 - object\n Potato_bar__minus_01_dot_20_bar__plus_00_dot_96_bar__plus_00_dot_64 - object\n Potato_bar__minus_02_dot_39_bar__plus_01_dot_16_bar__plus_00_dot_10 - object\n Potato_bar__minus_03_dot_54_bar__plus_00_dot_14_bar__plus_02_dot_04 - object\n Pot_bar__minus_03_dot_00_bar__plus_01_dot_13_bar__plus_00_dot_23 - object\n Pot_bar__minus_03_dot_37_bar__plus_01_dot_29_bar__plus_02_dot_85 - object\n Pot_bar__minus_03_dot_48_bar__plus_01_dot_13_bar__plus_00_dot_48 - object\n SaltShaker_bar__minus_00_dot_88_bar__plus_01_dot_12_bar__plus_00_dot_57 - object\n SaltShaker_bar__minus_03_dot_78_bar__plus_01_dot_12_bar__plus_00_dot_10 - object\n Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44 - object\n SoapBottle_bar__minus_00_dot_66_bar__plus_01_dot_05_bar__plus_03_dot_04 - object\n SoapBottle_bar__minus_00_dot_79_bar__plus_01_dot_05_bar__plus_03_dot_04 - object\n SoapBottle_bar__minus_02_dot_45_bar__plus_00_dot_10_bar__plus_00_dot_65 - object\n Spatula_bar__minus_00_dot_54_bar__plus_01_dot_06_bar__plus_02_dot_14 - object\n Spoon_bar__minus_02_dot_01_bar__plus_01_dot_13_bar__plus_00_dot_28 - object\n StoveKnob_bar__minus_02_dot_99_bar__plus_01_dot_05_bar__plus_00_dot_71 - object\n StoveKnob_bar__minus_03_dot_16_bar__plus_01_dot_05_bar__plus_00_dot_71 - object\n StoveKnob_bar__minus_03_dot_32_bar__plus_01_dot_05_bar__plus_00_dot_71 - object\n StoveKnob_bar__minus_03_dot_49_bar__plus_01_dot_05_bar__plus_00_dot_71 - object\n Tomato_bar__minus_00_dot_17_bar__plus_01_dot_09_bar__plus_01_dot_92 - object\n Window_bar__minus_01_dot_39_bar__plus_01_dot_93_bar__plus_00_dot_02 - object\n Window_bar__minus_03_dot_27_bar__plus_01_dot_93_bar__plus_00_dot_02 - object\n Cabinet_bar__minus_01_dot_00_bar__plus_00_dot_39_bar__plus_00_dot_73 - receptacle\n Cabinet_bar__minus_01_dot_73_bar__plus_00_dot_39_bar__plus_00_dot_73 - receptacle\n CoffeeMachine_bar__minus_00_dot_15_bar__plus_01_dot_04_bar__plus_03_dot_19 - receptacle\n CounterTop_bar__minus_00_dot_52_bar__plus_01_dot_16_bar__plus_00_dot_49 - receptacle\n CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38 - receptacle\n CounterTop_bar__minus_03_dot_86_bar__plus_01_dot_16_bar__plus_00_dot_38 - receptacle\n DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49 - receptacle\n Drawer_bar__minus_02_dot_04_bar__plus_00_dot_22_bar__plus_00_dot_59 - receptacle\n Drawer_bar__minus_02_dot_04_bar__plus_00_dot_61_bar__plus_00_dot_59 - receptacle\n Drawer_bar__minus_02_dot_04_bar__plus_00_dot_94_bar__plus_00_dot_60 - receptacle\n Drawer_bar__minus_02_dot_50_bar__plus_00_dot_22_bar__plus_00_dot_59 - receptacle\n Drawer_bar__minus_02_dot_50_bar__plus_00_dot_61_bar__plus_00_dot_59 - receptacle\n Drawer_bar__minus_02_dot_51_bar__plus_00_dot_94_bar__plus_00_dot_60 - receptacle\n Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72 - receptacle\n GarbageCan_bar__minus_03_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_01 - receptacle\n Microwave_bar__minus_00_dot_37_bar__plus_01_dot_11_bar__plus_00_dot_43 - receptacle\n Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44_bar_SinkBasin - receptacle\n StoveBurner_bar__minus_03_dot_00_bar__plus_01_dot_10_bar__plus_00_dot_23 - receptacle\n StoveBurner_bar__minus_03_dot_00_bar__plus_01_dot_10_bar__plus_00_dot_48 - receptacle\n StoveBurner_bar__minus_03_dot_48_bar__plus_01_dot_10_bar__plus_00_dot_23 - receptacle\n StoveBurner_bar__minus_03_dot_48_bar__plus_01_dot_10_bar__plus_00_dot_48 - receptacle\n Toaster_bar__minus_00_dot_23_bar__plus_01_dot_04_bar__plus_02_dot_87 - receptacle\n loc_bar__minus_7_bar_7_bar_2_bar_45 - location\n loc_bar__minus_14_bar_5_bar_2_bar_45 - location\n loc_bar__minus_10_bar_11_bar_3_bar_60 - location\n loc_bar__minus_6_bar_4_bar_2_bar_45 - location\n loc_bar__minus_8_bar_4_bar_3_bar_60 - location\n loc_bar__minus_7_bar_4_bar_3_bar_60 - location\n loc_bar__minus_4_bar_4_bar_3_bar_60 - location\n loc_bar__minus_5_bar_12_bar_1_bar_30 - location\n loc_bar__minus_13_bar_5_bar_2_bar_45 - location\n loc_bar__minus_6_bar_4_bar_2_bar__minus_15 - location\n loc_bar__minus_5_bar_11_bar_1_bar_30 - location\n loc_bar__minus_10_bar_12_bar_0_bar_30 - location\n loc_bar__minus_14_bar_5_bar_2_bar_30 - location\n loc_bar__minus_12_bar_5_bar_2_bar_45 - location\n loc_bar__minus_5_bar_9_bar_1_bar_60 - location\n loc_bar__minus_6_bar_4_bar_3_bar_60 - location\n loc_bar__minus_4_bar_4_bar_2_bar_45 - location\n loc_bar__minus_14_bar_6_bar_0_bar_60 - location\n loc_bar__minus_4_bar_5_bar_2_bar_45 - location\n loc_bar__minus_7_bar_4_bar_2_bar_45 - location\n loc_bar__minus_5_bar_4_bar_3_bar_60 - location\n loc_bar__minus_13_bar_5_bar_2_bar__minus_15 - location\n loc_bar__minus_12_bar_5_bar_2_bar_30 - location\n loc_bar__minus_6_bar_4_bar_1_bar_30 - location\n loc_bar__minus_13_bar_6_bar_2_bar_30 - location\n loc_bar__minus_5_bar_10_bar_0_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType StoveBurner_bar__minus_03_dot_00_bar__plus_01_dot_10_bar__plus_00_dot_48 StoveBurnerType)\n (receptacleType CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38 CounterTopType)\n (receptacleType StoveBurner_bar__minus_03_dot_00_bar__plus_01_dot_10_bar__plus_00_dot_23 StoveBurnerType)\n (receptacleType Drawer_bar__minus_02_dot_50_bar__plus_00_dot_61_bar__plus_00_dot_59 DrawerType)\n (receptacleType Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72 FridgeType)\n (receptacleType 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CounterTop_bar__minus_03_dot_86_bar__plus_01_dot_16_bar__plus_00_dot_38 CounterTopType)\n (receptacleType Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44_bar_SinkBasin SinkBasinType)\n (receptacleType Drawer_bar__minus_02_dot_50_bar__plus_00_dot_22_bar__plus_00_dot_59 DrawerType)\n (receptacleType Drawer_bar__minus_02_dot_04_bar__plus_00_dot_94_bar__plus_00_dot_60 DrawerType)\n (receptacleType StoveBurner_bar__minus_03_dot_48_bar__plus_01_dot_10_bar__plus_00_dot_48 StoveBurnerType)\n (receptacleType Cabinet_bar__minus_01_dot_73_bar__plus_00_dot_39_bar__plus_00_dot_73 CabinetType)\n (receptacleType Drawer_bar__minus_02_dot_04_bar__plus_00_dot_22_bar__plus_00_dot_59 DrawerType)\n (receptacleType Drawer_bar__minus_02_dot_04_bar__plus_00_dot_61_bar__plus_00_dot_59 DrawerType)\n (objectType Mug_bar__minus_00_dot_38_bar__plus_01_dot_09_bar__plus_03_dot_19 MugType)\n (objectType SaltShaker_bar__minus_00_dot_88_bar__plus_01_dot_12_bar__plus_00_dot_57 SaltShakerType)\n (objectType DishSponge_bar__minus_01_dot_89_bar__plus_01_dot_12_bar__plus_00_dot_57 DishSpongeType)\n (objectType DishSponge_bar__minus_02_dot_09_bar__plus_00_dot_90_bar__plus_00_dot_58 DishSpongeType)\n (objectType PepperShaker_bar__minus_02_dot_00_bar__plus_00_dot_90_bar__plus_00_dot_65 PepperShakerType)\n (objectType Egg_bar__minus_00_dot_17_bar__plus_01_dot_08_bar__plus_02_dot_14 EggType)\n (objectType Pot_bar__minus_03_dot_37_bar__plus_01_dot_29_bar__plus_02_dot_85 PotType)\n (objectType Lettuce_bar__minus_03_dot_44_bar__plus_01_dot_64_bar__plus_02_dot_92 LettuceType)\n (objectType Knife_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__plus_00_dot_36 KnifeType)\n (objectType SoapBottle_bar__minus_02_dot_45_bar__plus_00_dot_10_bar__plus_00_dot_65 SoapBottleType)\n (objectType StoveKnob_bar__minus_03_dot_16_bar__plus_01_dot_05_bar__plus_00_dot_71 StoveKnobType)\n (objectType Apple_bar__minus_00_dot_91_bar__plus_01_dot_11_bar__plus_03_dot_27 AppleType)\n (objectType 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Plate_bar__minus_00_dot_42_bar__plus_01_dot_05_bar__plus_01_dot_92 PlateType)\n (objectType Cup_bar__minus_03_dot_44_bar__plus_00_dot_91_bar__plus_03_dot_06 CupType)\n (objectType Spoon_bar__minus_02_dot_01_bar__plus_01_dot_13_bar__plus_00_dot_28 SpoonType)\n (objectType Spatula_bar__minus_00_dot_54_bar__plus_01_dot_06_bar__plus_02_dot_14 SpatulaType)\n (objectType Knife_bar__minus_00_dot_66_bar__plus_01_dot_08_bar__plus_02_dot_82 KnifeType)\n (objectType LightSwitch_bar__minus_02_dot_58_bar__plus_01_dot_30_bar__plus_03_dot_50 LightSwitchType)\n (objectType Apple_bar__minus_00_dot_77_bar__plus_01_dot_19_bar__plus_00_dot_12 AppleType)\n (objectType Window_bar__minus_03_dot_27_bar__plus_01_dot_93_bar__plus_00_dot_02 WindowType)\n (objectType Bread_bar__minus_00_dot_91_bar__plus_01_dot_13_bar__plus_02_dot_59 BreadType)\n (objectType Bowl_bar__minus_00_dot_91_bar__plus_01_dot_05_bar__plus_02_dot_82 BowlType)\n (objectType Lettuce_bar__minus_03_dot_51_bar__plus_01_dot_36_bar__plus_03_dot_06 LettuceType)\n (objectType Apple_bar__minus_03_dot_70_bar__plus_00_dot_18_bar__plus_02_dot_04 AppleType)\n (objectType Potato_bar__minus_03_dot_54_bar__plus_00_dot_14_bar__plus_02_dot_04 PotatoType)\n (objectType Bowl_bar__minus_02_dot_51_bar__plus_01_dot_12_bar__plus_00_dot_28 BowlType)\n (objectType Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44 SinkType)\n (objectType ButterKnife_bar__minus_00_dot_54_bar__plus_01_dot_05_bar__plus_03_dot_04 ButterKnifeType)\n (objectType StoveKnob_bar__minus_03_dot_32_bar__plus_01_dot_05_bar__plus_00_dot_71 StoveKnobType)\n (objectType SaltShaker_bar__minus_03_dot_78_bar__plus_01_dot_12_bar__plus_00_dot_10 SaltShakerType)\n (objectType Window_bar__minus_01_dot_39_bar__plus_01_dot_93_bar__plus_00_dot_02 WindowType)\n (objectType PepperShaker_bar__minus_00_dot_72_bar__plus_01_dot_12_bar__plus_00_dot_48 PepperShakerType)\n (canContain StoveBurnerType PotType)\n (canContain StoveBurnerType PanType)\n (canContain CounterTopType 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(canContain DrawerType DishSpongeType)\n (canContain DrawerType LadleType)\n (canContain DrawerType ForkType)\n (canContain DrawerType SpoonType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ButterKnifeType)\n (canContain DrawerType PepperShakerType)\n (canContain DrawerType KnifeType)\n (canContain DrawerType SpatulaType)\n (canContain FridgeType BreadType)\n (canContain FridgeType BowlType)\n (canContain FridgeType PotType)\n (canContain FridgeType MugType)\n (canContain FridgeType EggType)\n (canContain FridgeType LettuceType)\n (canContain FridgeType PotatoType)\n (canContain FridgeType CupType)\n (canContain FridgeType PlateType)\n (canContain FridgeType TomatoType)\n (canContain FridgeType AppleType)\n (canContain FridgeType PanType)\n (canContain DiningTableType SaltShakerType)\n (canContain DiningTableType BreadType)\n (canContain DiningTableType DishSpongeType)\n (canContain DiningTableType BowlType)\n (canContain DiningTableType PotType)\n (canContain DiningTableType MugType)\n (canContain DiningTableType EggType)\n (canContain DiningTableType LadleType)\n (canContain DiningTableType ForkType)\n (canContain DiningTableType SpoonType)\n (canContain DiningTableType SoapBottleType)\n (canContain DiningTableType LettuceType)\n (canContain DiningTableType PotatoType)\n (canContain DiningTableType ButterKnifeType)\n (canContain DiningTableType CupType)\n (canContain DiningTableType PlateType)\n (canContain DiningTableType PepperShakerType)\n (canContain DiningTableType TomatoType)\n (canContain DiningTableType KnifeType)\n (canContain DiningTableType AppleType)\n (canContain DiningTableType PanType)\n (canContain DiningTableType SpatulaType)\n (canContain DrawerType SaltShakerType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType LadleType)\n (canContain DrawerType ForkType)\n (canContain DrawerType SpoonType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ButterKnifeType)\n (canContain DrawerType 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(canContain CounterTopType SpatulaType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType BowlType)\n (canContain CabinetType PotType)\n (canContain CabinetType MugType)\n (canContain CabinetType LadleType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType CupType)\n (canContain CabinetType PlateType)\n (canContain CabinetType PepperShakerType)\n (canContain CabinetType PanType)\n (canContain GarbageCanType BreadType)\n (canContain GarbageCanType DishSpongeType)\n (canContain GarbageCanType EggType)\n (canContain GarbageCanType SoapBottleType)\n (canContain GarbageCanType LettuceType)\n (canContain GarbageCanType PotatoType)\n (canContain GarbageCanType TomatoType)\n (canContain GarbageCanType AppleType)\n (canContain StoveBurnerType PotType)\n (canContain StoveBurnerType PanType)\n (canContain MicrowaveType MugType)\n (canContain MicrowaveType PotatoType)\n (canContain MicrowaveType EggType)\n (canContain 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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)\n (inReceptacle Spatula_bar__minus_00_dot_54_bar__plus_01_dot_06_bar__plus_02_dot_14 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49)\n (inReceptacle ButterKnife_bar__minus_00_dot_54_bar__plus_01_dot_05_bar__plus_03_dot_04 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49)\n (inReceptacle SoapBottle_bar__minus_00_dot_66_bar__plus_01_dot_05_bar__plus_03_dot_04 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49)\n (inReceptacle Egg_bar__minus_00_dot_17_bar__plus_01_dot_08_bar__plus_02_dot_14 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49)\n (inReceptacle Knife_bar__minus_00_dot_66_bar__plus_01_dot_08_bar__plus_02_dot_82 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49)\n (inReceptacle Tomato_bar__minus_00_dot_17_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)\n (inReceptacle Pan_bar__minus_00_dot_27_bar__plus_01_dot_04_bar__plus_02_dot_56 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49)\n (inReceptacle Lettuce_bar__minus_00_dot_79_bar__plus_01_dot_12_bar__plus_01_dot_92 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49)\n (inReceptacle Ladle_bar__minus_00_dot_54_bar__plus_01_dot_09_bar__plus_02_dot_37 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49)\n (inReceptacle Bread_bar__minus_00_dot_91_bar__plus_01_dot_13_bar__plus_02_dot_59 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49)\n (inReceptacle Apple_bar__minus_00_dot_91_bar__plus_01_dot_11_bar__plus_03_dot_27 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49)\n (inReceptacle Bowl_bar__minus_00_dot_91_bar__plus_01_dot_05_bar__plus_02_dot_82 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49)\n (inReceptacle Fork_bar__minus_00_dot_54_bar__plus_01_dot_05_bar__plus_02_dot_37 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49)\n (inReceptacle SoapBottle_bar__minus_00_dot_79_bar__plus_01_dot_05_bar__plus_03_dot_04 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49)\n (inReceptacle SoapBottle_bar__minus_02_dot_45_bar__plus_00_dot_10_bar__plus_00_dot_65 Drawer_bar__minus_02_dot_50_bar__plus_00_dot_22_bar__plus_00_dot_59)\n (inReceptacle SaltShaker_bar__minus_03_dot_78_bar__plus_01_dot_12_bar__plus_00_dot_10 CounterTop_bar__minus_03_dot_86_bar__plus_01_dot_16_bar__plus_00_dot_38)\n (inReceptacle Knife_bar__minus_03_dot_85_bar__plus_01_dot_16_bar__plus_00_dot_47 CounterTop_bar__minus_03_dot_86_bar__plus_01_dot_16_bar__plus_00_dot_38)\n (inReceptacle PepperShaker_bar__minus_02_dot_00_bar__plus_00_dot_90_bar__plus_00_dot_65 Drawer_bar__minus_02_dot_04_bar__plus_00_dot_94_bar__plus_00_dot_60)\n (inReceptacle DishSponge_bar__minus_02_dot_09_bar__plus_00_dot_90_bar__plus_00_dot_58 Drawer_bar__minus_02_dot_04_bar__plus_00_dot_94_bar__plus_00_dot_60)\n (inReceptacle Spoon_bar__minus_02_dot_01_bar__plus_01_dot_13_bar__plus_00_dot_28 CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38)\n (inReceptacle DishSponge_bar__minus_01_dot_89_bar__plus_01_dot_12_bar__plus_00_dot_57 CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38)\n (inReceptacle Ladle_bar__minus_01_dot_92_bar__plus_01_dot_14_bar__plus_00_dot_38 CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38)\n (inReceptacle Potato_bar__minus_02_dot_39_bar__plus_01_dot_16_bar__plus_00_dot_10 CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38)\n (inReceptacle Bowl_bar__minus_02_dot_51_bar__plus_01_dot_12_bar__plus_00_dot_28 CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38)\n (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)\n (inReceptacle HousePlant_bar__minus_02_dot_16_bar__plus_01_dot_11_bar__plus_00_dot_17 CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38)\n (inReceptacle Egg_bar__minus_02_dot_01_bar__plus_01_dot_16_bar__plus_00_dot_66 CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38)\n (inReceptacle ButterKnife_bar__minus_00_dot_72_bar__plus_01_dot_12_bar__plus_00_dot_66 CounterTop_bar__minus_00_dot_52_bar__plus_01_dot_16_bar__plus_00_dot_49)\n (inReceptacle SaltShaker_bar__minus_00_dot_88_bar__plus_01_dot_12_bar__plus_00_dot_57 CounterTop_bar__minus_00_dot_52_bar__plus_01_dot_16_bar__plus_00_dot_49)\n (inReceptacle PepperShaker_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)\n (inReceptacle Apple_bar__minus_00_dot_77_bar__plus_01_dot_19_bar__plus_00_dot_12 CounterTop_bar__minus_00_dot_52_bar__plus_01_dot_16_bar__plus_00_dot_49)\n (inReceptacle Pot_bar__minus_03_dot_00_bar__plus_01_dot_13_bar__plus_00_dot_23 StoveBurner_bar__minus_03_dot_00_bar__plus_01_dot_10_bar__plus_00_dot_23)\n (inReceptacle Mug_bar__minus_00_dot_38_bar__plus_01_dot_09_bar__plus_03_dot_19 CoffeeMachine_bar__minus_00_dot_15_bar__plus_01_dot_04_bar__plus_03_dot_19)\n (inReceptacle Cup_bar__minus_03_dot_44_bar__plus_00_dot_91_bar__plus_03_dot_06 Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72)\n (inReceptacle Pot_bar__minus_03_dot_37_bar__plus_01_dot_29_bar__plus_02_dot_85 Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72)\n (inReceptacle Lettuce_bar__minus_03_dot_51_bar__plus_01_dot_36_bar__plus_03_dot_06 Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72)\n (inReceptacle Lettuce_bar__minus_03_dot_44_bar__plus_01_dot_64_bar__plus_02_dot_92 Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72)\n (inReceptacle Potato_bar__minus_03_dot_54_bar__plus_00_dot_14_bar__plus_02_dot_04 GarbageCan_bar__minus_03_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_01)\n (inReceptacle Apple_bar__minus_03_dot_70_bar__plus_00_dot_18_bar__plus_02_dot_04 GarbageCan_bar__minus_03_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_01)\n (inReceptacle Mug_bar__minus_01_dot_64_bar__plus_00_dot_93_bar__plus_00_dot_50 Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44_bar_SinkBasin)\n (inReceptacle Potato_bar__minus_01_dot_20_bar__plus_00_dot_96_bar__plus_00_dot_64 Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44_bar_SinkBasin)\n (inReceptacle Knife_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__plus_00_dot_36 Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44_bar_SinkBasin)\n \n \n (receptacleAtLocation Cabinet_bar__minus_01_dot_00_bar__plus_00_dot_39_bar__plus_00_dot_73 loc_bar__minus_7_bar_7_bar_2_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_73_bar__plus_00_dot_39_bar__plus_00_dot_73 loc_bar__minus_7_bar_7_bar_2_bar_45)\n (receptacleAtLocation CoffeeMachine_bar__minus_00_dot_15_bar__plus_01_dot_04_bar__plus_03_dot_19 loc_bar__minus_5_bar_12_bar_1_bar_30)\n (receptacleAtLocation CounterTop_bar__minus_00_dot_52_bar__plus_01_dot_16_bar__plus_00_dot_49 loc_bar__minus_4_bar_4_bar_2_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38 loc_bar__minus_7_bar_4_bar_2_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_03_dot_86_bar__plus_01_dot_16_bar__plus_00_dot_38 loc_bar__minus_13_bar_6_bar_2_bar_30)\n (receptacleAtLocation DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49 loc_bar__minus_5_bar_9_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__minus_02_dot_04_bar__plus_00_dot_22_bar__plus_00_dot_59 loc_bar__minus_4_bar_4_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_02_dot_04_bar__plus_00_dot_61_bar__plus_00_dot_59 loc_bar__minus_5_bar_4_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_02_dot_04_bar__plus_00_dot_94_bar__plus_00_dot_60 loc_bar__minus_6_bar_4_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_02_dot_50_bar__plus_00_dot_22_bar__plus_00_dot_59 loc_bar__minus_6_bar_4_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_02_dot_50_bar__plus_00_dot_61_bar__plus_00_dot_59 loc_bar__minus_7_bar_4_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_02_dot_51_bar__plus_00_dot_94_bar__plus_00_dot_60 loc_bar__minus_8_bar_4_bar_3_bar_60)\n (receptacleAtLocation Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72 loc_bar__minus_10_bar_11_bar_3_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_03_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_01 loc_bar__minus_14_bar_6_bar_0_bar_60)\n (receptacleAtLocation Microwave_bar__minus_00_dot_37_bar__plus_01_dot_11_bar__plus_00_dot_43 loc_bar__minus_6_bar_4_bar_1_bar_30)\n (receptacleAtLocation Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44_bar_SinkBasin loc_bar__minus_4_bar_5_bar_2_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_03_dot_00_bar__plus_01_dot_10_bar__plus_00_dot_23 loc_bar__minus_12_bar_5_bar_2_bar_30)\n (receptacleAtLocation StoveBurner_bar__minus_03_dot_00_bar__plus_01_dot_10_bar__plus_00_dot_48 loc_bar__minus_12_bar_5_bar_2_bar_30)\n (receptacleAtLocation StoveBurner_bar__minus_03_dot_48_bar__plus_01_dot_10_bar__plus_00_dot_23 loc_bar__minus_14_bar_5_bar_2_bar_30)\n (receptacleAtLocation StoveBurner_bar__minus_03_dot_48_bar__plus_01_dot_10_bar__plus_00_dot_48 loc_bar__minus_14_bar_5_bar_2_bar_30)\n (receptacleAtLocation Toaster_bar__minus_00_dot_23_bar__plus_01_dot_04_bar__plus_02_dot_87 loc_bar__minus_5_bar_11_bar_1_bar_30)\n (objectAtLocation Mug_bar__minus_00_dot_38_bar__plus_01_dot_09_bar__plus_03_dot_19 loc_bar__minus_5_bar_12_bar_1_bar_30)\n (objectAtLocation DishSponge_bar__minus_02_dot_09_bar__plus_00_dot_90_bar__plus_00_dot_58 loc_bar__minus_6_bar_4_bar_3_bar_60)\n (objectAtLocation Apple_bar__minus_03_dot_70_bar__plus_00_dot_18_bar__plus_02_dot_04 loc_bar__minus_14_bar_6_bar_0_bar_60)\n (objectAtLocation ButterKnife_bar__minus_00_dot_72_bar__plus_01_dot_12_bar__plus_00_dot_66 loc_bar__minus_4_bar_4_bar_2_bar_45)\n (objectAtLocation PepperShaker_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)\n (objectAtLocation Bowl_bar__minus_00_dot_91_bar__plus_01_dot_05_bar__plus_02_dot_82 loc_bar__minus_5_bar_9_bar_1_bar_60)\n (objectAtLocation Knife_bar__minus_03_dot_85_bar__plus_01_dot_16_bar__plus_00_dot_47 loc_bar__minus_13_bar_6_bar_2_bar_30)\n (objectAtLocation SaltShaker_bar__minus_03_dot_78_bar__plus_01_dot_12_bar__plus_00_dot_10 loc_bar__minus_13_bar_6_bar_2_bar_30)\n (objectAtLocation Egg_bar__minus_00_dot_17_bar__plus_01_dot_08_bar__plus_02_dot_14 loc_bar__minus_5_bar_9_bar_1_bar_60)\n (objectAtLocation Lettuce_bar__minus_00_dot_79_bar__plus_01_dot_12_bar__plus_01_dot_92 loc_bar__minus_5_bar_9_bar_1_bar_60)\n (objectAtLocation Potato_bar__minus_01_dot_20_bar__plus_00_dot_96_bar__plus_00_dot_64 loc_bar__minus_4_bar_5_bar_2_bar_45)\n (objectAtLocation Ladle_bar__minus_01_dot_92_bar__plus_01_dot_14_bar__plus_00_dot_38 loc_bar__minus_7_bar_4_bar_2_bar_45)\n (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)\n (objectAtLocation SoapBottle_bar__minus_02_dot_45_bar__plus_00_dot_10_bar__plus_00_dot_65 loc_bar__minus_6_bar_4_bar_3_bar_60)\n (objectAtLocation Apple_bar__minus_00_dot_77_bar__plus_01_dot_19_bar__plus_00_dot_12 loc_bar__minus_4_bar_4_bar_2_bar_45)\n (objectAtLocation Lettuce_bar__minus_03_dot_44_bar__plus_01_dot_64_bar__plus_02_dot_92 loc_bar__minus_10_bar_11_bar_3_bar_60)\n (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)\n (objectAtLocation SoapBottle_bar__minus_00_dot_66_bar__plus_01_dot_05_bar__plus_03_dot_04 loc_bar__minus_5_bar_9_bar_1_bar_60)\n (objectAtLocation Knife_bar__minus_00_dot_66_bar__plus_01_dot_08_bar__plus_02_dot_82 loc_bar__minus_5_bar_9_bar_1_bar_60)\n (objectAtLocation Pot_bar__minus_03_dot_37_bar__plus_01_dot_29_bar__plus_02_dot_85 loc_bar__minus_10_bar_11_bar_3_bar_60)\n (objectAtLocation Potato_bar__minus_03_dot_54_bar__plus_00_dot_14_bar__plus_02_dot_04 loc_bar__minus_14_bar_6_bar_0_bar_60)\n (objectAtLocation StoveKnob_bar__minus_03_dot_32_bar__plus_01_dot_05_bar__plus_00_dot_71 loc_bar__minus_13_bar_5_bar_2_bar_45)\n (objectAtLocation Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44 loc_bar__minus_6_bar_4_bar_2_bar_45)\n (objectAtLocation StoveKnob_bar__minus_03_dot_16_bar__plus_01_dot_05_bar__plus_00_dot_71 loc_bar__minus_13_bar_5_bar_2_bar_45)\n (objectAtLocation StoveKnob_bar__minus_03_dot_49_bar__plus_01_dot_05_bar__plus_00_dot_71 loc_bar__minus_14_bar_5_bar_2_bar_45)\n (objectAtLocation StoveKnob_bar__minus_02_dot_99_bar__plus_01_dot_05_bar__plus_00_dot_71 loc_bar__minus_12_bar_5_bar_2_bar_45)\n (objectAtLocation Fork_bar__minus_00_dot_54_bar__plus_01_dot_05_bar__plus_02_dot_37 loc_bar__minus_5_bar_9_bar_1_bar_60)\n (objectAtLocation SoapBottle_bar__minus_00_dot_79_bar__plus_01_dot_05_bar__plus_03_dot_04 loc_bar__minus_5_bar_9_bar_1_bar_60)\n (objectAtLocation Pot_bar__minus_03_dot_00_bar__plus_01_dot_13_bar__plus_00_dot_23 loc_bar__minus_12_bar_5_bar_2_bar_30)\n (objectAtLocation Ladle_bar__minus_00_dot_54_bar__plus_01_dot_09_bar__plus_02_dot_37 loc_bar__minus_5_bar_9_bar_1_bar_60)\n (objectAtLocation Potato_bar__minus_02_dot_39_bar__plus_01_dot_16_bar__plus_00_dot_10 loc_bar__minus_7_bar_4_bar_2_bar_45)\n (objectAtLocation Plate_bar__minus_00_dot_42_bar__plus_01_dot_05_bar__plus_01_dot_92 loc_bar__minus_5_bar_9_bar_1_bar_60)\n (objectAtLocation Bread_bar__minus_00_dot_91_bar__plus_01_dot_13_bar__plus_02_dot_59 loc_bar__minus_5_bar_9_bar_1_bar_60)\n (objectAtLocation Lettuce_bar__minus_03_dot_51_bar__plus_01_dot_36_bar__plus_03_dot_06 loc_bar__minus_10_bar_11_bar_3_bar_60)\n (objectAtLocation Window_bar__minus_01_dot_39_bar__plus_01_dot_93_bar__plus_00_dot_02 loc_bar__minus_6_bar_4_bar_2_bar__minus_15)\n (objectAtLocation Window_bar__minus_03_dot_27_bar__plus_01_dot_93_bar__plus_00_dot_02 loc_bar__minus_13_bar_5_bar_2_bar__minus_15)\n (objectAtLocation Spatula_bar__minus_00_dot_54_bar__plus_01_dot_06_bar__plus_02_dot_14 loc_bar__minus_5_bar_9_bar_1_bar_60)\n (objectAtLocation Pan_bar__minus_00_dot_27_bar__plus_01_dot_04_bar__plus_02_dot_56 loc_bar__minus_5_bar_9_bar_1_bar_60)\n (objectAtLocation Egg_bar__minus_02_dot_01_bar__plus_01_dot_16_bar__plus_00_dot_66 loc_bar__minus_7_bar_4_bar_2_bar_45)\n (objectAtLocation Cup_bar__minus_03_dot_44_bar__plus_00_dot_91_bar__plus_03_dot_06 loc_bar__minus_10_bar_11_bar_3_bar_60)\n (objectAtLocation SaltShaker_bar__minus_00_dot_88_bar__plus_01_dot_12_bar__plus_00_dot_57 loc_bar__minus_4_bar_4_bar_2_bar_45)\n (objectAtLocation Knife_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__plus_00_dot_36 loc_bar__minus_4_bar_5_bar_2_bar_45)\n (objectAtLocation Bowl_bar__minus_02_dot_51_bar__plus_01_dot_12_bar__plus_00_dot_28 loc_bar__minus_7_bar_4_bar_2_bar_45)\n (objectAtLocation PepperShaker_bar__minus_02_dot_00_bar__plus_00_dot_90_bar__plus_00_dot_65 loc_bar__minus_6_bar_4_bar_3_bar_60)\n (objectAtLocation ButterKnife_bar__minus_00_dot_54_bar__plus_01_dot_05_bar__plus_03_dot_04 loc_bar__minus_5_bar_9_bar_1_bar_60)\n (objectAtLocation Apple_bar__minus_00_dot_91_bar__plus_01_dot_11_bar__plus_03_dot_27 loc_bar__minus_5_bar_9_bar_1_bar_60)\n (objectAtLocation Tomato_bar__minus_00_dot_17_bar__plus_01_dot_09_bar__plus_01_dot_92 loc_bar__minus_5_bar_9_bar_1_bar_60)\n (objectAtLocation DishSponge_bar__minus_01_dot_89_bar__plus_01_dot_12_bar__plus_00_dot_57 loc_bar__minus_7_bar_4_bar_2_bar_45)\n (objectAtLocation HousePlant_bar__minus_02_dot_16_bar__plus_01_dot_11_bar__plus_00_dot_17 loc_bar__minus_7_bar_4_bar_2_bar_45)\n (objectAtLocation LightSwitch_bar__minus_02_dot_58_bar__plus_01_dot_30_bar__plus_03_dot_50 loc_bar__minus_10_bar_12_bar_0_bar_30)\n (objectAtLocation Spoon_bar__minus_02_dot_01_bar__plus_01_dot_13_bar__plus_00_dot_28 loc_bar__minus_7_bar_4_bar_2_bar_45)\n (objectAtLocation Mug_bar__minus_01_dot_64_bar__plus_00_dot_93_bar__plus_00_dot_50 loc_bar__minus_4_bar_5_bar_2_bar_45)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (coolable ?o)\n (objectType ?o PlateType)\n (receptacleType ?r CabinetType)\n (isCool ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to diningtable 1", "take plate 1 from diningtable 1", "go to fridge 1", "cool plate 1 with fridge 1", "go to cabinet 2", "open cabinet 1", "move plate 1 to cabinet 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Plate-None-Cabinet-4/trial_T20190908_082525_878826/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Plate-None-Cabinet-4/trial_T20190908_082525_878826/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..9a1f827a6410b94286be7539f2e053570eedfc16 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Plate-None-Cabinet-4/trial_T20190908_082525_878826/initial_state.pddl @@ -0,0 +1,903 @@ + +(define (problem plan_trial_T20190908_082525_878826) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType 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StoveBurner_bar__minus_03_dot_00_bar__plus_01_dot_10_bar__plus_00_dot_48 - receptacle + StoveBurner_bar__minus_03_dot_48_bar__plus_01_dot_10_bar__plus_00_dot_23 - receptacle + StoveBurner_bar__minus_03_dot_48_bar__plus_01_dot_10_bar__plus_00_dot_48 - receptacle + Toaster_bar__minus_00_dot_23_bar__plus_01_dot_04_bar__plus_02_dot_87 - receptacle + loc_bar__minus_7_bar_7_bar_2_bar_45 - location + loc_bar__minus_14_bar_5_bar_2_bar_45 - location + loc_bar__minus_10_bar_11_bar_3_bar_60 - location + loc_bar__minus_6_bar_4_bar_2_bar_45 - location + loc_bar__minus_8_bar_4_bar_3_bar_60 - location + loc_bar__minus_7_bar_4_bar_3_bar_60 - location + loc_bar__minus_4_bar_4_bar_3_bar_60 - location + loc_bar__minus_5_bar_12_bar_1_bar_30 - location + loc_bar__minus_13_bar_5_bar_2_bar_45 - location + loc_bar__minus_6_bar_4_bar_2_bar__minus_15 - location + loc_bar__minus_5_bar_11_bar_1_bar_30 - location + loc_bar__minus_10_bar_12_bar_0_bar_30 - location + loc_bar__minus_14_bar_5_bar_2_bar_30 - location + loc_bar__minus_12_bar_5_bar_2_bar_45 - location + loc_bar__minus_5_bar_9_bar_1_bar_60 - location + loc_bar__minus_6_bar_4_bar_3_bar_60 - location + loc_bar__minus_4_bar_4_bar_2_bar_45 - location + loc_bar__minus_14_bar_6_bar_0_bar_60 - location + loc_bar__minus_4_bar_5_bar_2_bar_45 - location + loc_bar__minus_7_bar_4_bar_2_bar_45 - location + loc_bar__minus_5_bar_4_bar_3_bar_60 - location + loc_bar__minus_13_bar_5_bar_2_bar__minus_15 - location + loc_bar__minus_12_bar_5_bar_2_bar_30 - location + loc_bar__minus_6_bar_4_bar_1_bar_30 - location + loc_bar__minus_13_bar_6_bar_2_bar_30 - location + loc_bar__minus_5_bar_10_bar_0_bar_30 - location + ) + + +(:init + + + (receptacleType StoveBurner_bar__minus_03_dot_00_bar__plus_01_dot_10_bar__plus_00_dot_48 StoveBurnerType) + (receptacleType CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38 CounterTopType) + (receptacleType StoveBurner_bar__minus_03_dot_00_bar__plus_01_dot_10_bar__plus_00_dot_23 StoveBurnerType) + 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StoveBurner_bar__minus_03_dot_48_bar__plus_01_dot_10_bar__plus_00_dot_48) + (inReceptacle Plate_bar__minus_00_dot_42_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 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 Spatula_bar__minus_00_dot_54_bar__plus_01_dot_06_bar__plus_02_dot_14 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle ButterKnife_bar__minus_00_dot_54_bar__plus_01_dot_05_bar__plus_03_dot_04 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle SoapBottle_bar__minus_00_dot_66_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 Egg_bar__minus_00_dot_17_bar__plus_01_dot_08_bar__plus_02_dot_14 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle Knife_bar__minus_00_dot_66_bar__plus_01_dot_08_bar__plus_02_dot_82 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle Tomato_bar__minus_00_dot_17_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 Pan_bar__minus_00_dot_27_bar__plus_01_dot_04_bar__plus_02_dot_56 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle Lettuce_bar__minus_00_dot_79_bar__plus_01_dot_12_bar__plus_01_dot_92 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle Ladle_bar__minus_00_dot_54_bar__plus_01_dot_09_bar__plus_02_dot_37 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle Bread_bar__minus_00_dot_91_bar__plus_01_dot_13_bar__plus_02_dot_59 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle Apple_bar__minus_00_dot_91_bar__plus_01_dot_11_bar__plus_03_dot_27 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle Bowl_bar__minus_00_dot_91_bar__plus_01_dot_05_bar__plus_02_dot_82 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle Fork_bar__minus_00_dot_54_bar__plus_01_dot_05_bar__plus_02_dot_37 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle SoapBottle_bar__minus_00_dot_79_bar__plus_01_dot_05_bar__plus_03_dot_04 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle SoapBottle_bar__minus_02_dot_45_bar__plus_00_dot_10_bar__plus_00_dot_65 Drawer_bar__minus_02_dot_50_bar__plus_00_dot_22_bar__plus_00_dot_59) + (inReceptacle SaltShaker_bar__minus_03_dot_78_bar__plus_01_dot_12_bar__plus_00_dot_10 CounterTop_bar__minus_03_dot_86_bar__plus_01_dot_16_bar__plus_00_dot_38) + (inReceptacle Knife_bar__minus_03_dot_85_bar__plus_01_dot_16_bar__plus_00_dot_47 CounterTop_bar__minus_03_dot_86_bar__plus_01_dot_16_bar__plus_00_dot_38) + (inReceptacle PepperShaker_bar__minus_02_dot_00_bar__plus_00_dot_90_bar__plus_00_dot_65 Drawer_bar__minus_02_dot_04_bar__plus_00_dot_94_bar__plus_00_dot_60) + (inReceptacle DishSponge_bar__minus_02_dot_09_bar__plus_00_dot_90_bar__plus_00_dot_58 Drawer_bar__minus_02_dot_04_bar__plus_00_dot_94_bar__plus_00_dot_60) + (inReceptacle Spoon_bar__minus_02_dot_01_bar__plus_01_dot_13_bar__plus_00_dot_28 CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38) + (inReceptacle DishSponge_bar__minus_01_dot_89_bar__plus_01_dot_12_bar__plus_00_dot_57 CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38) + (inReceptacle Ladle_bar__minus_01_dot_92_bar__plus_01_dot_14_bar__plus_00_dot_38 CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38) + (inReceptacle Potato_bar__minus_02_dot_39_bar__plus_01_dot_16_bar__plus_00_dot_10 CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38) + (inReceptacle Bowl_bar__minus_02_dot_51_bar__plus_01_dot_12_bar__plus_00_dot_28 CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38) + (inReceptacle 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 Egg_bar__minus_02_dot_01_bar__plus_01_dot_16_bar__plus_00_dot_66 CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38) + (inReceptacle ButterKnife_bar__minus_00_dot_72_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 SaltShaker_bar__minus_00_dot_88_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 PepperShaker_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 Apple_bar__minus_00_dot_77_bar__plus_01_dot_19_bar__plus_00_dot_12 CounterTop_bar__minus_00_dot_52_bar__plus_01_dot_16_bar__plus_00_dot_49) + (inReceptacle Pot_bar__minus_03_dot_00_bar__plus_01_dot_13_bar__plus_00_dot_23 StoveBurner_bar__minus_03_dot_00_bar__plus_01_dot_10_bar__plus_00_dot_23) + (inReceptacle Mug_bar__minus_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 Cup_bar__minus_03_dot_44_bar__plus_00_dot_91_bar__plus_03_dot_06 Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72) + (inReceptacle Pot_bar__minus_03_dot_37_bar__plus_01_dot_29_bar__plus_02_dot_85 Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72) + (inReceptacle Lettuce_bar__minus_03_dot_51_bar__plus_01_dot_36_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_44_bar__plus_01_dot_64_bar__plus_02_dot_92 Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72) + (inReceptacle Potato_bar__minus_03_dot_54_bar__plus_00_dot_14_bar__plus_02_dot_04 GarbageCan_bar__minus_03_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_01) + (inReceptacle Apple_bar__minus_03_dot_70_bar__plus_00_dot_18_bar__plus_02_dot_04 GarbageCan_bar__minus_03_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_01) + (inReceptacle Mug_bar__minus_01_dot_64_bar__plus_00_dot_93_bar__plus_00_dot_50 Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44_bar_SinkBasin) + (inReceptacle Potato_bar__minus_01_dot_20_bar__plus_00_dot_96_bar__plus_00_dot_64 Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44_bar_SinkBasin) + (inReceptacle Knife_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__plus_00_dot_36 Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44_bar_SinkBasin) + + + (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 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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_09_bar__plus_00_dot_90_bar__plus_00_dot_58 loc_bar__minus_6_bar_4_bar_3_bar_60) + (objectAtLocation Apple_bar__minus_03_dot_70_bar__plus_00_dot_18_bar__plus_02_dot_04 loc_bar__minus_14_bar_6_bar_0_bar_60) + (objectAtLocation ButterKnife_bar__minus_00_dot_72_bar__plus_01_dot_12_bar__plus_00_dot_66 loc_bar__minus_4_bar_4_bar_2_bar_45) + (objectAtLocation PepperShaker_bar__minus_00_dot_72_bar__plus_01_dot_12_bar__plus_00_dot_48 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[ + { + "assignment_id": "A2RQMEPIHW5BOS_3IFS6Q0HJLA8CWF2X53U0NN6PBHSIM", + "high_descs": [ + "Turn around, walk to the sink, turn left, and face the table.", + "Pick up the plate.", + "Walk around the table to the door, turn left, and walk to the fridge.", + "Open the fridge, put the plate in the fridge, close the fridge, open the fridge, get the plate, and close the fridge.", + "Turn around and walk to the table, turn right, and walk to the counter.", + "Open the cabinet under the counter, put the plate in the cabinet, and close the cabinet." + ], + "task_desc": "Put a cold plate in the cabinet below the counter.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A36A780ODXBDEH_3MMN5BL1W2VQOYKES50LK8MBE3PM3P", + "high_descs": [ + "Turn around and move to the left side of the wood table.", + "Pick up the grey plate on the wood table.", + "Turn left and walk around the table to the refrigerator.", + "Place the grey plate in the refrigerator to chill for a moment and then remove it.", + "Turn to your left and go to the cupboard directly underneath the sink on the right.", + "Open the cupboard and place the plate inside." + ], + "task_desc": "Chill the grey plate and place it in the cupboard underneath the sink.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A31681CCEVDIH3_3PMBY0YE2AUZUEX3WP7H8PKLKHV9CB", + "high_descs": [ + "Turn around to face the sink, walk towards it, turn left at the sink, walk towards the wall, turn left to face the wooden table.", + "Pick up the grey plate from the wooden table.", + "Turn left, walk forward to turn right at the end of the table, then turn left and walk towards the fridge; stop in front of it.", + "Open both doors of the fridge, place the plate on the top right shelf, close the doors, then open the fridge doors and take the plate out of it, close the doors again.", + "Turn left, walk towards the sink, and stand in front of it.", + "Open the right cabinet underneath the sink, place the plate inside, and close the door." + ], + "task_desc": "Put a cold plate underneath 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-Pot-None-DiningTable-21/trial_T20190909_004246_882533/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Pot-None-DiningTable-21/trial_T20190909_004246_882533/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..a5dce20c1c7103df61f3af039ab802fea4849922 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Pot-None-DiningTable-21/trial_T20190909_004246_882533/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\n\\n#task#\"\n }\n ],\n\n \"notImplemented\": [\n {\n \"rhs\": \"TODO\"\n }\n ],\n\n \"task\": [\n {\n \"rhs\": \"Your task is to: put a cool pot in 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_004246_882533)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\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_66_bar__plus_00_dot_72_bar__plus_00_dot_39 - object\n Apple_bar__minus_01_dot_80_bar__plus_00_dot_76_bar__minus_01_dot_42 - object\n Blinds_bar__minus_02_dot_34_bar__plus_02_dot_15_bar__minus_02_dot_44 - object\n Bowl_bar__minus_01_dot_06_bar__plus_00_dot_90_bar__plus_01_dot_02 - object\n Bread_bar__minus_00_dot_05_bar__plus_00_dot_94_bar__plus_01_dot_10 - object\n ButterKnife_bar__plus_00_dot_15_bar__plus_00_dot_90_bar__plus_00_dot_93 - object\n ButterKnife_bar__minus_00_dot_65_bar__plus_00_dot_90_bar__plus_00_dot_84 - object\n ButterKnife_bar__minus_01_dot_89_bar__plus_00_dot_70_bar__minus_00_dot_88 - object\n Chair_bar__minus_01_dot_90_bar__minus_00_dot_03_bar__minus_01_dot_87 - object\n Cup_bar__plus_00_dot_68_bar__plus_00_dot_01_bar__plus_00_dot_08 - object\n DishSponge_bar__plus_00_dot_80_bar__plus_00_dot_88_bar__minus_00_dot_18 - object\n DishSponge_bar__plus_00_dot_82_bar__plus_00_dot_76_bar__plus_00_dot_00 - object\n DishSponge_bar__plus_00_dot_95_bar__plus_01_dot_46_bar__minus_00_dot_27 - object\n Egg_bar__plus_00_dot_63_bar__plus_01_dot_20_bar__minus_02_dot_19 - object\n Egg_bar__minus_01_dot_64_bar__plus_00_dot_74_bar__minus_01_dot_31 - object\n Faucet_bar__plus_01_dot_03_bar__plus_00_dot_87_bar__minus_00_dot_68 - object\n Fork_bar__minus_00_dot_86_bar__plus_00_dot_90_bar__plus_01_dot_02 - object\n Fork_bar__minus_00_dot_86_bar__plus_00_dot_90_bar__plus_01_dot_19 - object\n Knife_bar__plus_00_dot_62_bar__plus_00_dot_78_bar__plus_00_dot_00 - object\n Knife_bar__plus_00_dot_77_bar__plus_00_dot_78_bar__minus_00_dot_25 - object\n Lettuce_bar__plus_00_dot_15_bar__plus_00_dot_99_bar__plus_00_dot_84 - object\n Lettuce_bar__plus_00_dot_80_bar__plus_00_dot_86_bar__minus_00_dot_74 - object\n LightSwitch_bar__plus_01_dot_10_bar__plus_01_dot_37_bar__minus_03_dot_74 - object\n Mirror_bar__plus_01_dot_09_bar__plus_01_dot_60_bar__minus_00_dot_64 - object\n Mug_bar__plus_00_dot_72_bar__plus_00_dot_77_bar__minus_00_dot_57 - object\n Pan_bar__minus_02_dot_10_bar__plus_00_dot_93_bar__plus_01_dot_05 - object\n PepperShaker_bar__minus_00_dot_65_bar__plus_00_dot_90_bar__plus_01_dot_27 - object\n PepperShaker_bar__minus_01_dot_54_bar__plus_00_dot_69_bar__minus_03_dot_28 - object\n Plate_bar__plus_00_dot_68_bar__plus_00_dot_02_bar__minus_00_dot_18 - object\n Plate_bar__minus_02_dot_02_bar__plus_00_dot_69_bar__minus_01_dot_45 - object\n Potato_bar__plus_00_dot_60_bar__plus_00_dot_70_bar__plus_00_dot_63 - object\n Potato_bar__minus_01_dot_22_bar__plus_00_dot_09_bar__minus_03_dot_57 - object\n Pot_bar__minus_01_dot_55_bar__plus_00_dot_93_bar__plus_00_dot_79 - object\n SaltShaker_bar__plus_00_dot_90_bar__plus_00_dot_66_bar__plus_00_dot_57 - object\n SaltShaker_bar__minus_00_dot_25_bar__plus_00_dot_90_bar__plus_00_dot_76 - object\n SaltShaker_bar__minus_01_dot_72_bar__plus_00_dot_70_bar__minus_01_dot_42 - object\n Sink_bar__plus_00_dot_75_bar__plus_00_dot_88_bar__minus_00_dot_68 - object\n SoapBottle_bar__plus_00_dot_90_bar__plus_00_dot_66_bar__plus_00_dot_33 - object\n SoapBottle_bar__minus_00_dot_86_bar__plus_00_dot_90_bar__plus_00_dot_84 - object\n Spatula_bar__plus_00_dot_78_bar__plus_00_dot_89_bar__minus_00_dot_05 - object\n Spoon_bar__plus_00_dot_67_bar__plus_00_dot_76_bar__minus_00_dot_19 - object\n Spoon_bar__plus_00_dot_72_bar__plus_00_dot_67_bar__plus_00_dot_45 - object\n StoveKnob_bar__minus_01_dot_60_bar__plus_00_dot_87_bar__plus_00_dot_52 - object\n StoveKnob_bar__minus_01_dot_75_bar__plus_00_dot_87_bar__plus_00_dot_52 - object\n StoveKnob_bar__minus_01_dot_90_bar__plus_00_dot_87_bar__plus_00_dot_52 - object\n StoveKnob_bar__minus_02_dot_06_bar__plus_00_dot_87_bar__plus_00_dot_52 - object\n Tomato_bar__plus_00_dot_15_bar__plus_00_dot_95_bar__plus_01_dot_19 - object\n Window_bar__minus_02_dot_42_bar__plus_01_dot_64_bar__minus_02_dot_45 - object\n Cabinet_bar__plus_00_dot_51_bar__plus_00_dot_35_bar__plus_00_dot_16 - receptacle\n Cabinet_bar__plus_00_dot_51_bar__plus_00_dot_35_bar__minus_00_dot_43 - receptacle\n Cabinet_bar__plus_00_dot_72_bar__plus_01_dot_82_bar__plus_00_dot_67 - receptacle\n Cabinet_bar__plus_00_dot_72_bar__plus_01_dot_82_bar__minus_00_dot_40 - receptacle\n CoffeeMachine_bar__plus_00_dot_88_bar__plus_00_dot_86_bar__minus_01_dot_26 - receptacle\n CounterTop_bar__plus_00_dot_79_bar__plus_00_dot_92_bar__minus_00_dot_11 - receptacle\n DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95 - receptacle\n DiningTable_bar__minus_01_dot_73_bar__minus_00_dot_03_bar__minus_00_dot_96 - receptacle\n DiningTable_bar__minus_02_dot_17_bar__minus_00_dot_03_bar__minus_03_dot_37 - receptacle\n Drawer_bar__plus_00_dot_71_bar__plus_00_dot_77_bar__minus_00_dot_13 - receptacle\n Fridge_bar__plus_00_dot_68_bar__minus_00_dot_03_bar__minus_01_dot_96 - receptacle\n GarbageCan_bar__minus_01_dot_26_bar__minus_00_dot_03_bar__minus_03_dot_61 - receptacle\n Microwave_bar__minus_02_dot_01_bar__plus_00_dot_69_bar__minus_03_dot_69 - receptacle\n SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45 - receptacle\n Sink_bar__plus_00_dot_75_bar__plus_00_dot_88_bar__minus_00_dot_68_bar_SinkBasin - receptacle\n StoveBurner_bar__minus_01_dot_55_bar__plus_00_dot_89_bar__plus_00_dot_79 - receptacle\n StoveBurner_bar__minus_01_dot_56_bar__plus_00_dot_89_bar__plus_01_dot_05 - receptacle\n StoveBurner_bar__minus_02_dot_10_bar__plus_00_dot_89_bar__plus_00_dot_79 - receptacle\n StoveBurner_bar__minus_02_dot_10_bar__plus_00_dot_89_bar__plus_01_dot_05 - receptacle\n Toaster_bar__minus_00_dot_52_bar__plus_00_dot_89_bar__plus_01_dot_07 - receptacle\n loc_bar__minus_6_bar_0_bar_0_bar_45 - location\n loc_bar__minus_4_bar__minus_5_bar_3_bar_60 - location\n loc_bar_1_bar__minus_3_bar_1_bar_0 - location\n loc_bar__minus_7_bar_0_bar_0_bar_30 - location\n loc_bar__minus_7_bar__minus_11_bar_2_bar_45 - location\n loc_bar_1_bar_1_bar_1_bar__minus_30 - location\n loc_bar__minus_7_bar_0_bar_0_bar_60 - location\n loc_bar__minus_6_bar_0_bar_0_bar_60 - location\n loc_bar__minus_7_bar__minus_11_bar_2_bar_60 - location\n loc_bar_1_bar__minus_2_bar_1_bar_60 - location\n loc_bar_1_bar__minus_1_bar_1_bar_60 - location\n loc_bar__minus_7_bar_0_bar_0_bar_45 - location\n loc_bar_0_bar_1_bar_0_bar_60 - location\n loc_bar__minus_1_bar__minus_8_bar_1_bar_60 - location\n loc_bar__minus_2_bar__minus_1_bar_1_bar_45 - location\n loc_bar__minus_1_bar__minus_1_bar_1_bar_45 - location\n loc_bar__minus_6_bar_0_bar_0_bar_30 - location\n loc_bar__minus_7_bar__minus_10_bar_3_bar_0 - location\n loc_bar_1_bar_0_bar_1_bar_45 - location\n loc_bar_2_bar__minus_13_bar_1_bar_30 - location\n loc_bar_0_bar__minus_5_bar_1_bar_45 - location\n loc_bar__minus_1_bar_1_bar_1_bar_45 - location\n loc_bar__minus_4_bar__minus_13_bar_2_bar_60 - location\n loc_bar__minus_2_bar_1_bar_1_bar_45 - location\n loc_bar_1_bar__minus_3_bar_1_bar_60 - location\n loc_bar__minus_2_bar_1_bar_0_bar_45 - location\n loc_bar__minus_5_bar__minus_7_bar_3_bar_60 - location\n loc_bar_1_bar_0_bar_1_bar__minus_30 - location\n loc_bar__minus_7_bar__minus_10_bar_3_bar__minus_30 - location\n loc_bar_0_bar__minus_14_bar_3_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Fridge_bar__plus_00_dot_68_bar__minus_00_dot_03_bar__minus_01_dot_96 FridgeType)\n (receptacleType StoveBurner_bar__minus_01_dot_55_bar__plus_00_dot_89_bar__plus_00_dot_79 StoveBurnerType)\n (receptacleType CoffeeMachine_bar__plus_00_dot_88_bar__plus_00_dot_86_bar__minus_01_dot_26 CoffeeMachineType)\n (receptacleType GarbageCan_bar__minus_01_dot_26_bar__minus_00_dot_03_bar__minus_03_dot_61 GarbageCanType)\n (receptacleType SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45 SideTableType)\n (receptacleType Microwave_bar__minus_02_dot_01_bar__plus_00_dot_69_bar__minus_03_dot_69 MicrowaveType)\n (receptacleType Cabinet_bar__plus_00_dot_72_bar__plus_01_dot_82_bar__plus_00_dot_67 CabinetType)\n (receptacleType CounterTop_bar__plus_00_dot_79_bar__plus_00_dot_92_bar__minus_00_dot_11 CounterTopType)\n (receptacleType Cabinet_bar__plus_00_dot_72_bar__plus_01_dot_82_bar__minus_00_dot_40 CabinetType)\n (receptacleType Sink_bar__plus_00_dot_75_bar__plus_00_dot_88_bar__minus_00_dot_68_bar_SinkBasin SinkBasinType)\n (receptacleType Cabinet_bar__plus_00_dot_51_bar__plus_00_dot_35_bar__plus_00_dot_16 CabinetType)\n (receptacleType DiningTable_bar__minus_01_dot_73_bar__minus_00_dot_03_bar__minus_00_dot_96 DiningTableType)\n (receptacleType Drawer_bar__plus_00_dot_71_bar__plus_00_dot_77_bar__minus_00_dot_13 DrawerType)\n (receptacleType Toaster_bar__minus_00_dot_52_bar__plus_00_dot_89_bar__plus_01_dot_07 ToasterType)\n (receptacleType StoveBurner_bar__minus_02_dot_10_bar__plus_00_dot_89_bar__plus_00_dot_79 StoveBurnerType)\n (receptacleType DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95 DiningTableType)\n (receptacleType StoveBurner_bar__minus_02_dot_10_bar__plus_00_dot_89_bar__plus_01_dot_05 StoveBurnerType)\n (receptacleType Cabinet_bar__plus_00_dot_51_bar__plus_00_dot_35_bar__minus_00_dot_43 CabinetType)\n (receptacleType DiningTable_bar__minus_02_dot_17_bar__minus_00_dot_03_bar__minus_03_dot_37 DiningTableType)\n (receptacleType StoveBurner_bar__minus_01_dot_56_bar__plus_00_dot_89_bar__plus_01_dot_05 StoveBurnerType)\n (objectType StoveKnob_bar__minus_01_dot_90_bar__plus_00_dot_87_bar__plus_00_dot_52 StoveKnobType)\n (objectType SaltShaker_bar__plus_00_dot_90_bar__plus_00_dot_66_bar__plus_00_dot_57 SaltShakerType)\n (objectType SaltShaker_bar__minus_00_dot_25_bar__plus_00_dot_90_bar__plus_00_dot_76 SaltShakerType)\n (objectType StoveKnob_bar__minus_01_dot_60_bar__plus_00_dot_87_bar__plus_00_dot_52 StoveKnobType)\n (objectType Tomato_bar__plus_00_dot_15_bar__plus_00_dot_95_bar__plus_01_dot_19 TomatoType)\n (objectType Egg_bar__plus_00_dot_63_bar__plus_01_dot_20_bar__minus_02_dot_19 EggType)\n (objectType StoveKnob_bar__minus_02_dot_06_bar__plus_00_dot_87_bar__plus_00_dot_52 StoveKnobType)\n (objectType StoveKnob_bar__minus_01_dot_75_bar__plus_00_dot_87_bar__plus_00_dot_52 StoveKnobType)\n (objectType Pan_bar__minus_02_dot_10_bar__plus_00_dot_93_bar__plus_01_dot_05 PanType)\n (objectType Egg_bar__minus_01_dot_64_bar__plus_00_dot_74_bar__minus_01_dot_31 EggType)\n (objectType ButterKnife_bar__minus_01_dot_89_bar__plus_00_dot_70_bar__minus_00_dot_88 ButterKnifeType)\n (objectType Mirror_bar__plus_01_dot_09_bar__plus_01_dot_60_bar__minus_00_dot_64 MirrorType)\n (objectType SoapBottle_bar__minus_00_dot_86_bar__plus_00_dot_90_bar__plus_00_dot_84 SoapBottleType)\n (objectType Window_bar__minus_02_dot_42_bar__plus_01_dot_64_bar__minus_02_dot_45 WindowType)\n (objectType Knife_bar__plus_00_dot_77_bar__plus_00_dot_78_bar__minus_00_dot_25 KnifeType)\n (objectType Fork_bar__minus_00_dot_86_bar__plus_00_dot_90_bar__plus_01_dot_19 ForkType)\n (objectType Blinds_bar__minus_02_dot_34_bar__plus_02_dot_15_bar__minus_02_dot_44 BlindsType)\n (objectType ButterKnife_bar__plus_00_dot_15_bar__plus_00_dot_90_bar__plus_00_dot_93 ButterKnifeType)\n (objectType DishSponge_bar__plus_00_dot_80_bar__plus_00_dot_88_bar__minus_00_dot_18 DishSpongeType)\n (objectType Spoon_bar__plus_00_dot_72_bar__plus_00_dot_67_bar__plus_00_dot_45 SpoonType)\n (objectType Potato_bar__plus_00_dot_60_bar__plus_00_dot_70_bar__plus_00_dot_63 PotatoType)\n (objectType Mug_bar__plus_00_dot_72_bar__plus_00_dot_77_bar__minus_00_dot_57 MugType)\n (objectType PepperShaker_bar__minus_00_dot_65_bar__plus_00_dot_90_bar__plus_01_dot_27 PepperShakerType)\n (objectType Apple_bar__minus_01_dot_80_bar__plus_00_dot_76_bar__minus_01_dot_42 AppleType)\n (objectType Lettuce_bar__plus_00_dot_80_bar__plus_00_dot_86_bar__minus_00_dot_74 LettuceType)\n (objectType Lettuce_bar__plus_00_dot_15_bar__plus_00_dot_99_bar__plus_00_dot_84 LettuceType)\n (objectType Chair_bar__minus_01_dot_90_bar__minus_00_dot_03_bar__minus_01_dot_87 ChairType)\n (objectType DishSponge_bar__plus_00_dot_82_bar__plus_00_dot_76_bar__plus_00_dot_00 DishSpongeType)\n (objectType Spoon_bar__plus_00_dot_67_bar__plus_00_dot_76_bar__minus_00_dot_19 SpoonType)\n (objectType Plate_bar__minus_02_dot_02_bar__plus_00_dot_69_bar__minus_01_dot_45 PlateType)\n (objectType SoapBottle_bar__plus_00_dot_90_bar__plus_00_dot_66_bar__plus_00_dot_33 SoapBottleType)\n (objectType ButterKnife_bar__minus_00_dot_65_bar__plus_00_dot_90_bar__plus_00_dot_84 ButterKnifeType)\n (objectType PepperShaker_bar__minus_01_dot_54_bar__plus_00_dot_69_bar__minus_03_dot_28 PepperShakerType)\n (objectType Potato_bar__minus_01_dot_22_bar__plus_00_dot_09_bar__minus_03_dot_57 PotatoType)\n (objectType Spatula_bar__plus_00_dot_78_bar__plus_00_dot_89_bar__minus_00_dot_05 SpatulaType)\n (objectType Cup_bar__plus_00_dot_68_bar__plus_00_dot_01_bar__plus_00_dot_08 CupType)\n (objectType Bread_bar__minus_00_dot_05_bar__plus_00_dot_94_bar__plus_01_dot_10 BreadType)\n (objectType Sink_bar__plus_00_dot_75_bar__plus_00_dot_88_bar__minus_00_dot_68 SinkType)\n (objectType LightSwitch_bar__plus_01_dot_10_bar__plus_01_dot_37_bar__minus_03_dot_74 LightSwitchType)\n (objectType Bowl_bar__minus_01_dot_06_bar__plus_00_dot_90_bar__plus_01_dot_02 BowlType)\n (objectType Knife_bar__plus_00_dot_62_bar__plus_00_dot_78_bar__plus_00_dot_00 KnifeType)\n (objectType Plate_bar__plus_00_dot_68_bar__plus_00_dot_02_bar__minus_00_dot_18 PlateType)\n (objectType Pot_bar__minus_01_dot_55_bar__plus_00_dot_93_bar__plus_00_dot_79 PotType)\n (objectType DishSponge_bar__plus_00_dot_95_bar__plus_01_dot_46_bar__minus_00_dot_27 DishSpongeType)\n (objectType Apple_bar__plus_00_dot_66_bar__plus_00_dot_72_bar__plus_00_dot_39 AppleType)\n (objectType Fork_bar__minus_00_dot_86_bar__plus_00_dot_90_bar__plus_01_dot_02 ForkType)\n (objectType SaltShaker_bar__minus_01_dot_72_bar__plus_00_dot_70_bar__minus_01_dot_42 SaltShakerType)\n (canContain FridgeType BreadType)\n (canContain FridgeType BowlType)\n (canContain FridgeType PotType)\n (canContain FridgeType MugType)\n (canContain FridgeType EggType)\n (canContain FridgeType LettuceType)\n (canContain FridgeType PotatoType)\n (canContain FridgeType CupType)\n (canContain FridgeType PlateType)\n (canContain FridgeType TomatoType)\n (canContain FridgeType AppleType)\n (canContain FridgeType PanType)\n (canContain StoveBurnerType PotType)\n (canContain StoveBurnerType PanType)\n (canContain CoffeeMachineType MugType)\n (canContain GarbageCanType BreadType)\n (canContain GarbageCanType DishSpongeType)\n (canContain GarbageCanType EggType)\n (canContain GarbageCanType SoapBottleType)\n (canContain GarbageCanType LettuceType)\n (canContain GarbageCanType PotatoType)\n (canContain GarbageCanType TomatoType)\n (canContain GarbageCanType AppleType)\n (canContain SideTableType SaltShakerType)\n (canContain SideTableType BreadType)\n (canContain SideTableType DishSpongeType)\n (canContain SideTableType BowlType)\n (canContain SideTableType 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(canContain CabinetType SaltShakerType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType BowlType)\n (canContain CabinetType PotType)\n (canContain CabinetType MugType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType CupType)\n (canContain CabinetType PlateType)\n (canContain CabinetType PepperShakerType)\n (canContain CabinetType PanType)\n (canContain 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 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Apple_bar__minus_01_dot_80_bar__plus_00_dot_76_bar__minus_01_dot_42)\n (sliceable Lettuce_bar__plus_00_dot_80_bar__plus_00_dot_86_bar__minus_00_dot_74)\n (sliceable Lettuce_bar__plus_00_dot_15_bar__plus_00_dot_99_bar__plus_00_dot_84)\n (sliceable Potato_bar__minus_01_dot_22_bar__plus_00_dot_09_bar__minus_03_dot_57)\n (sliceable Bread_bar__minus_00_dot_05_bar__plus_00_dot_94_bar__plus_01_dot_10)\n (sliceable Apple_bar__plus_00_dot_66_bar__plus_00_dot_72_bar__plus_00_dot_39)\n \n (inReceptacle DishSponge_bar__plus_00_dot_82_bar__plus_00_dot_76_bar__plus_00_dot_00 Drawer_bar__plus_00_dot_71_bar__plus_00_dot_77_bar__minus_00_dot_13)\n (inReceptacle Spoon_bar__plus_00_dot_67_bar__plus_00_dot_76_bar__minus_00_dot_19 Drawer_bar__plus_00_dot_71_bar__plus_00_dot_77_bar__minus_00_dot_13)\n (inReceptacle Knife_bar__plus_00_dot_62_bar__plus_00_dot_78_bar__plus_00_dot_00 Drawer_bar__plus_00_dot_71_bar__plus_00_dot_77_bar__minus_00_dot_13)\n (inReceptacle Knife_bar__plus_00_dot_77_bar__plus_00_dot_78_bar__minus_00_dot_25 Drawer_bar__plus_00_dot_71_bar__plus_00_dot_77_bar__minus_00_dot_13)\n (inReceptacle Spatula_bar__plus_00_dot_78_bar__plus_00_dot_89_bar__minus_00_dot_05 CounterTop_bar__plus_00_dot_79_bar__plus_00_dot_92_bar__minus_00_dot_11)\n (inReceptacle DishSponge_bar__plus_00_dot_80_bar__plus_00_dot_88_bar__minus_00_dot_18 CounterTop_bar__plus_00_dot_79_bar__plus_00_dot_92_bar__minus_00_dot_11)\n (inReceptacle Pan_bar__minus_02_dot_10_bar__plus_00_dot_93_bar__plus_01_dot_05 StoveBurner_bar__minus_02_dot_10_bar__plus_00_dot_89_bar__plus_00_dot_79)\n (inReceptacle Pot_bar__minus_01_dot_55_bar__plus_00_dot_93_bar__plus_00_dot_79 StoveBurner_bar__minus_01_dot_55_bar__plus_00_dot_89_bar__plus_00_dot_79)\n (inReceptacle Apple_bar__minus_01_dot_80_bar__plus_00_dot_76_bar__minus_01_dot_42 DiningTable_bar__minus_01_dot_73_bar__minus_00_dot_03_bar__minus_00_dot_96)\n (inReceptacle ButterKnife_bar__minus_01_dot_89_bar__plus_00_dot_70_bar__minus_00_dot_88 DiningTable_bar__minus_01_dot_73_bar__minus_00_dot_03_bar__minus_00_dot_96)\n (inReceptacle Plate_bar__minus_02_dot_02_bar__plus_00_dot_69_bar__minus_01_dot_45 DiningTable_bar__minus_01_dot_73_bar__minus_00_dot_03_bar__minus_00_dot_96)\n (inReceptacle Egg_bar__minus_01_dot_64_bar__plus_00_dot_74_bar__minus_01_dot_31 DiningTable_bar__minus_01_dot_73_bar__minus_00_dot_03_bar__minus_00_dot_96)\n (inReceptacle SaltShaker_bar__minus_01_dot_72_bar__plus_00_dot_70_bar__minus_01_dot_42 DiningTable_bar__minus_01_dot_73_bar__minus_00_dot_03_bar__minus_00_dot_96)\n (inReceptacle Pan_bar__minus_02_dot_10_bar__plus_00_dot_93_bar__plus_01_dot_05 StoveBurner_bar__minus_02_dot_10_bar__plus_00_dot_89_bar__plus_01_dot_05)\n (inReceptacle SaltShaker_bar__plus_00_dot_90_bar__plus_00_dot_66_bar__plus_00_dot_57 SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45)\n (inReceptacle SoapBottle_bar__plus_00_dot_90_bar__plus_00_dot_66_bar__plus_00_dot_33 SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45)\n (inReceptacle Apple_bar__plus_00_dot_66_bar__plus_00_dot_72_bar__plus_00_dot_39 SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45)\n (inReceptacle Potato_bar__plus_00_dot_60_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)\n (inReceptacle Spoon_bar__plus_00_dot_72_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)\n (inReceptacle Cup_bar__plus_00_dot_68_bar__plus_00_dot_01_bar__plus_00_dot_08 Cabinet_bar__plus_00_dot_51_bar__plus_00_dot_35_bar__plus_00_dot_16)\n (inReceptacle DishSponge_bar__plus_00_dot_95_bar__plus_01_dot_46_bar__minus_00_dot_27 Cabinet_bar__plus_00_dot_72_bar__plus_01_dot_82_bar__minus_00_dot_40)\n (inReceptacle Bowl_bar__minus_01_dot_06_bar__plus_00_dot_90_bar__plus_01_dot_02 DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95)\n (inReceptacle Lettuce_bar__plus_00_dot_15_bar__plus_00_dot_99_bar__plus_00_dot_84 DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95)\n (inReceptacle SoapBottle_bar__minus_00_dot_86_bar__plus_00_dot_90_bar__plus_00_dot_84 DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95)\n (inReceptacle SaltShaker_bar__minus_00_dot_25_bar__plus_00_dot_90_bar__plus_00_dot_76 DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95)\n (inReceptacle Fork_bar__minus_00_dot_86_bar__plus_00_dot_90_bar__plus_01_dot_19 DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95)\n (inReceptacle Tomato_bar__plus_00_dot_15_bar__plus_00_dot_95_bar__plus_01_dot_19 DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95)\n (inReceptacle ButterKnife_bar__minus_00_dot_65_bar__plus_00_dot_90_bar__plus_00_dot_84 DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95)\n (inReceptacle ButterKnife_bar__plus_00_dot_15_bar__plus_00_dot_90_bar__plus_00_dot_93 DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95)\n (inReceptacle Bread_bar__minus_00_dot_05_bar__plus_00_dot_94_bar__plus_01_dot_10 DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95)\n (inReceptacle Fork_bar__minus_00_dot_86_bar__plus_00_dot_90_bar__plus_01_dot_02 DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95)\n (inReceptacle PepperShaker_bar__minus_00_dot_65_bar__plus_00_dot_90_bar__plus_01_dot_27 DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95)\n (inReceptacle PepperShaker_bar__minus_01_dot_54_bar__plus_00_dot_69_bar__minus_03_dot_28 DiningTable_bar__minus_02_dot_17_bar__minus_00_dot_03_bar__minus_03_dot_37)\n (inReceptacle Potato_bar__minus_01_dot_22_bar__plus_00_dot_09_bar__minus_03_dot_57 GarbageCan_bar__minus_01_dot_26_bar__minus_00_dot_03_bar__minus_03_dot_61)\n (inReceptacle Egg_bar__plus_00_dot_63_bar__plus_01_dot_20_bar__minus_02_dot_19 Fridge_bar__plus_00_dot_68_bar__minus_00_dot_03_bar__minus_01_dot_96)\n (inReceptacle Lettuce_bar__plus_00_dot_80_bar__plus_00_dot_86_bar__minus_00_dot_74 Sink_bar__plus_00_dot_75_bar__plus_00_dot_88_bar__minus_00_dot_68_bar_SinkBasin)\n (inReceptacle Mug_bar__plus_00_dot_72_bar__plus_00_dot_77_bar__minus_00_dot_57 Sink_bar__plus_00_dot_75_bar__plus_00_dot_88_bar__minus_00_dot_68_bar_SinkBasin)\n \n \n (receptacleAtLocation Cabinet_bar__plus_00_dot_51_bar__plus_00_dot_35_bar__plus_00_dot_16 loc_bar__minus_2_bar_1_bar_1_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_51_bar__plus_00_dot_35_bar__minus_00_dot_43 loc_bar__minus_2_bar__minus_1_bar_1_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_72_bar__plus_01_dot_82_bar__plus_00_dot_67 loc_bar_1_bar_1_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_72_bar__plus_01_dot_82_bar__minus_00_dot_40 loc_bar_1_bar_0_bar_1_bar__minus_30)\n (receptacleAtLocation CoffeeMachine_bar__plus_00_dot_88_bar__plus_00_dot_86_bar__minus_01_dot_26 loc_bar_0_bar__minus_5_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_00_dot_79_bar__plus_00_dot_92_bar__minus_00_dot_11 loc_bar_1_bar_0_bar_1_bar_45)\n (receptacleAtLocation DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95 loc_bar_0_bar_1_bar_0_bar_60)\n (receptacleAtLocation DiningTable_bar__minus_01_dot_73_bar__minus_00_dot_03_bar__minus_00_dot_96 loc_bar__minus_4_bar__minus_5_bar_3_bar_60)\n (receptacleAtLocation DiningTable_bar__minus_02_dot_17_bar__minus_00_dot_03_bar__minus_03_dot_37 loc_bar__minus_7_bar__minus_11_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__plus_00_dot_71_bar__plus_00_dot_77_bar__minus_00_dot_13 loc_bar__minus_1_bar__minus_1_bar_1_bar_45)\n (receptacleAtLocation Fridge_bar__plus_00_dot_68_bar__minus_00_dot_03_bar__minus_01_dot_96 loc_bar__minus_1_bar__minus_8_bar_1_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_01_dot_26_bar__minus_00_dot_03_bar__minus_03_dot_61 loc_bar__minus_4_bar__minus_13_bar_2_bar_60)\n (receptacleAtLocation Microwave_bar__minus_02_dot_01_bar__plus_00_dot_69_bar__minus_03_dot_69 loc_bar__minus_7_bar__minus_11_bar_2_bar_45)\n (receptacleAtLocation SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45 loc_bar__minus_1_bar_1_bar_1_bar_45)\n (receptacleAtLocation Sink_bar__plus_00_dot_75_bar__plus_00_dot_88_bar__minus_00_dot_68_bar_SinkBasin loc_bar_1_bar__minus_2_bar_1_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_01_dot_55_bar__plus_00_dot_89_bar__plus_00_dot_79 loc_bar__minus_6_bar_0_bar_0_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_01_dot_56_bar__plus_00_dot_89_bar__plus_01_dot_05 loc_bar__minus_6_bar_0_bar_0_bar_30)\n (receptacleAtLocation StoveBurner_bar__minus_02_dot_10_bar__plus_00_dot_89_bar__plus_00_dot_79 loc_bar__minus_7_bar_0_bar_0_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_02_dot_10_bar__plus_00_dot_89_bar__plus_01_dot_05 loc_bar__minus_7_bar_0_bar_0_bar_30)\n (receptacleAtLocation Toaster_bar__minus_00_dot_52_bar__plus_00_dot_89_bar__plus_01_dot_07 loc_bar__minus_2_bar_1_bar_0_bar_45)\n (objectAtLocation Knife_bar__plus_00_dot_62_bar__plus_00_dot_78_bar__plus_00_dot_00 loc_bar__minus_1_bar__minus_1_bar_1_bar_45)\n (objectAtLocation Spoon_bar__plus_00_dot_72_bar__plus_00_dot_67_bar__plus_00_dot_45 loc_bar__minus_1_bar_1_bar_1_bar_45)\n (objectAtLocation Lettuce_bar__plus_00_dot_15_bar__plus_00_dot_99_bar__plus_00_dot_84 loc_bar_0_bar_1_bar_0_bar_60)\n (objectAtLocation DishSponge_bar__plus_00_dot_80_bar__plus_00_dot_88_bar__minus_00_dot_18 loc_bar_1_bar_0_bar_1_bar_45)\n (objectAtLocation ButterKnife_bar__plus_00_dot_15_bar__plus_00_dot_90_bar__plus_00_dot_93 loc_bar_0_bar_1_bar_0_bar_60)\n (objectAtLocation PepperShaker_bar__minus_00_dot_65_bar__plus_00_dot_90_bar__plus_01_dot_27 loc_bar_0_bar_1_bar_0_bar_60)\n (objectAtLocation SaltShaker_bar__plus_00_dot_90_bar__plus_00_dot_66_bar__plus_00_dot_57 loc_bar__minus_1_bar_1_bar_1_bar_45)\n (objectAtLocation Potato_bar__plus_00_dot_60_bar__plus_00_dot_70_bar__plus_00_dot_63 loc_bar__minus_1_bar_1_bar_1_bar_45)\n (objectAtLocation Egg_bar__plus_00_dot_63_bar__plus_01_dot_20_bar__minus_02_dot_19 loc_bar__minus_1_bar__minus_8_bar_1_bar_60)\n (objectAtLocation Apple_bar__minus_01_dot_80_bar__plus_00_dot_76_bar__minus_01_dot_42 loc_bar__minus_4_bar__minus_5_bar_3_bar_60)\n (objectAtLocation SoapBottle_bar__plus_00_dot_90_bar__plus_00_dot_66_bar__plus_00_dot_33 loc_bar__minus_1_bar_1_bar_1_bar_45)\n (objectAtLocation Fork_bar__minus_00_dot_86_bar__plus_00_dot_90_bar__plus_01_dot_02 loc_bar_0_bar_1_bar_0_bar_60)\n (objectAtLocation Plate_bar__minus_02_dot_02_bar__plus_00_dot_69_bar__minus_01_dot_45 loc_bar__minus_4_bar__minus_5_bar_3_bar_60)\n (objectAtLocation SaltShaker_bar__minus_01_dot_72_bar__plus_00_dot_70_bar__minus_01_dot_42 loc_bar__minus_4_bar__minus_5_bar_3_bar_60)\n (objectAtLocation ButterKnife_bar__minus_00_dot_65_bar__plus_00_dot_90_bar__plus_00_dot_84 loc_bar_0_bar_1_bar_0_bar_60)\n (objectAtLocation DishSponge_bar__plus_00_dot_95_bar__plus_01_dot_46_bar__minus_00_dot_27 loc_bar_1_bar_0_bar_1_bar__minus_30)\n (objectAtLocation Mirror_bar__plus_01_dot_09_bar__plus_01_dot_60_bar__minus_00_dot_64 loc_bar_1_bar__minus_3_bar_1_bar_0)\n (objectAtLocation Sink_bar__plus_00_dot_75_bar__plus_00_dot_88_bar__minus_00_dot_68 loc_bar_1_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Pot_bar__minus_01_dot_55_bar__plus_00_dot_93_bar__plus_00_dot_79 loc_bar__minus_6_bar_0_bar_0_bar_45)\n (objectAtLocation Plate_bar__plus_00_dot_68_bar__plus_00_dot_02_bar__minus_00_dot_18 loc_bar_1_bar__minus_1_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__minus_01_dot_90_bar__plus_00_dot_87_bar__plus_00_dot_52 loc_bar__minus_7_bar_0_bar_0_bar_60)\n (objectAtLocation StoveKnob_bar__minus_01_dot_75_bar__plus_00_dot_87_bar__plus_00_dot_52 loc_bar__minus_7_bar_0_bar_0_bar_60)\n (objectAtLocation StoveKnob_bar__minus_02_dot_06_bar__plus_00_dot_87_bar__plus_00_dot_52 loc_bar__minus_7_bar_0_bar_0_bar_60)\n (objectAtLocation StoveKnob_bar__minus_01_dot_60_bar__plus_00_dot_87_bar__plus_00_dot_52 loc_bar__minus_6_bar_0_bar_0_bar_60)\n (objectAtLocation Fork_bar__minus_00_dot_86_bar__plus_00_dot_90_bar__plus_01_dot_19 loc_bar_0_bar_1_bar_0_bar_60)\n (objectAtLocation SoapBottle_bar__minus_00_dot_86_bar__plus_00_dot_90_bar__plus_00_dot_84 loc_bar_0_bar_1_bar_0_bar_60)\n (objectAtLocation Apple_bar__plus_00_dot_66_bar__plus_00_dot_72_bar__plus_00_dot_39 loc_bar__minus_1_bar_1_bar_1_bar_45)\n (objectAtLocation Pan_bar__minus_02_dot_10_bar__plus_00_dot_93_bar__plus_01_dot_05 loc_bar__minus_7_bar_0_bar_0_bar_30)\n (objectAtLocation Window_bar__minus_02_dot_42_bar__plus_01_dot_64_bar__minus_02_dot_45 loc_bar__minus_7_bar__minus_10_bar_3_bar_0)\n (objectAtLocation Egg_bar__minus_01_dot_64_bar__plus_00_dot_74_bar__minus_01_dot_31 loc_bar__minus_4_bar__minus_5_bar_3_bar_60)\n (objectAtLocation Spatula_bar__plus_00_dot_78_bar__plus_00_dot_89_bar__minus_00_dot_05 loc_bar_1_bar_0_bar_1_bar_45)\n (objectAtLocation Potato_bar__minus_01_dot_22_bar__plus_00_dot_09_bar__minus_03_dot_57 loc_bar__minus_4_bar__minus_13_bar_2_bar_60)\n (objectAtLocation Cup_bar__plus_00_dot_68_bar__plus_00_dot_01_bar__plus_00_dot_08 loc_bar__minus_2_bar_1_bar_1_bar_45)\n (objectAtLocation SaltShaker_bar__minus_00_dot_25_bar__plus_00_dot_90_bar__plus_00_dot_76 loc_bar_0_bar_1_bar_0_bar_60)\n (objectAtLocation PepperShaker_bar__minus_01_dot_54_bar__plus_00_dot_69_bar__minus_03_dot_28 loc_bar__minus_7_bar__minus_11_bar_2_bar_60)\n (objectAtLocation ButterKnife_bar__minus_01_dot_89_bar__plus_00_dot_70_bar__minus_00_dot_88 loc_bar__minus_4_bar__minus_5_bar_3_bar_60)\n (objectAtLocation DishSponge_bar__plus_00_dot_82_bar__plus_00_dot_76_bar__plus_00_dot_00 loc_bar__minus_1_bar__minus_1_bar_1_bar_45)\n (objectAtLocation Bread_bar__minus_00_dot_05_bar__plus_00_dot_94_bar__plus_01_dot_10 loc_bar_0_bar_1_bar_0_bar_60)\n (objectAtLocation LightSwitch_bar__plus_01_dot_10_bar__plus_01_dot_37_bar__minus_03_dot_74 loc_bar_2_bar__minus_13_bar_1_bar_30)\n (objectAtLocation Lettuce_bar__plus_00_dot_80_bar__plus_00_dot_86_bar__minus_00_dot_74 loc_bar_1_bar__minus_2_bar_1_bar_60)\n (objectAtLocation Chair_bar__minus_01_dot_90_bar__minus_00_dot_03_bar__minus_01_dot_87 loc_bar__minus_5_bar__minus_7_bar_3_bar_60)\n (objectAtLocation Tomato_bar__plus_00_dot_15_bar__plus_00_dot_95_bar__plus_01_dot_19 loc_bar_0_bar_1_bar_0_bar_60)\n (objectAtLocation Spoon_bar__plus_00_dot_67_bar__plus_00_dot_76_bar__minus_00_dot_19 loc_bar__minus_1_bar__minus_1_bar_1_bar_45)\n (objectAtLocation Knife_bar__plus_00_dot_77_bar__plus_00_dot_78_bar__minus_00_dot_25 loc_bar__minus_1_bar__minus_1_bar_1_bar_45)\n (objectAtLocation Mug_bar__plus_00_dot_72_bar__plus_00_dot_77_bar__minus_00_dot_57 loc_bar_1_bar__minus_2_bar_1_bar_60)\n (objectAtLocation Blinds_bar__minus_02_dot_34_bar__plus_02_dot_15_bar__minus_02_dot_44 loc_bar__minus_7_bar__minus_10_bar_3_bar__minus_30)\n (objectAtLocation Bowl_bar__minus_01_dot_06_bar__plus_00_dot_90_bar__plus_01_dot_02 loc_bar_0_bar_1_bar_0_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (coolable ?o)\n (objectType ?o PotType)\n (receptacleType ?r DiningTableType)\n (isCool ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to stoveburner 4", "take pot 1 from stoveburner 4", "go to fridge 1", "cool pot 1 with fridge 1", "go to diningtable 3", "move pot 1 to diningtable 3"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Pot-None-DiningTable-21/trial_T20190909_004246_882533/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Pot-None-DiningTable-21/trial_T20190909_004246_882533/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..260ccd9212686337facd8a0c9656a3dfbfd25fea --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Pot-None-DiningTable-21/trial_T20190909_004246_882533/initial_state.pddl @@ -0,0 +1,830 @@ + +(define (problem plan_trial_T20190909_004246_882533) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + 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_39 - object + Apple_bar__minus_01_dot_80_bar__plus_00_dot_76_bar__minus_01_dot_42 - object + Blinds_bar__minus_02_dot_34_bar__plus_02_dot_15_bar__minus_02_dot_44 - object + Bowl_bar__minus_01_dot_06_bar__plus_00_dot_90_bar__plus_01_dot_02 - object + Bread_bar__minus_00_dot_05_bar__plus_00_dot_94_bar__plus_01_dot_10 - object + ButterKnife_bar__plus_00_dot_15_bar__plus_00_dot_90_bar__plus_00_dot_93 - object + ButterKnife_bar__minus_00_dot_65_bar__plus_00_dot_90_bar__plus_00_dot_84 - object + ButterKnife_bar__minus_01_dot_89_bar__plus_00_dot_70_bar__minus_00_dot_88 - object + Chair_bar__minus_01_dot_90_bar__minus_00_dot_03_bar__minus_01_dot_87 - object + Cup_bar__plus_00_dot_68_bar__plus_00_dot_01_bar__plus_00_dot_08 - object + DishSponge_bar__plus_00_dot_80_bar__plus_00_dot_88_bar__minus_00_dot_18 - object + DishSponge_bar__plus_00_dot_82_bar__plus_00_dot_76_bar__plus_00_dot_00 - object + DishSponge_bar__plus_00_dot_95_bar__plus_01_dot_46_bar__minus_00_dot_27 - object + Egg_bar__plus_00_dot_63_bar__plus_01_dot_20_bar__minus_02_dot_19 - object + Egg_bar__minus_01_dot_64_bar__plus_00_dot_74_bar__minus_01_dot_31 - object + Faucet_bar__plus_01_dot_03_bar__plus_00_dot_87_bar__minus_00_dot_68 - object + Fork_bar__minus_00_dot_86_bar__plus_00_dot_90_bar__plus_01_dot_02 - object + Fork_bar__minus_00_dot_86_bar__plus_00_dot_90_bar__plus_01_dot_19 - object + Knife_bar__plus_00_dot_62_bar__plus_00_dot_78_bar__plus_00_dot_00 - object + Knife_bar__plus_00_dot_77_bar__plus_00_dot_78_bar__minus_00_dot_25 - object + Lettuce_bar__plus_00_dot_15_bar__plus_00_dot_99_bar__plus_00_dot_84 - object + Lettuce_bar__plus_00_dot_80_bar__plus_00_dot_86_bar__minus_00_dot_74 - object + LightSwitch_bar__plus_01_dot_10_bar__plus_01_dot_37_bar__minus_03_dot_74 - object + Mirror_bar__plus_01_dot_09_bar__plus_01_dot_60_bar__minus_00_dot_64 - object + Mug_bar__plus_00_dot_72_bar__plus_00_dot_77_bar__minus_00_dot_57 - object + Pan_bar__minus_02_dot_10_bar__plus_00_dot_93_bar__plus_01_dot_05 - object + PepperShaker_bar__minus_00_dot_65_bar__plus_00_dot_90_bar__plus_01_dot_27 - object + PepperShaker_bar__minus_01_dot_54_bar__plus_00_dot_69_bar__minus_03_dot_28 - object + Plate_bar__plus_00_dot_68_bar__plus_00_dot_02_bar__minus_00_dot_18 - object + Plate_bar__minus_02_dot_02_bar__plus_00_dot_69_bar__minus_01_dot_45 - object + Potato_bar__plus_00_dot_60_bar__plus_00_dot_70_bar__plus_00_dot_63 - object + Potato_bar__minus_01_dot_22_bar__plus_00_dot_09_bar__minus_03_dot_57 - object + Pot_bar__minus_01_dot_55_bar__plus_00_dot_93_bar__plus_00_dot_79 - object + SaltShaker_bar__plus_00_dot_90_bar__plus_00_dot_66_bar__plus_00_dot_57 - object + SaltShaker_bar__minus_00_dot_25_bar__plus_00_dot_90_bar__plus_00_dot_76 - object + SaltShaker_bar__minus_01_dot_72_bar__plus_00_dot_70_bar__minus_01_dot_42 - object + Sink_bar__plus_00_dot_75_bar__plus_00_dot_88_bar__minus_00_dot_68 - object + SoapBottle_bar__plus_00_dot_90_bar__plus_00_dot_66_bar__plus_00_dot_33 - object + SoapBottle_bar__minus_00_dot_86_bar__plus_00_dot_90_bar__plus_00_dot_84 - object + Spatula_bar__plus_00_dot_78_bar__plus_00_dot_89_bar__minus_00_dot_05 - object + Spoon_bar__plus_00_dot_67_bar__plus_00_dot_76_bar__minus_00_dot_19 - object + Spoon_bar__plus_00_dot_72_bar__plus_00_dot_67_bar__plus_00_dot_45 - object + StoveKnob_bar__minus_01_dot_60_bar__plus_00_dot_87_bar__plus_00_dot_52 - object + StoveKnob_bar__minus_01_dot_75_bar__plus_00_dot_87_bar__plus_00_dot_52 - object + StoveKnob_bar__minus_01_dot_90_bar__plus_00_dot_87_bar__plus_00_dot_52 - object + StoveKnob_bar__minus_02_dot_06_bar__plus_00_dot_87_bar__plus_00_dot_52 - object + Tomato_bar__plus_00_dot_15_bar__plus_00_dot_95_bar__plus_01_dot_19 - 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_0_bar__minus_14_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType Fridge_bar__plus_00_dot_68_bar__minus_00_dot_03_bar__minus_01_dot_96 FridgeType) + (receptacleType StoveBurner_bar__minus_01_dot_55_bar__plus_00_dot_89_bar__plus_00_dot_79 StoveBurnerType) + (receptacleType CoffeeMachine_bar__plus_00_dot_88_bar__plus_00_dot_86_bar__minus_01_dot_26 CoffeeMachineType) + (receptacleType GarbageCan_bar__minus_01_dot_26_bar__minus_00_dot_03_bar__minus_03_dot_61 GarbageCanType) + (receptacleType SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45 SideTableType) + (receptacleType Microwave_bar__minus_02_dot_01_bar__plus_00_dot_69_bar__minus_03_dot_69 MicrowaveType) + (receptacleType Cabinet_bar__plus_00_dot_72_bar__plus_01_dot_82_bar__plus_00_dot_67 CabinetType) + (receptacleType CounterTop_bar__plus_00_dot_79_bar__plus_00_dot_92_bar__minus_00_dot_11 CounterTopType) + (receptacleType 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 StoveKnob_bar__minus_01_dot_90_bar__plus_00_dot_87_bar__plus_00_dot_52 StoveKnobType) + (objectType SaltShaker_bar__plus_00_dot_90_bar__plus_00_dot_66_bar__plus_00_dot_57 SaltShakerType) + (objectType SaltShaker_bar__minus_00_dot_25_bar__plus_00_dot_90_bar__plus_00_dot_76 SaltShakerType) + (objectType StoveKnob_bar__minus_01_dot_60_bar__plus_00_dot_87_bar__plus_00_dot_52 StoveKnobType) + (objectType Tomato_bar__plus_00_dot_15_bar__plus_00_dot_95_bar__plus_01_dot_19 TomatoType) + (objectType Egg_bar__plus_00_dot_63_bar__plus_01_dot_20_bar__minus_02_dot_19 EggType) + (objectType StoveKnob_bar__minus_02_dot_06_bar__plus_00_dot_87_bar__plus_00_dot_52 StoveKnobType) + (objectType StoveKnob_bar__minus_01_dot_75_bar__plus_00_dot_87_bar__plus_00_dot_52 StoveKnobType) + (objectType Pan_bar__minus_02_dot_10_bar__plus_00_dot_93_bar__plus_01_dot_05 PanType) + (objectType Egg_bar__minus_01_dot_64_bar__plus_00_dot_74_bar__minus_01_dot_31 EggType) + (objectType ButterKnife_bar__minus_01_dot_89_bar__plus_00_dot_70_bar__minus_00_dot_88 ButterKnifeType) + (objectType Mirror_bar__plus_01_dot_09_bar__plus_01_dot_60_bar__minus_00_dot_64 MirrorType) + (objectType SoapBottle_bar__minus_00_dot_86_bar__plus_00_dot_90_bar__plus_00_dot_84 SoapBottleType) + (objectType Window_bar__minus_02_dot_42_bar__plus_01_dot_64_bar__minus_02_dot_45 WindowType) + (objectType Knife_bar__plus_00_dot_77_bar__plus_00_dot_78_bar__minus_00_dot_25 KnifeType) + (objectType Fork_bar__minus_00_dot_86_bar__plus_00_dot_90_bar__plus_01_dot_19 ForkType) + (objectType Blinds_bar__minus_02_dot_34_bar__plus_02_dot_15_bar__minus_02_dot_44 BlindsType) + (objectType ButterKnife_bar__plus_00_dot_15_bar__plus_00_dot_90_bar__plus_00_dot_93 ButterKnifeType) + (objectType DishSponge_bar__plus_00_dot_80_bar__plus_00_dot_88_bar__minus_00_dot_18 DishSpongeType) + (objectType Spoon_bar__plus_00_dot_72_bar__plus_00_dot_67_bar__plus_00_dot_45 SpoonType) + (objectType Potato_bar__plus_00_dot_60_bar__plus_00_dot_70_bar__plus_00_dot_63 PotatoType) + (objectType Mug_bar__plus_00_dot_72_bar__plus_00_dot_77_bar__minus_00_dot_57 MugType) + (objectType PepperShaker_bar__minus_00_dot_65_bar__plus_00_dot_90_bar__plus_01_dot_27 PepperShakerType) + (objectType Apple_bar__minus_01_dot_80_bar__plus_00_dot_76_bar__minus_01_dot_42 AppleType) + (objectType Lettuce_bar__plus_00_dot_80_bar__plus_00_dot_86_bar__minus_00_dot_74 LettuceType) + (objectType Lettuce_bar__plus_00_dot_15_bar__plus_00_dot_99_bar__plus_00_dot_84 LettuceType) + (objectType Chair_bar__minus_01_dot_90_bar__minus_00_dot_03_bar__minus_01_dot_87 ChairType) + (objectType DishSponge_bar__plus_00_dot_82_bar__plus_00_dot_76_bar__plus_00_dot_00 DishSpongeType) + (objectType Spoon_bar__plus_00_dot_67_bar__plus_00_dot_76_bar__minus_00_dot_19 SpoonType) + (objectType Plate_bar__minus_02_dot_02_bar__plus_00_dot_69_bar__minus_01_dot_45 PlateType) + (objectType SoapBottle_bar__plus_00_dot_90_bar__plus_00_dot_66_bar__plus_00_dot_33 SoapBottleType) + (objectType ButterKnife_bar__minus_00_dot_65_bar__plus_00_dot_90_bar__plus_00_dot_84 ButterKnifeType) + (objectType PepperShaker_bar__minus_01_dot_54_bar__plus_00_dot_69_bar__minus_03_dot_28 PepperShakerType) + (objectType Potato_bar__minus_01_dot_22_bar__plus_00_dot_09_bar__minus_03_dot_57 PotatoType) + (objectType Spatula_bar__plus_00_dot_78_bar__plus_00_dot_89_bar__minus_00_dot_05 SpatulaType) + (objectType Cup_bar__plus_00_dot_68_bar__plus_00_dot_01_bar__plus_00_dot_08 CupType) + (objectType Bread_bar__minus_00_dot_05_bar__plus_00_dot_94_bar__plus_01_dot_10 BreadType) + (objectType Sink_bar__plus_00_dot_75_bar__plus_00_dot_88_bar__minus_00_dot_68 SinkType) + (objectType LightSwitch_bar__plus_01_dot_10_bar__plus_01_dot_37_bar__minus_03_dot_74 LightSwitchType) + (objectType Bowl_bar__minus_01_dot_06_bar__plus_00_dot_90_bar__plus_01_dot_02 BowlType) + (objectType Knife_bar__plus_00_dot_62_bar__plus_00_dot_78_bar__plus_00_dot_00 KnifeType) + (objectType Plate_bar__plus_00_dot_68_bar__plus_00_dot_02_bar__minus_00_dot_18 PlateType) + (objectType Pot_bar__minus_01_dot_55_bar__plus_00_dot_93_bar__plus_00_dot_79 PotType) + (objectType DishSponge_bar__plus_00_dot_95_bar__plus_01_dot_46_bar__minus_00_dot_27 DishSpongeType) + (objectType Apple_bar__plus_00_dot_66_bar__plus_00_dot_72_bar__plus_00_dot_39 AppleType) + (objectType Fork_bar__minus_00_dot_86_bar__plus_00_dot_90_bar__plus_01_dot_02 ForkType) + (objectType SaltShaker_bar__minus_01_dot_72_bar__plus_00_dot_70_bar__minus_01_dot_42 SaltShakerType) + (canContain FridgeType BreadType) + (canContain FridgeType BowlType) + (canContain FridgeType PotType) + (canContain FridgeType MugType) + (canContain FridgeType EggType) + (canContain FridgeType LettuceType) + (canContain FridgeType PotatoType) + (canContain FridgeType CupType) + (canContain FridgeType PlateType) + (canContain FridgeType TomatoType) + (canContain FridgeType AppleType) + (canContain FridgeType PanType) + (canContain StoveBurnerType PotType) + (canContain StoveBurnerType PanType) + (canContain CoffeeMachineType MugType) + (canContain GarbageCanType BreadType) + (canContain GarbageCanType DishSpongeType) + (canContain GarbageCanType EggType) + (canContain GarbageCanType SoapBottleType) + (canContain GarbageCanType LettuceType) + (canContain GarbageCanType PotatoType) + (canContain GarbageCanType TomatoType) + (canContain GarbageCanType AppleType) + (canContain SideTableType SaltShakerType) + (canContain SideTableType BreadType) + (canContain SideTableType DishSpongeType) + (canContain SideTableType BowlType) + (canContain SideTableType PotType) + (canContain SideTableType MugType) + (canContain SideTableType EggType) + 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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_39 SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45) + (inReceptacle Potato_bar__plus_00_dot_60_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 Spoon_bar__plus_00_dot_72_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 Cup_bar__plus_00_dot_68_bar__plus_00_dot_01_bar__plus_00_dot_08 Cabinet_bar__plus_00_dot_51_bar__plus_00_dot_35_bar__plus_00_dot_16) + (inReceptacle DishSponge_bar__plus_00_dot_95_bar__plus_01_dot_46_bar__minus_00_dot_27 Cabinet_bar__plus_00_dot_72_bar__plus_01_dot_82_bar__minus_00_dot_40) + (inReceptacle Bowl_bar__minus_01_dot_06_bar__plus_00_dot_90_bar__plus_01_dot_02 DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95) + (inReceptacle Lettuce_bar__plus_00_dot_15_bar__plus_00_dot_99_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_00_dot_86_bar__plus_00_dot_90_bar__plus_00_dot_84 DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95) + (inReceptacle SaltShaker_bar__minus_00_dot_25_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 Fork_bar__minus_00_dot_86_bar__plus_00_dot_90_bar__plus_01_dot_19 DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95) + (inReceptacle Tomato_bar__plus_00_dot_15_bar__plus_00_dot_95_bar__plus_01_dot_19 DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95) + (inReceptacle ButterKnife_bar__minus_00_dot_65_bar__plus_00_dot_90_bar__plus_00_dot_84 DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95) + (inReceptacle ButterKnife_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 Bread_bar__minus_00_dot_05_bar__plus_00_dot_94_bar__plus_01_dot_10 DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95) + (inReceptacle Fork_bar__minus_00_dot_86_bar__plus_00_dot_90_bar__plus_01_dot_02 DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95) + (inReceptacle PepperShaker_bar__minus_00_dot_65_bar__plus_00_dot_90_bar__plus_01_dot_27 DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95) + (inReceptacle PepperShaker_bar__minus_01_dot_54_bar__plus_00_dot_69_bar__minus_03_dot_28 DiningTable_bar__minus_02_dot_17_bar__minus_00_dot_03_bar__minus_03_dot_37) + (inReceptacle Potato_bar__minus_01_dot_22_bar__plus_00_dot_09_bar__minus_03_dot_57 GarbageCan_bar__minus_01_dot_26_bar__minus_00_dot_03_bar__minus_03_dot_61) + (inReceptacle Egg_bar__plus_00_dot_63_bar__plus_01_dot_20_bar__minus_02_dot_19 Fridge_bar__plus_00_dot_68_bar__minus_00_dot_03_bar__minus_01_dot_96) + (inReceptacle Lettuce_bar__plus_00_dot_80_bar__plus_00_dot_86_bar__minus_00_dot_74 Sink_bar__plus_00_dot_75_bar__plus_00_dot_88_bar__minus_00_dot_68_bar_SinkBasin) + (inReceptacle Mug_bar__plus_00_dot_72_bar__plus_00_dot_77_bar__minus_00_dot_57 Sink_bar__plus_00_dot_75_bar__plus_00_dot_88_bar__minus_00_dot_68_bar_SinkBasin) + + + (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 Toaster_bar__minus_00_dot_52_bar__plus_00_dot_89_bar__plus_01_dot_07 loc_bar__minus_2_bar_1_bar_0_bar_45) + (objectAtLocation Knife_bar__plus_00_dot_62_bar__plus_00_dot_78_bar__plus_00_dot_00 loc_bar__minus_1_bar__minus_1_bar_1_bar_45) + (objectAtLocation Spoon_bar__plus_00_dot_72_bar__plus_00_dot_67_bar__plus_00_dot_45 loc_bar__minus_1_bar_1_bar_1_bar_45) + (objectAtLocation Lettuce_bar__plus_00_dot_15_bar__plus_00_dot_99_bar__plus_00_dot_84 loc_bar_0_bar_1_bar_0_bar_60) + (objectAtLocation DishSponge_bar__plus_00_dot_80_bar__plus_00_dot_88_bar__minus_00_dot_18 loc_bar_1_bar_0_bar_1_bar_45) + (objectAtLocation ButterKnife_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 PepperShaker_bar__minus_00_dot_65_bar__plus_00_dot_90_bar__plus_01_dot_27 loc_bar_0_bar_1_bar_0_bar_60) + (objectAtLocation SaltShaker_bar__plus_00_dot_90_bar__plus_00_dot_66_bar__plus_00_dot_57 loc_bar__minus_1_bar_1_bar_1_bar_45) + (objectAtLocation Potato_bar__plus_00_dot_60_bar__plus_00_dot_70_bar__plus_00_dot_63 loc_bar__minus_1_bar_1_bar_1_bar_45) + (objectAtLocation Egg_bar__plus_00_dot_63_bar__plus_01_dot_20_bar__minus_02_dot_19 loc_bar__minus_1_bar__minus_8_bar_1_bar_60) + (objectAtLocation Apple_bar__minus_01_dot_80_bar__plus_00_dot_76_bar__minus_01_dot_42 loc_bar__minus_4_bar__minus_5_bar_3_bar_60) + (objectAtLocation SoapBottle_bar__plus_00_dot_90_bar__plus_00_dot_66_bar__plus_00_dot_33 loc_bar__minus_1_bar_1_bar_1_bar_45) + (objectAtLocation Fork_bar__minus_00_dot_86_bar__plus_00_dot_90_bar__plus_01_dot_02 loc_bar_0_bar_1_bar_0_bar_60) + (objectAtLocation Plate_bar__minus_02_dot_02_bar__plus_00_dot_69_bar__minus_01_dot_45 loc_bar__minus_4_bar__minus_5_bar_3_bar_60) + (objectAtLocation SaltShaker_bar__minus_01_dot_72_bar__plus_00_dot_70_bar__minus_01_dot_42 loc_bar__minus_4_bar__minus_5_bar_3_bar_60) + (objectAtLocation ButterKnife_bar__minus_00_dot_65_bar__plus_00_dot_90_bar__plus_00_dot_84 loc_bar_0_bar_1_bar_0_bar_60) + (objectAtLocation DishSponge_bar__plus_00_dot_95_bar__plus_01_dot_46_bar__minus_00_dot_27 loc_bar_1_bar_0_bar_1_bar__minus_30) + (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_01_dot_55_bar__plus_00_dot_93_bar__plus_00_dot_79 loc_bar__minus_6_bar_0_bar_0_bar_45) + (objectAtLocation Plate_bar__plus_00_dot_68_bar__plus_00_dot_02_bar__minus_00_dot_18 loc_bar_1_bar__minus_1_bar_1_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__minus_00_dot_86_bar__plus_00_dot_90_bar__plus_01_dot_19 loc_bar_0_bar_1_bar_0_bar_60) + (objectAtLocation SoapBottle_bar__minus_00_dot_86_bar__plus_00_dot_90_bar__plus_00_dot_84 loc_bar_0_bar_1_bar_0_bar_60) + (objectAtLocation Apple_bar__plus_00_dot_66_bar__plus_00_dot_72_bar__plus_00_dot_39 loc_bar__minus_1_bar_1_bar_1_bar_45) + (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_31 loc_bar__minus_4_bar__minus_5_bar_3_bar_60) + (objectAtLocation Spatula_bar__plus_00_dot_78_bar__plus_00_dot_89_bar__minus_00_dot_05 loc_bar_1_bar_0_bar_1_bar_45) + (objectAtLocation Potato_bar__minus_01_dot_22_bar__plus_00_dot_09_bar__minus_03_dot_57 loc_bar__minus_4_bar__minus_13_bar_2_bar_60) + (objectAtLocation Cup_bar__plus_00_dot_68_bar__plus_00_dot_01_bar__plus_00_dot_08 loc_bar__minus_2_bar_1_bar_1_bar_45) + (objectAtLocation SaltShaker_bar__minus_00_dot_25_bar__plus_00_dot_90_bar__plus_00_dot_76 loc_bar_0_bar_1_bar_0_bar_60) + (objectAtLocation PepperShaker_bar__minus_01_dot_54_bar__plus_00_dot_69_bar__minus_03_dot_28 loc_bar__minus_7_bar__minus_11_bar_2_bar_60) + (objectAtLocation ButterKnife_bar__minus_01_dot_89_bar__plus_00_dot_70_bar__minus_00_dot_88 loc_bar__minus_4_bar__minus_5_bar_3_bar_60) + (objectAtLocation DishSponge_bar__plus_00_dot_82_bar__plus_00_dot_76_bar__plus_00_dot_00 loc_bar__minus_1_bar__minus_1_bar_1_bar_45) + (objectAtLocation Bread_bar__minus_00_dot_05_bar__plus_00_dot_94_bar__plus_01_dot_10 loc_bar_0_bar_1_bar_0_bar_60) + (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_80_bar__plus_00_dot_86_bar__minus_00_dot_74 loc_bar_1_bar__minus_2_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_15_bar__plus_00_dot_95_bar__plus_01_dot_19 loc_bar_0_bar_1_bar_0_bar_60) + (objectAtLocation Spoon_bar__plus_00_dot_67_bar__plus_00_dot_76_bar__minus_00_dot_19 loc_bar__minus_1_bar__minus_1_bar_1_bar_45) + (objectAtLocation Knife_bar__plus_00_dot_77_bar__plus_00_dot_78_bar__minus_00_dot_25 loc_bar__minus_1_bar__minus_1_bar_1_bar_45) + (objectAtLocation Mug_bar__plus_00_dot_72_bar__plus_00_dot_77_bar__minus_00_dot_57 loc_bar_1_bar__minus_2_bar_1_bar_60) + (objectAtLocation Blinds_bar__minus_02_dot_34_bar__plus_02_dot_15_bar__minus_02_dot_44 loc_bar__minus_7_bar__minus_10_bar_3_bar__minus_30) + (objectAtLocation Bowl_bar__minus_01_dot_06_bar__plus_00_dot_90_bar__plus_01_dot_02 loc_bar_0_bar_1_bar_0_bar_60) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (coolable ?o) + (objectType ?o PotType) + (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-Pot-None-DiningTable-21/trial_T20190909_004246_882533/traj_data.json b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Pot-None-DiningTable-21/trial_T20190909_004246_882533/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..d11e4a0fc9f50875d1b17a2b6a03c261c8c53977 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then turn left to go to the fridge.", + "Open the fridge and put the pot inside, chill it, then take it out.", + "Turn right and move forward, then turn left to go to the white table.", + "Put the pot on the white table." + ], + "task_desc": "Put a cold pot on the white table", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3F7G1FSFWQPLE_3B1NLC6UG2NX3DTFF0ZXK65FNL7PGE", + "high_descs": [ + "Walk over to the silver can in front of you, then hang a right and walk over to the oven.", + "Pick up the metal pan off of the front right burner of the stove.", + "Walk over to the black fridge behind you.", + "Open the fridge and put the pan inside on the top shelf then close the door, after a couple seconds open the fridge back up then take out the pan and close the fridge.", + "Walk over to the small white table behind you.", + "Put the cold metal pan on the white table." + ], + "task_desc": "Put a cold metal pan on a white table.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A2KAGFQU28JY43_3PEIJLRY6WKY98L6GWDW0MD6J7XWXX", + "high_descs": [ + "Turn to your right and go to the stove across the room. ", + "Pick up the pan on the front, right burner of the stove. ", + "Turn around and go across the kitchen, to the refrigerator on the left. ", + "Place the pan on the right of the top shelf of the refrigerator, wait a moment for it to chill, then remove the pan from the refrigerator. ", + "Turn around and go to the white table across from you. ", + "Place the pan on the center of the white table. " + ], + "task_desc": "Put a cold pan on the table. ", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Pot-None-DiningTable-21/trial_T20190909_004420_892970/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Pot-None-DiningTable-21/trial_T20190909_004420_892970/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..56219caedd661c6b15bea9e9a7a34f0f34db0045 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Pot-None-DiningTable-21/trial_T20190909_004420_892970/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\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 pot and put it in diningtable.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190909_004420_892970)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Apple_bar__plus_00_dot_67_bar__plus_00_dot_83_bar__minus_00_dot_68 - object\n Apple_bar__plus_00_dot_96_bar__plus_00_dot_72_bar__plus_00_dot_57 - object\n Blinds_bar__minus_02_dot_34_bar__plus_02_dot_15_bar__minus_02_dot_44 - object\n Bowl_bar__plus_00_dot_95_bar__plus_01_dot_46_bar__plus_00_dot_41 - object\n Bread_bar__minus_00_dot_87_bar__plus_00_dot_93_bar__plus_00_dot_98 - object\n ButterKnife_bar__plus_00_dot_60_bar__plus_00_dot_66_bar__plus_00_dot_45 - object\n Chair_bar__minus_01_dot_90_bar__minus_00_dot_03_bar__minus_01_dot_87 - object\n Cup_bar__plus_00_dot_62_bar__plus_00_dot_01_bar__minus_00_dot_12 - object\n Cup_bar__plus_00_dot_79_bar__plus_00_dot_01_bar__minus_00_dot_25 - object\n Cup_bar__minus_01_dot_60_bar__plus_00_dot_70_bar__minus_03_dot_78 - object\n DishSponge_bar__plus_00_dot_66_bar__plus_00_dot_66_bar__plus_00_dot_45 - object\n DishSponge_bar__plus_00_dot_82_bar__plus_00_dot_76_bar__minus_00_dot_12 - object\n Egg_bar__plus_00_dot_80_bar__plus_00_dot_81_bar__minus_00_dot_85 - object\n Egg_bar__plus_01_dot_02_bar__plus_00_dot_92_bar__plus_00_dot_10 - object\n Egg_bar__minus_01_dot_84_bar__plus_00_dot_84_bar__minus_03_dot_77 - object\n Faucet_bar__plus_01_dot_03_bar__plus_00_dot_87_bar__minus_00_dot_68 - object\n Fork_bar__plus_00_dot_62_bar__plus_00_dot_76_bar__minus_00_dot_12 - object\n Fork_bar__plus_00_dot_78_bar__plus_00_dot_67_bar__plus_00_dot_33 - object\n Fork_bar__minus_01_dot_58_bar__plus_00_dot_70_bar__minus_03_dot_45 - object\n Knife_bar__plus_00_dot_57_bar__plus_00_dot_78_bar__minus_00_dot_12 - object\n Knife_bar__plus_00_dot_95_bar__plus_00_dot_91_bar__minus_00_dot_18 - object\n Knife_bar__minus_01_dot_80_bar__plus_00_dot_70_bar__minus_01_dot_55 - object\n Lettuce_bar__plus_00_dot_66_bar__plus_00_dot_75_bar__plus_00_dot_33 - object\n Lettuce_bar__plus_00_dot_78_bar__plus_00_dot_75_bar__plus_00_dot_57 - object\n LightSwitch_bar__plus_01_dot_10_bar__plus_01_dot_37_bar__minus_03_dot_74 - object\n Mirror_bar__plus_01_dot_09_bar__plus_01_dot_60_bar__minus_00_dot_64 - object\n Mug_bar__plus_00_dot_70_bar__plus_00_dot_94_bar__minus_01_dot_36 - object\n Mug_bar__minus_02_dot_05_bar__plus_00_dot_79_bar__minus_03_dot_67 - object\n Pan_bar__plus_00_dot_74_bar__minus_00_dot_01_bar__minus_00_dot_60 - object\n PepperShaker_bar__plus_00_dot_58_bar__plus_00_dot_88_bar__plus_00_dot_10 - object\n Plate_bar__minus_02_dot_02_bar__plus_00_dot_70_bar__minus_01_dot_45 - object\n Potato_bar__plus_00_dot_66_bar__plus_00_dot_92_bar__minus_00_dot_11 - object\n Potato_bar__plus_00_dot_73_bar__plus_00_dot_92_bar__minus_00_dot_25 - object\n Potato_bar__minus_01_dot_90_bar__plus_00_dot_83_bar__minus_03_dot_67 - object\n Pot_bar__minus_01_dot_55_bar__plus_00_dot_93_bar__plus_00_dot_79 - object\n Pot_bar__minus_02_dot_10_bar__plus_00_dot_93_bar__plus_00_dot_79 - object\n SaltShaker_bar__plus_00_dot_95_bar__plus_01_dot_46_bar__minus_00_dot_15 - object\n Sink_bar__plus_00_dot_75_bar__plus_00_dot_88_bar__minus_00_dot_68 - object\n SoapBottle_bar__plus_00_dot_62_bar__plus_00_dot_01_bar__minus_00_dot_25 - object\n SoapBottle_bar__minus_01_dot_26_bar__plus_00_dot_05_bar__minus_03_dot_61 - object\n Spatula_bar__plus_00_dot_72_bar__plus_00_dot_77_bar__plus_00_dot_00 - object\n Spoon_bar__plus_00_dot_80_bar__plus_00_dot_77_bar__minus_00_dot_63 - object\n StoveKnob_bar__minus_01_dot_60_bar__plus_00_dot_87_bar__plus_00_dot_52 - object\n StoveKnob_bar__minus_01_dot_75_bar__plus_00_dot_87_bar__plus_00_dot_52 - object\n StoveKnob_bar__minus_01_dot_90_bar__plus_00_dot_87_bar__plus_00_dot_52 - object\n StoveKnob_bar__minus_02_dot_06_bar__plus_00_dot_87_bar__plus_00_dot_52 - object\n Tomato_bar__plus_00_dot_67_bar__plus_00_dot_82_bar__minus_00_dot_79 - object\n Tomato_bar__minus_01_dot_60_bar__plus_00_dot_75_bar__minus_03_dot_61 - object\n Tomato_bar__minus_02_dot_14_bar__plus_00_dot_75_bar__minus_00_dot_98 - object\n Window_bar__minus_02_dot_42_bar__plus_01_dot_64_bar__minus_02_dot_45 - object\n Cabinet_bar__plus_00_dot_51_bar__plus_00_dot_35_bar__plus_00_dot_16 - receptacle\n Cabinet_bar__plus_00_dot_51_bar__plus_00_dot_35_bar__minus_00_dot_43 - receptacle\n Cabinet_bar__plus_00_dot_72_bar__plus_01_dot_82_bar__plus_00_dot_67 - receptacle\n Cabinet_bar__plus_00_dot_72_bar__plus_01_dot_82_bar__minus_00_dot_40 - receptacle\n CoffeeMachine_bar__plus_00_dot_88_bar__plus_00_dot_86_bar__minus_01_dot_26 - receptacle\n CounterTop_bar__plus_00_dot_79_bar__plus_00_dot_92_bar__minus_00_dot_11 - receptacle\n DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95 - receptacle\n DiningTable_bar__minus_01_dot_73_bar__minus_00_dot_03_bar__minus_00_dot_96 - receptacle\n DiningTable_bar__minus_02_dot_17_bar__minus_00_dot_03_bar__minus_03_dot_37 - receptacle\n Drawer_bar__plus_00_dot_71_bar__plus_00_dot_77_bar__minus_00_dot_13 - receptacle\n Fridge_bar__plus_00_dot_68_bar__minus_00_dot_03_bar__minus_01_dot_96 - receptacle\n GarbageCan_bar__minus_01_dot_26_bar__minus_00_dot_03_bar__minus_03_dot_61 - receptacle\n Microwave_bar__minus_02_dot_01_bar__plus_00_dot_69_bar__minus_03_dot_69 - receptacle\n SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45 - receptacle\n Sink_bar__plus_00_dot_75_bar__plus_00_dot_88_bar__minus_00_dot_68_bar_SinkBasin - receptacle\n StoveBurner_bar__minus_01_dot_55_bar__plus_00_dot_89_bar__plus_00_dot_79 - receptacle\n StoveBurner_bar__minus_01_dot_56_bar__plus_00_dot_89_bar__plus_01_dot_05 - receptacle\n StoveBurner_bar__minus_02_dot_10_bar__plus_00_dot_89_bar__plus_00_dot_79 - receptacle\n StoveBurner_bar__minus_02_dot_10_bar__plus_00_dot_89_bar__plus_01_dot_05 - receptacle\n Toaster_bar__minus_00_dot_52_bar__plus_00_dot_89_bar__plus_01_dot_07 - receptacle\n loc_bar__minus_6_bar_0_bar_0_bar_45 - location\n loc_bar__minus_4_bar__minus_5_bar_3_bar_60 - location\n loc_bar_1_bar__minus_3_bar_1_bar_0 - location\n loc_bar__minus_7_bar_0_bar_0_bar_30 - location\n loc_bar__minus_7_bar__minus_11_bar_2_bar_45 - location\n loc_bar_1_bar_1_bar_1_bar__minus_30 - location\n loc_bar__minus_7_bar_0_bar_0_bar_60 - location\n loc_bar__minus_6_bar_0_bar_0_bar_60 - location\n loc_bar__minus_7_bar__minus_11_bar_2_bar_60 - location\n loc_bar_1_bar__minus_2_bar_1_bar_60 - location\n loc_bar__minus_7_bar_0_bar_0_bar_45 - location\n loc_bar_0_bar_1_bar_0_bar_60 - location\n loc_bar__minus_1_bar__minus_8_bar_1_bar_60 - location\n loc_bar__minus_2_bar__minus_1_bar_1_bar_45 - location\n loc_bar__minus_1_bar__minus_1_bar_1_bar_45 - location\n loc_bar__minus_6_bar_0_bar_0_bar_30 - location\n loc_bar__minus_7_bar__minus_10_bar_3_bar_0 - location\n loc_bar_1_bar_0_bar_1_bar_45 - location\n loc_bar_2_bar__minus_13_bar_1_bar_30 - location\n loc_bar_0_bar__minus_5_bar_1_bar_45 - location\n loc_bar__minus_1_bar_1_bar_1_bar_45 - location\n loc_bar__minus_4_bar__minus_13_bar_2_bar_60 - location\n loc_bar__minus_2_bar_1_bar_1_bar_45 - location\n loc_bar_1_bar__minus_3_bar_1_bar_60 - location\n loc_bar__minus_2_bar_1_bar_0_bar_45 - location\n loc_bar__minus_5_bar__minus_7_bar_3_bar_60 - location\n loc_bar_1_bar_0_bar_1_bar__minus_30 - location\n loc_bar__minus_7_bar__minus_10_bar_3_bar__minus_30 - location\n loc_bar_0_bar_0_bar_1_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Fridge_bar__plus_00_dot_68_bar__minus_00_dot_03_bar__minus_01_dot_96 FridgeType)\n (receptacleType StoveBurner_bar__minus_01_dot_55_bar__plus_00_dot_89_bar__plus_00_dot_79 StoveBurnerType)\n (receptacleType CoffeeMachine_bar__plus_00_dot_88_bar__plus_00_dot_86_bar__minus_01_dot_26 CoffeeMachineType)\n (receptacleType GarbageCan_bar__minus_01_dot_26_bar__minus_00_dot_03_bar__minus_03_dot_61 GarbageCanType)\n (receptacleType SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45 SideTableType)\n (receptacleType Microwave_bar__minus_02_dot_01_bar__plus_00_dot_69_bar__minus_03_dot_69 MicrowaveType)\n (receptacleType Cabinet_bar__plus_00_dot_72_bar__plus_01_dot_82_bar__plus_00_dot_67 CabinetType)\n (receptacleType CounterTop_bar__plus_00_dot_79_bar__plus_00_dot_92_bar__minus_00_dot_11 CounterTopType)\n (receptacleType Cabinet_bar__plus_00_dot_72_bar__plus_01_dot_82_bar__minus_00_dot_40 CabinetType)\n (receptacleType Sink_bar__plus_00_dot_75_bar__plus_00_dot_88_bar__minus_00_dot_68_bar_SinkBasin SinkBasinType)\n (receptacleType Cabinet_bar__plus_00_dot_51_bar__plus_00_dot_35_bar__plus_00_dot_16 CabinetType)\n (receptacleType DiningTable_bar__minus_01_dot_73_bar__minus_00_dot_03_bar__minus_00_dot_96 DiningTableType)\n (receptacleType Drawer_bar__plus_00_dot_71_bar__plus_00_dot_77_bar__minus_00_dot_13 DrawerType)\n (receptacleType Toaster_bar__minus_00_dot_52_bar__plus_00_dot_89_bar__plus_01_dot_07 ToasterType)\n (receptacleType StoveBurner_bar__minus_02_dot_10_bar__plus_00_dot_89_bar__plus_00_dot_79 StoveBurnerType)\n (receptacleType DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95 DiningTableType)\n (receptacleType StoveBurner_bar__minus_02_dot_10_bar__plus_00_dot_89_bar__plus_01_dot_05 StoveBurnerType)\n (receptacleType Cabinet_bar__plus_00_dot_51_bar__plus_00_dot_35_bar__minus_00_dot_43 CabinetType)\n (receptacleType DiningTable_bar__minus_02_dot_17_bar__minus_00_dot_03_bar__minus_03_dot_37 DiningTableType)\n (receptacleType StoveBurner_bar__minus_01_dot_56_bar__plus_00_dot_89_bar__plus_01_dot_05 StoveBurnerType)\n (objectType StoveKnob_bar__minus_01_dot_90_bar__plus_00_dot_87_bar__plus_00_dot_52 StoveKnobType)\n (objectType Apple_bar__plus_00_dot_67_bar__plus_00_dot_83_bar__minus_00_dot_68 AppleType)\n (objectType StoveKnob_bar__minus_01_dot_60_bar__plus_00_dot_87_bar__plus_00_dot_52 StoveKnobType)\n (objectType Cup_bar__plus_00_dot_62_bar__plus_00_dot_01_bar__minus_00_dot_12 CupType)\n (objectType StoveKnob_bar__minus_02_dot_06_bar__plus_00_dot_87_bar__plus_00_dot_52 StoveKnobType)\n (objectType StoveKnob_bar__minus_01_dot_75_bar__plus_00_dot_87_bar__plus_00_dot_52 StoveKnobType)\n (objectType Potato_bar__plus_00_dot_66_bar__plus_00_dot_92_bar__minus_00_dot_11 PotatoType)\n (objectType Lettuce_bar__plus_00_dot_66_bar__plus_00_dot_75_bar__plus_00_dot_33 LettuceType)\n (objectType Mirror_bar__plus_01_dot_09_bar__plus_01_dot_60_bar__minus_00_dot_64 MirrorType)\n (objectType Window_bar__minus_02_dot_42_bar__plus_01_dot_64_bar__minus_02_dot_45 WindowType)\n (objectType Egg_bar__plus_00_dot_80_bar__plus_00_dot_81_bar__minus_00_dot_85 EggType)\n (objectType Egg_bar__plus_01_dot_02_bar__plus_00_dot_92_bar__plus_00_dot_10 EggType)\n (objectType DishSponge_bar__plus_00_dot_66_bar__plus_00_dot_66_bar__plus_00_dot_45 DishSpongeType)\n (objectType Fork_bar__plus_00_dot_78_bar__plus_00_dot_67_bar__plus_00_dot_33 ForkType)\n (objectType Blinds_bar__minus_02_dot_34_bar__plus_02_dot_15_bar__minus_02_dot_44 BlindsType)\n (objectType Lettuce_bar__plus_00_dot_78_bar__plus_00_dot_75_bar__plus_00_dot_57 LettuceType)\n (objectType Pot_bar__minus_02_dot_10_bar__plus_00_dot_93_bar__plus_00_dot_79 PotType)\n (objectType Knife_bar__minus_01_dot_80_bar__plus_00_dot_70_bar__minus_01_dot_55 KnifeType)\n (objectType Spoon_bar__plus_00_dot_80_bar__plus_00_dot_77_bar__minus_00_dot_63 SpoonType)\n (objectType Knife_bar__plus_00_dot_95_bar__plus_00_dot_91_bar__minus_00_dot_18 KnifeType)\n (objectType Cup_bar__plus_00_dot_79_bar__plus_00_dot_01_bar__minus_00_dot_25 CupType)\n (objectType SoapBottle_bar__plus_00_dot_62_bar__plus_00_dot_01_bar__minus_00_dot_25 SoapBottleType)\n (objectType Chair_bar__minus_01_dot_90_bar__minus_00_dot_03_bar__minus_01_dot_87 ChairType)\n (objectType ButterKnife_bar__plus_00_dot_60_bar__plus_00_dot_66_bar__plus_00_dot_45 ButterKnifeType)\n (objectType DishSponge_bar__plus_00_dot_82_bar__plus_00_dot_76_bar__minus_00_dot_12 DishSpongeType)\n (objectType Mug_bar__plus_00_dot_70_bar__plus_00_dot_94_bar__minus_01_dot_36 MugType)\n (objectType 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(inReceptacle Bowl_bar__plus_00_dot_95_bar__plus_01_dot_46_bar__plus_00_dot_41 Cabinet_bar__plus_00_dot_72_bar__plus_01_dot_82_bar__plus_00_dot_67)\n (inReceptacle Bread_bar__minus_00_dot_87_bar__plus_00_dot_93_bar__plus_00_dot_98 DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95)\n (inReceptacle Tomato_bar__minus_01_dot_60_bar__plus_00_dot_75_bar__minus_03_dot_61 DiningTable_bar__minus_02_dot_17_bar__minus_00_dot_03_bar__minus_03_dot_37)\n (inReceptacle Cup_bar__minus_01_dot_60_bar__plus_00_dot_70_bar__minus_03_dot_78 DiningTable_bar__minus_02_dot_17_bar__minus_00_dot_03_bar__minus_03_dot_37)\n (inReceptacle Fork_bar__minus_01_dot_58_bar__plus_00_dot_70_bar__minus_03_dot_45 DiningTable_bar__minus_02_dot_17_bar__minus_00_dot_03_bar__minus_03_dot_37)\n (inReceptacle Mug_bar__plus_00_dot_70_bar__plus_00_dot_94_bar__minus_01_dot_36 CoffeeMachine_bar__plus_00_dot_88_bar__plus_00_dot_86_bar__minus_01_dot_26)\n (inReceptacle SoapBottle_bar__minus_01_dot_26_bar__plus_00_dot_05_bar__minus_03_dot_61 GarbageCan_bar__minus_01_dot_26_bar__minus_00_dot_03_bar__minus_03_dot_61)\n (inReceptacle Egg_bar__minus_01_dot_84_bar__plus_00_dot_84_bar__minus_03_dot_77 Microwave_bar__minus_02_dot_01_bar__plus_00_dot_69_bar__minus_03_dot_69)\n (inReceptacle Potato_bar__minus_01_dot_90_bar__plus_00_dot_83_bar__minus_03_dot_67 Microwave_bar__minus_02_dot_01_bar__plus_00_dot_69_bar__minus_03_dot_69)\n (inReceptacle Mug_bar__minus_02_dot_05_bar__plus_00_dot_79_bar__minus_03_dot_67 Microwave_bar__minus_02_dot_01_bar__plus_00_dot_69_bar__minus_03_dot_69)\n (inReceptacle Tomato_bar__plus_00_dot_67_bar__plus_00_dot_82_bar__minus_00_dot_79 Sink_bar__plus_00_dot_75_bar__plus_00_dot_88_bar__minus_00_dot_68_bar_SinkBasin)\n (inReceptacle Egg_bar__plus_00_dot_80_bar__plus_00_dot_81_bar__minus_00_dot_85 Sink_bar__plus_00_dot_75_bar__plus_00_dot_88_bar__minus_00_dot_68_bar_SinkBasin)\n (inReceptacle 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Egg_bar__plus_00_dot_80_bar__plus_00_dot_81_bar__minus_00_dot_85 loc_bar_1_bar__minus_2_bar_1_bar_60)\n (objectAtLocation Fork_bar__plus_00_dot_62_bar__plus_00_dot_76_bar__minus_00_dot_12 loc_bar__minus_1_bar__minus_1_bar_1_bar_45)\n (objectAtLocation Potato_bar__minus_01_dot_90_bar__plus_00_dot_83_bar__minus_03_dot_67 loc_bar__minus_7_bar__minus_11_bar_2_bar_45)\n (objectAtLocation Mirror_bar__plus_01_dot_09_bar__plus_01_dot_60_bar__minus_00_dot_64 loc_bar_1_bar__minus_3_bar_1_bar_0)\n (objectAtLocation Sink_bar__plus_00_dot_75_bar__plus_00_dot_88_bar__minus_00_dot_68 loc_bar_1_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Pot_bar__minus_02_dot_10_bar__plus_00_dot_93_bar__plus_00_dot_79 loc_bar__minus_7_bar_0_bar_0_bar_45)\n (objectAtLocation Plate_bar__minus_02_dot_02_bar__plus_00_dot_70_bar__minus_01_dot_45 loc_bar__minus_4_bar__minus_5_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_01_dot_90_bar__plus_00_dot_87_bar__plus_00_dot_52 loc_bar__minus_7_bar_0_bar_0_bar_60)\n (objectAtLocation StoveKnob_bar__minus_01_dot_75_bar__plus_00_dot_87_bar__plus_00_dot_52 loc_bar__minus_7_bar_0_bar_0_bar_60)\n (objectAtLocation StoveKnob_bar__minus_02_dot_06_bar__plus_00_dot_87_bar__plus_00_dot_52 loc_bar__minus_7_bar_0_bar_0_bar_60)\n (objectAtLocation StoveKnob_bar__minus_01_dot_60_bar__plus_00_dot_87_bar__plus_00_dot_52 loc_bar__minus_6_bar_0_bar_0_bar_60)\n (objectAtLocation Fork_bar__minus_01_dot_58_bar__plus_00_dot_70_bar__minus_03_dot_45 loc_bar__minus_7_bar__minus_11_bar_2_bar_60)\n (objectAtLocation SoapBottle_bar__plus_00_dot_62_bar__plus_00_dot_01_bar__minus_00_dot_25 loc_bar__minus_2_bar_1_bar_1_bar_45)\n (objectAtLocation Apple_bar__plus_00_dot_67_bar__plus_00_dot_83_bar__minus_00_dot_68 loc_bar_1_bar__minus_2_bar_1_bar_60)\n (objectAtLocation Pan_bar__plus_00_dot_74_bar__minus_00_dot_01_bar__minus_00_dot_60 loc_bar__minus_2_bar__minus_1_bar_1_bar_45)\n (objectAtLocation Window_bar__minus_02_dot_42_bar__plus_01_dot_64_bar__minus_02_dot_45 loc_bar__minus_7_bar__minus_10_bar_3_bar_0)\n (objectAtLocation Egg_bar__minus_01_dot_84_bar__plus_00_dot_84_bar__minus_03_dot_77 loc_bar__minus_7_bar__minus_11_bar_2_bar_45)\n (objectAtLocation Spatula_bar__plus_00_dot_72_bar__plus_00_dot_77_bar__plus_00_dot_00 loc_bar__minus_1_bar__minus_1_bar_1_bar_45)\n (objectAtLocation Potato_bar__plus_00_dot_66_bar__plus_00_dot_92_bar__minus_00_dot_11 loc_bar_1_bar_0_bar_1_bar_45)\n (objectAtLocation Cup_bar__plus_00_dot_62_bar__plus_00_dot_01_bar__minus_00_dot_12 loc_bar__minus_2_bar_1_bar_1_bar_45)\n (objectAtLocation SaltShaker_bar__plus_00_dot_95_bar__plus_01_dot_46_bar__minus_00_dot_15 loc_bar_1_bar_0_bar_1_bar__minus_30)\n (objectAtLocation PepperShaker_bar__plus_00_dot_58_bar__plus_00_dot_88_bar__plus_00_dot_10 loc_bar_1_bar_0_bar_1_bar_45)\n (objectAtLocation ButterKnife_bar__plus_00_dot_60_bar__plus_00_dot_66_bar__plus_00_dot_45 loc_bar__minus_1_bar_1_bar_1_bar_45)\n (objectAtLocation DishSponge_bar__plus_00_dot_82_bar__plus_00_dot_76_bar__minus_00_dot_12 loc_bar__minus_1_bar__minus_1_bar_1_bar_45)\n (objectAtLocation Bread_bar__minus_00_dot_87_bar__plus_00_dot_93_bar__plus_00_dot_98 loc_bar_0_bar_1_bar_0_bar_60)\n (objectAtLocation LightSwitch_bar__plus_01_dot_10_bar__plus_01_dot_37_bar__minus_03_dot_74 loc_bar_2_bar__minus_13_bar_1_bar_30)\n (objectAtLocation Lettuce_bar__plus_00_dot_78_bar__plus_00_dot_75_bar__plus_00_dot_57 loc_bar__minus_1_bar_1_bar_1_bar_45)\n (objectAtLocation Chair_bar__minus_01_dot_90_bar__minus_00_dot_03_bar__minus_01_dot_87 loc_bar__minus_5_bar__minus_7_bar_3_bar_60)\n (objectAtLocation Tomato_bar__minus_02_dot_14_bar__plus_00_dot_75_bar__minus_00_dot_98 loc_bar__minus_4_bar__minus_5_bar_3_bar_60)\n (objectAtLocation Spoon_bar__plus_00_dot_80_bar__plus_00_dot_77_bar__minus_00_dot_63 loc_bar_1_bar__minus_2_bar_1_bar_60)\n (objectAtLocation Knife_bar__minus_01_dot_80_bar__plus_00_dot_70_bar__minus_01_dot_55 loc_bar__minus_4_bar__minus_5_bar_3_bar_60)\n (objectAtLocation Mug_bar__minus_02_dot_05_bar__plus_00_dot_79_bar__minus_03_dot_67 loc_bar__minus_7_bar__minus_11_bar_2_bar_45)\n (objectAtLocation Blinds_bar__minus_02_dot_34_bar__plus_02_dot_15_bar__minus_02_dot_44 loc_bar__minus_7_bar__minus_10_bar_3_bar__minus_30)\n (objectAtLocation Bowl_bar__plus_00_dot_95_bar__plus_01_dot_46_bar__plus_00_dot_41 loc_bar_1_bar_1_bar_1_bar__minus_30)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (coolable ?o)\n (objectType ?o PotType)\n (receptacleType ?r DiningTableType)\n (isCool ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to stoveburner 4", "take pot 2 from stoveburner 4", "go to fridge 1", "cool pot 2 with fridge 1", "go to diningtable 3", "move pot 2 to diningtable 3"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Pot-None-DiningTable-21/trial_T20190909_004420_892970/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Pot-None-DiningTable-21/trial_T20190909_004420_892970/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..276c6e5dd1602b31209418c95ce936f0b269a61b --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Pot-None-DiningTable-21/trial_T20190909_004420_892970/initial_state.pddl @@ -0,0 +1,864 @@ + +(define (problem plan_trial_T20190909_004420_892970) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Apple_bar__plus_00_dot_67_bar__plus_00_dot_83_bar__minus_00_dot_68 - object + Apple_bar__plus_00_dot_96_bar__plus_00_dot_72_bar__plus_00_dot_57 - object + Blinds_bar__minus_02_dot_34_bar__plus_02_dot_15_bar__minus_02_dot_44 - object + Bowl_bar__plus_00_dot_95_bar__plus_01_dot_46_bar__plus_00_dot_41 - object + Bread_bar__minus_00_dot_87_bar__plus_00_dot_93_bar__plus_00_dot_98 - object + ButterKnife_bar__plus_00_dot_60_bar__plus_00_dot_66_bar__plus_00_dot_45 - object + Chair_bar__minus_01_dot_90_bar__minus_00_dot_03_bar__minus_01_dot_87 - object + Cup_bar__plus_00_dot_62_bar__plus_00_dot_01_bar__minus_00_dot_12 - object + Cup_bar__plus_00_dot_79_bar__plus_00_dot_01_bar__minus_00_dot_25 - object + Cup_bar__minus_01_dot_60_bar__plus_00_dot_70_bar__minus_03_dot_78 - object + DishSponge_bar__plus_00_dot_66_bar__plus_00_dot_66_bar__plus_00_dot_45 - object + DishSponge_bar__plus_00_dot_82_bar__plus_00_dot_76_bar__minus_00_dot_12 - object + Egg_bar__plus_00_dot_80_bar__plus_00_dot_81_bar__minus_00_dot_85 - object + Egg_bar__plus_01_dot_02_bar__plus_00_dot_92_bar__plus_00_dot_10 - object + Egg_bar__minus_01_dot_84_bar__plus_00_dot_84_bar__minus_03_dot_77 - object + Faucet_bar__plus_01_dot_03_bar__plus_00_dot_87_bar__minus_00_dot_68 - object + Fork_bar__plus_00_dot_62_bar__plus_00_dot_76_bar__minus_00_dot_12 - object + Fork_bar__plus_00_dot_78_bar__plus_00_dot_67_bar__plus_00_dot_33 - object + Fork_bar__minus_01_dot_58_bar__plus_00_dot_70_bar__minus_03_dot_45 - object + Knife_bar__plus_00_dot_57_bar__plus_00_dot_78_bar__minus_00_dot_12 - object + Knife_bar__plus_00_dot_95_bar__plus_00_dot_91_bar__minus_00_dot_18 - object + Knife_bar__minus_01_dot_80_bar__plus_00_dot_70_bar__minus_01_dot_55 - object + Lettuce_bar__plus_00_dot_66_bar__plus_00_dot_75_bar__plus_00_dot_33 - object + Lettuce_bar__plus_00_dot_78_bar__plus_00_dot_75_bar__plus_00_dot_57 - 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_02_dot_05_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_58_bar__plus_00_dot_88_bar__plus_00_dot_10 - object + Plate_bar__minus_02_dot_02_bar__plus_00_dot_70_bar__minus_01_dot_45 - object + Potato_bar__plus_00_dot_66_bar__plus_00_dot_92_bar__minus_00_dot_11 - object + Potato_bar__plus_00_dot_73_bar__plus_00_dot_92_bar__minus_00_dot_25 - object + Potato_bar__minus_01_dot_90_bar__plus_00_dot_83_bar__minus_03_dot_67 - 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_95_bar__plus_01_dot_46_bar__minus_00_dot_15 - object + Sink_bar__plus_00_dot_75_bar__plus_00_dot_88_bar__minus_00_dot_68 - object + SoapBottle_bar__plus_00_dot_62_bar__plus_00_dot_01_bar__minus_00_dot_25 - object + SoapBottle_bar__minus_01_dot_26_bar__plus_00_dot_05_bar__minus_03_dot_61 - object + Spatula_bar__plus_00_dot_72_bar__plus_00_dot_77_bar__plus_00_dot_00 - object + Spoon_bar__plus_00_dot_80_bar__plus_00_dot_77_bar__minus_00_dot_63 - object + StoveKnob_bar__minus_01_dot_60_bar__plus_00_dot_87_bar__plus_00_dot_52 - object + StoveKnob_bar__minus_01_dot_75_bar__plus_00_dot_87_bar__plus_00_dot_52 - object + StoveKnob_bar__minus_01_dot_90_bar__plus_00_dot_87_bar__plus_00_dot_52 - object + StoveKnob_bar__minus_02_dot_06_bar__plus_00_dot_87_bar__plus_00_dot_52 - object + Tomato_bar__plus_00_dot_67_bar__plus_00_dot_82_bar__minus_00_dot_79 - object + Tomato_bar__minus_01_dot_60_bar__plus_00_dot_75_bar__minus_03_dot_61 - object + Tomato_bar__minus_02_dot_14_bar__plus_00_dot_75_bar__minus_00_dot_98 - object + Window_bar__minus_02_dot_42_bar__plus_01_dot_64_bar__minus_02_dot_45 - object + Cabinet_bar__plus_00_dot_51_bar__plus_00_dot_35_bar__plus_00_dot_16 - receptacle + Cabinet_bar__plus_00_dot_51_bar__plus_00_dot_35_bar__minus_00_dot_43 - receptacle + Cabinet_bar__plus_00_dot_72_bar__plus_01_dot_82_bar__plus_00_dot_67 - receptacle + Cabinet_bar__plus_00_dot_72_bar__plus_01_dot_82_bar__minus_00_dot_40 - receptacle + CoffeeMachine_bar__plus_00_dot_88_bar__plus_00_dot_86_bar__minus_01_dot_26 - receptacle + CounterTop_bar__plus_00_dot_79_bar__plus_00_dot_92_bar__minus_00_dot_11 - receptacle + DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95 - receptacle + DiningTable_bar__minus_01_dot_73_bar__minus_00_dot_03_bar__minus_00_dot_96 - receptacle + DiningTable_bar__minus_02_dot_17_bar__minus_00_dot_03_bar__minus_03_dot_37 - receptacle + Drawer_bar__plus_00_dot_71_bar__plus_00_dot_77_bar__minus_00_dot_13 - receptacle + Fridge_bar__plus_00_dot_68_bar__minus_00_dot_03_bar__minus_01_dot_96 - receptacle + GarbageCan_bar__minus_01_dot_26_bar__minus_00_dot_03_bar__minus_03_dot_61 - receptacle + Microwave_bar__minus_02_dot_01_bar__plus_00_dot_69_bar__minus_03_dot_69 - receptacle + SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45 - receptacle + Sink_bar__plus_00_dot_75_bar__plus_00_dot_88_bar__minus_00_dot_68_bar_SinkBasin - receptacle + StoveBurner_bar__minus_01_dot_55_bar__plus_00_dot_89_bar__plus_00_dot_79 - receptacle + StoveBurner_bar__minus_01_dot_56_bar__plus_00_dot_89_bar__plus_01_dot_05 - receptacle + StoveBurner_bar__minus_02_dot_10_bar__plus_00_dot_89_bar__plus_00_dot_79 - receptacle + StoveBurner_bar__minus_02_dot_10_bar__plus_00_dot_89_bar__plus_01_dot_05 - receptacle + Toaster_bar__minus_00_dot_52_bar__plus_00_dot_89_bar__plus_01_dot_07 - receptacle + loc_bar__minus_6_bar_0_bar_0_bar_45 - location + loc_bar__minus_4_bar__minus_5_bar_3_bar_60 - location + loc_bar_1_bar__minus_3_bar_1_bar_0 - location + loc_bar__minus_7_bar_0_bar_0_bar_30 - location + loc_bar__minus_7_bar__minus_11_bar_2_bar_45 - location + loc_bar_1_bar_1_bar_1_bar__minus_30 - location + loc_bar__minus_7_bar_0_bar_0_bar_60 - location + loc_bar__minus_6_bar_0_bar_0_bar_60 - location + loc_bar__minus_7_bar__minus_11_bar_2_bar_60 - location + loc_bar_1_bar__minus_2_bar_1_bar_60 - location + loc_bar__minus_7_bar_0_bar_0_bar_45 - location + loc_bar_0_bar_1_bar_0_bar_60 - location + loc_bar__minus_1_bar__minus_8_bar_1_bar_60 - location + loc_bar__minus_2_bar__minus_1_bar_1_bar_45 - location + loc_bar__minus_1_bar__minus_1_bar_1_bar_45 - location + loc_bar__minus_6_bar_0_bar_0_bar_30 - location + loc_bar__minus_7_bar__minus_10_bar_3_bar_0 - location + loc_bar_1_bar_0_bar_1_bar_45 - location + loc_bar_2_bar__minus_13_bar_1_bar_30 - location + loc_bar_0_bar__minus_5_bar_1_bar_45 - location + loc_bar__minus_1_bar_1_bar_1_bar_45 - location + loc_bar__minus_4_bar__minus_13_bar_2_bar_60 - location + loc_bar__minus_2_bar_1_bar_1_bar_45 - location + loc_bar_1_bar__minus_3_bar_1_bar_60 - location + loc_bar__minus_2_bar_1_bar_0_bar_45 - location + loc_bar__minus_5_bar__minus_7_bar_3_bar_60 - location + loc_bar_1_bar_0_bar_1_bar__minus_30 - location + loc_bar__minus_7_bar__minus_10_bar_3_bar__minus_30 - location + loc_bar_0_bar_0_bar_1_bar_30 - location + ) + + +(:init + + + (receptacleType Fridge_bar__plus_00_dot_68_bar__minus_00_dot_03_bar__minus_01_dot_96 FridgeType) + (receptacleType StoveBurner_bar__minus_01_dot_55_bar__plus_00_dot_89_bar__plus_00_dot_79 StoveBurnerType) + (receptacleType CoffeeMachine_bar__plus_00_dot_88_bar__plus_00_dot_86_bar__minus_01_dot_26 CoffeeMachineType) + (receptacleType GarbageCan_bar__minus_01_dot_26_bar__minus_00_dot_03_bar__minus_03_dot_61 GarbageCanType) + (receptacleType SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45 SideTableType) + (receptacleType Microwave_bar__minus_02_dot_01_bar__plus_00_dot_69_bar__minus_03_dot_69 MicrowaveType) + (receptacleType Cabinet_bar__plus_00_dot_72_bar__plus_01_dot_82_bar__plus_00_dot_67 CabinetType) + (receptacleType CounterTop_bar__plus_00_dot_79_bar__plus_00_dot_92_bar__minus_00_dot_11 CounterTopType) + (receptacleType Cabinet_bar__plus_00_dot_72_bar__plus_01_dot_82_bar__minus_00_dot_40 CabinetType) + (receptacleType Sink_bar__plus_00_dot_75_bar__plus_00_dot_88_bar__minus_00_dot_68_bar_SinkBasin SinkBasinType) + (receptacleType Cabinet_bar__plus_00_dot_51_bar__plus_00_dot_35_bar__plus_00_dot_16 CabinetType) + (receptacleType DiningTable_bar__minus_01_dot_73_bar__minus_00_dot_03_bar__minus_00_dot_96 DiningTableType) + (receptacleType Drawer_bar__plus_00_dot_71_bar__plus_00_dot_77_bar__minus_00_dot_13 DrawerType) + (receptacleType Toaster_bar__minus_00_dot_52_bar__plus_00_dot_89_bar__plus_01_dot_07 ToasterType) + (receptacleType StoveBurner_bar__minus_02_dot_10_bar__plus_00_dot_89_bar__plus_00_dot_79 StoveBurnerType) + (receptacleType DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95 DiningTableType) + (receptacleType StoveBurner_bar__minus_02_dot_10_bar__plus_00_dot_89_bar__plus_01_dot_05 StoveBurnerType) + (receptacleType Cabinet_bar__plus_00_dot_51_bar__plus_00_dot_35_bar__minus_00_dot_43 CabinetType) + (receptacleType DiningTable_bar__minus_02_dot_17_bar__minus_00_dot_03_bar__minus_03_dot_37 DiningTableType) + (receptacleType StoveBurner_bar__minus_01_dot_56_bar__plus_00_dot_89_bar__plus_01_dot_05 StoveBurnerType) + (objectType StoveKnob_bar__minus_01_dot_90_bar__plus_00_dot_87_bar__plus_00_dot_52 StoveKnobType) + (objectType Apple_bar__plus_00_dot_67_bar__plus_00_dot_83_bar__minus_00_dot_68 AppleType) + (objectType StoveKnob_bar__minus_01_dot_60_bar__plus_00_dot_87_bar__plus_00_dot_52 StoveKnobType) + (objectType Cup_bar__plus_00_dot_62_bar__plus_00_dot_01_bar__minus_00_dot_12 CupType) + (objectType StoveKnob_bar__minus_02_dot_06_bar__plus_00_dot_87_bar__plus_00_dot_52 StoveKnobType) + (objectType StoveKnob_bar__minus_01_dot_75_bar__plus_00_dot_87_bar__plus_00_dot_52 StoveKnobType) + (objectType Potato_bar__plus_00_dot_66_bar__plus_00_dot_92_bar__minus_00_dot_11 PotatoType) + (objectType 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", + "Pick up the pan from the right front burner of the stove. ", + "Turn around and walk to the fridge on the left. ", + "Open the fridge door, put the pan in the fridge on the top shelf, close the door, open the door, take the pan out of the fridge, and close the door. ", + "Turn around and walk to the small table. ", + "Put the pan down on the table. " + ], + "task_desc": "To chill a pan and put it on the small table. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3MLUEOP3CCLXL_3VA45EW49QEIEYRBIH1FOJWJBQDO1F", + "high_descs": [ + "Turn around and walk to the stove, turn right to face the stove", + "Pick up the square pan that is on the front right burner", + "Turn around and head forward, make a left after passing the table on your right and walk to the fridge", + "Open the fridge and place the pan on the top shelf then close the fridge. Open the fridge and pick up the pan that is on the top shelf then close the fridge", + "Turn around and walk to the white table", + "Place the pan on the table to the right of the knife" + ], + "task_desc": "Place a chilled pan on a table", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1RLO9LNUJIW5S_3X3OR7WPZ2RSJD8Z4AU2BCFXURD8L1", + "high_descs": [ + "Turn around and walk to the stove on your right turning right to face it once you've gotten to it.", + "Pick up the pan that's in front of you on the front right burner.", + "Turn right and take a step then turn right and walk to the white table on your right then turn left and walk to the fridge.", + "Chill the pan in the fridge then get it back out and close the door.", + "Turn around and walk to the small white table.", + "Put the pan on the table." + ], + "task_desc": "Put a cold pan on the table.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-TomatoSliced-None-DiningTable-18/trial_T20190909_101216_297477/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-TomatoSliced-None-DiningTable-18/trial_T20190909_101216_297477/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..34026fdc347e7eecf82e223cad9642bba9179e8b --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-TomatoSliced-None-DiningTable-18/trial_T20190909_101216_297477/initial_state.pddl @@ -0,0 +1,1083 @@ + +(define (problem plan_trial_T20190909_101216_297477) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + 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_27_bar__plus_01_dot_17_bar__plus_00_dot_18 - object + Apple_bar__plus_01_dot_14_bar__plus_01_dot_07_bar__plus_04_dot_72 - object + Apple_bar__minus_00_dot_16_bar__plus_00_dot_83_bar__plus_06_dot_79 - object + Blinds_bar__plus_01_dot_74_bar__plus_02_dot_56_bar__plus_02_dot_31 - object + Bowl_bar__plus_02_dot_05_bar__plus_01_dot_51_bar__plus_05_dot_88 - object + Bread_bar__plus_01_dot_49_bar__plus_01_dot_06_bar__plus_00_dot_44 - object + ButterKnife_bar__plus_00_dot_85_bar__plus_00_dot_99_bar__plus_00_dot_58 - object + ButterKnife_bar__plus_01_dot_31_bar__plus_00_dot_99_bar__plus_03_dot_23 - object + ButterKnife_bar__plus_01_dot_58_bar__plus_00_dot_99_bar__plus_03_dot_14 - object + Chair_bar__plus_00_dot_29_bar__plus_00_dot_02_bar__plus_06_dot_14 - object + Cup_bar__plus_01_dot_14_bar__plus_00_dot_99_bar__plus_00_dot_90 - object + Cup_bar__plus_01_dot_49_bar__plus_02_dot_20_bar__plus_03_dot_89 - object + DishSponge_bar__plus_00_dot_06_bar__plus_00_dot_77_bar__plus_00_dot_51 - object + Egg_bar__plus_01_dot_28_bar__plus_00_dot_94_bar__plus_02_dot_53 - object + Egg_bar__plus_01_dot_92_bar__plus_01_dot_57_bar__plus_05_dot_25 - object + Faucet_bar__plus_01_dot_54_bar__plus_01_dot_03_bar__plus_02_dot_37 - object + Fork_bar__plus_00_dot_19_bar__plus_00_dot_77_bar__plus_00_dot_45 - object + Fork_bar__minus_00_dot_03_bar__plus_00_dot_76_bar__plus_06_dot_48 - object + Fork_bar__minus_00_dot_69_bar__plus_00_dot_77_bar__plus_00_dot_40 - object + HousePlant_bar__minus_00_dot_17_bar__plus_00_dot_75_bar__plus_06_dot_44 - object + Kettle_bar__plus_01_dot_32_bar__plus_00_dot_99_bar__plus_03_dot_85 - object + Kettle_bar__plus_01_dot_56_bar__plus_00_dot_99_bar__plus_04_dot_29 - object + Knife_bar__plus_00_dot_06_bar__plus_00_dot_79_bar__plus_06_dot_26 - object + Lettuce_bar__plus_01_dot_45_bar__plus_00_dot_93_bar__plus_02_dot_05 - object + LightSwitch_bar__minus_02_dot_00_bar__plus_01_dot_55_bar__plus_06_dot_05 - object + Mug_bar__plus_01_dot_33_bar__plus_00_dot_89_bar__plus_02_dot_68 - object + Pan_bar__minus_00_dot_16_bar__plus_00_dot_76_bar__plus_06_dot_17 - object + PaperTowelRoll_bar__plus_00_dot_10_bar__plus_00_dot_86_bar__plus_06_dot_31 - object + PepperShaker_bar__plus_01_dot_41_bar__plus_00_dot_14_bar__plus_02_dot_01 - object + Plate_bar__plus_01_dot_50_bar__plus_01_dot_58_bar__plus_04_dot_63 - object + Plate_bar__minus_00_dot_61_bar__plus_00_dot_99_bar__plus_00_dot_40 - object + Potato_bar__plus_00_dot_77_bar__plus_01_dot_03_bar__plus_00_dot_12 - object + Potato_bar__plus_02_dot_09_bar__plus_01_dot_55_bar__plus_05_dot_25 - object + Potato_bar__minus_00_dot_28_bar__plus_00_dot_79_bar__plus_06_dot_94 - object + Pot_bar__plus_01_dot_56_bar__plus_00_dot_99_bar__plus_03_dot_85 - object + SaltShaker_bar__plus_00_dot_31_bar__plus_00_dot_76_bar__plus_06_dot_35 - object + SaltShaker_bar__plus_00_dot_31_bar__plus_00_dot_76_bar__plus_06_dot_48 - object + SaltShaker_bar__plus_00_dot_33_bar__plus_00_dot_14_bar__plus_00_dot_58 - object + Sink_bar__plus_01_dot_39_bar__plus_01_dot_01_bar__plus_02_dot_33 - object + SoapBottle_bar__plus_00_dot_21_bar__plus_00_dot_76_bar__plus_06_dot_76 - object + Spatula_bar__plus_00_dot_19_bar__plus_00_dot_78_bar__plus_06_dot_57 - object + Spatula_bar__plus_00_dot_74_bar__plus_00_dot_79_bar__plus_00_dot_62 - object + Spoon_bar__plus_00_dot_70_bar__plus_00_dot_99_bar__plus_00_dot_67 - object + StoveKnob_bar__plus_01_dot_14_bar__plus_00_dot_93_bar__plus_03_dot_82 - object + StoveKnob_bar__plus_01_dot_14_bar__plus_00_dot_93_bar__plus_03_dot_99 - object + StoveKnob_bar__plus_01_dot_14_bar__plus_00_dot_93_bar__plus_04_dot_14 - object + StoveKnob_bar__plus_01_dot_14_bar__plus_00_dot_93_bar__plus_04_dot_31 - object + Tomato_bar__plus_00_dot_54_bar__plus_01_dot_04_bar__plus_00_dot_67 - object + Tomato_bar__minus_00_dot_29_bar__plus_00_dot_81_bar__plus_06_dot_61 - object + Tomato_bar__minus_00_dot_47_bar__plus_00_dot_81_bar__plus_06_dot_54 - object + Tomato_bar__minus_00_dot_58_bar__plus_00_dot_81_bar__plus_06_dot_72 - object + Window_bar__plus_01_dot_76_bar__plus_02_dot_01_bar__plus_02_dot_30 - object + Window_bar__minus_02_dot_07_bar__plus_01_dot_92_bar__plus_03_dot_63 - object + Cabinet_bar__plus_00_dot_25_bar__plus_02_dot_13_bar__plus_00_dot_43 - receptacle + Cabinet_bar__plus_00_dot_44_bar__plus_00_dot_42_bar__plus_00_dot_74 - receptacle + Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_01_dot_71 - receptacle + Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_02_dot_94 - receptacle + Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_02_dot_99 - receptacle + Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_04_dot_55 - receptacle + Cabinet_bar__plus_01_dot_27_bar__plus_02_dot_13_bar__plus_00_dot_43 - receptacle + Cabinet_bar__plus_01_dot_31_bar__plus_02_dot_46_bar__plus_03_dot_61 - receptacle + Cabinet_bar__plus_01_dot_31_bar__plus_02_dot_46_bar__plus_04_dot_36 - receptacle + Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_00_dot_52 - receptacle + Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_01_dot_53 - receptacle + Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_03_dot_10 - receptacle + Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_04_dot_89 - receptacle + Cabinet_bar__minus_00_dot_17_bar__plus_00_dot_42_bar__plus_00_dot_74 - receptacle + Cabinet_bar__minus_00_dot_26_bar__plus_02_dot_13_bar__plus_00_dot_43 - receptacle + Cabinet_bar__minus_00_dot_78_bar__plus_00_dot_42_bar__plus_00_dot_74 - receptacle + CoffeeMachine_bar__plus_01_dot_55_bar__plus_00_dot_98_bar__plus_00_dot_95 - receptacle + CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90 - receptacle + CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_04_dot_72 - receptacle + DiningTable_bar__minus_00_dot_16_bar__plus_00_dot_67_bar__plus_06_dot_47 - receptacle + Drawer_bar__plus_00_dot_12_bar__plus_00_dot_80_bar__plus_00_dot_52 - receptacle + Drawer_bar__plus_00_dot_74_bar__plus_00_dot_80_bar__plus_00_dot_52 - receptacle + Drawer_bar__plus_01_dot_28_bar__plus_00_dot_80_bar__plus_03_dot_29 - receptacle + Drawer_bar__plus_01_dot_28_bar__plus_00_dot_81_bar__plus_04_dot_72 - receptacle + Drawer_bar__minus_00_dot_48_bar__plus_00_dot_80_bar__plus_00_dot_52 - receptacle + Fridge_bar__plus_02_dot_04_bar__plus_00_dot_00_bar__plus_05_dot_63 - receptacle + GarbageCan_bar__plus_02_dot_00_bar__plus_00_dot_00_bar__plus_06_dot_50 - receptacle + Microwave_bar__plus_00_dot_11_bar__plus_00_dot_98_bar__plus_00_dot_26 - receptacle + Safe_bar__plus_02_dot_05_bar__minus_00_dot_01_bar__plus_07_dot_06 - receptacle + Sink_bar__plus_01_dot_39_bar__plus_01_dot_01_bar__plus_02_dot_33_bar_SinkBasin - receptacle + StoveBurner_bar__plus_01_dot_32_bar__plus_00_dot_98_bar__plus_03_dot_85 - receptacle + StoveBurner_bar__plus_01_dot_32_bar__plus_00_dot_98_bar__plus_04_dot_29 - receptacle + StoveBurner_bar__plus_01_dot_56_bar__plus_00_dot_98_bar__plus_03_dot_85 - receptacle + StoveBurner_bar__plus_01_dot_56_bar__plus_00_dot_98_bar__plus_04_dot_29 - receptacle + Toaster_bar__plus_01_dot_47_bar__plus_00_dot_98_bar__plus_04_dot_72 - receptacle + loc_bar_3_bar_5_bar_1_bar__minus_30 - location + loc_bar_2_bar_4_bar_2_bar__minus_30 - location + loc_bar_0_bar_4_bar_2_bar__minus_30 - location + loc_bar__minus_1_bar_7_bar_2_bar_45 - location + loc_bar_3_bar_14_bar_1_bar__minus_30 - location + loc_bar_4_bar_22_bar_1_bar_60 - location + loc_bar__minus_6_bar_15_bar_3_bar__minus_30 - location + loc_bar_3_bar_15_bar_1_bar_45 - location + loc_bar_1_bar_10_bar_1_bar_60 - location + loc_bar_3_bar_16_bar_1_bar_60 - location + loc_bar_3_bar_18_bar_1_bar__minus_30 - location + loc_bar_3_bar_17_bar_1_bar__minus_30 - location + loc_bar_1_bar_13_bar_1_bar_45 - location + loc_bar_3_bar_4_bar_1_bar__minus_30 - location + loc_bar__minus_5_bar_5_bar_1_bar_45 - location + loc_bar_0_bar_7_bar_2_bar_45 - location + loc_bar__minus_6_bar_24_bar_3_bar_15 - location + loc_bar_3_bar_9_bar_1_bar__minus_30 - location + loc_bar_4_bar_24_bar_1_bar_60 - location + loc_bar_3_bar_17_bar_1_bar_60 - location + loc_bar_1_bar_14_bar_1_bar_60 - location + loc_bar_3_bar_9_bar_1_bar__minus_15 - location + loc_bar_1_bar_20_bar_1_bar_45 - location + loc_bar__minus_3_bar_5_bar_1_bar_45 - location + loc_bar_3_bar_9_bar_1_bar_45 - location + loc_bar_3_bar_17_bar_1_bar_45 - location + loc_bar_1_bar_17_bar_1_bar_60 - location + loc_bar_4_bar_26_bar_1_bar_60 - location + loc_bar_1_bar_22_bar_0_bar_60 - location + loc_bar_0_bar_5_bar_1_bar_45 - location + loc_bar_3_bar_15_bar_1_bar_60 - location + loc_bar_1_bar_6_bar_2_bar_30 - location + loc_bar_1_bar_7_bar_2_bar_45 - location + loc_bar_3_bar_4_bar_1_bar_45 - location + loc_bar_1_bar_7_bar_1_bar_60 - location + loc_bar_3_bar_26_bar_3_bar_45 - location + loc_bar_3_bar_19_bar_1_bar_45 - location + loc_bar_3_bar_4_bar_2_bar__minus_30 - location + loc_bar_0_bar_21_bar_2_bar_30 - location + ) + + +(:init + + + (receptacleType Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_02_dot_99 CabinetType) + (receptacleType Drawer_bar__plus_00_dot_12_bar__plus_00_dot_80_bar__plus_00_dot_52 DrawerType) + (receptacleType CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90 CounterTopType) + (receptacleType Sink_bar__plus_01_dot_39_bar__plus_01_dot_01_bar__plus_02_dot_33_bar_SinkBasin SinkBasinType) + (receptacleType Cabinet_bar__plus_01_dot_27_bar__plus_02_dot_13_bar__plus_00_dot_43 CabinetType) + (receptacleType StoveBurner_bar__plus_01_dot_32_bar__plus_00_dot_98_bar__plus_04_dot_29 StoveBurnerType) + (receptacleType StoveBurner_bar__plus_01_dot_56_bar__plus_00_dot_98_bar__plus_03_dot_85 StoveBurnerType) + (receptacleType Cabinet_bar__minus_00_dot_17_bar__plus_00_dot_42_bar__plus_00_dot_74 CabinetType) + (receptacleType Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_01_dot_71 CabinetType) + (receptacleType GarbageCan_bar__plus_02_dot_00_bar__plus_00_dot_00_bar__plus_06_dot_50 GarbageCanType) + (receptacleType Drawer_bar__plus_00_dot_74_bar__plus_00_dot_80_bar__plus_00_dot_52 DrawerType) + (receptacleType Safe_bar__plus_02_dot_05_bar__minus_00_dot_01_bar__plus_07_dot_06 SafeType) + (receptacleType StoveBurner_bar__plus_01_dot_56_bar__plus_00_dot_98_bar__plus_04_dot_29 StoveBurnerType) + (receptacleType Cabinet_bar__plus_00_dot_44_bar__plus_00_dot_42_bar__plus_00_dot_74 CabinetType) + (receptacleType DiningTable_bar__minus_00_dot_16_bar__plus_00_dot_67_bar__plus_06_dot_47 DiningTableType) + (receptacleType Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_04_dot_55 CabinetType) + (receptacleType Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_04_dot_89 CabinetType) + (receptacleType Drawer_bar__minus_00_dot_48_bar__plus_00_dot_80_bar__plus_00_dot_52 DrawerType) + (receptacleType CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_04_dot_72 CounterTopType) + (receptacleType Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_01_dot_53 CabinetType) + (receptacleType Drawer_bar__plus_01_dot_28_bar__plus_00_dot_80_bar__plus_03_dot_29 DrawerType) + (receptacleType Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_02_dot_94 CabinetType) + (receptacleType StoveBurner_bar__plus_01_dot_32_bar__plus_00_dot_98_bar__plus_03_dot_85 StoveBurnerType) + (receptacleType Cabinet_bar__plus_01_dot_31_bar__plus_02_dot_46_bar__plus_03_dot_61 CabinetType) + (receptacleType Cabinet_bar__plus_01_dot_31_bar__plus_02_dot_46_bar__plus_04_dot_36 CabinetType) + (receptacleType Cabinet_bar__minus_00_dot_26_bar__plus_02_dot_13_bar__plus_00_dot_43 CabinetType) + (receptacleType Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_00_dot_52 CabinetType) + (receptacleType Cabinet_bar__plus_00_dot_25_bar__plus_02_dot_13_bar__plus_00_dot_43 CabinetType) + (receptacleType Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_03_dot_10 CabinetType) + (receptacleType Toaster_bar__plus_01_dot_47_bar__plus_00_dot_98_bar__plus_04_dot_72 ToasterType) + (receptacleType Drawer_bar__plus_01_dot_28_bar__plus_00_dot_81_bar__plus_04_dot_72 DrawerType) + (receptacleType CoffeeMachine_bar__plus_01_dot_55_bar__plus_00_dot_98_bar__plus_00_dot_95 CoffeeMachineType) + (receptacleType Cabinet_bar__minus_00_dot_78_bar__plus_00_dot_42_bar__plus_00_dot_74 CabinetType) + (receptacleType Fridge_bar__plus_02_dot_04_bar__plus_00_dot_00_bar__plus_05_dot_63 FridgeType) + (receptacleType Microwave_bar__plus_00_dot_11_bar__plus_00_dot_98_bar__plus_00_dot_26 MicrowaveType) + (objectType Pan_bar__minus_00_dot_16_bar__plus_00_dot_76_bar__plus_06_dot_17 PanType) + (objectType PepperShaker_bar__plus_01_dot_41_bar__plus_00_dot_14_bar__plus_02_dot_01 PepperShakerType) + (objectType SaltShaker_bar__plus_00_dot_33_bar__plus_00_dot_14_bar__plus_00_dot_58 SaltShakerType) + (objectType Kettle_bar__plus_01_dot_32_bar__plus_00_dot_99_bar__plus_03_dot_85 KettleType) + (objectType 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DishSpongeType) + (objectType StoveKnob_bar__plus_01_dot_14_bar__plus_00_dot_93_bar__plus_04_dot_31 StoveKnobType) + (objectType Pot_bar__plus_01_dot_56_bar__plus_00_dot_99_bar__plus_03_dot_85 PotType) + (objectType Mug_bar__plus_01_dot_33_bar__plus_00_dot_89_bar__plus_02_dot_68 MugType) + (objectType Spoon_bar__plus_00_dot_70_bar__plus_00_dot_99_bar__plus_00_dot_67 SpoonType) + (objectType Fork_bar__minus_00_dot_69_bar__plus_00_dot_77_bar__plus_00_dot_40 ForkType) + (objectType HousePlant_bar__minus_00_dot_17_bar__plus_00_dot_75_bar__plus_06_dot_44 HousePlantType) + (objectType Potato_bar__minus_00_dot_28_bar__plus_00_dot_79_bar__plus_06_dot_94 PotatoType) + (objectType Plate_bar__minus_00_dot_61_bar__plus_00_dot_99_bar__plus_00_dot_40 PlateType) + (objectType SoapBottle_bar__plus_00_dot_21_bar__plus_00_dot_76_bar__plus_06_dot_76 SoapBottleType) + (objectType Egg_bar__plus_01_dot_28_bar__plus_00_dot_94_bar__plus_02_dot_53 EggType) + (objectType 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CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_04_dot_72) + (inReceptacle Plate_bar__plus_01_dot_50_bar__plus_01_dot_58_bar__plus_04_dot_63 Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_04_dot_89) + (inReceptacle SaltShaker_bar__plus_00_dot_33_bar__plus_00_dot_14_bar__plus_00_dot_58 Cabinet_bar__minus_00_dot_17_bar__plus_00_dot_42_bar__plus_00_dot_74) + (inReceptacle Apple_bar__plus_00_dot_27_bar__plus_01_dot_17_bar__plus_00_dot_18 Microwave_bar__plus_00_dot_11_bar__plus_00_dot_98_bar__plus_00_dot_26) + (inReceptacle Egg_bar__plus_01_dot_92_bar__plus_01_dot_57_bar__plus_05_dot_25 Fridge_bar__plus_02_dot_04_bar__plus_00_dot_00_bar__plus_05_dot_63) + (inReceptacle Potato_bar__plus_02_dot_09_bar__plus_01_dot_55_bar__plus_05_dot_25 Fridge_bar__plus_02_dot_04_bar__plus_00_dot_00_bar__plus_05_dot_63) + (inReceptacle Bowl_bar__plus_02_dot_05_bar__plus_01_dot_51_bar__plus_05_dot_88 Fridge_bar__plus_02_dot_04_bar__plus_00_dot_00_bar__plus_05_dot_63) + (inReceptacle Egg_bar__plus_01_dot_28_bar__plus_00_dot_94_bar__plus_02_dot_53 Sink_bar__plus_01_dot_39_bar__plus_01_dot_01_bar__plus_02_dot_33_bar_SinkBasin) + (inReceptacle Lettuce_bar__plus_01_dot_45_bar__plus_00_dot_93_bar__plus_02_dot_05 Sink_bar__plus_01_dot_39_bar__plus_01_dot_01_bar__plus_02_dot_33_bar_SinkBasin) + (inReceptacle Mug_bar__plus_01_dot_33_bar__plus_00_dot_89_bar__plus_02_dot_68 Sink_bar__plus_01_dot_39_bar__plus_01_dot_01_bar__plus_02_dot_33_bar_SinkBasin) + + + (receptacleAtLocation Cabinet_bar__plus_00_dot_25_bar__plus_02_dot_13_bar__plus_00_dot_43 loc_bar_2_bar_4_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_00_dot_44_bar__plus_00_dot_42_bar__plus_00_dot_74 loc_bar_1_bar_7_bar_2_bar_45) + (receptacleAtLocation Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_01_dot_71 loc_bar_1_bar_7_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_02_dot_94 loc_bar_1_bar_10_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_02_dot_99 loc_bar_1_bar_14_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_04_dot_55 loc_bar_1_bar_17_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__plus_01_dot_27_bar__plus_02_dot_13_bar__plus_00_dot_43 loc_bar_3_bar_4_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_01_dot_31_bar__plus_02_dot_46_bar__plus_03_dot_61 loc_bar_3_bar_14_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_01_dot_31_bar__plus_02_dot_46_bar__plus_04_dot_36 loc_bar_3_bar_17_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_00_dot_52 loc_bar_3_bar_4_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_01_dot_53 loc_bar_3_bar_5_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_03_dot_10 loc_bar_3_bar_14_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_04_dot_89 loc_bar_3_bar_18_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_17_bar__plus_00_dot_42_bar__plus_00_dot_74 loc_bar__minus_1_bar_7_bar_2_bar_45) + (receptacleAtLocation Cabinet_bar__minus_00_dot_26_bar__plus_02_dot_13_bar__plus_00_dot_43 loc_bar_0_bar_4_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_78_bar__plus_00_dot_42_bar__plus_00_dot_74 loc_bar_0_bar_7_bar_2_bar_45) + (receptacleAtLocation CoffeeMachine_bar__plus_01_dot_55_bar__plus_00_dot_98_bar__plus_00_dot_95 loc_bar_3_bar_4_bar_1_bar_45) + (receptacleAtLocation CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90 loc_bar_3_bar_4_bar_1_bar_45) + (receptacleAtLocation CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_04_dot_72 loc_bar_3_bar_19_bar_1_bar_45) + (receptacleAtLocation DiningTable_bar__minus_00_dot_16_bar__plus_00_dot_67_bar__plus_06_dot_47 loc_bar_3_bar_26_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__plus_00_dot_12_bar__plus_00_dot_80_bar__plus_00_dot_52 loc_bar__minus_3_bar_5_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_00_dot_74_bar__plus_00_dot_80_bar__plus_00_dot_52 loc_bar_0_bar_5_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_01_dot_28_bar__plus_00_dot_80_bar__plus_03_dot_29 loc_bar_1_bar_13_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_01_dot_28_bar__plus_00_dot_81_bar__plus_04_dot_72 loc_bar_1_bar_20_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_48_bar__plus_00_dot_80_bar__plus_00_dot_52 loc_bar__minus_5_bar_5_bar_1_bar_45) + (receptacleAtLocation Fridge_bar__plus_02_dot_04_bar__plus_00_dot_00_bar__plus_05_dot_63 loc_bar_4_bar_22_bar_1_bar_60) + (receptacleAtLocation GarbageCan_bar__plus_02_dot_00_bar__plus_00_dot_00_bar__plus_06_dot_50 loc_bar_4_bar_24_bar_1_bar_60) + (receptacleAtLocation Microwave_bar__plus_00_dot_11_bar__plus_00_dot_98_bar__plus_00_dot_26 loc_bar_1_bar_6_bar_2_bar_30) + (receptacleAtLocation Safe_bar__plus_02_dot_05_bar__minus_00_dot_01_bar__plus_07_dot_06 loc_bar_4_bar_26_bar_1_bar_60) + (receptacleAtLocation Sink_bar__plus_01_dot_39_bar__plus_01_dot_01_bar__plus_02_dot_33_bar_SinkBasin loc_bar_3_bar_9_bar_1_bar_45) + (receptacleAtLocation StoveBurner_bar__plus_01_dot_32_bar__plus_00_dot_98_bar__plus_03_dot_85 loc_bar_3_bar_15_bar_1_bar_45) + (receptacleAtLocation StoveBurner_bar__plus_01_dot_32_bar__plus_00_dot_98_bar__plus_04_dot_29 loc_bar_3_bar_17_bar_1_bar_45) + (receptacleAtLocation StoveBurner_bar__plus_01_dot_56_bar__plus_00_dot_98_bar__plus_03_dot_85 loc_bar_3_bar_15_bar_1_bar_45) + (receptacleAtLocation StoveBurner_bar__plus_01_dot_56_bar__plus_00_dot_98_bar__plus_04_dot_29 loc_bar_3_bar_17_bar_1_bar_45) + (receptacleAtLocation Toaster_bar__plus_01_dot_47_bar__plus_00_dot_98_bar__plus_04_dot_72 loc_bar_3_bar_19_bar_1_bar_45) + (objectAtLocation Cup_bar__plus_01_dot_49_bar__plus_02_dot_20_bar__plus_03_dot_89 loc_bar_3_bar_14_bar_1_bar__minus_30) + (objectAtLocation Tomato_bar__plus_00_dot_54_bar__plus_01_dot_04_bar__plus_00_dot_67 loc_bar_3_bar_4_bar_1_bar_45) + (objectAtLocation ButterKnife_bar__plus_01_dot_31_bar__plus_00_dot_99_bar__plus_03_dot_23 loc_bar_3_bar_4_bar_1_bar_45) + (objectAtLocation Potato_bar__plus_02_dot_09_bar__plus_01_dot_55_bar__plus_05_dot_25 loc_bar_4_bar_22_bar_1_bar_60) + (objectAtLocation Spatula_bar__plus_00_dot_19_bar__plus_00_dot_78_bar__plus_06_dot_57 loc_bar_3_bar_26_bar_3_bar_45) + (objectAtLocation SaltShaker_bar__plus_00_dot_33_bar__plus_00_dot_14_bar__plus_00_dot_58 loc_bar__minus_1_bar_7_bar_2_bar_45) + (objectAtLocation Plate_bar__minus_00_dot_61_bar__plus_00_dot_99_bar__plus_00_dot_40 loc_bar_3_bar_4_bar_1_bar_45) + (objectAtLocation Kettle_bar__plus_01_dot_32_bar__plus_00_dot_99_bar__plus_03_dot_85 loc_bar_3_bar_15_bar_1_bar_45) + (objectAtLocation Apple_bar__plus_00_dot_27_bar__plus_01_dot_17_bar__plus_00_dot_18 loc_bar_1_bar_6_bar_2_bar_30) + (objectAtLocation Fork_bar__minus_00_dot_69_bar__plus_00_dot_77_bar__plus_00_dot_40 loc_bar__minus_5_bar_5_bar_1_bar_45) + (objectAtLocation Egg_bar__plus_01_dot_28_bar__plus_00_dot_94_bar__plus_02_dot_53 loc_bar_3_bar_9_bar_1_bar_45) + (objectAtLocation Apple_bar__plus_01_dot_14_bar__plus_01_dot_07_bar__plus_04_dot_72 loc_bar_3_bar_19_bar_1_bar_45) + (objectAtLocation SaltShaker_bar__plus_00_dot_31_bar__plus_00_dot_76_bar__plus_06_dot_35 loc_bar_3_bar_26_bar_3_bar_45) + (objectAtLocation Tomato_bar__minus_00_dot_47_bar__plus_00_dot_81_bar__plus_06_dot_54 loc_bar_3_bar_26_bar_3_bar_45) + (objectAtLocation Tomato_bar__minus_00_dot_58_bar__plus_00_dot_81_bar__plus_06_dot_72 loc_bar_3_bar_26_bar_3_bar_45) + (objectAtLocation Fork_bar__plus_00_dot_19_bar__plus_00_dot_77_bar__plus_00_dot_45 loc_bar__minus_3_bar_5_bar_1_bar_45) + (objectAtLocation ButterKnife_bar__plus_00_dot_85_bar__plus_00_dot_99_bar__plus_00_dot_58 loc_bar_3_bar_4_bar_1_bar_45) + (objectAtLocation Potato_bar__plus_00_dot_77_bar__plus_01_dot_03_bar__plus_00_dot_12 loc_bar_3_bar_4_bar_1_bar_45) + (objectAtLocation Sink_bar__plus_01_dot_39_bar__plus_01_dot_01_bar__plus_02_dot_33 loc_bar_3_bar_9_bar_1_bar_45) + (objectAtLocation Bowl_bar__plus_02_dot_05_bar__plus_01_dot_51_bar__plus_05_dot_88 loc_bar_4_bar_22_bar_1_bar_60) + (objectAtLocation Bread_bar__plus_01_dot_49_bar__plus_01_dot_06_bar__plus_00_dot_44 loc_bar_3_bar_4_bar_1_bar_45) + (objectAtLocation Egg_bar__plus_01_dot_92_bar__plus_01_dot_57_bar__plus_05_dot_25 loc_bar_4_bar_22_bar_1_bar_60) + (objectAtLocation Knife_bar__plus_00_dot_06_bar__plus_00_dot_79_bar__plus_06_dot_26 loc_bar_3_bar_26_bar_3_bar_45) + (objectAtLocation Fork_bar__minus_00_dot_03_bar__plus_00_dot_76_bar__plus_06_dot_48 loc_bar_3_bar_26_bar_3_bar_45) + (objectAtLocation Apple_bar__minus_00_dot_16_bar__plus_00_dot_83_bar__plus_06_dot_79 loc_bar_3_bar_26_bar_3_bar_45) + (objectAtLocation Kettle_bar__plus_01_dot_56_bar__plus_00_dot_99_bar__plus_04_dot_29 loc_bar_3_bar_17_bar_1_bar_45) + (objectAtLocation Plate_bar__plus_01_dot_50_bar__plus_01_dot_58_bar__plus_04_dot_63 loc_bar_3_bar_18_bar_1_bar__minus_30) + (objectAtLocation HousePlant_bar__minus_00_dot_17_bar__plus_00_dot_75_bar__plus_06_dot_44 loc_bar_3_bar_26_bar_3_bar_45) + (objectAtLocation SaltShaker_bar__plus_00_dot_31_bar__plus_00_dot_76_bar__plus_06_dot_48 loc_bar_3_bar_26_bar_3_bar_45) + (objectAtLocation Lettuce_bar__plus_01_dot_45_bar__plus_00_dot_93_bar__plus_02_dot_05 loc_bar_3_bar_9_bar_1_bar_45) + (objectAtLocation Window_bar__minus_02_dot_07_bar__plus_01_dot_92_bar__plus_03_dot_63 loc_bar__minus_6_bar_15_bar_3_bar__minus_30) + (objectAtLocation Window_bar__plus_01_dot_76_bar__plus_02_dot_01_bar__plus_02_dot_30 loc_bar_3_bar_9_bar_1_bar__minus_15) + (objectAtLocation SoapBottle_bar__plus_00_dot_21_bar__plus_00_dot_76_bar__plus_06_dot_76 loc_bar_3_bar_26_bar_3_bar_45) + (objectAtLocation Spatula_bar__plus_00_dot_74_bar__plus_00_dot_79_bar__plus_00_dot_62 loc_bar_0_bar_5_bar_1_bar_45) + (objectAtLocation PaperTowelRoll_bar__plus_00_dot_10_bar__plus_00_dot_86_bar__plus_06_dot_31 loc_bar_3_bar_26_bar_3_bar_45) + (objectAtLocation Pot_bar__plus_01_dot_56_bar__plus_00_dot_99_bar__plus_03_dot_85 loc_bar_3_bar_15_bar_1_bar_45) + (objectAtLocation Potato_bar__minus_00_dot_28_bar__plus_00_dot_79_bar__plus_06_dot_94 loc_bar_3_bar_26_bar_3_bar_45) + (objectAtLocation ButterKnife_bar__plus_01_dot_58_bar__plus_00_dot_99_bar__plus_03_dot_14 loc_bar_3_bar_4_bar_1_bar_45) + (objectAtLocation StoveKnob_bar__plus_01_dot_14_bar__plus_00_dot_93_bar__plus_03_dot_99 loc_bar_3_bar_16_bar_1_bar_60) + (objectAtLocation StoveKnob_bar__plus_01_dot_14_bar__plus_00_dot_93_bar__plus_04_dot_31 loc_bar_3_bar_17_bar_1_bar_60) + (objectAtLocation StoveKnob_bar__plus_01_dot_14_bar__plus_00_dot_93_bar__plus_04_dot_14 loc_bar_3_bar_17_bar_1_bar_60) + (objectAtLocation StoveKnob_bar__plus_01_dot_14_bar__plus_00_dot_93_bar__plus_03_dot_82 loc_bar_3_bar_15_bar_1_bar_60) + (objectAtLocation PepperShaker_bar__plus_01_dot_41_bar__plus_00_dot_14_bar__plus_02_dot_01 loc_bar_1_bar_7_bar_1_bar_60) + (objectAtLocation Pan_bar__minus_00_dot_16_bar__plus_00_dot_76_bar__plus_06_dot_17 loc_bar_3_bar_26_bar_3_bar_45) + (objectAtLocation Tomato_bar__minus_00_dot_29_bar__plus_00_dot_81_bar__plus_06_dot_61 loc_bar_3_bar_26_bar_3_bar_45) + (objectAtLocation DishSponge_bar__plus_00_dot_06_bar__plus_00_dot_77_bar__plus_00_dot_51 loc_bar__minus_3_bar_5_bar_1_bar_45) + (objectAtLocation Cup_bar__plus_01_dot_14_bar__plus_00_dot_99_bar__plus_00_dot_90 loc_bar_3_bar_4_bar_1_bar_45) + (objectAtLocation LightSwitch_bar__minus_02_dot_00_bar__plus_01_dot_55_bar__plus_06_dot_05 loc_bar__minus_6_bar_24_bar_3_bar_15) + (objectAtLocation Chair_bar__plus_00_dot_29_bar__plus_00_dot_02_bar__plus_06_dot_14 loc_bar_1_bar_22_bar_0_bar_60) + (objectAtLocation Spoon_bar__plus_00_dot_70_bar__plus_00_dot_99_bar__plus_00_dot_67 loc_bar_3_bar_4_bar_1_bar_45) + (objectAtLocation Mug_bar__plus_01_dot_33_bar__plus_00_dot_89_bar__plus_02_dot_68 loc_bar_3_bar_9_bar_1_bar_45) + (objectAtLocation Blinds_bar__plus_01_dot_74_bar__plus_02_dot_56_bar__plus_02_dot_31 loc_bar_3_bar_9_bar_1_bar__minus_30) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (sliceable ?o) + (isSliced ?o) + (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-TomatoSliced-None-DiningTable-18/trial_T20190909_101216_297477/traj_data.json b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-TomatoSliced-None-DiningTable-18/trial_T20190909_101216_297477/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..1c73ecb2ccf54c1c7ebad686037a66ecaf353f56 --- /dev/null +++ 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"Apple_a939ee5b", + "position": { + "x": 0.2733106, + "y": 1.17167974, + "z": 0.180919528 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Kettle_5453e71d", + "position": { + "x": 1.32, + "y": 0.988599956, + "z": 3.848 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Plate_1f77d579", + "position": { + "x": -0.6113827, + "y": 0.9932941, + "z": 0.395208716 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SaltShaker_b7138966", + "position": { + "x": 0.3321669, + "y": 0.139143527, + "z": 0.582382739 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Lettuce_6d4d89ae", + "position": { + "x": 1.4499042, + "y": 0.9321, + "z": 2.05034876 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SoapBottle_33d3f1ac", + "position": { + "x": 0.213410318, + "y": 0.7601505, + "z": 6.763239 + }, + "rotation": { + "x": 0.0, + "y": 225.000046, + "z": 0.0 + } + }, + { + "objectName": "Spatula_925e7ba3", + "position": { + "x": 0.192551464, + "y": 0.775088251, + "z": 6.56560326 + }, + "rotation": { + "x": 0.0, + "y": 135.000046, + "z": 0.0 + } + }, + { + "objectName": "PaperTowelRoll_bd2376ff", + "position": { + "x": 0.10285759, + "y": 0.864373744, + "z": 6.30539227 + }, + "rotation": { + "x": 0.0, + "y": 134.999985, + "z": 0.0 + } + }, + { + "objectName": "Pot_73d89a5b", + "position": { + "x": 1.562, + "y": 0.988599956, + "z": 3.848 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Potato_5b11696a", + "position": { + "x": 2.09459472, + "y": 1.55049694, + "z": 5.251 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "ButterKnife_8d8b47bb", + "position": { + "x": 1.31450915, + "y": 0.9927421, + "z": 3.23104 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "PepperShaker_cff2324e", + "position": { + "x": 1.40633225, + "y": 0.135627449, + "z": 2.01209378 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pan_08687688", + "position": { + "x": -0.159177959, + "y": 0.758246958, + "z": 6.1691184 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Tomato_8b4d7f57", + "position": { + "x": 0.544847965, + "y": 1.04216564, + "z": 0.6700103 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_6d7ef995", + "position": { + "x": 0.0566475242, + "y": 0.7715096, + "z": 0.5074248 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Cup_8e8a26e1", + "position": { + "x": 1.48978925, + "y": 2.20325, + "z": 3.88713527 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Spoon_cefc2847", + "position": { + "x": 0.6962644, + "y": 0.9938294, + "z": 0.6700103 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_6d84c70f", + "position": { + "x": 1.33202, + "y": 0.886034131, + "z": 2.67926741 + }, + "rotation": { + "x": 2.27491e-21, + "y": 89.99999, + "z": 1.40334183e-14 + } + } + ], + "object_toggles": [], + "random_seed": 3889079988, + "scene_num": 18 + }, + "task_id": "trial_T20190909_101216_297477", + "task_type": "pick_cool_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A271V19C06841K_3IXEICO795ATYCXGK4ZVDPTNIOV6TW", + "high_descs": [ + "turn around to table", + "pick up knife from table ", + "turn left, turn right, turn right to table", + "cut tomato with the knife", + "turn right, turn left to the fridge", + "open door, place knife on the shelf, close door", + "turn around, straight, turn right, turn right to the table ", + "pick up tomato from table", + "turn right, straight, turn left to the fridge", + "open fridge, put tomato on shelf, close door, open door, remove tomato, close door", + "turn left, turn left to the table", + "put tomato on the table" + ], + "task_desc": "pick up knife, cut tomato, place tomato in the fridge, remove from fridge, place on table ", + "votes": [ + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1OWHPMKE7YAGL_3YOH7BII0CYFAJMUR3TBOQMQG23KVZ", + "high_descs": [ + "Turn around and go to the round dining table.", + "Pick up the yellow handled knife that is on the table.", + "Turn to the left and go to the wall, hang a right and go to the dining table where the tomatoes are.", + "Cut the tomato farthest from you into slices.", + "Turn to the right, go forward, hang a left and go to the fridge.", + "Put the knife inside the fridge.", + "Turn around, go to the wall, hang a right and go to the dining table where the tomatoes are.", + "Pick up a slice of tomato from the table.", + "Turn to the right, go forward, hang a left and go to the fridge.", + "Put the tomato in the fridge and close the door, remove the tomato from the fridge once it is cold.", + "Turn to the left, go to the wall, turn to the left and go to the dining table.", + "Put the tomato on the table to the left of the salt and pepper." + ], + "task_desc": "Put cold tomato on the table.", + "votes": [ + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A2871R3LEPWMMK_3R08VXYT7FM4UTFFYJ9Y6N0II6S7W8", + "high_descs": [ + "Turn around and walk to the round black table.", + "Pick up the knife with the yellow handle from the table.", + "Turn left and walk to the right to the round table.", + "Slice the tomato the the left of the plant on the table.", + "Turn right and walk to the white fridge on the left.", + "Put the knife inside the fridge on the shelf in the middle to chill and close the door.", + "Turn around and walk right to the side of the round table.", + "Pick up a slice of tomato from the table.", + "Turn right and walk to the fridge on the left.", + "Put the slice of tomato inside the fridge on the left side of the shelf, chill it, remove it and close the door.", + "Turn left and walk to the left side of the round table.", + "Put the chilled slice of tomato to the left of the gold pepper grinders on the table." + ], + "task_desc": "Chill a knife and place a chilled slice of 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-TomatoSliced-None-DiningTable-18/trial_T20190909_101511_247105/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-TomatoSliced-None-DiningTable-18/trial_T20190909_101511_247105/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..3fa6b7ce8b82dc47456d529647713c073ff8a97d --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-TomatoSliced-None-DiningTable-18/trial_T20190909_101511_247105/initial_state.pddl @@ -0,0 +1,1113 @@ + +(define (problem plan_trial_T20190909_101511_247105) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + 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_01_bar__plus_01_dot_59_bar__plus_05_dot_63 - object + Apple_bar__minus_00_dot_22_bar__plus_00_dot_83_bar__plus_06_dot_94 - object + Blinds_bar__plus_01_dot_74_bar__plus_02_dot_56_bar__plus_02_dot_31 - object + Bowl_bar__plus_00_dot_26_bar__plus_00_dot_14_bar__plus_00_dot_43 - object + Bread_bar__plus_01_dot_10_bar__plus_01_dot_05_bar__plus_00_dot_43 - object + ButterKnife_bar__plus_00_dot_13_bar__plus_00_dot_76_bar__plus_06_dot_85 - object + ButterKnife_bar__minus_00_dot_49_bar__plus_00_dot_76_bar__plus_06_dot_81 - object + Chair_bar__plus_00_dot_29_bar__plus_00_dot_02_bar__plus_06_dot_14 - object + Cup_bar__plus_02_dot_05_bar__plus_01_dot_51_bar__plus_05_dot_50 - object + Cup_bar__minus_00_dot_55_bar__plus_00_dot_14_bar__plus_00_dot_43 - object + DishSponge_bar__plus_00_dot_19_bar__plus_00_dot_77_bar__plus_00_dot_62 - object + Egg_bar__plus_01_dot_92_bar__plus_01_dot_57_bar__plus_05_dot_25 - object + Egg_bar__minus_00_dot_03_bar__plus_00_dot_81_bar__plus_06_dot_48 - object + Faucet_bar__plus_01_dot_54_bar__plus_01_dot_03_bar__plus_02_dot_37 - object + Fork_bar__plus_00_dot_74_bar__plus_00_dot_77_bar__plus_00_dot_40 - object + Fork_bar__minus_00_dot_61_bar__plus_00_dot_99_bar__plus_00_dot_21 - object + HousePlant_bar__minus_00_dot_17_bar__plus_00_dot_75_bar__plus_06_dot_44 - object + Kettle_bar__plus_00_dot_26_bar__plus_00_dot_76_bar__plus_06_dot_24 - object + Knife_bar__plus_00_dot_06_bar__plus_00_dot_80_bar__plus_00_dot_56 - object + Knife_bar__plus_01_dot_39_bar__plus_00_dot_92_bar__plus_02_dot_03 - object + Knife_bar__plus_01_dot_58_bar__plus_01_dot_02_bar__plus_00_dot_44 - object + Lettuce_bar__minus_00_dot_03_bar__plus_00_dot_85_bar__plus_06_dot_79 - object + LightSwitch_bar__minus_02_dot_00_bar__plus_01_dot_55_bar__plus_06_dot_05 - object + Mug_bar__plus_00_dot_15_bar__plus_00_dot_76_bar__plus_06_dot_67 - object + Mug_bar__plus_01_dot_59_bar__plus_02_dot_20_bar__plus_04_dot_13 - object + Mug_bar__minus_00_dot_03_bar__plus_00_dot_76_bar__plus_06_dot_17 - object + Pan_bar__plus_01_dot_32_bar__plus_00_dot_99_bar__plus_03_dot_85 - object + Pan_bar__plus_01_dot_56_bar__plus_00_dot_99_bar__plus_03_dot_85 - object + PaperTowelRoll_bar__minus_00_dot_54_bar__plus_01_dot_10_bar__plus_00_dot_30 - object + PepperShaker_bar__plus_00_dot_85_bar__plus_00_dot_99_bar__plus_00_dot_12 - object + PepperShaker_bar__plus_01_dot_49_bar__plus_00_dot_14_bar__plus_03_dot_51 - object + Plate_bar__plus_00_dot_56_bar__plus_01_dot_58_bar__plus_00_dot_25 - object + Plate_bar__plus_01_dot_24_bar__plus_00_dot_14_bar__plus_02_dot_50 - object + Plate_bar__plus_01_dot_57_bar__plus_00_dot_14_bar__plus_02_dot_79 - object + Potato_bar__plus_01_dot_14_bar__plus_01_dot_03_bar__plus_04_dot_72 - object + Potato_bar__plus_01_dot_44_bar__plus_00_dot_93_bar__plus_01_dot_98 - object + Potato_bar__plus_02_dot_05_bar__plus_01_dot_55_bar__plus_05_dot_38 - object + Pot_bar__plus_01_dot_32_bar__plus_00_dot_99_bar__plus_04_dot_29 - object + SaltShaker_bar__plus_00_dot_03_bar__plus_00_dot_76_bar__plus_06_dot_01 - object + SaltShaker_bar__minus_00_dot_28_bar__plus_00_dot_14_bar__plus_00_dot_35 - object + Sink_bar__plus_01_dot_39_bar__plus_01_dot_01_bar__plus_02_dot_33 - object + SoapBottle_bar__plus_00_dot_10_bar__plus_00_dot_76_bar__plus_06_dot_31 - object + SoapBottle_bar__minus_00_dot_22_bar__plus_00_dot_76_bar__plus_06_dot_79 - object + Spatula_bar__plus_00_dot_87_bar__plus_00_dot_79_bar__plus_00_dot_62 - object + Spatula_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_03_dot_22 - object + Spoon_bar__plus_01_dot_24_bar__plus_00_dot_77_bar__plus_03_dot_36 - object + Spoon_bar__minus_00_dot_55_bar__plus_00_dot_77_bar__plus_00_dot_62 - object + Spoon_bar_00_dot_00_bar__plus_00_dot_76_bar__plus_06_dot_42 - object + StoveKnob_bar__plus_01_dot_14_bar__plus_00_dot_93_bar__plus_03_dot_82 - object + StoveKnob_bar__plus_01_dot_14_bar__plus_00_dot_93_bar__plus_03_dot_99 - object + StoveKnob_bar__plus_01_dot_14_bar__plus_00_dot_93_bar__plus_04_dot_14 - object + StoveKnob_bar__plus_01_dot_14_bar__plus_00_dot_93_bar__plus_04_dot_31 - object + Tomato_bar__plus_02_dot_01_bar__plus_00_dot_13_bar__plus_06_dot_44 - object + Tomato_bar__minus_00_dot_35_bar__plus_00_dot_81_bar__plus_06_dot_32 - object + Tomato_bar__minus_00_dot_62_bar__plus_00_dot_81_bar__plus_06_dot_60 - object + Window_bar__plus_01_dot_76_bar__plus_02_dot_01_bar__plus_02_dot_30 - object + Window_bar__minus_02_dot_07_bar__plus_01_dot_92_bar__plus_03_dot_63 - object + Cabinet_bar__plus_00_dot_25_bar__plus_02_dot_13_bar__plus_00_dot_43 - receptacle + Cabinet_bar__plus_00_dot_44_bar__plus_00_dot_42_bar__plus_00_dot_74 - receptacle + Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_01_dot_71 - receptacle + Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_02_dot_94 - receptacle + Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_02_dot_99 - receptacle + Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_04_dot_55 - receptacle + Cabinet_bar__plus_01_dot_27_bar__plus_02_dot_13_bar__plus_00_dot_43 - receptacle + Cabinet_bar__plus_01_dot_31_bar__plus_02_dot_46_bar__plus_03_dot_61 - receptacle + Cabinet_bar__plus_01_dot_31_bar__plus_02_dot_46_bar__plus_04_dot_36 - receptacle + Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_00_dot_52 - receptacle + Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_01_dot_53 - receptacle + Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_03_dot_10 - receptacle + Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_04_dot_89 - receptacle + Cabinet_bar__minus_00_dot_17_bar__plus_00_dot_42_bar__plus_00_dot_74 - receptacle + Cabinet_bar__minus_00_dot_26_bar__plus_02_dot_13_bar__plus_00_dot_43 - receptacle + Cabinet_bar__minus_00_dot_78_bar__plus_00_dot_42_bar__plus_00_dot_74 - receptacle + CoffeeMachine_bar__plus_01_dot_55_bar__plus_00_dot_98_bar__plus_00_dot_95 - receptacle + CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90 - receptacle + CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_04_dot_72 - receptacle + DiningTable_bar__minus_00_dot_16_bar__plus_00_dot_67_bar__plus_06_dot_47 - receptacle + Drawer_bar__plus_00_dot_12_bar__plus_00_dot_80_bar__plus_00_dot_52 - receptacle + Drawer_bar__plus_00_dot_74_bar__plus_00_dot_80_bar__plus_00_dot_52 - receptacle + Drawer_bar__plus_01_dot_28_bar__plus_00_dot_80_bar__plus_03_dot_29 - receptacle + Drawer_bar__plus_01_dot_28_bar__plus_00_dot_81_bar__plus_04_dot_72 - receptacle + Drawer_bar__minus_00_dot_48_bar__plus_00_dot_80_bar__plus_00_dot_52 - receptacle + Fridge_bar__plus_02_dot_04_bar__plus_00_dot_00_bar__plus_05_dot_63 - receptacle + GarbageCan_bar__plus_02_dot_00_bar__plus_00_dot_00_bar__plus_06_dot_50 - receptacle + Microwave_bar__plus_00_dot_11_bar__plus_00_dot_98_bar__plus_00_dot_26 - receptacle + Safe_bar__plus_02_dot_05_bar__minus_00_dot_01_bar__plus_07_dot_06 - receptacle + Sink_bar__plus_01_dot_39_bar__plus_01_dot_01_bar__plus_02_dot_33_bar_SinkBasin - receptacle + StoveBurner_bar__plus_01_dot_32_bar__plus_00_dot_98_bar__plus_03_dot_85 - receptacle + StoveBurner_bar__plus_01_dot_32_bar__plus_00_dot_98_bar__plus_04_dot_29 - receptacle + StoveBurner_bar__plus_01_dot_56_bar__plus_00_dot_98_bar__plus_03_dot_85 - receptacle + StoveBurner_bar__plus_01_dot_56_bar__plus_00_dot_98_bar__plus_04_dot_29 - receptacle + Toaster_bar__plus_01_dot_47_bar__plus_00_dot_98_bar__plus_04_dot_72 - receptacle + loc_bar_3_bar_5_bar_1_bar__minus_30 - location + loc_bar_2_bar_4_bar_2_bar__minus_30 - location + loc_bar_0_bar_4_bar_2_bar__minus_30 - location + loc_bar__minus_1_bar_7_bar_2_bar_45 - location + loc_bar_3_bar_14_bar_1_bar__minus_30 - location + loc_bar_4_bar_22_bar_1_bar_60 - location + loc_bar__minus_6_bar_15_bar_3_bar__minus_30 - location + loc_bar_3_bar_15_bar_1_bar_45 - location + loc_bar_1_bar_10_bar_1_bar_60 - location + loc_bar_3_bar_16_bar_1_bar_60 - location + loc_bar_3_bar_18_bar_1_bar__minus_30 - location + loc_bar_3_bar_17_bar_1_bar__minus_30 - location + loc_bar_1_bar_13_bar_1_bar_45 - location + loc_bar_3_bar_4_bar_1_bar__minus_30 - location + loc_bar__minus_5_bar_5_bar_1_bar_45 - location + loc_bar_0_bar_7_bar_2_bar_45 - location + loc_bar__minus_6_bar_24_bar_3_bar_15 - location + loc_bar_3_bar_9_bar_1_bar__minus_30 - location + loc_bar_4_bar_24_bar_1_bar_60 - location + loc_bar_3_bar_17_bar_1_bar_60 - location + loc_bar_1_bar_14_bar_1_bar_60 - location + loc_bar_3_bar_9_bar_1_bar__minus_15 - location + loc_bar_1_bar_20_bar_1_bar_45 - location + loc_bar__minus_3_bar_5_bar_1_bar_45 - location + loc_bar_3_bar_9_bar_1_bar_45 - location + loc_bar_3_bar_17_bar_1_bar_45 - location + loc_bar_1_bar_17_bar_1_bar_60 - location + loc_bar_4_bar_26_bar_1_bar_60 - location + loc_bar_1_bar_22_bar_0_bar_60 - location + loc_bar_0_bar_5_bar_1_bar_45 - location + loc_bar_3_bar_15_bar_1_bar_60 - location + loc_bar_1_bar_6_bar_2_bar_30 - location + loc_bar_1_bar_7_bar_2_bar_45 - location + loc_bar_3_bar_4_bar_1_bar_45 - location + loc_bar_1_bar_7_bar_1_bar_60 - location + loc_bar_3_bar_26_bar_3_bar_45 - location + loc_bar_3_bar_19_bar_1_bar_45 - location + loc_bar_3_bar_4_bar_2_bar__minus_30 - location + loc_bar_1_bar_14_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_02_dot_99 CabinetType) + (receptacleType Drawer_bar__plus_00_dot_12_bar__plus_00_dot_80_bar__plus_00_dot_52 DrawerType) + (receptacleType CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90 CounterTopType) + (receptacleType Sink_bar__plus_01_dot_39_bar__plus_01_dot_01_bar__plus_02_dot_33_bar_SinkBasin SinkBasinType) + (receptacleType Cabinet_bar__plus_01_dot_27_bar__plus_02_dot_13_bar__plus_00_dot_43 CabinetType) + (receptacleType StoveBurner_bar__plus_01_dot_32_bar__plus_00_dot_98_bar__plus_04_dot_29 StoveBurnerType) + (receptacleType StoveBurner_bar__plus_01_dot_56_bar__plus_00_dot_98_bar__plus_03_dot_85 StoveBurnerType) + (receptacleType Cabinet_bar__minus_00_dot_17_bar__plus_00_dot_42_bar__plus_00_dot_74 CabinetType) + (receptacleType Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_01_dot_71 CabinetType) + (receptacleType GarbageCan_bar__plus_02_dot_00_bar__plus_00_dot_00_bar__plus_06_dot_50 GarbageCanType) + (receptacleType Drawer_bar__plus_00_dot_74_bar__plus_00_dot_80_bar__plus_00_dot_52 DrawerType) + (receptacleType Safe_bar__plus_02_dot_05_bar__minus_00_dot_01_bar__plus_07_dot_06 SafeType) + (receptacleType StoveBurner_bar__plus_01_dot_56_bar__plus_00_dot_98_bar__plus_04_dot_29 StoveBurnerType) + (receptacleType Cabinet_bar__plus_00_dot_44_bar__plus_00_dot_42_bar__plus_00_dot_74 CabinetType) + 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CabinetType) + (receptacleType Cabinet_bar__plus_01_dot_31_bar__plus_02_dot_46_bar__plus_04_dot_36 CabinetType) + (receptacleType Cabinet_bar__minus_00_dot_26_bar__plus_02_dot_13_bar__plus_00_dot_43 CabinetType) + (receptacleType Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_00_dot_52 CabinetType) + (receptacleType Cabinet_bar__plus_00_dot_25_bar__plus_02_dot_13_bar__plus_00_dot_43 CabinetType) + (receptacleType Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_03_dot_10 CabinetType) + (receptacleType Toaster_bar__plus_01_dot_47_bar__plus_00_dot_98_bar__plus_04_dot_72 ToasterType) + (receptacleType Drawer_bar__plus_01_dot_28_bar__plus_00_dot_81_bar__plus_04_dot_72 DrawerType) + (receptacleType CoffeeMachine_bar__plus_01_dot_55_bar__plus_00_dot_98_bar__plus_00_dot_95 CoffeeMachineType) + (receptacleType Cabinet_bar__minus_00_dot_78_bar__plus_00_dot_42_bar__plus_00_dot_74 CabinetType) + (receptacleType Fridge_bar__plus_02_dot_04_bar__plus_00_dot_00_bar__plus_05_dot_63 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Drawer_bar__plus_00_dot_74_bar__plus_00_dot_80_bar__plus_00_dot_52) + (inReceptacle Spatula_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_03_dot_22 Drawer_bar__plus_01_dot_28_bar__plus_00_dot_80_bar__plus_03_dot_29) + (inReceptacle Spoon_bar__plus_01_dot_24_bar__plus_00_dot_77_bar__plus_03_dot_36 Drawer_bar__plus_01_dot_28_bar__plus_00_dot_80_bar__plus_03_dot_29) + (inReceptacle Pan_bar__plus_01_dot_56_bar__plus_00_dot_99_bar__plus_03_dot_85 StoveBurner_bar__plus_01_dot_56_bar__plus_00_dot_98_bar__plus_03_dot_85) + (inReceptacle ButterKnife_bar__plus_00_dot_13_bar__plus_00_dot_76_bar__plus_06_dot_85 DiningTable_bar__minus_00_dot_16_bar__plus_00_dot_67_bar__plus_06_dot_47) + (inReceptacle Mug_bar__plus_00_dot_15_bar__plus_00_dot_76_bar__plus_06_dot_67 DiningTable_bar__minus_00_dot_16_bar__plus_00_dot_67_bar__plus_06_dot_47) + (inReceptacle Egg_bar__minus_00_dot_03_bar__plus_00_dot_81_bar__plus_06_dot_48 DiningTable_bar__minus_00_dot_16_bar__plus_00_dot_67_bar__plus_06_dot_47) + 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CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90) + (inReceptacle Fork_bar__minus_00_dot_61_bar__plus_00_dot_99_bar__plus_00_dot_21 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90) + (inReceptacle Pan_bar__plus_01_dot_56_bar__plus_00_dot_99_bar__plus_03_dot_85 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90) + (inReceptacle Pan_bar__plus_01_dot_32_bar__plus_00_dot_99_bar__plus_03_dot_85 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90) + (inReceptacle Knife_bar__plus_01_dot_58_bar__plus_01_dot_02_bar__plus_00_dot_44 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90) + (inReceptacle PaperTowelRoll_bar__minus_00_dot_54_bar__plus_01_dot_10_bar__plus_00_dot_30 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90) + (inReceptacle Potato_bar__plus_01_dot_14_bar__plus_01_dot_03_bar__plus_04_dot_72 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_04_dot_72) + (inReceptacle Cup_bar__minus_00_dot_55_bar__plus_00_dot_14_bar__plus_00_dot_43 Cabinet_bar__minus_00_dot_78_bar__plus_00_dot_42_bar__plus_00_dot_74) + (inReceptacle SaltShaker_bar__minus_00_dot_28_bar__plus_00_dot_14_bar__plus_00_dot_35 Cabinet_bar__minus_00_dot_78_bar__plus_00_dot_42_bar__plus_00_dot_74) + (inReceptacle Bowl_bar__plus_00_dot_26_bar__plus_00_dot_14_bar__plus_00_dot_43 Cabinet_bar__minus_00_dot_17_bar__plus_00_dot_42_bar__plus_00_dot_74) + (inReceptacle PepperShaker_bar__plus_01_dot_49_bar__plus_00_dot_14_bar__plus_03_dot_51 Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_02_dot_99) + (inReceptacle Plate_bar__plus_01_dot_24_bar__plus_00_dot_14_bar__plus_02_dot_50 Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_02_dot_94) + (inReceptacle Plate_bar__plus_01_dot_57_bar__plus_00_dot_14_bar__plus_02_dot_79 Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_02_dot_94) + 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", + "Pick up the gray knife from the table. ", + "Go around the table to the front. ", + "Slice the tomato near the white mug.", + "Turn right and go to the cabinet below counter on the right of the refrigerator.", + "Place the knife in the cabinet. ", + "Turn around and go back to the gray table.", + "Pick up one end slice of tomato from the table.", + "Turn right and go to the refrigerator. ", + "Chill the tomato slice in the refrigerator and take it out. ", + "Go back to the gray table.", + "Place the tomato slice on the table. " + ], + "task_desc": "Put a chilled tomato slice on the table. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3A0VPWPASCO9J_3FE7TXL1LLESOVMNGYTXI71OIBKQ29", + "high_descs": [ + "Go to the table. ", + "Pick up the butter knife in front of the lettuce.", + "Move around the table to the left.", + "Slice the tomato near the center of the table.", + "Go to cabinet to the right of the fridge.", + "Put the butter knife in the cabinet.", + "Go back to the table.", + "Pick up a slice of tomato on the table.", + "Go to the fridge.", + "Chill the tomato slice in the fridge.", + "Turn around and go to the table on the right.", + "Set the cold tomato slice on the table." + ], + "task_desc": "Put a cold tomato slice on the table.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "ALZDJ7DBWN919_3HVVDCPGTHJVHW7MQNUNWGDGHXJYTH", + "high_descs": [ + "Walk to the far side of the kitchen table.", + "Pick up the knife off of the table.", + "Walk to the other side of the table.", + "Slice the tomato with the knife.", + "Walk over to the cabinet to the left of the oven.", + "Put the knife in the cabinet.", + "Walk back to the table by the tomato.", + "Pick up the slice of tomato.", + "Walk over to the fridge with the tomato.", + "Place the tomato in the fridge then take it back out.", + "Walk back to the original part of the table.", + "Set the piece of tomato down on the table." + ], + "task_desc": "Put a chilled slice of tomato back on the table where the knife originally was.", + "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-TomatoSliced-None-DiningTable-18/trial_T20190914_033809_050650/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-TomatoSliced-None-DiningTable-18/trial_T20190914_033809_050650/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..64388d52e3f9d13bbcc5e017fc678886cb7f2c80 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-TomatoSliced-None-DiningTable-18/trial_T20190914_033809_050650/initial_state.pddl @@ -0,0 +1,1086 @@ + +(define (problem plan_trial_T20190914_033809_050650) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + 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_97_bar__plus_01_dot_59_bar__plus_05_dot_25 - object + Apple_bar__plus_02_dot_14_bar__plus_01_dot_59_bar__plus_05_dot_38 - object + Blinds_bar__plus_01_dot_74_bar__plus_02_dot_56_bar__plus_02_dot_31 - object + Bowl_bar__plus_00_dot_70_bar__plus_00_dot_99_bar__plus_00_dot_40 - object + Bread_bar__plus_00_dot_15_bar__plus_00_dot_83_bar__plus_06_dot_54 - object + Bread_bar__plus_01_dot_10_bar__plus_01_dot_05_bar__plus_00_dot_43 - object + ButterKnife_bar__plus_00_dot_06_bar__plus_00_dot_77_bar__plus_00_dot_51 - object + ButterKnife_bar__plus_01_dot_49_bar__plus_00_dot_99_bar__plus_03_dot_32 - object + Chair_bar__plus_00_dot_29_bar__plus_00_dot_02_bar__plus_06_dot_14 - object + Cup_bar__minus_00_dot_24_bar__plus_00_dot_76_bar__plus_06_dot_13 - object + DishSponge_bar__plus_00_dot_87_bar__plus_00_dot_77_bar__plus_00_dot_45 - object 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Lettuce_bar__minus_00_dot_47_bar__plus_00_dot_85_bar__plus_06_dot_60 - object + LightSwitch_bar__minus_02_dot_00_bar__plus_01_dot_55_bar__plus_06_dot_05 - object + Mug_bar__plus_01_dot_38_bar__plus_01_dot_04_bar__plus_00_dot_85 - object + Mug_bar__plus_02_dot_01_bar__plus_01_dot_51_bar__plus_05_dot_88 - object + Pan_bar__plus_01_dot_31_bar__plus_00_dot_99_bar__plus_04_dot_28 - object + PaperTowelRoll_bar__plus_00_dot_26_bar__plus_00_dot_86_bar__plus_06_dot_24 - object + PepperShaker_bar__plus_00_dot_38_bar__plus_01_dot_57_bar__plus_00_dot_21 - object + PepperShaker_bar__plus_01_dot_66_bar__plus_00_dot_14_bar__plus_02_dot_65 - object + PepperShaker_bar__minus_00_dot_40_bar__plus_00_dot_76_bar__plus_06_dot_46 - object + Plate_bar__plus_00_dot_67_bar__plus_00_dot_14_bar__plus_00_dot_58 - object + Plate_bar__minus_00_dot_61_bar__plus_00_dot_99_bar__plus_00_dot_21 - object + Potato_bar__plus_00_dot_62_bar__plus_01_dot_03_bar__plus_00_dot_12 - object + Potato_bar__plus_01_dot_67_bar__plus_01_dot_03_bar__plus_03_dot_23 - object + Potato_bar__plus_01_dot_97_bar__plus_01_dot_55_bar__plus_05_dot_63 - object + Pot_bar__plus_01_dot_32_bar__plus_00_dot_99_bar__plus_04_dot_29 - object + SaltShaker_bar__plus_00_dot_03_bar__plus_00_dot_76_bar__plus_06_dot_79 - object + SaltShaker_bar__plus_00_dot_44_bar__plus_01_dot_57_bar__plus_00_dot_12 - object + SaltShaker_bar__minus_00_dot_33_bar__plus_00_dot_76_bar__plus_06_dot_74 - object + Sink_bar__plus_01_dot_39_bar__plus_01_dot_01_bar__plus_02_dot_33 - object + SoapBottle_bar__plus_01_dot_14_bar__plus_00_dot_99_bar__plus_04_dot_67 - object + SoapBottle_bar__plus_01_dot_32_bar__plus_00_dot_14_bar__plus_02_dot_87 - object + SoapBottle_bar__plus_01_dot_46_bar__plus_01_dot_58_bar__plus_04_dot_82 - object + Spatula_bar__plus_01_dot_44_bar__plus_00_dot_91_bar__plus_01_dot_93 - object + Spoon_bar__plus_00_dot_85_bar__plus_00_dot_99_bar__plus_00_dot_67 - object + StoveKnob_bar__plus_01_dot_14_bar__plus_00_dot_93_bar__plus_03_dot_82 - object + StoveKnob_bar__plus_01_dot_14_bar__plus_00_dot_93_bar__plus_03_dot_99 - object + StoveKnob_bar__plus_01_dot_14_bar__plus_00_dot_93_bar__plus_04_dot_14 - object + StoveKnob_bar__plus_01_dot_14_bar__plus_00_dot_93_bar__plus_04_dot_31 - object + Tomato_bar__plus_00_dot_06_bar__plus_00_dot_81_bar__plus_06_dot_26 - object + Tomato_bar__plus_00_dot_26_bar__plus_00_dot_81_bar__plus_06_dot_72 - object + Window_bar__plus_01_dot_76_bar__plus_02_dot_01_bar__plus_02_dot_30 - object + Window_bar__minus_02_dot_07_bar__plus_01_dot_92_bar__plus_03_dot_63 - object + Cabinet_bar__plus_00_dot_25_bar__plus_02_dot_13_bar__plus_00_dot_43 - receptacle + Cabinet_bar__plus_00_dot_44_bar__plus_00_dot_42_bar__plus_00_dot_74 - receptacle + Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_01_dot_71 - receptacle + Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_02_dot_94 - receptacle + Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_02_dot_99 - receptacle + Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_04_dot_55 - receptacle + Cabinet_bar__plus_01_dot_27_bar__plus_02_dot_13_bar__plus_00_dot_43 - receptacle + Cabinet_bar__plus_01_dot_31_bar__plus_02_dot_46_bar__plus_03_dot_61 - receptacle + Cabinet_bar__plus_01_dot_31_bar__plus_02_dot_46_bar__plus_04_dot_36 - receptacle + Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_00_dot_52 - receptacle + Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_01_dot_53 - receptacle + Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_03_dot_10 - receptacle + Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_04_dot_89 - receptacle + Cabinet_bar__minus_00_dot_17_bar__plus_00_dot_42_bar__plus_00_dot_74 - receptacle + Cabinet_bar__minus_00_dot_26_bar__plus_02_dot_13_bar__plus_00_dot_43 - receptacle + Cabinet_bar__minus_00_dot_78_bar__plus_00_dot_42_bar__plus_00_dot_74 - receptacle + CoffeeMachine_bar__plus_01_dot_55_bar__plus_00_dot_98_bar__plus_00_dot_95 - receptacle + CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90 - receptacle + CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_04_dot_72 - receptacle + DiningTable_bar__minus_00_dot_16_bar__plus_00_dot_67_bar__plus_06_dot_47 - receptacle + Drawer_bar__plus_00_dot_12_bar__plus_00_dot_80_bar__plus_00_dot_52 - receptacle + Drawer_bar__plus_00_dot_74_bar__plus_00_dot_80_bar__plus_00_dot_52 - receptacle + Drawer_bar__plus_01_dot_28_bar__plus_00_dot_80_bar__plus_03_dot_29 - receptacle + Drawer_bar__plus_01_dot_28_bar__plus_00_dot_81_bar__plus_04_dot_72 - receptacle + Drawer_bar__minus_00_dot_48_bar__plus_00_dot_80_bar__plus_00_dot_52 - receptacle + Fridge_bar__plus_02_dot_04_bar__plus_00_dot_00_bar__plus_05_dot_63 - receptacle + GarbageCan_bar__plus_02_dot_00_bar__plus_00_dot_00_bar__plus_06_dot_50 - receptacle + Microwave_bar__plus_00_dot_11_bar__plus_00_dot_98_bar__plus_00_dot_26 - receptacle + Safe_bar__plus_02_dot_05_bar__minus_00_dot_01_bar__plus_07_dot_06 - receptacle + Sink_bar__plus_01_dot_39_bar__plus_01_dot_01_bar__plus_02_dot_33_bar_SinkBasin - receptacle + StoveBurner_bar__plus_01_dot_32_bar__plus_00_dot_98_bar__plus_03_dot_85 - receptacle + StoveBurner_bar__plus_01_dot_32_bar__plus_00_dot_98_bar__plus_04_dot_29 - receptacle + StoveBurner_bar__plus_01_dot_56_bar__plus_00_dot_98_bar__plus_03_dot_85 - receptacle + StoveBurner_bar__plus_01_dot_56_bar__plus_00_dot_98_bar__plus_04_dot_29 - receptacle + Toaster_bar__plus_01_dot_47_bar__plus_00_dot_98_bar__plus_04_dot_72 - receptacle + loc_bar_3_bar_5_bar_1_bar__minus_30 - location + loc_bar_2_bar_4_bar_2_bar__minus_30 - location + loc_bar_0_bar_4_bar_2_bar__minus_30 - location + loc_bar__minus_1_bar_7_bar_2_bar_45 - location + loc_bar_3_bar_14_bar_1_bar__minus_30 - location + loc_bar_4_bar_22_bar_1_bar_60 - location + loc_bar__minus_6_bar_15_bar_3_bar__minus_30 - location + loc_bar_3_bar_15_bar_1_bar_45 - location + loc_bar_1_bar_10_bar_1_bar_60 - location + loc_bar_3_bar_16_bar_1_bar_60 - location + loc_bar_3_bar_18_bar_1_bar__minus_30 - location + loc_bar_3_bar_17_bar_1_bar__minus_30 - location + loc_bar_1_bar_13_bar_1_bar_45 - location + loc_bar_3_bar_4_bar_1_bar__minus_30 - location + loc_bar__minus_5_bar_5_bar_1_bar_45 - location + loc_bar_0_bar_7_bar_2_bar_45 - location + loc_bar__minus_6_bar_24_bar_3_bar_15 - location + loc_bar_3_bar_9_bar_1_bar__minus_30 - location + loc_bar_4_bar_24_bar_1_bar_60 - location + loc_bar_3_bar_17_bar_1_bar_60 - location + loc_bar_1_bar_14_bar_1_bar_60 - location + loc_bar_3_bar_9_bar_1_bar__minus_15 - location + loc_bar_1_bar_20_bar_1_bar_45 - location + loc_bar__minus_3_bar_5_bar_1_bar_45 - location + loc_bar_3_bar_9_bar_1_bar_45 - location + loc_bar_3_bar_17_bar_1_bar_45 - location + loc_bar_1_bar_17_bar_1_bar_60 - location + loc_bar_4_bar_26_bar_1_bar_60 - location + loc_bar_4_bar_24_bar_1_bar_15 - location + loc_bar_1_bar_22_bar_0_bar_60 - location + loc_bar_0_bar_5_bar_1_bar_45 - location + loc_bar_3_bar_15_bar_1_bar_60 - location + loc_bar_1_bar_6_bar_2_bar_30 - location + loc_bar_1_bar_7_bar_2_bar_45 - location + loc_bar_3_bar_4_bar_1_bar_45 - location + loc_bar_1_bar_7_bar_1_bar_60 - location + loc_bar_3_bar_26_bar_3_bar_45 - location + loc_bar_3_bar_19_bar_1_bar_45 - location + loc_bar_3_bar_4_bar_2_bar__minus_30 - location + loc_bar__minus_6_bar_9_bar_2_bar_30 - location + ) + + +(:init + + + (receptacleType Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_02_dot_99 CabinetType) + (receptacleType Drawer_bar__plus_00_dot_12_bar__plus_00_dot_80_bar__plus_00_dot_52 DrawerType) + (receptacleType CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90 CounterTopType) + (receptacleType Sink_bar__plus_01_dot_39_bar__plus_01_dot_01_bar__plus_02_dot_33_bar_SinkBasin SinkBasinType) + (receptacleType Cabinet_bar__plus_01_dot_27_bar__plus_02_dot_13_bar__plus_00_dot_43 CabinetType) + (receptacleType StoveBurner_bar__plus_01_dot_32_bar__plus_00_dot_98_bar__plus_04_dot_29 StoveBurnerType) + (receptacleType StoveBurner_bar__plus_01_dot_56_bar__plus_00_dot_98_bar__plus_03_dot_85 StoveBurnerType) + (receptacleType Cabinet_bar__minus_00_dot_17_bar__plus_00_dot_42_bar__plus_00_dot_74 CabinetType) + (receptacleType Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_01_dot_71 CabinetType) + (receptacleType GarbageCan_bar__plus_02_dot_00_bar__plus_00_dot_00_bar__plus_06_dot_50 GarbageCanType) + (receptacleType Drawer_bar__plus_00_dot_74_bar__plus_00_dot_80_bar__plus_00_dot_52 DrawerType) + (receptacleType Safe_bar__plus_02_dot_05_bar__minus_00_dot_01_bar__plus_07_dot_06 SafeType) + (receptacleType StoveBurner_bar__plus_01_dot_56_bar__plus_00_dot_98_bar__plus_04_dot_29 StoveBurnerType) + (receptacleType Cabinet_bar__plus_00_dot_44_bar__plus_00_dot_42_bar__plus_00_dot_74 CabinetType) + (receptacleType DiningTable_bar__minus_00_dot_16_bar__plus_00_dot_67_bar__plus_06_dot_47 DiningTableType) + (receptacleType Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_04_dot_55 CabinetType) + (receptacleType Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_04_dot_89 CabinetType) + (receptacleType Drawer_bar__minus_00_dot_48_bar__plus_00_dot_80_bar__plus_00_dot_52 DrawerType) + (receptacleType CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_04_dot_72 CounterTopType) + (receptacleType Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_01_dot_53 CabinetType) + (receptacleType Drawer_bar__plus_01_dot_28_bar__plus_00_dot_80_bar__plus_03_dot_29 DrawerType) + (receptacleType Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_02_dot_94 CabinetType) + (receptacleType StoveBurner_bar__plus_01_dot_32_bar__plus_00_dot_98_bar__plus_03_dot_85 StoveBurnerType) + (receptacleType Cabinet_bar__plus_01_dot_31_bar__plus_02_dot_46_bar__plus_03_dot_61 CabinetType) + (receptacleType 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Fridge_bar__plus_02_dot_04_bar__plus_00_dot_00_bar__plus_05_dot_63) + (openable Microwave_bar__plus_00_dot_11_bar__plus_00_dot_98_bar__plus_00_dot_26) + + (atLocation agent1 loc_bar__minus_6_bar_9_bar_2_bar_30) + + (cleanable Spoon_bar__plus_00_dot_85_bar__plus_00_dot_99_bar__plus_00_dot_67) + (cleanable Pan_bar__plus_01_dot_31_bar__plus_00_dot_99_bar__plus_04_dot_28) + (cleanable Kettle_bar__plus_01_dot_32_bar__plus_00_dot_99_bar__plus_03_dot_85) + (cleanable DishSponge_bar__plus_00_dot_87_bar__plus_00_dot_77_bar__plus_00_dot_45) + (cleanable ButterKnife_bar__plus_00_dot_06_bar__plus_00_dot_77_bar__plus_00_dot_51) + (cleanable Fork_bar__minus_00_dot_55_bar__plus_00_dot_77_bar__plus_00_dot_56) + (cleanable Plate_bar__minus_00_dot_61_bar__plus_00_dot_99_bar__plus_00_dot_21) + (cleanable Tomato_bar__plus_00_dot_26_bar__plus_00_dot_81_bar__plus_06_dot_72) + (cleanable Potato_bar__plus_01_dot_67_bar__plus_01_dot_03_bar__plus_03_dot_23) + (cleanable Egg_bar__plus_01_dot_28_bar__plus_00_dot_94_bar__plus_02_dot_09) + (cleanable Pot_bar__plus_01_dot_32_bar__plus_00_dot_99_bar__plus_04_dot_29) + (cleanable Lettuce_bar__minus_00_dot_38_bar__plus_01_dot_08_bar__plus_00_dot_40) + (cleanable Cup_bar__minus_00_dot_24_bar__plus_00_dot_76_bar__plus_06_dot_13) + (cleanable DishSponge_bar__minus_00_dot_44_bar__plus_00_dot_76_bar__plus_06_dot_85) + (cleanable Knife_bar__minus_00_dot_28_bar__plus_00_dot_80_bar__plus_00_dot_45) + (cleanable Spatula_bar__plus_01_dot_44_bar__plus_00_dot_91_bar__plus_01_dot_93) + (cleanable Lettuce_bar__minus_00_dot_47_bar__plus_00_dot_85_bar__plus_06_dot_60) + (cleanable Apple_bar__plus_02_dot_14_bar__plus_01_dot_59_bar__plus_05_dot_38) + (cleanable Potato_bar__plus_01_dot_97_bar__plus_01_dot_55_bar__plus_05_dot_63) + (cleanable DishSponge_bar__minus_00_dot_03_bar__plus_00_dot_76_bar__plus_06_dot_17) + (cleanable Tomato_bar__plus_00_dot_06_bar__plus_00_dot_81_bar__plus_06_dot_26) + (cleanable Fork_bar__minus_00_dot_22_bar__plus_00_dot_76_bar__plus_06_dot_63) + (cleanable Plate_bar__plus_00_dot_67_bar__plus_00_dot_14_bar__plus_00_dot_58) + (cleanable Mug_bar__plus_02_dot_01_bar__plus_01_dot_51_bar__plus_05_dot_88) + (cleanable Bowl_bar__plus_00_dot_70_bar__plus_00_dot_99_bar__plus_00_dot_40) + (cleanable Apple_bar__plus_01_dot_97_bar__plus_01_dot_59_bar__plus_05_dot_25) + (cleanable Mug_bar__plus_01_dot_38_bar__plus_01_dot_04_bar__plus_00_dot_85) + (cleanable Kettle_bar__plus_01_dot_56_bar__plus_00_dot_99_bar__plus_04_dot_29) + (cleanable ButterKnife_bar__plus_01_dot_49_bar__plus_00_dot_99_bar__plus_03_dot_32) + (cleanable Potato_bar__plus_00_dot_62_bar__plus_01_dot_03_bar__plus_00_dot_12) + (cleanable Fork_bar__plus_00_dot_26_bar__plus_00_dot_77_bar__plus_00_dot_51) + + (heatable Bread_bar__plus_01_dot_10_bar__plus_01_dot_05_bar__plus_00_dot_43) + (heatable Plate_bar__minus_00_dot_61_bar__plus_00_dot_99_bar__plus_00_dot_21) + (heatable Tomato_bar__plus_00_dot_26_bar__plus_00_dot_81_bar__plus_06_dot_72) + (heatable Potato_bar__plus_01_dot_67_bar__plus_01_dot_03_bar__plus_03_dot_23) + (heatable Bread_bar__plus_00_dot_15_bar__plus_00_dot_83_bar__plus_06_dot_54) + (heatable Egg_bar__plus_01_dot_28_bar__plus_00_dot_94_bar__plus_02_dot_09) + (heatable Cup_bar__minus_00_dot_24_bar__plus_00_dot_76_bar__plus_06_dot_13) + (heatable Apple_bar__plus_02_dot_14_bar__plus_01_dot_59_bar__plus_05_dot_38) + (heatable Potato_bar__plus_01_dot_97_bar__plus_01_dot_55_bar__plus_05_dot_63) + (heatable Tomato_bar__plus_00_dot_06_bar__plus_00_dot_81_bar__plus_06_dot_26) + (heatable Plate_bar__plus_00_dot_67_bar__plus_00_dot_14_bar__plus_00_dot_58) + (heatable Mug_bar__plus_02_dot_01_bar__plus_01_dot_51_bar__plus_05_dot_88) + (heatable Apple_bar__plus_01_dot_97_bar__plus_01_dot_59_bar__plus_05_dot_25) + (heatable Mug_bar__plus_01_dot_38_bar__plus_01_dot_04_bar__plus_00_dot_85) + (heatable Potato_bar__plus_00_dot_62_bar__plus_01_dot_03_bar__plus_00_dot_12) + (coolable Pan_bar__plus_01_dot_31_bar__plus_00_dot_99_bar__plus_04_dot_28) + (coolable Bread_bar__plus_01_dot_10_bar__plus_01_dot_05_bar__plus_00_dot_43) + (coolable Plate_bar__minus_00_dot_61_bar__plus_00_dot_99_bar__plus_00_dot_21) + (coolable Tomato_bar__plus_00_dot_26_bar__plus_00_dot_81_bar__plus_06_dot_72) + (coolable Potato_bar__plus_01_dot_67_bar__plus_01_dot_03_bar__plus_03_dot_23) + (coolable Bread_bar__plus_00_dot_15_bar__plus_00_dot_83_bar__plus_06_dot_54) + (coolable Egg_bar__plus_01_dot_28_bar__plus_00_dot_94_bar__plus_02_dot_09) + (coolable Pot_bar__plus_01_dot_32_bar__plus_00_dot_99_bar__plus_04_dot_29) + (coolable Lettuce_bar__minus_00_dot_38_bar__plus_01_dot_08_bar__plus_00_dot_40) + (coolable Cup_bar__minus_00_dot_24_bar__plus_00_dot_76_bar__plus_06_dot_13) + (coolable Lettuce_bar__minus_00_dot_47_bar__plus_00_dot_85_bar__plus_06_dot_60) + (coolable 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Bread_bar__plus_00_dot_15_bar__plus_00_dot_83_bar__plus_06_dot_54) + (sliceable Egg_bar__plus_01_dot_28_bar__plus_00_dot_94_bar__plus_02_dot_09) + (sliceable Lettuce_bar__minus_00_dot_38_bar__plus_01_dot_08_bar__plus_00_dot_40) + (sliceable Lettuce_bar__minus_00_dot_47_bar__plus_00_dot_85_bar__plus_06_dot_60) + (sliceable Apple_bar__plus_02_dot_14_bar__plus_01_dot_59_bar__plus_05_dot_38) + (sliceable Potato_bar__plus_01_dot_97_bar__plus_01_dot_55_bar__plus_05_dot_63) + (sliceable Tomato_bar__plus_00_dot_06_bar__plus_00_dot_81_bar__plus_06_dot_26) + (sliceable Apple_bar__plus_01_dot_97_bar__plus_01_dot_59_bar__plus_05_dot_25) + (sliceable Potato_bar__plus_00_dot_62_bar__plus_01_dot_03_bar__plus_00_dot_12) + + (inReceptacle DishSponge_bar__plus_00_dot_87_bar__plus_00_dot_77_bar__plus_00_dot_45 Drawer_bar__plus_00_dot_74_bar__plus_00_dot_80_bar__plus_00_dot_52) + (inReceptacle SaltShaker_bar__minus_00_dot_33_bar__plus_00_dot_76_bar__plus_06_dot_74 DiningTable_bar__minus_00_dot_16_bar__plus_00_dot_67_bar__plus_06_dot_47) + (inReceptacle DishSponge_bar__minus_00_dot_03_bar__plus_00_dot_76_bar__plus_06_dot_17 DiningTable_bar__minus_00_dot_16_bar__plus_00_dot_67_bar__plus_06_dot_47) + (inReceptacle DishSponge_bar__minus_00_dot_44_bar__plus_00_dot_76_bar__plus_06_dot_85 DiningTable_bar__minus_00_dot_16_bar__plus_00_dot_67_bar__plus_06_dot_47) + (inReceptacle Tomato_bar__plus_00_dot_06_bar__plus_00_dot_81_bar__plus_06_dot_26 DiningTable_bar__minus_00_dot_16_bar__plus_00_dot_67_bar__plus_06_dot_47) + (inReceptacle Fork_bar__minus_00_dot_22_bar__plus_00_dot_76_bar__plus_06_dot_63 DiningTable_bar__minus_00_dot_16_bar__plus_00_dot_67_bar__plus_06_dot_47) + (inReceptacle HousePlant_bar__minus_00_dot_17_bar__plus_00_dot_75_bar__plus_06_dot_44 DiningTable_bar__minus_00_dot_16_bar__plus_00_dot_67_bar__plus_06_dot_47) + (inReceptacle PepperShaker_bar__minus_00_dot_40_bar__plus_00_dot_76_bar__plus_06_dot_46 DiningTable_bar__minus_00_dot_16_bar__plus_00_dot_67_bar__plus_06_dot_47) + (inReceptacle SaltShaker_bar__plus_00_dot_03_bar__plus_00_dot_76_bar__plus_06_dot_79 DiningTable_bar__minus_00_dot_16_bar__plus_00_dot_67_bar__plus_06_dot_47) + (inReceptacle PaperTowelRoll_bar__plus_00_dot_26_bar__plus_00_dot_86_bar__plus_06_dot_24 DiningTable_bar__minus_00_dot_16_bar__plus_00_dot_67_bar__plus_06_dot_47) + (inReceptacle Cup_bar__minus_00_dot_24_bar__plus_00_dot_76_bar__plus_06_dot_13 DiningTable_bar__minus_00_dot_16_bar__plus_00_dot_67_bar__plus_06_dot_47) + (inReceptacle Tomato_bar__plus_00_dot_26_bar__plus_00_dot_81_bar__plus_06_dot_72 DiningTable_bar__minus_00_dot_16_bar__plus_00_dot_67_bar__plus_06_dot_47) + (inReceptacle Lettuce_bar__minus_00_dot_47_bar__plus_00_dot_85_bar__plus_06_dot_60 DiningTable_bar__minus_00_dot_16_bar__plus_00_dot_67_bar__plus_06_dot_47) + (inReceptacle Bread_bar__plus_00_dot_15_bar__plus_00_dot_83_bar__plus_06_dot_54 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(inReceptacle Kettle_bar__plus_01_dot_56_bar__plus_00_dot_99_bar__plus_04_dot_29 StoveBurner_bar__plus_01_dot_56_bar__plus_00_dot_98_bar__plus_04_dot_29) + (inReceptacle Kettle_bar__plus_01_dot_32_bar__plus_00_dot_99_bar__plus_03_dot_85 StoveBurner_bar__plus_01_dot_32_bar__plus_00_dot_98_bar__plus_03_dot_85) + (inReceptacle Spoon_bar__plus_00_dot_85_bar__plus_00_dot_99_bar__plus_00_dot_67 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90) + (inReceptacle Bread_bar__plus_01_dot_10_bar__plus_01_dot_05_bar__plus_00_dot_43 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90) + (inReceptacle Bowl_bar__plus_00_dot_70_bar__plus_00_dot_99_bar__plus_00_dot_40 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90) + (inReceptacle Lettuce_bar__minus_00_dot_38_bar__plus_01_dot_08_bar__plus_00_dot_40 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90) + (inReceptacle Potato_bar__plus_00_dot_62_bar__plus_01_dot_03_bar__plus_00_dot_12 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90) + (inReceptacle Mug_bar__plus_01_dot_38_bar__plus_01_dot_04_bar__plus_00_dot_85 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90) + (inReceptacle Plate_bar__minus_00_dot_61_bar__plus_00_dot_99_bar__plus_00_dot_21 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90) + (inReceptacle ButterKnife_bar__plus_01_dot_49_bar__plus_00_dot_99_bar__plus_03_dot_32 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90) + (inReceptacle Potato_bar__plus_01_dot_67_bar__plus_01_dot_03_bar__plus_03_dot_23 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90) + (inReceptacle SoapBottle_bar__plus_01_dot_14_bar__plus_00_dot_99_bar__plus_04_dot_67 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_04_dot_72) + (inReceptacle 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CoffeeMachine_bar__plus_01_dot_55_bar__plus_00_dot_98_bar__plus_00_dot_95) + (inReceptacle Apple_bar__plus_01_dot_97_bar__plus_01_dot_59_bar__plus_05_dot_25 Fridge_bar__plus_02_dot_04_bar__plus_00_dot_00_bar__plus_05_dot_63) + (inReceptacle Apple_bar__plus_02_dot_14_bar__plus_01_dot_59_bar__plus_05_dot_38 Fridge_bar__plus_02_dot_04_bar__plus_00_dot_00_bar__plus_05_dot_63) + (inReceptacle Potato_bar__plus_01_dot_97_bar__plus_01_dot_55_bar__plus_05_dot_63 Fridge_bar__plus_02_dot_04_bar__plus_00_dot_00_bar__plus_05_dot_63) + (inReceptacleObject Pan_bar__plus_01_dot_31_bar__plus_00_dot_99_bar__plus_04_dot_28 Pot_bar__plus_01_dot_32_bar__plus_00_dot_99_bar__plus_04_dot_29) + (inReceptacle Spatula_bar__plus_01_dot_44_bar__plus_00_dot_91_bar__plus_01_dot_93 Sink_bar__plus_01_dot_39_bar__plus_01_dot_01_bar__plus_02_dot_33_bar_SinkBasin) + (inReceptacle Egg_bar__plus_01_dot_28_bar__plus_00_dot_94_bar__plus_02_dot_09 Sink_bar__plus_01_dot_39_bar__plus_01_dot_01_bar__plus_02_dot_33_bar_SinkBasin) + (inReceptacleObject Pot_bar__plus_01_dot_32_bar__plus_00_dot_99_bar__plus_04_dot_29 Pan_bar__plus_01_dot_31_bar__plus_00_dot_99_bar__plus_04_dot_28) + + + (receptacleAtLocation Cabinet_bar__plus_00_dot_25_bar__plus_02_dot_13_bar__plus_00_dot_43 loc_bar_2_bar_4_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_00_dot_44_bar__plus_00_dot_42_bar__plus_00_dot_74 loc_bar_1_bar_7_bar_2_bar_45) + (receptacleAtLocation Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_01_dot_71 loc_bar_1_bar_7_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_02_dot_94 loc_bar_1_bar_10_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_02_dot_99 loc_bar_1_bar_14_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_04_dot_55 loc_bar_1_bar_17_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__plus_01_dot_27_bar__plus_02_dot_13_bar__plus_00_dot_43 loc_bar_3_bar_4_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_01_dot_31_bar__plus_02_dot_46_bar__plus_03_dot_61 loc_bar_3_bar_14_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_01_dot_31_bar__plus_02_dot_46_bar__plus_04_dot_36 loc_bar_3_bar_17_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_00_dot_52 loc_bar_3_bar_4_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_01_dot_53 loc_bar_3_bar_5_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_03_dot_10 loc_bar_3_bar_14_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_04_dot_89 loc_bar_3_bar_18_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_17_bar__plus_00_dot_42_bar__plus_00_dot_74 loc_bar__minus_1_bar_7_bar_2_bar_45) + (receptacleAtLocation Cabinet_bar__minus_00_dot_26_bar__plus_02_dot_13_bar__plus_00_dot_43 loc_bar_0_bar_4_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_78_bar__plus_00_dot_42_bar__plus_00_dot_74 loc_bar_0_bar_7_bar_2_bar_45) + (receptacleAtLocation CoffeeMachine_bar__plus_01_dot_55_bar__plus_00_dot_98_bar__plus_00_dot_95 loc_bar_3_bar_4_bar_1_bar_45) + (receptacleAtLocation CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90 loc_bar_3_bar_4_bar_1_bar_45) + (receptacleAtLocation CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_04_dot_72 loc_bar_3_bar_19_bar_1_bar_45) + (receptacleAtLocation DiningTable_bar__minus_00_dot_16_bar__plus_00_dot_67_bar__plus_06_dot_47 loc_bar_3_bar_26_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__plus_00_dot_12_bar__plus_00_dot_80_bar__plus_00_dot_52 loc_bar__minus_3_bar_5_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_00_dot_74_bar__plus_00_dot_80_bar__plus_00_dot_52 loc_bar_0_bar_5_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_01_dot_28_bar__plus_00_dot_80_bar__plus_03_dot_29 loc_bar_1_bar_13_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_01_dot_28_bar__plus_00_dot_81_bar__plus_04_dot_72 loc_bar_1_bar_20_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_48_bar__plus_00_dot_80_bar__plus_00_dot_52 loc_bar__minus_5_bar_5_bar_1_bar_45) + (receptacleAtLocation Fridge_bar__plus_02_dot_04_bar__plus_00_dot_00_bar__plus_05_dot_63 loc_bar_4_bar_22_bar_1_bar_60) + (receptacleAtLocation GarbageCan_bar__plus_02_dot_00_bar__plus_00_dot_00_bar__plus_06_dot_50 loc_bar_4_bar_24_bar_1_bar_60) + (receptacleAtLocation Microwave_bar__plus_00_dot_11_bar__plus_00_dot_98_bar__plus_00_dot_26 loc_bar_1_bar_6_bar_2_bar_30) + (receptacleAtLocation Safe_bar__plus_02_dot_05_bar__minus_00_dot_01_bar__plus_07_dot_06 loc_bar_4_bar_26_bar_1_bar_60) + (receptacleAtLocation Sink_bar__plus_01_dot_39_bar__plus_01_dot_01_bar__plus_02_dot_33_bar_SinkBasin loc_bar_3_bar_9_bar_1_bar_45) + (receptacleAtLocation StoveBurner_bar__plus_01_dot_32_bar__plus_00_dot_98_bar__plus_03_dot_85 loc_bar_3_bar_15_bar_1_bar_45) + (receptacleAtLocation StoveBurner_bar__plus_01_dot_32_bar__plus_00_dot_98_bar__plus_04_dot_29 loc_bar_3_bar_17_bar_1_bar_45) + (receptacleAtLocation StoveBurner_bar__plus_01_dot_56_bar__plus_00_dot_98_bar__plus_03_dot_85 loc_bar_3_bar_15_bar_1_bar_45) + (receptacleAtLocation StoveBurner_bar__plus_01_dot_56_bar__plus_00_dot_98_bar__plus_04_dot_29 loc_bar_3_bar_17_bar_1_bar_45) + (receptacleAtLocation Toaster_bar__plus_01_dot_47_bar__plus_00_dot_98_bar__plus_04_dot_72 loc_bar_3_bar_19_bar_1_bar_45) + (objectAtLocation Mug_bar__plus_01_dot_38_bar__plus_01_dot_04_bar__plus_00_dot_85 loc_bar_3_bar_4_bar_1_bar_45) + (objectAtLocation DishSponge_bar__plus_00_dot_87_bar__plus_00_dot_77_bar__plus_00_dot_45 loc_bar_0_bar_5_bar_1_bar_45) + (objectAtLocation Tomato_bar__plus_00_dot_06_bar__plus_00_dot_81_bar__plus_06_dot_26 loc_bar_3_bar_26_bar_3_bar_45) + (objectAtLocation PepperShaker_bar__plus_00_dot_38_bar__plus_01_dot_57_bar__plus_00_dot_21 loc_bar_2_bar_4_bar_2_bar__minus_30) + (objectAtLocation ButterKnife_bar__plus_00_dot_06_bar__plus_00_dot_77_bar__plus_00_dot_51 loc_bar__minus_3_bar_5_bar_1_bar_45) + (objectAtLocation Potato_bar__plus_01_dot_67_bar__plus_01_dot_03_bar__plus_03_dot_23 loc_bar_3_bar_4_bar_1_bar_45) + (objectAtLocation SoapBottle_bar__plus_01_dot_14_bar__plus_00_dot_99_bar__plus_04_dot_67 loc_bar_3_bar_19_bar_1_bar_45) + (objectAtLocation Lettuce_bar__minus_00_dot_47_bar__plus_00_dot_85_bar__plus_06_dot_60 loc_bar_3_bar_26_bar_3_bar_45) + (objectAtLocation SaltShaker_bar__plus_00_dot_44_bar__plus_01_dot_57_bar__plus_00_dot_12 loc_bar_2_bar_4_bar_2_bar__minus_30) + (objectAtLocation Plate_bar__plus_00_dot_67_bar__plus_00_dot_14_bar__plus_00_dot_58 loc_bar_1_bar_7_bar_2_bar_45) + (objectAtLocation Kettle_bar__plus_01_dot_56_bar__plus_00_dot_99_bar__plus_04_dot_29 loc_bar_3_bar_17_bar_1_bar_45) + (objectAtLocation Apple_bar__plus_02_dot_14_bar__plus_01_dot_59_bar__plus_05_dot_38 loc_bar_4_bar_22_bar_1_bar_60) + (objectAtLocation Fork_bar__plus_00_dot_26_bar__plus_00_dot_77_bar__plus_00_dot_51 loc_bar__minus_3_bar_5_bar_1_bar_45) + (objectAtLocation Bread_bar__plus_01_dot_10_bar__plus_01_dot_05_bar__plus_00_dot_43 loc_bar_3_bar_4_bar_1_bar_45) + (objectAtLocation SaltShaker_bar__plus_00_dot_03_bar__plus_00_dot_76_bar__plus_06_dot_79 loc_bar_3_bar_26_bar_3_bar_45) + (objectAtLocation PepperShaker_bar__minus_00_dot_40_bar__plus_00_dot_76_bar__plus_06_dot_46 loc_bar_3_bar_26_bar_3_bar_45) + (objectAtLocation SoapBottle_bar__plus_01_dot_32_bar__plus_00_dot_14_bar__plus_02_dot_87 loc_bar_1_bar_10_bar_1_bar_60) + (objectAtLocation Fork_bar__minus_00_dot_22_bar__plus_00_dot_76_bar__plus_06_dot_63 loc_bar_3_bar_26_bar_3_bar_45) + (objectAtLocation DishSponge_bar__minus_00_dot_03_bar__plus_00_dot_76_bar__plus_06_dot_17 loc_bar_3_bar_26_bar_3_bar_45) + (objectAtLocation Potato_bar__plus_00_dot_62_bar__plus_01_dot_03_bar__plus_00_dot_12 loc_bar_3_bar_4_bar_1_bar_45) + (objectAtLocation Sink_bar__plus_01_dot_39_bar__plus_01_dot_01_bar__plus_02_dot_33 loc_bar_3_bar_9_bar_1_bar_45) + (objectAtLocation Bowl_bar__plus_00_dot_70_bar__plus_00_dot_99_bar__plus_00_dot_40 loc_bar_3_bar_4_bar_1_bar_45) + (objectAtLocation Bread_bar__plus_00_dot_15_bar__plus_00_dot_83_bar__plus_06_dot_54 loc_bar_3_bar_26_bar_3_bar_45) + (objectAtLocation Egg_bar__plus_01_dot_28_bar__plus_00_dot_94_bar__plus_02_dot_09 loc_bar_3_bar_9_bar_1_bar_45) + (objectAtLocation Knife_bar__minus_00_dot_28_bar__plus_00_dot_80_bar__plus_00_dot_45 loc_bar__minus_5_bar_5_bar_1_bar_45) + (objectAtLocation Fork_bar__minus_00_dot_55_bar__plus_00_dot_77_bar__plus_00_dot_56 loc_bar__minus_5_bar_5_bar_1_bar_45) + (objectAtLocation Apple_bar__plus_01_dot_97_bar__plus_01_dot_59_bar__plus_05_dot_25 loc_bar_4_bar_22_bar_1_bar_60) + (objectAtLocation Kettle_bar__plus_01_dot_32_bar__plus_00_dot_99_bar__plus_03_dot_85 loc_bar_3_bar_15_bar_1_bar_45) + (objectAtLocation Plate_bar__minus_00_dot_61_bar__plus_00_dot_99_bar__plus_00_dot_21 loc_bar_3_bar_4_bar_1_bar_45) + (objectAtLocation HousePlant_bar__minus_00_dot_17_bar__plus_00_dot_75_bar__plus_06_dot_44 loc_bar_3_bar_26_bar_3_bar_45) + (objectAtLocation SaltShaker_bar__minus_00_dot_33_bar__plus_00_dot_76_bar__plus_06_dot_74 loc_bar_3_bar_26_bar_3_bar_45) + (objectAtLocation Lettuce_bar__minus_00_dot_38_bar__plus_01_dot_08_bar__plus_00_dot_40 loc_bar_3_bar_4_bar_1_bar_45) + (objectAtLocation Window_bar__minus_02_dot_07_bar__plus_01_dot_92_bar__plus_03_dot_63 loc_bar__minus_6_bar_15_bar_3_bar__minus_30) + (objectAtLocation Window_bar__plus_01_dot_76_bar__plus_02_dot_01_bar__plus_02_dot_30 loc_bar_3_bar_9_bar_1_bar__minus_15) + (objectAtLocation SoapBottle_bar__plus_01_dot_46_bar__plus_01_dot_58_bar__plus_04_dot_82 loc_bar_3_bar_18_bar_1_bar__minus_30) + (objectAtLocation Spatula_bar__plus_01_dot_44_bar__plus_00_dot_91_bar__plus_01_dot_93 loc_bar_3_bar_9_bar_1_bar_45) + (objectAtLocation PaperTowelRoll_bar__plus_00_dot_26_bar__plus_00_dot_86_bar__plus_06_dot_24 loc_bar_3_bar_26_bar_3_bar_45) + (objectAtLocation Pot_bar__plus_01_dot_32_bar__plus_00_dot_99_bar__plus_04_dot_29 loc_bar_3_bar_17_bar_1_bar_45) + (objectAtLocation Potato_bar__plus_01_dot_97_bar__plus_01_dot_55_bar__plus_05_dot_63 loc_bar_4_bar_22_bar_1_bar_60) + (objectAtLocation ButterKnife_bar__plus_01_dot_49_bar__plus_00_dot_99_bar__plus_03_dot_32 loc_bar_3_bar_4_bar_1_bar_45) + (objectAtLocation StoveKnob_bar__plus_01_dot_14_bar__plus_00_dot_93_bar__plus_03_dot_99 loc_bar_3_bar_16_bar_1_bar_60) + (objectAtLocation StoveKnob_bar__plus_01_dot_14_bar__plus_00_dot_93_bar__plus_04_dot_31 loc_bar_3_bar_17_bar_1_bar_60) + (objectAtLocation StoveKnob_bar__plus_01_dot_14_bar__plus_00_dot_93_bar__plus_04_dot_14 loc_bar_3_bar_17_bar_1_bar_60) + (objectAtLocation StoveKnob_bar__plus_01_dot_14_bar__plus_00_dot_93_bar__plus_03_dot_82 loc_bar_3_bar_15_bar_1_bar_60) + (objectAtLocation PepperShaker_bar__plus_01_dot_66_bar__plus_00_dot_14_bar__plus_02_dot_65 loc_bar_1_bar_10_bar_1_bar_60) + (objectAtLocation Pan_bar__plus_01_dot_31_bar__plus_00_dot_99_bar__plus_04_dot_28 loc_bar_3_bar_17_bar_1_bar_45) + (objectAtLocation Tomato_bar__plus_00_dot_26_bar__plus_00_dot_81_bar__plus_06_dot_72 loc_bar_3_bar_26_bar_3_bar_45) + (objectAtLocation DishSponge_bar__minus_00_dot_44_bar__plus_00_dot_76_bar__plus_06_dot_85 loc_bar_3_bar_26_bar_3_bar_45) + (objectAtLocation Cup_bar__minus_00_dot_24_bar__plus_00_dot_76_bar__plus_06_dot_13 loc_bar_3_bar_26_bar_3_bar_45) + (objectAtLocation LightSwitch_bar__minus_02_dot_00_bar__plus_01_dot_55_bar__plus_06_dot_05 loc_bar__minus_6_bar_24_bar_3_bar_15) + (objectAtLocation Chair_bar__plus_00_dot_29_bar__plus_00_dot_02_bar__plus_06_dot_14 loc_bar_1_bar_22_bar_0_bar_60) + (objectAtLocation Spoon_bar__plus_00_dot_85_bar__plus_00_dot_99_bar__plus_00_dot_67 loc_bar_3_bar_4_bar_1_bar_45) + (objectAtLocation Mug_bar__plus_02_dot_01_bar__plus_01_dot_51_bar__plus_05_dot_88 loc_bar_4_bar_24_bar_1_bar_15) + (objectAtLocation Blinds_bar__plus_01_dot_74_bar__plus_02_dot_56_bar__plus_02_dot_31 loc_bar_3_bar_9_bar_1_bar__minus_30) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (sliceable ?o) + (isSliced ?o) + (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-TomatoSliced-None-DiningTable-18/trial_T20190914_033809_050650/traj_data.json b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-TomatoSliced-None-DiningTable-18/trial_T20190914_033809_050650/traj_data.json new file mode 100644 index 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"z": 1.40334183e-14 + } + }, + { + "objectName": "Knife_94d26365", + "position": { + "x": -0.278042316, + "y": 0.8021047, + "z": 0.45141685 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Fork_8ae143f8", + "position": { + "x": 0.2607262, + "y": 0.7722481, + "z": 0.5074248 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Apple_a939ee5b", + "position": { + "x": 2.13723, + "y": 1.59014213, + "z": 5.376 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "Kettle_5453e71d", + "position": { + "x": 1.559894, + "y": 0.988599956, + "z": 4.2942 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Plate_1f77d579", + "position": { + "x": 0.674817264, + "y": 0.144326568, + "z": 0.5763414 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SaltShaker_b7138966", + "position": { + "x": 0.440992653, + "y": 1.57459259, + "z": 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0.0 + } + }, + { + "objectName": "Potato_5b11696a", + "position": { + "x": 1.67194414, + "y": 1.027588, + "z": 3.23104 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "ButterKnife_8d8b47bb", + "position": { + "x": 0.0566475242, + "y": 0.7717416, + "z": 0.5074248 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "PepperShaker_cff2324e", + "position": { + "x": 0.380409181, + "y": 1.57459259, + "z": 0.207324728 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": -1.70754731e-06 + } + }, + { + "objectName": "Pan_08687688", + "position": { + "x": 1.3131808, + "y": 0.9855794, + "z": 4.28467369 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Tomato_8b4d7f57", + "position": { + "x": 0.05866337, + "y": 0.80955404, + "z": 6.261198 + }, + "rotation": { + "x": 0.0, + "y": 134.999985, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_6d7ef995", + "position": { + "x": 0.8712312, + "y": 0.7719865, + "z": 0.451127946 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Cup_8e8a26e1", + "position": { + "x": -0.24443689, + "y": 0.7562329, + "z": 6.12861538 + }, + "rotation": { + "x": 0.0, + "y": 225.000046, + "z": 0.0 + } + }, + { + "objectName": "Spoon_cefc2847", + "position": { + "x": 0.8476807, + "y": 0.9938294, + "z": 0.6700103 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_6d84c70f", + "position": { + "x": 1.38469982, + "y": 1.043094, + "z": 0.8474003 + }, + "rotation": { + "x": 0.0, + "y": 270.000122, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 1951953104, + "scene_num": 18 + }, + "task_id": "trial_T20190914_033809_050650", + "task_type": "pick_cool_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A271V19C06841K_34S9DKFK76GXMJ22TR8BNH7OSG2NYC", + "high_descs": [ + "turn around, walk straight, turn right to the counter", + "pick up knife from the counter", + "turn left, turn right, turn left, turn left to the table ", + "cut tomato with the knife", + "turn left, turn right to the table", + "place knife on the table", + "turn right, turn left to the table", + "pick up tomato slice from the table", + "turn left, turn right, turn left to the fridge", + "open fridge door, place tomato on shelf, close doors, open doors, remove tomato, close doors", + "turn left, turn left to the table ", + "place tomato on the table " + ], + "task_desc": "pick up knife, cut tomato, place into fridge, remove from fridge, place on table ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AKW57KYG90X61_3K2755HG5VUI0GUUZ72K2ROE806FDJ", + "high_descs": [ + "move left to the table", + "pick up the knife ", + "turn left to the table", + "slice the tomato on the table", + "move left on the table", + "drop the knife on the table", + "move right on the table", + "pick up a tomato slice from the table", + "turn left to the fridge", + "cool the slice and then take it out", + "turn left to the table", + "place the slice on the table" + ], + "task_desc": "place a cold tomato slice on the table", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AISNLDPD2DFEG_3ZPPDN2SLYNERCHHSGDCYDKO5DE9EE", + "high_descs": [ + "Turn around, go forward, turn right after the sink, go to the counter", + "Pick up the knife on the counter", + "Turn left, go forward, turn left to the table", + "Slice the tomato on the table ", + "Move a bit to the left", + "Put the knife on the table", + "Move a bit to the right", + "Pick up a tomato slice from the table ", + "Turn left, go to the fridge, turn left", + "Put the tomato slice in the fridge, wait, pick up the tomato slice from the fridge", + "Turn left, go forward, turn left at the table", + "Put the tomato slice on the table" + ], + "task_desc": "Slice a tomato, cool a slice of tomato", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Apple-None-SinkBasin-25/trial_T20190909_103116_687252/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Apple-None-SinkBasin-25/trial_T20190909_103116_687252/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..18b68fe445ad97c33d11db774d91afc03ecfcd47 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Apple-None-SinkBasin-25/trial_T20190909_103116_687252/initial_state.pddl @@ -0,0 +1,959 @@ + +(define (problem plan_trial_T20190909_103116_687252) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + 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_49_bar__plus_00_dot_90_bar__plus_00_dot_13 - object + Bowl_bar__minus_02_dot_73_bar__plus_01_dot_44_bar__plus_02_dot_22 - object + Bread_bar__minus_00_dot_98_bar__plus_00_dot_86_bar__plus_00_dot_25 - object + 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Fork_bar__minus_02_dot_58_bar__plus_00_dot_82_bar__plus_00_dot_79 - object + Fork_bar__minus_02_dot_63_bar__plus_00_dot_69_bar__plus_01_dot_47 - object + Knife_bar__minus_00_dot_82_bar__plus_00_dot_85_bar__plus_00_dot_28 - object + Knife_bar__minus_02_dot_66_bar__plus_00_dot_82_bar__plus_00_dot_56 - object + Ladle_bar__minus_00_dot_15_bar__plus_00_dot_87_bar__plus_00_dot_35 - object + Ladle_bar__minus_01_dot_47_bar__plus_00_dot_17_bar__plus_00_dot_40 - object + Lettuce_bar__minus_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_40_bar__plus_00_dot_82_bar__plus_00_dot_99 - object + Pan_bar__minus_00_dot_24_bar__plus_00_dot_83_bar__plus_02_dot_08 - object + Pan_bar__minus_02_dot_78_bar__plus_00_dot_82_bar__plus_02_dot_13 - object + PepperShaker_bar__minus_01_dot_21_bar__plus_00_dot_82_bar__plus_00_dot_05 - object + 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Spoon_bar__minus_00_dot_39_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 PepperShaker_bar__minus_02_dot_38_bar__plus_00_dot_82_bar__plus_00_dot_06 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle Ladle_bar__minus_00_dot_15_bar__plus_00_dot_87_bar__plus_00_dot_35 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle Apple_bar__minus_02_dot_49_bar__plus_00_dot_90_bar__plus_00_dot_13 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle Spatula_bar__minus_00_dot_98_bar__plus_00_dot_84_bar__plus_00_dot_50 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle Mug_bar__minus_00_dot_40_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 PepperShaker_bar__minus_02_dot_72_bar__plus_00_dot_82_bar__plus_00_dot_06 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle Knife_bar__minus_00_dot_82_bar__plus_00_dot_85_bar__plus_00_dot_28 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle Cup_bar__minus_02_dot_61_bar__plus_00_dot_82_bar__plus_00_dot_28 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle Egg_bar__minus_02_dot_72_bar__plus_00_dot_85_bar__plus_00_dot_13 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle Egg_bar__minus_02_dot_38_bar__plus_00_dot_85_bar__plus_00_dot_28 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle Egg_bar__minus_02_dot_21_bar__plus_00_dot_85_bar__plus_00_dot_03 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle PepperShaker_bar__minus_01_dot_21_bar__plus_00_dot_82_bar__plus_00_dot_05 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle Spatula_bar__minus_02_dot_96_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 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 Fork_bar__minus_02_dot_58_bar__plus_00_dot_82_bar__plus_00_dot_79 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle Potato_bar__minus_01_dot_71_bar__plus_00_dot_86_bar__plus_00_dot_05 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle Tomato_bar__minus_02_dot_38_bar__plus_00_dot_87_bar__plus_00_dot_43 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 Bread_bar__minus_00_dot_98_bar__plus_00_dot_86_bar__plus_00_dot_25 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle SaltShaker_bar__minus_02_dot_50_bar__plus_00_dot_82_bar__plus_00_dot_63 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle ButterKnife_bar__minus_02_dot_74_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 Spoon_bar__minus_00_dot_17_bar__plus_00_dot_82_bar__plus_01_dot_21 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle Spoon_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 Fork_bar__minus_02_dot_63_bar__plus_00_dot_69_bar__plus_01_dot_47 Drawer_bar__minus_02_dot_59_bar__plus_00_dot_70_bar__plus_01_dot_51) + (inReceptacle DishSponge_bar__minus_02_dot_88_bar__plus_01_dot_43_bar__plus_01_dot_59 Cabinet_bar__minus_02_dot_78_bar__plus_01_dot_80_bar__plus_00_dot_83) + (inReceptacle Cup_bar__minus_02_dot_61_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 DishSponge_bar__minus_02_dot_00_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 SoapBottle_bar__minus_02_dot_00_bar__plus_00_dot_12_bar__plus_00_dot_48 Cabinet_bar__minus_02_dot_24_bar__plus_00_dot_39_bar__plus_00_dot_56) + (inReceptacle Ladle_bar__minus_01_dot_47_bar__plus_00_dot_17_bar__plus_00_dot_40 Cabinet_bar__minus_01_dot_29_bar__plus_00_dot_39_bar__plus_00_dot_56) + (inReceptacle SaltShaker_bar__minus_01_dot_58_bar__plus_00_dot_12_bar__plus_00_dot_36 Cabinet_bar__minus_01_dot_29_bar__plus_00_dot_39_bar__plus_00_dot_56) + (inReceptacle Tomato_bar__minus_02_dot_67_bar__plus_01_dot_50_bar__plus_01_dot_96 Fridge_bar__minus_02_dot_78_bar__plus_00_dot_00_bar__plus_02_dot_22) + (inReceptacle Bowl_bar__minus_02_dot_73_bar__plus_01_dot_44_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 Pan_bar__minus_02_dot_78_bar__plus_00_dot_82_bar__plus_02_dot_13 Fridge_bar__minus_02_dot_78_bar__plus_00_dot_00_bar__plus_02_dot_22) + (inReceptacle Plate_bar__minus_02_dot_73_bar__plus_01_dot_15_bar__plus_02_dot_31 Fridge_bar__minus_02_dot_78_bar__plus_00_dot_00_bar__plus_02_dot_22) + (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 Tomato_bar__minus_00_dot_40_bar__plus_00_dot_11_bar__plus_02_dot_54 GarbageCan_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__plus_02_dot_61) + (inReceptacle Lettuce_bar__minus_01_dot_84_bar__plus_00_dot_74_bar__plus_00_dot_24 Sink_bar__minus_01_dot_84_bar__plus_00_dot_73_bar__plus_00_dot_34_bar_SinkBasin) + + + (receptacleAtLocation Cabinet_bar__minus_00_dot_55_bar__plus_00_dot_39_bar__plus_00_dot_75 loc_bar__minus_4_bar_4_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__minus_00_dot_55_bar__plus_00_dot_39_bar__plus_01_dot_41 loc_bar__minus_4_bar_6_bar_1_bar_60) + (receptacleAtLocation 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 Spoon_bar__minus_00_dot_39_bar__plus_00_dot_70_bar__plus_01_dot_25 loc_bar__minus_5_bar_4_bar_1_bar_45) + (objectAtLocation DishSponge_bar__minus_02_dot_88_bar__plus_01_dot_43_bar__plus_01_dot_59 loc_bar__minus_8_bar_5_bar_3_bar__minus_15) + (objectAtLocation PepperShaker_bar__minus_02_dot_38_bar__plus_00_dot_82_bar__plus_00_dot_06 loc_bar__minus_4_bar_4_bar_2_bar_45) + (objectAtLocation ButterKnife_bar__minus_02_dot_49_bar__plus_00_dot_81_bar__plus_00_dot_48 loc_bar__minus_4_bar_4_bar_2_bar_45) + (objectAtLocation Cup_bar__minus_02_dot_61_bar__plus_00_dot_12_bar__plus_01_dot_43 loc_bar__minus_6_bar_4_bar_3_bar_60) + (objectAtLocation Egg_bar__minus_02_dot_21_bar__plus_00_dot_85_bar__plus_00_dot_03 loc_bar__minus_4_bar_4_bar_2_bar_45) + (objectAtLocation Knife_bar__minus_02_dot_66_bar__plus_00_dot_82_bar__plus_00_dot_56 loc_bar__minus_4_bar_4_bar_2_bar_45) + (objectAtLocation Spatula_bar__minus_00_dot_98_bar__plus_00_dot_84_bar__plus_00_dot_50 loc_bar__minus_4_bar_4_bar_2_bar_45) + (objectAtLocation SaltShaker_bar__minus_02_dot_50_bar__plus_00_dot_82_bar__plus_00_dot_63 loc_bar__minus_4_bar_4_bar_2_bar_45) + (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) + (objectAtLocation Tomato_bar__minus_00_dot_40_bar__plus_00_dot_11_bar__plus_02_dot_54 loc_bar__minus_4_bar_10_bar_1_bar_60) + (objectAtLocation SoapBottle_bar__minus_00_dot_36_bar__plus_00_dot_05_bar__plus_02_dot_67 loc_bar__minus_4_bar_10_bar_1_bar_60) + (objectAtLocation Pan_bar__minus_00_dot_24_bar__plus_00_dot_83_bar__plus_02_dot_08 loc_bar__minus_4_bar_10_bar_1_bar_45) + (objectAtLocation Ladle_bar__minus_00_dot_15_bar__plus_00_dot_87_bar__plus_00_dot_35 loc_bar__minus_4_bar_4_bar_2_bar_45) + (objectAtLocation Fork_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) + (objectAtLocation PepperShaker_bar__minus_01_dot_21_bar__plus_00_dot_82_bar__plus_00_dot_05 loc_bar__minus_4_bar_4_bar_2_bar_45) + (objectAtLocation Tomato_bar__minus_02_dot_67_bar__plus_01_dot_50_bar__plus_01_dot_96 loc_bar__minus_7_bar_9_bar_3_bar_60) + (objectAtLocation Egg_bar__minus_02_dot_72_bar__plus_00_dot_85_bar__plus_00_dot_13 loc_bar__minus_4_bar_4_bar_2_bar_45) + (objectAtLocation Spoon_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) + 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"pick_heat_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A20FCMWP43CVIU_373ERPL3YRZMKVV0CS2TOKKJE8XTRZ", + "high_descs": [ + "walk to face counter near sink", + "pick up apple from counter", + "walk to face microwave", + "heat and remove apple from microwave", + "walk to face sinks", + "put apple in left hand sink" + ], + "task_desc": "put heated apple in sink", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "AM2KK02JXXW48_3Z9WI9EOZ2FASIRAMEC79PVH8M9KHO", + "high_descs": [ + "Move to the sink on your right.", + "Pick up the apple right of the sink on the counter.", + "Bring the apple to the microwave on the right.", + "Heat the apple in the microwave.", + "Take the heated apple to the sink on your left.", + "Put the heated apple in the left sink. " + ], + "task_desc": "Put a heated apple in the left sink. ", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A2A4UAFZ5LW71K_39RP059MEKKVRTOR7YFR2RKN2FNBMU", + "high_descs": [ + "turn around, walk to fridge, turn left, walk to sink", + "pick up the apple that is on the counter next to the sink", + "turn around, take a few steps, turn left to face microwave", + "put apple in microwave, turn it on, take apple out when it turns off", + "turn around, take a few steps, turn right to face sink", + "put apple in the sink" + ], + "task_desc": "put cooked apple in the sink", + "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-Cup-None-Shelf-7/trial_T20190906_211058_615610/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Cup-None-Shelf-7/trial_T20190906_211058_615610/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..51ee671bd78353e41fcc42f91d5cd9a3da981f1c --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Cup-None-Shelf-7/trial_T20190906_211058_615610/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\n\\n#task#\"\n }\n ],\n\n \"notImplemented\": [\n {\n \"rhs\": \"TODO\"\n }\n ],\n\n \"task\": [\n {\n \"rhs\": \"Your task is to: heat some cup and put it in 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_211058_615610)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\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_14_bar__plus_00_dot_93_bar__plus_03_dot_42 - object\n Apple_bar__minus_02_dot_64_bar__plus_00_dot_93_bar__plus_03_dot_45 - object\n Apple_bar__minus_03_dot_17_bar__plus_00_dot_93_bar__plus_03_dot_30 - object\n Book_bar__plus_03_dot_74_bar__plus_00_dot_55_bar__plus_01_dot_55 - object\n Book_bar__minus_01_dot_50_bar__plus_01_dot_65_bar__minus_01_dot_71 - object\n Book_bar__minus_01_dot_65_bar__plus_00_dot_12_bar__minus_00_dot_92 - object\n Bowl_bar__minus_02_dot_07_bar__plus_00_dot_91_bar__minus_00_dot_61 - object\n Bowl_bar__minus_02_dot_32_bar__plus_00_dot_88_bar__plus_03_dot_37 - object\n Bread_bar__minus_01_dot_60_bar__plus_00_dot_98_bar__minus_00_dot_84 - object\n ButterKnife_bar__minus_01_dot_85_bar__plus_00_dot_91_bar__minus_00_dot_94 - object\n ButterKnife_bar__minus_02_dot_47_bar__plus_00_dot_88_bar__plus_03_dot_51 - object\n Chair_bar__minus_01_dot_92_bar__plus_00_dot_00_bar__plus_03_dot_47 - object\n Chair_bar__minus_02_dot_41_bar__plus_00_dot_57_bar__plus_00_dot_07 - object\n Chair_bar__minus_02_dot_47_bar__plus_00_dot_57_bar__minus_00_dot_80 - object\n Chair_bar__minus_02_dot_82_bar__plus_00_dot_00_bar__plus_02_dot_60 - object\n Chair_bar__minus_03_dot_50_bar__plus_00_dot_00_bar__plus_03_dot_45 - object\n Cup_bar__plus_00_dot_18_bar__plus_00_dot_93_bar__minus_01_dot_36 - object\n Cup_bar__minus_02_dot_07_bar__plus_00_dot_91_bar__plus_00_dot_36 - object\n Cup_bar__minus_02_dot_62_bar__plus_00_dot_88_bar__plus_02_dot_95 - object\n Cup_bar__minus_03_dot_00_bar__plus_00_dot_87_bar__plus_03_dot_15 - object\n DishSponge_bar__plus_00_dot_56_bar__plus_00_dot_72_bar__minus_01_dot_38 - object\n DishSponge_bar__plus_03_dot_72_bar__plus_00_dot_88_bar__plus_01_dot_66 - object\n DishSponge_bar__minus_00_dot_26_bar__plus_00_dot_70_bar__minus_01_dot_63 - object\n Egg_bar__plus_00_dot_08_bar__plus_00_dot_83_bar__plus_02_dot_14 - object\n Egg_bar__plus_00_dot_31_bar__plus_00_dot_83_bar__plus_02_dot_25 - object\n Egg_bar__minus_00_dot_38_bar__plus_01_dot_17_bar__plus_02_dot_25 - object\n Faucet_bar__minus_00_dot_19_bar__plus_00_dot_92_bar__minus_01_dot_75 - object\n 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PepperShaker_bar__plus_00_dot_57_bar__plus_00_dot_91_bar__minus_01_dot_37 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_00_dot_61)\n (inReceptacle SoapBottle_bar__minus_00_dot_83_bar__plus_00_dot_91_bar__minus_01_dot_57 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_00_dot_61)\n (inReceptacle Cup_bar__minus_02_dot_07_bar__plus_00_dot_91_bar__plus_00_dot_36 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_00_dot_61)\n (inReceptacle Vase_bar__minus_02_dot_09_bar__plus_00_dot_12_bar__minus_01_dot_65 Cabinet_bar__minus_02_dot_22_bar__plus_00_dot_37_bar__minus_01_dot_87)\n (inReceptacle Plate_bar__minus_02_dot_54_bar__plus_00_dot_88_bar__plus_03_dot_10 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21)\n (inReceptacle Apple_bar__minus_02_dot_64_bar__plus_00_dot_93_bar__plus_03_dot_45 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21)\n (inReceptacle HousePlant_bar__minus_02_dot_74_bar__plus_00_dot_87_bar__plus_03_dot_21 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21)\n (inReceptacle Apple_bar__minus_03_dot_17_bar__plus_00_dot_93_bar__plus_03_dot_30 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21)\n (inReceptacle Fork_bar__minus_02_dot_32_bar__plus_00_dot_88_bar__plus_03_dot_22 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21)\n (inReceptacle Spatula_bar__minus_03_dot_00_bar__plus_00_dot_89_bar__plus_03_dot_07 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21)\n (inReceptacle Lettuce_bar__minus_02_dot_46_bar__plus_00_dot_94_bar__plus_02_dot_71 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21)\n (inReceptacle Plate_bar__minus_02_dot_20_bar__plus_00_dot_88_bar__plus_02_dot_97 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21)\n (inReceptacle 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Cup_bar__minus_02_dot_62_bar__plus_00_dot_88_bar__plus_02_dot_95 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21)\n (inReceptacle ButterKnife_bar__minus_02_dot_47_bar__plus_00_dot_88_bar__plus_03_dot_51 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21)\n (inReceptacle Bowl_bar__minus_02_dot_32_bar__plus_00_dot_88_bar__plus_03_dot_37 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21)\n (inReceptacle Spatula_bar__minus_02_dot_30_bar__plus_00_dot_89_bar__plus_03_dot_58 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21)\n (inReceptacle Knife_bar__minus_02_dot_58_bar__plus_00_dot_90_bar__plus_03_dot_62 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21)\n (inReceptacle Mug_bar__minus_03_dot_00_bar__plus_00_dot_87_bar__plus_03_dot_30 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21)\n (inReceptacle Apple_bar__minus_02_dot_14_bar__plus_00_dot_93_bar__plus_03_dot_42 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21)\n (inReceptacle Kettle_bar__plus_01_dot_33_bar__plus_00_dot_96_bar__minus_01_dot_42 StoveBurner_bar__plus_01_dot_33_bar__plus_00_dot_96_bar__minus_01_dot_42)\n (inReceptacle Book_bar__minus_01_dot_65_bar__plus_00_dot_12_bar__minus_00_dot_92 Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__minus_01_dot_24)\n (inReceptacle Plate_bar__plus_01_dot_65_bar__plus_00_dot_12_bar__minus_01_dot_45 Cabinet_bar__plus_01_dot_78_bar__plus_00_dot_37_bar__minus_01_dot_24)\n (inReceptacle Vase_bar__minus_00_dot_29_bar__plus_00_dot_12_bar__minus_01_dot_45 Cabinet_bar__minus_00_dot_57_bar__plus_00_dot_37_bar__minus_01_dot_24)\n (inReceptacle Mug_bar__plus_00_dot_74_bar__plus_01_dot_65_bar__minus_01_dot_71 Cabinet_bar__plus_00_dot_52_bar__plus_02_dot_01_bar__minus_01_dot_54)\n (inReceptacle Book_bar__minus_01_dot_50_bar__plus_01_dot_65_bar__minus_01_dot_71 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Drawer_bar__minus_02_dot_06_bar__plus_00_dot_68_bar__minus_01_dot_58)\n (inReceptacle Spatula_bar__minus_02_dot_05_bar__plus_00_dot_73_bar__minus_01_dot_44 Drawer_bar__minus_02_dot_06_bar__plus_00_dot_68_bar__minus_01_dot_58)\n (inReceptacle WineBottle_bar__plus_01_dot_69_bar__plus_00_dot_91_bar__minus_01_dot_35 CounterTop_bar__plus_01_dot_65_bar__plus_00_dot_95_bar__minus_01_dot_53)\n (inReceptacle DishSponge_bar__plus_03_dot_72_bar__plus_00_dot_88_bar__plus_01_dot_66 Shelf_bar__plus_03_dot_69_bar__plus_00_dot_87_bar__plus_01_dot_64)\n (inReceptacle Book_bar__plus_03_dot_74_bar__plus_00_dot_55_bar__plus_01_dot_55 Shelf_bar__plus_03_dot_69_bar__plus_00_dot_54_bar__plus_01_dot_64)\n (inReceptacle Statue_bar__plus_03_dot_67_bar__plus_00_dot_54_bar__plus_01_dot_80 Shelf_bar__plus_03_dot_69_bar__plus_00_dot_54_bar__plus_01_dot_64)\n (inReceptacle Egg_bar__plus_00_dot_08_bar__plus_00_dot_83_bar__plus_02_dot_14 Fridge_bar__minus_00_dot_04_bar__plus_00_dot_00_bar__plus_02_dot_18)\n (inReceptacle Egg_bar__plus_00_dot_31_bar__plus_00_dot_83_bar__plus_02_dot_25 Fridge_bar__minus_00_dot_04_bar__plus_00_dot_00_bar__plus_02_dot_18)\n (inReceptacle Egg_bar__minus_00_dot_38_bar__plus_01_dot_17_bar__plus_02_dot_25 Fridge_bar__minus_00_dot_04_bar__plus_00_dot_00_bar__plus_02_dot_18)\n (inReceptacle Statue_bar__plus_03_dot_68_bar__plus_00_dot_17_bar__plus_01_dot_41 Shelf_bar__plus_03_dot_69_bar__plus_00_dot_16_bar__plus_01_dot_64)\n (inReceptacle Spoon_bar__minus_00_dot_37_bar__plus_00_dot_70_bar__minus_01_dot_68 Sink_bar__plus_00_dot_02_bar__plus_00_dot_77_bar__minus_01_dot_71_bar_SinkBasin)\n (inReceptacle DishSponge_bar__minus_00_dot_26_bar__plus_00_dot_70_bar__minus_01_dot_63 Sink_bar__plus_00_dot_02_bar__plus_00_dot_77_bar__minus_01_dot_71_bar_SinkBasin)\n (inReceptacle WineBottle_bar__minus_00_dot_90_bar__plus_00_dot_19_bar__plus_02_dot_17 GarbageCan_bar__minus_00_dot_87_bar__plus_00_dot_00_bar__plus_02_dot_14)\n (inReceptacleObject 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loc_bar_10_bar_4_bar_1_bar_45)\n (objectAtLocation Apple_bar__minus_03_dot_17_bar__plus_00_dot_93_bar__plus_03_dot_30 loc_bar__minus_11_bar_8_bar_0_bar_30)\n (objectAtLocation PepperShaker_bar__plus_00_dot_57_bar__plus_00_dot_91_bar__minus_01_dot_37 loc_bar__minus_11_bar__minus_4_bar_1_bar_45)\n (objectAtLocation SaltShaker_bar__plus_00_dot_53_bar__plus_00_dot_91_bar__minus_01_dot_47 loc_bar__minus_11_bar__minus_4_bar_1_bar_45)\n (objectAtLocation Knife_bar__minus_01_dot_62_bar__plus_00_dot_74_bar__minus_00_dot_79 loc_bar__minus_2_bar__minus_2_bar_3_bar_45)\n (objectAtLocation Plate_bar__minus_02_dot_54_bar__plus_00_dot_88_bar__plus_03_dot_10 loc_bar__minus_11_bar_8_bar_0_bar_30)\n (objectAtLocation Cup_bar__plus_00_dot_18_bar__plus_00_dot_93_bar__minus_01_dot_36 loc_bar_0_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Cup_bar__minus_03_dot_00_bar__plus_00_dot_87_bar__plus_03_dot_15 loc_bar__minus_11_bar_8_bar_0_bar_30)\n (objectAtLocation Egg_bar__minus_00_dot_38_bar__plus_01_dot_17_bar__plus_02_dot_25 loc_bar_0_bar_5_bar_0_bar_60)\n (objectAtLocation Fork_bar__minus_02_dot_95_bar__plus_00_dot_88_bar__plus_03_dot_41 loc_bar__minus_11_bar_8_bar_0_bar_30)\n (objectAtLocation Spatula_bar__minus_03_dot_00_bar__plus_00_dot_89_bar__plus_03_dot_07 loc_bar__minus_11_bar_8_bar_0_bar_30)\n (objectAtLocation WineBottle_bar__minus_03_dot_07_bar__plus_00_dot_88_bar__plus_03_dot_53 loc_bar__minus_11_bar_8_bar_0_bar_30)\n (objectAtLocation DishSponge_bar__minus_00_dot_26_bar__plus_00_dot_70_bar__minus_01_dot_63 loc_bar_0_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Book_bar__minus_01_dot_50_bar__plus_01_dot_65_bar__minus_01_dot_71 loc_bar__minus_4_bar__minus_3_bar_2_bar__minus_30)\n (objectAtLocation Book_bar__minus_01_dot_65_bar__plus_00_dot_12_bar__minus_00_dot_92 loc_bar__minus_2_bar__minus_2_bar_3_bar_60)\n (objectAtLocation Sink_bar__plus_00_dot_02_bar__plus_00_dot_77_bar__minus_01_dot_71 loc_bar__minus_11_bar__minus_4_bar_1_bar_45)\n (objectAtLocation Fork_bar__minus_02_dot_32_bar__plus_00_dot_88_bar__plus_03_dot_22 loc_bar__minus_9_bar_9_bar_0_bar_30)\n (objectAtLocation Tomato_bar__minus_02_dot_81_bar__plus_00_dot_93_bar__plus_02_dot_72 loc_bar__minus_11_bar_8_bar_0_bar_30)\n (objectAtLocation LightSwitch_bar__plus_02_dot_83_bar__plus_01_dot_27_bar__minus_00_dot_75 loc_bar_11_bar__minus_1_bar_2_bar_45)\n (objectAtLocation Egg_bar__plus_00_dot_08_bar__plus_00_dot_83_bar__plus_02_dot_14 loc_bar_0_bar_5_bar_0_bar_60)\n (objectAtLocation Kettle_bar__plus_01_dot_33_bar__plus_00_dot_96_bar__minus_01_dot_42 loc_bar_5_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Vase_bar__minus_02_dot_09_bar__plus_00_dot_12_bar__minus_01_dot_65 loc_bar__minus_12_bar__minus_5_bar_1_bar_60)\n (objectAtLocation Cup_bar__minus_02_dot_62_bar__plus_00_dot_88_bar__plus_02_dot_95 loc_bar__minus_11_bar_8_bar_0_bar_30)\n (objectAtLocation Window_bar__minus_00_dot_12_bar__plus_01_dot_80_bar__minus_01_dot_90 loc_bar_0_bar__minus_3_bar_2_bar__minus_15)\n (objectAtLocation Window_bar__minus_04_dot_01_bar__plus_01_dot_80_bar__plus_00_dot_31 loc_bar__minus_14_bar_1_bar_3_bar__minus_15)\n (objectAtLocation WineBottle_bar__minus_00_dot_90_bar__plus_00_dot_19_bar__plus_02_dot_17 loc_bar__minus_5_bar_9_bar_1_bar_60)\n (objectAtLocation Plate_bar__plus_01_dot_65_bar__plus_00_dot_12_bar__minus_01_dot_45 loc_bar_5_bar__minus_1_bar_2_bar_45)\n (objectAtLocation Spatula_bar__minus_02_dot_05_bar__plus_00_dot_73_bar__minus_01_dot_44 loc_bar__minus_13_bar__minus_5_bar_1_bar_45)\n (objectAtLocation Potato_bar__minus_01_dot_85_bar__plus_00_dot_95_bar__plus_00_dot_04 loc_bar__minus_11_bar__minus_4_bar_1_bar_45)\n (objectAtLocation Pot_bar__minus_01_dot_60_bar__plus_00_dot_90_bar__minus_00_dot_17 loc_bar__minus_11_bar__minus_4_bar_1_bar_45)\n (objectAtLocation Knife_bar__minus_01_dot_63_bar__plus_00_dot_93_bar__plus_00_dot_36 loc_bar__minus_11_bar__minus_4_bar_1_bar_45)\n (objectAtLocation SaltShaker_bar__plus_01_dot_30_bar__plus_02_dot_15_bar__minus_01_dot_71 loc_bar_3_bar__minus_2_bar_2_bar__minus_30)\n (objectAtLocation PepperShaker_bar__plus_00_dot_68_bar__plus_00_dot_71_bar__minus_01_dot_38 loc_bar_1_bar__minus_2_bar_2_bar_45)\n (objectAtLocation Lettuce_bar__minus_02_dot_46_bar__plus_00_dot_94_bar__plus_02_dot_71 loc_bar__minus_11_bar_8_bar_0_bar_30)\n (objectAtLocation ButterKnife_bar__minus_02_dot_47_bar__plus_00_dot_88_bar__plus_03_dot_51 loc_bar__minus_11_bar_8_bar_0_bar_30)\n (objectAtLocation StoveKnob_bar__plus_01_dot_09_bar__plus_00_dot_91_bar__minus_01_dot_24 loc_bar_4_bar__minus_3_bar_2_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_21_bar__plus_00_dot_91_bar__minus_01_dot_24 loc_bar_5_bar__minus_3_bar_2_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_34_bar__plus_00_dot_91_bar__minus_01_dot_24 loc_bar_5_bar__minus_3_bar_2_bar_60)\n (objectAtLocation StoveKnob_bar__plus_00_dot_96_bar__plus_00_dot_91_bar__minus_01_dot_24 loc_bar_4_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Bread_bar__minus_01_dot_60_bar__plus_00_dot_98_bar__minus_00_dot_84 loc_bar__minus_11_bar__minus_4_bar_1_bar_45)\n (objectAtLocation Chair_bar__minus_02_dot_41_bar__plus_00_dot_57_bar__plus_00_dot_07 loc_bar__minus_11_bar_0_bar_1_bar_60)\n (objectAtLocation Chair_bar__minus_02_dot_47_bar__plus_00_dot_57_bar__minus_00_dot_80 loc_bar__minus_11_bar__minus_4_bar_1_bar_60)\n (objectAtLocation Vase_bar__minus_00_dot_29_bar__plus_00_dot_12_bar__minus_01_dot_45 loc_bar__minus_3_bar__minus_1_bar_2_bar_45)\n (objectAtLocation DishSponge_bar__plus_00_dot_56_bar__plus_00_dot_72_bar__minus_01_dot_38 loc_bar_1_bar__minus_2_bar_2_bar_45)\n (objectAtLocation Apple_bar__minus_02_dot_64_bar__plus_00_dot_93_bar__plus_03_dot_45 loc_bar__minus_11_bar_8_bar_0_bar_30)\n (objectAtLocation Pan_bar__plus_00_dot_97_bar__plus_00_dot_96_bar__minus_01_dot_43 loc_bar_4_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Chair_bar__minus_03_dot_50_bar__plus_00_dot_00_bar__plus_03_dot_45 loc_bar__minus_14_bar_10_bar_0_bar_60)\n (objectAtLocation Chair_bar__minus_02_dot_82_bar__plus_00_dot_00_bar__plus_02_dot_60 loc_bar__minus_11_bar_8_bar_0_bar_60)\n (objectAtLocation Chair_bar__minus_01_dot_92_bar__plus_00_dot_00_bar__plus_03_dot_47 loc_bar__minus_7_bar_11_bar_0_bar_60)\n (objectAtLocation Spoon_bar__minus_02_dot_81_bar__plus_00_dot_88_bar__plus_03_dot_56 loc_bar__minus_11_bar_8_bar_0_bar_30)\n (objectAtLocation HousePlant_bar__minus_02_dot_74_bar__plus_00_dot_87_bar__plus_03_dot_21 loc_bar__minus_11_bar_8_bar_0_bar_30)\n (objectAtLocation SoapBottle_bar__minus_01_dot_63_bar__plus_00_dot_91_bar__minus_01_dot_27 loc_bar__minus_11_bar__minus_4_bar_1_bar_45)\n (objectAtLocation Mug_bar__plus_00_dot_74_bar__plus_01_dot_65_bar__minus_01_dot_71 loc_bar_4_bar__minus_3_bar_2_bar__minus_30)\n (objectAtLocation Statue_bar__plus_03_dot_68_bar__plus_00_dot_17_bar__plus_01_dot_41 loc_bar_13_bar_3_bar_0_bar_60)\n (objectAtLocation Statue_bar__plus_03_dot_67_bar__plus_00_dot_54_bar__plus_01_dot_80 loc_bar_10_bar_4_bar_1_bar_45)\n (objectAtLocation Bowl_bar__minus_02_dot_32_bar__plus_00_dot_88_bar__plus_03_dot_37 loc_bar__minus_11_bar_8_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 CupType)\n (receptacleType ?r ShelfType)\n (isHot ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to diningtable 1", "take cup 3 from diningtable 1", "go to microwave 1", "heat cup 3 with microwave 1", "go to shelf 2", "move cup 3 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-Cup-None-Shelf-7/trial_T20190906_211058_615610/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Cup-None-Shelf-7/trial_T20190906_211058_615610/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..9a76596fa0e173c98ab39099731256f66b8cea49 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Cup-None-Shelf-7/trial_T20190906_211058_615610/initial_state.pddl @@ -0,0 +1,1243 @@ + +(define (problem plan_trial_T20190906_211058_615610) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + 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_14_bar__plus_00_dot_93_bar__plus_03_dot_42 - object + Apple_bar__minus_02_dot_64_bar__plus_00_dot_93_bar__plus_03_dot_45 - object + Apple_bar__minus_03_dot_17_bar__plus_00_dot_93_bar__plus_03_dot_30 - object + Book_bar__plus_03_dot_74_bar__plus_00_dot_55_bar__plus_01_dot_55 - object + Book_bar__minus_01_dot_50_bar__plus_01_dot_65_bar__minus_01_dot_71 - object + Book_bar__minus_01_dot_65_bar__plus_00_dot_12_bar__minus_00_dot_92 - object + Bowl_bar__minus_02_dot_07_bar__plus_00_dot_91_bar__minus_00_dot_61 - object + Bowl_bar__minus_02_dot_32_bar__plus_00_dot_88_bar__plus_03_dot_37 - object + Bread_bar__minus_01_dot_60_bar__plus_00_dot_98_bar__minus_00_dot_84 - object + ButterKnife_bar__minus_01_dot_85_bar__plus_00_dot_91_bar__minus_00_dot_94 - object + ButterKnife_bar__minus_02_dot_47_bar__plus_00_dot_88_bar__plus_03_dot_51 - object + Chair_bar__minus_01_dot_92_bar__plus_00_dot_00_bar__plus_03_dot_47 - object + Chair_bar__minus_02_dot_41_bar__plus_00_dot_57_bar__plus_00_dot_07 - object + Chair_bar__minus_02_dot_47_bar__plus_00_dot_57_bar__minus_00_dot_80 - object + Chair_bar__minus_02_dot_82_bar__plus_00_dot_00_bar__plus_02_dot_60 - object + Chair_bar__minus_03_dot_50_bar__plus_00_dot_00_bar__plus_03_dot_45 - object + Cup_bar__plus_00_dot_18_bar__plus_00_dot_93_bar__minus_01_dot_36 - object + Cup_bar__minus_02_dot_07_bar__plus_00_dot_91_bar__plus_00_dot_36 - object + Cup_bar__minus_02_dot_62_bar__plus_00_dot_88_bar__plus_02_dot_95 - object + Cup_bar__minus_03_dot_00_bar__plus_00_dot_87_bar__plus_03_dot_15 - object + DishSponge_bar__plus_00_dot_56_bar__plus_00_dot_72_bar__minus_01_dot_38 - object + DishSponge_bar__plus_03_dot_72_bar__plus_00_dot_88_bar__plus_01_dot_66 - object + DishSponge_bar__minus_00_dot_26_bar__plus_00_dot_70_bar__minus_01_dot_63 - object + Egg_bar__plus_00_dot_08_bar__plus_00_dot_83_bar__plus_02_dot_14 - object + Egg_bar__plus_00_dot_31_bar__plus_00_dot_83_bar__plus_02_dot_25 - object + Egg_bar__minus_00_dot_38_bar__plus_01_dot_17_bar__plus_02_dot_25 - object + Faucet_bar__minus_00_dot_19_bar__plus_00_dot_92_bar__minus_01_dot_75 - object + Fork_bar__minus_02_dot_32_bar__plus_00_dot_88_bar__plus_03_dot_22 - object + Fork_bar__minus_02_dot_95_bar__plus_00_dot_88_bar__plus_03_dot_41 - object + Fork_bar__minus_03_dot_12_bar__plus_00_dot_88_bar__plus_02_dot_97 - object + HousePlant_bar__minus_02_dot_74_bar__plus_00_dot_87_bar__plus_03_dot_21 - object + Kettle_bar__plus_00_dot_23_bar__plus_00_dot_93_bar__minus_01_dot_57 - object + Kettle_bar__plus_01_dot_33_bar__plus_00_dot_96_bar__minus_01_dot_42 - object + Knife_bar__minus_01_dot_62_bar__plus_00_dot_74_bar__minus_00_dot_79 - object + Knife_bar__minus_01_dot_63_bar__plus_00_dot_93_bar__plus_00_dot_36 - object + Knife_bar__minus_02_dot_58_bar__plus_00_dot_90_bar__plus_03_dot_62 - object + Lettuce_bar__minus_02_dot_46_bar__plus_00_dot_94_bar__plus_02_dot_71 - object + LightSwitch_bar__plus_02_dot_83_bar__plus_01_dot_27_bar__minus_00_dot_75 - object + Mug_bar__plus_00_dot_74_bar__plus_01_dot_65_bar__minus_01_dot_71 - object + Mug_bar__minus_03_dot_00_bar__plus_00_dot_87_bar__plus_03_dot_30 - object + Pan_bar__plus_00_dot_97_bar__plus_00_dot_96_bar__minus_01_dot_43 - object + PepperShaker_bar__plus_00_dot_57_bar__plus_00_dot_91_bar__minus_01_dot_37 - object + PepperShaker_bar__plus_00_dot_68_bar__plus_00_dot_71_bar__minus_01_dot_38 - object + PepperShaker_bar__minus_02_dot_08_bar__plus_00_dot_72_bar__minus_01_dot_79 - object + Plate_bar__plus_01_dot_65_bar__plus_00_dot_12_bar__minus_01_dot_45 - object + Plate_bar__minus_02_dot_20_bar__plus_00_dot_88_bar__plus_02_dot_97 - object + Plate_bar__minus_02_dot_54_bar__plus_00_dot_88_bar__plus_03_dot_10 - object + Potato_bar__minus_01_dot_85_bar__plus_00_dot_95_bar__plus_00_dot_04 - object + Pot_bar__minus_01_dot_60_bar__plus_00_dot_90_bar__minus_00_dot_17 - object + SaltShaker_bar__plus_00_dot_53_bar__plus_00_dot_91_bar__minus_01_dot_47 - object + SaltShaker_bar__plus_01_dot_30_bar__plus_02_dot_15_bar__minus_01_dot_71 - object + SaltShaker_bar__plus_01_dot_65_bar__plus_00_dot_72_bar__minus_01_dot_38 - object + Sink_bar__plus_00_dot_02_bar__plus_00_dot_77_bar__minus_01_dot_71 - object + SoapBottle_bar__minus_00_dot_83_bar__plus_00_dot_91_bar__minus_01_dot_57 - object + SoapBottle_bar__minus_01_dot_63_bar__plus_00_dot_91_bar__minus_01_dot_27 - object + Spatula_bar__minus_02_dot_05_bar__plus_00_dot_73_bar__minus_01_dot_44 - object + Spatula_bar__minus_02_dot_30_bar__plus_00_dot_89_bar__plus_03_dot_58 - object + Spatula_bar__minus_03_dot_00_bar__plus_00_dot_89_bar__plus_03_dot_07 - object + Spoon_bar__minus_00_dot_37_bar__plus_00_dot_70_bar__minus_01_dot_68 - object + Spoon_bar__minus_02_dot_81_bar__plus_00_dot_88_bar__plus_03_dot_56 - object + Statue_bar__plus_03_dot_67_bar__plus_00_dot_54_bar__plus_01_dot_80 - object + Statue_bar__plus_03_dot_68_bar__plus_00_dot_17_bar__plus_01_dot_41 - object + StoveKnob_bar__plus_00_dot_96_bar__plus_00_dot_91_bar__minus_01_dot_24 - object + StoveKnob_bar__plus_01_dot_09_bar__plus_00_dot_91_bar__minus_01_dot_24 - object + StoveKnob_bar__plus_01_dot_21_bar__plus_00_dot_91_bar__minus_01_dot_24 - object + StoveKnob_bar__plus_01_dot_34_bar__plus_00_dot_91_bar__minus_01_dot_24 - object + Tomato_bar__minus_02_dot_81_bar__plus_00_dot_93_bar__plus_02_dot_72 - object + Vase_bar__minus_00_dot_29_bar__plus_00_dot_12_bar__minus_01_dot_45 - object + Vase_bar__minus_02_dot_09_bar__plus_00_dot_12_bar__minus_01_dot_65 - object + Window_bar__minus_00_dot_12_bar__plus_01_dot_80_bar__minus_01_dot_90 - object + Window_bar__minus_04_dot_01_bar__plus_01_dot_80_bar__plus_00_dot_31 - object + WineBottle_bar__plus_01_dot_69_bar__plus_00_dot_91_bar__minus_01_dot_35 - object + WineBottle_bar__minus_00_dot_90_bar__plus_00_dot_19_bar__plus_02_dot_17 - object + WineBottle_bar__minus_03_dot_07_bar__plus_00_dot_88_bar__plus_03_dot_53 - object + Cabinet_bar__plus_00_dot_38_bar__plus_00_dot_37_bar__minus_01_dot_24 - receptacle + Cabinet_bar__plus_00_dot_52_bar__plus_02_dot_01_bar__minus_01_dot_54 - receptacle + Cabinet_bar__plus_00_dot_78_bar__plus_00_dot_37_bar__minus_01_dot_24 - receptacle + Cabinet_bar__plus_00_dot_85_bar__plus_02_dot_26_bar__minus_01_dot_54 - receptacle + Cabinet_bar__plus_01_dot_45_bar__plus_02_dot_26_bar__minus_01_dot_54 - receptacle + Cabinet_bar__plus_01_dot_78_bar__plus_00_dot_37_bar__minus_01_dot_24 - receptacle + Cabinet_bar__plus_01_dot_78_bar__plus_02_dot_01_bar__minus_01_dot_54 - receptacle + Cabinet_bar__minus_00_dot_57_bar__plus_00_dot_37_bar__minus_01_dot_24 - receptacle + Cabinet_bar__minus_00_dot_71_bar__plus_02_dot_01_bar__minus_01_dot_54 - receptacle + Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__minus_01_dot_24 - receptacle + Cabinet_bar__minus_01_dot_67_bar__plus_02_dot_01_bar__minus_01_dot_54 - receptacle + Cabinet_bar__minus_02_dot_17_bar__plus_02_dot_01_bar__minus_01_dot_54 - receptacle + Cabinet_bar__minus_02_dot_22_bar__plus_00_dot_37_bar__minus_01_dot_87 - receptacle + CoffeeMachine_bar__minus_01_dot_11_bar__plus_00_dot_90_bar__minus_01_dot_73 - receptacle + 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loc_bar_4_bar__minus_3_bar_2_bar__minus_30 - location + loc_bar_4_bar__minus_3_bar_2_bar_45 - location + loc_bar_5_bar__minus_3_bar_2_bar__minus_30 - location + loc_bar__minus_11_bar__minus_4_bar_1_bar_45 - location + loc_bar__minus_11_bar_8_bar_0_bar_30 - location + loc_bar__minus_13_bar__minus_5_bar_1_bar_45 - location + loc_bar_0_bar__minus_1_bar_2_bar_45 - location + loc_bar_13_bar_3_bar_0_bar_60 - location + loc_bar_5_bar__minus_3_bar_2_bar_45 - location + loc_bar__minus_12_bar__minus_5_bar_1_bar_60 - location + loc_bar_4_bar__minus_3_bar_2_bar_30 - location + loc_bar__minus_11_bar_8_bar_0_bar_60 - location + loc_bar__minus_14_bar_1_bar_3_bar__minus_15 - location + loc_bar__minus_11_bar__minus_5_bar_1_bar__minus_30 - location + loc_bar_11_bar__minus_1_bar_2_bar_45 - location + loc_bar__minus_8_bar_9_bar_2_bar_30 - location + ) + + +(:init + + + (receptacleType Fridge_bar__minus_00_dot_04_bar__plus_00_dot_00_bar__plus_02_dot_18 FridgeType) + (receptacleType 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DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21) + (inReceptacle Bowl_bar__minus_02_dot_32_bar__plus_00_dot_88_bar__plus_03_dot_37 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21) + (inReceptacle Spatula_bar__minus_02_dot_30_bar__plus_00_dot_89_bar__plus_03_dot_58 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21) + (inReceptacle Knife_bar__minus_02_dot_58_bar__plus_00_dot_90_bar__plus_03_dot_62 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21) + (inReceptacle Mug_bar__minus_03_dot_00_bar__plus_00_dot_87_bar__plus_03_dot_30 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21) + (inReceptacle Apple_bar__minus_02_dot_14_bar__plus_00_dot_93_bar__plus_03_dot_42 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21) + (inReceptacle Kettle_bar__plus_01_dot_33_bar__plus_00_dot_96_bar__minus_01_dot_42 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loc_bar__minus_11_bar_8_bar_0_bar_30) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (heatable ?o) + (objectType ?o CupType) + (receptacleType ?r ShelfType) + (isHot ?o) + (inReceptacle ?o ?r) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Cup-None-Shelf-7/trial_T20190906_211058_615610/traj_data.json b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Cup-None-Shelf-7/trial_T20190906_211058_615610/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..28f863561e97bbfce07d360b18e4289138d873a2 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Cup-None-Shelf-7/trial_T20190906_211058_615610/traj_data.json @@ -0,0 +1,8406 @@ +{ + "images": [ + { + "high_idx": 0, + "image_name": "000000000.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000001.png", + "low_idx": 0 + }, + { + "high_idx": 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door and remove the cup before closing the door.", + "Turn around over to the wooden shelving unit in the corner of the room.", + "Place the heated cup on the top shelf of the wooden shelving unit just to the right of the sponge." + ], + "task_desc": "Place a heated cup onto the top shelf of the wooden shelving unit.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Cup-None-Shelf-7/trial_T20190906_211134_297102/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Cup-None-Shelf-7/trial_T20190906_211134_297102/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..32ca13a62dcb967b671ae21f29dd19196a8e1bc9 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Cup-None-Shelf-7/trial_T20190906_211134_297102/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\n\\n#task#\"\n }\n ],\n\n \"notImplemented\": [\n {\n \"rhs\": \"TODO\"\n }\n ],\n\n \"task\": [\n {\n \"rhs\": \"Your task is to: put a hot cup in 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_211134_297102)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\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_31_bar__plus_00_dot_86_bar__plus_02_dot_14 - object\n Apple_bar__minus_02_dot_07_bar__plus_00_dot_97_bar__minus_01_dot_27 - object\n Book_bar__plus_01_dot_65_bar__plus_00_dot_91_bar__minus_01_dot_35 - object\n Book_bar__minus_01_dot_89_bar__plus_01_dot_65_bar__minus_01_dot_71 - object\n Book_bar__minus_01_dot_94_bar__plus_00_dot_90_bar__minus_01_dot_69 - object\n Bowl_bar__minus_02_dot_07_bar__plus_00_dot_91_bar__minus_00_dot_61 - object\n Bowl_bar__minus_02_dot_51_bar__plus_00_dot_87_bar__plus_02_dot_88 - object\n Bowl_bar__minus_02_dot_81_bar__plus_00_dot_88_bar__plus_02_dot_88 - object\n Bread_bar__plus_00_dot_57_bar__plus_01_dot_00_bar__minus_01_dot_37 - object\n Bread_bar__minus_02_dot_66_bar__plus_00_dot_96_bar__plus_03_dot_56 - object\n Bread_bar__minus_03_dot_17_bar__plus_00_dot_96_bar__plus_03_dot_37 - object\n ButterKnife_bar__plus_00_dot_07_bar__plus_00_dot_93_bar__minus_01_dot_65 - object\n ButterKnife_bar__minus_02_dot_59_bar__plus_00_dot_88_bar__plus_03_dot_39 - object\n Chair_bar__minus_01_dot_92_bar__plus_00_dot_00_bar__plus_03_dot_47 - object\n Chair_bar__minus_02_dot_41_bar__plus_00_dot_57_bar__plus_00_dot_07 - object\n Chair_bar__minus_02_dot_47_bar__plus_00_dot_57_bar__minus_00_dot_80 - object\n Chair_bar__minus_02_dot_82_bar__plus_00_dot_00_bar__plus_02_dot_60 - object\n Chair_bar__minus_03_dot_50_bar__plus_00_dot_00_bar__plus_03_dot_45 - object\n Cup_bar__plus_01_dot_68_bar__plus_00_dot_11_bar__minus_01_dot_49 - object\n DishSponge_bar__plus_00_dot_59_bar__plus_00_dot_12_bar__minus_01_dot_41 - object\n Egg_bar__plus_00_dot_08_bar__plus_00_dot_41_bar__plus_01_dot_97 - object\n Egg_bar__plus_00_dot_31_bar__plus_00_dot_41_bar__plus_02_dot_00 - object\n Egg_bar__minus_00_dot_26_bar__plus_00_dot_83_bar__plus_02_dot_02 - object\n Faucet_bar__minus_00_dot_19_bar__plus_00_dot_92_bar__minus_01_dot_75 - object\n Fork_bar__minus_01_dot_75_bar__plus_00_dot_72_bar__minus_00_dot_93 - object\n Fork_bar__minus_02_dot_15_bar__plus_00_dot_72_bar__minus_01_dot_51 - object\n Fork_bar__minus_02_dot_49_bar__plus_00_dot_88_bar__plus_03_dot_29 - object\n HousePlant_bar__minus_02_dot_74_bar__plus_00_dot_87_bar__plus_03_dot_21 - object\n Kettle_bar__plus_00_dot_97_bar__plus_00_dot_96_bar__minus_01_dot_69 - object\n Kettle_bar__minus_01_dot_33_bar__plus_01_dot_66_bar__minus_01_dot_75 - object\n Knife_bar__minus_01_dot_96_bar__plus_00_dot_93_bar__plus_00_dot_36 - object\n Knife_bar__minus_02_dot_07_bar__plus_00_dot_93_bar__minus_01_dot_59 - object\n Lettuce_bar__minus_01_dot_85_bar__plus_00_dot_98_bar__minus_01_dot_27 - object\n Lettuce_bar__minus_02_dot_25_bar__plus_00_dot_94_bar__plus_03_dot_53 - object\n LightSwitch_bar__plus_02_dot_83_bar__plus_01_dot_27_bar__minus_00_dot_75 - object\n Mug_bar__minus_01_dot_11_bar__plus_00_dot_96_bar__minus_01_dot_48 - object\n Mug_bar__minus_01_dot_96_bar__plus_00_dot_91_bar__minus_00_dot_94 - object\n Pan_bar__minus_00_dot_03_bar__plus_00_dot_80_bar__plus_02_dot_19 - object\n PepperShaker_bar__plus_00_dot_72_bar__plus_00_dot_11_bar__minus_01_dot_37 - object\n Plate_bar__minus_02_dot_09_bar__plus_00_dot_12_bar__minus_01_dot_43 - object\n Potato_bar__plus_00_dot_08_bar__plus_01_dot_61_bar__plus_02_dot_28 - object\n Pot_bar__plus_00_dot_08_bar__plus_01_dot_57_bar__plus_02_dot_10 - object\n Pot_bar__plus_01_dot_33_bar__plus_00_dot_96_bar__minus_01_dot_69 - object\n Pot_bar__plus_03_dot_64_bar__plus_00_dot_56_bar__plus_01_dot_55 - object\n SaltShaker_bar__minus_01_dot_69_bar__plus_00_dot_12_bar__minus_01_dot_14 - object\n SaltShaker_bar__minus_01_dot_85_bar__plus_00_dot_91_bar__plus_00_dot_36 - object\n Sink_bar__plus_00_dot_02_bar__plus_00_dot_77_bar__minus_01_dot_71 - object\n SoapBottle_bar__minus_01_dot_38_bar__plus_00_dot_91_bar__minus_01_dot_47 - object\n SoapBottle_bar__minus_02_dot_15_bar__plus_00_dot_88_bar__plus_03_dot_07 - object\n SoapBottle_bar__minus_03_dot_17_bar__plus_00_dot_88_bar__plus_03_dot_15 - object\n Spatula_bar__minus_01_dot_65_bar__plus_00_dot_73_bar__minus_00_dot_93 - object\n Spatula_bar__minus_01_dot_96_bar__plus_00_dot_93_bar__minus_01_dot_27 - object\n Spatula_bar__minus_03_dot_00_bar__plus_00_dot_89_bar__plus_03_dot_00 - object\n Spoon_bar__plus_00_dot_29_bar__plus_00_dot_93_bar__minus_01_dot_65 - object\n Spoon_bar__minus_02_dot_25_bar__plus_00_dot_88_bar__plus_02_dot_92 - object\n Statue_bar__plus_03_dot_67_bar__plus_00_dot_54_bar__plus_01_dot_80 - object\n Statue_bar__plus_03_dot_68_bar__plus_00_dot_17_bar__plus_01_dot_41 - object\n StoveKnob_bar__plus_00_dot_96_bar__plus_00_dot_91_bar__minus_01_dot_24 - object\n StoveKnob_bar__plus_01_dot_09_bar__plus_00_dot_91_bar__minus_01_dot_24 - object\n StoveKnob_bar__plus_01_dot_21_bar__plus_00_dot_91_bar__minus_01_dot_24 - object\n StoveKnob_bar__plus_01_dot_34_bar__plus_00_dot_91_bar__minus_01_dot_24 - object\n Tomato_bar__minus_00_dot_37_bar__plus_00_dot_76_bar__minus_01_dot_57 - object\n Tomato_bar__minus_01_dot_63_bar__plus_00_dot_96_bar__minus_00_dot_94 - object\n Tomato_bar__minus_02_dot_44_bar__plus_00_dot_93_bar__plus_03_dot_73 - object\n Vase_bar__plus_00_dot_21_bar__plus_00_dot_12_bar__minus_01_dot_38 - object\n Vase_bar__plus_03_dot_67_bar__plus_00_dot_17_bar__plus_01_dot_84 - object\n Window_bar__minus_00_dot_12_bar__plus_01_dot_80_bar__minus_01_dot_90 - object\n Window_bar__minus_04_dot_01_bar__plus_01_dot_80_bar__plus_00_dot_31 - object\n WineBottle_bar__minus_00_dot_84_bar__plus_00_dot_19_bar__plus_02_dot_17 - object\n WineBottle_bar__minus_01_dot_63_bar__plus_00_dot_91_bar__minus_01_dot_59 - object\n WineBottle_bar__minus_02_dot_32_bar__plus_00_dot_88_bar__plus_03_dot_00 - object\n Cabinet_bar__plus_00_dot_38_bar__plus_00_dot_37_bar__minus_01_dot_24 - receptacle\n Cabinet_bar__plus_00_dot_52_bar__plus_02_dot_01_bar__minus_01_dot_54 - receptacle\n Cabinet_bar__plus_00_dot_78_bar__plus_00_dot_37_bar__minus_01_dot_24 - receptacle\n Cabinet_bar__plus_00_dot_85_bar__plus_02_dot_26_bar__minus_01_dot_54 - receptacle\n Cabinet_bar__plus_01_dot_45_bar__plus_02_dot_26_bar__minus_01_dot_54 - receptacle\n Cabinet_bar__plus_01_dot_78_bar__plus_00_dot_37_bar__minus_01_dot_24 - receptacle\n Cabinet_bar__plus_01_dot_78_bar__plus_02_dot_01_bar__minus_01_dot_54 - receptacle\n Cabinet_bar__minus_00_dot_57_bar__plus_00_dot_37_bar__minus_01_dot_24 - receptacle\n Cabinet_bar__minus_00_dot_71_bar__plus_02_dot_01_bar__minus_01_dot_54 - receptacle\n Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__minus_01_dot_24 - receptacle\n Cabinet_bar__minus_01_dot_67_bar__plus_02_dot_01_bar__minus_01_dot_54 - receptacle\n Cabinet_bar__minus_02_dot_17_bar__plus_02_dot_01_bar__minus_01_dot_54 - receptacle\n Cabinet_bar__minus_02_dot_22_bar__plus_00_dot_37_bar__minus_01_dot_87 - receptacle\n CoffeeMachine_bar__minus_01_dot_11_bar__plus_00_dot_90_bar__minus_01_dot_73 - receptacle\n CounterTop_bar__plus_01_dot_65_bar__plus_00_dot_95_bar__minus_01_dot_53 - receptacle\n CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_00_dot_61 - receptacle\n DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21 - receptacle\n Drawer_bar__plus_00_dot_60_bar__plus_00_dot_68_bar__minus_01_dot_40 - receptacle\n Drawer_bar__plus_01_dot_65_bar__plus_00_dot_68_bar__minus_01_dot_40 - receptacle\n Drawer_bar__minus_01_dot_64_bar__plus_00_dot_68_bar__minus_00_dot_93 - receptacle\n Drawer_bar__minus_02_dot_06_bar__plus_00_dot_68_bar__minus_01_dot_58 - receptacle\n Fridge_bar__minus_00_dot_04_bar__plus_00_dot_00_bar__plus_02_dot_18 - receptacle\n GarbageCan_bar__minus_00_dot_87_bar__plus_00_dot_00_bar__plus_02_dot_14 - receptacle\n Microwave_bar__plus_01_dot_15_bar__plus_01_dot_65_bar__minus_01_dot_61 - receptacle\n Shelf_bar__plus_03_dot_69_bar__plus_00_dot_16_bar__plus_01_dot_64 - receptacle\n Shelf_bar__plus_03_dot_69_bar__plus_00_dot_54_bar__plus_01_dot_64 - receptacle\n Shelf_bar__plus_03_dot_69_bar__plus_00_dot_87_bar__plus_01_dot_64 - receptacle\n Sink_bar__plus_00_dot_02_bar__plus_00_dot_77_bar__minus_01_dot_71_bar_SinkBasin - receptacle\n StoveBurner_bar__plus_00_dot_97_bar__plus_00_dot_96_bar__minus_01_dot_42 - receptacle\n StoveBurner_bar__plus_00_dot_97_bar__plus_00_dot_96_bar__minus_01_dot_69 - receptacle\n StoveBurner_bar__plus_01_dot_33_bar__plus_00_dot_96_bar__minus_01_dot_42 - receptacle\n StoveBurner_bar__plus_01_dot_33_bar__plus_00_dot_96_bar__minus_01_dot_69 - receptacle\n Toaster_bar__plus_01_dot_64_bar__plus_00_dot_90_bar__minus_01_dot_67 - receptacle\n loc_bar_10_bar_4_bar_1_bar_45 - location\n loc_bar__minus_4_bar__minus_3_bar_2_bar_45 - location\n loc_bar_12_bar_2_bar_0_bar_30 - location\n loc_bar_5_bar__minus_3_bar_2_bar_60 - location\n loc_bar__minus_4_bar__minus_3_bar_2_bar__minus_30 - location\n loc_bar_2_bar__minus_2_bar_2_bar__minus_30 - location\n loc_bar__minus_2_bar__minus_2_bar_3_bar_60 - location\n loc_bar_5_bar__minus_3_bar_2_bar_30 - location\n loc_bar_0_bar__minus_3_bar_2_bar_45 - location\n loc_bar_5_bar__minus_1_bar_2_bar_45 - location\n loc_bar__minus_11_bar_0_bar_1_bar_60 - location\n loc_bar__minus_11_bar__minus_4_bar_1_bar_60 - location\n loc_bar_3_bar__minus_2_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_3_bar_45 - location\n loc_bar_4_bar__minus_3_bar_2_bar_60 - location\n loc_bar__minus_3_bar__minus_1_bar_2_bar_45 - location\n loc_bar_0_bar__minus_3_bar_2_bar__minus_15 - location\n loc_bar__minus_14_bar_10_bar_0_bar_60 - location\n loc_bar__minus_7_bar_11_bar_0_bar_60 - location\n loc_bar_7_bar__minus_1_bar_2_bar_45 - location\n loc_bar_0_bar_5_bar_0_bar_60 - location\n loc_bar__minus_5_bar_9_bar_1_bar_60 - location\n loc_bar_5_bar__minus_3_bar_2_bar_0 - location\n loc_bar_1_bar__minus_2_bar_2_bar_45 - location\n loc_bar_4_bar__minus_3_bar_2_bar__minus_30 - location\n loc_bar_4_bar__minus_3_bar_2_bar_45 - location\n loc_bar_5_bar__minus_3_bar_2_bar__minus_30 - location\n loc_bar__minus_11_bar__minus_4_bar_1_bar_45 - location\n loc_bar__minus_11_bar_8_bar_0_bar_30 - location\n loc_bar__minus_13_bar__minus_5_bar_1_bar_45 - location\n loc_bar_0_bar__minus_1_bar_2_bar_45 - location\n loc_bar_13_bar_3_bar_0_bar_60 - location\n loc_bar_5_bar__minus_3_bar_2_bar_45 - location\n loc_bar__minus_12_bar__minus_5_bar_1_bar_60 - location\n loc_bar_4_bar__minus_3_bar_2_bar_30 - location\n loc_bar__minus_11_bar_8_bar_0_bar_60 - location\n loc_bar__minus_14_bar_1_bar_3_bar__minus_15 - location\n loc_bar__minus_11_bar__minus_5_bar_1_bar__minus_30 - location\n loc_bar_11_bar__minus_1_bar_2_bar_45 - location\n loc_bar__minus_14_bar__minus_4_bar_3_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Fridge_bar__minus_00_dot_04_bar__plus_00_dot_00_bar__plus_02_dot_18 FridgeType)\n (receptacleType Cabinet_bar__plus_00_dot_38_bar__plus_00_dot_37_bar__minus_01_dot_24 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_22_bar__plus_00_dot_37_bar__minus_01_dot_87 CabinetType)\n (receptacleType Drawer_bar__plus_00_dot_60_bar__plus_00_dot_68_bar__minus_01_dot_40 DrawerType)\n (receptacleType Cabinet_bar__minus_00_dot_71_bar__plus_02_dot_01_bar__minus_01_dot_54 CabinetType)\n (receptacleType StoveBurner_bar__plus_01_dot_33_bar__plus_00_dot_96_bar__minus_01_dot_42 StoveBurnerType)\n (receptacleType Microwave_bar__plus_01_dot_15_bar__plus_01_dot_65_bar__minus_01_dot_61 MicrowaveType)\n (receptacleType DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21 DiningTableType)\n (receptacleType Drawer_bar__minus_02_dot_06_bar__plus_00_dot_68_bar__minus_01_dot_58 DrawerType)\n (receptacleType CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_00_dot_61 CounterTopType)\n (receptacleType Cabinet_bar__plus_00_dot_78_bar__plus_00_dot_37_bar__minus_01_dot_24 CabinetType)\n (receptacleType Shelf_bar__plus_03_dot_69_bar__plus_00_dot_16_bar__plus_01_dot_64 ShelfType)\n (receptacleType 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StoveBurner_bar__plus_01_dot_33_bar__plus_00_dot_96_bar__minus_01_dot_69 StoveBurnerType)\n (receptacleType Cabinet_bar__plus_00_dot_52_bar__plus_02_dot_01_bar__minus_01_dot_54 CabinetType)\n (objectType Bread_bar__plus_00_dot_57_bar__plus_01_dot_00_bar__minus_01_dot_37 BreadType)\n (objectType Book_bar__minus_01_dot_94_bar__plus_00_dot_90_bar__minus_01_dot_69 BookType)\n (objectType Bowl_bar__minus_02_dot_81_bar__plus_00_dot_88_bar__plus_02_dot_88 BowlType)\n (objectType Fork_bar__minus_02_dot_15_bar__plus_00_dot_72_bar__minus_01_dot_51 ForkType)\n (objectType Vase_bar__plus_03_dot_67_bar__plus_00_dot_17_bar__plus_01_dot_84 VaseType)\n (objectType Book_bar__plus_01_dot_65_bar__plus_00_dot_91_bar__minus_01_dot_35 BookType)\n (objectType Kettle_bar__plus_00_dot_97_bar__plus_00_dot_96_bar__minus_01_dot_69 KettleType)\n (objectType Spoon_bar__minus_02_dot_25_bar__plus_00_dot_88_bar__plus_02_dot_92 SpoonType)\n (objectType Chair_bar__minus_02_dot_82_bar__plus_00_dot_00_bar__plus_02_dot_60 ChairType)\n (objectType Mug_bar__minus_01_dot_96_bar__plus_00_dot_91_bar__minus_00_dot_94 MugType)\n (objectType Lettuce_bar__minus_02_dot_25_bar__plus_00_dot_94_bar__plus_03_dot_53 LettuceType)\n (objectType Sink_bar__plus_00_dot_02_bar__plus_00_dot_77_bar__minus_01_dot_71 SinkType)\n (objectType HousePlant_bar__minus_02_dot_74_bar__plus_00_dot_87_bar__plus_03_dot_21 HousePlantType)\n (objectType Spatula_bar__minus_01_dot_65_bar__plus_00_dot_73_bar__minus_00_dot_93 SpatulaType)\n (objectType Fork_bar__minus_02_dot_49_bar__plus_00_dot_88_bar__plus_03_dot_29 ForkType)\n (objectType Vase_bar__plus_00_dot_21_bar__plus_00_dot_12_bar__minus_01_dot_38 VaseType)\n (objectType Spatula_bar__minus_01_dot_96_bar__plus_00_dot_93_bar__minus_01_dot_27 SpatulaType)\n (objectType WineBottle_bar__minus_02_dot_32_bar__plus_00_dot_88_bar__plus_03_dot_00 WineBottleType)\n (objectType Apple_bar__plus_00_dot_31_bar__plus_00_dot_86_bar__plus_02_dot_14 AppleType)\n (objectType 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Pot_bar__plus_03_dot_64_bar__plus_00_dot_56_bar__plus_01_dot_55)\n (coolable Egg_bar__minus_00_dot_26_bar__plus_00_dot_83_bar__plus_02_dot_02)\n (coolable Bread_bar__minus_02_dot_66_bar__plus_00_dot_96_bar__plus_03_dot_56)\n (coolable Cup_bar__plus_01_dot_68_bar__plus_00_dot_11_bar__minus_01_dot_49)\n (coolable Potato_bar__plus_00_dot_08_bar__plus_01_dot_61_bar__plus_02_dot_28)\n (coolable Plate_bar__minus_02_dot_09_bar__plus_00_dot_12_bar__minus_01_dot_43)\n (coolable Pan_bar__minus_00_dot_03_bar__plus_00_dot_80_bar__plus_02_dot_19)\n (coolable Bread_bar__minus_03_dot_17_bar__plus_00_dot_96_bar__plus_03_dot_37)\n (coolable Bowl_bar__minus_02_dot_07_bar__plus_00_dot_91_bar__minus_00_dot_61)\n (coolable WineBottle_bar__minus_00_dot_84_bar__plus_00_dot_19_bar__plus_02_dot_17)\n (coolable Bowl_bar__minus_02_dot_51_bar__plus_00_dot_87_bar__plus_02_dot_88)\n \n \n \n \n \n (sliceable Bread_bar__plus_00_dot_57_bar__plus_01_dot_00_bar__minus_01_dot_37)\n (sliceable Lettuce_bar__minus_02_dot_25_bar__plus_00_dot_94_bar__plus_03_dot_53)\n (sliceable Apple_bar__plus_00_dot_31_bar__plus_00_dot_86_bar__plus_02_dot_14)\n (sliceable Tomato_bar__minus_00_dot_37_bar__plus_00_dot_76_bar__minus_01_dot_57)\n (sliceable Tomato_bar__minus_02_dot_44_bar__plus_00_dot_93_bar__plus_03_dot_73)\n (sliceable Lettuce_bar__minus_01_dot_85_bar__plus_00_dot_98_bar__minus_01_dot_27)\n (sliceable Apple_bar__minus_02_dot_07_bar__plus_00_dot_97_bar__minus_01_dot_27)\n (sliceable Egg_bar__plus_00_dot_31_bar__plus_00_dot_41_bar__plus_02_dot_00)\n (sliceable Tomato_bar__minus_01_dot_63_bar__plus_00_dot_96_bar__minus_00_dot_94)\n (sliceable Egg_bar__plus_00_dot_08_bar__plus_00_dot_41_bar__plus_01_dot_97)\n (sliceable Egg_bar__minus_00_dot_26_bar__plus_00_dot_83_bar__plus_02_dot_02)\n (sliceable Bread_bar__minus_02_dot_66_bar__plus_00_dot_96_bar__plus_03_dot_56)\n (sliceable Potato_bar__plus_00_dot_08_bar__plus_01_dot_61_bar__plus_02_dot_28)\n (sliceable Bread_bar__minus_03_dot_17_bar__plus_00_dot_96_bar__plus_03_dot_37)\n \n (inReceptacle Book_bar__minus_01_dot_89_bar__plus_01_dot_65_bar__minus_01_dot_71 Cabinet_bar__minus_02_dot_17_bar__plus_02_dot_01_bar__minus_01_dot_54)\n (inReceptacle Kettle_bar__plus_00_dot_97_bar__plus_00_dot_96_bar__minus_01_dot_69 StoveBurner_bar__plus_00_dot_97_bar__plus_00_dot_96_bar__minus_01_dot_69)\n (inReceptacle WineBottle_bar__minus_01_dot_63_bar__plus_00_dot_91_bar__minus_01_dot_59 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_00_dot_61)\n (inReceptacle Knife_bar__minus_01_dot_96_bar__plus_00_dot_93_bar__plus_00_dot_36 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_00_dot_61)\n (inReceptacle Book_bar__minus_01_dot_94_bar__plus_00_dot_90_bar__minus_01_dot_69 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_00_dot_61)\n (inReceptacle Bread_bar__plus_00_dot_57_bar__plus_01_dot_00_bar__minus_01_dot_37 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_00_dot_61)\n (inReceptacle SoapBottle_bar__minus_01_dot_38_bar__plus_00_dot_91_bar__minus_01_dot_47 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_00_dot_61)\n (inReceptacle Knife_bar__minus_02_dot_07_bar__plus_00_dot_93_bar__minus_01_dot_59 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_00_dot_61)\n (inReceptacle Bowl_bar__minus_02_dot_07_bar__plus_00_dot_91_bar__minus_00_dot_61 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_00_dot_61)\n (inReceptacle Lettuce_bar__minus_01_dot_85_bar__plus_00_dot_98_bar__minus_01_dot_27 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_00_dot_61)\n (inReceptacle Mug_bar__minus_01_dot_96_bar__plus_00_dot_91_bar__minus_00_dot_94 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_00_dot_61)\n (inReceptacle Sink_bar__plus_00_dot_02_bar__plus_00_dot_77_bar__minus_01_dot_71 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_00_dot_61)\n (inReceptacle Tomato_bar__minus_01_dot_63_bar__plus_00_dot_96_bar__minus_00_dot_94 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_00_dot_61)\n (inReceptacle Apple_bar__minus_02_dot_07_bar__plus_00_dot_97_bar__minus_01_dot_27 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_00_dot_61)\n (inReceptacle Spatula_bar__minus_01_dot_96_bar__plus_00_dot_93_bar__minus_01_dot_27 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_00_dot_61)\n (inReceptacle SaltShaker_bar__minus_01_dot_85_bar__plus_00_dot_91_bar__plus_00_dot_36 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_00_dot_61)\n (inReceptacle Mug_bar__minus_01_dot_11_bar__plus_00_dot_96_bar__minus_01_dot_48 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_00_dot_61)\n (inReceptacle Plate_bar__minus_02_dot_09_bar__plus_00_dot_12_bar__minus_01_dot_43 Cabinet_bar__minus_02_dot_22_bar__plus_00_dot_37_bar__minus_01_dot_87)\n (inReceptacle Bread_bar__minus_02_dot_66_bar__plus_00_dot_96_bar__plus_03_dot_56 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21)\n (inReceptacle Bowl_bar__minus_02_dot_81_bar__plus_00_dot_88_bar__plus_02_dot_88 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21)\n (inReceptacle Tomato_bar__minus_02_dot_44_bar__plus_00_dot_93_bar__plus_03_dot_73 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21)\n (inReceptacle Spoon_bar__minus_02_dot_25_bar__plus_00_dot_88_bar__plus_02_dot_92 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21)\n (inReceptacle ButterKnife_bar__minus_02_dot_59_bar__plus_00_dot_88_bar__plus_03_dot_39 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21)\n (inReceptacle Lettuce_bar__minus_02_dot_25_bar__plus_00_dot_94_bar__plus_03_dot_53 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21)\n (inReceptacle HousePlant_bar__minus_02_dot_74_bar__plus_00_dot_87_bar__plus_03_dot_21 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21)\n (inReceptacle Bread_bar__minus_03_dot_17_bar__plus_00_dot_96_bar__plus_03_dot_37 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21)\n (inReceptacle SoapBottle_bar__minus_02_dot_15_bar__plus_00_dot_88_bar__plus_03_dot_07 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21)\n (inReceptacle Fork_bar__minus_02_dot_49_bar__plus_00_dot_88_bar__plus_03_dot_29 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21)\n (inReceptacle WineBottle_bar__minus_02_dot_32_bar__plus_00_dot_88_bar__plus_03_dot_00 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21)\n (inReceptacle Bowl_bar__minus_02_dot_51_bar__plus_00_dot_87_bar__plus_02_dot_88 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21)\n (inReceptacle SoapBottle_bar__minus_03_dot_17_bar__plus_00_dot_88_bar__plus_03_dot_15 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21)\n (inReceptacle Spatula_bar__minus_03_dot_00_bar__plus_00_dot_89_bar__plus_03_dot_00 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21)\n (inReceptacle Pot_bar__plus_01_dot_33_bar__plus_00_dot_96_bar__minus_01_dot_69 StoveBurner_bar__plus_01_dot_33_bar__plus_00_dot_96_bar__minus_01_dot_69)\n (inReceptacle SaltShaker_bar__minus_01_dot_69_bar__plus_00_dot_12_bar__minus_01_dot_14 Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__minus_01_dot_24)\n (inReceptacle Cup_bar__plus_01_dot_68_bar__plus_00_dot_11_bar__minus_01_dot_49 Cabinet_bar__plus_01_dot_78_bar__plus_00_dot_37_bar__minus_01_dot_24)\n (inReceptacle PepperShaker_bar__plus_00_dot_72_bar__plus_00_dot_11_bar__minus_01_dot_37 Cabinet_bar__plus_00_dot_78_bar__plus_00_dot_37_bar__minus_01_dot_24)\n (inReceptacle DishSponge_bar__plus_00_dot_59_bar__plus_00_dot_12_bar__minus_01_dot_41 Cabinet_bar__plus_00_dot_78_bar__plus_00_dot_37_bar__minus_01_dot_24)\n (inReceptacle Vase_bar__plus_00_dot_21_bar__plus_00_dot_12_bar__minus_01_dot_38 Cabinet_bar__plus_00_dot_38_bar__plus_00_dot_37_bar__minus_01_dot_24)\n (inReceptacle Kettle_bar__minus_01_dot_33_bar__plus_01_dot_66_bar__minus_01_dot_75 Cabinet_bar__minus_01_dot_67_bar__plus_02_dot_01_bar__minus_01_dot_54)\n (inReceptacle Fork_bar__minus_01_dot_75_bar__plus_00_dot_72_bar__minus_00_dot_93 Drawer_bar__minus_01_dot_64_bar__plus_00_dot_68_bar__minus_00_dot_93)\n (inReceptacle Spatula_bar__minus_01_dot_65_bar__plus_00_dot_73_bar__minus_00_dot_93 Drawer_bar__minus_01_dot_64_bar__plus_00_dot_68_bar__minus_00_dot_93)\n (inReceptacle Fork_bar__minus_02_dot_15_bar__plus_00_dot_72_bar__minus_01_dot_51 Drawer_bar__minus_02_dot_06_bar__plus_00_dot_68_bar__minus_01_dot_58)\n (inReceptacle Book_bar__plus_01_dot_65_bar__plus_00_dot_91_bar__minus_01_dot_35 CounterTop_bar__plus_01_dot_65_bar__plus_00_dot_95_bar__minus_01_dot_53)\n (inReceptacle Statue_bar__plus_03_dot_67_bar__plus_00_dot_54_bar__plus_01_dot_80 Shelf_bar__plus_03_dot_69_bar__plus_00_dot_54_bar__plus_01_dot_64)\n (inReceptacle Pot_bar__plus_03_dot_64_bar__plus_00_dot_56_bar__plus_01_dot_55 Shelf_bar__plus_03_dot_69_bar__plus_00_dot_54_bar__plus_01_dot_64)\n (inReceptacle Potato_bar__plus_00_dot_08_bar__plus_01_dot_61_bar__plus_02_dot_28 Fridge_bar__minus_00_dot_04_bar__plus_00_dot_00_bar__plus_02_dot_18)\n (inReceptacle Pan_bar__minus_00_dot_03_bar__plus_00_dot_80_bar__plus_02_dot_19 Fridge_bar__minus_00_dot_04_bar__plus_00_dot_00_bar__plus_02_dot_18)\n (inReceptacle Egg_bar__plus_00_dot_31_bar__plus_00_dot_41_bar__plus_02_dot_00 Fridge_bar__minus_00_dot_04_bar__plus_00_dot_00_bar__plus_02_dot_18)\n (inReceptacle Pot_bar__plus_00_dot_08_bar__plus_01_dot_57_bar__plus_02_dot_10 Fridge_bar__minus_00_dot_04_bar__plus_00_dot_00_bar__plus_02_dot_18)\n (inReceptacle Apple_bar__plus_00_dot_31_bar__plus_00_dot_86_bar__plus_02_dot_14 Fridge_bar__minus_00_dot_04_bar__plus_00_dot_00_bar__plus_02_dot_18)\n (inReceptacle Egg_bar__minus_00_dot_26_bar__plus_00_dot_83_bar__plus_02_dot_02 Fridge_bar__minus_00_dot_04_bar__plus_00_dot_00_bar__plus_02_dot_18)\n (inReceptacle Egg_bar__plus_00_dot_08_bar__plus_00_dot_41_bar__plus_01_dot_97 Fridge_bar__minus_00_dot_04_bar__plus_00_dot_00_bar__plus_02_dot_18)\n (inReceptacle Statue_bar__plus_03_dot_68_bar__plus_00_dot_17_bar__plus_01_dot_41 Shelf_bar__plus_03_dot_69_bar__plus_00_dot_16_bar__plus_01_dot_64)\n (inReceptacle Vase_bar__plus_03_dot_67_bar__plus_00_dot_17_bar__plus_01_dot_84 Shelf_bar__plus_03_dot_69_bar__plus_00_dot_16_bar__plus_01_dot_64)\n (inReceptacle Tomato_bar__minus_00_dot_37_bar__plus_00_dot_76_bar__minus_01_dot_57 Sink_bar__plus_00_dot_02_bar__plus_00_dot_77_bar__minus_01_dot_71_bar_SinkBasin)\n (inReceptacle WineBottle_bar__minus_00_dot_84_bar__plus_00_dot_19_bar__plus_02_dot_17 GarbageCan_bar__minus_00_dot_87_bar__plus_00_dot_00_bar__plus_02_dot_14)\n (inReceptacle Mug_bar__minus_01_dot_11_bar__plus_00_dot_96_bar__minus_01_dot_48 CoffeeMachine_bar__minus_01_dot_11_bar__plus_00_dot_90_bar__minus_01_dot_73)\n \n \n (receptacleAtLocation Cabinet_bar__plus_00_dot_38_bar__plus_00_dot_37_bar__minus_01_dot_24 loc_bar__minus_1_bar__minus_1_bar_2_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_52_bar__plus_02_dot_01_bar__minus_01_dot_54 loc_bar_4_bar__minus_3_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_78_bar__plus_00_dot_37_bar__minus_01_dot_24 loc_bar_0_bar__minus_1_bar_2_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_85_bar__plus_02_dot_26_bar__minus_01_dot_54 loc_bar_2_bar__minus_2_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_45_bar__plus_02_dot_26_bar__minus_01_dot_54 loc_bar_3_bar__minus_2_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_78_bar__plus_00_dot_37_bar__minus_01_dot_24 loc_bar_5_bar__minus_1_bar_2_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_78_bar__plus_02_dot_01_bar__minus_01_dot_54 loc_bar_5_bar__minus_3_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_57_bar__plus_00_dot_37_bar__minus_01_dot_24 loc_bar__minus_3_bar__minus_1_bar_2_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_71_bar__plus_02_dot_01_bar__minus_01_dot_54 loc_bar__minus_4_bar__minus_3_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__minus_01_dot_24 loc_bar__minus_2_bar__minus_2_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_67_bar__plus_02_dot_01_bar__minus_01_dot_54 loc_bar__minus_4_bar__minus_3_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_17_bar__plus_02_dot_01_bar__minus_01_dot_54 loc_bar__minus_11_bar__minus_5_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_22_bar__plus_00_dot_37_bar__minus_01_dot_87 loc_bar__minus_12_bar__minus_5_bar_1_bar_60)\n (receptacleAtLocation CoffeeMachine_bar__minus_01_dot_11_bar__plus_00_dot_90_bar__minus_01_dot_73 loc_bar__minus_4_bar__minus_3_bar_2_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_01_dot_65_bar__plus_00_dot_95_bar__minus_01_dot_53 loc_bar_5_bar__minus_3_bar_2_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_00_dot_61 loc_bar__minus_11_bar__minus_4_bar_1_bar_45)\n (receptacleAtLocation DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21 loc_bar__minus_11_bar_8_bar_0_bar_30)\n (receptacleAtLocation Drawer_bar__plus_00_dot_60_bar__plus_00_dot_68_bar__minus_01_dot_40 loc_bar_1_bar__minus_2_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_01_dot_65_bar__plus_00_dot_68_bar__minus_01_dot_40 loc_bar_7_bar__minus_1_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_64_bar__plus_00_dot_68_bar__minus_00_dot_93 loc_bar__minus_2_bar__minus_2_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_02_dot_06_bar__plus_00_dot_68_bar__minus_01_dot_58 loc_bar__minus_13_bar__minus_5_bar_1_bar_45)\n (receptacleAtLocation Fridge_bar__minus_00_dot_04_bar__plus_00_dot_00_bar__plus_02_dot_18 loc_bar_0_bar_5_bar_0_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_00_dot_87_bar__plus_00_dot_00_bar__plus_02_dot_14 loc_bar__minus_5_bar_9_bar_1_bar_60)\n (receptacleAtLocation Microwave_bar__plus_01_dot_15_bar__plus_01_dot_65_bar__minus_01_dot_61 loc_bar_5_bar__minus_3_bar_2_bar_0)\n (receptacleAtLocation Shelf_bar__plus_03_dot_69_bar__plus_00_dot_16_bar__plus_01_dot_64 loc_bar_13_bar_3_bar_0_bar_60)\n (receptacleAtLocation Shelf_bar__plus_03_dot_69_bar__plus_00_dot_54_bar__plus_01_dot_64 loc_bar_10_bar_4_bar_1_bar_45)\n (receptacleAtLocation Shelf_bar__plus_03_dot_69_bar__plus_00_dot_87_bar__plus_01_dot_64 loc_bar_12_bar_2_bar_0_bar_30)\n (receptacleAtLocation Sink_bar__plus_00_dot_02_bar__plus_00_dot_77_bar__minus_01_dot_71_bar_SinkBasin loc_bar_0_bar__minus_3_bar_2_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_00_dot_97_bar__plus_00_dot_96_bar__minus_01_dot_42 loc_bar_4_bar__minus_3_bar_2_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_00_dot_97_bar__plus_00_dot_96_bar__minus_01_dot_69 loc_bar_4_bar__minus_3_bar_2_bar_30)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_33_bar__plus_00_dot_96_bar__minus_01_dot_42 loc_bar_5_bar__minus_3_bar_2_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_33_bar__plus_00_dot_96_bar__minus_01_dot_69 loc_bar_5_bar__minus_3_bar_2_bar_30)\n (receptacleAtLocation Toaster_bar__plus_01_dot_64_bar__plus_00_dot_90_bar__minus_01_dot_67 loc_bar_5_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Bowl_bar__minus_02_dot_07_bar__plus_00_dot_91_bar__minus_00_dot_61 loc_bar__minus_11_bar__minus_4_bar_1_bar_45)\n (objectAtLocation Mug_bar__minus_01_dot_11_bar__plus_00_dot_96_bar__minus_01_dot_48 loc_bar__minus_4_bar__minus_3_bar_2_bar_45)\n (objectAtLocation SoapBottle_bar__minus_01_dot_38_bar__plus_00_dot_91_bar__minus_01_dot_47 loc_bar__minus_11_bar__minus_4_bar_1_bar_45)\n (objectAtLocation Spoon_bar__plus_00_dot_29_bar__plus_00_dot_93_bar__minus_01_dot_65 loc_bar_0_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Apple_bar__minus_02_dot_07_bar__plus_00_dot_97_bar__minus_01_dot_27 loc_bar__minus_11_bar__minus_4_bar_1_bar_45)\n (objectAtLocation Bread_bar__minus_03_dot_17_bar__plus_00_dot_96_bar__plus_03_dot_37 loc_bar__minus_11_bar_8_bar_0_bar_30)\n (objectAtLocation ButterKnife_bar__plus_00_dot_07_bar__plus_00_dot_93_bar__minus_01_dot_65 loc_bar_0_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Lettuce_bar__minus_02_dot_25_bar__plus_00_dot_94_bar__plus_03_dot_53 loc_bar__minus_11_bar_8_bar_0_bar_30)\n (objectAtLocation SaltShaker_bar__minus_01_dot_69_bar__plus_00_dot_12_bar__minus_01_dot_14 loc_bar__minus_2_bar__minus_2_bar_3_bar_60)\n (objectAtLocation Knife_bar__minus_02_dot_07_bar__plus_00_dot_93_bar__minus_01_dot_59 loc_bar__minus_11_bar__minus_4_bar_1_bar_45)\n (objectAtLocation Pot_bar__plus_03_dot_64_bar__plus_00_dot_56_bar__plus_01_dot_55 loc_bar_10_bar_4_bar_1_bar_45)\n (objectAtLocation Spatula_bar__minus_03_dot_00_bar__plus_00_dot_89_bar__plus_03_dot_00 loc_bar__minus_11_bar_8_bar_0_bar_30)\n (objectAtLocation WineBottle_bar__minus_00_dot_84_bar__plus_00_dot_19_bar__plus_02_dot_17 loc_bar__minus_5_bar_9_bar_1_bar_60)\n (objectAtLocation Kettle_bar__minus_01_dot_33_bar__plus_01_dot_66_bar__minus_01_dot_75 loc_bar__minus_4_bar__minus_3_bar_2_bar__minus_30)\n (objectAtLocation Egg_bar__plus_00_dot_31_bar__plus_00_dot_41_bar__plus_02_dot_00 loc_bar_0_bar_5_bar_0_bar_60)\n (objectAtLocation Tomato_bar__minus_00_dot_37_bar__plus_00_dot_76_bar__minus_01_dot_57 loc_bar_0_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Fork_bar__minus_02_dot_49_bar__plus_00_dot_88_bar__plus_03_dot_29 loc_bar__minus_11_bar_8_bar_0_bar_30)\n (objectAtLocation Book_bar__minus_01_dot_94_bar__plus_00_dot_90_bar__minus_01_dot_69 loc_bar__minus_11_bar__minus_4_bar_1_bar_45)\n (objectAtLocation Bread_bar__minus_02_dot_66_bar__plus_00_dot_96_bar__plus_03_dot_56 loc_bar__minus_11_bar_8_bar_0_bar_30)\n (objectAtLocation Bowl_bar__minus_02_dot_51_bar__plus_00_dot_87_bar__plus_02_dot_88 loc_bar__minus_11_bar_8_bar_0_bar_30)\n (objectAtLocation Tomato_bar__minus_02_dot_44_bar__plus_00_dot_93_bar__plus_03_dot_73 loc_bar__minus_11_bar_8_bar_0_bar_30)\n (objectAtLocation SoapBottle_bar__minus_03_dot_17_bar__plus_00_dot_88_bar__plus_03_dot_15 loc_bar__minus_11_bar_8_bar_0_bar_30)\n (objectAtLocation Egg_bar__minus_00_dot_26_bar__plus_00_dot_83_bar__plus_02_dot_02 loc_bar_0_bar_5_bar_0_bar_60)\n (objectAtLocation Fork_bar__minus_02_dot_15_bar__plus_00_dot_72_bar__minus_01_dot_51 loc_bar__minus_13_bar__minus_5_bar_1_bar_45)\n (objectAtLocation Pot_bar__plus_00_dot_08_bar__plus_01_dot_57_bar__plus_02_dot_10 loc_bar_0_bar_5_bar_0_bar_60)\n (objectAtLocation Spatula_bar__minus_01_dot_65_bar__plus_00_dot_73_bar__minus_00_dot_93 loc_bar__minus_2_bar__minus_2_bar_3_bar_45)\n (objectAtLocation WineBottle_bar__minus_02_dot_32_bar__plus_00_dot_88_bar__plus_03_dot_00 loc_bar__minus_11_bar_8_bar_0_bar_30)\n (objectAtLocation Book_bar__minus_01_dot_89_bar__plus_01_dot_65_bar__minus_01_dot_71 loc_bar__minus_11_bar__minus_5_bar_1_bar__minus_30)\n (objectAtLocation Book_bar__plus_01_dot_65_bar__plus_00_dot_91_bar__minus_01_dot_35 loc_bar_5_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Sink_bar__plus_00_dot_02_bar__plus_00_dot_77_bar__minus_01_dot_71 loc_bar__minus_11_bar__minus_4_bar_1_bar_45)\n (objectAtLocation Fork_bar__minus_01_dot_75_bar__plus_00_dot_72_bar__minus_00_dot_93 loc_bar__minus_2_bar__minus_2_bar_3_bar_45)\n (objectAtLocation Tomato_bar__minus_01_dot_63_bar__plus_00_dot_96_bar__minus_00_dot_94 loc_bar__minus_11_bar__minus_4_bar_1_bar_45)\n (objectAtLocation LightSwitch_bar__plus_02_dot_83_bar__plus_01_dot_27_bar__minus_00_dot_75 loc_bar_11_bar__minus_1_bar_2_bar_45)\n (objectAtLocation Egg_bar__plus_00_dot_08_bar__plus_00_dot_41_bar__plus_01_dot_97 loc_bar_0_bar_5_bar_0_bar_60)\n (objectAtLocation Kettle_bar__plus_00_dot_97_bar__plus_00_dot_96_bar__minus_01_dot_69 loc_bar_4_bar__minus_3_bar_2_bar_30)\n (objectAtLocation Vase_bar__plus_03_dot_67_bar__plus_00_dot_17_bar__plus_01_dot_84 loc_bar_13_bar_3_bar_0_bar_60)\n (objectAtLocation Cup_bar__plus_01_dot_68_bar__plus_00_dot_11_bar__minus_01_dot_49 loc_bar_5_bar__minus_1_bar_2_bar_45)\n (objectAtLocation Window_bar__minus_00_dot_12_bar__plus_01_dot_80_bar__minus_01_dot_90 loc_bar_0_bar__minus_3_bar_2_bar__minus_15)\n (objectAtLocation Window_bar__minus_04_dot_01_bar__plus_01_dot_80_bar__plus_00_dot_31 loc_bar__minus_14_bar_1_bar_3_bar__minus_15)\n (objectAtLocation WineBottle_bar__minus_01_dot_63_bar__plus_00_dot_91_bar__minus_01_dot_59 loc_bar__minus_11_bar__minus_4_bar_1_bar_45)\n (objectAtLocation Plate_bar__minus_02_dot_09_bar__plus_00_dot_12_bar__minus_01_dot_43 loc_bar__minus_12_bar__minus_5_bar_1_bar_60)\n (objectAtLocation Spatula_bar__minus_01_dot_96_bar__plus_00_dot_93_bar__minus_01_dot_27 loc_bar__minus_11_bar__minus_4_bar_1_bar_45)\n (objectAtLocation Potato_bar__plus_00_dot_08_bar__plus_01_dot_61_bar__plus_02_dot_28 loc_bar_0_bar_5_bar_0_bar_60)\n (objectAtLocation Pot_bar__plus_01_dot_33_bar__plus_00_dot_96_bar__minus_01_dot_69 loc_bar_5_bar__minus_3_bar_2_bar_30)\n (objectAtLocation Knife_bar__minus_01_dot_96_bar__plus_00_dot_93_bar__plus_00_dot_36 loc_bar__minus_11_bar__minus_4_bar_1_bar_45)\n (objectAtLocation SaltShaker_bar__minus_01_dot_85_bar__plus_00_dot_91_bar__plus_00_dot_36 loc_bar__minus_11_bar__minus_4_bar_1_bar_45)\n (objectAtLocation PepperShaker_bar__plus_00_dot_72_bar__plus_00_dot_11_bar__minus_01_dot_37 loc_bar_0_bar__minus_1_bar_2_bar_45)\n (objectAtLocation Lettuce_bar__minus_01_dot_85_bar__plus_00_dot_98_bar__minus_01_dot_27 loc_bar__minus_11_bar__minus_4_bar_1_bar_45)\n (objectAtLocation ButterKnife_bar__minus_02_dot_59_bar__plus_00_dot_88_bar__plus_03_dot_39 loc_bar__minus_11_bar_8_bar_0_bar_30)\n (objectAtLocation StoveKnob_bar__plus_01_dot_09_bar__plus_00_dot_91_bar__minus_01_dot_24 loc_bar_4_bar__minus_3_bar_2_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_21_bar__plus_00_dot_91_bar__minus_01_dot_24 loc_bar_5_bar__minus_3_bar_2_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_34_bar__plus_00_dot_91_bar__minus_01_dot_24 loc_bar_5_bar__minus_3_bar_2_bar_60)\n (objectAtLocation StoveKnob_bar__plus_00_dot_96_bar__plus_00_dot_91_bar__minus_01_dot_24 loc_bar_4_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Bread_bar__plus_00_dot_57_bar__plus_01_dot_00_bar__minus_01_dot_37 loc_bar__minus_11_bar__minus_4_bar_1_bar_45)\n (objectAtLocation Chair_bar__minus_02_dot_41_bar__plus_00_dot_57_bar__plus_00_dot_07 loc_bar__minus_11_bar_0_bar_1_bar_60)\n (objectAtLocation Chair_bar__minus_02_dot_47_bar__plus_00_dot_57_bar__minus_00_dot_80 loc_bar__minus_11_bar__minus_4_bar_1_bar_60)\n (objectAtLocation Vase_bar__plus_00_dot_21_bar__plus_00_dot_12_bar__minus_01_dot_38 loc_bar__minus_1_bar__minus_1_bar_2_bar_45)\n (objectAtLocation DishSponge_bar__plus_00_dot_59_bar__plus_00_dot_12_bar__minus_01_dot_41 loc_bar_0_bar__minus_1_bar_2_bar_45)\n (objectAtLocation Apple_bar__plus_00_dot_31_bar__plus_00_dot_86_bar__plus_02_dot_14 loc_bar_0_bar_5_bar_0_bar_60)\n (objectAtLocation Pan_bar__minus_00_dot_03_bar__plus_00_dot_80_bar__plus_02_dot_19 loc_bar_0_bar_5_bar_0_bar_60)\n (objectAtLocation Chair_bar__minus_03_dot_50_bar__plus_00_dot_00_bar__plus_03_dot_45 loc_bar__minus_14_bar_10_bar_0_bar_60)\n (objectAtLocation Chair_bar__minus_02_dot_82_bar__plus_00_dot_00_bar__plus_02_dot_60 loc_bar__minus_11_bar_8_bar_0_bar_60)\n (objectAtLocation Chair_bar__minus_01_dot_92_bar__plus_00_dot_00_bar__plus_03_dot_47 loc_bar__minus_7_bar_11_bar_0_bar_60)\n (objectAtLocation Spoon_bar__minus_02_dot_25_bar__plus_00_dot_88_bar__plus_02_dot_92 loc_bar__minus_11_bar_8_bar_0_bar_30)\n (objectAtLocation HousePlant_bar__minus_02_dot_74_bar__plus_00_dot_87_bar__plus_03_dot_21 loc_bar__minus_11_bar_8_bar_0_bar_30)\n (objectAtLocation SoapBottle_bar__minus_02_dot_15_bar__plus_00_dot_88_bar__plus_03_dot_07 loc_bar__minus_11_bar_8_bar_0_bar_30)\n (objectAtLocation Mug_bar__minus_01_dot_96_bar__plus_00_dot_91_bar__minus_00_dot_94 loc_bar__minus_11_bar__minus_4_bar_1_bar_45)\n (objectAtLocation Statue_bar__plus_03_dot_68_bar__plus_00_dot_17_bar__plus_01_dot_41 loc_bar_13_bar_3_bar_0_bar_60)\n (objectAtLocation Statue_bar__plus_03_dot_67_bar__plus_00_dot_54_bar__plus_01_dot_80 loc_bar_10_bar_4_bar_1_bar_45)\n (objectAtLocation Bowl_bar__minus_02_dot_81_bar__plus_00_dot_88_bar__plus_02_dot_88 loc_bar__minus_11_bar_8_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 CupType)\n (receptacleType ?r ShelfType)\n (isHot ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to cabinet 2", "open cabinet 2", "take cup 1 from cabinet 2", "go to microwave 1", "heat cup 1 with microwave 1", "go to shelf 2", "move cup 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-Cup-None-Shelf-7/trial_T20190906_211134_297102/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Cup-None-Shelf-7/trial_T20190906_211134_297102/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..255def59a26fe5d597649f3444e0742a9ad831c9 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Cup-None-Shelf-7/trial_T20190906_211134_297102/initial_state.pddl @@ -0,0 +1,1226 @@ + +(define (problem plan_trial_T20190906_211134_297102) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + 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_31_bar__plus_00_dot_86_bar__plus_02_dot_14 - object + Apple_bar__minus_02_dot_07_bar__plus_00_dot_97_bar__minus_01_dot_27 - object + Book_bar__plus_01_dot_65_bar__plus_00_dot_91_bar__minus_01_dot_35 - object + Book_bar__minus_01_dot_89_bar__plus_01_dot_65_bar__minus_01_dot_71 - object + Book_bar__minus_01_dot_94_bar__plus_00_dot_90_bar__minus_01_dot_69 - object + Bowl_bar__minus_02_dot_07_bar__plus_00_dot_91_bar__minus_00_dot_61 - object + Bowl_bar__minus_02_dot_51_bar__plus_00_dot_87_bar__plus_02_dot_88 - object + Bowl_bar__minus_02_dot_81_bar__plus_00_dot_88_bar__plus_02_dot_88 - object + Bread_bar__plus_00_dot_57_bar__plus_01_dot_00_bar__minus_01_dot_37 - object + Bread_bar__minus_02_dot_66_bar__plus_00_dot_96_bar__plus_03_dot_56 - object + Bread_bar__minus_03_dot_17_bar__plus_00_dot_96_bar__plus_03_dot_37 - object + 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Faucet_bar__minus_00_dot_19_bar__plus_00_dot_92_bar__minus_01_dot_75 - object + Fork_bar__minus_01_dot_75_bar__plus_00_dot_72_bar__minus_00_dot_93 - object + Fork_bar__minus_02_dot_15_bar__plus_00_dot_72_bar__minus_01_dot_51 - object + Fork_bar__minus_02_dot_49_bar__plus_00_dot_88_bar__plus_03_dot_29 - object + HousePlant_bar__minus_02_dot_74_bar__plus_00_dot_87_bar__plus_03_dot_21 - object + Kettle_bar__plus_00_dot_97_bar__plus_00_dot_96_bar__minus_01_dot_69 - object + Kettle_bar__minus_01_dot_33_bar__plus_01_dot_66_bar__minus_01_dot_75 - object + Knife_bar__minus_01_dot_96_bar__plus_00_dot_93_bar__plus_00_dot_36 - object + Knife_bar__minus_02_dot_07_bar__plus_00_dot_93_bar__minus_01_dot_59 - object + Lettuce_bar__minus_01_dot_85_bar__plus_00_dot_98_bar__minus_01_dot_27 - object + Lettuce_bar__minus_02_dot_25_bar__plus_00_dot_94_bar__plus_03_dot_53 - object + LightSwitch_bar__plus_02_dot_83_bar__plus_01_dot_27_bar__minus_00_dot_75 - object + 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Mug_bar__minus_01_dot_11_bar__plus_00_dot_96_bar__minus_01_dot_48) + (cleanable Spoon_bar__plus_00_dot_29_bar__plus_00_dot_93_bar__minus_01_dot_65) + (cleanable Egg_bar__plus_00_dot_08_bar__plus_00_dot_41_bar__plus_01_dot_97) + (cleanable Pot_bar__plus_01_dot_33_bar__plus_00_dot_96_bar__minus_01_dot_69) + (cleanable Knife_bar__minus_01_dot_96_bar__plus_00_dot_93_bar__plus_00_dot_36) + (cleanable DishSponge_bar__plus_00_dot_59_bar__plus_00_dot_12_bar__minus_01_dot_41) + (cleanable Pot_bar__plus_03_dot_64_bar__plus_00_dot_56_bar__plus_01_dot_55) + (cleanable Kettle_bar__minus_01_dot_33_bar__plus_01_dot_66_bar__minus_01_dot_75) + (cleanable Fork_bar__minus_01_dot_75_bar__plus_00_dot_72_bar__minus_00_dot_93) + (cleanable Egg_bar__minus_00_dot_26_bar__plus_00_dot_83_bar__plus_02_dot_02) + (cleanable Cup_bar__plus_01_dot_68_bar__plus_00_dot_11_bar__minus_01_dot_49) + (cleanable Potato_bar__plus_00_dot_08_bar__plus_01_dot_61_bar__plus_02_dot_28) + (cleanable Plate_bar__minus_02_dot_09_bar__plus_00_dot_12_bar__minus_01_dot_43) + (cleanable Pan_bar__minus_00_dot_03_bar__plus_00_dot_80_bar__plus_02_dot_19) + (cleanable ButterKnife_bar__minus_02_dot_59_bar__plus_00_dot_88_bar__plus_03_dot_39) + (cleanable ButterKnife_bar__plus_00_dot_07_bar__plus_00_dot_93_bar__minus_01_dot_65) + (cleanable Bowl_bar__minus_02_dot_07_bar__plus_00_dot_91_bar__minus_00_dot_61) + (cleanable Bowl_bar__minus_02_dot_51_bar__plus_00_dot_87_bar__plus_02_dot_88) + (cleanable Spatula_bar__minus_03_dot_00_bar__plus_00_dot_89_bar__plus_03_dot_00) + + (heatable Bread_bar__plus_00_dot_57_bar__plus_01_dot_00_bar__minus_01_dot_37) + (heatable Mug_bar__minus_01_dot_96_bar__plus_00_dot_91_bar__minus_00_dot_94) + (heatable Apple_bar__plus_00_dot_31_bar__plus_00_dot_86_bar__plus_02_dot_14) + (heatable Tomato_bar__minus_00_dot_37_bar__plus_00_dot_76_bar__minus_01_dot_57) + (heatable Tomato_bar__minus_02_dot_44_bar__plus_00_dot_93_bar__plus_03_dot_73) + (heatable Apple_bar__minus_02_dot_07_bar__plus_00_dot_97_bar__minus_01_dot_27) + (heatable Egg_bar__plus_00_dot_31_bar__plus_00_dot_41_bar__plus_02_dot_00) + (heatable Tomato_bar__minus_01_dot_63_bar__plus_00_dot_96_bar__minus_00_dot_94) + (heatable Mug_bar__minus_01_dot_11_bar__plus_00_dot_96_bar__minus_01_dot_48) + (heatable Egg_bar__plus_00_dot_08_bar__plus_00_dot_41_bar__plus_01_dot_97) + (heatable Egg_bar__minus_00_dot_26_bar__plus_00_dot_83_bar__plus_02_dot_02) + (heatable Bread_bar__minus_02_dot_66_bar__plus_00_dot_96_bar__plus_03_dot_56) + (heatable Cup_bar__plus_01_dot_68_bar__plus_00_dot_11_bar__minus_01_dot_49) + (heatable Potato_bar__plus_00_dot_08_bar__plus_01_dot_61_bar__plus_02_dot_28) + (heatable Plate_bar__minus_02_dot_09_bar__plus_00_dot_12_bar__minus_01_dot_43) + (heatable Bread_bar__minus_03_dot_17_bar__plus_00_dot_96_bar__plus_03_dot_37) + (coolable Bread_bar__plus_00_dot_57_bar__plus_01_dot_00_bar__minus_01_dot_37) + (coolable Bowl_bar__minus_02_dot_81_bar__plus_00_dot_88_bar__plus_02_dot_88) + (coolable Mug_bar__minus_01_dot_96_bar__plus_00_dot_91_bar__minus_00_dot_94) + (coolable Lettuce_bar__minus_02_dot_25_bar__plus_00_dot_94_bar__plus_03_dot_53) + (coolable WineBottle_bar__minus_02_dot_32_bar__plus_00_dot_88_bar__plus_03_dot_00) + (coolable Apple_bar__plus_00_dot_31_bar__plus_00_dot_86_bar__plus_02_dot_14) + (coolable Tomato_bar__minus_00_dot_37_bar__plus_00_dot_76_bar__minus_01_dot_57) + (coolable Tomato_bar__minus_02_dot_44_bar__plus_00_dot_93_bar__plus_03_dot_73) + (coolable Lettuce_bar__minus_01_dot_85_bar__plus_00_dot_98_bar__minus_01_dot_27) + (coolable Apple_bar__minus_02_dot_07_bar__plus_00_dot_97_bar__minus_01_dot_27) + (coolable Egg_bar__plus_00_dot_31_bar__plus_00_dot_41_bar__plus_02_dot_00) + (coolable Tomato_bar__minus_01_dot_63_bar__plus_00_dot_96_bar__minus_00_dot_94) + (coolable Pot_bar__plus_00_dot_08_bar__plus_01_dot_57_bar__plus_02_dot_10) + (coolable 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Bowl_bar__minus_02_dot_07_bar__plus_00_dot_91_bar__minus_00_dot_61) + (coolable WineBottle_bar__minus_00_dot_84_bar__plus_00_dot_19_bar__plus_02_dot_17) + (coolable Bowl_bar__minus_02_dot_51_bar__plus_00_dot_87_bar__plus_02_dot_88) + + + + + + (sliceable Bread_bar__plus_00_dot_57_bar__plus_01_dot_00_bar__minus_01_dot_37) + (sliceable Lettuce_bar__minus_02_dot_25_bar__plus_00_dot_94_bar__plus_03_dot_53) + (sliceable Apple_bar__plus_00_dot_31_bar__plus_00_dot_86_bar__plus_02_dot_14) + (sliceable Tomato_bar__minus_00_dot_37_bar__plus_00_dot_76_bar__minus_01_dot_57) + (sliceable Tomato_bar__minus_02_dot_44_bar__plus_00_dot_93_bar__plus_03_dot_73) + (sliceable Lettuce_bar__minus_01_dot_85_bar__plus_00_dot_98_bar__minus_01_dot_27) + (sliceable Apple_bar__minus_02_dot_07_bar__plus_00_dot_97_bar__minus_01_dot_27) + (sliceable Egg_bar__plus_00_dot_31_bar__plus_00_dot_41_bar__plus_02_dot_00) + (sliceable Tomato_bar__minus_01_dot_63_bar__plus_00_dot_96_bar__minus_00_dot_94) + (sliceable 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CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_00_dot_61) + (inReceptacle Book_bar__minus_01_dot_94_bar__plus_00_dot_90_bar__minus_01_dot_69 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_00_dot_61) + (inReceptacle Bread_bar__plus_00_dot_57_bar__plus_01_dot_00_bar__minus_01_dot_37 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_00_dot_61) + (inReceptacle SoapBottle_bar__minus_01_dot_38_bar__plus_00_dot_91_bar__minus_01_dot_47 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_00_dot_61) + (inReceptacle Knife_bar__minus_02_dot_07_bar__plus_00_dot_93_bar__minus_01_dot_59 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_00_dot_61) + (inReceptacle Bowl_bar__minus_02_dot_07_bar__plus_00_dot_91_bar__minus_00_dot_61 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_00_dot_61) + (inReceptacle Lettuce_bar__minus_01_dot_85_bar__plus_00_dot_98_bar__minus_01_dot_27 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_00_dot_61) + (inReceptacle Mug_bar__minus_01_dot_96_bar__plus_00_dot_91_bar__minus_00_dot_94 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_00_dot_61) + (inReceptacle Sink_bar__plus_00_dot_02_bar__plus_00_dot_77_bar__minus_01_dot_71 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_00_dot_61) + (inReceptacle Tomato_bar__minus_01_dot_63_bar__plus_00_dot_96_bar__minus_00_dot_94 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_00_dot_61) + (inReceptacle Apple_bar__minus_02_dot_07_bar__plus_00_dot_97_bar__minus_01_dot_27 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_00_dot_61) + (inReceptacle Spatula_bar__minus_01_dot_96_bar__plus_00_dot_93_bar__minus_01_dot_27 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_00_dot_61) + (inReceptacle SaltShaker_bar__minus_01_dot_85_bar__plus_00_dot_91_bar__plus_00_dot_36 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_00_dot_61) + (inReceptacle Mug_bar__minus_01_dot_11_bar__plus_00_dot_96_bar__minus_01_dot_48 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_00_dot_61) + (inReceptacle Plate_bar__minus_02_dot_09_bar__plus_00_dot_12_bar__minus_01_dot_43 Cabinet_bar__minus_02_dot_22_bar__plus_00_dot_37_bar__minus_01_dot_87) + (inReceptacle Bread_bar__minus_02_dot_66_bar__plus_00_dot_96_bar__plus_03_dot_56 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21) + (inReceptacle Bowl_bar__minus_02_dot_81_bar__plus_00_dot_88_bar__plus_02_dot_88 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21) + (inReceptacle Tomato_bar__minus_02_dot_44_bar__plus_00_dot_93_bar__plus_03_dot_73 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21) + (inReceptacle Spoon_bar__minus_02_dot_25_bar__plus_00_dot_88_bar__plus_02_dot_92 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21) + (inReceptacle ButterKnife_bar__minus_02_dot_59_bar__plus_00_dot_88_bar__plus_03_dot_39 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21) + (inReceptacle Lettuce_bar__minus_02_dot_25_bar__plus_00_dot_94_bar__plus_03_dot_53 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21) + (inReceptacle HousePlant_bar__minus_02_dot_74_bar__plus_00_dot_87_bar__plus_03_dot_21 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21) + (inReceptacle Bread_bar__minus_03_dot_17_bar__plus_00_dot_96_bar__plus_03_dot_37 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21) + (inReceptacle SoapBottle_bar__minus_02_dot_15_bar__plus_00_dot_88_bar__plus_03_dot_07 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21) + (inReceptacle Fork_bar__minus_02_dot_49_bar__plus_00_dot_88_bar__plus_03_dot_29 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21) + (inReceptacle WineBottle_bar__minus_02_dot_32_bar__plus_00_dot_88_bar__plus_03_dot_00 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21) + (inReceptacle Bowl_bar__minus_02_dot_51_bar__plus_00_dot_87_bar__plus_02_dot_88 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21) + (inReceptacle SoapBottle_bar__minus_03_dot_17_bar__plus_00_dot_88_bar__plus_03_dot_15 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21) + (inReceptacle Spatula_bar__minus_03_dot_00_bar__plus_00_dot_89_bar__plus_03_dot_00 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21) + (inReceptacle Pot_bar__plus_01_dot_33_bar__plus_00_dot_96_bar__minus_01_dot_69 StoveBurner_bar__plus_01_dot_33_bar__plus_00_dot_96_bar__minus_01_dot_69) + (inReceptacle SaltShaker_bar__minus_01_dot_69_bar__plus_00_dot_12_bar__minus_01_dot_14 Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__minus_01_dot_24) + (inReceptacle Cup_bar__plus_01_dot_68_bar__plus_00_dot_11_bar__minus_01_dot_49 Cabinet_bar__plus_01_dot_78_bar__plus_00_dot_37_bar__minus_01_dot_24) + (inReceptacle PepperShaker_bar__plus_00_dot_72_bar__plus_00_dot_11_bar__minus_01_dot_37 Cabinet_bar__plus_00_dot_78_bar__plus_00_dot_37_bar__minus_01_dot_24) + (inReceptacle DishSponge_bar__plus_00_dot_59_bar__plus_00_dot_12_bar__minus_01_dot_41 Cabinet_bar__plus_00_dot_78_bar__plus_00_dot_37_bar__minus_01_dot_24) + (inReceptacle Vase_bar__plus_00_dot_21_bar__plus_00_dot_12_bar__minus_01_dot_38 Cabinet_bar__plus_00_dot_38_bar__plus_00_dot_37_bar__minus_01_dot_24) + (inReceptacle Kettle_bar__minus_01_dot_33_bar__plus_01_dot_66_bar__minus_01_dot_75 Cabinet_bar__minus_01_dot_67_bar__plus_02_dot_01_bar__minus_01_dot_54) + (inReceptacle Fork_bar__minus_01_dot_75_bar__plus_00_dot_72_bar__minus_00_dot_93 Drawer_bar__minus_01_dot_64_bar__plus_00_dot_68_bar__minus_00_dot_93) 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Fridge_bar__minus_00_dot_04_bar__plus_00_dot_00_bar__plus_02_dot_18) + (inReceptacle Egg_bar__plus_00_dot_31_bar__plus_00_dot_41_bar__plus_02_dot_00 Fridge_bar__minus_00_dot_04_bar__plus_00_dot_00_bar__plus_02_dot_18) + (inReceptacle Pot_bar__plus_00_dot_08_bar__plus_01_dot_57_bar__plus_02_dot_10 Fridge_bar__minus_00_dot_04_bar__plus_00_dot_00_bar__plus_02_dot_18) + (inReceptacle Apple_bar__plus_00_dot_31_bar__plus_00_dot_86_bar__plus_02_dot_14 Fridge_bar__minus_00_dot_04_bar__plus_00_dot_00_bar__plus_02_dot_18) + (inReceptacle Egg_bar__minus_00_dot_26_bar__plus_00_dot_83_bar__plus_02_dot_02 Fridge_bar__minus_00_dot_04_bar__plus_00_dot_00_bar__plus_02_dot_18) + (inReceptacle Egg_bar__plus_00_dot_08_bar__plus_00_dot_41_bar__plus_01_dot_97 Fridge_bar__minus_00_dot_04_bar__plus_00_dot_00_bar__plus_02_dot_18) + (inReceptacle Statue_bar__plus_03_dot_68_bar__plus_00_dot_17_bar__plus_01_dot_41 Shelf_bar__plus_03_dot_69_bar__plus_00_dot_16_bar__plus_01_dot_64) + (inReceptacle 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loc_bar_0_bar__minus_1_bar_2_bar_45) + (receptacleAtLocation Cabinet_bar__plus_00_dot_85_bar__plus_02_dot_26_bar__minus_01_dot_54 loc_bar_2_bar__minus_2_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_01_dot_45_bar__plus_02_dot_26_bar__minus_01_dot_54 loc_bar_3_bar__minus_2_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_01_dot_78_bar__plus_00_dot_37_bar__minus_01_dot_24 loc_bar_5_bar__minus_1_bar_2_bar_45) + (receptacleAtLocation Cabinet_bar__plus_01_dot_78_bar__plus_02_dot_01_bar__minus_01_dot_54 loc_bar_5_bar__minus_3_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_57_bar__plus_00_dot_37_bar__minus_01_dot_24 loc_bar__minus_3_bar__minus_1_bar_2_bar_45) + (receptacleAtLocation Cabinet_bar__minus_00_dot_71_bar__plus_02_dot_01_bar__minus_01_dot_54 loc_bar__minus_4_bar__minus_3_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__minus_01_dot_24 loc_bar__minus_2_bar__minus_2_bar_3_bar_60) + 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(receptacleAtLocation Drawer_bar__plus_00_dot_60_bar__plus_00_dot_68_bar__minus_01_dot_40 loc_bar_1_bar__minus_2_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__plus_01_dot_65_bar__plus_00_dot_68_bar__minus_01_dot_40 loc_bar_7_bar__minus_1_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_64_bar__plus_00_dot_68_bar__minus_00_dot_93 loc_bar__minus_2_bar__minus_2_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__minus_02_dot_06_bar__plus_00_dot_68_bar__minus_01_dot_58 loc_bar__minus_13_bar__minus_5_bar_1_bar_45) + (receptacleAtLocation Fridge_bar__minus_00_dot_04_bar__plus_00_dot_00_bar__plus_02_dot_18 loc_bar_0_bar_5_bar_0_bar_60) + (receptacleAtLocation GarbageCan_bar__minus_00_dot_87_bar__plus_00_dot_00_bar__plus_02_dot_14 loc_bar__minus_5_bar_9_bar_1_bar_60) + (receptacleAtLocation Microwave_bar__plus_01_dot_15_bar__plus_01_dot_65_bar__minus_01_dot_61 loc_bar_5_bar__minus_3_bar_2_bar_0) + (receptacleAtLocation 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1.410345 + }, + "rotation": { + "x": 0.0, + "y": 334.521, + "z": 0.0 + } + }, + { + "objectName": "Statue_bf0c7315", + "position": { + "x": 3.668767, + "y": 0.5405253, + "z": 1.800497 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Bowl_9c57f915", + "position": { + "x": -2.07234931, + "y": 0.910221756, + "z": -0.614 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 920202949, + "scene_num": 7 + }, + "task_id": "trial_T20190906_211134_297102", + "task_type": "pick_heat_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A1MKCTVKE7J0ZP_3OJSZ2ATDVD2WLEX6AX8F1332NL75H", + "high_descs": [ + "Turn right, then turn right at the counter, then go straight, then go right toward the stove.", + "Take the cup from the cabinet, to the left of the stove.", + "Turn right and turn left to go toward the stove.", + "Warm the cup in the microwave, above the stove.", + "Turn left, then turn left again, then turn right, then turn left to reach the shelf.", + "Place the cup on the top shelf. " + ], + "task_desc": "Put a warm cup on the shelf. ", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1HKHM4NVAO98H_3UNH76FOCVMJJCV4LI4U9GYMSFUMYT", + "high_descs": [ + "head over to the kitchen counter to the left of the stove", + "open up the cupboard below and grab a cup", + "bring the cup over to the microwave", + "put the cup inside the microwave and cook the cup for a bit, then take it out", + "bring the cup over to the brown shelves in the corner of the room", + "place the cup on the top brown shelf" + ], + "task_desc": "put a hot cup on top of the brown shelf in the corner of the kitchen", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "AJNQ2PBD07FKE_3HVVDCPGTH9NW7LOUF56VUTEMPPTY4", + "high_descs": [ + "Turn right, go forward, at counter turn right again, after the refrigerator turn right again until facing the stove. ", + "Open the cupboard to left of stove and take out a bowl.", + "Put the bowl in the microwave.", + "Take the bowl out of the microwave.", + "Turn left and then right until you see a shelf on your right.", + "Put the bowl on the shelf." + ], + "task_desc": "Moving a bowl to the shelf.", + "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-Cup-None-Shelf-7/trial_T20190906_211214_598438/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Cup-None-Shelf-7/trial_T20190906_211214_598438/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..412cd8649656bc71f86c82d6756107d6bb5f1435 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Cup-None-Shelf-7/trial_T20190906_211214_598438/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\n\\n#task#\"\n }\n ],\n\n \"notImplemented\": [\n {\n \"rhs\": \"TODO\"\n }\n ],\n\n \"task\": [\n {\n \"rhs\": \"Your task is to: put a hot cup in 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_211214_598438)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\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_19_bar__plus_01_dot_20_bar__plus_02_dot_29 - object\n Apple_bar__minus_00_dot_33_bar__plus_00_dot_75_bar__minus_01_dot_68 - object\n Book_bar__minus_00_dot_40_bar__plus_00_dot_12_bar__minus_01_dot_41 - object\n 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Chair_bar__minus_02_dot_82_bar__plus_00_dot_00_bar__plus_02_dot_60 - object\n Chair_bar__minus_03_dot_50_bar__plus_00_dot_00_bar__plus_03_dot_45 - object\n Cup_bar__plus_01_dot_60_bar__plus_01_dot_65_bar__minus_01_dot_63 - object\n Cup_bar__minus_02_dot_18_bar__plus_00_dot_91_bar__minus_00_dot_61 - object\n Cup_bar__minus_02_dot_53_bar__plus_00_dot_88_bar__plus_03_dot_57 - object\n DishSponge_bar__plus_00_dot_01_bar__plus_00_dot_93_bar__minus_01_dot_36 - object\n Egg_bar__plus_00_dot_08_bar__plus_00_dot_41_bar__plus_02_dot_05 - object\n Faucet_bar__minus_00_dot_19_bar__plus_00_dot_92_bar__minus_01_dot_75 - object\n Fork_bar__minus_00_dot_33_bar__plus_00_dot_71_bar__minus_01_dot_57 - object\n Fork_bar__minus_01_dot_52_bar__plus_00_dot_91_bar__minus_00_dot_94 - object\n HousePlant_bar__minus_02_dot_74_bar__plus_00_dot_87_bar__plus_03_dot_21 - object\n Kettle_bar__plus_00_dot_97_bar__plus_00_dot_96_bar__minus_01_dot_69 - object\n 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SaltShaker_bar__plus_01_dot_00_bar__plus_02_dot_15_bar__minus_01_dot_75 - object\n SaltShaker_bar__plus_01_dot_76_bar__plus_00_dot_91_bar__minus_01_dot_44 - object\n SaltShaker_bar__minus_01_dot_69_bar__plus_00_dot_12_bar__minus_00_dot_69 - object\n Sink_bar__plus_00_dot_02_bar__plus_00_dot_77_bar__minus_01_dot_71 - object\n SoapBottle_bar__plus_00_dot_07_bar__plus_00_dot_93_bar__minus_01_dot_65 - object\n Spatula_bar__minus_00_dot_83_bar__plus_00_dot_93_bar__minus_01_dot_57 - object\n Spatula_bar__minus_02_dot_47_bar__plus_00_dot_89_bar__plus_03_dot_51 - object\n Spoon_bar__minus_02_dot_41_bar__plus_00_dot_88_bar__plus_02_dot_76 - object\n Spoon_bar__minus_02_dot_53_bar__plus_00_dot_88_bar__plus_02_dot_88 - object\n Statue_bar__plus_03_dot_85_bar__plus_00_dot_56_bar__plus_01_dot_45 - object\n Statue_bar__minus_03_dot_02_bar__plus_00_dot_87_bar__plus_03_dot_58 - object\n StoveKnob_bar__plus_00_dot_96_bar__plus_00_dot_91_bar__minus_01_dot_24 - object\n StoveKnob_bar__plus_01_dot_09_bar__plus_00_dot_91_bar__minus_01_dot_24 - object\n StoveKnob_bar__plus_01_dot_21_bar__plus_00_dot_91_bar__minus_01_dot_24 - object\n StoveKnob_bar__plus_01_dot_34_bar__plus_00_dot_91_bar__minus_01_dot_24 - object\n Tomato_bar__plus_00_dot_71_bar__plus_00_dot_96_bar__minus_01_dot_57 - object\n Vase_bar__plus_03_dot_67_bar__plus_00_dot_17_bar__plus_01_dot_84 - object\n Vase_bar__plus_03_dot_79_bar__plus_00_dot_55_bar__plus_01_dot_97 - object\n Window_bar__minus_00_dot_12_bar__plus_01_dot_80_bar__minus_01_dot_90 - object\n Window_bar__minus_04_dot_01_bar__plus_01_dot_80_bar__plus_00_dot_31 - object\n WineBottle_bar__minus_00_dot_90_bar__plus_00_dot_19_bar__plus_02_dot_10 - object\n WineBottle_bar__minus_03_dot_17_bar__plus_00_dot_88_bar__plus_03_dot_22 - object\n Cabinet_bar__plus_00_dot_38_bar__plus_00_dot_37_bar__minus_01_dot_24 - receptacle\n Cabinet_bar__plus_00_dot_52_bar__plus_02_dot_01_bar__minus_01_dot_54 - receptacle\n 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CoffeeMachine_bar__minus_01_dot_11_bar__plus_00_dot_90_bar__minus_01_dot_73 - receptacle\n CounterTop_bar__plus_01_dot_65_bar__plus_00_dot_95_bar__minus_01_dot_53 - receptacle\n CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_00_dot_61 - receptacle\n DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21 - receptacle\n Drawer_bar__plus_00_dot_60_bar__plus_00_dot_68_bar__minus_01_dot_40 - receptacle\n Drawer_bar__plus_01_dot_65_bar__plus_00_dot_68_bar__minus_01_dot_40 - receptacle\n Drawer_bar__minus_01_dot_64_bar__plus_00_dot_68_bar__minus_00_dot_93 - receptacle\n Drawer_bar__minus_02_dot_06_bar__plus_00_dot_68_bar__minus_01_dot_58 - receptacle\n Fridge_bar__minus_00_dot_04_bar__plus_00_dot_00_bar__plus_02_dot_18 - receptacle\n GarbageCan_bar__minus_00_dot_87_bar__plus_00_dot_00_bar__plus_02_dot_14 - receptacle\n Microwave_bar__plus_01_dot_15_bar__plus_01_dot_65_bar__minus_01_dot_61 - receptacle\n 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loc_bar__minus_4_bar__minus_3_bar_2_bar__minus_30 - location\n loc_bar_2_bar__minus_2_bar_2_bar__minus_30 - location\n loc_bar__minus_2_bar__minus_2_bar_3_bar_60 - location\n loc_bar_5_bar__minus_3_bar_2_bar_30 - location\n loc_bar_0_bar__minus_3_bar_2_bar_45 - location\n loc_bar__minus_10_bar_8_bar_0_bar_30 - location\n loc_bar_5_bar__minus_1_bar_2_bar_45 - location\n loc_bar__minus_11_bar_0_bar_1_bar_60 - location\n loc_bar__minus_11_bar__minus_4_bar_1_bar_60 - location\n loc_bar_3_bar__minus_2_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_3_bar_45 - location\n loc_bar_4_bar__minus_3_bar_2_bar_60 - location\n loc_bar__minus_3_bar__minus_1_bar_2_bar_45 - location\n loc_bar_0_bar__minus_3_bar_2_bar__minus_15 - location\n loc_bar__minus_14_bar_10_bar_0_bar_60 - location\n loc_bar__minus_7_bar_11_bar_0_bar_60 - location\n loc_bar_7_bar__minus_1_bar_2_bar_45 - location\n loc_bar_0_bar_5_bar_0_bar_60 - location\n loc_bar__minus_5_bar_9_bar_1_bar_60 - location\n loc_bar_5_bar__minus_3_bar_2_bar_0 - location\n loc_bar_1_bar__minus_2_bar_2_bar_45 - location\n loc_bar_4_bar__minus_3_bar_2_bar__minus_30 - location\n loc_bar_4_bar__minus_3_bar_2_bar_45 - location\n loc_bar_5_bar__minus_3_bar_2_bar__minus_30 - location\n loc_bar__minus_11_bar__minus_4_bar_1_bar_45 - location\n loc_bar__minus_11_bar_8_bar_0_bar_30 - location\n loc_bar_0_bar_5_bar_0_bar_45 - location\n loc_bar__minus_13_bar__minus_5_bar_1_bar_45 - location\n loc_bar_0_bar__minus_1_bar_2_bar_45 - location\n loc_bar_13_bar_3_bar_0_bar_60 - location\n loc_bar_5_bar__minus_3_bar_2_bar_45 - location\n loc_bar__minus_12_bar__minus_5_bar_1_bar_60 - location\n loc_bar_4_bar__minus_3_bar_2_bar_30 - location\n loc_bar__minus_11_bar_8_bar_0_bar_60 - location\n loc_bar__minus_14_bar_1_bar_3_bar__minus_15 - location\n loc_bar__minus_11_bar__minus_5_bar_1_bar__minus_30 - location\n loc_bar_11_bar__minus_1_bar_2_bar_45 - location\n loc_bar_9_bar_7_bar_0_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Fridge_bar__minus_00_dot_04_bar__plus_00_dot_00_bar__plus_02_dot_18 FridgeType)\n (receptacleType Cabinet_bar__plus_00_dot_38_bar__plus_00_dot_37_bar__minus_01_dot_24 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_22_bar__plus_00_dot_37_bar__minus_01_dot_87 CabinetType)\n (receptacleType Drawer_bar__plus_00_dot_60_bar__plus_00_dot_68_bar__minus_01_dot_40 DrawerType)\n (receptacleType Cabinet_bar__minus_00_dot_71_bar__plus_02_dot_01_bar__minus_01_dot_54 CabinetType)\n (receptacleType StoveBurner_bar__plus_01_dot_33_bar__plus_00_dot_96_bar__minus_01_dot_42 StoveBurnerType)\n (receptacleType Microwave_bar__plus_01_dot_15_bar__plus_01_dot_65_bar__minus_01_dot_61 MicrowaveType)\n (receptacleType DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21 DiningTableType)\n (receptacleType Drawer_bar__minus_02_dot_06_bar__plus_00_dot_68_bar__minus_01_dot_58 DrawerType)\n (receptacleType 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(receptacleType Cabinet_bar__minus_02_dot_17_bar__plus_02_dot_01_bar__minus_01_dot_54 CabinetType)\n (receptacleType StoveBurner_bar__plus_00_dot_97_bar__plus_00_dot_96_bar__minus_01_dot_42 StoveBurnerType)\n (receptacleType CoffeeMachine_bar__minus_01_dot_11_bar__plus_00_dot_90_bar__minus_01_dot_73 CoffeeMachineType)\n (receptacleType Cabinet_bar__plus_01_dot_78_bar__plus_00_dot_37_bar__minus_01_dot_24 CabinetType)\n (receptacleType Shelf_bar__plus_03_dot_69_bar__plus_00_dot_87_bar__plus_01_dot_64 ShelfType)\n (receptacleType Toaster_bar__plus_01_dot_64_bar__plus_00_dot_90_bar__minus_01_dot_67 ToasterType)\n (receptacleType StoveBurner_bar__plus_00_dot_97_bar__plus_00_dot_96_bar__minus_01_dot_69 StoveBurnerType)\n (receptacleType GarbageCan_bar__minus_00_dot_87_bar__plus_00_dot_00_bar__plus_02_dot_14 GarbageCanType)\n (receptacleType Cabinet_bar__plus_00_dot_85_bar__plus_02_dot_26_bar__minus_01_dot_54 CabinetType)\n (receptacleType 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SoapBottle_bar__plus_00_dot_07_bar__plus_00_dot_93_bar__minus_01_dot_65)\n (pickupable Spatula_bar__minus_02_dot_47_bar__plus_00_dot_89_bar__plus_03_dot_51)\n (pickupable Statue_bar__minus_03_dot_02_bar__plus_00_dot_87_bar__plus_03_dot_58)\n (pickupable Cup_bar__minus_02_dot_18_bar__plus_00_dot_91_bar__minus_00_dot_61)\n (pickupable Egg_bar__plus_00_dot_08_bar__plus_00_dot_41_bar__plus_02_dot_05)\n (pickupable Bowl_bar__minus_02_dot_66_bar__plus_00_dot_87_bar__plus_03_dot_73)\n (pickupable DishSponge_bar__plus_00_dot_01_bar__plus_00_dot_93_bar__minus_01_dot_36)\n (pickupable Apple_bar__minus_00_dot_33_bar__plus_00_dot_75_bar__minus_01_dot_68)\n (pickupable Lettuce_bar__minus_02_dot_70_bar__plus_00_dot_94_bar__plus_02_dot_95)\n (pickupable ButterKnife_bar__plus_00_dot_62_bar__plus_00_dot_91_bar__minus_01_dot_67)\n (pickupable Book_bar__minus_03_dot_00_bar__plus_00_dot_88_bar__plus_03_dot_30)\n (pickupable Pan_bar__plus_01_dot_33_bar__plus_00_dot_96_bar__minus_01_dot_42)\n (pickupable Statue_bar__plus_03_dot_85_bar__plus_00_dot_56_bar__plus_01_dot_45)\n (pickupable Potato_bar__plus_00_dot_23_bar__plus_00_dot_97_bar__minus_01_dot_72)\n (pickupable Bowl_bar__plus_01_dot_65_bar__plus_00_dot_11_bar__minus_01_dot_41)\n (pickupable Plate_bar__plus_00_dot_08_bar__plus_00_dot_81_bar__plus_02_dot_25)\n (pickupable Spatula_bar__minus_00_dot_83_bar__plus_00_dot_93_bar__minus_01_dot_57)\n (pickupable Bread_bar__plus_00_dot_08_bar__plus_01_dot_66_bar__plus_02_dot_10)\n (pickupable Fork_bar__minus_01_dot_52_bar__plus_00_dot_91_bar__minus_00_dot_94)\n (pickupable Cup_bar__minus_02_dot_53_bar__plus_00_dot_88_bar__plus_03_dot_57)\n (pickupable Lettuce_bar__plus_00_dot_53_bar__plus_00_dot_98_bar__minus_01_dot_67)\n (pickupable ButterKnife_bar__minus_02_dot_66_bar__plus_00_dot_87_bar__plus_02_dot_72)\n (pickupable Cup_bar__plus_01_dot_60_bar__plus_01_dot_65_bar__minus_01_dot_63)\n (pickupable Bowl_bar__minus_02_dot_20_bar__plus_00_dot_87_bar__plus_03_dot_48)\n (pickupable SaltShaker_bar__plus_01_dot_76_bar__plus_00_dot_91_bar__minus_01_dot_44)\n (isReceptacleObject Mug_bar__minus_01_dot_33_bar__plus_01_dot_65_bar__minus_01_dot_64)\n (isReceptacleObject Pot_bar__minus_01_dot_60_bar__plus_00_dot_90_bar__minus_00_dot_17)\n (isReceptacleObject Pan_bar__plus_01_dot_33_bar__plus_00_dot_96_bar__minus_01_dot_69)\n (isReceptacleObject Cup_bar__minus_02_dot_18_bar__plus_00_dot_91_bar__minus_00_dot_61)\n (isReceptacleObject Bowl_bar__minus_02_dot_66_bar__plus_00_dot_87_bar__plus_03_dot_73)\n (isReceptacleObject Pan_bar__plus_01_dot_33_bar__plus_00_dot_96_bar__minus_01_dot_42)\n (isReceptacleObject Bowl_bar__plus_01_dot_65_bar__plus_00_dot_11_bar__minus_01_dot_41)\n (isReceptacleObject Plate_bar__plus_00_dot_08_bar__plus_00_dot_81_bar__plus_02_dot_25)\n (isReceptacleObject Cup_bar__minus_02_dot_53_bar__plus_00_dot_88_bar__plus_03_dot_57)\n (isReceptacleObject Cup_bar__plus_01_dot_60_bar__plus_01_dot_65_bar__minus_01_dot_63)\n (isReceptacleObject Bowl_bar__minus_02_dot_20_bar__plus_00_dot_87_bar__plus_03_dot_48)\n (openable Fridge_bar__minus_00_dot_04_bar__plus_00_dot_00_bar__plus_02_dot_18)\n (openable Cabinet_bar__plus_00_dot_38_bar__plus_00_dot_37_bar__minus_01_dot_24)\n (openable Cabinet_bar__minus_02_dot_22_bar__plus_00_dot_37_bar__minus_01_dot_87)\n (openable Drawer_bar__plus_00_dot_60_bar__plus_00_dot_68_bar__minus_01_dot_40)\n (openable Cabinet_bar__minus_00_dot_71_bar__plus_02_dot_01_bar__minus_01_dot_54)\n (openable Microwave_bar__plus_01_dot_15_bar__plus_01_dot_65_bar__minus_01_dot_61)\n (openable Drawer_bar__minus_02_dot_06_bar__plus_00_dot_68_bar__minus_01_dot_58)\n (openable Cabinet_bar__plus_00_dot_78_bar__plus_00_dot_37_bar__minus_01_dot_24)\n (openable Cabinet_bar__plus_01_dot_45_bar__plus_02_dot_26_bar__minus_01_dot_54)\n (openable Cabinet_bar__minus_01_dot_67_bar__plus_02_dot_01_bar__minus_01_dot_54)\n (openable Cabinet_bar__plus_01_dot_78_bar__plus_02_dot_01_bar__minus_01_dot_54)\n (openable Drawer_bar__plus_01_dot_65_bar__plus_00_dot_68_bar__minus_01_dot_40)\n (openable Cabinet_bar__minus_02_dot_17_bar__plus_02_dot_01_bar__minus_01_dot_54)\n (openable Cabinet_bar__plus_01_dot_78_bar__plus_00_dot_37_bar__minus_01_dot_24)\n (openable Cabinet_bar__plus_00_dot_85_bar__plus_02_dot_26_bar__minus_01_dot_54)\n (openable Drawer_bar__minus_01_dot_64_bar__plus_00_dot_68_bar__minus_00_dot_93)\n (openable Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__minus_01_dot_24)\n (openable Cabinet_bar__minus_00_dot_57_bar__plus_00_dot_37_bar__minus_01_dot_24)\n (openable Cabinet_bar__plus_00_dot_52_bar__plus_02_dot_01_bar__minus_01_dot_54)\n \n (atLocation agent1 loc_bar_9_bar_7_bar_0_bar_30)\n \n (cleanable Knife_bar__minus_01_dot_74_bar__plus_00_dot_93_bar__minus_00_dot_61)\n (cleanable Tomato_bar__plus_00_dot_71_bar__plus_00_dot_96_bar__minus_01_dot_57)\n (cleanable Kettle_bar__plus_00_dot_97_bar__plus_00_dot_96_bar__minus_01_dot_69)\n (cleanable Mug_bar__minus_01_dot_33_bar__plus_01_dot_65_bar__minus_01_dot_64)\n (cleanable Fork_bar__minus_00_dot_33_bar__plus_00_dot_71_bar__minus_01_dot_57)\n (cleanable Pot_bar__minus_01_dot_60_bar__plus_00_dot_90_bar__minus_00_dot_17)\n (cleanable ButterKnife_bar__minus_03_dot_02_bar__plus_00_dot_88_bar__plus_02_dot_86)\n (cleanable Spoon_bar__minus_02_dot_53_bar__plus_00_dot_88_bar__plus_02_dot_88)\n (cleanable Apple_bar__plus_00_dot_19_bar__plus_01_dot_20_bar__plus_02_dot_29)\n (cleanable Spoon_bar__minus_02_dot_41_bar__plus_00_dot_88_bar__plus_02_dot_76)\n (cleanable Pan_bar__plus_01_dot_33_bar__plus_00_dot_96_bar__minus_01_dot_69)\n (cleanable Lettuce_bar__plus_00_dot_57_bar__plus_00_dot_98_bar__minus_01_dot_37)\n (cleanable Spatula_bar__minus_02_dot_47_bar__plus_00_dot_89_bar__plus_03_dot_51)\n (cleanable Cup_bar__minus_02_dot_18_bar__plus_00_dot_91_bar__minus_00_dot_61)\n (cleanable Egg_bar__plus_00_dot_08_bar__plus_00_dot_41_bar__plus_02_dot_05)\n (cleanable Bowl_bar__minus_02_dot_66_bar__plus_00_dot_87_bar__plus_03_dot_73)\n (cleanable DishSponge_bar__plus_00_dot_01_bar__plus_00_dot_93_bar__minus_01_dot_36)\n (cleanable Apple_bar__minus_00_dot_33_bar__plus_00_dot_75_bar__minus_01_dot_68)\n (cleanable Lettuce_bar__minus_02_dot_70_bar__plus_00_dot_94_bar__plus_02_dot_95)\n (cleanable ButterKnife_bar__plus_00_dot_62_bar__plus_00_dot_91_bar__minus_01_dot_67)\n (cleanable Pan_bar__plus_01_dot_33_bar__plus_00_dot_96_bar__minus_01_dot_42)\n (cleanable Potato_bar__plus_00_dot_23_bar__plus_00_dot_97_bar__minus_01_dot_72)\n (cleanable Bowl_bar__plus_01_dot_65_bar__plus_00_dot_11_bar__minus_01_dot_41)\n (cleanable Plate_bar__plus_00_dot_08_bar__plus_00_dot_81_bar__plus_02_dot_25)\n (cleanable Spatula_bar__minus_00_dot_83_bar__plus_00_dot_93_bar__minus_01_dot_57)\n (cleanable Fork_bar__minus_01_dot_52_bar__plus_00_dot_91_bar__minus_00_dot_94)\n (cleanable Cup_bar__minus_02_dot_53_bar__plus_00_dot_88_bar__plus_03_dot_57)\n (cleanable Lettuce_bar__plus_00_dot_53_bar__plus_00_dot_98_bar__minus_01_dot_67)\n (cleanable ButterKnife_bar__minus_02_dot_66_bar__plus_00_dot_87_bar__plus_02_dot_72)\n (cleanable Cup_bar__plus_01_dot_60_bar__plus_01_dot_65_bar__minus_01_dot_63)\n (cleanable Bowl_bar__minus_02_dot_20_bar__plus_00_dot_87_bar__plus_03_dot_48)\n \n (heatable Tomato_bar__plus_00_dot_71_bar__plus_00_dot_96_bar__minus_01_dot_57)\n (heatable Mug_bar__minus_01_dot_33_bar__plus_01_dot_65_bar__minus_01_dot_64)\n (heatable Apple_bar__plus_00_dot_19_bar__plus_01_dot_20_bar__plus_02_dot_29)\n (heatable Bread_bar__minus_02_dot_15_bar__plus_00_dot_96_bar__plus_03_dot_22)\n (heatable Cup_bar__minus_02_dot_18_bar__plus_00_dot_91_bar__minus_00_dot_61)\n (heatable Egg_bar__plus_00_dot_08_bar__plus_00_dot_41_bar__plus_02_dot_05)\n (heatable Apple_bar__minus_00_dot_33_bar__plus_00_dot_75_bar__minus_01_dot_68)\n (heatable Potato_bar__plus_00_dot_23_bar__plus_00_dot_97_bar__minus_01_dot_72)\n (heatable Plate_bar__plus_00_dot_08_bar__plus_00_dot_81_bar__plus_02_dot_25)\n (heatable Bread_bar__plus_00_dot_08_bar__plus_01_dot_66_bar__plus_02_dot_10)\n (heatable Cup_bar__minus_02_dot_53_bar__plus_00_dot_88_bar__plus_03_dot_57)\n (heatable Cup_bar__plus_01_dot_60_bar__plus_01_dot_65_bar__minus_01_dot_63)\n (coolable Tomato_bar__plus_00_dot_71_bar__plus_00_dot_96_bar__minus_01_dot_57)\n (coolable Mug_bar__minus_01_dot_33_bar__plus_01_dot_65_bar__minus_01_dot_64)\n (coolable Pot_bar__minus_01_dot_60_bar__plus_00_dot_90_bar__minus_00_dot_17)\n (coolable WineBottle_bar__minus_03_dot_17_bar__plus_00_dot_88_bar__plus_03_dot_22)\n (coolable Apple_bar__plus_00_dot_19_bar__plus_01_dot_20_bar__plus_02_dot_29)\n (coolable Pan_bar__plus_01_dot_33_bar__plus_00_dot_96_bar__minus_01_dot_69)\n (coolable WineBottle_bar__minus_00_dot_90_bar__plus_00_dot_19_bar__plus_02_dot_10)\n (coolable Bread_bar__minus_02_dot_15_bar__plus_00_dot_96_bar__plus_03_dot_22)\n (coolable Lettuce_bar__plus_00_dot_57_bar__plus_00_dot_98_bar__minus_01_dot_37)\n (coolable Cup_bar__minus_02_dot_18_bar__plus_00_dot_91_bar__minus_00_dot_61)\n (coolable Egg_bar__plus_00_dot_08_bar__plus_00_dot_41_bar__plus_02_dot_05)\n (coolable Bowl_bar__minus_02_dot_66_bar__plus_00_dot_87_bar__plus_03_dot_73)\n (coolable Apple_bar__minus_00_dot_33_bar__plus_00_dot_75_bar__minus_01_dot_68)\n (coolable Lettuce_bar__minus_02_dot_70_bar__plus_00_dot_94_bar__plus_02_dot_95)\n (coolable Pan_bar__plus_01_dot_33_bar__plus_00_dot_96_bar__minus_01_dot_42)\n (coolable Potato_bar__plus_00_dot_23_bar__plus_00_dot_97_bar__minus_01_dot_72)\n (coolable Bowl_bar__plus_01_dot_65_bar__plus_00_dot_11_bar__minus_01_dot_41)\n (coolable Plate_bar__plus_00_dot_08_bar__plus_00_dot_81_bar__plus_02_dot_25)\n (coolable Bread_bar__plus_00_dot_08_bar__plus_01_dot_66_bar__plus_02_dot_10)\n (coolable Cup_bar__minus_02_dot_53_bar__plus_00_dot_88_bar__plus_03_dot_57)\n (coolable Lettuce_bar__plus_00_dot_53_bar__plus_00_dot_98_bar__minus_01_dot_67)\n (coolable Cup_bar__plus_01_dot_60_bar__plus_01_dot_65_bar__minus_01_dot_63)\n (coolable Bowl_bar__minus_02_dot_20_bar__plus_00_dot_87_bar__plus_03_dot_48)\n \n \n \n \n \n (sliceable Tomato_bar__plus_00_dot_71_bar__plus_00_dot_96_bar__minus_01_dot_57)\n (sliceable Apple_bar__plus_00_dot_19_bar__plus_01_dot_20_bar__plus_02_dot_29)\n (sliceable Bread_bar__minus_02_dot_15_bar__plus_00_dot_96_bar__plus_03_dot_22)\n (sliceable Lettuce_bar__plus_00_dot_57_bar__plus_00_dot_98_bar__minus_01_dot_37)\n (sliceable Egg_bar__plus_00_dot_08_bar__plus_00_dot_41_bar__plus_02_dot_05)\n (sliceable Apple_bar__minus_00_dot_33_bar__plus_00_dot_75_bar__minus_01_dot_68)\n (sliceable Lettuce_bar__minus_02_dot_70_bar__plus_00_dot_94_bar__plus_02_dot_95)\n (sliceable Potato_bar__plus_00_dot_23_bar__plus_00_dot_97_bar__minus_01_dot_72)\n (sliceable Bread_bar__plus_00_dot_08_bar__plus_01_dot_66_bar__plus_02_dot_10)\n (sliceable Lettuce_bar__plus_00_dot_53_bar__plus_00_dot_98_bar__minus_01_dot_67)\n \n (inReceptacle Kettle_bar__plus_00_dot_97_bar__plus_00_dot_96_bar__minus_01_dot_69 StoveBurner_bar__plus_00_dot_97_bar__plus_00_dot_96_bar__minus_01_dot_69)\n (inReceptacle Knife_bar__minus_01_dot_74_bar__plus_00_dot_93_bar__minus_00_dot_61 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_00_dot_61)\n (inReceptacle Spatula_bar__minus_00_dot_83_bar__plus_00_dot_93_bar__minus_01_dot_57 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_00_dot_61)\n (inReceptacle Tomato_bar__plus_00_dot_71_bar__plus_00_dot_96_bar__minus_01_dot_57 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_00_dot_61)\n (inReceptacle Cup_bar__minus_02_dot_18_bar__plus_00_dot_91_bar__minus_00_dot_61 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_00_dot_61)\n (inReceptacle Fork_bar__minus_01_dot_52_bar__plus_00_dot_91_bar__minus_00_dot_94 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_00_dot_61)\n (inReceptacle Sink_bar__plus_00_dot_02_bar__plus_00_dot_77_bar__minus_01_dot_71 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_00_dot_61)\n (inReceptacle Lettuce_bar__plus_00_dot_53_bar__plus_00_dot_98_bar__minus_01_dot_67 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_00_dot_61)\n (inReceptacle Pot_bar__minus_01_dot_60_bar__plus_00_dot_90_bar__minus_00_dot_17 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_00_dot_61)\n (inReceptacle Lettuce_bar__plus_00_dot_57_bar__plus_00_dot_98_bar__minus_01_dot_37 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_00_dot_61)\n (inReceptacle ButterKnife_bar__plus_00_dot_62_bar__plus_00_dot_91_bar__minus_01_dot_67 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_00_dot_61)\n (inReceptacle Spoon_bar__minus_02_dot_53_bar__plus_00_dot_88_bar__plus_02_dot_88 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21)\n (inReceptacle Bowl_bar__minus_02_dot_20_bar__plus_00_dot_87_bar__plus_03_dot_48 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21)\n (inReceptacle WineBottle_bar__minus_03_dot_17_bar__plus_00_dot_88_bar__plus_03_dot_22 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21)\n (inReceptacle Spatula_bar__minus_02_dot_47_bar__plus_00_dot_89_bar__plus_03_dot_51 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21)\n (inReceptacle Statue_bar__minus_03_dot_02_bar__plus_00_dot_87_bar__plus_03_dot_58 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21)\n (inReceptacle Spoon_bar__minus_02_dot_41_bar__plus_00_dot_88_bar__plus_02_dot_76 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21)\n (inReceptacle Bowl_bar__minus_02_dot_66_bar__plus_00_dot_87_bar__plus_03_dot_73 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21)\n (inReceptacle Cup_bar__minus_02_dot_53_bar__plus_00_dot_88_bar__plus_03_dot_57 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21)\n (inReceptacle HousePlant_bar__minus_02_dot_74_bar__plus_00_dot_87_bar__plus_03_dot_21 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21)\n (inReceptacle PepperShaker_bar__minus_03_dot_17_bar__plus_00_dot_87_bar__plus_03_dot_42 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21)\n (inReceptacle Lettuce_bar__minus_02_dot_70_bar__plus_00_dot_94_bar__plus_02_dot_95 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21)\n (inReceptacle ButterKnife_bar__minus_02_dot_66_bar__plus_00_dot_87_bar__plus_02_dot_72 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21)\n (inReceptacle Bread_bar__minus_02_dot_15_bar__plus_00_dot_96_bar__plus_03_dot_22 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21)\n (inReceptacle ButterKnife_bar__minus_03_dot_02_bar__plus_00_dot_88_bar__plus_02_dot_86 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21)\n (inReceptacle Book_bar__minus_03_dot_00_bar__plus_00_dot_88_bar__plus_03_dot_30 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21)\n (inReceptacle Pan_bar__plus_01_dot_33_bar__plus_00_dot_96_bar__minus_01_dot_69 StoveBurner_bar__plus_01_dot_33_bar__plus_00_dot_96_bar__minus_01_dot_69)\n (inReceptacle Pan_bar__plus_01_dot_33_bar__plus_00_dot_96_bar__minus_01_dot_42 StoveBurner_bar__plus_01_dot_33_bar__plus_00_dot_96_bar__minus_01_dot_42)\n (inReceptacle SaltShaker_bar__minus_01_dot_69_bar__plus_00_dot_12_bar__minus_00_dot_69 Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__minus_01_dot_24)\n (inReceptacle Bowl_bar__plus_01_dot_65_bar__plus_00_dot_11_bar__minus_01_dot_41 Cabinet_bar__plus_01_dot_78_bar__plus_00_dot_37_bar__minus_01_dot_24)\n (inReceptacle Book_bar__minus_00_dot_40_bar__plus_00_dot_12_bar__minus_01_dot_41 Cabinet_bar__minus_00_dot_57_bar__plus_00_dot_37_bar__minus_01_dot_24)\n (inReceptacle Cup_bar__plus_01_dot_60_bar__plus_01_dot_65_bar__minus_01_dot_63 Cabinet_bar__plus_01_dot_78_bar__plus_02_dot_01_bar__minus_01_dot_54)\n (inReceptacle Mug_bar__minus_01_dot_33_bar__plus_01_dot_65_bar__minus_01_dot_64 Cabinet_bar__minus_01_dot_67_bar__plus_02_dot_01_bar__minus_01_dot_54)\n (inReceptacle SaltShaker_bar__plus_01_dot_00_bar__plus_02_dot_15_bar__minus_01_dot_75 Cabinet_bar__plus_00_dot_85_bar__plus_02_dot_26_bar__minus_01_dot_54)\n (inReceptacle SaltShaker_bar__plus_01_dot_76_bar__plus_00_dot_91_bar__minus_01_dot_44 CounterTop_bar__plus_01_dot_65_bar__plus_00_dot_95_bar__minus_01_dot_53)\n (inReceptacle Vase_bar__plus_03_dot_79_bar__plus_00_dot_55_bar__plus_01_dot_97 Shelf_bar__plus_03_dot_69_bar__plus_00_dot_54_bar__plus_01_dot_64)\n (inReceptacle Statue_bar__plus_03_dot_85_bar__plus_00_dot_56_bar__plus_01_dot_45 Shelf_bar__plus_03_dot_69_bar__plus_00_dot_54_bar__plus_01_dot_64)\n (inReceptacle Bread_bar__plus_00_dot_08_bar__plus_01_dot_66_bar__plus_02_dot_10 Fridge_bar__minus_00_dot_04_bar__plus_00_dot_00_bar__plus_02_dot_18)\n (inReceptacle Egg_bar__plus_00_dot_08_bar__plus_00_dot_41_bar__plus_02_dot_05 Fridge_bar__minus_00_dot_04_bar__plus_00_dot_00_bar__plus_02_dot_18)\n (inReceptacle Apple_bar__plus_00_dot_19_bar__plus_01_dot_20_bar__plus_02_dot_29 Fridge_bar__minus_00_dot_04_bar__plus_00_dot_00_bar__plus_02_dot_18)\n (inReceptacleObject Spatula_bar__minus_02_dot_47_bar__plus_00_dot_89_bar__plus_03_dot_51 Cup_bar__minus_02_dot_53_bar__plus_00_dot_88_bar__plus_03_dot_57)\n (inReceptacle Vase_bar__plus_03_dot_67_bar__plus_00_dot_17_bar__plus_01_dot_84 Shelf_bar__plus_03_dot_69_bar__plus_00_dot_16_bar__plus_01_dot_64)\n (inReceptacle Fork_bar__minus_00_dot_33_bar__plus_00_dot_71_bar__minus_01_dot_57 Sink_bar__plus_00_dot_02_bar__plus_00_dot_77_bar__minus_01_dot_71_bar_SinkBasin)\n (inReceptacle Apple_bar__minus_00_dot_33_bar__plus_00_dot_75_bar__minus_01_dot_68 Sink_bar__plus_00_dot_02_bar__plus_00_dot_77_bar__minus_01_dot_71_bar_SinkBasin)\n (inReceptacle WineBottle_bar__minus_00_dot_90_bar__plus_00_dot_19_bar__plus_02_dot_10 GarbageCan_bar__minus_00_dot_87_bar__plus_00_dot_00_bar__plus_02_dot_14)\n \n \n (receptacleAtLocation Cabinet_bar__plus_00_dot_38_bar__plus_00_dot_37_bar__minus_01_dot_24 loc_bar__minus_1_bar__minus_1_bar_2_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_52_bar__plus_02_dot_01_bar__minus_01_dot_54 loc_bar_4_bar__minus_3_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_78_bar__plus_00_dot_37_bar__minus_01_dot_24 loc_bar_0_bar__minus_1_bar_2_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_85_bar__plus_02_dot_26_bar__minus_01_dot_54 loc_bar_2_bar__minus_2_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_45_bar__plus_02_dot_26_bar__minus_01_dot_54 loc_bar_3_bar__minus_2_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_78_bar__plus_00_dot_37_bar__minus_01_dot_24 loc_bar_5_bar__minus_1_bar_2_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_78_bar__plus_02_dot_01_bar__minus_01_dot_54 loc_bar_5_bar__minus_3_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_57_bar__plus_00_dot_37_bar__minus_01_dot_24 loc_bar__minus_3_bar__minus_1_bar_2_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_71_bar__plus_02_dot_01_bar__minus_01_dot_54 loc_bar__minus_4_bar__minus_3_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__minus_01_dot_24 loc_bar__minus_2_bar__minus_2_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_67_bar__plus_02_dot_01_bar__minus_01_dot_54 loc_bar__minus_4_bar__minus_3_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_17_bar__plus_02_dot_01_bar__minus_01_dot_54 loc_bar__minus_11_bar__minus_5_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_22_bar__plus_00_dot_37_bar__minus_01_dot_87 loc_bar__minus_12_bar__minus_5_bar_1_bar_60)\n (receptacleAtLocation CoffeeMachine_bar__minus_01_dot_11_bar__plus_00_dot_90_bar__minus_01_dot_73 loc_bar__minus_4_bar__minus_3_bar_2_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_01_dot_65_bar__plus_00_dot_95_bar__minus_01_dot_53 loc_bar_5_bar__minus_3_bar_2_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_00_dot_61 loc_bar__minus_11_bar__minus_4_bar_1_bar_45)\n (receptacleAtLocation DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21 loc_bar__minus_11_bar_8_bar_0_bar_30)\n (receptacleAtLocation Drawer_bar__plus_00_dot_60_bar__plus_00_dot_68_bar__minus_01_dot_40 loc_bar_1_bar__minus_2_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_01_dot_65_bar__plus_00_dot_68_bar__minus_01_dot_40 loc_bar_7_bar__minus_1_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_64_bar__plus_00_dot_68_bar__minus_00_dot_93 loc_bar__minus_2_bar__minus_2_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_02_dot_06_bar__plus_00_dot_68_bar__minus_01_dot_58 loc_bar__minus_13_bar__minus_5_bar_1_bar_45)\n (receptacleAtLocation Fridge_bar__minus_00_dot_04_bar__plus_00_dot_00_bar__plus_02_dot_18 loc_bar_0_bar_5_bar_0_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_00_dot_87_bar__plus_00_dot_00_bar__plus_02_dot_14 loc_bar__minus_5_bar_9_bar_1_bar_60)\n (receptacleAtLocation Microwave_bar__plus_01_dot_15_bar__plus_01_dot_65_bar__minus_01_dot_61 loc_bar_5_bar__minus_3_bar_2_bar_0)\n (receptacleAtLocation Shelf_bar__plus_03_dot_69_bar__plus_00_dot_16_bar__plus_01_dot_64 loc_bar_13_bar_3_bar_0_bar_60)\n (receptacleAtLocation Shelf_bar__plus_03_dot_69_bar__plus_00_dot_54_bar__plus_01_dot_64 loc_bar_10_bar_4_bar_1_bar_45)\n (receptacleAtLocation Shelf_bar__plus_03_dot_69_bar__plus_00_dot_87_bar__plus_01_dot_64 loc_bar_12_bar_2_bar_0_bar_30)\n (receptacleAtLocation Sink_bar__plus_00_dot_02_bar__plus_00_dot_77_bar__minus_01_dot_71_bar_SinkBasin loc_bar_0_bar__minus_3_bar_2_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_00_dot_97_bar__plus_00_dot_96_bar__minus_01_dot_42 loc_bar_4_bar__minus_3_bar_2_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_00_dot_97_bar__plus_00_dot_96_bar__minus_01_dot_69 loc_bar_4_bar__minus_3_bar_2_bar_30)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_33_bar__plus_00_dot_96_bar__minus_01_dot_42 loc_bar_5_bar__minus_3_bar_2_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_33_bar__plus_00_dot_96_bar__minus_01_dot_69 loc_bar_5_bar__minus_3_bar_2_bar_30)\n (receptacleAtLocation Toaster_bar__plus_01_dot_64_bar__plus_00_dot_90_bar__minus_01_dot_67 loc_bar_5_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Bowl_bar__minus_02_dot_20_bar__plus_00_dot_87_bar__plus_03_dot_48 loc_bar__minus_11_bar_8_bar_0_bar_30)\n (objectAtLocation Spoon_bar__minus_02_dot_41_bar__plus_00_dot_88_bar__plus_02_dot_76 loc_bar__minus_11_bar_8_bar_0_bar_30)\n (objectAtLocation Pan_bar__plus_01_dot_33_bar__plus_00_dot_96_bar__minus_01_dot_69 loc_bar_5_bar__minus_3_bar_2_bar_30)\n (objectAtLocation Apple_bar__plus_00_dot_19_bar__plus_01_dot_20_bar__plus_02_dot_29 loc_bar_0_bar_5_bar_0_bar_60)\n (objectAtLocation Bread_bar__minus_02_dot_15_bar__plus_00_dot_96_bar__plus_03_dot_22 loc_bar__minus_11_bar_8_bar_0_bar_30)\n (objectAtLocation ButterKnife_bar__minus_03_dot_02_bar__plus_00_dot_88_bar__plus_02_dot_86 loc_bar__minus_11_bar_8_bar_0_bar_30)\n (objectAtLocation Lettuce_bar__minus_02_dot_70_bar__plus_00_dot_94_bar__plus_02_dot_95 loc_bar__minus_11_bar_8_bar_0_bar_30)\n (objectAtLocation SaltShaker_bar__plus_01_dot_76_bar__plus_00_dot_91_bar__minus_01_dot_44 loc_bar_5_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Spatula_bar__minus_02_dot_47_bar__plus_00_dot_89_bar__plus_03_dot_51 loc_bar__minus_10_bar_8_bar_0_bar_30)\n (objectAtLocation WineBottle_bar__minus_03_dot_17_bar__plus_00_dot_88_bar__plus_03_dot_22 loc_bar__minus_11_bar_8_bar_0_bar_30)\n (objectAtLocation Cup_bar__plus_01_dot_60_bar__plus_01_dot_65_bar__minus_01_dot_63 loc_bar_5_bar__minus_3_bar_2_bar__minus_30)\n (objectAtLocation Fork_bar__minus_00_dot_33_bar__plus_00_dot_71_bar__minus_01_dot_57 loc_bar_0_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Book_bar__minus_00_dot_40_bar__plus_00_dot_12_bar__minus_01_dot_41 loc_bar__minus_3_bar__minus_1_bar_2_bar_45)\n (objectAtLocation Lettuce_bar__plus_00_dot_53_bar__plus_00_dot_98_bar__minus_01_dot_67 loc_bar__minus_11_bar__minus_4_bar_1_bar_45)\n (objectAtLocation SaltShaker_bar__minus_01_dot_69_bar__plus_00_dot_12_bar__minus_00_dot_69 loc_bar__minus_2_bar__minus_2_bar_3_bar_60)\n (objectAtLocation Bowl_bar__plus_01_dot_65_bar__plus_00_dot_11_bar__minus_01_dot_41 loc_bar_5_bar__minus_1_bar_2_bar_45)\n (objectAtLocation Cup_bar__minus_02_dot_18_bar__plus_00_dot_91_bar__minus_00_dot_61 loc_bar__minus_11_bar__minus_4_bar_1_bar_45)\n (objectAtLocation ButterKnife_bar__minus_02_dot_66_bar__plus_00_dot_87_bar__plus_02_dot_72 loc_bar__minus_11_bar_8_bar_0_bar_30)\n (objectAtLocation Book_bar__minus_03_dot_00_bar__plus_00_dot_88_bar__plus_03_dot_30 loc_bar__minus_11_bar_8_bar_0_bar_30)\n (objectAtLocation Sink_bar__plus_00_dot_02_bar__plus_00_dot_77_bar__minus_01_dot_71 loc_bar__minus_11_bar__minus_4_bar_1_bar_45)\n (objectAtLocation Fork_bar__minus_01_dot_52_bar__plus_00_dot_91_bar__minus_00_dot_94 loc_bar__minus_11_bar__minus_4_bar_1_bar_45)\n (objectAtLocation Tomato_bar__plus_00_dot_71_bar__plus_00_dot_96_bar__minus_01_dot_57 loc_bar__minus_11_bar__minus_4_bar_1_bar_45)\n (objectAtLocation LightSwitch_bar__plus_02_dot_83_bar__plus_01_dot_27_bar__minus_00_dot_75 loc_bar_11_bar__minus_1_bar_2_bar_45)\n (objectAtLocation Egg_bar__plus_00_dot_08_bar__plus_00_dot_41_bar__plus_02_dot_05 loc_bar_0_bar_5_bar_0_bar_60)\n (objectAtLocation Kettle_bar__plus_00_dot_97_bar__plus_00_dot_96_bar__minus_01_dot_69 loc_bar_4_bar__minus_3_bar_2_bar_30)\n (objectAtLocation Vase_bar__plus_03_dot_67_bar__plus_00_dot_17_bar__plus_01_dot_84 loc_bar_13_bar_3_bar_0_bar_60)\n (objectAtLocation Cup_bar__minus_02_dot_53_bar__plus_00_dot_88_bar__plus_03_dot_57 loc_bar__minus_11_bar_8_bar_0_bar_30)\n (objectAtLocation Window_bar__minus_00_dot_12_bar__plus_01_dot_80_bar__minus_01_dot_90 loc_bar_0_bar__minus_3_bar_2_bar__minus_15)\n (objectAtLocation Window_bar__minus_04_dot_01_bar__plus_01_dot_80_bar__plus_00_dot_31 loc_bar__minus_14_bar_1_bar_3_bar__minus_15)\n (objectAtLocation WineBottle_bar__minus_00_dot_90_bar__plus_00_dot_19_bar__plus_02_dot_10 loc_bar__minus_5_bar_9_bar_1_bar_60)\n (objectAtLocation Plate_bar__plus_00_dot_08_bar__plus_00_dot_81_bar__plus_02_dot_25 loc_bar_0_bar_5_bar_0_bar_45)\n (objectAtLocation Spatula_bar__minus_00_dot_83_bar__plus_00_dot_93_bar__minus_01_dot_57 loc_bar__minus_11_bar__minus_4_bar_1_bar_45)\n (objectAtLocation Potato_bar__plus_00_dot_23_bar__plus_00_dot_97_bar__minus_01_dot_72 loc_bar_0_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Pot_bar__minus_01_dot_60_bar__plus_00_dot_90_bar__minus_00_dot_17 loc_bar__minus_11_bar__minus_4_bar_1_bar_45)\n (objectAtLocation Knife_bar__minus_01_dot_74_bar__plus_00_dot_93_bar__minus_00_dot_61 loc_bar__minus_11_bar__minus_4_bar_1_bar_45)\n (objectAtLocation SaltShaker_bar__plus_01_dot_00_bar__plus_02_dot_15_bar__minus_01_dot_75 loc_bar_2_bar__minus_2_bar_2_bar__minus_30)\n (objectAtLocation PepperShaker_bar__minus_03_dot_17_bar__plus_00_dot_87_bar__plus_03_dot_42 loc_bar__minus_11_bar_8_bar_0_bar_30)\n (objectAtLocation Lettuce_bar__plus_00_dot_57_bar__plus_00_dot_98_bar__minus_01_dot_37 loc_bar__minus_11_bar__minus_4_bar_1_bar_45)\n (objectAtLocation ButterKnife_bar__plus_00_dot_62_bar__plus_00_dot_91_bar__minus_01_dot_67 loc_bar__minus_11_bar__minus_4_bar_1_bar_45)\n (objectAtLocation StoveKnob_bar__plus_01_dot_09_bar__plus_00_dot_91_bar__minus_01_dot_24 loc_bar_4_bar__minus_3_bar_2_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_21_bar__plus_00_dot_91_bar__minus_01_dot_24 loc_bar_5_bar__minus_3_bar_2_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_34_bar__plus_00_dot_91_bar__minus_01_dot_24 loc_bar_5_bar__minus_3_bar_2_bar_60)\n (objectAtLocation StoveKnob_bar__plus_00_dot_96_bar__plus_00_dot_91_bar__minus_01_dot_24 loc_bar_4_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Bread_bar__plus_00_dot_08_bar__plus_01_dot_66_bar__plus_02_dot_10 loc_bar_0_bar_5_bar_0_bar_60)\n (objectAtLocation Chair_bar__minus_02_dot_41_bar__plus_00_dot_57_bar__plus_00_dot_07 loc_bar__minus_11_bar_0_bar_1_bar_60)\n (objectAtLocation Chair_bar__minus_02_dot_47_bar__plus_00_dot_57_bar__minus_00_dot_80 loc_bar__minus_11_bar__minus_4_bar_1_bar_60)\n (objectAtLocation Vase_bar__plus_03_dot_79_bar__plus_00_dot_55_bar__plus_01_dot_97 loc_bar_10_bar_4_bar_1_bar_45)\n (objectAtLocation DishSponge_bar__plus_00_dot_01_bar__plus_00_dot_93_bar__minus_01_dot_36 loc_bar_0_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Apple_bar__minus_00_dot_33_bar__plus_00_dot_75_bar__minus_01_dot_68 loc_bar_0_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Pan_bar__plus_01_dot_33_bar__plus_00_dot_96_bar__minus_01_dot_42 loc_bar_5_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Chair_bar__minus_03_dot_50_bar__plus_00_dot_00_bar__plus_03_dot_45 loc_bar__minus_14_bar_10_bar_0_bar_60)\n (objectAtLocation Chair_bar__minus_02_dot_82_bar__plus_00_dot_00_bar__plus_02_dot_60 loc_bar__minus_11_bar_8_bar_0_bar_60)\n (objectAtLocation Chair_bar__minus_01_dot_92_bar__plus_00_dot_00_bar__plus_03_dot_47 loc_bar__minus_7_bar_11_bar_0_bar_60)\n (objectAtLocation Spoon_bar__minus_02_dot_53_bar__plus_00_dot_88_bar__plus_02_dot_88 loc_bar__minus_11_bar_8_bar_0_bar_30)\n (objectAtLocation HousePlant_bar__minus_02_dot_74_bar__plus_00_dot_87_bar__plus_03_dot_21 loc_bar__minus_11_bar_8_bar_0_bar_30)\n (objectAtLocation SoapBottle_bar__plus_00_dot_07_bar__plus_00_dot_93_bar__minus_01_dot_65 loc_bar_0_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Mug_bar__minus_01_dot_33_bar__plus_01_dot_65_bar__minus_01_dot_64 loc_bar__minus_4_bar__minus_3_bar_2_bar__minus_30)\n (objectAtLocation Statue_bar__plus_03_dot_85_bar__plus_00_dot_56_bar__plus_01_dot_45 loc_bar_10_bar_4_bar_1_bar_45)\n (objectAtLocation Statue_bar__minus_03_dot_02_bar__plus_00_dot_87_bar__plus_03_dot_58 loc_bar__minus_11_bar_8_bar_0_bar_30)\n (objectAtLocation Bowl_bar__minus_02_dot_66_bar__plus_00_dot_87_bar__plus_03_dot_73 loc_bar__minus_11_bar_8_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 CupType)\n (receptacleType ?r ShelfType)\n (isHot ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to diningtable 1", "take cup 2 from diningtable 1", "go to microwave 1", "heat cup 2 with microwave 1", "go to shelf 2", "move cup 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-Cup-None-Shelf-7/trial_T20190906_211214_598438/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Cup-None-Shelf-7/trial_T20190906_211214_598438/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..de804c045ae5ce309aea5a41ea4a7b9def697fdd --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Cup-None-Shelf-7/trial_T20190906_211214_598438/initial_state.pddl @@ -0,0 +1,1157 @@ + +(define (problem plan_trial_T20190906_211214_598438) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + 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_19_bar__plus_01_dot_20_bar__plus_02_dot_29 - object + Apple_bar__minus_00_dot_33_bar__plus_00_dot_75_bar__minus_01_dot_68 - object + Book_bar__minus_00_dot_40_bar__plus_00_dot_12_bar__minus_01_dot_41 - object + Book_bar__minus_03_dot_00_bar__plus_00_dot_88_bar__plus_03_dot_30 - object + Bowl_bar__plus_01_dot_65_bar__plus_00_dot_11_bar__minus_01_dot_41 - object + Bowl_bar__minus_02_dot_20_bar__plus_00_dot_87_bar__plus_03_dot_48 - object + Bowl_bar__minus_02_dot_66_bar__plus_00_dot_87_bar__plus_03_dot_73 - object + Bread_bar__plus_00_dot_08_bar__plus_01_dot_66_bar__plus_02_dot_10 - object + Bread_bar__minus_02_dot_15_bar__plus_00_dot_96_bar__plus_03_dot_22 - object + ButterKnife_bar__plus_00_dot_62_bar__plus_00_dot_91_bar__minus_01_dot_67 - object + ButterKnife_bar__minus_02_dot_66_bar__plus_00_dot_87_bar__plus_02_dot_72 - object + ButterKnife_bar__minus_03_dot_02_bar__plus_00_dot_88_bar__plus_02_dot_86 - object + Chair_bar__minus_01_dot_92_bar__plus_00_dot_00_bar__plus_03_dot_47 - object + Chair_bar__minus_02_dot_41_bar__plus_00_dot_57_bar__plus_00_dot_07 - object + Chair_bar__minus_02_dot_47_bar__plus_00_dot_57_bar__minus_00_dot_80 - object + Chair_bar__minus_02_dot_82_bar__plus_00_dot_00_bar__plus_02_dot_60 - object + Chair_bar__minus_03_dot_50_bar__plus_00_dot_00_bar__plus_03_dot_45 - object + Cup_bar__plus_01_dot_60_bar__plus_01_dot_65_bar__minus_01_dot_63 - object + Cup_bar__minus_02_dot_18_bar__plus_00_dot_91_bar__minus_00_dot_61 - object + Cup_bar__minus_02_dot_53_bar__plus_00_dot_88_bar__plus_03_dot_57 - object + DishSponge_bar__plus_00_dot_01_bar__plus_00_dot_93_bar__minus_01_dot_36 - object + Egg_bar__plus_00_dot_08_bar__plus_00_dot_41_bar__plus_02_dot_05 - object + Faucet_bar__minus_00_dot_19_bar__plus_00_dot_92_bar__minus_01_dot_75 - object + Fork_bar__minus_00_dot_33_bar__plus_00_dot_71_bar__minus_01_dot_57 - object + Fork_bar__minus_01_dot_52_bar__plus_00_dot_91_bar__minus_00_dot_94 - object + HousePlant_bar__minus_02_dot_74_bar__plus_00_dot_87_bar__plus_03_dot_21 - object + Kettle_bar__plus_00_dot_97_bar__plus_00_dot_96_bar__minus_01_dot_69 - object + Knife_bar__minus_01_dot_74_bar__plus_00_dot_93_bar__minus_00_dot_61 - object + Lettuce_bar__plus_00_dot_53_bar__plus_00_dot_98_bar__minus_01_dot_67 - object + Lettuce_bar__plus_00_dot_57_bar__plus_00_dot_98_bar__minus_01_dot_37 - object + Lettuce_bar__minus_02_dot_70_bar__plus_00_dot_94_bar__plus_02_dot_95 - object + LightSwitch_bar__plus_02_dot_83_bar__plus_01_dot_27_bar__minus_00_dot_75 - object + Mug_bar__minus_01_dot_33_bar__plus_01_dot_65_bar__minus_01_dot_64 - object + Pan_bar__plus_01_dot_33_bar__plus_00_dot_96_bar__minus_01_dot_42 - object + Pan_bar__plus_01_dot_33_bar__plus_00_dot_96_bar__minus_01_dot_69 - object + PepperShaker_bar__minus_03_dot_17_bar__plus_00_dot_87_bar__plus_03_dot_42 - object + Plate_bar__plus_00_dot_08_bar__plus_00_dot_81_bar__plus_02_dot_25 - object + Potato_bar__plus_00_dot_23_bar__plus_00_dot_97_bar__minus_01_dot_72 - object + Pot_bar__minus_01_dot_60_bar__plus_00_dot_90_bar__minus_00_dot_17 - object + SaltShaker_bar__plus_01_dot_00_bar__plus_02_dot_15_bar__minus_01_dot_75 - object + SaltShaker_bar__plus_01_dot_76_bar__plus_00_dot_91_bar__minus_01_dot_44 - object + SaltShaker_bar__minus_01_dot_69_bar__plus_00_dot_12_bar__minus_00_dot_69 - object + Sink_bar__plus_00_dot_02_bar__plus_00_dot_77_bar__minus_01_dot_71 - object + SoapBottle_bar__plus_00_dot_07_bar__plus_00_dot_93_bar__minus_01_dot_65 - object + Spatula_bar__minus_00_dot_83_bar__plus_00_dot_93_bar__minus_01_dot_57 - object + Spatula_bar__minus_02_dot_47_bar__plus_00_dot_89_bar__plus_03_dot_51 - object + Spoon_bar__minus_02_dot_41_bar__plus_00_dot_88_bar__plus_02_dot_76 - object + Spoon_bar__minus_02_dot_53_bar__plus_00_dot_88_bar__plus_02_dot_88 - object + Statue_bar__plus_03_dot_85_bar__plus_00_dot_56_bar__plus_01_dot_45 - object + Statue_bar__minus_03_dot_02_bar__plus_00_dot_87_bar__plus_03_dot_58 - object + StoveKnob_bar__plus_00_dot_96_bar__plus_00_dot_91_bar__minus_01_dot_24 - object + StoveKnob_bar__plus_01_dot_09_bar__plus_00_dot_91_bar__minus_01_dot_24 - object + StoveKnob_bar__plus_01_dot_21_bar__plus_00_dot_91_bar__minus_01_dot_24 - object + StoveKnob_bar__plus_01_dot_34_bar__plus_00_dot_91_bar__minus_01_dot_24 - object + Tomato_bar__plus_00_dot_71_bar__plus_00_dot_96_bar__minus_01_dot_57 - object + Vase_bar__plus_03_dot_67_bar__plus_00_dot_17_bar__plus_01_dot_84 - object + Vase_bar__plus_03_dot_79_bar__plus_00_dot_55_bar__plus_01_dot_97 - object + Window_bar__minus_00_dot_12_bar__plus_01_dot_80_bar__minus_01_dot_90 - object + Window_bar__minus_04_dot_01_bar__plus_01_dot_80_bar__plus_00_dot_31 - object + WineBottle_bar__minus_00_dot_90_bar__plus_00_dot_19_bar__plus_02_dot_10 - object + WineBottle_bar__minus_03_dot_17_bar__plus_00_dot_88_bar__plus_03_dot_22 - object + Cabinet_bar__plus_00_dot_38_bar__plus_00_dot_37_bar__minus_01_dot_24 - receptacle + Cabinet_bar__plus_00_dot_52_bar__plus_02_dot_01_bar__minus_01_dot_54 - receptacle + Cabinet_bar__plus_00_dot_78_bar__plus_00_dot_37_bar__minus_01_dot_24 - receptacle + Cabinet_bar__plus_00_dot_85_bar__plus_02_dot_26_bar__minus_01_dot_54 - receptacle + Cabinet_bar__plus_01_dot_45_bar__plus_02_dot_26_bar__minus_01_dot_54 - receptacle + Cabinet_bar__plus_01_dot_78_bar__plus_00_dot_37_bar__minus_01_dot_24 - receptacle + Cabinet_bar__plus_01_dot_78_bar__plus_02_dot_01_bar__minus_01_dot_54 - receptacle + Cabinet_bar__minus_00_dot_57_bar__plus_00_dot_37_bar__minus_01_dot_24 - receptacle + Cabinet_bar__minus_00_dot_71_bar__plus_02_dot_01_bar__minus_01_dot_54 - receptacle + Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__minus_01_dot_24 - receptacle + Cabinet_bar__minus_01_dot_67_bar__plus_02_dot_01_bar__minus_01_dot_54 - receptacle + Cabinet_bar__minus_02_dot_17_bar__plus_02_dot_01_bar__minus_01_dot_54 - receptacle + Cabinet_bar__minus_02_dot_22_bar__plus_00_dot_37_bar__minus_01_dot_87 - receptacle + CoffeeMachine_bar__minus_01_dot_11_bar__plus_00_dot_90_bar__minus_01_dot_73 - receptacle + CounterTop_bar__plus_01_dot_65_bar__plus_00_dot_95_bar__minus_01_dot_53 - receptacle + CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_00_dot_61 - receptacle + DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21 - receptacle + Drawer_bar__plus_00_dot_60_bar__plus_00_dot_68_bar__minus_01_dot_40 - receptacle + Drawer_bar__plus_01_dot_65_bar__plus_00_dot_68_bar__minus_01_dot_40 - receptacle + Drawer_bar__minus_01_dot_64_bar__plus_00_dot_68_bar__minus_00_dot_93 - receptacle + Drawer_bar__minus_02_dot_06_bar__plus_00_dot_68_bar__minus_01_dot_58 - receptacle + Fridge_bar__minus_00_dot_04_bar__plus_00_dot_00_bar__plus_02_dot_18 - receptacle + GarbageCan_bar__minus_00_dot_87_bar__plus_00_dot_00_bar__plus_02_dot_14 - receptacle + Microwave_bar__plus_01_dot_15_bar__plus_01_dot_65_bar__minus_01_dot_61 - receptacle + Shelf_bar__plus_03_dot_69_bar__plus_00_dot_16_bar__plus_01_dot_64 - receptacle + Shelf_bar__plus_03_dot_69_bar__plus_00_dot_54_bar__plus_01_dot_64 - receptacle + Shelf_bar__plus_03_dot_69_bar__plus_00_dot_87_bar__plus_01_dot_64 - receptacle + Sink_bar__plus_00_dot_02_bar__plus_00_dot_77_bar__minus_01_dot_71_bar_SinkBasin - receptacle + StoveBurner_bar__plus_00_dot_97_bar__plus_00_dot_96_bar__minus_01_dot_42 - receptacle + StoveBurner_bar__plus_00_dot_97_bar__plus_00_dot_96_bar__minus_01_dot_69 - receptacle + StoveBurner_bar__plus_01_dot_33_bar__plus_00_dot_96_bar__minus_01_dot_42 - receptacle + StoveBurner_bar__plus_01_dot_33_bar__plus_00_dot_96_bar__minus_01_dot_69 - receptacle + Toaster_bar__plus_01_dot_64_bar__plus_00_dot_90_bar__minus_01_dot_67 - receptacle + loc_bar_10_bar_4_bar_1_bar_45 - location + loc_bar__minus_4_bar__minus_3_bar_2_bar_45 - location + loc_bar_12_bar_2_bar_0_bar_30 - location + loc_bar_5_bar__minus_3_bar_2_bar_60 - location + loc_bar__minus_4_bar__minus_3_bar_2_bar__minus_30 - location + loc_bar_2_bar__minus_2_bar_2_bar__minus_30 - location + loc_bar__minus_2_bar__minus_2_bar_3_bar_60 - location + loc_bar_5_bar__minus_3_bar_2_bar_30 - location + loc_bar_0_bar__minus_3_bar_2_bar_45 - location + loc_bar__minus_10_bar_8_bar_0_bar_30 - location + loc_bar_5_bar__minus_1_bar_2_bar_45 - location + loc_bar__minus_11_bar_0_bar_1_bar_60 - location + loc_bar__minus_11_bar__minus_4_bar_1_bar_60 - location + loc_bar_3_bar__minus_2_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_3_bar_45 - location + loc_bar_4_bar__minus_3_bar_2_bar_60 - location + loc_bar__minus_3_bar__minus_1_bar_2_bar_45 - location + loc_bar_0_bar__minus_3_bar_2_bar__minus_15 - location + loc_bar__minus_14_bar_10_bar_0_bar_60 - location + loc_bar__minus_7_bar_11_bar_0_bar_60 - location + loc_bar_7_bar__minus_1_bar_2_bar_45 - location + loc_bar_0_bar_5_bar_0_bar_60 - location + loc_bar__minus_5_bar_9_bar_1_bar_60 - location + loc_bar_5_bar__minus_3_bar_2_bar_0 - location + loc_bar_1_bar__minus_2_bar_2_bar_45 - location + loc_bar_4_bar__minus_3_bar_2_bar__minus_30 - location + loc_bar_4_bar__minus_3_bar_2_bar_45 - location + loc_bar_5_bar__minus_3_bar_2_bar__minus_30 - location + loc_bar__minus_11_bar__minus_4_bar_1_bar_45 - location + loc_bar__minus_11_bar_8_bar_0_bar_30 - location + loc_bar_0_bar_5_bar_0_bar_45 - location + loc_bar__minus_13_bar__minus_5_bar_1_bar_45 - location + loc_bar_0_bar__minus_1_bar_2_bar_45 - location + loc_bar_13_bar_3_bar_0_bar_60 - location + loc_bar_5_bar__minus_3_bar_2_bar_45 - location + loc_bar__minus_12_bar__minus_5_bar_1_bar_60 - location + loc_bar_4_bar__minus_3_bar_2_bar_30 - location + loc_bar__minus_11_bar_8_bar_0_bar_60 - location + loc_bar__minus_14_bar_1_bar_3_bar__minus_15 - location + loc_bar__minus_11_bar__minus_5_bar_1_bar__minus_30 - location + loc_bar_11_bar__minus_1_bar_2_bar_45 - location + loc_bar_9_bar_7_bar_0_bar_30 - location + ) + + +(:init + + + (receptacleType Fridge_bar__minus_00_dot_04_bar__plus_00_dot_00_bar__plus_02_dot_18 FridgeType) + (receptacleType Cabinet_bar__plus_00_dot_38_bar__plus_00_dot_37_bar__minus_01_dot_24 CabinetType) + (receptacleType Cabinet_bar__minus_02_dot_22_bar__plus_00_dot_37_bar__minus_01_dot_87 CabinetType) + (receptacleType Drawer_bar__plus_00_dot_60_bar__plus_00_dot_68_bar__minus_01_dot_40 DrawerType) + (receptacleType Cabinet_bar__minus_00_dot_71_bar__plus_02_dot_01_bar__minus_01_dot_54 CabinetType) + (receptacleType StoveBurner_bar__plus_01_dot_33_bar__plus_00_dot_96_bar__minus_01_dot_42 StoveBurnerType) + (receptacleType Microwave_bar__plus_01_dot_15_bar__plus_01_dot_65_bar__minus_01_dot_61 MicrowaveType) + (receptacleType DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21 DiningTableType) + (receptacleType Drawer_bar__minus_02_dot_06_bar__plus_00_dot_68_bar__minus_01_dot_58 DrawerType) + (receptacleType CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_00_dot_61 CounterTopType) + (receptacleType Cabinet_bar__plus_00_dot_78_bar__plus_00_dot_37_bar__minus_01_dot_24 CabinetType) + (receptacleType Shelf_bar__plus_03_dot_69_bar__plus_00_dot_16_bar__plus_01_dot_64 ShelfType) + (receptacleType CounterTop_bar__plus_01_dot_65_bar__plus_00_dot_95_bar__minus_01_dot_53 CounterTopType) + (receptacleType Cabinet_bar__plus_01_dot_45_bar__plus_02_dot_26_bar__minus_01_dot_54 CabinetType) + (receptacleType Cabinet_bar__minus_01_dot_67_bar__plus_02_dot_01_bar__minus_01_dot_54 CabinetType) + (receptacleType Cabinet_bar__plus_01_dot_78_bar__plus_02_dot_01_bar__minus_01_dot_54 CabinetType) + (receptacleType Shelf_bar__plus_03_dot_69_bar__plus_00_dot_54_bar__plus_01_dot_64 ShelfType) + (receptacleType Sink_bar__plus_00_dot_02_bar__plus_00_dot_77_bar__minus_01_dot_71_bar_SinkBasin SinkBasinType) + 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Bowl_bar__minus_02_dot_66_bar__plus_00_dot_87_bar__plus_03_dot_73) + (cleanable DishSponge_bar__plus_00_dot_01_bar__plus_00_dot_93_bar__minus_01_dot_36) + (cleanable Apple_bar__minus_00_dot_33_bar__plus_00_dot_75_bar__minus_01_dot_68) + (cleanable Lettuce_bar__minus_02_dot_70_bar__plus_00_dot_94_bar__plus_02_dot_95) + (cleanable ButterKnife_bar__plus_00_dot_62_bar__plus_00_dot_91_bar__minus_01_dot_67) + (cleanable Pan_bar__plus_01_dot_33_bar__plus_00_dot_96_bar__minus_01_dot_42) + (cleanable Potato_bar__plus_00_dot_23_bar__plus_00_dot_97_bar__minus_01_dot_72) + (cleanable Bowl_bar__plus_01_dot_65_bar__plus_00_dot_11_bar__minus_01_dot_41) + (cleanable Plate_bar__plus_00_dot_08_bar__plus_00_dot_81_bar__plus_02_dot_25) + (cleanable Spatula_bar__minus_00_dot_83_bar__plus_00_dot_93_bar__minus_01_dot_57) + (cleanable Fork_bar__minus_01_dot_52_bar__plus_00_dot_91_bar__minus_00_dot_94) + (cleanable Cup_bar__minus_02_dot_53_bar__plus_00_dot_88_bar__plus_03_dot_57) + (cleanable 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CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_00_dot_61) + (inReceptacle Sink_bar__plus_00_dot_02_bar__plus_00_dot_77_bar__minus_01_dot_71 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_00_dot_61) + (inReceptacle Lettuce_bar__plus_00_dot_53_bar__plus_00_dot_98_bar__minus_01_dot_67 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_00_dot_61) + (inReceptacle Pot_bar__minus_01_dot_60_bar__plus_00_dot_90_bar__minus_00_dot_17 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_00_dot_61) + (inReceptacle Lettuce_bar__plus_00_dot_57_bar__plus_00_dot_98_bar__minus_01_dot_37 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_00_dot_61) + (inReceptacle ButterKnife_bar__plus_00_dot_62_bar__plus_00_dot_91_bar__minus_01_dot_67 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_00_dot_61) + (inReceptacle Spoon_bar__minus_02_dot_53_bar__plus_00_dot_88_bar__plus_02_dot_88 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21) + (inReceptacle Bowl_bar__minus_02_dot_20_bar__plus_00_dot_87_bar__plus_03_dot_48 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21) + (inReceptacle WineBottle_bar__minus_03_dot_17_bar__plus_00_dot_88_bar__plus_03_dot_22 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21) + (inReceptacle Spatula_bar__minus_02_dot_47_bar__plus_00_dot_89_bar__plus_03_dot_51 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21) + (inReceptacle Statue_bar__minus_03_dot_02_bar__plus_00_dot_87_bar__plus_03_dot_58 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21) + (inReceptacle Spoon_bar__minus_02_dot_41_bar__plus_00_dot_88_bar__plus_02_dot_76 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21) + (inReceptacle Bowl_bar__minus_02_dot_66_bar__plus_00_dot_87_bar__plus_03_dot_73 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21) + (inReceptacle Cup_bar__minus_02_dot_53_bar__plus_00_dot_88_bar__plus_03_dot_57 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21) + (inReceptacle HousePlant_bar__minus_02_dot_74_bar__plus_00_dot_87_bar__plus_03_dot_21 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21) + (inReceptacle PepperShaker_bar__minus_03_dot_17_bar__plus_00_dot_87_bar__plus_03_dot_42 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21) + (inReceptacle Lettuce_bar__minus_02_dot_70_bar__plus_00_dot_94_bar__plus_02_dot_95 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21) + (inReceptacle ButterKnife_bar__minus_02_dot_66_bar__plus_00_dot_87_bar__plus_02_dot_72 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21) + (inReceptacle Bread_bar__minus_02_dot_15_bar__plus_00_dot_96_bar__plus_03_dot_22 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21) + (inReceptacle ButterKnife_bar__minus_03_dot_02_bar__plus_00_dot_88_bar__plus_02_dot_86 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21) + (inReceptacle Book_bar__minus_03_dot_00_bar__plus_00_dot_88_bar__plus_03_dot_30 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21) + (inReceptacle Pan_bar__plus_01_dot_33_bar__plus_00_dot_96_bar__minus_01_dot_69 StoveBurner_bar__plus_01_dot_33_bar__plus_00_dot_96_bar__minus_01_dot_69) + (inReceptacle Pan_bar__plus_01_dot_33_bar__plus_00_dot_96_bar__minus_01_dot_42 StoveBurner_bar__plus_01_dot_33_bar__plus_00_dot_96_bar__minus_01_dot_42) + (inReceptacle SaltShaker_bar__minus_01_dot_69_bar__plus_00_dot_12_bar__minus_00_dot_69 Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__minus_01_dot_24) + (inReceptacle Bowl_bar__plus_01_dot_65_bar__plus_00_dot_11_bar__minus_01_dot_41 Cabinet_bar__plus_01_dot_78_bar__plus_00_dot_37_bar__minus_01_dot_24) + (inReceptacle Book_bar__minus_00_dot_40_bar__plus_00_dot_12_bar__minus_01_dot_41 Cabinet_bar__minus_00_dot_57_bar__plus_00_dot_37_bar__minus_01_dot_24) + (inReceptacle Cup_bar__plus_01_dot_60_bar__plus_01_dot_65_bar__minus_01_dot_63 Cabinet_bar__plus_01_dot_78_bar__plus_02_dot_01_bar__minus_01_dot_54) + (inReceptacle Mug_bar__minus_01_dot_33_bar__plus_01_dot_65_bar__minus_01_dot_64 Cabinet_bar__minus_01_dot_67_bar__plus_02_dot_01_bar__minus_01_dot_54) + (inReceptacle SaltShaker_bar__plus_01_dot_00_bar__plus_02_dot_15_bar__minus_01_dot_75 Cabinet_bar__plus_00_dot_85_bar__plus_02_dot_26_bar__minus_01_dot_54) + (inReceptacle SaltShaker_bar__plus_01_dot_76_bar__plus_00_dot_91_bar__minus_01_dot_44 CounterTop_bar__plus_01_dot_65_bar__plus_00_dot_95_bar__minus_01_dot_53) + (inReceptacle Vase_bar__plus_03_dot_79_bar__plus_00_dot_55_bar__plus_01_dot_97 Shelf_bar__plus_03_dot_69_bar__plus_00_dot_54_bar__plus_01_dot_64) + (inReceptacle Statue_bar__plus_03_dot_85_bar__plus_00_dot_56_bar__plus_01_dot_45 Shelf_bar__plus_03_dot_69_bar__plus_00_dot_54_bar__plus_01_dot_64) + (inReceptacle Bread_bar__plus_00_dot_08_bar__plus_01_dot_66_bar__plus_02_dot_10 Fridge_bar__minus_00_dot_04_bar__plus_00_dot_00_bar__plus_02_dot_18) + (inReceptacle Egg_bar__plus_00_dot_08_bar__plus_00_dot_41_bar__plus_02_dot_05 Fridge_bar__minus_00_dot_04_bar__plus_00_dot_00_bar__plus_02_dot_18) + (inReceptacle Apple_bar__plus_00_dot_19_bar__plus_01_dot_20_bar__plus_02_dot_29 Fridge_bar__minus_00_dot_04_bar__plus_00_dot_00_bar__plus_02_dot_18) + (inReceptacleObject Spatula_bar__minus_02_dot_47_bar__plus_00_dot_89_bar__plus_03_dot_51 Cup_bar__minus_02_dot_53_bar__plus_00_dot_88_bar__plus_03_dot_57) + (inReceptacle Vase_bar__plus_03_dot_67_bar__plus_00_dot_17_bar__plus_01_dot_84 Shelf_bar__plus_03_dot_69_bar__plus_00_dot_16_bar__plus_01_dot_64) + (inReceptacle Fork_bar__minus_00_dot_33_bar__plus_00_dot_71_bar__minus_01_dot_57 Sink_bar__plus_00_dot_02_bar__plus_00_dot_77_bar__minus_01_dot_71_bar_SinkBasin) + (inReceptacle Apple_bar__minus_00_dot_33_bar__plus_00_dot_75_bar__minus_01_dot_68 Sink_bar__plus_00_dot_02_bar__plus_00_dot_77_bar__minus_01_dot_71_bar_SinkBasin) + (inReceptacle WineBottle_bar__minus_00_dot_90_bar__plus_00_dot_19_bar__plus_02_dot_10 GarbageCan_bar__minus_00_dot_87_bar__plus_00_dot_00_bar__plus_02_dot_14) + + + (receptacleAtLocation Cabinet_bar__plus_00_dot_38_bar__plus_00_dot_37_bar__minus_01_dot_24 loc_bar__minus_1_bar__minus_1_bar_2_bar_45) + (receptacleAtLocation Cabinet_bar__plus_00_dot_52_bar__plus_02_dot_01_bar__minus_01_dot_54 loc_bar_4_bar__minus_3_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_00_dot_78_bar__plus_00_dot_37_bar__minus_01_dot_24 loc_bar_0_bar__minus_1_bar_2_bar_45) + (receptacleAtLocation Cabinet_bar__plus_00_dot_85_bar__plus_02_dot_26_bar__minus_01_dot_54 loc_bar_2_bar__minus_2_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_01_dot_45_bar__plus_02_dot_26_bar__minus_01_dot_54 loc_bar_3_bar__minus_2_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_01_dot_78_bar__plus_00_dot_37_bar__minus_01_dot_24 loc_bar_5_bar__minus_1_bar_2_bar_45) + (receptacleAtLocation Cabinet_bar__plus_01_dot_78_bar__plus_02_dot_01_bar__minus_01_dot_54 loc_bar_5_bar__minus_3_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_57_bar__plus_00_dot_37_bar__minus_01_dot_24 loc_bar__minus_3_bar__minus_1_bar_2_bar_45) + (receptacleAtLocation Cabinet_bar__minus_00_dot_71_bar__plus_02_dot_01_bar__minus_01_dot_54 loc_bar__minus_4_bar__minus_3_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__minus_01_dot_24 loc_bar__minus_2_bar__minus_2_bar_3_bar_60) + (receptacleAtLocation Cabinet_bar__minus_01_dot_67_bar__plus_02_dot_01_bar__minus_01_dot_54 loc_bar__minus_4_bar__minus_3_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_02_dot_17_bar__plus_02_dot_01_bar__minus_01_dot_54 loc_bar__minus_11_bar__minus_5_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_02_dot_22_bar__plus_00_dot_37_bar__minus_01_dot_87 loc_bar__minus_12_bar__minus_5_bar_1_bar_60) + (receptacleAtLocation CoffeeMachine_bar__minus_01_dot_11_bar__plus_00_dot_90_bar__minus_01_dot_73 loc_bar__minus_4_bar__minus_3_bar_2_bar_45) + (receptacleAtLocation CounterTop_bar__plus_01_dot_65_bar__plus_00_dot_95_bar__minus_01_dot_53 loc_bar_5_bar__minus_3_bar_2_bar_45) + (receptacleAtLocation CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_00_dot_61 loc_bar__minus_11_bar__minus_4_bar_1_bar_45) + (receptacleAtLocation DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21 loc_bar__minus_11_bar_8_bar_0_bar_30) + (receptacleAtLocation Drawer_bar__plus_00_dot_60_bar__plus_00_dot_68_bar__minus_01_dot_40 loc_bar_1_bar__minus_2_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__plus_01_dot_65_bar__plus_00_dot_68_bar__minus_01_dot_40 loc_bar_7_bar__minus_1_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_64_bar__plus_00_dot_68_bar__minus_00_dot_93 loc_bar__minus_2_bar__minus_2_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__minus_02_dot_06_bar__plus_00_dot_68_bar__minus_01_dot_58 loc_bar__minus_13_bar__minus_5_bar_1_bar_45) + (receptacleAtLocation Fridge_bar__minus_00_dot_04_bar__plus_00_dot_00_bar__plus_02_dot_18 loc_bar_0_bar_5_bar_0_bar_60) + (receptacleAtLocation GarbageCan_bar__minus_00_dot_87_bar__plus_00_dot_00_bar__plus_02_dot_14 loc_bar__minus_5_bar_9_bar_1_bar_60) + (receptacleAtLocation Microwave_bar__plus_01_dot_15_bar__plus_01_dot_65_bar__minus_01_dot_61 loc_bar_5_bar__minus_3_bar_2_bar_0) + (receptacleAtLocation Shelf_bar__plus_03_dot_69_bar__plus_00_dot_16_bar__plus_01_dot_64 loc_bar_13_bar_3_bar_0_bar_60) + (receptacleAtLocation Shelf_bar__plus_03_dot_69_bar__plus_00_dot_54_bar__plus_01_dot_64 loc_bar_10_bar_4_bar_1_bar_45) + (receptacleAtLocation Shelf_bar__plus_03_dot_69_bar__plus_00_dot_87_bar__plus_01_dot_64 loc_bar_12_bar_2_bar_0_bar_30) + (receptacleAtLocation Sink_bar__plus_00_dot_02_bar__plus_00_dot_77_bar__minus_01_dot_71_bar_SinkBasin loc_bar_0_bar__minus_3_bar_2_bar_45) + (receptacleAtLocation StoveBurner_bar__plus_00_dot_97_bar__plus_00_dot_96_bar__minus_01_dot_42 loc_bar_4_bar__minus_3_bar_2_bar_45) + (receptacleAtLocation StoveBurner_bar__plus_00_dot_97_bar__plus_00_dot_96_bar__minus_01_dot_69 loc_bar_4_bar__minus_3_bar_2_bar_30) + (receptacleAtLocation StoveBurner_bar__plus_01_dot_33_bar__plus_00_dot_96_bar__minus_01_dot_42 loc_bar_5_bar__minus_3_bar_2_bar_45) + (receptacleAtLocation StoveBurner_bar__plus_01_dot_33_bar__plus_00_dot_96_bar__minus_01_dot_69 loc_bar_5_bar__minus_3_bar_2_bar_30) + (receptacleAtLocation Toaster_bar__plus_01_dot_64_bar__plus_00_dot_90_bar__minus_01_dot_67 loc_bar_5_bar__minus_3_bar_2_bar_45) + (objectAtLocation Bowl_bar__minus_02_dot_20_bar__plus_00_dot_87_bar__plus_03_dot_48 loc_bar__minus_11_bar_8_bar_0_bar_30) + (objectAtLocation Spoon_bar__minus_02_dot_41_bar__plus_00_dot_88_bar__plus_02_dot_76 loc_bar__minus_11_bar_8_bar_0_bar_30) + (objectAtLocation Pan_bar__plus_01_dot_33_bar__plus_00_dot_96_bar__minus_01_dot_69 loc_bar_5_bar__minus_3_bar_2_bar_30) + (objectAtLocation Apple_bar__plus_00_dot_19_bar__plus_01_dot_20_bar__plus_02_dot_29 loc_bar_0_bar_5_bar_0_bar_60) + (objectAtLocation Bread_bar__minus_02_dot_15_bar__plus_00_dot_96_bar__plus_03_dot_22 loc_bar__minus_11_bar_8_bar_0_bar_30) + (objectAtLocation ButterKnife_bar__minus_03_dot_02_bar__plus_00_dot_88_bar__plus_02_dot_86 loc_bar__minus_11_bar_8_bar_0_bar_30) + (objectAtLocation Lettuce_bar__minus_02_dot_70_bar__plus_00_dot_94_bar__plus_02_dot_95 loc_bar__minus_11_bar_8_bar_0_bar_30) + (objectAtLocation SaltShaker_bar__plus_01_dot_76_bar__plus_00_dot_91_bar__minus_01_dot_44 loc_bar_5_bar__minus_3_bar_2_bar_45) + (objectAtLocation Spatula_bar__minus_02_dot_47_bar__plus_00_dot_89_bar__plus_03_dot_51 loc_bar__minus_10_bar_8_bar_0_bar_30) + (objectAtLocation WineBottle_bar__minus_03_dot_17_bar__plus_00_dot_88_bar__plus_03_dot_22 loc_bar__minus_11_bar_8_bar_0_bar_30) + (objectAtLocation Cup_bar__plus_01_dot_60_bar__plus_01_dot_65_bar__minus_01_dot_63 loc_bar_5_bar__minus_3_bar_2_bar__minus_30) + (objectAtLocation Fork_bar__minus_00_dot_33_bar__plus_00_dot_71_bar__minus_01_dot_57 loc_bar_0_bar__minus_3_bar_2_bar_45) + (objectAtLocation Book_bar__minus_00_dot_40_bar__plus_00_dot_12_bar__minus_01_dot_41 loc_bar__minus_3_bar__minus_1_bar_2_bar_45) + (objectAtLocation Lettuce_bar__plus_00_dot_53_bar__plus_00_dot_98_bar__minus_01_dot_67 loc_bar__minus_11_bar__minus_4_bar_1_bar_45) + (objectAtLocation SaltShaker_bar__minus_01_dot_69_bar__plus_00_dot_12_bar__minus_00_dot_69 loc_bar__minus_2_bar__minus_2_bar_3_bar_60) + (objectAtLocation Bowl_bar__plus_01_dot_65_bar__plus_00_dot_11_bar__minus_01_dot_41 loc_bar_5_bar__minus_1_bar_2_bar_45) + (objectAtLocation Cup_bar__minus_02_dot_18_bar__plus_00_dot_91_bar__minus_00_dot_61 loc_bar__minus_11_bar__minus_4_bar_1_bar_45) + (objectAtLocation ButterKnife_bar__minus_02_dot_66_bar__plus_00_dot_87_bar__plus_02_dot_72 loc_bar__minus_11_bar_8_bar_0_bar_30) + (objectAtLocation Book_bar__minus_03_dot_00_bar__plus_00_dot_88_bar__plus_03_dot_30 loc_bar__minus_11_bar_8_bar_0_bar_30) + (objectAtLocation Sink_bar__plus_00_dot_02_bar__plus_00_dot_77_bar__minus_01_dot_71 loc_bar__minus_11_bar__minus_4_bar_1_bar_45) + (objectAtLocation Fork_bar__minus_01_dot_52_bar__plus_00_dot_91_bar__minus_00_dot_94 loc_bar__minus_11_bar__minus_4_bar_1_bar_45) + (objectAtLocation Tomato_bar__plus_00_dot_71_bar__plus_00_dot_96_bar__minus_01_dot_57 loc_bar__minus_11_bar__minus_4_bar_1_bar_45) + (objectAtLocation LightSwitch_bar__plus_02_dot_83_bar__plus_01_dot_27_bar__minus_00_dot_75 loc_bar_11_bar__minus_1_bar_2_bar_45) + (objectAtLocation Egg_bar__plus_00_dot_08_bar__plus_00_dot_41_bar__plus_02_dot_05 loc_bar_0_bar_5_bar_0_bar_60) + (objectAtLocation Kettle_bar__plus_00_dot_97_bar__plus_00_dot_96_bar__minus_01_dot_69 loc_bar_4_bar__minus_3_bar_2_bar_30) + (objectAtLocation Vase_bar__plus_03_dot_67_bar__plus_00_dot_17_bar__plus_01_dot_84 loc_bar_13_bar_3_bar_0_bar_60) + (objectAtLocation Cup_bar__minus_02_dot_53_bar__plus_00_dot_88_bar__plus_03_dot_57 loc_bar__minus_11_bar_8_bar_0_bar_30) + (objectAtLocation Window_bar__minus_00_dot_12_bar__plus_01_dot_80_bar__minus_01_dot_90 loc_bar_0_bar__minus_3_bar_2_bar__minus_15) + (objectAtLocation Window_bar__minus_04_dot_01_bar__plus_01_dot_80_bar__plus_00_dot_31 loc_bar__minus_14_bar_1_bar_3_bar__minus_15) + (objectAtLocation WineBottle_bar__minus_00_dot_90_bar__plus_00_dot_19_bar__plus_02_dot_10 loc_bar__minus_5_bar_9_bar_1_bar_60) + (objectAtLocation Plate_bar__plus_00_dot_08_bar__plus_00_dot_81_bar__plus_02_dot_25 loc_bar_0_bar_5_bar_0_bar_45) + (objectAtLocation Spatula_bar__minus_00_dot_83_bar__plus_00_dot_93_bar__minus_01_dot_57 loc_bar__minus_11_bar__minus_4_bar_1_bar_45) + (objectAtLocation Potato_bar__plus_00_dot_23_bar__plus_00_dot_97_bar__minus_01_dot_72 loc_bar_0_bar__minus_3_bar_2_bar_45) + (objectAtLocation Pot_bar__minus_01_dot_60_bar__plus_00_dot_90_bar__minus_00_dot_17 loc_bar__minus_11_bar__minus_4_bar_1_bar_45) + (objectAtLocation Knife_bar__minus_01_dot_74_bar__plus_00_dot_93_bar__minus_00_dot_61 loc_bar__minus_11_bar__minus_4_bar_1_bar_45) + (objectAtLocation SaltShaker_bar__plus_01_dot_00_bar__plus_02_dot_15_bar__minus_01_dot_75 loc_bar_2_bar__minus_2_bar_2_bar__minus_30) + (objectAtLocation PepperShaker_bar__minus_03_dot_17_bar__plus_00_dot_87_bar__plus_03_dot_42 loc_bar__minus_11_bar_8_bar_0_bar_30) + (objectAtLocation Lettuce_bar__plus_00_dot_57_bar__plus_00_dot_98_bar__minus_01_dot_37 loc_bar__minus_11_bar__minus_4_bar_1_bar_45) + (objectAtLocation ButterKnife_bar__plus_00_dot_62_bar__plus_00_dot_91_bar__minus_01_dot_67 loc_bar__minus_11_bar__minus_4_bar_1_bar_45) + (objectAtLocation StoveKnob_bar__plus_01_dot_09_bar__plus_00_dot_91_bar__minus_01_dot_24 loc_bar_4_bar__minus_3_bar_2_bar_60) + (objectAtLocation StoveKnob_bar__plus_01_dot_21_bar__plus_00_dot_91_bar__minus_01_dot_24 loc_bar_5_bar__minus_3_bar_2_bar_60) + (objectAtLocation StoveKnob_bar__plus_01_dot_34_bar__plus_00_dot_91_bar__minus_01_dot_24 loc_bar_5_bar__minus_3_bar_2_bar_60) + (objectAtLocation StoveKnob_bar__plus_00_dot_96_bar__plus_00_dot_91_bar__minus_01_dot_24 loc_bar_4_bar__minus_3_bar_2_bar_60) + (objectAtLocation Bread_bar__plus_00_dot_08_bar__plus_01_dot_66_bar__plus_02_dot_10 loc_bar_0_bar_5_bar_0_bar_60) + (objectAtLocation Chair_bar__minus_02_dot_41_bar__plus_00_dot_57_bar__plus_00_dot_07 loc_bar__minus_11_bar_0_bar_1_bar_60) + (objectAtLocation Chair_bar__minus_02_dot_47_bar__plus_00_dot_57_bar__minus_00_dot_80 loc_bar__minus_11_bar__minus_4_bar_1_bar_60) + (objectAtLocation Vase_bar__plus_03_dot_79_bar__plus_00_dot_55_bar__plus_01_dot_97 loc_bar_10_bar_4_bar_1_bar_45) + (objectAtLocation DishSponge_bar__plus_00_dot_01_bar__plus_00_dot_93_bar__minus_01_dot_36 loc_bar_0_bar__minus_3_bar_2_bar_45) + (objectAtLocation Apple_bar__minus_00_dot_33_bar__plus_00_dot_75_bar__minus_01_dot_68 loc_bar_0_bar__minus_3_bar_2_bar_45) + (objectAtLocation Pan_bar__plus_01_dot_33_bar__plus_00_dot_96_bar__minus_01_dot_42 loc_bar_5_bar__minus_3_bar_2_bar_45) + (objectAtLocation Chair_bar__minus_03_dot_50_bar__plus_00_dot_00_bar__plus_03_dot_45 loc_bar__minus_14_bar_10_bar_0_bar_60) + (objectAtLocation Chair_bar__minus_02_dot_82_bar__plus_00_dot_00_bar__plus_02_dot_60 loc_bar__minus_11_bar_8_bar_0_bar_60) + (objectAtLocation Chair_bar__minus_01_dot_92_bar__plus_00_dot_00_bar__plus_03_dot_47 loc_bar__minus_7_bar_11_bar_0_bar_60) + (objectAtLocation Spoon_bar__minus_02_dot_53_bar__plus_00_dot_88_bar__plus_02_dot_88 loc_bar__minus_11_bar_8_bar_0_bar_30) + (objectAtLocation HousePlant_bar__minus_02_dot_74_bar__plus_00_dot_87_bar__plus_03_dot_21 loc_bar__minus_11_bar_8_bar_0_bar_30) + (objectAtLocation SoapBottle_bar__plus_00_dot_07_bar__plus_00_dot_93_bar__minus_01_dot_65 loc_bar_0_bar__minus_3_bar_2_bar_45) + (objectAtLocation Mug_bar__minus_01_dot_33_bar__plus_01_dot_65_bar__minus_01_dot_64 loc_bar__minus_4_bar__minus_3_bar_2_bar__minus_30) + (objectAtLocation Statue_bar__plus_03_dot_85_bar__plus_00_dot_56_bar__plus_01_dot_45 loc_bar_10_bar_4_bar_1_bar_45) + (objectAtLocation Statue_bar__minus_03_dot_02_bar__plus_00_dot_87_bar__plus_03_dot_58 loc_bar__minus_11_bar_8_bar_0_bar_30) + (objectAtLocation Bowl_bar__minus_02_dot_66_bar__plus_00_dot_87_bar__plus_03_dot_73 loc_bar__minus_11_bar_8_bar_0_bar_30) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (heatable ?o) + (objectType ?o CupType) + (receptacleType ?r ShelfType) + (isHot ?o) + (inReceptacle ?o ?r) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff 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"z": 2.251742 + }, + "rotation": { + "x": 0.0, + "y": 180.000336, + "z": 0.0 + } + }, + { + "objectName": "Spatula_759492dd", + "position": { + "x": -2.47287226, + "y": 0.8935903, + "z": 3.513177 + }, + "rotation": { + "x": 0.0, + "y": 225.000046, + "z": 0.0 + } + }, + { + "objectName": "Potato_92b0ae81", + "position": { + "x": 0.234652877, + "y": 0.9653204, + "z": -1.71829462 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "Pot_fcc17e74", + "position": { + "x": -1.60200489, + "y": 0.901, + "z": -0.172676325 + }, + "rotation": { + "x": 0.0, + "y": 308.1196, + "z": 0.0 + } + }, + { + "objectName": "Knife_f7b250a5", + "position": { + "x": -1.73881042, + "y": 0.9340927, + "z": -0.614 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SaltShaker_ba969788", + "position": { + "x": 1.76045752, + "y": 0.906406164, + "z": -1.43724537 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "PepperShaker_32949c32", + "position": { + "x": -3.1748805, + "y": 0.8748966, + "z": 3.42263842 + }, + "rotation": { + "x": 0.0, + "y": 135.000092, + "z": 0.0 + } + }, + { + "objectName": "Lettuce_e46f4ce8", + "position": { + "x": -2.69725323, + "y": 0.9398912, + "z": 2.94500947 + }, + "rotation": { + "x": 0.0, + "y": 135.000092, + "z": 0.0 + } + }, + { + "objectName": "ButterKnife_628dcab4", + "position": { + "x": -3.017421, + "y": 0.8786325, + "z": 2.86365533 + }, + "rotation": { + "x": 0.0, + "y": 225.000046, + "z": 0.0 + } + }, + { + "objectName": "Bread_403e6980", + "position": { + "x": -2.15259933, + "y": 0.9619979, + "z": 3.22187638 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "Vase_b78f3af0", + "position": { + "x": 3.79325676, + "y": 0.5542519, + "z": 1.96802485 + }, + "rotation": { + "x": 359.961, + "y": 270.000061, + "z": 0.03900441 + } + }, + { + "objectName": "DishSponge_bd179bb7", + "position": { + "x": 0.0144844931, + "y": 0.9282063, + "z": -1.35690451 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "Apple_23f7a2f7", + "position": { + "x": 0.193125576, + "y": 1.19902861, + "z": 2.2864213 + }, + "rotation": { + "x": 0.0, + "y": 180.000336, + "z": 0.0 + } + }, + { + "objectName": "Pan_aa05aa65", + "position": { + "x": 1.3286, + "y": 0.9576474, + "z": -1.6882 + }, + "rotation": { + "x": 0.0, + "y": 180.000061, + "z": 0.0 + } + }, + { + "objectName": "Spoon_b16915eb", + "position": { + "x": -2.40595269, + "y": 0.8759226, + "z": 2.7586813 + }, + "rotation": { + "x": 0.0, + "y": 135.000092, + "z": 0.0 + } + }, + { + "objectName": "SoapBottle_30c4ced6", + "position": { + "x": 0.06952657, + "y": 0.9290857, + "z": -1.6460166 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_e4d9d6fe", + "position": { + "x": -1.33146334, + "y": 1.65249991, + "z": -1.6370883 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Statue_c0a5928e", + "position": { + "x": 3.845034, + "y": 0.5598516, + "z": 1.44952071 + }, + "rotation": { + "x": 359.961, + "y": 270.000061, + "z": 0.03900441 + } + }, + { + "objectName": "Statue_bf0c7315", + "position": { + "x": -3.01742029, + "y": 0.8735903, + "z": 3.58009815 + }, + "rotation": { + "x": 0.0, + "y": 315.0001, + "z": 0.0 + } + }, + { + "objectName": "Bowl_9c57f915", + "position": { + "x": -2.19600534, + "y": 0.87291497, + "z": 3.47512412 + }, + "rotation": { + "x": 0.0, + "y": 225.000046, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 4075933956, + "scene_num": 7 + }, + "task_id": "trial_T20190906_211214_598438", + "task_type": "pick_heat_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A1HKHM4NVAO98H_30MVJZJNHPUEH3HBA9ZMU7DEFCN9JW", + "high_descs": [ + "go to the microwave", + "open up the cabinet to the left of the microwave and get out a cup", + "bring the cup over to the kitchen stove", + "place the cup in the microwave above the kitchen stove and turn it on, then take out the cup", + "take the cup over to the three brown shelves in the corner of the kitchen", + "place the cup on the top shelf" + ], + "task_desc": "place a microwaved cup on the brown shelf", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1MKCTVKE7J0ZP_3180JW2OT7TVGGFZ7JM5IR8CTDS5JJ", + "high_descs": [ + "Go to the cabinet behind you.", + "Remove the cup from the cabinet.", + "Take the cup to the microwave next to the cabinet.", + "Heat the cup in the microwave.", + "Take the cup to the shelf behind you and to the right.", + "Place the cup on the top shelf." + ], + "task_desc": "Place a heated cup on the shelf.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A10AVWALIHR4UQ_3UXUOQ9OKHEZ2RQE16OPNCJPUX8A74", + "high_descs": [ + "Turn left and move towards the refrigerator then turn left and move to the toaster next to the oven.", + "Open the cabinet door above the toaster, pick up the gold cup, and then close the cabinet.", + "Turn right and move to towards the oven then turn right and face the oven.", + "Open the microwave above the oven, microwave the gold cup, open the microwave again and pick up the gold cup. ", + "Turn left and move towards the wall then turn left again and move towards the refrigerator, then turn right and move towards the door, and finally turn left and move to the shelves in the corner of the room.", + "Place the gold cup on the right side of the shelves' top shelf." + ], + "task_desc": "Place a heated cup on a 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-Egg-None-GarbageCan-5/trial_T20190906_190505_376018/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Egg-None-GarbageCan-5/trial_T20190906_190505_376018/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..da14742287a812d6c8551a5a0fb06ad9e57b7675 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Egg-None-GarbageCan-5/trial_T20190906_190505_376018/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\n\\n#task#\"\n }\n ],\n\n \"notImplemented\": [\n {\n \"rhs\": \"TODO\"\n }\n ],\n\n \"task\": [\n {\n \"rhs\": \"Your task is to: heat some egg and put it in garbagecan.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190906_190505_376018)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Apple_bar__minus_00_dot_20_bar__plus_00_dot_81_bar__minus_02_dot_01 - object\n Bowl_bar__plus_01_dot_06_bar__plus_01_dot_66_bar__minus_02_dot_16 - object\n Bowl_bar__plus_01_dot_81_bar__plus_01_dot_01_bar__minus_01_dot_25 - 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_82_bar__plus_01_dot_13_bar__plus_00_dot_71 - 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_78_bar__plus_00_dot_91_bar__minus_01_dot_76 - object\n DishSponge_bar__minus_01_dot_00_bar__plus_00_dot_91_bar__minus_00_dot_23 - object\n Egg_bar__plus_01_dot_84_bar__plus_01_dot_46_bar__minus_00_dot_74 - object\n Egg_bar__plus_02_dot_11_bar__plus_00_dot_85_bar__minus_00_dot_27 - object\n Egg_bar__minus_00_dot_29_bar__plus_00_dot_80_bar__minus_02_dot_06 - 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 HousePlant_bar__minus_01_dot_25_bar__plus_01_dot_12_bar__plus_00_dot_61 - object\n Kettle_bar__plus_01_dot_53_bar__plus_01_dot_65_bar__minus_02_dot_13 - object\n Kettle_bar__minus_01_dot_36_bar__plus_01_dot_66_bar__minus_01_dot_60 - object\n Knife_bar__minus_00_dot_38_bar__plus_00_dot_79_bar__minus_02_dot_06 - object\n Knife_bar__minus_00_dot_66_bar__plus_00_dot_72_bar__minus_01_dot_94 - object\n Ladle_bar__minus_00_dot_15_bar__plus_01_dot_17_bar__plus_00_dot_71 - object\n Ladle_bar__minus_01_dot_24_bar__plus_00_dot_95_bar__minus_01_dot_72 - object\n Ladle_bar__minus_01_dot_39_bar__plus_01_dot_70_bar__plus_00_dot_23 - object\n Lettuce_bar__plus_01_dot_19_bar__plus_00_dot_99_bar__minus_01_dot_93 - object\n Lettuce_bar__minus_00_dot_42_bar__plus_00_dot_99_bar__plus_00_dot_14 - object\n LightSwitch_bar__plus_00_dot_40_bar__plus_01_dot_30_bar__plus_02_dot_00 - object\n Mug_bar__plus_01_dot_95_bar__plus_00_dot_81_bar__minus_00_dot_27 - object\n Mug_bar__plus_01_dot_95_bar__plus_01_dot_42_bar__minus_00_dot_46 - object\n Pan_bar__plus_01_dot_74_bar__plus_00_dot_90_bar__minus_01_dot_97 - object\n Pan_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_01_dot_13 - object\n PaperTowelRoll_bar__plus_01_dot_64_bar__plus_01_dot_02_bar__minus_02_dot_27 - object\n PepperShaker_bar__minus_00_dot_05_bar__plus_00_dot_11_bar__plus_00_dot_25 - object\n PepperShaker_bar__minus_00_dot_61_bar__plus_00_dot_69_bar__plus_00_dot_06 - object\n PepperShaker_bar__minus_01_dot_20_bar__plus_01_dot_66_bar__minus_00_dot_11 - object\n Plate_bar__minus_01_dot_03_bar__plus_00_dot_13_bar__minus_00_dot_20 - object\n Plate_bar__minus_01_dot_31_bar__plus_01_dot_66_bar__minus_00_dot_35 - object\n Potato_bar__plus_00_dot_07_bar__plus_01_dot_16_bar__plus_00_dot_53 - object\n Potato_bar__minus_01_dot_28_bar__plus_00_dot_94_bar__plus_00_dot_14 - object\n Pot_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_00_dot_67 - object\n 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loc_bar_10_bar_5_bar_2_bar_45 - location\n loc_bar__minus_2_bar__minus_2_bar_0_bar_45 - location\n loc_bar_4_bar__minus_5_bar_2_bar_45 - location\n loc_bar_1_bar__minus_5_bar_2_bar__minus_30 - location\n loc_bar_0_bar__minus_5_bar_2_bar__minus_30 - location\n loc_bar__minus_2_bar__minus_5_bar_3_bar_45 - location\n loc_bar_0_bar__minus_5_bar_3_bar_45 - location\n loc_bar_0_bar__minus_5_bar_2_bar_45 - location\n loc_bar__minus_2_bar_5_bar_2_bar_60 - location\n loc_bar_4_bar__minus_3_bar_2_bar_45 - location\n loc_bar_2_bar__minus_5_bar_2_bar__minus_30 - location\n loc_bar__minus_2_bar__minus_3_bar_3_bar_60 - location\n loc_bar_0_bar__minus_4_bar_3_bar_60 - location\n loc_bar_4_bar__minus_5_bar_2_bar__minus_30 - location\n loc_bar__minus_1_bar__minus_4_bar_0_bar_45 - location\n loc_bar_0_bar__minus_2_bar_0_bar_60 - location\n loc_bar__minus_2_bar__minus_4_bar_0_bar_45 - location\n loc_bar_3_bar__minus_5_bar_2_bar_45 - location\n loc_bar__minus_2_bar__minus_4_bar_3_bar_60 - location\n loc_bar__minus_1_bar__minus_5_bar_3_bar__minus_15 - location\n loc_bar_2_bar_3_bar_3_bar_30 - location\n loc_bar__minus_2_bar__minus_5_bar_3_bar__minus_30 - location\n loc_bar_1_bar_5_bar_1_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_27_bar__minus_00_dot_84 CabinetType)\n (receptacleType Shelf_bar__plus_02_dot_81_bar__plus_00_dot_87_bar__plus_00_dot_14 ShelfType)\n (receptacleType Cabinet_bar__minus_00_dot_42_bar__plus_00_dot_37_bar__minus_00_dot_01 CabinetType)\n (receptacleType Cabinet_bar__plus_01_dot_39_bar__plus_00_dot_47_bar__minus_01_dot_06 CabinetType)\n (receptacleType Cabinet_bar__plus_01_dot_75_bar__plus_02_dot_02_bar__minus_01_dot_40 CabinetType)\n (receptacleType Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_27_bar__minus_01_dot_42 CabinetType)\n (receptacleType StoveBurner_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__minus_01_dot_13 StoveBurnerType)\n (receptacleType 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Spoon_bar__plus_00_dot_06_bar__plus_00_dot_76_bar__minus_01_dot_95 Cup_bar__plus_00_dot_10_bar__plus_00_dot_75_bar__minus_01_dot_94)\n (inReceptacle Egg_bar__plus_01_dot_84_bar__plus_01_dot_46_bar__minus_00_dot_74 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54)\n (inReceptacle Mug_bar__plus_01_dot_95_bar__plus_01_dot_42_bar__minus_00_dot_46 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54)\n (inReceptacle Mug_bar__plus_01_dot_95_bar__plus_00_dot_81_bar__minus_00_dot_27 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54)\n (inReceptacle Tomato_bar__plus_01_dot_89_bar__plus_00_dot_87_bar__minus_00_dot_46 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54)\n (inReceptacle Egg_bar__plus_02_dot_11_bar__plus_00_dot_85_bar__minus_00_dot_27 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54)\n (inReceptacle Egg_bar__minus_00_dot_29_bar__plus_00_dot_80_bar__minus_02_dot_06 Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin)\n (inReceptacle Apple_bar__minus_00_dot_20_bar__plus_00_dot_81_bar__minus_02_dot_01 Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin)\n (inReceptacle Cup_bar__plus_00_dot_10_bar__plus_00_dot_75_bar__minus_01_dot_94 Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin)\n (inReceptacle Spatula_bar__minus_00_dot_12_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)\n (inReceptacle Spoon_bar__plus_00_dot_06_bar__plus_00_dot_76_bar__minus_01_dot_95 Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin)\n (inReceptacle Knife_bar__minus_00_dot_38_bar__plus_00_dot_79_bar__minus_02_dot_06 Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin)\n \n \n (receptacleAtLocation Cabinet_bar__plus_00_dot_12_bar__plus_02_dot_27_bar__minus_02_dot_00 loc_bar_1_bar__minus_5_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_20_bar__plus_02_dot_02_bar__minus_02_dot_00 loc_bar_2_bar__minus_5_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_18_bar__plus_02_dot_02_bar__minus_02_dot_00 loc_bar_4_bar__minus_5_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_38_bar__plus_00_dot_46_bar__minus_01_dot_69 loc_bar_4_bar__minus_3_bar_2_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_39_bar__plus_00_dot_47_bar__minus_01_dot_06 loc_bar_2_bar__minus_4_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_74_bar__plus_02_dot_02_bar__minus_02_dot_00 loc_bar_4_bar__minus_5_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_75_bar__plus_02_dot_02_bar__minus_01_dot_03 loc_bar_4_bar__minus_5_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_75_bar__plus_02_dot_02_bar__minus_01_dot_40 loc_bar_4_bar__minus_5_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_42_bar__plus_00_dot_37_bar__minus_00_dot_01 loc_bar__minus_1_bar__minus_4_bar_0_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_45_bar__plus_00_dot_47_bar__minus_00_dot_01 loc_bar__minus_2_bar__minus_4_bar_0_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_46_bar__plus_02_dot_27_bar__minus_02_dot_00 loc_bar_0_bar__minus_5_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_82_bar__plus_00_dot_47_bar__minus_01_dot_69 loc_bar__minus_1_bar__minus_3_bar_2_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_84_bar__plus_00_dot_47_bar__minus_00_dot_05 loc_bar_0_bar__minus_2_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_84_bar__plus_00_dot_47_bar__minus_01_dot_67 loc_bar_0_bar__minus_4_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_10_bar__plus_02_dot_02_bar__minus_02_dot_00 loc_bar__minus_2_bar__minus_5_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_02_bar__plus_00_dot_38 loc_bar__minus_2_bar__minus_1_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_02_bar__minus_00_dot_77 loc_bar__minus_2_bar__minus_2_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_02_bar__minus_01_dot_98 loc_bar__minus_1_bar__minus_5_bar_3_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_27_bar__minus_00_dot_84 loc_bar__minus_2_bar__minus_5_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_27_bar__minus_01_dot_42 loc_bar__minus_2_bar__minus_4_bar_3_bar__minus_30)\n (receptacleAtLocation CoffeeMachine_bar__plus_00_dot_50_bar__plus_00_dot_90_bar__minus_02_dot_13 loc_bar_2_bar__minus_5_bar_2_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57 loc_bar_2_bar_3_bar_3_bar_30)\n (receptacleAtLocation CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_07_bar__plus_00_dot_75_bar__minus_00_dot_01 loc_bar_3_bar__minus_2_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_45_bar__plus_00_dot_75_bar__minus_00_dot_01 loc_bar_0_bar__minus_2_bar_0_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_82_bar__plus_00_dot_75_bar__minus_01_dot_69 loc_bar_0_bar__minus_5_bar_3_bar_45)\n (receptacleAtLocation Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (receptacleAtLocation GarbageCan_bar__plus_01_dot_92_bar__plus_00_dot_00_bar__plus_00_dot_14 loc_bar_8_bar_3_bar_2_bar_60)\n (receptacleAtLocation Microwave_bar__plus_01_dot_83_bar__plus_00_dot_90_bar__minus_01_dot_35 loc_bar_4_bar__minus_5_bar_1_bar_45)\n (receptacleAtLocation Shelf_bar__plus_02_dot_81_bar__plus_00_dot_16_bar__plus_00_dot_14 loc_bar_11_bar_6_bar_2_bar_45)\n (receptacleAtLocation Shelf_bar__plus_02_dot_81_bar__plus_00_dot_54_bar__plus_00_dot_14 loc_bar_10_bar_5_bar_2_bar_45)\n (receptacleAtLocation Shelf_bar__plus_02_dot_81_bar__plus_00_dot_87_bar__plus_00_dot_14 loc_bar_8_bar_3_bar_1_bar_45)\n (receptacleAtLocation Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin loc_bar_0_bar__minus_5_bar_2_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__minus_00_dot_67 loc_bar__minus_2_bar__minus_3_bar_3_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__minus_01_dot_13 loc_bar__minus_2_bar__minus_5_bar_3_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_01_dot_29_bar__plus_00_dot_95_bar__minus_00_dot_76 loc_bar__minus_2_bar__minus_3_bar_3_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_01_dot_29_bar__plus_00_dot_95_bar__minus_01_dot_02 loc_bar__minus_2_bar__minus_4_bar_3_bar_45)\n (receptacleAtLocation Toaster_bar__plus_00_dot_84_bar__plus_00_dot_90_bar__minus_02_dot_06 loc_bar_3_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Mug_bar__plus_01_dot_95_bar__plus_01_dot_42_bar__minus_00_dot_46 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Spoon_bar__minus_00_dot_68_bar__plus_00_dot_70_bar__plus_00_dot_15 loc_bar_0_bar__minus_2_bar_0_bar_60)\n (objectAtLocation DishSponge_bar__minus_01_dot_00_bar__plus_00_dot_91_bar__minus_00_dot_23 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation PepperShaker_bar__minus_01_dot_20_bar__plus_01_dot_66_bar__minus_00_dot_11 loc_bar__minus_2_bar__minus_1_bar_3_bar__minus_30)\n (objectAtLocation Lettuce_bar__plus_01_dot_19_bar__plus_00_dot_99_bar__minus_01_dot_93 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation SoapBottle_bar__plus_01_dot_85_bar__plus_00_dot_06_bar__plus_00_dot_11 loc_bar_8_bar_3_bar_2_bar_60)\n (objectAtLocation Egg_bar__plus_02_dot_11_bar__plus_00_dot_85_bar__minus_00_dot_27 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Spatula_bar__minus_00_dot_12_bar__plus_00_dot_78_bar__minus_02_dot_12 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Plate_bar__minus_01_dot_31_bar__plus_01_dot_66_bar__minus_00_dot_35 loc_bar__minus_2_bar__minus_2_bar_3_bar__minus_30)\n (objectAtLocation Pot_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_01_dot_02 loc_bar__minus_2_bar__minus_5_bar_3_bar_45)\n (objectAtLocation Potato_bar__minus_01_dot_28_bar__plus_00_dot_94_bar__plus_00_dot_14 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Kettle_bar__plus_01_dot_53_bar__plus_01_dot_65_bar__minus_02_dot_13 loc_bar_4_bar__minus_5_bar_2_bar__minus_30)\n (objectAtLocation Ladle_bar__minus_00_dot_15_bar__plus_01_dot_17_bar__plus_00_dot_71 loc_bar__minus_1_bar_5_bar_2_bar_45)\n (objectAtLocation Bowl_bar__plus_01_dot_81_bar__plus_01_dot_01_bar__minus_01_dot_25 loc_bar_4_bar__minus_5_bar_1_bar_45)\n (objectAtLocation Knife_bar__minus_00_dot_38_bar__plus_00_dot_79_bar__minus_02_dot_06 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Pan_bar__plus_01_dot_74_bar__plus_00_dot_90_bar__minus_01_dot_97 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation PepperShaker_bar__minus_00_dot_05_bar__plus_00_dot_11_bar__plus_00_dot_25 loc_bar__minus_1_bar__minus_4_bar_0_bar_45)\n (objectAtLocation Egg_bar__plus_01_dot_84_bar__plus_01_dot_46_bar__minus_00_dot_74 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Ladle_bar__minus_01_dot_39_bar__plus_01_dot_70_bar__plus_00_dot_23 loc_bar__minus_2_bar__minus_1_bar_3_bar__minus_30)\n (objectAtLocation Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Chair_bar__minus_00_dot_46_bar__plus_00_dot_01_bar__plus_00_dot_75 loc_bar__minus_2_bar_5_bar_2_bar_60)\n (objectAtLocation Chair_bar__minus_00_dot_08_bar__plus_00_dot_01_bar__plus_00_dot_76 loc_bar_0_bar_5_bar_2_bar_60)\n (objectAtLocation HousePlant_bar__minus_01_dot_25_bar__plus_01_dot_12_bar__plus_00_dot_61 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation Pan_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_01_dot_13 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Knife_bar__minus_00_dot_66_bar__plus_00_dot_72_bar__minus_01_dot_94 loc_bar_0_bar__minus_5_bar_3_bar_45)\n (objectAtLocation Bowl_bar__plus_01_dot_06_bar__plus_01_dot_66_bar__minus_02_dot_16 loc_bar_4_bar__minus_5_bar_2_bar__minus_30)\n (objectAtLocation Fork_bar__minus_00_dot_05_bar__plus_00_dot_70_bar__plus_00_dot_18 loc_bar_3_bar__minus_2_bar_3_bar_45)\n (objectAtLocation Cup_bar__plus_00_dot_10_bar__plus_00_dot_75_bar__minus_01_dot_94 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Ladle_bar__minus_01_dot_24_bar__plus_00_dot_95_bar__minus_01_dot_72 loc_bar__minus_2_bar__minus_5_bar_3_bar_45)\n (objectAtLocation Apple_bar__minus_00_dot_20_bar__plus_00_dot_81_bar__minus_02_dot_01 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Kettle_bar__minus_01_dot_36_bar__plus_01_dot_66_bar__minus_01_dot_60 loc_bar__minus_1_bar__minus_5_bar_3_bar__minus_15)\n (objectAtLocation Vase_bar__minus_00_dot_85_bar__plus_00_dot_92_bar__plus_00_dot_29 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Potato_bar__plus_00_dot_07_bar__plus_01_dot_16_bar__plus_00_dot_53 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation Pot_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_00_dot_67 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_03_bar__plus_00_dot_13_bar__minus_00_dot_20 loc_bar_0_bar__minus_2_bar_3_bar_60)\n (objectAtLocation LightSwitch_bar__plus_00_dot_40_bar__plus_01_dot_30_bar__plus_02_dot_00 loc_bar_2_bar_6_bar_0_bar_30)\n (objectAtLocation Spatula_bar__minus_00_dot_82_bar__plus_01_dot_15_bar__plus_00_dot_62 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation PaperTowelRoll_bar__plus_01_dot_64_bar__plus_01_dot_02_bar__minus_02_dot_27 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Vase_bar__minus_00_dot_21_bar__plus_00_dot_92_bar__plus_00_dot_14 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Egg_bar__minus_00_dot_29_bar__plus_00_dot_80_bar__minus_02_dot_06 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (objectAtLocation SoapBottle_bar__plus_00_dot_62_bar__plus_01_dot_66_bar__minus_02_dot_16 loc_bar_2_bar__minus_5_bar_2_bar__minus_30)\n (objectAtLocation SaltShaker_bar__minus_00_dot_60_bar__plus_01_dot_13_bar__plus_00_dot_44 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation Lettuce_bar__minus_00_dot_42_bar__plus_00_dot_99_bar__plus_00_dot_14 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation PepperShaker_bar__minus_00_dot_61_bar__plus_00_dot_69_bar__plus_00_dot_06 loc_bar_0_bar__minus_2_bar_0_bar_60)\n (objectAtLocation ButterKnife_bar__minus_00_dot_82_bar__plus_01_dot_13_bar__plus_00_dot_71 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_83 loc_bar__minus_2_bar__minus_3_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_68 loc_bar__minus_2_bar__minus_3_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_97 loc_bar__minus_2_bar__minus_4_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_01_dot_12 loc_bar__minus_2_bar__minus_4_bar_3_bar_60)\n (objectAtLocation DishSponge_bar__minus_00_dot_78_bar__plus_00_dot_91_bar__minus_01_dot_76 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Vase_bar__minus_00_dot_61_bar__plus_00_dot_11_bar__plus_00_dot_22 loc_bar__minus_2_bar__minus_4_bar_0_bar_45)\n (objectAtLocation Spoon_bar__plus_00_dot_06_bar__plus_00_dot_76_bar__minus_01_dot_95 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Tomato_bar__plus_01_dot_89_bar__plus_00_dot_87_bar__minus_00_dot_46 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Mug_bar__plus_01_dot_95_bar__plus_00_dot_81_bar__minus_00_dot_27 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Statue_bar__plus_02_dot_59_bar__plus_00_dot_89_bar__plus_00_dot_20 loc_bar_8_bar_3_bar_1_bar_45)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (heatable ?o)\n (objectType ?o EggType)\n (receptacleType ?r GarbageCanType)\n (isHot ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to sinkbasin 1", "take egg 3 from sinkbasin 1", "go to microwave 1", "heat egg 3 with microwave 1", "go to garbagecan 1", "move egg 3 to garbagecan 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Egg-None-GarbageCan-5/trial_T20190906_190505_376018/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Egg-None-GarbageCan-5/trial_T20190906_190505_376018/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..440dd470bf872b36a1e3fc4a70c74dcd2f39d7d2 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Egg-None-GarbageCan-5/trial_T20190906_190505_376018/initial_state.pddl @@ -0,0 +1,1237 @@ + +(define (problem plan_trial_T20190906_190505_376018) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + 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_00_dot_81_bar__minus_02_dot_01 - object + Bowl_bar__plus_01_dot_06_bar__plus_01_dot_66_bar__minus_02_dot_16 - object + Bowl_bar__plus_01_dot_81_bar__plus_01_dot_01_bar__minus_01_dot_25 - object + Bread_bar__minus_01_dot_15_bar__plus_00_dot_98_bar__minus_00_dot_19 - object + ButterKnife_bar__minus_00_dot_82_bar__plus_01_dot_13_bar__plus_00_dot_71 - 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_78_bar__plus_00_dot_91_bar__minus_01_dot_76 - object + DishSponge_bar__minus_01_dot_00_bar__plus_00_dot_91_bar__minus_00_dot_23 - object + Egg_bar__plus_01_dot_84_bar__plus_01_dot_46_bar__minus_00_dot_74 - object + Egg_bar__plus_02_dot_11_bar__plus_00_dot_85_bar__minus_00_dot_27 - object + Egg_bar__minus_00_dot_29_bar__plus_00_dot_80_bar__minus_02_dot_06 - 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 + HousePlant_bar__minus_01_dot_25_bar__plus_01_dot_12_bar__plus_00_dot_61 - object + Kettle_bar__plus_01_dot_53_bar__plus_01_dot_65_bar__minus_02_dot_13 - object + Kettle_bar__minus_01_dot_36_bar__plus_01_dot_66_bar__minus_01_dot_60 - object + Knife_bar__minus_00_dot_38_bar__plus_00_dot_79_bar__minus_02_dot_06 - object + Knife_bar__minus_00_dot_66_bar__plus_00_dot_72_bar__minus_01_dot_94 - object + Ladle_bar__minus_00_dot_15_bar__plus_01_dot_17_bar__plus_00_dot_71 - object + Ladle_bar__minus_01_dot_24_bar__plus_00_dot_95_bar__minus_01_dot_72 - object + Ladle_bar__minus_01_dot_39_bar__plus_01_dot_70_bar__plus_00_dot_23 - object + Lettuce_bar__plus_01_dot_19_bar__plus_00_dot_99_bar__minus_01_dot_93 - object + Lettuce_bar__minus_00_dot_42_bar__plus_00_dot_99_bar__plus_00_dot_14 - object + LightSwitch_bar__plus_00_dot_40_bar__plus_01_dot_30_bar__plus_02_dot_00 - object + Mug_bar__plus_01_dot_95_bar__plus_00_dot_81_bar__minus_00_dot_27 - object + Mug_bar__plus_01_dot_95_bar__plus_01_dot_42_bar__minus_00_dot_46 - object + Pan_bar__plus_01_dot_74_bar__plus_00_dot_90_bar__minus_01_dot_97 - object + Pan_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_01_dot_13 - object + PaperTowelRoll_bar__plus_01_dot_64_bar__plus_01_dot_02_bar__minus_02_dot_27 - object + PepperShaker_bar__minus_00_dot_05_bar__plus_00_dot_11_bar__plus_00_dot_25 - object + PepperShaker_bar__minus_00_dot_61_bar__plus_00_dot_69_bar__plus_00_dot_06 - object + PepperShaker_bar__minus_01_dot_20_bar__plus_01_dot_66_bar__minus_00_dot_11 - object + Plate_bar__minus_01_dot_03_bar__plus_00_dot_13_bar__minus_00_dot_20 - object + Plate_bar__minus_01_dot_31_bar__plus_01_dot_66_bar__minus_00_dot_35 - object + Potato_bar__plus_00_dot_07_bar__plus_01_dot_16_bar__plus_00_dot_53 - object + Potato_bar__minus_01_dot_28_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_01_dot_02 - object + SaltShaker_bar__minus_00_dot_60_bar__plus_01_dot_13_bar__plus_00_dot_44 - object + Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01 - object + SoapBottle_bar__plus_00_dot_62_bar__plus_01_dot_66_bar__minus_02_dot_16 - object + SoapBottle_bar__plus_01_dot_85_bar__plus_00_dot_06_bar__plus_00_dot_11 - object + Spatula_bar__minus_00_dot_12_bar__plus_00_dot_78_bar__minus_02_dot_12 - object + Spatula_bar__minus_00_dot_82_bar__plus_01_dot_15_bar__plus_00_dot_62 - object + Spoon_bar__plus_00_dot_06_bar__plus_00_dot_76_bar__minus_01_dot_95 - object + Spoon_bar__minus_00_dot_68_bar__plus_00_dot_70_bar__plus_00_dot_15 - object + Statue_bar__plus_02_dot_59_bar__plus_00_dot_89_bar__plus_00_dot_20 - object + StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_68 - object + StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_83 - object + StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_97 - object + StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_01_dot_12 - object + Tomato_bar__plus_01_dot_89_bar__plus_00_dot_87_bar__minus_00_dot_46 - object + Vase_bar__minus_00_dot_21_bar__plus_00_dot_92_bar__plus_00_dot_14 - object + Vase_bar__minus_00_dot_61_bar__plus_00_dot_11_bar__plus_00_dot_22 - object + Vase_bar__minus_00_dot_85_bar__plus_00_dot_92_bar__plus_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__minus_1_bar_5_bar_2_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_1_bar_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 Cabinet_bar__minus_00_dot_42_bar__plus_00_dot_37_bar__minus_00_dot_01 CabinetType) + (receptacleType Cabinet_bar__plus_01_dot_39_bar__plus_00_dot_47_bar__minus_01_dot_06 CabinetType) + (receptacleType Cabinet_bar__plus_01_dot_75_bar__plus_02_dot_02_bar__minus_01_dot_40 CabinetType) + (receptacleType Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_27_bar__minus_01_dot_42 CabinetType) + (receptacleType StoveBurner_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__minus_01_dot_13 StoveBurnerType) + (receptacleType Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_02_bar__plus_00_dot_38 CabinetType) + (receptacleType Cabinet_bar__plus_01_dot_75_bar__plus_02_dot_02_bar__minus_01_dot_03 CabinetType) + (receptacleType Cabinet_bar__minus_00_dot_84_bar__plus_00_dot_47_bar__minus_00_dot_05 CabinetType) + (receptacleType GarbageCan_bar__plus_01_dot_92_bar__plus_00_dot_00_bar__plus_00_dot_14 GarbageCanType) + (receptacleType CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01 CounterTopType) + (receptacleType Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin SinkBasinType) + (receptacleType Cabinet_bar__plus_00_dot_20_bar__plus_02_dot_02_bar__minus_02_dot_00 CabinetType) + (receptacleType Microwave_bar__plus_01_dot_83_bar__plus_00_dot_90_bar__minus_01_dot_35 MicrowaveType) + (receptacleType Toaster_bar__plus_00_dot_84_bar__plus_00_dot_90_bar__minus_02_dot_06 ToasterType) + (receptacleType Cabinet_bar__plus_01_dot_74_bar__plus_02_dot_02_bar__minus_02_dot_00 CabinetType) + (receptacleType Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_02_bar__minus_00_dot_77 CabinetType) + (receptacleType Shelf_bar__plus_02_dot_81_bar__plus_00_dot_54_bar__plus_00_dot_14 ShelfType) + (receptacleType Drawer_bar__minus_00_dot_07_bar__plus_00_dot_75_bar__minus_00_dot_01 DrawerType) + (receptacleType Cabinet_bar__plus_00_dot_12_bar__plus_02_dot_27_bar__minus_02_dot_00 CabinetType) + (receptacleType Cabinet_bar__minus_01_dot_10_bar__plus_02_dot_02_bar__minus_02_dot_00 CabinetType) + (receptacleType Drawer_bar__minus_00_dot_45_bar__plus_00_dot_75_bar__minus_00_dot_01 DrawerType) + (receptacleType CoffeeMachine_bar__plus_00_dot_50_bar__plus_00_dot_90_bar__minus_02_dot_13 CoffeeMachineType) + 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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 Pan_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_01_dot_13 StoveBurner_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__minus_01_dot_13) + (inReceptacle Fork_bar__minus_00_dot_05_bar__plus_00_dot_70_bar__plus_00_dot_18 Drawer_bar__minus_00_dot_07_bar__plus_00_dot_75_bar__minus_00_dot_01) + (inReceptacle 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 Lettuce_bar__plus_01_dot_19_bar__plus_00_dot_99_bar__minus_01_dot_93 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01) + (inReceptacle PaperTowelRoll_bar__plus_01_dot_64_bar__plus_01_dot_02_bar__minus_02_dot_27 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01) + (inReceptacle DishSponge_bar__minus_00_dot_78_bar__plus_00_dot_91_bar__minus_01_dot_76 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01) + (inReceptacle Pan_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_01_dot_13 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01) + (inReceptacleObject Pot_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_01_dot_02 Pan_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_01_dot_13) + (inReceptacle SoapBottle_bar__plus_01_dot_85_bar__plus_00_dot_06_bar__plus_00_dot_11 GarbageCan_bar__plus_01_dot_92_bar__plus_00_dot_00_bar__plus_00_dot_14) + (inReceptacle Statue_bar__plus_02_dot_59_bar__plus_00_dot_89_bar__plus_00_dot_20 Shelf_bar__plus_02_dot_81_bar__plus_00_dot_87_bar__plus_00_dot_14) + (inReceptacle Bowl_bar__plus_01_dot_81_bar__plus_01_dot_01_bar__minus_01_dot_25 Microwave_bar__plus_01_dot_83_bar__plus_00_dot_90_bar__minus_01_dot_35) + (inReceptacleObject Spoon_bar__plus_00_dot_06_bar__plus_00_dot_76_bar__minus_01_dot_95 Cup_bar__plus_00_dot_10_bar__plus_00_dot_75_bar__minus_01_dot_94) + (inReceptacle Egg_bar__plus_01_dot_84_bar__plus_01_dot_46_bar__minus_00_dot_74 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54) + (inReceptacle Mug_bar__plus_01_dot_95_bar__plus_01_dot_42_bar__minus_00_dot_46 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54) + (inReceptacle Mug_bar__plus_01_dot_95_bar__plus_00_dot_81_bar__minus_00_dot_27 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54) + (inReceptacle Tomato_bar__plus_01_dot_89_bar__plus_00_dot_87_bar__minus_00_dot_46 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54) + (inReceptacle Egg_bar__plus_02_dot_11_bar__plus_00_dot_85_bar__minus_00_dot_27 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54) + (inReceptacle 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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 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", + "Heat the egg in the microwave. ", + "Bring the egg to the trash can.", + "Put the egg in the trash can. " + ], + "task_desc": "Put a heated egg in the trash can. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A23HZ18KTCK2DA_3KWTYT0873K1B63ZA4YIY6L4X9BL5T", + "high_descs": [ + "Turn to your right and go to the sink.", + "Pick the egg up that is in the sink.", + "With the egg go to the microwave and open the microwave door.", + "Put the egg in the microwave oven and shut the door. Turn the microwave on. When finished open the door and take the egg out of the microwave. Shut the microwave door.", + "Go to the trash can that is on the left side of the fridge.", + "Put the egg in the trash can to the left and behind the object that is in there." + ], + "task_desc": "Warm up an egg to throw it away.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1HKHM4NVAO98H_3WJEQKOXABJLR5BCCQ7GM2SCRHGA1R", + "high_descs": [ + "turn right and head over to the kitchen sink at the right corner of the room", + "grab the egg out of the sink", + "turn left and head over to the microwave straight ahead", + "place the egg inside of the microwave, microwave it, then take it back out", + "move to the left a bit and face the garbage bin next to the fridge on the left", + "place the egg inside of the garbage bin" + ], + "task_desc": "place a microwaved egg inside the garbage bin", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Egg-None-GarbageCan-5/trial_T20190906_190603_375591/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Egg-None-GarbageCan-5/trial_T20190906_190603_375591/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..fd3dd8a1b7199b04c9bd044deef6df8fb240f363 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Egg-None-GarbageCan-5/trial_T20190906_190603_375591/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\n\\n#task#\"\n }\n ],\n\n \"notImplemented\": [\n {\n \"rhs\": \"TODO\"\n }\n ],\n\n \"task\": [\n {\n \"rhs\": \"Your task is to: heat some egg and put it in garbagecan.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190906_190603_375591)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\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_15_bar__minus_00_dot_46 - object\n Apple_bar__minus_00_dot_90_bar__plus_00_dot_96_bar__minus_02_dot_01 - object\n Bowl_bar__plus_00_dot_07_bar__plus_01_dot_13_bar__plus_00_dot_57 - object\n Bread_bar__minus_01_dot_16_bar__plus_00_dot_99_bar__minus_00_dot_21 - 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_38_bar__plus_01_dot_13_bar__plus_00_dot_62 - object\n ButterKnife_bar__minus_01_dot_24_bar__plus_00_dot_91_bar__minus_01_dot_89 - object\n Chair_bar__minus_00_dot_08_bar__plus_00_dot_01_bar__plus_00_dot_76 - object\n Chair_bar__minus_00_dot_46_bar__plus_00_dot_01_bar__plus_00_dot_75 - object\n Cup_bar__plus_00_dot_10_bar__plus_00_dot_75_bar__minus_01_dot_94 - object\n DishSponge_bar__minus_00_dot_25_bar__plus_00_dot_70_bar__plus_00_dot_10 - object\n DishSponge_bar__minus_01_dot_05_bar__plus_01_dot_13_bar__plus_00_dot_49 - object\n DishSponge_bar__minus_01_dot_35_bar__plus_01_dot_66_bar__minus_00_dot_04 - object\n Egg_bar__plus_02_dot_04_bar__plus_00_dot_10_bar__plus_00_dot_14 - object\n Egg_bar__minus_00_dot_29_bar__plus_00_dot_80_bar__minus_01_dot_90 - object\n Egg_bar__minus_00_dot_38_bar__plus_01_dot_17_bar__plus_00_dot_44 - object\n Egg_bar__minus_01_dot_38_bar__plus_00_dot_94_bar__minus_02_dot_18 - object\n Faucet_bar__minus_00_dot_16_bar__plus_01_dot_05_bar__minus_02_dot_20 - object\n Fork_bar__minus_00_dot_03_bar__plus_00_dot_76_bar__minus_02_dot_01 - object\n HousePlant_bar__minus_01_dot_25_bar__plus_01_dot_12_bar__plus_00_dot_61 - object\n Kettle_bar__minus_01_dot_05_bar__plus_00_dot_95_bar__minus_02_dot_09 - object\n Kettle_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_00_dot_67 - object\n Knife_bar__minus_00_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_14 - object\n Knife_bar__minus_01_dot_08_bar__plus_00_dot_91_bar__minus_00_dot_26 - object\n Ladle_bar__minus_00_dot_99_bar__plus_00_dot_95_bar__minus_01_dot_64 - object\n Ladle_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__plus_00_dot_14 - object\n Lettuce_bar__plus_01_dot_95_bar__plus_01_dot_50_bar__minus_00_dot_64 - object\n Lettuce_bar__plus_02_dot_00_bar__plus_00_dot_89_bar__minus_00_dot_37 - object\n Lettuce_bar__plus_02_dot_00_bar__plus_00_dot_89_bar__minus_00_dot_74 - object\n LightSwitch_bar__plus_00_dot_40_bar__plus_01_dot_30_bar__plus_02_dot_00 - object\n Mug_bar__plus_00_dot_06_bar__plus_00_dot_76_bar__minus_02_dot_06 - object\n Mug_bar__plus_00_dot_50_bar__plus_00_dot_96_bar__minus_01_dot_90 - object\n Mug_bar__plus_01_dot_81_bar__plus_01_dot_01_bar__minus_01_dot_25 - object\n Pan_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_01_dot_02 - object\n PaperTowelRoll_bar__minus_00_dot_85_bar__plus_01_dot_02_bar__plus_00_dot_29 - object\n PepperShaker_bar__plus_02_dot_69_bar__plus_00_dot_55_bar__plus_00_dot_30 - object\n PepperShaker_bar__minus_00_dot_68_bar__plus_00_dot_69_bar__plus_00_dot_23 - object\n PepperShaker_bar__minus_01_dot_23_bar__plus_01_dot_66_bar__minus_00_dot_42 - object\n Plate_bar__plus_01_dot_91_bar__plus_01_dot_66_bar__minus_01_dot_20 - object\n Plate_bar__minus_01_dot_07_bar__plus_00_dot_13_bar__minus_01_dot_50 - object\n Plate_bar__minus_01_dot_32_bar__plus_01_dot_66_bar__minus_01_dot_73 - object\n Potato_bar__minus_00_dot_38_bar__plus_00_dot_79_bar__minus_02_dot_06 - object\n Pot_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_01_dot_13 - object\n Pot_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_00_dot_76 - object\n SaltShaker_bar__minus_00_dot_66_bar__plus_00_dot_11_bar__minus_01_dot_96 - object\n Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01 - object\n SoapBottle_bar__plus_01_dot_85_bar__plus_00_dot_06_bar__plus_00_dot_11 - object\n SoapBottle_bar__minus_00_dot_15_bar__plus_01_dot_13_bar__plus_00_dot_57 - object\n Spatula_bar__plus_00_dot_07_bar__plus_01_dot_15_bar__plus_00_dot_44 - object\n Spatula_bar__minus_00_dot_20_bar__plus_00_dot_78_bar__minus_02_dot_06 - object\n Spoon_bar__minus_00_dot_66_bar__plus_00_dot_70_bar__minus_01_dot_89 - object\n Statue_bar__plus_02_dot_69_bar__plus_00_dot_56_bar__plus_00_dot_09 - object\n Statue_bar__plus_02_dot_90_bar__plus_00_dot_89_bar__plus_00_dot_20 - object\n StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_68 - object\n StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_83 - object\n StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_97 - object\n StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_01_dot_12 - object\n Tomato_bar__minus_01_dot_33_bar__plus_00_dot_96_bar__minus_00_dot_35 - object\n Vase_bar__plus_02_dot_70_bar__plus_00_dot_87_bar__plus_00_dot_18 - object\n Vase_bar__plus_02_dot_98_bar__plus_00_dot_54_bar__plus_00_dot_13 - object\n Vase_bar__minus_01_dot_38_bar__plus_00_dot_91_bar__minus_02_dot_01 - object\n Cabinet_bar__plus_00_dot_12_bar__plus_02_dot_27_bar__minus_02_dot_00 - receptacle\n Cabinet_bar__plus_00_dot_20_bar__plus_02_dot_02_bar__minus_02_dot_00 - receptacle\n Cabinet_bar__plus_01_dot_18_bar__plus_02_dot_02_bar__minus_02_dot_00 - receptacle\n Cabinet_bar__plus_01_dot_38_bar__plus_00_dot_46_bar__minus_01_dot_69 - receptacle\n Cabinet_bar__plus_01_dot_39_bar__plus_00_dot_47_bar__minus_01_dot_06 - receptacle\n Cabinet_bar__plus_01_dot_74_bar__plus_02_dot_02_bar__minus_02_dot_00 - receptacle\n Cabinet_bar__plus_01_dot_75_bar__plus_02_dot_02_bar__minus_01_dot_03 - receptacle\n Cabinet_bar__plus_01_dot_75_bar__plus_02_dot_02_bar__minus_01_dot_40 - receptacle\n Cabinet_bar__minus_00_dot_42_bar__plus_00_dot_37_bar__minus_00_dot_01 - receptacle\n Cabinet_bar__minus_00_dot_45_bar__plus_00_dot_47_bar__minus_00_dot_01 - receptacle\n Cabinet_bar__minus_00_dot_46_bar__plus_02_dot_27_bar__minus_02_dot_00 - receptacle\n Cabinet_bar__minus_00_dot_82_bar__plus_00_dot_47_bar__minus_01_dot_69 - receptacle\n Cabinet_bar__minus_00_dot_84_bar__plus_00_dot_47_bar__minus_00_dot_05 - receptacle\n Cabinet_bar__minus_00_dot_84_bar__plus_00_dot_47_bar__minus_01_dot_67 - receptacle\n Cabinet_bar__minus_01_dot_10_bar__plus_02_dot_02_bar__minus_02_dot_00 - receptacle\n Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_02_bar__plus_00_dot_38 - receptacle\n Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_02_bar__minus_00_dot_77 - receptacle\n Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_02_bar__minus_01_dot_98 - receptacle\n Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_27_bar__minus_00_dot_84 - receptacle\n Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_27_bar__minus_01_dot_42 - receptacle\n CoffeeMachine_bar__plus_00_dot_50_bar__plus_00_dot_90_bar__minus_02_dot_13 - receptacle\n CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01 - receptacle\n CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57 - receptacle\n CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19 - receptacle\n Drawer_bar__minus_00_dot_07_bar__plus_00_dot_75_bar__minus_00_dot_01 - receptacle\n Drawer_bar__minus_00_dot_45_bar__plus_00_dot_75_bar__minus_00_dot_01 - receptacle\n Drawer_bar__minus_00_dot_82_bar__plus_00_dot_75_bar__minus_01_dot_69 - receptacle\n Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54 - receptacle\n GarbageCan_bar__plus_01_dot_92_bar__plus_00_dot_00_bar__plus_00_dot_14 - receptacle\n Microwave_bar__plus_01_dot_83_bar__plus_00_dot_90_bar__minus_01_dot_35 - receptacle\n Shelf_bar__plus_02_dot_81_bar__plus_00_dot_16_bar__plus_00_dot_14 - receptacle\n Shelf_bar__plus_02_dot_81_bar__plus_00_dot_54_bar__plus_00_dot_14 - receptacle\n Shelf_bar__plus_02_dot_81_bar__plus_00_dot_87_bar__plus_00_dot_14 - receptacle\n Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin - receptacle\n StoveBurner_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__minus_00_dot_67 - receptacle\n StoveBurner_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__minus_01_dot_13 - receptacle\n StoveBurner_bar__minus_01_dot_29_bar__plus_00_dot_95_bar__minus_00_dot_76 - receptacle\n StoveBurner_bar__minus_01_dot_29_bar__plus_00_dot_95_bar__minus_01_dot_02 - receptacle\n Toaster_bar__plus_00_dot_84_bar__plus_00_dot_90_bar__minus_02_dot_06 - receptacle\n loc_bar__minus_2_bar__minus_2_bar_3_bar__minus_30 - location\n loc_bar__minus_2_bar__minus_1_bar_3_bar__minus_30 - location\n loc_bar_3_bar__minus_2_bar_3_bar_45 - location\n loc_bar_8_bar_3_bar_2_bar_60 - location\n loc_bar_4_bar__minus_5_bar_1_bar__minus_30 - location\n loc_bar_2_bar__minus_4_bar_1_bar_60 - location\n loc_bar__minus_2_bar__minus_4_bar_3_bar_45 - location\n loc_bar_2_bar__minus_5_bar_2_bar_45 - location\n loc_bar_8_bar_3_bar_1_bar_45 - location\n loc_bar__minus_2_bar__minus_3_bar_3_bar_45 - location\n loc_bar__minus_1_bar__minus_3_bar_2_bar_45 - location\n loc_bar__minus_2_bar__minus_4_bar_3_bar__minus_30 - location\n loc_bar_4_bar__minus_5_bar_1_bar_45 - location\n loc_bar_4_bar__minus_3_bar_1_bar_60 - location\n loc_bar_0_bar_5_bar_2_bar_60 - location\n loc_bar_2_bar_6_bar_0_bar_30 - location\n loc_bar__minus_2_bar__minus_5_bar_2_bar__minus_30 - location\n loc_bar_0_bar__minus_2_bar_3_bar_60 - location\n loc_bar_11_bar_6_bar_2_bar_45 - location\n loc_bar_10_bar_5_bar_2_bar_45 - location\n loc_bar__minus_2_bar__minus_2_bar_0_bar_45 - location\n loc_bar_4_bar__minus_5_bar_2_bar_45 - location\n loc_bar_1_bar__minus_5_bar_2_bar__minus_30 - location\n loc_bar_0_bar__minus_5_bar_2_bar__minus_30 - location\n loc_bar__minus_2_bar__minus_5_bar_3_bar_45 - location\n loc_bar_0_bar__minus_5_bar_3_bar_45 - location\n loc_bar_0_bar__minus_5_bar_2_bar_45 - location\n loc_bar__minus_2_bar_5_bar_2_bar_60 - location\n loc_bar_4_bar__minus_3_bar_2_bar_45 - location\n loc_bar_2_bar__minus_5_bar_2_bar__minus_30 - location\n loc_bar__minus_2_bar__minus_3_bar_3_bar_60 - location\n loc_bar_0_bar__minus_4_bar_3_bar_60 - location\n loc_bar_4_bar__minus_5_bar_2_bar__minus_30 - location\n loc_bar__minus_1_bar__minus_4_bar_0_bar_45 - location\n loc_bar_0_bar__minus_2_bar_0_bar_60 - location\n loc_bar__minus_2_bar__minus_4_bar_0_bar_45 - location\n loc_bar_3_bar__minus_5_bar_2_bar_45 - location\n loc_bar__minus_2_bar__minus_4_bar_3_bar_60 - location\n loc_bar__minus_1_bar__minus_5_bar_3_bar__minus_15 - location\n loc_bar_2_bar_3_bar_3_bar_30 - location\n loc_bar__minus_2_bar__minus_5_bar_3_bar__minus_30 - location\n loc_bar_3_bar_2_bar_1_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_27_bar__minus_00_dot_84 CabinetType)\n (receptacleType Shelf_bar__plus_02_dot_81_bar__plus_00_dot_87_bar__plus_00_dot_14 ShelfType)\n (receptacleType Cabinet_bar__minus_00_dot_42_bar__plus_00_dot_37_bar__minus_00_dot_01 CabinetType)\n (receptacleType Cabinet_bar__plus_01_dot_39_bar__plus_00_dot_47_bar__minus_01_dot_06 CabinetType)\n (receptacleType Cabinet_bar__plus_01_dot_75_bar__plus_02_dot_02_bar__minus_01_dot_40 CabinetType)\n (receptacleType Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_27_bar__minus_01_dot_42 CabinetType)\n (receptacleType StoveBurner_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__minus_01_dot_13 StoveBurnerType)\n (receptacleType Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_02_bar__plus_00_dot_38 CabinetType)\n (receptacleType Cabinet_bar__plus_01_dot_75_bar__plus_02_dot_02_bar__minus_01_dot_03 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_84_bar__plus_00_dot_47_bar__minus_00_dot_05 CabinetType)\n (receptacleType GarbageCan_bar__plus_01_dot_92_bar__plus_00_dot_00_bar__plus_00_dot_14 GarbageCanType)\n (receptacleType CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01 CounterTopType)\n (receptacleType Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin SinkBasinType)\n (receptacleType Cabinet_bar__plus_00_dot_20_bar__plus_02_dot_02_bar__minus_02_dot_00 CabinetType)\n (receptacleType Microwave_bar__plus_01_dot_83_bar__plus_00_dot_90_bar__minus_01_dot_35 MicrowaveType)\n (receptacleType Toaster_bar__plus_00_dot_84_bar__plus_00_dot_90_bar__minus_02_dot_06 ToasterType)\n (receptacleType Cabinet_bar__plus_01_dot_74_bar__plus_02_dot_02_bar__minus_02_dot_00 CabinetType)\n (receptacleType Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_02_bar__minus_00_dot_77 CabinetType)\n (receptacleType Shelf_bar__plus_02_dot_81_bar__plus_00_dot_54_bar__plus_00_dot_14 ShelfType)\n (receptacleType Drawer_bar__minus_00_dot_07_bar__plus_00_dot_75_bar__minus_00_dot_01 DrawerType)\n (receptacleType Cabinet_bar__plus_00_dot_12_bar__plus_02_dot_27_bar__minus_02_dot_00 CabinetType)\n (receptacleType Cabinet_bar__minus_01_dot_10_bar__plus_02_dot_02_bar__minus_02_dot_00 CabinetType)\n (receptacleType Drawer_bar__minus_00_dot_45_bar__plus_00_dot_75_bar__minus_00_dot_01 DrawerType)\n (receptacleType CoffeeMachine_bar__plus_00_dot_50_bar__plus_00_dot_90_bar__minus_02_dot_13 CoffeeMachineType)\n (receptacleType Cabinet_bar__minus_00_dot_45_bar__plus_00_dot_47_bar__minus_00_dot_01 CabinetType)\n (receptacleType Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54 FridgeType)\n (receptacleType StoveBurner_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__minus_00_dot_67 StoveBurnerType)\n (receptacleType Cabinet_bar__minus_00_dot_46_bar__plus_02_dot_27_bar__minus_02_dot_00 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_84_bar__plus_00_dot_47_bar__minus_01_dot_67 CabinetType)\n (receptacleType StoveBurner_bar__minus_01_dot_29_bar__plus_00_dot_95_bar__minus_00_dot_76 StoveBurnerType)\n (receptacleType Cabinet_bar__plus_01_dot_18_bar__plus_02_dot_02_bar__minus_02_dot_00 CabinetType)\n (receptacleType Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_02_bar__minus_01_dot_98 CabinetType)\n (receptacleType Shelf_bar__plus_02_dot_81_bar__plus_00_dot_16_bar__plus_00_dot_14 ShelfType)\n (receptacleType CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19 CounterTopType)\n (receptacleType Cabinet_bar__plus_01_dot_38_bar__plus_00_dot_46_bar__minus_01_dot_69 CabinetType)\n (receptacleType StoveBurner_bar__minus_01_dot_29_bar__plus_00_dot_95_bar__minus_01_dot_02 StoveBurnerType)\n (receptacleType Cabinet_bar__minus_00_dot_82_bar__plus_00_dot_47_bar__minus_01_dot_69 CabinetType)\n (receptacleType CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57 CounterTopType)\n (receptacleType Drawer_bar__minus_00_dot_82_bar__plus_00_dot_75_bar__minus_01_dot_69 DrawerType)\n (objectType SoapBottle_bar__minus_00_dot_15_bar__plus_01_dot_13_bar__plus_00_dot_57 SoapBottleType)\n (objectType Ladle_bar__minus_00_dot_99_bar__plus_00_dot_95_bar__minus_01_dot_64 LadleType)\n (objectType Kettle_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_00_dot_67 KettleType)\n (objectType StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_83 StoveKnobType)\n (objectType Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01 SinkType)\n (objectType Vase_bar__minus_01_dot_38_bar__plus_00_dot_91_bar__minus_02_dot_01 VaseType)\n (objectType Knife_bar__minus_00_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_14 KnifeType)\n (objectType StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_68 StoveKnobType)\n (objectType Bread_bar__minus_01_dot_16_bar__plus_00_dot_99_bar__minus_00_dot_21 BreadType)\n (objectType ButterKnife_bar__minus_00_dot_19_bar__plus_00_dot_70_bar__plus_00_dot_18 ButterKnifeType)\n (objectType Spatula_bar__minus_00_dot_20_bar__plus_00_dot_78_bar__minus_02_dot_06 SpatulaType)\n (objectType DishSponge_bar__minus_01_dot_05_bar__plus_01_dot_13_bar__plus_00_dot_49 DishSpongeType)\n (objectType DishSponge_bar__minus_00_dot_25_bar__plus_00_dot_70_bar__plus_00_dot_10 DishSpongeType)\n (objectType PepperShaker_bar__minus_01_dot_23_bar__plus_01_dot_66_bar__minus_00_dot_42 PepperShakerType)\n (objectType ButterKnife_bar__minus_01_dot_24_bar__plus_00_dot_91_bar__minus_01_dot_89 ButterKnifeType)\n (objectType Statue_bar__plus_02_dot_90_bar__plus_00_dot_89_bar__plus_00_dot_20 StatueType)\n (objectType Vase_bar__plus_02_dot_98_bar__plus_00_dot_54_bar__plus_00_dot_13 VaseType)\n (objectType Cup_bar__plus_00_dot_10_bar__plus_00_dot_75_bar__minus_01_dot_94 CupType)\n (objectType SaltShaker_bar__minus_00_dot_66_bar__plus_00_dot_11_bar__minus_01_dot_96 SaltShakerType)\n (objectType Egg_bar__minus_01_dot_38_bar__plus_00_dot_94_bar__minus_02_dot_18 EggType)\n (objectType Fork_bar__minus_00_dot_03_bar__plus_00_dot_76_bar__minus_02_dot_01 ForkType)\n (objectType Potato_bar__minus_00_dot_38_bar__plus_00_dot_79_bar__minus_02_dot_06 PotatoType)\n (objectType Plate_bar__minus_01_dot_32_bar__plus_01_dot_66_bar__minus_01_dot_73 PlateType)\n (objectType Kettle_bar__minus_01_dot_05_bar__plus_00_dot_95_bar__minus_02_dot_09 KettleType)\n (objectType Chair_bar__minus_00_dot_46_bar__plus_00_dot_01_bar__plus_00_dot_75 ChairType)\n (objectType PaperTowelRoll_bar__minus_00_dot_85_bar__plus_01_dot_02_bar__plus_00_dot_29 PaperTowelRollType)\n (objectType HousePlant_bar__minus_01_dot_25_bar__plus_01_dot_12_bar__plus_00_dot_61 HousePlantType)\n (objectType Statue_bar__plus_02_dot_69_bar__plus_00_dot_56_bar__plus_00_dot_09 StatueType)\n (objectType StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_97 StoveKnobType)\n (objectType Ladle_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__plus_00_dot_14 LadleType)\n (objectType Bowl_bar__plus_00_dot_07_bar__plus_01_dot_13_bar__plus_00_dot_57 BowlType)\n (objectType Lettuce_bar__plus_02_dot_00_bar__plus_00_dot_89_bar__minus_00_dot_37 LettuceType)\n (objectType Pan_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_01_dot_02 PanType)\n (objectType Apple_bar__minus_00_dot_90_bar__plus_00_dot_96_bar__minus_02_dot_01 AppleType)\n (objectType PepperShaker_bar__minus_00_dot_68_bar__plus_00_dot_69_bar__plus_00_dot_23 PepperShakerType)\n (objectType StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_01_dot_12 StoveKnobType)\n (objectType SoapBottle_bar__plus_01_dot_85_bar__plus_00_dot_06_bar__plus_00_dot_11 SoapBottleType)\n (objectType Spoon_bar__minus_00_dot_66_bar__plus_00_dot_70_bar__minus_01_dot_89 SpoonType)\n (objectType Plate_bar__plus_01_dot_91_bar__plus_01_dot_66_bar__minus_01_dot_20 PlateType)\n (objectType Lettuce_bar__plus_01_dot_95_bar__plus_01_dot_50_bar__minus_00_dot_64 LettuceType)\n (objectType Pot_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_00_dot_76 PotType)\n (objectType Apple_bar__plus_01_dot_78_bar__plus_01_dot_15_bar__minus_00_dot_46 AppleType)\n (objectType ButterKnife_bar__minus_00_dot_38_bar__plus_01_dot_13_bar__plus_00_dot_62 ButterKnifeType)\n (objectType Egg_bar__minus_00_dot_38_bar__plus_01_dot_17_bar__plus_00_dot_44 EggType)\n (objectType 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Mug_bar__plus_00_dot_50_bar__plus_00_dot_96_bar__minus_01_dot_90 MugType)\n (objectType Spatula_bar__plus_00_dot_07_bar__plus_01_dot_15_bar__plus_00_dot_44 SpatulaType)\n (objectType Plate_bar__minus_01_dot_07_bar__plus_00_dot_13_bar__minus_01_dot_50 PlateType)\n (objectType Vase_bar__plus_02_dot_70_bar__plus_00_dot_87_bar__plus_00_dot_18 VaseType)\n (objectType Mug_bar__plus_00_dot_06_bar__plus_00_dot_76_bar__minus_02_dot_06 MugType)\n (objectType Tomato_bar__minus_01_dot_33_bar__plus_00_dot_96_bar__minus_00_dot_35 TomatoType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType BowlType)\n (canContain CabinetType KettleType)\n (canContain CabinetType PotType)\n (canContain CabinetType VaseType)\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 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Mug_bar__plus_00_dot_06_bar__plus_00_dot_76_bar__minus_02_dot_06)\n (cleanable Tomato_bar__minus_01_dot_33_bar__plus_00_dot_96_bar__minus_00_dot_35)\n \n (heatable Bread_bar__minus_01_dot_16_bar__plus_00_dot_99_bar__minus_00_dot_21)\n (heatable Cup_bar__plus_00_dot_10_bar__plus_00_dot_75_bar__minus_01_dot_94)\n (heatable Egg_bar__minus_01_dot_38_bar__plus_00_dot_94_bar__minus_02_dot_18)\n (heatable Potato_bar__minus_00_dot_38_bar__plus_00_dot_79_bar__minus_02_dot_06)\n (heatable Plate_bar__minus_01_dot_32_bar__plus_01_dot_66_bar__minus_01_dot_73)\n (heatable Apple_bar__minus_00_dot_90_bar__plus_00_dot_96_bar__minus_02_dot_01)\n (heatable Plate_bar__plus_01_dot_91_bar__plus_01_dot_66_bar__minus_01_dot_20)\n (heatable Apple_bar__plus_01_dot_78_bar__plus_01_dot_15_bar__minus_00_dot_46)\n (heatable Egg_bar__minus_00_dot_38_bar__plus_01_dot_17_bar__plus_00_dot_44)\n (heatable Egg_bar__minus_00_dot_29_bar__plus_00_dot_80_bar__minus_01_dot_90)\n (heatable Egg_bar__plus_02_dot_04_bar__plus_00_dot_10_bar__plus_00_dot_14)\n (heatable Mug_bar__plus_01_dot_81_bar__plus_01_dot_01_bar__minus_01_dot_25)\n (heatable Mug_bar__plus_00_dot_50_bar__plus_00_dot_96_bar__minus_01_dot_90)\n (heatable Plate_bar__minus_01_dot_07_bar__plus_00_dot_13_bar__minus_01_dot_50)\n (heatable Mug_bar__plus_00_dot_06_bar__plus_00_dot_76_bar__minus_02_dot_06)\n (heatable Tomato_bar__minus_01_dot_33_bar__plus_00_dot_96_bar__minus_00_dot_35)\n (coolable Bread_bar__minus_01_dot_16_bar__plus_00_dot_99_bar__minus_00_dot_21)\n (coolable Cup_bar__plus_00_dot_10_bar__plus_00_dot_75_bar__minus_01_dot_94)\n (coolable Egg_bar__minus_01_dot_38_bar__plus_00_dot_94_bar__minus_02_dot_18)\n (coolable Potato_bar__minus_00_dot_38_bar__plus_00_dot_79_bar__minus_02_dot_06)\n (coolable Plate_bar__minus_01_dot_32_bar__plus_01_dot_66_bar__minus_01_dot_73)\n (coolable Bowl_bar__plus_00_dot_07_bar__plus_01_dot_13_bar__plus_00_dot_57)\n (coolable Lettuce_bar__plus_02_dot_00_bar__plus_00_dot_89_bar__minus_00_dot_37)\n (coolable Pan_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_01_dot_02)\n (coolable Apple_bar__minus_00_dot_90_bar__plus_00_dot_96_bar__minus_02_dot_01)\n (coolable Plate_bar__plus_01_dot_91_bar__plus_01_dot_66_bar__minus_01_dot_20)\n (coolable Lettuce_bar__plus_01_dot_95_bar__plus_01_dot_50_bar__minus_00_dot_64)\n (coolable Pot_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_00_dot_76)\n (coolable Apple_bar__plus_01_dot_78_bar__plus_01_dot_15_bar__minus_00_dot_46)\n (coolable Egg_bar__minus_00_dot_38_bar__plus_01_dot_17_bar__plus_00_dot_44)\n (coolable Pot_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_01_dot_13)\n (coolable Egg_bar__minus_00_dot_29_bar__plus_00_dot_80_bar__minus_01_dot_90)\n (coolable Egg_bar__plus_02_dot_04_bar__plus_00_dot_10_bar__plus_00_dot_14)\n (coolable Lettuce_bar__plus_02_dot_00_bar__plus_00_dot_89_bar__minus_00_dot_74)\n (coolable Mug_bar__plus_01_dot_81_bar__plus_01_dot_01_bar__minus_01_dot_25)\n (coolable Mug_bar__plus_00_dot_50_bar__plus_00_dot_96_bar__minus_01_dot_90)\n (coolable Plate_bar__minus_01_dot_07_bar__plus_00_dot_13_bar__minus_01_dot_50)\n (coolable Mug_bar__plus_00_dot_06_bar__plus_00_dot_76_bar__minus_02_dot_06)\n (coolable Tomato_bar__minus_01_dot_33_bar__plus_00_dot_96_bar__minus_00_dot_35)\n \n \n \n \n \n (sliceable Bread_bar__minus_01_dot_16_bar__plus_00_dot_99_bar__minus_00_dot_21)\n (sliceable Egg_bar__minus_01_dot_38_bar__plus_00_dot_94_bar__minus_02_dot_18)\n (sliceable Potato_bar__minus_00_dot_38_bar__plus_00_dot_79_bar__minus_02_dot_06)\n (sliceable Lettuce_bar__plus_02_dot_00_bar__plus_00_dot_89_bar__minus_00_dot_37)\n (sliceable Apple_bar__minus_00_dot_90_bar__plus_00_dot_96_bar__minus_02_dot_01)\n (sliceable Lettuce_bar__plus_01_dot_95_bar__plus_01_dot_50_bar__minus_00_dot_64)\n (sliceable Apple_bar__plus_01_dot_78_bar__plus_01_dot_15_bar__minus_00_dot_46)\n (sliceable Egg_bar__minus_00_dot_38_bar__plus_01_dot_17_bar__plus_00_dot_44)\n (sliceable Egg_bar__minus_00_dot_29_bar__plus_00_dot_80_bar__minus_01_dot_90)\n (sliceable Egg_bar__plus_02_dot_04_bar__plus_00_dot_10_bar__plus_00_dot_14)\n (sliceable Lettuce_bar__plus_02_dot_00_bar__plus_00_dot_89_bar__minus_00_dot_74)\n (sliceable Tomato_bar__minus_01_dot_33_bar__plus_00_dot_96_bar__minus_00_dot_35)\n \n (inReceptacle Spoon_bar__minus_00_dot_66_bar__plus_00_dot_70_bar__minus_01_dot_89 Drawer_bar__minus_00_dot_82_bar__plus_00_dot_75_bar__minus_01_dot_69)\n (inReceptacle Kettle_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_00_dot_67 StoveBurner_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__minus_00_dot_67)\n (inReceptacle Pot_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_00_dot_76 StoveBurner_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__minus_00_dot_67)\n (inReceptacle Pot_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_00_dot_76 StoveBurner_bar__minus_01_dot_29_bar__plus_00_dot_95_bar__minus_00_dot_76)\n (inReceptacle 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)\n (inReceptacle Plate_bar__minus_01_dot_32_bar__plus_01_dot_66_bar__minus_01_dot_73 Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_02_bar__minus_01_dot_98)\n (inReceptacle PepperShaker_bar__minus_01_dot_23_bar__plus_01_dot_66_bar__minus_00_dot_42 Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_02_bar__minus_00_dot_77)\n (inReceptacle DishSponge_bar__minus_01_dot_35_bar__plus_01_dot_66_bar__minus_00_dot_04 Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_02_bar__plus_00_dot_38)\n (inReceptacle SaltShaker_bar__minus_00_dot_66_bar__plus_00_dot_11_bar__minus_01_dot_96 Cabinet_bar__minus_00_dot_82_bar__plus_00_dot_47_bar__minus_01_dot_69)\n (inReceptacle Ladle_bar__minus_00_dot_99_bar__plus_00_dot_95_bar__minus_01_dot_64 Cabinet_bar__minus_00_dot_84_bar__plus_00_dot_47_bar__minus_01_dot_67)\n (inReceptacle Plate_bar__minus_01_dot_07_bar__plus_00_dot_13_bar__minus_01_dot_50 Cabinet_bar__minus_00_dot_84_bar__plus_00_dot_47_bar__minus_01_dot_67)\n (inReceptacle Pan_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_01_dot_02 StoveBurner_bar__minus_01_dot_29_bar__plus_00_dot_95_bar__minus_01_dot_02)\n (inReceptacle Ladle_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__plus_00_dot_14 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19)\n (inReceptacle Knife_bar__minus_01_dot_08_bar__plus_00_dot_91_bar__minus_00_dot_26 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19)\n (inReceptacle Knife_bar__minus_00_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_14 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19)\n (inReceptacle Bread_bar__minus_01_dot_16_bar__plus_00_dot_99_bar__minus_00_dot_21 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19)\n (inReceptacle PaperTowelRoll_bar__minus_00_dot_85_bar__plus_01_dot_02_bar__plus_00_dot_29 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19)\n (inReceptacle Tomato_bar__minus_01_dot_33_bar__plus_00_dot_96_bar__minus_00_dot_35 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19)\n (inReceptacle PepperShaker_bar__minus_00_dot_68_bar__plus_00_dot_69_bar__plus_00_dot_23 Drawer_bar__minus_00_dot_45_bar__plus_00_dot_75_bar__minus_00_dot_01)\n (inReceptacle Bowl_bar__plus_00_dot_07_bar__plus_01_dot_13_bar__plus_00_dot_57 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57)\n (inReceptacle SoapBottle_bar__minus_00_dot_15_bar__plus_01_dot_13_bar__plus_00_dot_57 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57)\n (inReceptacle DishSponge_bar__minus_01_dot_05_bar__plus_01_dot_13_bar__plus_00_dot_49 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57)\n (inReceptacle Spatula_bar__plus_00_dot_07_bar__plus_01_dot_15_bar__plus_00_dot_44 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57)\n (inReceptacle ButterKnife_bar__minus_00_dot_38_bar__plus_01_dot_13_bar__plus_00_dot_62 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57)\n (inReceptacle HousePlant_bar__minus_01_dot_25_bar__plus_01_dot_12_bar__plus_00_dot_61 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57)\n (inReceptacle Egg_bar__minus_00_dot_38_bar__plus_01_dot_17_bar__plus_00_dot_44 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57)\n (inReceptacle Pan_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_01_dot_02 StoveBurner_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__minus_01_dot_13)\n (inReceptacle Pot_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_01_dot_13 StoveBurner_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__minus_01_dot_13)\n (inReceptacle 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)\n (inReceptacle DishSponge_bar__minus_00_dot_25_bar__plus_00_dot_70_bar__plus_00_dot_10 Drawer_bar__minus_00_dot_07_bar__plus_00_dot_75_bar__minus_00_dot_01)\n (inReceptacle Apple_bar__minus_00_dot_90_bar__plus_00_dot_96_bar__minus_02_dot_01 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01)\n (inReceptacle Ladle_bar__minus_00_dot_99_bar__plus_00_dot_95_bar__minus_01_dot_64 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01)\n (inReceptacle ButterKnife_bar__minus_01_dot_24_bar__plus_00_dot_91_bar__minus_01_dot_89 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01)\n (inReceptacle Vase_bar__minus_01_dot_38_bar__plus_00_dot_91_bar__minus_02_dot_01 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01)\n (inReceptacle Mug_bar__plus_00_dot_50_bar__plus_00_dot_96_bar__minus_01_dot_90 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01)\n (inReceptacle Egg_bar__minus_01_dot_38_bar__plus_00_dot_94_bar__minus_02_dot_18 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01)\n (inReceptacle Kettle_bar__minus_01_dot_05_bar__plus_00_dot_95_bar__minus_02_dot_09 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01)\n (inReceptacleObject Pot_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_01_dot_13 Pan_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_01_dot_02)\n (inReceptacle Egg_bar__plus_02_dot_04_bar__plus_00_dot_10_bar__plus_00_dot_14 GarbageCan_bar__plus_01_dot_92_bar__plus_00_dot_00_bar__plus_00_dot_14)\n (inReceptacle SoapBottle_bar__plus_01_dot_85_bar__plus_00_dot_06_bar__plus_00_dot_11 GarbageCan_bar__plus_01_dot_92_bar__plus_00_dot_00_bar__plus_00_dot_14)\n (inReceptacle Vase_bar__plus_02_dot_70_bar__plus_00_dot_87_bar__plus_00_dot_18 Shelf_bar__plus_02_dot_81_bar__plus_00_dot_87_bar__plus_00_dot_14)\n (inReceptacle Statue_bar__plus_02_dot_90_bar__plus_00_dot_89_bar__plus_00_dot_20 Shelf_bar__plus_02_dot_81_bar__plus_00_dot_87_bar__plus_00_dot_14)\n (inReceptacle Mug_bar__plus_01_dot_81_bar__plus_01_dot_01_bar__minus_01_dot_25 Microwave_bar__plus_01_dot_83_bar__plus_00_dot_90_bar__minus_01_dot_35)\n (inReceptacle PepperShaker_bar__plus_02_dot_69_bar__plus_00_dot_55_bar__plus_00_dot_30 Shelf_bar__plus_02_dot_81_bar__plus_00_dot_54_bar__plus_00_dot_14)\n (inReceptacle Statue_bar__plus_02_dot_69_bar__plus_00_dot_56_bar__plus_00_dot_09 Shelf_bar__plus_02_dot_81_bar__plus_00_dot_54_bar__plus_00_dot_14)\n (inReceptacle Vase_bar__plus_02_dot_98_bar__plus_00_dot_54_bar__plus_00_dot_13 Shelf_bar__plus_02_dot_81_bar__plus_00_dot_54_bar__plus_00_dot_14)\n (inReceptacle Lettuce_bar__plus_02_dot_00_bar__plus_00_dot_89_bar__minus_00_dot_74 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54)\n (inReceptacle Lettuce_bar__plus_02_dot_00_bar__plus_00_dot_89_bar__minus_00_dot_37 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54)\n (inReceptacle Lettuce_bar__plus_01_dot_95_bar__plus_01_dot_50_bar__minus_00_dot_64 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54)\n (inReceptacle Apple_bar__plus_01_dot_78_bar__plus_01_dot_15_bar__minus_00_dot_46 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54)\n (inReceptacle Egg_bar__minus_00_dot_29_bar__plus_00_dot_80_bar__minus_01_dot_90 Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin)\n (inReceptacle Cup_bar__plus_00_dot_10_bar__plus_00_dot_75_bar__minus_01_dot_94 Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin)\n (inReceptacle Fork_bar__minus_00_dot_03_bar__plus_00_dot_76_bar__minus_02_dot_01 Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin)\n (inReceptacle Potato_bar__minus_00_dot_38_bar__plus_00_dot_79_bar__minus_02_dot_06 Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin)\n (inReceptacle Mug_bar__plus_00_dot_06_bar__plus_00_dot_76_bar__minus_02_dot_06 Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin)\n (inReceptacle Spatula_bar__minus_00_dot_20_bar__plus_00_dot_78_bar__minus_02_dot_06 Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin)\n (inReceptacle Mug_bar__plus_00_dot_50_bar__plus_00_dot_96_bar__minus_01_dot_90 CoffeeMachine_bar__plus_00_dot_50_bar__plus_00_dot_90_bar__minus_02_dot_13)\n \n \n (receptacleAtLocation Cabinet_bar__plus_00_dot_12_bar__plus_02_dot_27_bar__minus_02_dot_00 loc_bar_1_bar__minus_5_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_20_bar__plus_02_dot_02_bar__minus_02_dot_00 loc_bar_2_bar__minus_5_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_18_bar__plus_02_dot_02_bar__minus_02_dot_00 loc_bar_4_bar__minus_5_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_38_bar__plus_00_dot_46_bar__minus_01_dot_69 loc_bar_4_bar__minus_3_bar_2_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_39_bar__plus_00_dot_47_bar__minus_01_dot_06 loc_bar_2_bar__minus_4_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_74_bar__plus_02_dot_02_bar__minus_02_dot_00 loc_bar_4_bar__minus_5_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_75_bar__plus_02_dot_02_bar__minus_01_dot_03 loc_bar_4_bar__minus_5_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_75_bar__plus_02_dot_02_bar__minus_01_dot_40 loc_bar_4_bar__minus_5_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_42_bar__plus_00_dot_37_bar__minus_00_dot_01 loc_bar__minus_1_bar__minus_4_bar_0_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_45_bar__plus_00_dot_47_bar__minus_00_dot_01 loc_bar__minus_2_bar__minus_4_bar_0_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_46_bar__plus_02_dot_27_bar__minus_02_dot_00 loc_bar_0_bar__minus_5_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_82_bar__plus_00_dot_47_bar__minus_01_dot_69 loc_bar__minus_1_bar__minus_3_bar_2_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_84_bar__plus_00_dot_47_bar__minus_00_dot_05 loc_bar_0_bar__minus_2_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_84_bar__plus_00_dot_47_bar__minus_01_dot_67 loc_bar_0_bar__minus_4_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_10_bar__plus_02_dot_02_bar__minus_02_dot_00 loc_bar__minus_2_bar__minus_5_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_02_bar__plus_00_dot_38 loc_bar__minus_2_bar__minus_1_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_02_bar__minus_00_dot_77 loc_bar__minus_2_bar__minus_2_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_02_bar__minus_01_dot_98 loc_bar__minus_1_bar__minus_5_bar_3_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_27_bar__minus_00_dot_84 loc_bar__minus_2_bar__minus_5_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_27_bar__minus_01_dot_42 loc_bar__minus_2_bar__minus_4_bar_3_bar__minus_30)\n (receptacleAtLocation CoffeeMachine_bar__plus_00_dot_50_bar__plus_00_dot_90_bar__minus_02_dot_13 loc_bar_2_bar__minus_5_bar_2_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57 loc_bar_2_bar_3_bar_3_bar_30)\n (receptacleAtLocation CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_07_bar__plus_00_dot_75_bar__minus_00_dot_01 loc_bar_3_bar__minus_2_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_45_bar__plus_00_dot_75_bar__minus_00_dot_01 loc_bar_0_bar__minus_2_bar_0_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_82_bar__plus_00_dot_75_bar__minus_01_dot_69 loc_bar_0_bar__minus_5_bar_3_bar_45)\n (receptacleAtLocation Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (receptacleAtLocation GarbageCan_bar__plus_01_dot_92_bar__plus_00_dot_00_bar__plus_00_dot_14 loc_bar_8_bar_3_bar_2_bar_60)\n (receptacleAtLocation Microwave_bar__plus_01_dot_83_bar__plus_00_dot_90_bar__minus_01_dot_35 loc_bar_4_bar__minus_5_bar_1_bar_45)\n (receptacleAtLocation Shelf_bar__plus_02_dot_81_bar__plus_00_dot_16_bar__plus_00_dot_14 loc_bar_11_bar_6_bar_2_bar_45)\n (receptacleAtLocation Shelf_bar__plus_02_dot_81_bar__plus_00_dot_54_bar__plus_00_dot_14 loc_bar_10_bar_5_bar_2_bar_45)\n (receptacleAtLocation Shelf_bar__plus_02_dot_81_bar__plus_00_dot_87_bar__plus_00_dot_14 loc_bar_8_bar_3_bar_1_bar_45)\n (receptacleAtLocation Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin loc_bar_0_bar__minus_5_bar_2_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__minus_00_dot_67 loc_bar__minus_2_bar__minus_3_bar_3_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__minus_01_dot_13 loc_bar__minus_2_bar__minus_5_bar_3_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_01_dot_29_bar__plus_00_dot_95_bar__minus_00_dot_76 loc_bar__minus_2_bar__minus_3_bar_3_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_01_dot_29_bar__plus_00_dot_95_bar__minus_01_dot_02 loc_bar__minus_2_bar__minus_4_bar_3_bar_45)\n (receptacleAtLocation Toaster_bar__plus_00_dot_84_bar__plus_00_dot_90_bar__minus_02_dot_06 loc_bar_3_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Statue_bar__plus_02_dot_69_bar__plus_00_dot_56_bar__plus_00_dot_09 loc_bar_10_bar_5_bar_2_bar_45)\n (objectAtLocation Mug_bar__plus_01_dot_81_bar__plus_01_dot_01_bar__minus_01_dot_25 loc_bar_4_bar__minus_5_bar_1_bar_45)\n (objectAtLocation DishSponge_bar__minus_01_dot_35_bar__plus_01_dot_66_bar__minus_00_dot_04 loc_bar__minus_2_bar__minus_1_bar_3_bar__minus_30)\n (objectAtLocation ButterKnife_bar__minus_01_dot_24_bar__plus_00_dot_91_bar__minus_01_dot_89 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation PepperShaker_bar__plus_02_dot_69_bar__plus_00_dot_55_bar__plus_00_dot_30 loc_bar_10_bar_5_bar_2_bar_45)\n (objectAtLocation 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 SoapBottle_bar__plus_01_dot_85_bar__plus_00_dot_06_bar__plus_00_dot_11 loc_bar_8_bar_3_bar_2_bar_60)\n (objectAtLocation Egg_bar__minus_00_dot_38_bar__plus_01_dot_17_bar__plus_00_dot_44 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation Spatula_bar__minus_00_dot_20_bar__plus_00_dot_78_bar__minus_02_dot_06 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Plate_bar__plus_01_dot_91_bar__plus_01_dot_66_bar__minus_01_dot_20 loc_bar_4_bar__minus_5_bar_1_bar__minus_30)\n (objectAtLocation Pot_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_01_dot_13 loc_bar__minus_2_bar__minus_4_bar_3_bar_45)\n (objectAtLocation Kettle_bar__minus_01_dot_05_bar__plus_00_dot_95_bar__minus_02_dot_09 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Apple_bar__plus_01_dot_78_bar__plus_01_dot_15_bar__minus_00_dot_46 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Ladle_bar__minus_00_dot_99_bar__plus_00_dot_95_bar__minus_01_dot_64 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Knife_bar__minus_00_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_14 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation 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 Lettuce_bar__plus_02_dot_00_bar__plus_00_dot_89_bar__minus_00_dot_37 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation PepperShaker_bar__minus_00_dot_68_bar__plus_00_dot_69_bar__plus_00_dot_23 loc_bar_0_bar__minus_2_bar_0_bar_60)\n (objectAtLocation Plate_bar__minus_01_dot_07_bar__plus_00_dot_13_bar__minus_01_dot_50 loc_bar_0_bar__minus_4_bar_3_bar_60)\n (objectAtLocation Egg_bar__minus_00_dot_29_bar__plus_00_dot_80_bar__minus_01_dot_90 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Egg_bar__minus_01_dot_38_bar__plus_00_dot_94_bar__minus_02_dot_18 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation ButterKnife_bar__minus_00_dot_38_bar__plus_01_dot_13_bar__plus_00_dot_62 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation DishSponge_bar__minus_01_dot_05_bar__plus_01_dot_13_bar__plus_00_dot_49 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Chair_bar__minus_00_dot_46_bar__plus_00_dot_01_bar__plus_00_dot_75 loc_bar__minus_2_bar_5_bar_2_bar_60)\n (objectAtLocation Chair_bar__minus_00_dot_08_bar__plus_00_dot_01_bar__plus_00_dot_76 loc_bar_0_bar_5_bar_2_bar_60)\n (objectAtLocation HousePlant_bar__minus_01_dot_25_bar__plus_01_dot_12_bar__plus_00_dot_61 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation Pan_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_01_dot_02 loc_bar__minus_2_bar__minus_5_bar_3_bar_45)\n (objectAtLocation Knife_bar__minus_01_dot_08_bar__plus_00_dot_91_bar__minus_00_dot_26 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Bowl_bar__plus_00_dot_07_bar__plus_01_dot_13_bar__plus_00_dot_57 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation Fork_bar__minus_00_dot_03_bar__plus_00_dot_76_bar__minus_02_dot_01 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Cup_bar__plus_00_dot_10_bar__plus_00_dot_75_bar__minus_01_dot_94 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Ladle_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__plus_00_dot_14 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Apple_bar__minus_00_dot_90_bar__plus_00_dot_96_bar__minus_02_dot_01 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Kettle_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_00_dot_67 loc_bar__minus_2_bar__minus_3_bar_3_bar_45)\n (objectAtLocation Vase_bar__minus_01_dot_38_bar__plus_00_dot_91_bar__minus_02_dot_01 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Potato_bar__minus_00_dot_38_bar__plus_00_dot_79_bar__minus_02_dot_06 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (objectAtLocation 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_16_bar__plus_00_dot_99_bar__minus_00_dot_21 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Plate_bar__minus_01_dot_32_bar__plus_01_dot_66_bar__minus_01_dot_73 loc_bar__minus_1_bar__minus_5_bar_3_bar__minus_15)\n (objectAtLocation 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__plus_00_dot_07_bar__plus_01_dot_15_bar__plus_00_dot_44 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation PaperTowelRoll_bar__minus_00_dot_85_bar__plus_01_dot_02_bar__plus_00_dot_29 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Vase_bar__plus_02_dot_70_bar__plus_00_dot_87_bar__plus_00_dot_18 loc_bar_8_bar_3_bar_1_bar_45)\n (objectAtLocation Egg_bar__plus_02_dot_04_bar__plus_00_dot_10_bar__plus_00_dot_14 loc_bar_8_bar_3_bar_2_bar_60)\n (objectAtLocation SoapBottle_bar__minus_00_dot_15_bar__plus_01_dot_13_bar__plus_00_dot_57 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation SaltShaker_bar__minus_00_dot_66_bar__plus_00_dot_11_bar__minus_01_dot_96 loc_bar__minus_1_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Lettuce_bar__plus_01_dot_95_bar__plus_01_dot_50_bar__minus_00_dot_64 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation PepperShaker_bar__minus_01_dot_23_bar__plus_01_dot_66_bar__minus_00_dot_42 loc_bar__minus_2_bar__minus_2_bar_3_bar__minus_30)\n (objectAtLocation ButterKnife_bar__minus_00_dot_19_bar__plus_00_dot_70_bar__plus_00_dot_18 loc_bar_3_bar__minus_2_bar_3_bar_45)\n (objectAtLocation StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_83 loc_bar__minus_2_bar__minus_3_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_68 loc_bar__minus_2_bar__minus_3_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_97 loc_bar__minus_2_bar__minus_4_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_01_dot_12 loc_bar__minus_2_bar__minus_4_bar_3_bar_60)\n (objectAtLocation DishSponge_bar__minus_00_dot_25_bar__plus_00_dot_70_bar__plus_00_dot_10 loc_bar_3_bar__minus_2_bar_3_bar_45)\n (objectAtLocation Vase_bar__plus_02_dot_98_bar__plus_00_dot_54_bar__plus_00_dot_13 loc_bar_10_bar_5_bar_2_bar_45)\n (objectAtLocation Spoon_bar__minus_00_dot_66_bar__plus_00_dot_70_bar__minus_01_dot_89 loc_bar_0_bar__minus_5_bar_3_bar_45)\n (objectAtLocation Tomato_bar__minus_01_dot_33_bar__plus_00_dot_96_bar__minus_00_dot_35 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Mug_bar__plus_00_dot_06_bar__plus_00_dot_76_bar__minus_02_dot_06 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Statue_bar__plus_02_dot_90_bar__plus_00_dot_89_bar__plus_00_dot_20 loc_bar_8_bar_3_bar_1_bar_45)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (heatable ?o)\n (objectType ?o EggType)\n (receptacleType ?r GarbageCanType)\n (isHot ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to sinkbasin 1", "take egg 4 from sinkbasin 1", "go to microwave 1", "heat egg 4 with microwave 1", "go to garbagecan 1", "move egg 4 to garbagecan 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Egg-None-GarbageCan-5/trial_T20190906_190603_375591/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Egg-None-GarbageCan-5/trial_T20190906_190603_375591/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..d6a13d9666ee15944782f4bdd97c9b980d5e4844 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Egg-None-GarbageCan-5/trial_T20190906_190603_375591/initial_state.pddl @@ -0,0 +1,1268 @@ + +(define (problem plan_trial_T20190906_190603_375591) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + 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_15_bar__minus_00_dot_46 - object + Apple_bar__minus_00_dot_90_bar__plus_00_dot_96_bar__minus_02_dot_01 - object + Bowl_bar__plus_00_dot_07_bar__plus_01_dot_13_bar__plus_00_dot_57 - object + Bread_bar__minus_01_dot_16_bar__plus_00_dot_99_bar__minus_00_dot_21 - object + ButterKnife_bar__minus_00_dot_19_bar__plus_00_dot_70_bar__plus_00_dot_18 - object + ButterKnife_bar__minus_00_dot_38_bar__plus_01_dot_13_bar__plus_00_dot_62 - object + ButterKnife_bar__minus_01_dot_24_bar__plus_00_dot_91_bar__minus_01_dot_89 - 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 + 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Spoon_bar__minus_00_dot_66_bar__plus_00_dot_70_bar__minus_01_dot_89) + (cleanable Plate_bar__plus_01_dot_91_bar__plus_01_dot_66_bar__minus_01_dot_20) + (cleanable Lettuce_bar__plus_01_dot_95_bar__plus_01_dot_50_bar__minus_00_dot_64) + (cleanable Pot_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_00_dot_76) + (cleanable Apple_bar__plus_01_dot_78_bar__plus_01_dot_15_bar__minus_00_dot_46) + (cleanable ButterKnife_bar__minus_00_dot_38_bar__plus_01_dot_13_bar__plus_00_dot_62) + (cleanable Egg_bar__minus_00_dot_38_bar__plus_01_dot_17_bar__plus_00_dot_44) + (cleanable Pot_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_01_dot_13) + (cleanable Egg_bar__minus_00_dot_29_bar__plus_00_dot_80_bar__minus_01_dot_90) + (cleanable Knife_bar__minus_01_dot_08_bar__plus_00_dot_91_bar__minus_00_dot_26) + (cleanable DishSponge_bar__minus_01_dot_35_bar__plus_01_dot_66_bar__minus_00_dot_04) + (cleanable Egg_bar__plus_02_dot_04_bar__plus_00_dot_10_bar__plus_00_dot_14) + (cleanable Lettuce_bar__plus_02_dot_00_bar__plus_00_dot_89_bar__minus_00_dot_74) + (cleanable Mug_bar__plus_01_dot_81_bar__plus_01_dot_01_bar__minus_01_dot_25) + (cleanable Mug_bar__plus_00_dot_50_bar__plus_00_dot_96_bar__minus_01_dot_90) + (cleanable Spatula_bar__plus_00_dot_07_bar__plus_01_dot_15_bar__plus_00_dot_44) + (cleanable Plate_bar__minus_01_dot_07_bar__plus_00_dot_13_bar__minus_01_dot_50) + (cleanable Mug_bar__plus_00_dot_06_bar__plus_00_dot_76_bar__minus_02_dot_06) + (cleanable Tomato_bar__minus_01_dot_33_bar__plus_00_dot_96_bar__minus_00_dot_35) + + (heatable Bread_bar__minus_01_dot_16_bar__plus_00_dot_99_bar__minus_00_dot_21) + (heatable Cup_bar__plus_00_dot_10_bar__plus_00_dot_75_bar__minus_01_dot_94) + (heatable Egg_bar__minus_01_dot_38_bar__plus_00_dot_94_bar__minus_02_dot_18) + (heatable Potato_bar__minus_00_dot_38_bar__plus_00_dot_79_bar__minus_02_dot_06) + (heatable Plate_bar__minus_01_dot_32_bar__plus_01_dot_66_bar__minus_01_dot_73) + (heatable 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Knife_bar__minus_01_dot_08_bar__plus_00_dot_91_bar__minus_00_dot_26 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19) + (inReceptacle Knife_bar__minus_00_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_14 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19) + (inReceptacle Bread_bar__minus_01_dot_16_bar__plus_00_dot_99_bar__minus_00_dot_21 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19) + (inReceptacle PaperTowelRoll_bar__minus_00_dot_85_bar__plus_01_dot_02_bar__plus_00_dot_29 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19) + (inReceptacle Tomato_bar__minus_01_dot_33_bar__plus_00_dot_96_bar__minus_00_dot_35 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19) + (inReceptacle PepperShaker_bar__minus_00_dot_68_bar__plus_00_dot_69_bar__plus_00_dot_23 Drawer_bar__minus_00_dot_45_bar__plus_00_dot_75_bar__minus_00_dot_01) + (inReceptacle Bowl_bar__plus_00_dot_07_bar__plus_01_dot_13_bar__plus_00_dot_57 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57) + (inReceptacle SoapBottle_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 DishSponge_bar__minus_01_dot_05_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 Spatula_bar__plus_00_dot_07_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 ButterKnife_bar__minus_00_dot_38_bar__plus_01_dot_13_bar__plus_00_dot_62 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57) + (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 Egg_bar__minus_00_dot_38_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 Pan_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_01_dot_02 StoveBurner_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__minus_01_dot_13) + (inReceptacle Pot_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_01_dot_13 StoveBurner_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__minus_01_dot_13) + (inReceptacle 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 DishSponge_bar__minus_00_dot_25_bar__plus_00_dot_70_bar__plus_00_dot_10 Drawer_bar__minus_00_dot_07_bar__plus_00_dot_75_bar__minus_00_dot_01) + (inReceptacle Apple_bar__minus_00_dot_90_bar__plus_00_dot_96_bar__minus_02_dot_01 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01) + (inReceptacle Ladle_bar__minus_00_dot_99_bar__plus_00_dot_95_bar__minus_01_dot_64 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01) + (inReceptacle ButterKnife_bar__minus_01_dot_24_bar__plus_00_dot_91_bar__minus_01_dot_89 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01) + (inReceptacle Vase_bar__minus_01_dot_38_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 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 Egg_bar__minus_01_dot_38_bar__plus_00_dot_94_bar__minus_02_dot_18 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01) + (inReceptacle Kettle_bar__minus_01_dot_05_bar__plus_00_dot_95_bar__minus_02_dot_09 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01) + (inReceptacleObject Pot_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_01_dot_13 Pan_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_01_dot_02) + (inReceptacle Egg_bar__plus_02_dot_04_bar__plus_00_dot_10_bar__plus_00_dot_14 GarbageCan_bar__plus_01_dot_92_bar__plus_00_dot_00_bar__plus_00_dot_14) + (inReceptacle SoapBottle_bar__plus_01_dot_85_bar__plus_00_dot_06_bar__plus_00_dot_11 GarbageCan_bar__plus_01_dot_92_bar__plus_00_dot_00_bar__plus_00_dot_14) + (inReceptacle Vase_bar__plus_02_dot_70_bar__plus_00_dot_87_bar__plus_00_dot_18 Shelf_bar__plus_02_dot_81_bar__plus_00_dot_87_bar__plus_00_dot_14) + (inReceptacle Statue_bar__plus_02_dot_90_bar__plus_00_dot_89_bar__plus_00_dot_20 Shelf_bar__plus_02_dot_81_bar__plus_00_dot_87_bar__plus_00_dot_14) + (inReceptacle Mug_bar__plus_01_dot_81_bar__plus_01_dot_01_bar__minus_01_dot_25 Microwave_bar__plus_01_dot_83_bar__plus_00_dot_90_bar__minus_01_dot_35) + (inReceptacle PepperShaker_bar__plus_02_dot_69_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 Statue_bar__plus_02_dot_69_bar__plus_00_dot_56_bar__plus_00_dot_09 Shelf_bar__plus_02_dot_81_bar__plus_00_dot_54_bar__plus_00_dot_14) + (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 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_00_dot_89_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_01_dot_95_bar__plus_01_dot_50_bar__minus_00_dot_64 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54) + (inReceptacle Apple_bar__plus_01_dot_78_bar__plus_01_dot_15_bar__minus_00_dot_46 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54) + (inReceptacle Egg_bar__minus_00_dot_29_bar__plus_00_dot_80_bar__minus_01_dot_90 Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin) + (inReceptacle Cup_bar__plus_00_dot_10_bar__plus_00_dot_75_bar__minus_01_dot_94 Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin) + (inReceptacle Fork_bar__minus_00_dot_03_bar__plus_00_dot_76_bar__minus_02_dot_01 Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin) + (inReceptacle Potato_bar__minus_00_dot_38_bar__plus_00_dot_79_bar__minus_02_dot_06 Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin) + (inReceptacle Mug_bar__plus_00_dot_06_bar__plus_00_dot_76_bar__minus_02_dot_06 Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin) + (inReceptacle Spatula_bar__minus_00_dot_20_bar__plus_00_dot_78_bar__minus_02_dot_06 Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin) + (inReceptacle 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"DishSponge_42dba209", + "position": { + "x": -1.34998381, + "y": 1.66211426, + "z": -0.04309994 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Vase_3478a6e4", + "position": { + "x": 2.9791863, + "y": 0.539382756, + "z": 0.12853384 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Spoon_80376f38", + "position": { + "x": -0.6576, + "y": 0.6955432, + "z": -1.891 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Tomato_74fc855a", + "position": { + "x": -1.33056784, + "y": 0.963060439, + "z": -0.353479475 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_8066794b", + "position": { + "x": 1.81365991, + "y": 1.01045275, + "z": -1.24526358 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + }, + { + "objectName": "Statue_bb70ba4e", + "position": { + "x": 2.69476652, + "y": 0.5591226, + "z": 0.0903265 + }, + "rotation": { + "x": -1.20782931e-06, + "y": 90.00033, + "z": -1.20783614e-06 + } + } + ], + "object_toggles": [], + "random_seed": 3199169324, + "scene_num": 5 + }, + "task_id": "trial_T20190906_190603_375591", + "task_type": "pick_heat_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A1HKHM4NVAO98H_3I02618YA3N8N68C3XZXNZM41W3PU3", + "high_descs": [ + "walk over to the recycling bin", + "grab the egg out of the recycling bin", + "bring the egg over to the microwave", + "microwave the egg inside of the microwave", + "bring the egg back over to the recycling bin", + "put the egg in the recycling bin" + ], + "task_desc": "throw away a microwaved egg", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AM2KK02JXXW48_3M0NZ3JDP4FLGVK3P5PR6LW2CEX5Z2", + "high_descs": [ + "Move to the blue trash can.", + "Pick up the egg from the trash can.", + "Bring the egg to the microwave.", + "Heat the egg in the microwave.", + "Bring the egg to the trash can.", + "Put the egg in the trash can." + ], + "task_desc": "Put a heated egg in the trash can. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1GVTH5YS3WOK0_3OVR4I9USS0U6KFCO4N4A0EK7HY4QN", + "high_descs": [ + "Head towards the blue bin.", + "Pick up the egg from the bin.", + "Turn right and head towards the microwave next to the fridge on your left.", + "Open the microwave, heat up the egg, pick it up, and close the microwave.", + "Turn left, walk past the fridge, turn right to face the blue bin.", + "Place the egg inside the bin." + ], + "task_desc": "Heat up the egg inside the bin.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Egg-None-GarbageCan-5/trial_T20190906_190707_776806/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Egg-None-GarbageCan-5/trial_T20190906_190707_776806/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..76773282dd021716962aadb081e496b11e92b417 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Egg-None-GarbageCan-5/trial_T20190906_190707_776806/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\n\\n#task#\"\n }\n ],\n\n \"notImplemented\": [\n {\n \"rhs\": \"TODO\"\n }\n ],\n\n \"task\": [\n {\n \"rhs\": \"Your task is to: heat some egg and put it in garbagecan.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190906_190707_776806)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\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_06_bar__minus_01_dot_30 - object\n Apple_bar__minus_00_dot_42_bar__plus_00_dot_96_bar__plus_00_dot_08 - object\n Apple_bar__minus_01_dot_38_bar__plus_00_dot_96_bar__minus_02_dot_01 - object\n Bowl_bar__plus_01_dot_47_bar__plus_01_dot_65_bar__minus_02_dot_13 - object\n Bread_bar__plus_01_dot_95_bar__plus_01_dot_51_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__plus_00_dot_01_bar__plus_00_dot_91_bar__plus_00_dot_24 - object\n ButterKnife_bar__minus_00_dot_38_bar__plus_01_dot_13_bar__plus_00_dot_57 - object\n ButterKnife_bar__minus_00_dot_99_bar__plus_00_dot_91_bar__minus_01_dot_89 - object\n Chair_bar__minus_00_dot_08_bar__plus_00_dot_01_bar__plus_00_dot_76 - object\n Chair_bar__minus_00_dot_46_bar__plus_00_dot_01_bar__plus_00_dot_75 - object\n Cup_bar__plus_00_dot_10_bar__plus_00_dot_75_bar__minus_01_dot_94 - object\n DishSponge_bar__plus_01_dot_85_bar__plus_00_dot_06_bar__plus_00_dot_17 - object\n DishSponge_bar__plus_03_dot_11_bar__plus_00_dot_88_bar__plus_00_dot_11 - object\n DishSponge_bar__minus_00_dot_58_bar__plus_00_dot_69_bar__plus_00_dot_15 - object\n Egg_bar__plus_02_dot_00_bar__plus_00_dot_10_bar__plus_00_dot_08 - object\n Faucet_bar__minus_00_dot_16_bar__plus_01_dot_05_bar__minus_02_dot_20 - object\n Fork_bar__plus_00_dot_07_bar__plus_01_dot_13_bar__plus_00_dot_71 - object\n Fork_bar__minus_00_dot_12_bar__plus_00_dot_76_bar__minus_01_dot_95 - object\n Fork_bar__minus_00_dot_29_bar__plus_00_dot_76_bar__minus_02_dot_06 - object\n HousePlant_bar__minus_01_dot_25_bar__plus_01_dot_12_bar__plus_00_dot_61 - object\n Kettle_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_01_dot_13 - object\n Knife_bar__minus_00_dot_62_bar__plus_00_dot_72_bar__minus_01_dot_94 - object\n Knife_bar__minus_00_dot_99_bar__plus_00_dot_93_bar__minus_01_dot_72 - object\n Knife_bar__minus_01_dot_28_bar__plus_00_dot_94_bar__plus_00_dot_19 - object\n Ladle_bar__minus_00_dot_21_bar__plus_00_dot_95_bar__plus_00_dot_24 - object\n Ladle_bar__minus_00_dot_26_bar__plus_00_dot_15_bar__plus_00_dot_16 - object\n Ladle_bar__minus_01_dot_05_bar__plus_01_dot_17_bar__plus_00_dot_49 - object\n Lettuce_bar__plus_01_dot_42_bar__plus_00_dot_99_bar__minus_02_dot_01 - object\n Lettuce_bar__plus_01_dot_95_bar__plus_00_dot_89_bar__minus_00_dot_46 - object\n LightSwitch_bar__plus_00_dot_40_bar__plus_01_dot_30_bar__plus_02_dot_00 - object\n Mug_bar__minus_01_dot_32_bar__plus_01_dot_65_bar__minus_01_dot_60 - object\n Pan_bar__plus_01_dot_89_bar__plus_01_dot_10_bar__minus_00_dot_55 - object\n PaperTowelRoll_bar__minus_01_dot_05_bar__plus_01_dot_24_bar__plus_00_dot_62 - object\n PepperShaker_bar__minus_00_dot_82_bar__plus_01_dot_13_bar__plus_00_dot_49 - object\n Plate_bar__plus_01_dot_91_bar__plus_01_dot_65_bar__minus_01_dot_61 - object\n Plate_bar__minus_01_dot_32_bar__plus_01_dot_66_bar__minus_01_dot_79 - object\n Potato_bar__plus_01_dot_96_bar__plus_00_dot_09_bar__plus_00_dot_17 - object\n Potato_bar__minus_00_dot_03_bar__plus_00_dot_79_bar__minus_02_dot_01 - object\n 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Vase_bar__plus_01_dot_87_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)\n (inReceptacle Plate_bar__plus_01_dot_91_bar__plus_01_dot_65_bar__minus_01_dot_61 Cabinet_bar__plus_01_dot_75_bar__plus_02_dot_02_bar__minus_01_dot_40)\n (inReceptacle Mug_bar__minus_01_dot_32_bar__plus_01_dot_65_bar__minus_01_dot_60 Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_02_bar__minus_01_dot_98)\n (inReceptacle Plate_bar__minus_01_dot_32_bar__plus_01_dot_66_bar__minus_01_dot_79 Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_02_bar__minus_01_dot_98)\n (inReceptacle Ladle_bar__minus_00_dot_26_bar__plus_00_dot_15_bar__plus_00_dot_16 Cabinet_bar__minus_00_dot_42_bar__plus_00_dot_37_bar__minus_00_dot_01)\n (inReceptacle Pot_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_01_dot_02 StoveBurner_bar__minus_01_dot_29_bar__plus_00_dot_95_bar__minus_01_dot_02)\n (inReceptacle Bread_bar__minus_01_dot_15_bar__plus_00_dot_98_bar__minus_00_dot_19 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19)\n (inReceptacle Knife_bar__minus_01_dot_28_bar__plus_00_dot_94_bar__plus_00_dot_19 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19)\n (inReceptacle Spoon_bar__minus_01_dot_06_bar__plus_00_dot_91_bar__plus_00_dot_24 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19)\n (inReceptacle Apple_bar__minus_00_dot_42_bar__plus_00_dot_96_bar__plus_00_dot_08 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19)\n (inReceptacle Potato_bar__minus_01_dot_41_bar__plus_00_dot_94_bar__minus_00_dot_35 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19)\n (inReceptacle Tomato_bar__minus_01_dot_33_bar__plus_00_dot_96_bar__minus_00_dot_17 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19)\n (inReceptacle ButterKnife_bar__plus_00_dot_01_bar__plus_00_dot_91_bar__plus_00_dot_24 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Bread_bar__plus_01_dot_95_bar__plus_01_dot_51_bar__minus_00_dot_74 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Plate_bar__minus_01_dot_32_bar__plus_01_dot_66_bar__minus_01_dot_79 loc_bar__minus_1_bar__minus_5_bar_3_bar__minus_15)\n (objectAtLocation LightSwitch_bar__plus_00_dot_40_bar__plus_01_dot_30_bar__plus_02_dot_00 loc_bar_2_bar_6_bar_0_bar_30)\n (objectAtLocation Spatula_bar__minus_01_dot_40_bar__plus_00_dot_93_bar__minus_01_dot_38 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation PaperTowelRoll_bar__minus_01_dot_05_bar__plus_01_dot_24_bar__plus_00_dot_62 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation Vase_bar__minus_01_dot_28_bar__plus_00_dot_92_bar__plus_00_dot_29 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Egg_bar__plus_02_dot_00_bar__plus_00_dot_10_bar__plus_00_dot_08 loc_bar_8_bar_3_bar_2_bar_60)\n (objectAtLocation SoapBottle_bar__minus_01_dot_16_bar__plus_00_dot_91_bar__minus_01_dot_64 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation SaltShaker_bar__minus_01_dot_05_bar__plus_01_dot_13_bar__plus_00_dot_53 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation Lettuce_bar__plus_01_dot_42_bar__plus_00_dot_99_bar__minus_02_dot_01 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation PepperShaker_bar__minus_00_dot_82_bar__plus_01_dot_13_bar__plus_00_dot_49 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation ButterKnife_bar__plus_00_dot_01_bar__plus_00_dot_91_bar__plus_00_dot_24 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_83 loc_bar__minus_2_bar__minus_3_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_68 loc_bar__minus_2_bar__minus_3_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_97 loc_bar__minus_2_bar__minus_4_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_01_dot_12 loc_bar__minus_2_bar__minus_4_bar_3_bar_60)\n (objectAtLocation DishSponge_bar__plus_01_dot_85_bar__plus_00_dot_06_bar__plus_00_dot_17 loc_bar_8_bar_3_bar_2_bar_60)\n (objectAtLocation Vase_bar__plus_02_dot_90_bar__plus_00_dot_88_bar__plus_00_dot_17 loc_bar_8_bar_3_bar_1_bar_45)\n (objectAtLocation Spoon_bar__minus_01_dot_06_bar__plus_00_dot_91_bar__plus_00_dot_24 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Tomato_bar__minus_01_dot_33_bar__plus_00_dot_96_bar__minus_00_dot_17 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Mug_bar__minus_01_dot_32_bar__plus_01_dot_65_bar__minus_01_dot_60 loc_bar__minus_1_bar__minus_5_bar_3_bar__minus_15)\n (objectAtLocation Statue_bar__plus_02_dot_69_bar__plus_00_dot_56_bar__plus_00_dot_14 loc_bar_10_bar_5_bar_2_bar_45)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (heatable ?o)\n (objectType ?o EggType)\n (receptacleType ?r GarbageCanType)\n (isHot ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to garbagecan 1", "take egg 1 from garbagecan 1", "go to microwave 1", "heat egg 1 with microwave 1", "go to garbagecan 1", "move egg 1 to garbagecan 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Egg-None-GarbageCan-5/trial_T20190906_190707_776806/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Egg-None-GarbageCan-5/trial_T20190906_190707_776806/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..e4392494cef4e5f5cfe4b187d76590440d41e9ba --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Egg-None-GarbageCan-5/trial_T20190906_190707_776806/initial_state.pddl @@ -0,0 +1,1261 @@ + +(define (problem plan_trial_T20190906_190707_776806) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + 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_06_bar__minus_01_dot_30 - object + Apple_bar__minus_00_dot_42_bar__plus_00_dot_96_bar__plus_00_dot_08 - object + Apple_bar__minus_01_dot_38_bar__plus_00_dot_96_bar__minus_02_dot_01 - object + Bowl_bar__plus_01_dot_47_bar__plus_01_dot_65_bar__minus_02_dot_13 - object + Bread_bar__plus_01_dot_95_bar__plus_01_dot_51_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__plus_00_dot_01_bar__plus_00_dot_91_bar__plus_00_dot_24 - object + ButterKnife_bar__minus_00_dot_38_bar__plus_01_dot_13_bar__plus_00_dot_57 - object + ButterKnife_bar__minus_00_dot_99_bar__plus_00_dot_91_bar__minus_01_dot_89 - object + Chair_bar__minus_00_dot_08_bar__plus_00_dot_01_bar__plus_00_dot_76 - object + Chair_bar__minus_00_dot_46_bar__plus_00_dot_01_bar__plus_00_dot_75 - object + Cup_bar__plus_00_dot_10_bar__plus_00_dot_75_bar__minus_01_dot_94 - object + DishSponge_bar__plus_01_dot_85_bar__plus_00_dot_06_bar__plus_00_dot_17 - object + DishSponge_bar__plus_03_dot_11_bar__plus_00_dot_88_bar__plus_00_dot_11 - object + DishSponge_bar__minus_00_dot_58_bar__plus_00_dot_69_bar__plus_00_dot_15 - object + Egg_bar__plus_02_dot_00_bar__plus_00_dot_10_bar__plus_00_dot_08 - object + Faucet_bar__minus_00_dot_16_bar__plus_01_dot_05_bar__minus_02_dot_20 - object + Fork_bar__plus_00_dot_07_bar__plus_01_dot_13_bar__plus_00_dot_71 - object + Fork_bar__minus_00_dot_12_bar__plus_00_dot_76_bar__minus_01_dot_95 - object + Fork_bar__minus_00_dot_29_bar__plus_00_dot_76_bar__minus_02_dot_06 - object + HousePlant_bar__minus_01_dot_25_bar__plus_01_dot_12_bar__plus_00_dot_61 - object + Kettle_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_01_dot_13 - object + Knife_bar__minus_00_dot_62_bar__plus_00_dot_72_bar__minus_01_dot_94 - object + Knife_bar__minus_00_dot_99_bar__plus_00_dot_93_bar__minus_01_dot_72 - object + Knife_bar__minus_01_dot_28_bar__plus_00_dot_94_bar__plus_00_dot_19 - object + Ladle_bar__minus_00_dot_21_bar__plus_00_dot_95_bar__plus_00_dot_24 - object + Ladle_bar__minus_00_dot_26_bar__plus_00_dot_15_bar__plus_00_dot_16 - object + Ladle_bar__minus_01_dot_05_bar__plus_01_dot_17_bar__plus_00_dot_49 - object + Lettuce_bar__plus_01_dot_42_bar__plus_00_dot_99_bar__minus_02_dot_01 - object + Lettuce_bar__plus_01_dot_95_bar__plus_00_dot_89_bar__minus_00_dot_46 - object + LightSwitch_bar__plus_00_dot_40_bar__plus_01_dot_30_bar__plus_02_dot_00 - object + Mug_bar__minus_01_dot_32_bar__plus_01_dot_65_bar__minus_01_dot_60 - object + Pan_bar__plus_01_dot_89_bar__plus_01_dot_10_bar__minus_00_dot_55 - object + PaperTowelRoll_bar__minus_01_dot_05_bar__plus_01_dot_24_bar__plus_00_dot_62 - object + PepperShaker_bar__minus_00_dot_82_bar__plus_01_dot_13_bar__plus_00_dot_49 - object + Plate_bar__plus_01_dot_91_bar__plus_01_dot_65_bar__minus_01_dot_61 - object + Plate_bar__minus_01_dot_32_bar__plus_01_dot_66_bar__minus_01_dot_79 - object + Potato_bar__plus_01_dot_96_bar__plus_00_dot_09_bar__plus_00_dot_17 - object + Potato_bar__minus_00_dot_03_bar__plus_00_dot_79_bar__minus_02_dot_01 - object + Potato_bar__minus_01_dot_41_bar__plus_00_dot_94_bar__minus_00_dot_35 - object + Pot_bar__plus_01_dot_63_bar__plus_00_dot_12_bar__minus_01_dot_33 - object + Pot_bar__plus_01_dot_89_bar__plus_01_dot_43_bar__minus_00_dot_46 - object + Pot_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_01_dot_02 - object + SaltShaker_bar__minus_01_dot_05_bar__plus_01_dot_13_bar__plus_00_dot_53 - object + Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01 - object + SoapBottle_bar__minus_01_dot_16_bar__plus_00_dot_91_bar__minus_01_dot_64 - object + Spatula_bar__minus_01_dot_16_bar__plus_00_dot_93_bar__minus_01_dot_72 - object + Spatula_bar__minus_01_dot_40_bar__plus_00_dot_93_bar__minus_01_dot_38 - object + Spoon_bar__minus_01_dot_06_bar__plus_00_dot_91_bar__plus_00_dot_24 - object + Statue_bar__plus_02_dot_69_bar__plus_00_dot_56_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_02_dot_06_bar__plus_01_dot_15_bar__minus_00_dot_27 - object + Tomato_bar__minus_00_dot_15_bar__plus_01_dot_18_bar__plus_00_dot_53 - object + Tomato_bar__minus_01_dot_33_bar__plus_00_dot_96_bar__minus_00_dot_17 - object + Vase_bar__plus_01_dot_87_bar__plus_01_dot_66_bar__minus_01_dot_20 - object + Vase_bar__plus_02_dot_90_bar__plus_00_dot_88_bar__plus_00_dot_17 - object + Vase_bar__minus_01_dot_28_bar__plus_00_dot_92_bar__plus_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 + 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Egg_bar__plus_02_dot_00_bar__plus_00_dot_10_bar__plus_00_dot_08) + (coolable Bread_bar__plus_01_dot_95_bar__plus_01_dot_51_bar__minus_00_dot_74) + (coolable Pan_bar__plus_01_dot_89_bar__plus_01_dot_10_bar__minus_00_dot_55) + (coolable Potato_bar__minus_00_dot_03_bar__plus_00_dot_79_bar__minus_02_dot_01) + (coolable Apple_bar__minus_00_dot_42_bar__plus_00_dot_96_bar__plus_00_dot_08) + (coolable Lettuce_bar__plus_01_dot_95_bar__plus_00_dot_89_bar__minus_00_dot_46) + (coolable Cup_bar__plus_00_dot_10_bar__plus_00_dot_75_bar__minus_01_dot_94) + (coolable Bowl_bar__plus_01_dot_47_bar__plus_01_dot_65_bar__minus_02_dot_13) + (coolable Potato_bar__minus_01_dot_41_bar__plus_00_dot_94_bar__minus_00_dot_35) + (coolable Lettuce_bar__plus_01_dot_42_bar__plus_00_dot_99_bar__minus_02_dot_01) + (coolable Bread_bar__minus_01_dot_15_bar__plus_00_dot_98_bar__minus_00_dot_19) + (coolable Apple_bar__plus_01_dot_78_bar__plus_01_dot_06_bar__minus_01_dot_30) + (coolable Mug_bar__minus_01_dot_32_bar__plus_01_dot_65_bar__minus_01_dot_60) + (coolable Apple_bar__minus_01_dot_38_bar__plus_00_dot_96_bar__minus_02_dot_01) + (coolable Pot_bar__plus_01_dot_89_bar__plus_01_dot_43_bar__minus_00_dot_46) + (coolable Plate_bar__minus_01_dot_32_bar__plus_01_dot_66_bar__minus_01_dot_79) + (coolable Tomato_bar__plus_02_dot_06_bar__plus_01_dot_15_bar__minus_00_dot_27) + + + + + + (sliceable Potato_bar__plus_01_dot_96_bar__plus_00_dot_09_bar__plus_00_dot_17) + (sliceable Tomato_bar__minus_00_dot_15_bar__plus_01_dot_18_bar__plus_00_dot_53) + (sliceable Tomato_bar__minus_01_dot_33_bar__plus_00_dot_96_bar__minus_00_dot_17) + (sliceable Egg_bar__plus_02_dot_00_bar__plus_00_dot_10_bar__plus_00_dot_08) + (sliceable Bread_bar__plus_01_dot_95_bar__plus_01_dot_51_bar__minus_00_dot_74) + (sliceable Potato_bar__minus_00_dot_03_bar__plus_00_dot_79_bar__minus_02_dot_01) + (sliceable Apple_bar__minus_00_dot_42_bar__plus_00_dot_96_bar__plus_00_dot_08) + (sliceable Lettuce_bar__plus_01_dot_95_bar__plus_00_dot_89_bar__minus_00_dot_46) + (sliceable Potato_bar__minus_01_dot_41_bar__plus_00_dot_94_bar__minus_00_dot_35) + (sliceable Lettuce_bar__plus_01_dot_42_bar__plus_00_dot_99_bar__minus_02_dot_01) + (sliceable Bread_bar__minus_01_dot_15_bar__plus_00_dot_98_bar__minus_00_dot_19) + (sliceable Apple_bar__plus_01_dot_78_bar__plus_01_dot_06_bar__minus_01_dot_30) + (sliceable Apple_bar__minus_01_dot_38_bar__plus_00_dot_96_bar__minus_02_dot_01) + (sliceable Tomato_bar__plus_02_dot_06_bar__plus_01_dot_15_bar__minus_00_dot_27) + + (inReceptacle Knife_bar__minus_00_dot_62_bar__plus_00_dot_72_bar__minus_01_dot_94 Drawer_bar__minus_00_dot_82_bar__plus_00_dot_75_bar__minus_01_dot_69) + (inReceptacle Bowl_bar__plus_01_dot_47_bar__plus_01_dot_65_bar__minus_02_dot_13 Cabinet_bar__plus_01_dot_74_bar__plus_02_dot_02_bar__minus_02_dot_00) + (inReceptacle Pot_bar__plus_01_dot_63_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 Vase_bar__plus_01_dot_87_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 Plate_bar__plus_01_dot_91_bar__plus_01_dot_65_bar__minus_01_dot_61 Cabinet_bar__plus_01_dot_75_bar__plus_02_dot_02_bar__minus_01_dot_40) + (inReceptacle Mug_bar__minus_01_dot_32_bar__plus_01_dot_65_bar__minus_01_dot_60 Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_02_bar__minus_01_dot_98) + (inReceptacle Plate_bar__minus_01_dot_32_bar__plus_01_dot_66_bar__minus_01_dot_79 Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_02_bar__minus_01_dot_98) + (inReceptacle Ladle_bar__minus_00_dot_26_bar__plus_00_dot_15_bar__plus_00_dot_16 Cabinet_bar__minus_00_dot_42_bar__plus_00_dot_37_bar__minus_00_dot_01) + (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 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 Knife_bar__minus_01_dot_28_bar__plus_00_dot_94_bar__plus_00_dot_19 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19) + (inReceptacle Spoon_bar__minus_01_dot_06_bar__plus_00_dot_91_bar__plus_00_dot_24 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19) + (inReceptacle Apple_bar__minus_00_dot_42_bar__plus_00_dot_96_bar__plus_00_dot_08 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19) + (inReceptacle Potato_bar__minus_01_dot_41_bar__plus_00_dot_94_bar__minus_00_dot_35 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19) + (inReceptacle Tomato_bar__minus_01_dot_33_bar__plus_00_dot_96_bar__minus_00_dot_17 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19) + (inReceptacle ButterKnife_bar__plus_00_dot_01_bar__plus_00_dot_91_bar__plus_00_dot_24 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19) + (inReceptacle Ladle_bar__minus_00_dot_21_bar__plus_00_dot_95_bar__plus_00_dot_24 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19) + (inReceptacle Vase_bar__minus_01_dot_28_bar__plus_00_dot_92_bar__plus_00_dot_29 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19) + (inReceptacle DishSponge_bar__minus_00_dot_58_bar__plus_00_dot_69_bar__plus_00_dot_15 Drawer_bar__minus_00_dot_45_bar__plus_00_dot_75_bar__minus_00_dot_01) + (inReceptacle SaltShaker_bar__minus_01_dot_05_bar__plus_01_dot_13_bar__plus_00_dot_53 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57) + (inReceptacle ButterKnife_bar__minus_00_dot_38_bar__plus_01_dot_13_bar__plus_00_dot_57 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57) + (inReceptacle Tomato_bar__minus_00_dot_15_bar__plus_01_dot_18_bar__plus_00_dot_53 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57) + (inReceptacle PaperTowelRoll_bar__minus_01_dot_05_bar__plus_01_dot_24_bar__plus_00_dot_62 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57) + (inReceptacle PepperShaker_bar__minus_00_dot_82_bar__plus_01_dot_13_bar__plus_00_dot_49 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57) + (inReceptacle HousePlant_bar__minus_01_dot_25_bar__plus_01_dot_12_bar__plus_00_dot_61 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57) + (inReceptacle Fork_bar__plus_00_dot_07_bar__plus_01_dot_13_bar__plus_00_dot_71 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57) + (inReceptacle Kettle_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_01_dot_13 StoveBurner_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__minus_01_dot_13) + (inReceptacle Pot_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_01_dot_02 StoveBurner_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__minus_01_dot_13) + (inReceptacle Knife_bar__minus_00_dot_99_bar__plus_00_dot_93_bar__minus_01_dot_72 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01) + (inReceptacle Apple_bar__minus_01_dot_38_bar__plus_00_dot_96_bar__minus_02_dot_01 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01) + (inReceptacle Lettuce_bar__plus_01_dot_42_bar__plus_00_dot_99_bar__minus_02_dot_01 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01) + (inReceptacle ButterKnife_bar__minus_00_dot_99_bar__plus_00_dot_91_bar__minus_01_dot_89 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01) + (inReceptacle Spatula_bar__minus_01_dot_16_bar__plus_00_dot_93_bar__minus_01_dot_72 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01) + (inReceptacle SoapBottle_bar__minus_01_dot_16_bar__plus_00_dot_91_bar__minus_01_dot_64 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01) + (inReceptacle Spatula_bar__minus_01_dot_40_bar__plus_00_dot_93_bar__minus_01_dot_38 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01) + (inReceptacle DishSponge_bar__plus_01_dot_85_bar__plus_00_dot_06_bar__plus_00_dot_17 GarbageCan_bar__plus_01_dot_92_bar__plus_00_dot_00_bar__plus_00_dot_14) + (inReceptacle Potato_bar__plus_01_dot_96_bar__plus_00_dot_09_bar__plus_00_dot_17 GarbageCan_bar__plus_01_dot_92_bar__plus_00_dot_00_bar__plus_00_dot_14) + (inReceptacle Egg_bar__plus_02_dot_00_bar__plus_00_dot_10_bar__plus_00_dot_08 GarbageCan_bar__plus_01_dot_92_bar__plus_00_dot_00_bar__plus_00_dot_14) + (inReceptacle DishSponge_bar__plus_03_dot_11_bar__plus_00_dot_88_bar__plus_00_dot_11 Shelf_bar__plus_02_dot_81_bar__plus_00_dot_87_bar__plus_00_dot_14) + (inReceptacle Vase_bar__plus_02_dot_90_bar__plus_00_dot_88_bar__plus_00_dot_17 Shelf_bar__plus_02_dot_81_bar__plus_00_dot_87_bar__plus_00_dot_14) + (inReceptacle Apple_bar__plus_01_dot_78_bar__plus_01_dot_06_bar__minus_01_dot_30 Microwave_bar__plus_01_dot_83_bar__plus_00_dot_90_bar__minus_01_dot_35) + (inReceptacle Statue_bar__plus_02_dot_69_bar__plus_00_dot_56_bar__plus_00_dot_14 Shelf_bar__plus_02_dot_81_bar__plus_00_dot_54_bar__plus_00_dot_14) + (inReceptacle Bread_bar__plus_01_dot_95_bar__plus_01_dot_51_bar__minus_00_dot_74 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54) + (inReceptacle Pan_bar__plus_01_dot_89_bar__plus_01_dot_10_bar__minus_00_dot_55 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54) + (inReceptacle Lettuce_bar__plus_01_dot_95_bar__plus_00_dot_89_bar__minus_00_dot_46 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54) + (inReceptacle Pot_bar__plus_01_dot_89_bar__plus_01_dot_43_bar__minus_00_dot_46 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54) + (inReceptacle Tomato_bar__plus_02_dot_06_bar__plus_01_dot_15_bar__minus_00_dot_27 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54) + (inReceptacle Cup_bar__plus_00_dot_10_bar__plus_00_dot_75_bar__minus_01_dot_94 Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin) + (inReceptacle Potato_bar__minus_00_dot_03_bar__plus_00_dot_79_bar__minus_02_dot_01 Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin) + (inReceptacle Fork_bar__minus_00_dot_12_bar__plus_00_dot_76_bar__minus_01_dot_95 Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin) + (inReceptacle Fork_bar__minus_00_dot_29_bar__plus_00_dot_76_bar__minus_02_dot_06 Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin) + + + (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 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loc_bar_4_bar__minus_5_bar_1_bar_45) + (receptacleAtLocation Shelf_bar__plus_02_dot_81_bar__plus_00_dot_16_bar__plus_00_dot_14 loc_bar_11_bar_6_bar_2_bar_45) + (receptacleAtLocation Shelf_bar__plus_02_dot_81_bar__plus_00_dot_54_bar__plus_00_dot_14 loc_bar_10_bar_5_bar_2_bar_45) + (receptacleAtLocation Shelf_bar__plus_02_dot_81_bar__plus_00_dot_87_bar__plus_00_dot_14 loc_bar_8_bar_3_bar_1_bar_45) + (receptacleAtLocation Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin loc_bar_0_bar__minus_5_bar_2_bar_45) + (receptacleAtLocation StoveBurner_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__minus_00_dot_67 loc_bar__minus_2_bar__minus_3_bar_3_bar_45) + (receptacleAtLocation StoveBurner_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__minus_01_dot_13 loc_bar__minus_2_bar__minus_5_bar_3_bar_45) + (receptacleAtLocation StoveBurner_bar__minus_01_dot_29_bar__plus_00_dot_95_bar__minus_00_dot_76 loc_bar__minus_2_bar__minus_3_bar_3_bar_45) + (receptacleAtLocation 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+ "task_type": "pick_heat_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A1RLO9LNUJIW5S_3NKQQ8O391MZY95MYO82N55FN9GDUL", + "high_descs": [ + "Turn right and walk until you are even with the door on the left then turn right and walk a few steps so you are even with the blue garbage and walk over to it so you are facing it lengthwise.", + "Pick up the egg that's in the garbage.", + "Turn around and walk over to the microwave near the fridge.", + "Cook the egg in the microwave then take it back out.", + "Walk back over to the blue garbage.", + "Put the egg in the top left corner of the interior of the garbage." + ], + "task_desc": "Put a cooked egg in the garbage.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "AM2KK02JXXW48_3WI0P0II6497IHD5UUDXIUIVGDIRD7", + "high_descs": [ + "Move to the trash can.", + "Take the egg out of the trash can.", + "Bring the egg to the microwave. ", + "Heat the egg in the the microwave for a few seconds.", + "Bring the egg back to the trash can.", + "Put the egg in the trash can. " + ], + "task_desc": "Throw out the heated egg in the trash can. ", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1GVTH5YS3WOK0_3IO1LGZLKCE2F3JULYZJL7DY9VV860", + "high_descs": [ + "Turn right and head towards the door on the left and then turns right towards the blue bin on the floor.", + "Pick up the egg from the bin.", + "Turn around towards the counter, turn right towards the microwave on the counter.", + "Place the egg in the microwave to warm it up and take it out of the microwave.", + "Turn right, walk past the fridge and then turn left to face the blue bin on the floor.", + "Place the egg inside the bin." + ], + "task_desc": "To heat up the egg inside the blue bin.", + "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-Egg-None-Microwave-30/trial_T20190907_163137_897997/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Egg-None-Microwave-30/trial_T20190907_163137_897997/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..0eeecfd654da7c31ff07e9dcc04e49a79caa01ba --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Egg-None-Microwave-30/trial_T20190907_163137_897997/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\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 egg in microwave.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190907_163137_897997)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\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_01_bar__plus_00_dot_79_bar__minus_01_dot_41 - object\n Apple_bar__minus_01_dot_02_bar__plus_01_dot_07_bar__plus_01_dot_26 - object\n Bowl_bar__plus_00_dot_76_bar__plus_01_dot_67_bar__minus_01_dot_69 - object\n Bread_bar__plus_01_dot_10_bar__plus_00_dot_99_bar__plus_00_dot_61 - object\n ButterKnife_bar__plus_00_dot_53_bar__plus_00_dot_91_bar__plus_00_dot_63 - object\n ButterKnife_bar__plus_00_dot_78_bar__plus_00_dot_91_bar__plus_00_dot_33 - object\n CellPhone_bar__plus_00_dot_89_bar__plus_00_dot_91_bar__plus_00_dot_37 - object\n CellPhone_bar__minus_00_dot_91_bar__plus_00_dot_13_bar__plus_01_dot_61 - object\n Cup_bar__minus_00_dot_86_bar__plus_00_dot_90_bar__plus_00_dot_40 - object\n Cup_bar__minus_01_dot_09_bar__plus_01_dot_00_bar__plus_01_dot_42 - object\n DishSponge_bar__minus_00_dot_87_bar__plus_00_dot_71_bar__minus_00_dot_10 - object\n Egg_bar__plus_01_dot_16_bar__plus_00_dot_76_bar__minus_01_dot_35 - object\n Egg_bar__plus_03_dot_24_bar__plus_00_dot_15_bar__plus_01_dot_49 - object\n Egg_bar__minus_00_dot_10_bar__plus_00_dot_95_bar__minus_01_dot_73 - object\n Faucet_bar__plus_03_dot_31_bar__plus_00_dot_89_bar__plus_00_dot_09 - object\n Fork_bar__plus_02_dot_99_bar__plus_00_dot_71_bar__plus_00_dot_63 - object\n Fork_bar__minus_00_dot_83_bar__plus_00_dot_33_bar__plus_01_dot_61 - object\n Fork_bar__minus_00_dot_87_bar__plus_00_dot_71_bar__plus_00_dot_75 - object\n Glassbottle_bar__plus_03_dot_18_bar__plus_01_dot_47_bar__minus_01_dot_65 - object\n Glassbottle_bar__minus_01_dot_08_bar__plus_00_dot_90_bar__minus_00_dot_05 - object\n HousePlant_bar__plus_03_dot_20_bar__plus_00_dot_89_bar__minus_00_dot_37 - object\n Kettle_bar__plus_03_dot_24_bar__plus_01_dot_47_bar__minus_01_dot_19 - object\n Knife_bar__plus_03_dot_03_bar__plus_00_dot_74_bar__minus_00_dot_36 - object\n Knife_bar__plus_03_dot_20_bar__plus_00_dot_93_bar__minus_00_dot_70 - object\n Knife_bar__minus_00_dot_79_bar__plus_00_dot_93_bar__plus_00_dot_40 - object\n Ladle_bar__plus_00_dot_00_bar__plus_00_dot_94_bar__minus_01_dot_53 - object\n Ladle_bar__minus_00_dot_99_bar__plus_00_dot_56_bar__plus_00_dot_08 - object\n Lettuce_bar__minus_00_dot_78_bar__plus_00_dot_97_bar__minus_00_dot_75 - object\n Lettuce_bar__minus_00_dot_79_bar__plus_00_dot_97_bar__minus_00_dot_05 - object\n LightSwitch_bar__plus_02_dot_59_bar__plus_01_dot_31_bar__minus_01_dot_88 - object\n Mirror_bar__minus_01_dot_30_bar__plus_01_dot_63_bar__plus_00_dot_05 - object\n Mug_bar__plus_00_dot_18_bar__plus_00_dot_90_bar__minus_01_dot_37 - object\n Mug_bar__plus_03_dot_05_bar__plus_00_dot_97_bar__plus_00_dot_59 - object\n Mug_bar__minus_00_dot_92_bar__plus_01_dot_25_bar__minus_00_dot_91 - object\n Pan_bar__plus_00_dot_34_bar__plus_00_dot_87_bar__minus_01_dot_65 - object\n PepperShaker_bar__plus_00_dot_02_bar__plus_00_dot_90_bar__minus_01_dot_80 - object\n PepperShaker_bar__plus_00_dot_34_bar__plus_00_dot_90_bar__minus_01_dot_59 - object\n PepperShaker_bar__minus_00_dot_34_bar__plus_00_dot_90_bar__minus_01_dot_50 - object\n Plate_bar__plus_03_dot_03_bar__plus_00_dot_19_bar__plus_00_dot_63 - object\n Potato_bar__plus_00_dot_10_bar__plus_00_dot_94_bar__minus_01_dot_53 - object\n Pot_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_00_dot_92 - object\n SaltShaker_bar__plus_01_dot_10_bar__plus_00_dot_90_bar__plus_00_dot_46 - object\n Sink_bar__plus_03_dot_08_bar__plus_00_dot_89_bar__plus_00_dot_09 - object\n SoapBottle_bar__plus_03_dot_29_bar__plus_00_dot_11_bar__plus_01_dot_60 - object\n Spatula_bar__plus_03_dot_15_bar__plus_00_dot_76_bar__plus_00_dot_03 - object\n Spatula_bar__minus_00_dot_72_bar__plus_00_dot_92_bar__plus_00_dot_62 - object\n Spatula_bar__minus_00_dot_87_bar__plus_00_dot_15_bar__plus_00_dot_40 - object\n Spoon_bar__plus_00_dot_97_bar__plus_00_dot_91_bar__plus_00_dot_18 - object\n StoveKnob_bar__minus_00_dot_09_bar__plus_00_dot_79_bar__minus_01_dot_01 - object\n StoveKnob_bar__minus_00_dot_18_bar__plus_00_dot_79_bar__minus_00_dot_92 - object\n StoveKnob_bar__minus_00_dot_28_bar__plus_00_dot_79_bar__minus_00_dot_82 - object\n StoveKnob_bar__minus_00_dot_37_bar__plus_00_dot_79_bar__minus_00_dot_72 - object\n Tomato_bar__plus_03_dot_03_bar__plus_00_dot_78_bar__minus_00_dot_10 - object\n Tomato_bar__minus_00_dot_19_bar__plus_00_dot_94_bar__minus_01_dot_45 - object\n Tomato_bar__minus_01_dot_09_bar__plus_00_dot_94_bar__minus_00_dot_74 - object\n Window_bar__plus_03_dot_70_bar__plus_01_dot_68_bar__plus_00_dot_05 - object\n Cabinet_bar__plus_00_dot_14_bar__plus_01_dot_67_bar__minus_01_dot_56 - receptacle\n Cabinet_bar__plus_00_dot_62_bar__plus_01_dot_87_bar__minus_01_dot_26 - receptacle\n Cabinet_bar__plus_01_dot_40_bar__plus_01_dot_87_bar__minus_01_dot_26 - receptacle\n Cabinet_bar__plus_02_dot_82_bar__plus_01_dot_77_bar__minus_01_dot_05 - receptacle\n Cabinet_bar__plus_02_dot_82_bar__plus_01_dot_77_bar__minus_01_dot_85 - receptacle\n Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__plus_00_dot_41 - receptacle\n Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__minus_00_dot_61 - receptacle\n Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__minus_00_dot_96 - receptacle\n Cabinet_bar__plus_03_dot_07_bar__plus_01_dot_67_bar__minus_00_dot_71 - receptacle\n Cabinet_bar__minus_00_dot_19_bar__plus_01_dot_67_bar__minus_01_dot_34 - receptacle\n Cabinet_bar__minus_00_dot_20_bar__plus_01_dot_96_bar__minus_01_dot_33 - receptacle\n Cabinet_bar__minus_00_dot_71_bar__plus_01_dot_96_bar__minus_00_dot_82 - receptacle\n Cabinet_bar__minus_00_dot_92_bar__plus_01_dot_67_bar__minus_00_dot_62 - receptacle\n CoffeeMachine_bar__plus_03_dot_22_bar__plus_00_dot_89_bar__plus_00_dot_70 - receptacle\n CounterTop_bar__plus_00_dot_09_bar__plus_00_dot_89_bar__minus_01_dot_52 - receptacle\n CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46 - receptacle\n CounterTop_bar__plus_03_dot_11_bar__plus_00_dot_94_bar__plus_00_dot_02 - receptacle\n CounterTop_bar__minus_01_dot_01_bar__plus_00_dot_94_bar__minus_00_dot_04 - receptacle\n Drawer_bar__plus_00_dot_38_bar__plus_00_dot_19_bar__minus_01_dot_51 - receptacle\n Drawer_bar__plus_00_dot_38_bar__plus_00_dot_38_bar__minus_01_dot_51 - receptacle\n Drawer_bar__plus_00_dot_38_bar__plus_00_dot_57_bar__minus_01_dot_51 - receptacle\n Drawer_bar__plus_00_dot_38_bar__plus_00_dot_77_bar__minus_01_dot_51 - receptacle\n Drawer_bar__plus_03_dot_02_bar__plus_00_dot_77_bar__plus_00_dot_70 - receptacle\n Drawer_bar__plus_03_dot_02_bar__plus_00_dot_77_bar__minus_00_dot_41 - receptacle\n Drawer_bar__plus_03_dot_02_bar__plus_00_dot_77_bar__minus_00_dot_78 - receptacle\n Drawer_bar__minus_00_dot_05_bar__plus_00_dot_19_bar__minus_01_dot_32 - receptacle\n Drawer_bar__minus_00_dot_05_bar__plus_00_dot_38_bar__minus_01_dot_32 - receptacle\n Drawer_bar__minus_00_dot_05_bar__plus_00_dot_57_bar__minus_01_dot_32 - receptacle\n Drawer_bar__minus_00_dot_05_bar__plus_00_dot_77_bar__minus_01_dot_32 - receptacle\n Drawer_bar__minus_00_dot_68_bar__plus_00_dot_19_bar__minus_00_dot_70 - receptacle\n Drawer_bar__minus_00_dot_68_bar__plus_00_dot_39_bar__minus_00_dot_70 - receptacle\n Drawer_bar__minus_00_dot_68_bar__plus_00_dot_58_bar__minus_00_dot_70 - receptacle\n Drawer_bar__minus_00_dot_68_bar__plus_00_dot_77_bar__minus_00_dot_70 - receptacle\n Drawer_bar__minus_00_dot_86_bar__plus_00_dot_19_bar__plus_00_dot_66 - receptacle\n Drawer_bar__minus_00_dot_86_bar__plus_00_dot_19_bar__plus_01_dot_43 - receptacle\n Drawer_bar__minus_00_dot_86_bar__plus_00_dot_19_bar__minus_00_dot_10 - receptacle\n Drawer_bar__minus_00_dot_86_bar__plus_00_dot_39_bar__plus_00_dot_66 - receptacle\n Drawer_bar__minus_00_dot_86_bar__plus_00_dot_39_bar__plus_01_dot_43 - receptacle\n Drawer_bar__minus_00_dot_86_bar__plus_00_dot_39_bar__minus_00_dot_10 - receptacle\n Drawer_bar__minus_00_dot_86_bar__plus_00_dot_58_bar__plus_00_dot_66 - receptacle\n Drawer_bar__minus_00_dot_86_bar__plus_00_dot_58_bar__plus_01_dot_43 - receptacle\n Drawer_bar__minus_00_dot_86_bar__plus_00_dot_58_bar__minus_00_dot_10 - receptacle\n Drawer_bar__minus_00_dot_86_bar__plus_00_dot_77_bar__plus_00_dot_66 - receptacle\n Drawer_bar__minus_00_dot_86_bar__plus_00_dot_77_bar__plus_01_dot_43 - receptacle\n Drawer_bar__minus_00_dot_86_bar__plus_00_dot_77_bar__minus_00_dot_10 - receptacle\n Fridge_bar__plus_01_dot_01_bar__plus_00_dot_03_bar__minus_01_dot_47 - receptacle\n GarbageCan_bar__plus_03_dot_18_bar__plus_00_dot_03_bar__plus_01_dot_60 - receptacle\n Microwave_bar__minus_01_dot_03_bar__plus_00_dot_89_bar__plus_01_dot_43 - receptacle\n Sink_bar__plus_03_dot_08_bar__plus_00_dot_89_bar__plus_00_dot_09_bar_SinkBasin - receptacle\n StoveBurner_bar__minus_00_dot_24_bar__plus_00_dot_90_bar__minus_01_dot_09 - receptacle\n StoveBurner_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_00_dot_92 - receptacle\n StoveBurner_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_01_dot_27 - receptacle\n StoveBurner_bar__minus_00_dot_60_bar__plus_00_dot_90_bar__minus_01_dot_09 - receptacle\n Toaster_bar__minus_01_dot_04_bar__plus_00_dot_87_bar__minus_00_dot_40 - receptacle\n loc_bar__minus_1_bar_2_bar_3_bar_45 - location\n loc_bar_2_bar__minus_1_bar_2_bar_45 - location\n loc_bar_10_bar_0_bar_1_bar_0 - location\n loc_bar_10_bar_3_bar_1_bar_45 - location\n loc_bar__minus_1_bar_5_bar_3_bar_45 - location\n loc_bar_0_bar_2_bar_0_bar_60 - location\n loc_bar_0_bar_2_bar_2_bar_45 - location\n loc_bar_8_bar_1_bar_1_bar_60 - location\n loc_bar_10_bar__minus_2_bar_1_bar_45 - location\n loc_bar_4_bar__minus_2_bar_0_bar_45 - location\n loc_bar_2_bar__minus_2_bar_2_bar_60 - location\n loc_bar_1_bar__minus_3_bar_2_bar_0 - location\n loc_bar_11_bar_5_bar_1_bar_60 - location\n loc_bar_0_bar_1_bar_2_bar_60 - location\n loc_bar_9_bar_2_bar_2_bar_45 - location\n loc_bar__minus_1_bar_3_bar_2_bar_45 - location\n loc_bar_8_bar_0_bar_1_bar_60 - location\n loc_bar_9_bar__minus_5_bar_1_bar__minus_15 - location\n loc_bar_0_bar_4_bar_2_bar_45 - location\n loc_bar__minus_1_bar__minus_1_bar_2_bar_45 - location\n loc_bar_1_bar__minus_3_bar_2_bar_45 - location\n loc_bar__minus_1_bar__minus_2_bar_3_bar_45 - location\n loc_bar_0_bar__minus_2_bar_0_bar_45 - location\n loc_bar_0_bar_1_bar_2_bar_45 - location\n loc_bar_4_bar__minus_2_bar_2_bar__minus_15 - location\n loc_bar_0_bar__minus_2_bar_2_bar__minus_15 - location\n loc_bar_9_bar__minus_5_bar_2_bar_30 - location\n loc_bar__minus_1_bar__minus_1_bar_0_bar_45 - location\n loc_bar_2_bar__minus_3_bar_2_bar_0 - location\n loc_bar_4_bar__minus_2_bar_2_bar_60 - location\n loc_bar__minus_1_bar_2_bar_3_bar_60 - location\n loc_bar_0_bar__minus_3_bar_3_bar_60 - location\n loc_bar_8_bar__minus_5_bar_1_bar_0 - location\n loc_bar__minus_1_bar_1_bar_3_bar_0 - location\n loc_bar__minus_1_bar__minus_2_bar_3_bar_0 - location\n loc_bar_10_bar__minus_1_bar_1_bar_60 - location\n loc_bar_9_bar_0_bar_2_bar_45 - location\n loc_bar_10_bar_0_bar_1_bar_60 - location\n loc_bar_0_bar_4_bar_2_bar_60 - location\n loc_bar__minus_1_bar__minus_2_bar_2_bar_60 - location\n loc_bar_9_bar__minus_1_bar_0_bar_45 - location\n loc_bar_0_bar__minus_2_bar_2_bar_45 - location\n loc_bar_0_bar__minus_1_bar_2_bar_45 - location\n loc_bar_8_bar__minus_5_bar_1_bar_60 - location\n loc_bar_0_bar_1_bar_0_bar_45 - location\n loc_bar_0_bar__minus_3_bar_3_bar__minus_15 - location\n loc_bar_9_bar__minus_4_bar_1_bar_0 - location\n loc_bar__minus_1_bar_2_bar_0_bar_45 - location\n loc_bar_2_bar__minus_2_bar_2_bar_45 - location\n loc_bar_4_bar__minus_2_bar_3_bar_60 - location\n loc_bar__minus_1_bar_1_bar_2_bar_45 - location\n loc_bar_0_bar__minus_3_bar_2_bar_60 - location\n loc_bar_0_bar_5_bar_3_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Drawer_bar__minus_00_dot_68_bar__plus_00_dot_19_bar__minus_00_dot_70 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_05_bar__plus_00_dot_38_bar__minus_01_dot_32 DrawerType)\n (receptacleType Cabinet_bar__minus_00_dot_92_bar__plus_01_dot_67_bar__minus_00_dot_62 CabinetType)\n (receptacleType CoffeeMachine_bar__plus_03_dot_22_bar__plus_00_dot_89_bar__plus_00_dot_70 CoffeeMachineType)\n (receptacleType Drawer_bar__plus_00_dot_38_bar__plus_00_dot_19_bar__minus_01_dot_51 DrawerType)\n (receptacleType Drawer_bar__plus_00_dot_38_bar__plus_00_dot_57_bar__minus_01_dot_51 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_86_bar__plus_00_dot_77_bar__plus_00_dot_66 DrawerType)\n (receptacleType Cabinet_bar__plus_03_dot_07_bar__plus_01_dot_67_bar__minus_00_dot_71 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_20_bar__plus_01_dot_96_bar__minus_01_dot_33 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_19_bar__plus_01_dot_67_bar__minus_01_dot_34 CabinetType)\n (receptacleType Drawer_bar__minus_00_dot_05_bar__plus_00_dot_57_bar__minus_01_dot_32 DrawerType)\n (receptacleType CounterTop_bar__plus_00_dot_09_bar__plus_00_dot_89_bar__minus_01_dot_52 CounterTopType)\n (receptacleType Drawer_bar__minus_00_dot_86_bar__plus_00_dot_58_bar__plus_00_dot_66 DrawerType)\n (receptacleType Cabinet_bar__minus_00_dot_71_bar__plus_01_dot_96_bar__minus_00_dot_82 CabinetType)\n (receptacleType Drawer_bar__minus_00_dot_86_bar__plus_00_dot_39_bar__plus_00_dot_66 DrawerType)\n (receptacleType Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__minus_00_dot_61 CabinetType)\n (receptacleType Cabinet_bar__plus_02_dot_82_bar__plus_01_dot_77_bar__minus_01_dot_05 CabinetType)\n (receptacleType Drawer_bar__minus_00_dot_86_bar__plus_00_dot_19_bar__plus_01_dot_43 DrawerType)\n (receptacleType Sink_bar__plus_03_dot_08_bar__plus_00_dot_89_bar__plus_00_dot_09_bar_SinkBasin SinkBasinType)\n (receptacleType Microwave_bar__minus_01_dot_03_bar__plus_00_dot_89_bar__plus_01_dot_43 MicrowaveType)\n (receptacleType Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__plus_00_dot_41 CabinetType)\n (receptacleType Drawer_bar__plus_00_dot_38_bar__plus_00_dot_38_bar__minus_01_dot_51 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_86_bar__plus_00_dot_19_bar__plus_00_dot_66 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_86_bar__plus_00_dot_19_bar__minus_00_dot_10 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_68_bar__plus_00_dot_58_bar__minus_00_dot_70 DrawerType)\n (receptacleType Toaster_bar__minus_01_dot_04_bar__plus_00_dot_87_bar__minus_00_dot_40 ToasterType)\n (receptacleType StoveBurner_bar__minus_00_dot_24_bar__plus_00_dot_90_bar__minus_01_dot_09 StoveBurnerType)\n (receptacleType CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46 CounterTopType)\n (receptacleType Drawer_bar__minus_00_dot_86_bar__plus_00_dot_77_bar__minus_00_dot_10 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_05_bar__plus_00_dot_77_bar__minus_01_dot_32 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_86_bar__plus_00_dot_58_bar__plus_01_dot_43 DrawerType)\n (receptacleType GarbageCan_bar__plus_03_dot_18_bar__plus_00_dot_03_bar__plus_01_dot_60 GarbageCanType)\n (receptacleType Drawer_bar__plus_00_dot_38_bar__plus_00_dot_77_bar__minus_01_dot_51 DrawerType)\n (receptacleType StoveBurner_bar__minus_00_dot_60_bar__plus_00_dot_90_bar__minus_01_dot_09 StoveBurnerType)\n (receptacleType Drawer_bar__minus_00_dot_86_bar__plus_00_dot_39_bar__minus_00_dot_10 DrawerType)\n (receptacleType StoveBurner_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_00_dot_92 StoveBurnerType)\n (receptacleType Drawer_bar__plus_03_dot_02_bar__plus_00_dot_77_bar__minus_00_dot_78 DrawerType)\n (receptacleType Cabinet_bar__plus_02_dot_82_bar__plus_01_dot_77_bar__minus_01_dot_85 CabinetType)\n (receptacleType CounterTop_bar__minus_01_dot_01_bar__plus_00_dot_94_bar__minus_00_dot_04 CounterTopType)\n (receptacleType Drawer_bar__minus_00_dot_86_bar__plus_00_dot_39_bar__plus_01_dot_43 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_68_bar__plus_00_dot_77_bar__minus_00_dot_70 DrawerType)\n (receptacleType Drawer_bar__plus_03_dot_02_bar__plus_00_dot_77_bar__minus_00_dot_41 DrawerType)\n (receptacleType CounterTop_bar__plus_03_dot_11_bar__plus_00_dot_94_bar__plus_00_dot_02 CounterTopType)\n (receptacleType Cabinet_bar__plus_00_dot_62_bar__plus_01_dot_87_bar__minus_01_dot_26 CabinetType)\n (receptacleType Drawer_bar__minus_00_dot_86_bar__plus_00_dot_58_bar__minus_00_dot_10 DrawerType)\n (receptacleType Fridge_bar__plus_01_dot_01_bar__plus_00_dot_03_bar__minus_01_dot_47 FridgeType)\n (receptacleType Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__minus_00_dot_96 CabinetType)\n (receptacleType Cabinet_bar__plus_00_dot_14_bar__plus_01_dot_67_bar__minus_01_dot_56 CabinetType)\n (receptacleType StoveBurner_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_01_dot_27 StoveBurnerType)\n (receptacleType Drawer_bar__minus_00_dot_05_bar__plus_00_dot_19_bar__minus_01_dot_32 DrawerType)\n (receptacleType Cabinet_bar__plus_01_dot_40_bar__plus_01_dot_87_bar__minus_01_dot_26 CabinetType)\n (receptacleType Drawer_bar__minus_00_dot_68_bar__plus_00_dot_39_bar__minus_00_dot_70 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_86_bar__plus_00_dot_77_bar__plus_01_dot_43 DrawerType)\n (receptacleType Drawer_bar__plus_03_dot_02_bar__plus_00_dot_77_bar__plus_00_dot_70 DrawerType)\n (objectType Spatula_bar__minus_00_dot_72_bar__plus_00_dot_92_bar__plus_00_dot_62 SpatulaType)\n (objectType Mug_bar__plus_03_dot_05_bar__plus_00_dot_97_bar__plus_00_dot_59 MugType)\n (objectType CellPhone_bar__plus_00_dot_89_bar__plus_00_dot_91_bar__plus_00_dot_37 CellPhoneType)\n (objectType Glassbottle_bar__minus_01_dot_08_bar__plus_00_dot_90_bar__minus_00_dot_05 GlassbottleType)\n (objectType Sink_bar__plus_03_dot_08_bar__plus_00_dot_89_bar__plus_00_dot_09 SinkType)\n (objectType Cup_bar__minus_01_dot_09_bar__plus_01_dot_00_bar__plus_01_dot_42 CupType)\n (objectType Lettuce_bar__minus_00_dot_79_bar__plus_00_dot_97_bar__minus_00_dot_05 LettuceType)\n (objectType StoveKnob_bar__minus_00_dot_37_bar__plus_00_dot_79_bar__minus_00_dot_72 StoveKnobType)\n (objectType Pan_bar__plus_00_dot_34_bar__plus_00_dot_87_bar__minus_01_dot_65 PanType)\n (objectType Knife_bar__plus_03_dot_20_bar__plus_00_dot_93_bar__minus_00_dot_70 KnifeType)\n (objectType Tomato_bar__minus_00_dot_19_bar__plus_00_dot_94_bar__minus_01_dot_45 TomatoType)\n (objectType ButterKnife_bar__plus_00_dot_78_bar__plus_00_dot_91_bar__plus_00_dot_33 ButterKnifeType)\n (objectType Tomato_bar__plus_03_dot_03_bar__plus_00_dot_78_bar__minus_00_dot_10 TomatoType)\n (objectType Egg_bar__plus_01_dot_16_bar__plus_00_dot_76_bar__minus_01_dot_35 EggType)\n (objectType Apple_bar__minus_01_dot_02_bar__plus_01_dot_07_bar__plus_01_dot_26 AppleType)\n (objectType Knife_bar__minus_00_dot_79_bar__plus_00_dot_93_bar__plus_00_dot_40 KnifeType)\n (objectType PepperShaker_bar__minus_00_dot_34_bar__plus_00_dot_90_bar__minus_01_dot_50 PepperShakerType)\n (objectType Kettle_bar__plus_03_dot_24_bar__plus_01_dot_47_bar__minus_01_dot_19 KettleType)\n (objectType StoveKnob_bar__minus_00_dot_18_bar__plus_00_dot_79_bar__minus_00_dot_92 StoveKnobType)\n (objectType Window_bar__plus_03_dot_70_bar__plus_01_dot_68_bar__plus_00_dot_05 WindowType)\n (objectType Knife_bar__plus_03_dot_03_bar__plus_00_dot_74_bar__minus_00_dot_36 KnifeType)\n (objectType Apple_bar__plus_01_dot_01_bar__plus_00_dot_79_bar__minus_01_dot_41 AppleType)\n (objectType PepperShaker_bar__plus_00_dot_34_bar__plus_00_dot_90_bar__minus_01_dot_59 PepperShakerType)\n (objectType Ladle_bar__plus_00_dot_00_bar__plus_00_dot_94_bar__minus_01_dot_53 LadleType)\n (objectType Ladle_bar__minus_00_dot_99_bar__plus_00_dot_56_bar__plus_00_dot_08 LadleType)\n (objectType Lettuce_bar__minus_00_dot_78_bar__plus_00_dot_97_bar__minus_00_dot_75 LettuceType)\n (objectType SaltShaker_bar__plus_01_dot_10_bar__plus_00_dot_90_bar__plus_00_dot_46 SaltShakerType)\n (objectType Glassbottle_bar__plus_03_dot_18_bar__plus_01_dot_47_bar__minus_01_dot_65 GlassbottleType)\n (objectType Fork_bar__minus_00_dot_87_bar__plus_00_dot_71_bar__plus_00_dot_75 ForkType)\n (objectType Fork_bar__plus_02_dot_99_bar__plus_00_dot_71_bar__plus_00_dot_63 ForkType)\n (objectType PepperShaker_bar__plus_00_dot_02_bar__plus_00_dot_90_bar__minus_01_dot_80 PepperShakerType)\n (objectType Bread_bar__plus_01_dot_10_bar__plus_00_dot_99_bar__plus_00_dot_61 BreadType)\n (objectType DishSponge_bar__minus_00_dot_87_bar__plus_00_dot_71_bar__minus_00_dot_10 DishSpongeType)\n (objectType Potato_bar__plus_00_dot_10_bar__plus_00_dot_94_bar__minus_01_dot_53 PotatoType)\n (objectType Tomato_bar__minus_01_dot_09_bar__plus_00_dot_94_bar__minus_00_dot_74 TomatoType)\n (objectType SoapBottle_bar__plus_03_dot_29_bar__plus_00_dot_11_bar__plus_01_dot_60 SoapBottleType)\n (objectType StoveKnob_bar__minus_00_dot_28_bar__plus_00_dot_79_bar__minus_00_dot_82 StoveKnobType)\n (objectType CellPhone_bar__minus_00_dot_91_bar__plus_00_dot_13_bar__plus_01_dot_61 CellPhoneType)\n (objectType Spatula_bar__minus_00_dot_87_bar__plus_00_dot_15_bar__plus_00_dot_40 SpatulaType)\n (objectType HousePlant_bar__plus_03_dot_20_bar__plus_00_dot_89_bar__minus_00_dot_37 HousePlantType)\n (objectType Egg_bar__plus_03_dot_24_bar__plus_00_dot_15_bar__plus_01_dot_49 EggType)\n (objectType ButterKnife_bar__plus_00_dot_53_bar__plus_00_dot_91_bar__plus_00_dot_63 ButterKnifeType)\n (objectType Cup_bar__minus_00_dot_86_bar__plus_00_dot_90_bar__plus_00_dot_40 CupType)\n (objectType Fork_bar__minus_00_dot_83_bar__plus_00_dot_33_bar__plus_01_dot_61 ForkType)\n (objectType Spoon_bar__plus_00_dot_97_bar__plus_00_dot_91_bar__plus_00_dot_18 SpoonType)\n (objectType StoveKnob_bar__minus_00_dot_09_bar__plus_00_dot_79_bar__minus_01_dot_01 StoveKnobType)\n (objectType Bowl_bar__plus_00_dot_76_bar__plus_01_dot_67_bar__minus_01_dot_69 BowlType)\n (objectType Mug_bar__plus_00_dot_18_bar__plus_00_dot_90_bar__minus_01_dot_37 MugType)\n (objectType Egg_bar__minus_00_dot_10_bar__plus_00_dot_95_bar__minus_01_dot_73 EggType)\n (objectType Mirror_bar__minus_01_dot_30_bar__plus_01_dot_63_bar__plus_00_dot_05 MirrorType)\n (objectType Plate_bar__plus_03_dot_03_bar__plus_00_dot_19_bar__plus_00_dot_63 PlateType)\n (objectType LightSwitch_bar__plus_02_dot_59_bar__plus_01_dot_31_bar__minus_01_dot_88 LightSwitchType)\n (objectType Spatula_bar__plus_03_dot_15_bar__plus_00_dot_76_bar__plus_00_dot_03 SpatulaType)\n (objectType Mug_bar__minus_00_dot_92_bar__plus_01_dot_25_bar__minus_00_dot_91 MugType)\n (objectType Pot_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_00_dot_92 PotType)\n (canContain DrawerType SaltShakerType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType LadleType)\n (canContain DrawerType ForkType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType SpoonType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ButterKnifeType)\n (canContain DrawerType PepperShakerType)\n (canContain DrawerType KnifeType)\n (canContain DrawerType SpatulaType)\n (canContain DrawerType SaltShakerType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType LadleType)\n (canContain DrawerType ForkType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType SpoonType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ButterKnifeType)\n (canContain DrawerType PepperShakerType)\n (canContain DrawerType KnifeType)\n (canContain DrawerType SpatulaType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType BowlType)\n (canContain CabinetType KettleType)\n (canContain CabinetType PotType)\n (canContain CabinetType MugType)\n (canContain CabinetType LadleType)\n (canContain CabinetType GlassbottleType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType CupType)\n (canContain CabinetType PlateType)\n (canContain CabinetType PepperShakerType)\n (canContain CabinetType 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(objectAtLocation Tomato_bar__plus_03_dot_03_bar__plus_00_dot_78_bar__minus_00_dot_10 loc_bar_10_bar__minus_1_bar_1_bar_60)\n (objectAtLocation CellPhone_bar__plus_00_dot_89_bar__plus_00_dot_91_bar__plus_00_dot_37 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Apple_bar__plus_01_dot_01_bar__plus_00_dot_79_bar__minus_01_dot_41 loc_bar_4_bar__minus_2_bar_2_bar_60)\n (objectAtLocation ButterKnife_bar__plus_00_dot_78_bar__plus_00_dot_91_bar__plus_00_dot_33 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation PepperShaker_bar__plus_00_dot_02_bar__plus_00_dot_90_bar__minus_01_dot_80 loc_bar_1_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Egg_bar__minus_00_dot_10_bar__plus_00_dot_95_bar__minus_01_dot_73 loc_bar_1_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Cup_bar__minus_01_dot_09_bar__plus_01_dot_00_bar__plus_01_dot_42 loc_bar__minus_1_bar_5_bar_3_bar_45)\n (objectAtLocation Lettuce_bar__minus_00_dot_78_bar__plus_00_dot_97_bar__minus_00_dot_75 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Fork_bar__minus_00_dot_87_bar__plus_00_dot_71_bar__plus_00_dot_75 loc_bar__minus_1_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Ladle_bar__minus_00_dot_99_bar__plus_00_dot_56_bar__plus_00_dot_08 loc_bar_0_bar_4_bar_2_bar_45)\n (objectAtLocation Pot_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_00_dot_92 loc_bar_0_bar__minus_3_bar_3_bar_60)\n (objectAtLocation Kettle_bar__plus_03_dot_24_bar__plus_01_dot_47_bar__minus_01_dot_19 loc_bar_9_bar__minus_5_bar_1_bar__minus_15)\n (objectAtLocation Window_bar__plus_03_dot_70_bar__plus_01_dot_68_bar__plus_00_dot_05 loc_bar_10_bar_0_bar_1_bar_0)\n (objectAtLocation Spatula_bar__minus_00_dot_87_bar__plus_00_dot_15_bar__plus_00_dot_40 loc_bar_0_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Knife_bar__plus_03_dot_03_bar__plus_00_dot_74_bar__minus_00_dot_36 loc_bar_9_bar_2_bar_2_bar_45)\n (objectAtLocation Lettuce_bar__minus_00_dot_79_bar__plus_00_dot_97_bar__minus_00_dot_05 loc_bar__minus_1_bar_2_bar_3_bar_45)\n (objectAtLocation LightSwitch_bar__plus_02_dot_59_bar__plus_01_dot_31_bar__minus_01_dot_88 loc_bar_9_bar__minus_5_bar_2_bar_30)\n (objectAtLocation Cup_bar__minus_00_dot_86_bar__plus_00_dot_90_bar__plus_00_dot_40 loc_bar__minus_1_bar_2_bar_3_bar_45)\n (objectAtLocation SaltShaker_bar__plus_01_dot_10_bar__plus_00_dot_90_bar__plus_00_dot_46 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Egg_bar__plus_03_dot_24_bar__plus_00_dot_15_bar__plus_01_dot_49 loc_bar_11_bar_5_bar_1_bar_60)\n (objectAtLocation PepperShaker_bar__plus_00_dot_34_bar__plus_00_dot_90_bar__minus_01_dot_59 loc_bar_1_bar__minus_3_bar_2_bar_45)\n (objectAtLocation ButterKnife_bar__plus_00_dot_53_bar__plus_00_dot_91_bar__plus_00_dot_63 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Apple_bar__minus_01_dot_02_bar__plus_01_dot_07_bar__plus_01_dot_26 loc_bar__minus_1_bar_5_bar_3_bar_45)\n (objectAtLocation Pan_bar__plus_00_dot_34_bar__plus_00_dot_87_bar__minus_01_dot_65 loc_bar_1_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Bread_bar__plus_01_dot_10_bar__plus_00_dot_99_bar__plus_00_dot_61 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation CellPhone_bar__minus_00_dot_91_bar__plus_00_dot_13_bar__plus_01_dot_61 loc_bar_0_bar_1_bar_0_bar_45)\n (objectAtLocation DishSponge_bar__minus_00_dot_87_bar__plus_00_dot_71_bar__minus_00_dot_10 loc_bar__minus_1_bar_3_bar_2_bar_45)\n (objectAtLocation Tomato_bar__minus_00_dot_19_bar__plus_00_dot_94_bar__minus_01_dot_45 loc_bar_1_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Spoon_bar__plus_00_dot_97_bar__plus_00_dot_91_bar__plus_00_dot_18 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Bowl_bar__plus_00_dot_76_bar__plus_01_dot_67_bar__minus_01_dot_69 loc_bar_4_bar__minus_2_bar_2_bar__minus_15)\n (objectAtLocation Mug_bar__plus_00_dot_18_bar__plus_00_dot_90_bar__minus_01_dot_37 loc_bar_1_bar__minus_3_bar_2_bar_45)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o1 - object)\n (and\n (objectType ?o1 EggType)\n (receptacleType ?r MicrowaveType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 EggType)\n (receptacleType ?r MicrowaveType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to garbagecan 1", "take egg 1 from garbagecan 1", "go to microwave 1", "open microwave 1", "move egg 1 to microwave 1", "go to countertop 3", "take egg 3 from countertop 3", "go to microwave 1", "move egg 3 to microwave 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Egg-None-Microwave-30/trial_T20190907_163137_897997/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Egg-None-Microwave-30/trial_T20190907_163137_897997/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..481205a457cb9766ad5544c6d72aaaa21dbe94f2 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Egg-None-Microwave-30/trial_T20190907_163137_897997/initial_state.pddl @@ -0,0 +1,1479 @@ + +(define (problem plan_trial_T20190907_163137_897997) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + 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_01_bar__plus_00_dot_79_bar__minus_01_dot_41 - object + Apple_bar__minus_01_dot_02_bar__plus_01_dot_07_bar__plus_01_dot_26 - object + Bowl_bar__plus_00_dot_76_bar__plus_01_dot_67_bar__minus_01_dot_69 - object + Bread_bar__plus_01_dot_10_bar__plus_00_dot_99_bar__plus_00_dot_61 - object + ButterKnife_bar__plus_00_dot_53_bar__plus_00_dot_91_bar__plus_00_dot_63 - object + ButterKnife_bar__plus_00_dot_78_bar__plus_00_dot_91_bar__plus_00_dot_33 - object + CellPhone_bar__plus_00_dot_89_bar__plus_00_dot_91_bar__plus_00_dot_37 - object + CellPhone_bar__minus_00_dot_91_bar__plus_00_dot_13_bar__plus_01_dot_61 - object + Cup_bar__minus_00_dot_86_bar__plus_00_dot_90_bar__plus_00_dot_40 - object + Cup_bar__minus_01_dot_09_bar__plus_01_dot_00_bar__plus_01_dot_42 - object + DishSponge_bar__minus_00_dot_87_bar__plus_00_dot_71_bar__minus_00_dot_10 - object + Egg_bar__plus_01_dot_16_bar__plus_00_dot_76_bar__minus_01_dot_35 - object + Egg_bar__plus_03_dot_24_bar__plus_00_dot_15_bar__plus_01_dot_49 - object + Egg_bar__minus_00_dot_10_bar__plus_00_dot_95_bar__minus_01_dot_73 - object + Faucet_bar__plus_03_dot_31_bar__plus_00_dot_89_bar__plus_00_dot_09 - object + Fork_bar__plus_02_dot_99_bar__plus_00_dot_71_bar__plus_00_dot_63 - object + Fork_bar__minus_00_dot_83_bar__plus_00_dot_33_bar__plus_01_dot_61 - object + Fork_bar__minus_00_dot_87_bar__plus_00_dot_71_bar__plus_00_dot_75 - object + Glassbottle_bar__plus_03_dot_18_bar__plus_01_dot_47_bar__minus_01_dot_65 - object + Glassbottle_bar__minus_01_dot_08_bar__plus_00_dot_90_bar__minus_00_dot_05 - object + HousePlant_bar__plus_03_dot_20_bar__plus_00_dot_89_bar__minus_00_dot_37 - object + Kettle_bar__plus_03_dot_24_bar__plus_01_dot_47_bar__minus_01_dot_19 - object + Knife_bar__plus_03_dot_03_bar__plus_00_dot_74_bar__minus_00_dot_36 - object + Knife_bar__plus_03_dot_20_bar__plus_00_dot_93_bar__minus_00_dot_70 - object + Knife_bar__minus_00_dot_79_bar__plus_00_dot_93_bar__plus_00_dot_40 - object + Ladle_bar__plus_00_dot_00_bar__plus_00_dot_94_bar__minus_01_dot_53 - object + Ladle_bar__minus_00_dot_99_bar__plus_00_dot_56_bar__plus_00_dot_08 - object + Lettuce_bar__minus_00_dot_78_bar__plus_00_dot_97_bar__minus_00_dot_75 - object + Lettuce_bar__minus_00_dot_79_bar__plus_00_dot_97_bar__minus_00_dot_05 - object + LightSwitch_bar__plus_02_dot_59_bar__plus_01_dot_31_bar__minus_01_dot_88 - object + Mirror_bar__minus_01_dot_30_bar__plus_01_dot_63_bar__plus_00_dot_05 - object + Mug_bar__plus_00_dot_18_bar__plus_00_dot_90_bar__minus_01_dot_37 - object + Mug_bar__plus_03_dot_05_bar__plus_00_dot_97_bar__plus_00_dot_59 - object + Mug_bar__minus_00_dot_92_bar__plus_01_dot_25_bar__minus_00_dot_91 - object + Pan_bar__plus_00_dot_34_bar__plus_00_dot_87_bar__minus_01_dot_65 - object + PepperShaker_bar__plus_00_dot_02_bar__plus_00_dot_90_bar__minus_01_dot_80 - object + PepperShaker_bar__plus_00_dot_34_bar__plus_00_dot_90_bar__minus_01_dot_59 - object + PepperShaker_bar__minus_00_dot_34_bar__plus_00_dot_90_bar__minus_01_dot_50 - object + Plate_bar__plus_03_dot_03_bar__plus_00_dot_19_bar__plus_00_dot_63 - object + Potato_bar__plus_00_dot_10_bar__plus_00_dot_94_bar__minus_01_dot_53 - object + Pot_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_00_dot_92 - object + SaltShaker_bar__plus_01_dot_10_bar__plus_00_dot_90_bar__plus_00_dot_46 - object + Sink_bar__plus_03_dot_08_bar__plus_00_dot_89_bar__plus_00_dot_09 - object + SoapBottle_bar__plus_03_dot_29_bar__plus_00_dot_11_bar__plus_01_dot_60 - object + Spatula_bar__plus_03_dot_15_bar__plus_00_dot_76_bar__plus_00_dot_03 - object + Spatula_bar__minus_00_dot_72_bar__plus_00_dot_92_bar__plus_00_dot_62 - object + Spatula_bar__minus_00_dot_87_bar__plus_00_dot_15_bar__plus_00_dot_40 - object + Spoon_bar__plus_00_dot_97_bar__plus_00_dot_91_bar__plus_00_dot_18 - object + StoveKnob_bar__minus_00_dot_09_bar__plus_00_dot_79_bar__minus_01_dot_01 - object + StoveKnob_bar__minus_00_dot_18_bar__plus_00_dot_79_bar__minus_00_dot_92 - object + StoveKnob_bar__minus_00_dot_28_bar__plus_00_dot_79_bar__minus_00_dot_82 - object + StoveKnob_bar__minus_00_dot_37_bar__plus_00_dot_79_bar__minus_00_dot_72 - object + Tomato_bar__plus_03_dot_03_bar__plus_00_dot_78_bar__minus_00_dot_10 - object + Tomato_bar__minus_00_dot_19_bar__plus_00_dot_94_bar__minus_01_dot_45 - object + Tomato_bar__minus_01_dot_09_bar__plus_00_dot_94_bar__minus_00_dot_74 - object + Window_bar__plus_03_dot_70_bar__plus_01_dot_68_bar__plus_00_dot_05 - object + Cabinet_bar__plus_00_dot_14_bar__plus_01_dot_67_bar__minus_01_dot_56 - receptacle + Cabinet_bar__plus_00_dot_62_bar__plus_01_dot_87_bar__minus_01_dot_26 - receptacle + Cabinet_bar__plus_01_dot_40_bar__plus_01_dot_87_bar__minus_01_dot_26 - receptacle + Cabinet_bar__plus_02_dot_82_bar__plus_01_dot_77_bar__minus_01_dot_05 - receptacle + Cabinet_bar__plus_02_dot_82_bar__plus_01_dot_77_bar__minus_01_dot_85 - receptacle + Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__plus_00_dot_41 - receptacle + Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__minus_00_dot_61 - receptacle + Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__minus_00_dot_96 - receptacle + Cabinet_bar__plus_03_dot_07_bar__plus_01_dot_67_bar__minus_00_dot_71 - receptacle + Cabinet_bar__minus_00_dot_19_bar__plus_01_dot_67_bar__minus_01_dot_34 - receptacle + Cabinet_bar__minus_00_dot_20_bar__plus_01_dot_96_bar__minus_01_dot_33 - receptacle + Cabinet_bar__minus_00_dot_71_bar__plus_01_dot_96_bar__minus_00_dot_82 - receptacle + Cabinet_bar__minus_00_dot_92_bar__plus_01_dot_67_bar__minus_00_dot_62 - receptacle + CoffeeMachine_bar__plus_03_dot_22_bar__plus_00_dot_89_bar__plus_00_dot_70 - receptacle + CounterTop_bar__plus_00_dot_09_bar__plus_00_dot_89_bar__minus_01_dot_52 - receptacle + CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46 - receptacle + CounterTop_bar__plus_03_dot_11_bar__plus_00_dot_94_bar__plus_00_dot_02 - receptacle + CounterTop_bar__minus_01_dot_01_bar__plus_00_dot_94_bar__minus_00_dot_04 - receptacle + Drawer_bar__plus_00_dot_38_bar__plus_00_dot_19_bar__minus_01_dot_51 - receptacle + Drawer_bar__plus_00_dot_38_bar__plus_00_dot_38_bar__minus_01_dot_51 - receptacle + Drawer_bar__plus_00_dot_38_bar__plus_00_dot_57_bar__minus_01_dot_51 - receptacle + Drawer_bar__plus_00_dot_38_bar__plus_00_dot_77_bar__minus_01_dot_51 - receptacle + Drawer_bar__plus_03_dot_02_bar__plus_00_dot_77_bar__plus_00_dot_70 - receptacle + Drawer_bar__plus_03_dot_02_bar__plus_00_dot_77_bar__minus_00_dot_41 - receptacle + Drawer_bar__plus_03_dot_02_bar__plus_00_dot_77_bar__minus_00_dot_78 - receptacle + Drawer_bar__minus_00_dot_05_bar__plus_00_dot_19_bar__minus_01_dot_32 - receptacle + Drawer_bar__minus_00_dot_05_bar__plus_00_dot_38_bar__minus_01_dot_32 - receptacle + Drawer_bar__minus_00_dot_05_bar__plus_00_dot_57_bar__minus_01_dot_32 - receptacle + Drawer_bar__minus_00_dot_05_bar__plus_00_dot_77_bar__minus_01_dot_32 - receptacle + Drawer_bar__minus_00_dot_68_bar__plus_00_dot_19_bar__minus_00_dot_70 - receptacle + Drawer_bar__minus_00_dot_68_bar__plus_00_dot_39_bar__minus_00_dot_70 - receptacle + Drawer_bar__minus_00_dot_68_bar__plus_00_dot_58_bar__minus_00_dot_70 - receptacle + Drawer_bar__minus_00_dot_68_bar__plus_00_dot_77_bar__minus_00_dot_70 - receptacle + Drawer_bar__minus_00_dot_86_bar__plus_00_dot_19_bar__plus_00_dot_66 - receptacle + Drawer_bar__minus_00_dot_86_bar__plus_00_dot_19_bar__plus_01_dot_43 - receptacle + Drawer_bar__minus_00_dot_86_bar__plus_00_dot_19_bar__minus_00_dot_10 - receptacle + Drawer_bar__minus_00_dot_86_bar__plus_00_dot_39_bar__plus_00_dot_66 - receptacle + Drawer_bar__minus_00_dot_86_bar__plus_00_dot_39_bar__plus_01_dot_43 - receptacle + Drawer_bar__minus_00_dot_86_bar__plus_00_dot_39_bar__minus_00_dot_10 - receptacle + Drawer_bar__minus_00_dot_86_bar__plus_00_dot_58_bar__plus_00_dot_66 - receptacle + Drawer_bar__minus_00_dot_86_bar__plus_00_dot_58_bar__plus_01_dot_43 - receptacle + Drawer_bar__minus_00_dot_86_bar__plus_00_dot_58_bar__minus_00_dot_10 - receptacle + Drawer_bar__minus_00_dot_86_bar__plus_00_dot_77_bar__plus_00_dot_66 - receptacle + Drawer_bar__minus_00_dot_86_bar__plus_00_dot_77_bar__plus_01_dot_43 - receptacle + Drawer_bar__minus_00_dot_86_bar__plus_00_dot_77_bar__minus_00_dot_10 - receptacle + Fridge_bar__plus_01_dot_01_bar__plus_00_dot_03_bar__minus_01_dot_47 - receptacle + GarbageCan_bar__plus_03_dot_18_bar__plus_00_dot_03_bar__plus_01_dot_60 - receptacle + Microwave_bar__minus_01_dot_03_bar__plus_00_dot_89_bar__plus_01_dot_43 - receptacle + Sink_bar__plus_03_dot_08_bar__plus_00_dot_89_bar__plus_00_dot_09_bar_SinkBasin - receptacle + StoveBurner_bar__minus_00_dot_24_bar__plus_00_dot_90_bar__minus_01_dot_09 - receptacle + StoveBurner_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_00_dot_92 - receptacle + StoveBurner_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_01_dot_27 - receptacle + StoveBurner_bar__minus_00_dot_60_bar__plus_00_dot_90_bar__minus_01_dot_09 - receptacle + Toaster_bar__minus_01_dot_04_bar__plus_00_dot_87_bar__minus_00_dot_40 - receptacle + loc_bar__minus_1_bar_2_bar_3_bar_45 - location + loc_bar_2_bar__minus_1_bar_2_bar_45 - location + loc_bar_10_bar_0_bar_1_bar_0 - location + loc_bar_10_bar_3_bar_1_bar_45 - location + loc_bar__minus_1_bar_5_bar_3_bar_45 - location + loc_bar_0_bar_2_bar_0_bar_60 - location + loc_bar_0_bar_2_bar_2_bar_45 - location + loc_bar_8_bar_1_bar_1_bar_60 - location + loc_bar_10_bar__minus_2_bar_1_bar_45 - location + loc_bar_4_bar__minus_2_bar_0_bar_45 - location + loc_bar_2_bar__minus_2_bar_2_bar_60 - location + loc_bar_1_bar__minus_3_bar_2_bar_0 - location + loc_bar_11_bar_5_bar_1_bar_60 - location + loc_bar_0_bar_1_bar_2_bar_60 - location + loc_bar_9_bar_2_bar_2_bar_45 - location + loc_bar__minus_1_bar_3_bar_2_bar_45 - location + loc_bar_8_bar_0_bar_1_bar_60 - location + loc_bar_9_bar__minus_5_bar_1_bar__minus_15 - location + loc_bar_0_bar_4_bar_2_bar_45 - location + loc_bar__minus_1_bar__minus_1_bar_2_bar_45 - location + loc_bar_1_bar__minus_3_bar_2_bar_45 - location + loc_bar__minus_1_bar__minus_2_bar_3_bar_45 - location + loc_bar_0_bar__minus_2_bar_0_bar_45 - location + loc_bar_0_bar_1_bar_2_bar_45 - location + loc_bar_4_bar__minus_2_bar_2_bar__minus_15 - location + loc_bar_0_bar__minus_2_bar_2_bar__minus_15 - location + loc_bar_9_bar__minus_5_bar_2_bar_30 - location + loc_bar__minus_1_bar__minus_1_bar_0_bar_45 - location + loc_bar_2_bar__minus_3_bar_2_bar_0 - location + loc_bar_4_bar__minus_2_bar_2_bar_60 - location + loc_bar__minus_1_bar_2_bar_3_bar_60 - location + loc_bar_0_bar__minus_3_bar_3_bar_60 - location + loc_bar_8_bar__minus_5_bar_1_bar_0 - location + loc_bar__minus_1_bar_1_bar_3_bar_0 - location + loc_bar__minus_1_bar__minus_2_bar_3_bar_0 - location + loc_bar_10_bar__minus_1_bar_1_bar_60 - location + loc_bar_9_bar_0_bar_2_bar_45 - location + loc_bar_10_bar_0_bar_1_bar_60 - location + loc_bar_0_bar_4_bar_2_bar_60 - location + loc_bar__minus_1_bar__minus_2_bar_2_bar_60 - location + loc_bar_9_bar__minus_1_bar_0_bar_45 - location + loc_bar_0_bar__minus_2_bar_2_bar_45 - location + loc_bar_0_bar__minus_1_bar_2_bar_45 - location + loc_bar_8_bar__minus_5_bar_1_bar_60 - location + loc_bar_0_bar_1_bar_0_bar_45 - location + loc_bar_0_bar__minus_3_bar_3_bar__minus_15 - location + loc_bar_9_bar__minus_4_bar_1_bar_0 - location + loc_bar__minus_1_bar_2_bar_0_bar_45 - location + 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Mug_bar__plus_03_dot_05_bar__plus_00_dot_97_bar__plus_00_dot_59 CoffeeMachine_bar__plus_03_dot_22_bar__plus_00_dot_89_bar__plus_00_dot_70) + (inReceptacle Spatula_bar__plus_03_dot_15_bar__plus_00_dot_76_bar__plus_00_dot_03 Sink_bar__plus_03_dot_08_bar__plus_00_dot_89_bar__plus_00_dot_09_bar_SinkBasin) + (inReceptacle Tomato_bar__plus_03_dot_03_bar__plus_00_dot_78_bar__minus_00_dot_10 Sink_bar__plus_03_dot_08_bar__plus_00_dot_89_bar__plus_00_dot_09_bar_SinkBasin) + (inReceptacle Egg_bar__plus_01_dot_16_bar__plus_00_dot_76_bar__minus_01_dot_35 Fridge_bar__plus_01_dot_01_bar__plus_00_dot_03_bar__minus_01_dot_47) + (inReceptacle Apple_bar__plus_01_dot_01_bar__plus_00_dot_79_bar__minus_01_dot_41 Fridge_bar__plus_01_dot_01_bar__plus_00_dot_03_bar__minus_01_dot_47) + (inReceptacleObject PepperShaker_bar__plus_00_dot_34_bar__plus_00_dot_90_bar__minus_01_dot_59 Pan_bar__plus_00_dot_34_bar__plus_00_dot_87_bar__minus_01_dot_65) + (inReceptacle Cup_bar__minus_01_dot_09_bar__plus_01_dot_00_bar__plus_01_dot_42 Microwave_bar__minus_01_dot_03_bar__plus_00_dot_89_bar__plus_01_dot_43) + (inReceptacle Apple_bar__minus_01_dot_02_bar__plus_01_dot_07_bar__plus_01_dot_26 Microwave_bar__minus_01_dot_03_bar__plus_00_dot_89_bar__plus_01_dot_43) + + + (receptacleAtLocation Cabinet_bar__plus_00_dot_14_bar__plus_01_dot_67_bar__minus_01_dot_56 loc_bar_2_bar__minus_3_bar_2_bar_0) + (receptacleAtLocation Cabinet_bar__plus_00_dot_62_bar__plus_01_dot_87_bar__minus_01_dot_26 loc_bar_4_bar__minus_2_bar_2_bar__minus_15) + (receptacleAtLocation Cabinet_bar__plus_01_dot_40_bar__plus_01_dot_87_bar__minus_01_dot_26 loc_bar_4_bar__minus_2_bar_2_bar__minus_15) + (receptacleAtLocation Cabinet_bar__plus_02_dot_82_bar__plus_01_dot_77_bar__minus_01_dot_05 loc_bar_9_bar__minus_5_bar_1_bar__minus_15) + (receptacleAtLocation Cabinet_bar__plus_02_dot_82_bar__plus_01_dot_77_bar__minus_01_dot_85 loc_bar_8_bar__minus_5_bar_1_bar_0) + (receptacleAtLocation 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loc_bar__minus_1_bar__minus_2_bar_3_bar_0) + (receptacleAtLocation CoffeeMachine_bar__plus_03_dot_22_bar__plus_00_dot_89_bar__plus_00_dot_70 loc_bar_10_bar_3_bar_1_bar_45) + (receptacleAtLocation CounterTop_bar__plus_00_dot_09_bar__plus_00_dot_89_bar__minus_01_dot_52 loc_bar_1_bar__minus_3_bar_2_bar_45) + (receptacleAtLocation CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46 loc_bar_4_bar__minus_2_bar_0_bar_45) + (receptacleAtLocation CounterTop_bar__plus_03_dot_11_bar__plus_00_dot_94_bar__plus_00_dot_02 loc_bar_10_bar__minus_2_bar_1_bar_45) + (receptacleAtLocation CounterTop_bar__minus_01_dot_01_bar__plus_00_dot_94_bar__minus_00_dot_04 loc_bar__minus_1_bar_2_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__plus_00_dot_38_bar__plus_00_dot_19_bar__minus_01_dot_51 loc_bar_0_bar__minus_1_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__plus_00_dot_38_bar__plus_00_dot_38_bar__minus_01_dot_51 loc_bar__minus_1_bar__minus_1_bar_2_bar_45) + (receptacleAtLocation 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(receptacleAtLocation Drawer_bar__minus_00_dot_05_bar__plus_00_dot_77_bar__minus_01_dot_32 loc_bar_2_bar__minus_2_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_68_bar__plus_00_dot_19_bar__minus_00_dot_70 loc_bar_0_bar_2_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_68_bar__plus_00_dot_39_bar__minus_00_dot_70 loc_bar_0_bar_1_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__minus_00_dot_68_bar__plus_00_dot_58_bar__minus_00_dot_70 loc_bar_0_bar_1_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_68_bar__plus_00_dot_77_bar__minus_00_dot_70 loc_bar__minus_1_bar_1_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_19_bar__plus_00_dot_66 loc_bar_0_bar__minus_2_bar_0_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_19_bar__plus_01_dot_43 loc_bar_0_bar_1_bar_0_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_19_bar__minus_00_dot_10 loc_bar_0_bar_4_bar_2_bar_60) 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(objectAtLocation Spoon_bar__plus_00_dot_97_bar__plus_00_dot_91_bar__plus_00_dot_18 loc_bar_4_bar__minus_2_bar_0_bar_45) + (objectAtLocation Bowl_bar__plus_00_dot_76_bar__plus_01_dot_67_bar__minus_01_dot_69 loc_bar_4_bar__minus_2_bar_2_bar__minus_15) + (objectAtLocation Mug_bar__plus_00_dot_18_bar__plus_00_dot_90_bar__minus_01_dot_37 loc_bar_1_bar__minus_3_bar_2_bar_45) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o1 - object) + (and + (objectType ?o1 EggType) + (receptacleType ?r MicrowaveType) + (inReceptacle ?o1 ?r) + (exists (?o2 - object) + (and + (not (= ?o1 ?o2)) + (objectType ?o2 EggType) + (receptacleType ?r MicrowaveType) + (inReceptacle ?o2 ?r) + ) + ) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Egg-None-Microwave-30/trial_T20190907_163137_897997/traj_data.json 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"objectName": "Plate_bf5eb4b5", + "position": { + "x": 3.02811241, + "y": 0.190163016, + "z": 0.629875541 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Glassbottle_20771abe", + "position": { + "x": -1.08090544, + "y": 0.9010167, + "z": -0.047219038 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SoapBottle_5121dd32", + "position": { + "x": 3.2891767, + "y": 0.11010617, + "z": 1.5999999 + }, + "rotation": { + "x": 0.0, + "y": 225.000046, + "z": 0.0 + } + }, + { + "objectName": "Potato_ed324e47", + "position": { + "x": 0.100511551, + "y": 0.93876, + "z": -1.52818131 + }, + "rotation": { + "x": 0.0, + "y": 44.9999962, + "z": 0.0 + } + }, + { + "objectName": "Fork_12a59a81", + "position": { + "x": 2.988393, + "y": 0.7133284, + "z": 0.627481461 + }, + "rotation": { + "x": 0.0, + "y": 180.000046, + "z": 0.0 + } + }, + { + "objectName": "Ladle_ff5a3b19", + "position": { + "x": 0.00275057554, + "y": 0.937239945, + 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"Cup_be22aed5", + "position": { + "x": -1.08558619, + "y": 0.9954912, + "z": 1.41790473 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + }, + { + "objectName": "SaltShaker_c39806f6", + "position": { + "x": 1.09886408, + "y": 0.90440613, + "z": 0.464 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Egg_7c285ee2", + "position": { + "x": -0.104842968, + "y": 0.952835, + "z": -1.73353577 + }, + "rotation": { + "x": 0.0, + "y": 44.9999962, + "z": 0.0 + } + }, + { + "objectName": "PepperShaker_6d2fd9f8", + "position": { + "x": 0.0223874375, + "y": 0.8966061, + "z": -1.8032918 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "ButterKnife_db774b98", + "position": { + "x": 0.7782071, + "y": 0.9110021, + "z": 0.332819074 + }, + "rotation": { + "x": 0.0, + "y": 36.8105049, + "z": 0.0 + } + }, + { + "objectName": "Apple_1e1bef89", + "position": { + "x": 1.008, + "y": 0.7851206, + "z": -1.40712857 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pan_000ae861", + "position": { + "x": 0.341, + "y": 0.8731569, + "z": -1.649 + }, + "rotation": { + "x": 0.0, + "y": 167.065247, + "z": 0.0 + } + }, + { + "objectName": "Bread_1e8ab5c8", + "position": { + "x": 1.09886408, + "y": 0.9898338, + "z": 0.6057565 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "CellPhone_bf099a5c", + "position": { + "x": 0.892235339, + "y": 0.9083573, + "z": 0.3693352 + }, + "rotation": { + "x": 0.0, + "y": 36.8105049, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_3cec4766", + "position": { + "x": -0.8683, + "y": 0.7063417, + "z": -0.09889999 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Tomato_bfd17fb4", + "position": { + "x": 3.02854, + "y": 0.784347057, + "z": -0.100778744 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Spoon_0fe289e3", + "position": { + "x": 0.967864335, + "y": 0.9092294, + "z": 0.180486917 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Bowl_46f611f6", + "position": { + "x": 0.760998249, + "y": 1.67199469, + "z": -1.689625 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_ba5c7501", + "position": { + "x": -0.9211926, + "y": 1.25341284, + "z": -0.9081608 + }, + "rotation": { + "x": 0.0, + "y": 44.9999962, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 3011494513, + "scene_num": 30 + }, + "task_id": "trial_T20190907_163137_897997", + "task_type": "pick_two_obj_and_place", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A36DK84J5YJ942_33JKGHPFYFBP7DRQEGVJS00FPW7NMO", + "high_descs": [ + "Move to the bin to the left of the sink", + "Pick up an egg from the bin", + "Move to the microwave behind you", + "Place the egg inside and close the door", + "Move to the counter to the right of the fridge", + "Pick up an egg from the counter", + "Move to the microwave behind you", + "Place the egg inside and close the door" + ], + "task_desc": "Put two eggs in the microwave.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1AKL5YH9NLD2V_3DEL4X4EL92UDOU8ZP63KXEK0LAYXQ", + "high_descs": [ + "Turn left and walk to the blue trash can in the corner.", + "Pick up the egg from the trash can.", + "Turn right and walk to the microwave across the room.", + "Place the egg in the microwave and shut the microwave.", + "Turn left and walk to the counter to the right of the fridge.", + "Pick up the egg on the counter.", + "Turn right and walk to the microwave.", + "Place the egg in front of the other egg in the microwave." + ], + "task_desc": "Place two eggs in the microwave.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A320QA9HJFUOZO_3WI0P0II6497IHD5UUDXIUIVHH5DRP", + "high_descs": [ + "Turn left and walk all the way around the kitchen island to the blue recycling bin in the corner", + "Pick up the egg from the recycling bin", + "Turn right and walk back around the kitchen island to the microwave on the counter", + "Open the microwave and put the egg in it", + "Turn left and walk over to the kitchen counter left of the stove", + "Pick up the egg from the counter", + "Turn right and walk back over to the microwave", + "Open the microwave and put the egg in it" + ], + "task_desc": "Put the eggs into the microwave", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Egg-None-Microwave-30/trial_T20190907_163255_256147/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Egg-None-Microwave-30/trial_T20190907_163255_256147/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..e388bafd433562b4e60c5fa4c96aa11e4cfd1265 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Egg-None-Microwave-30/trial_T20190907_163255_256147/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\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 egg and put them in microwave.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190907_163255_256147)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\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_01_bar__plus_01_dot_32_bar__minus_01_dot_48 - object\n Apple_bar__minus_01_dot_02_bar__plus_01_dot_07_bar__plus_01_dot_26 - object\n Bowl_bar__plus_03_dot_18_bar__plus_01_dot_46_bar__minus_01_dot_60 - object\n 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StoveBurnerType KettleType)\n (canContain StoveBurnerType PotType)\n (canContain StoveBurnerType PanType)\n (canContain DrawerType SaltShakerType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType LadleType)\n (canContain DrawerType ForkType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType SpoonType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ButterKnifeType)\n (canContain DrawerType PepperShakerType)\n (canContain DrawerType KnifeType)\n (canContain DrawerType SpatulaType)\n (canContain StoveBurnerType KettleType)\n (canContain StoveBurnerType PotType)\n (canContain StoveBurnerType PanType)\n (canContain DrawerType SaltShakerType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType LadleType)\n (canContain DrawerType ForkType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType SpoonType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ButterKnifeType)\n (canContain DrawerType 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(canContain CounterTopType GlassbottleType)\n (canContain CounterTopType CellPhoneType)\n (canContain CounterTopType SpoonType)\n (canContain CounterTopType SoapBottleType)\n (canContain CounterTopType LettuceType)\n (canContain CounterTopType PotatoType)\n (canContain CounterTopType ButterKnifeType)\n (canContain CounterTopType CupType)\n (canContain CounterTopType PlateType)\n (canContain CounterTopType PepperShakerType)\n (canContain CounterTopType TomatoType)\n (canContain CounterTopType KnifeType)\n (canContain CounterTopType AppleType)\n (canContain CounterTopType PanType)\n (canContain CounterTopType SpatulaType)\n (canContain DrawerType SaltShakerType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType LadleType)\n (canContain DrawerType ForkType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType SpoonType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ButterKnifeType)\n (canContain DrawerType PepperShakerType)\n (canContain DrawerType KnifeType)\n (canContain DrawerType SpatulaType)\n (canContain DrawerType SaltShakerType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType LadleType)\n (canContain DrawerType ForkType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType SpoonType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ButterKnifeType)\n (canContain DrawerType PepperShakerType)\n (canContain DrawerType KnifeType)\n (canContain DrawerType SpatulaType)\n (canContain DrawerType SaltShakerType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType LadleType)\n (canContain DrawerType ForkType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType SpoonType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ButterKnifeType)\n (canContain DrawerType PepperShakerType)\n (canContain DrawerType KnifeType)\n (canContain DrawerType SpatulaType)\n (canContain CounterTopType SaltShakerType)\n (canContain CounterTopType BreadType)\n (canContain CounterTopType DishSpongeType)\n (canContain CounterTopType BowlType)\n (canContain CounterTopType KettleType)\n (canContain CounterTopType PotType)\n (canContain CounterTopType MugType)\n (canContain CounterTopType EggType)\n (canContain CounterTopType LadleType)\n (canContain CounterTopType ForkType)\n (canContain CounterTopType GlassbottleType)\n (canContain CounterTopType CellPhoneType)\n (canContain CounterTopType SpoonType)\n (canContain CounterTopType SoapBottleType)\n (canContain CounterTopType LettuceType)\n (canContain CounterTopType PotatoType)\n (canContain CounterTopType ButterKnifeType)\n (canContain CounterTopType CupType)\n (canContain CounterTopType PlateType)\n (canContain CounterTopType PepperShakerType)\n (canContain CounterTopType TomatoType)\n (canContain CounterTopType KnifeType)\n (canContain CounterTopType AppleType)\n (canContain CounterTopType PanType)\n (canContain CounterTopType SpatulaType)\n (canContain CabinetType 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PotType)\n (canContain FridgeType MugType)\n (canContain FridgeType EggType)\n (canContain FridgeType GlassbottleType)\n (canContain FridgeType LettuceType)\n (canContain FridgeType PotatoType)\n (canContain FridgeType CupType)\n (canContain FridgeType PlateType)\n (canContain FridgeType TomatoType)\n (canContain FridgeType AppleType)\n (canContain FridgeType PanType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType BowlType)\n (canContain CabinetType KettleType)\n (canContain CabinetType PotType)\n (canContain CabinetType MugType)\n (canContain CabinetType LadleType)\n (canContain CabinetType GlassbottleType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType CupType)\n (canContain CabinetType PlateType)\n (canContain CabinetType PepperShakerType)\n (canContain CabinetType PanType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType BowlType)\n (canContain CabinetType KettleType)\n (canContain CabinetType PotType)\n (canContain CabinetType MugType)\n (canContain CabinetType LadleType)\n (canContain CabinetType GlassbottleType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType CupType)\n (canContain CabinetType PlateType)\n (canContain CabinetType PepperShakerType)\n (canContain CabinetType PanType)\n (canContain StoveBurnerType KettleType)\n (canContain StoveBurnerType PotType)\n (canContain StoveBurnerType PanType)\n (canContain DrawerType SaltShakerType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType LadleType)\n (canContain DrawerType ForkType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType SpoonType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ButterKnifeType)\n (canContain DrawerType PepperShakerType)\n (canContain DrawerType KnifeType)\n (canContain DrawerType SpatulaType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType BowlType)\n (canContain CabinetType KettleType)\n (canContain CabinetType PotType)\n (canContain CabinetType MugType)\n (canContain CabinetType LadleType)\n (canContain CabinetType GlassbottleType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType CupType)\n (canContain CabinetType PlateType)\n (canContain CabinetType PepperShakerType)\n (canContain CabinetType PanType)\n (canContain DrawerType SaltShakerType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType LadleType)\n (canContain DrawerType ForkType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType SpoonType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ButterKnifeType)\n (canContain DrawerType PepperShakerType)\n (canContain DrawerType KnifeType)\n (canContain DrawerType SpatulaType)\n (canContain DrawerType SaltShakerType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType LadleType)\n (canContain DrawerType ForkType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType SpoonType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ButterKnifeType)\n (canContain DrawerType PepperShakerType)\n (canContain DrawerType KnifeType)\n (canContain DrawerType SpatulaType)\n (canContain DrawerType SaltShakerType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType LadleType)\n (canContain DrawerType ForkType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType SpoonType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ButterKnifeType)\n (canContain DrawerType PepperShakerType)\n (canContain DrawerType KnifeType)\n (canContain DrawerType SpatulaType)\n (pickupable CellPhone_bar__minus_00_dot_91_bar__plus_00_dot_13_bar__plus_00_dot_66)\n (pickupable Cup_bar__minus_00_dot_99_bar__plus_01_dot_00_bar__plus_01_dot_42)\n (pickupable ButterKnife_bar__minus_00_dot_87_bar__plus_00_dot_13_bar__plus_00_dot_08)\n (pickupable Knife_bar__plus_00_dot_53_bar__plus_00_dot_94_bar__plus_00_dot_33)\n (pickupable Kettle_bar__plus_03_dot_20_bar__plus_00_dot_90_bar__minus_00_dot_60)\n (pickupable DishSponge_bar__plus_00_dot_72_bar__plus_00_dot_91_bar__plus_00_dot_14)\n (pickupable SaltShaker_bar__plus_03_dot_20_bar__plus_00_dot_17_bar__minus_00_dot_55)\n (pickupable Kettle_bar__minus_00_dot_94_bar__plus_00_dot_90_bar__plus_00_dot_62)\n (pickupable Potato_bar__plus_00_dot_04_bar__plus_00_dot_94_bar__minus_01_dot_68)\n (pickupable Egg_bar__plus_00_dot_06_bar__plus_00_dot_95_bar__minus_01_dot_29)\n (pickupable Bowl_bar__plus_03_dot_18_bar__plus_01_dot_46_bar__minus_01_dot_60)\n (pickupable Kettle_bar__plus_03_dot_07_bar__plus_00_dot_75_bar__plus_00_dot_10)\n (pickupable Apple_bar__plus_01_dot_01_bar__plus_01_dot_32_bar__minus_01_dot_48)\n (pickupable SoapBottle_bar__plus_00_dot_81_bar__plus_01_dot_68_bar__minus_01_dot_69)\n (pickupable Lettuce_bar__minus_00_dot_86_bar__plus_00_dot_97_bar__plus_00_dot_18)\n (pickupable Apple_bar__minus_01_dot_02_bar__plus_01_dot_07_bar__plus_01_dot_26)\n (pickupable Mug_bar__plus_00_dot_77_bar__plus_01_dot_24_bar__minus_01_dot_50)\n (pickupable SaltShaker_bar__plus_02_dot_99_bar__plus_00_dot_71_bar__minus_00_dot_67)\n (pickupable Pan_bar__minus_00_dot_24_bar__plus_00_dot_90_bar__minus_01_dot_09)\n (pickupable Knife_bar__minus_00_dot_99_bar__plus_00_dot_73_bar__plus_00_dot_75)\n (pickupable Bowl_bar__minus_00_dot_99_bar__plus_00_dot_90_bar__minus_00_dot_75)\n (pickupable DishSponge_bar__plus_03_dot_08_bar__plus_00_dot_18_bar__minus_00_dot_31)\n (pickupable Spatula_bar__plus_01_dot_10_bar__plus_00_dot_93_bar__plus_00_dot_46)\n (pickupable Spoon_bar__plus_00_dot_34_bar__plus_00_dot_90_bar__minus_01_dot_37)\n (pickupable Bowl_bar__minus_00_dot_86_bar__plus_00_dot_90_bar__minus_00_dot_05)\n (pickupable Lettuce_bar__plus_00_dot_10_bar__plus_00_dot_97_bar__minus_01_dot_45)\n (pickupable Glassbottle_bar__plus_02_dot_91_bar__plus_01_dot_47_bar__minus_01_dot_65)\n (pickupable 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Egg_bar__plus_01_dot_16_bar__plus_00_dot_77_bar__minus_01_dot_41)\n (pickupable Egg_bar__plus_00_dot_85_bar__plus_01_dot_30_bar__minus_01_dot_45)\n (pickupable Ladle_bar__plus_00_dot_67_bar__plus_01_dot_71_bar__minus_01_dot_41)\n (pickupable ButterKnife_bar__minus_00_dot_87_bar__plus_00_dot_13_bar__plus_00_dot_75)\n (pickupable Pot_bar__plus_00_dot_42_bar__plus_00_dot_90_bar__plus_00_dot_87)\n (pickupable Fork_bar__plus_01_dot_23_bar__plus_00_dot_91_bar__plus_00_dot_75)\n (pickupable SaltShaker_bar__plus_02_dot_95_bar__plus_00_dot_71_bar__plus_00_dot_90)\n (pickupable Plate_bar__plus_00_dot_71_bar__plus_00_dot_92_bar__plus_00_dot_53)\n (isReceptacleObject Cup_bar__minus_00_dot_99_bar__plus_01_dot_00_bar__plus_01_dot_42)\n (isReceptacleObject Bowl_bar__plus_03_dot_18_bar__plus_01_dot_46_bar__minus_01_dot_60)\n (isReceptacleObject Mug_bar__plus_00_dot_77_bar__plus_01_dot_24_bar__minus_01_dot_50)\n (isReceptacleObject Pan_bar__minus_00_dot_24_bar__plus_00_dot_90_bar__minus_01_dot_09)\n 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Potato_bar__plus_00_dot_04_bar__plus_00_dot_94_bar__minus_01_dot_68)\n (sliceable Egg_bar__plus_00_dot_06_bar__plus_00_dot_95_bar__minus_01_dot_29)\n (sliceable Apple_bar__plus_01_dot_01_bar__plus_01_dot_32_bar__minus_01_dot_48)\n (sliceable Lettuce_bar__minus_00_dot_86_bar__plus_00_dot_97_bar__plus_00_dot_18)\n (sliceable Apple_bar__minus_01_dot_02_bar__plus_01_dot_07_bar__plus_01_dot_26)\n (sliceable Lettuce_bar__plus_00_dot_10_bar__plus_00_dot_97_bar__minus_01_dot_45)\n (sliceable Lettuce_bar__plus_01_dot_36_bar__plus_00_dot_97_bar__plus_00_dot_75)\n (sliceable Bread_bar__plus_01_dot_53_bar__plus_00_dot_97_bar__plus_00_dot_49)\n (sliceable Tomato_bar__plus_00_dot_55_bar__plus_00_dot_95_bar__plus_00_dot_14)\n (sliceable Tomato_bar__minus_00_dot_70_bar__plus_00_dot_94_bar__minus_00_dot_73)\n (sliceable Tomato_bar__minus_00_dot_06_bar__plus_00_dot_94_bar__minus_01_dot_78)\n (sliceable Egg_bar__plus_01_dot_16_bar__plus_00_dot_77_bar__minus_01_dot_41)\n (sliceable 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CounterTop_bar__plus_03_dot_11_bar__plus_00_dot_94_bar__plus_00_dot_02)\n (inReceptacle ButterKnife_bar__plus_03_dot_04_bar__plus_00_dot_90_bar__minus_00_dot_80 CounterTop_bar__plus_03_dot_11_bar__plus_00_dot_94_bar__plus_00_dot_02)\n (inReceptacle Kettle_bar__plus_03_dot_20_bar__plus_00_dot_90_bar__minus_00_dot_60 CounterTop_bar__plus_03_dot_11_bar__plus_00_dot_94_bar__plus_00_dot_02)\n (inReceptacle Lettuce_bar__minus_00_dot_86_bar__plus_00_dot_97_bar__plus_00_dot_18 CounterTop_bar__minus_01_dot_01_bar__plus_00_dot_94_bar__minus_00_dot_04)\n (inReceptacle Kettle_bar__minus_00_dot_94_bar__plus_00_dot_90_bar__plus_00_dot_62 CounterTop_bar__minus_01_dot_01_bar__plus_00_dot_94_bar__minus_00_dot_04)\n (inReceptacle Bowl_bar__minus_00_dot_99_bar__plus_00_dot_90_bar__minus_00_dot_75 CounterTop_bar__minus_01_dot_01_bar__plus_00_dot_94_bar__minus_00_dot_04)\n (inReceptacle Tomato_bar__minus_00_dot_70_bar__plus_00_dot_94_bar__minus_00_dot_73 CounterTop_bar__minus_01_dot_01_bar__plus_00_dot_94_bar__minus_00_dot_04)\n (inReceptacle Bowl_bar__minus_00_dot_86_bar__plus_00_dot_90_bar__minus_00_dot_05 CounterTop_bar__minus_01_dot_01_bar__plus_00_dot_94_bar__minus_00_dot_04)\n (inReceptacle Knife_bar__minus_00_dot_99_bar__plus_00_dot_73_bar__plus_00_dot_75 Drawer_bar__minus_00_dot_86_bar__plus_00_dot_77_bar__plus_00_dot_66)\n (inReceptacle Plate_bar__plus_03_dot_08_bar__plus_00_dot_19_bar__plus_00_dot_70 Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__plus_00_dot_41)\n (inReceptacle SaltShaker_bar__plus_03_dot_20_bar__plus_00_dot_17_bar__minus_00_dot_55 Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__minus_00_dot_61)\n (inReceptacle DishSponge_bar__plus_03_dot_08_bar__plus_00_dot_18_bar__minus_00_dot_31 Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__minus_00_dot_61)\n (inReceptacle Ladle_bar__plus_00_dot_67_bar__plus_01_dot_71_bar__minus_01_dot_41 Cabinet_bar__plus_00_dot_62_bar__plus_01_dot_87_bar__minus_01_dot_26)\n (inReceptacle SoapBottle_bar__plus_00_dot_81_bar__plus_01_dot_68_bar__minus_01_dot_69 Cabinet_bar__plus_00_dot_62_bar__plus_01_dot_87_bar__minus_01_dot_26)\n (inReceptacle ButterKnife_bar__minus_00_dot_87_bar__plus_00_dot_13_bar__plus_00_dot_08 Drawer_bar__minus_00_dot_86_bar__plus_00_dot_19_bar__minus_00_dot_10)\n (inReceptacle Pan_bar__minus_00_dot_24_bar__plus_00_dot_90_bar__minus_01_dot_09 CounterTop_bar__plus_00_dot_09_bar__plus_00_dot_89_bar__minus_01_dot_52)\n (inReceptacle Egg_bar__plus_00_dot_06_bar__plus_00_dot_95_bar__minus_01_dot_29 CounterTop_bar__plus_00_dot_09_bar__plus_00_dot_89_bar__minus_01_dot_52)\n (inReceptacle Potato_bar__plus_00_dot_04_bar__plus_00_dot_94_bar__minus_01_dot_68 CounterTop_bar__plus_00_dot_09_bar__plus_00_dot_89_bar__minus_01_dot_52)\n (inReceptacle Tomato_bar__minus_00_dot_06_bar__plus_00_dot_94_bar__minus_01_dot_78 CounterTop_bar__plus_00_dot_09_bar__plus_00_dot_89_bar__minus_01_dot_52)\n (inReceptacle Spoon_bar__plus_00_dot_34_bar__plus_00_dot_90_bar__minus_01_dot_37 CounterTop_bar__plus_00_dot_09_bar__plus_00_dot_89_bar__minus_01_dot_52)\n (inReceptacle Lettuce_bar__plus_00_dot_10_bar__plus_00_dot_97_bar__minus_01_dot_45 CounterTop_bar__plus_00_dot_09_bar__plus_00_dot_89_bar__minus_01_dot_52)\n (inReceptacle SaltShaker_bar__plus_02_dot_95_bar__plus_00_dot_71_bar__plus_00_dot_90 Drawer_bar__plus_03_dot_02_bar__plus_00_dot_77_bar__plus_00_dot_70)\n (inReceptacle Pan_bar__minus_00_dot_24_bar__plus_00_dot_90_bar__minus_01_dot_09 StoveBurner_bar__minus_00_dot_24_bar__plus_00_dot_90_bar__minus_01_dot_09)\n (inReceptacle CellPhone_bar__minus_00_dot_91_bar__plus_00_dot_13_bar__plus_00_dot_66 Drawer_bar__minus_00_dot_86_bar__plus_00_dot_19_bar__plus_00_dot_66)\n (inReceptacle ButterKnife_bar__minus_00_dot_87_bar__plus_00_dot_13_bar__plus_00_dot_75 Drawer_bar__minus_00_dot_86_bar__plus_00_dot_19_bar__plus_00_dot_66)\n (inReceptacle Knife_bar__plus_00_dot_53_bar__plus_00_dot_94_bar__plus_00_dot_33 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46)\n (inReceptacle Pot_bar__plus_00_dot_42_bar__plus_00_dot_90_bar__plus_00_dot_87 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46)\n (inReceptacle DishSponge_bar__plus_00_dot_72_bar__plus_00_dot_91_bar__plus_00_dot_14 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46)\n (inReceptacle Lettuce_bar__plus_01_dot_36_bar__plus_00_dot_97_bar__plus_00_dot_75 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46)\n (inReceptacle Spoon_bar__plus_00_dot_97_bar__plus_00_dot_91_bar__plus_00_dot_61 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46)\n (inReceptacle Fork_bar__plus_01_dot_23_bar__plus_00_dot_91_bar__plus_00_dot_75 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46)\n (inReceptacle Bread_bar__plus_01_dot_53_bar__plus_00_dot_97_bar__plus_00_dot_49 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46)\n (inReceptacle Fork_bar__plus_00_dot_97_bar__plus_00_dot_91_bar__plus_00_dot_75 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46)\n (inReceptacle Tomato_bar__plus_00_dot_55_bar__plus_00_dot_95_bar__plus_00_dot_14 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46)\n (inReceptacle Spatula_bar__plus_01_dot_10_bar__plus_00_dot_93_bar__plus_00_dot_46 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46)\n (inReceptacle Plate_bar__plus_00_dot_71_bar__plus_00_dot_92_bar__plus_00_dot_53 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46)\n (inReceptacle Kettle_bar__plus_03_dot_07_bar__plus_00_dot_75_bar__plus_00_dot_10 Sink_bar__plus_03_dot_08_bar__plus_00_dot_89_bar__plus_00_dot_09_bar_SinkBasin)\n (inReceptacle Apple_bar__plus_01_dot_01_bar__plus_01_dot_32_bar__minus_01_dot_48 Fridge_bar__plus_01_dot_01_bar__plus_00_dot_03_bar__minus_01_dot_47)\n (inReceptacle Mug_bar__plus_00_dot_77_bar__plus_01_dot_24_bar__minus_01_dot_50 Fridge_bar__plus_01_dot_01_bar__plus_00_dot_03_bar__minus_01_dot_47)\n (inReceptacle Mug_bar__plus_01_dot_24_bar__plus_01_dot_07_bar__minus_01_dot_48 Fridge_bar__plus_01_dot_01_bar__plus_00_dot_03_bar__minus_01_dot_47)\n (inReceptacle Egg_bar__plus_01_dot_16_bar__plus_00_dot_77_bar__minus_01_dot_41 Fridge_bar__plus_01_dot_01_bar__plus_00_dot_03_bar__minus_01_dot_47)\n (inReceptacle Egg_bar__plus_00_dot_85_bar__plus_01_dot_30_bar__minus_01_dot_45 Fridge_bar__plus_01_dot_01_bar__plus_00_dot_03_bar__minus_01_dot_47)\n (inReceptacle Cup_bar__minus_00_dot_99_bar__plus_01_dot_00_bar__plus_01_dot_42 Microwave_bar__minus_01_dot_03_bar__plus_00_dot_89_bar__plus_01_dot_43)\n (inReceptacle Apple_bar__minus_01_dot_02_bar__plus_01_dot_07_bar__plus_01_dot_26 Microwave_bar__minus_01_dot_03_bar__plus_00_dot_89_bar__plus_01_dot_43)\n \n \n (receptacleAtLocation Cabinet_bar__plus_00_dot_14_bar__plus_01_dot_67_bar__minus_01_dot_56 loc_bar_2_bar__minus_3_bar_2_bar_0)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_62_bar__plus_01_dot_87_bar__minus_01_dot_26 loc_bar_4_bar__minus_2_bar_2_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_40_bar__plus_01_dot_87_bar__minus_01_dot_26 loc_bar_4_bar__minus_2_bar_2_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_82_bar__plus_01_dot_77_bar__minus_01_dot_05 loc_bar_9_bar__minus_5_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_82_bar__plus_01_dot_77_bar__minus_01_dot_85 loc_bar_8_bar__minus_5_bar_1_bar_0)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__plus_00_dot_41 loc_bar_8_bar_1_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__minus_00_dot_61 loc_bar_8_bar_0_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__minus_00_dot_96 loc_bar_8_bar__minus_5_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_03_dot_07_bar__plus_01_dot_67_bar__minus_00_dot_71 loc_bar_9_bar__minus_4_bar_1_bar_0)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_19_bar__plus_01_dot_67_bar__minus_01_dot_34 loc_bar_1_bar__minus_3_bar_2_bar_0)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_20_bar__plus_01_dot_96_bar__minus_01_dot_33 loc_bar_0_bar__minus_2_bar_2_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_71_bar__plus_01_dot_96_bar__minus_00_dot_82 loc_bar_0_bar__minus_3_bar_3_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_92_bar__plus_01_dot_67_bar__minus_00_dot_62 loc_bar__minus_1_bar__minus_2_bar_3_bar_0)\n (receptacleAtLocation CoffeeMachine_bar__plus_03_dot_22_bar__plus_00_dot_89_bar__plus_00_dot_70 loc_bar_10_bar_3_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_00_dot_09_bar__plus_00_dot_89_bar__minus_01_dot_52 loc_bar_1_bar__minus_3_bar_2_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_03_dot_11_bar__plus_00_dot_94_bar__plus_00_dot_02 loc_bar_10_bar__minus_2_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_01_dot_01_bar__plus_00_dot_94_bar__minus_00_dot_04 loc_bar__minus_1_bar_2_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_38_bar__plus_00_dot_19_bar__minus_01_dot_51 loc_bar_0_bar__minus_1_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_38_bar__plus_00_dot_38_bar__minus_01_dot_51 loc_bar__minus_1_bar__minus_1_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_38_bar__plus_00_dot_57_bar__minus_01_dot_51 loc_bar_0_bar__minus_2_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_38_bar__plus_00_dot_77_bar__minus_01_dot_51 loc_bar_0_bar__minus_2_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_03_dot_02_bar__plus_00_dot_77_bar__plus_00_dot_70 loc_bar_9_bar__minus_1_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__plus_03_dot_02_bar__plus_00_dot_77_bar__minus_00_dot_41 loc_bar_9_bar_2_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_03_dot_02_bar__plus_00_dot_77_bar__minus_00_dot_78 loc_bar_9_bar_0_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_05_bar__plus_00_dot_19_bar__minus_01_dot_32 loc_bar_4_bar__minus_2_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_05_bar__plus_00_dot_38_bar__minus_01_dot_32 loc_bar_2_bar__minus_1_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_05_bar__plus_00_dot_57_bar__minus_01_dot_32 loc_bar_2_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_05_bar__plus_00_dot_77_bar__minus_01_dot_32 loc_bar_2_bar__minus_2_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_68_bar__plus_00_dot_19_bar__minus_00_dot_70 loc_bar_0_bar_2_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_68_bar__plus_00_dot_39_bar__minus_00_dot_70 loc_bar_0_bar_1_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_68_bar__plus_00_dot_58_bar__minus_00_dot_70 loc_bar_0_bar_1_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_68_bar__plus_00_dot_77_bar__minus_00_dot_70 loc_bar__minus_1_bar_1_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_19_bar__plus_00_dot_66 loc_bar_0_bar__minus_2_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_19_bar__plus_01_dot_43 loc_bar_0_bar_1_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_19_bar__minus_00_dot_10 loc_bar_0_bar_4_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_39_bar__plus_00_dot_66 loc_bar_0_bar__minus_2_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_39_bar__plus_01_dot_43 loc_bar_0_bar_2_bar_0_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_39_bar__minus_00_dot_10 loc_bar_0_bar_4_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_58_bar__plus_00_dot_66 loc_bar_0_bar__minus_2_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_58_bar__plus_01_dot_43 loc_bar_0_bar_1_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_58_bar__minus_00_dot_10 loc_bar_0_bar_4_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_77_bar__plus_00_dot_66 loc_bar__minus_1_bar__minus_1_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_77_bar__plus_01_dot_43 loc_bar__minus_1_bar_2_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_77_bar__minus_00_dot_10 loc_bar__minus_1_bar_3_bar_2_bar_45)\n (receptacleAtLocation Fridge_bar__plus_01_dot_01_bar__plus_00_dot_03_bar__minus_01_dot_47 loc_bar_4_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation GarbageCan_bar__plus_03_dot_18_bar__plus_00_dot_03_bar__plus_01_dot_60 loc_bar_11_bar_5_bar_1_bar_60)\n (receptacleAtLocation Microwave_bar__minus_01_dot_03_bar__plus_00_dot_89_bar__plus_01_dot_43 loc_bar__minus_1_bar_5_bar_3_bar_45)\n (receptacleAtLocation Sink_bar__plus_03_dot_08_bar__plus_00_dot_89_bar__plus_00_dot_09_bar_SinkBasin loc_bar_10_bar__minus_1_bar_1_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_24_bar__plus_00_dot_90_bar__minus_01_dot_09 loc_bar_0_bar__minus_3_bar_2_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_00_dot_92 loc_bar_0_bar__minus_3_bar_3_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_01_dot_27 loc_bar_0_bar__minus_3_bar_2_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_60_bar__plus_00_dot_90_bar__minus_01_dot_09 loc_bar_0_bar__minus_3_bar_3_bar_60)\n (receptacleAtLocation Toaster_bar__minus_01_dot_04_bar__plus_00_dot_87_bar__minus_00_dot_40 loc_bar__minus_1_bar__minus_2_bar_3_bar_45)\n (objectAtLocation Mug_bar__plus_00_dot_77_bar__plus_01_dot_24_bar__minus_01_dot_50 loc_bar_4_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Bowl_bar__plus_03_dot_18_bar__plus_01_dot_46_bar__minus_01_dot_60 loc_bar_8_bar__minus_5_bar_1_bar_0)\n (objectAtLocation Spoon_bar__plus_00_dot_97_bar__plus_00_dot_91_bar__plus_00_dot_61 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Tomato_bar__minus_00_dot_06_bar__plus_00_dot_94_bar__minus_01_dot_78 loc_bar_1_bar__minus_3_bar_2_bar_45)\n (objectAtLocation DishSponge_bar__plus_03_dot_08_bar__plus_00_dot_18_bar__minus_00_dot_31 loc_bar_8_bar_0_bar_1_bar_60)\n (objectAtLocation Apple_bar__plus_01_dot_01_bar__plus_01_dot_32_bar__minus_01_dot_48 loc_bar_4_bar__minus_2_bar_2_bar_60)\n (objectAtLocation ButterKnife_bar__minus_00_dot_87_bar__plus_00_dot_13_bar__plus_00_dot_08 loc_bar_0_bar_4_bar_2_bar_60)\n (objectAtLocation Egg_bar__plus_00_dot_85_bar__plus_01_dot_30_bar__minus_01_dot_45 loc_bar_4_bar__minus_2_bar_2_bar_60)\n (objectAtLocation SaltShaker_bar__plus_02_dot_99_bar__plus_00_dot_71_bar__minus_00_dot_67 loc_bar_9_bar_0_bar_2_bar_45)\n (objectAtLocation Cup_bar__minus_00_dot_99_bar__plus_01_dot_00_bar__plus_01_dot_42 loc_bar__minus_1_bar_5_bar_3_bar_45)\n (objectAtLocation Lettuce_bar__plus_01_dot_36_bar__plus_00_dot_97_bar__plus_00_dot_75 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Knife_bar__minus_00_dot_99_bar__plus_00_dot_73_bar__plus_00_dot_75 loc_bar__minus_1_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Kettle_bar__plus_03_dot_07_bar__plus_00_dot_75_bar__plus_00_dot_10 loc_bar_10_bar__minus_1_bar_1_bar_60)\n (objectAtLocation Fork_bar__plus_01_dot_23_bar__plus_00_dot_91_bar__plus_00_dot_75 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Plate_bar__plus_00_dot_71_bar__plus_00_dot_92_bar__plus_00_dot_53 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Egg_bar__plus_01_dot_16_bar__plus_00_dot_77_bar__minus_01_dot_41 loc_bar_4_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Tomato_bar__minus_00_dot_70_bar__plus_00_dot_94_bar__minus_00_dot_73 loc_bar__minus_1_bar_2_bar_3_bar_45)\n (objectAtLocation Bowl_bar__minus_00_dot_99_bar__plus_00_dot_90_bar__minus_00_dot_75 loc_bar__minus_1_bar_2_bar_3_bar_45)\n (objectAtLocation SaltShaker_bar__plus_03_dot_20_bar__plus_00_dot_17_bar__minus_00_dot_55 loc_bar_8_bar_0_bar_1_bar_60)\n (objectAtLocation Lettuce_bar__minus_00_dot_86_bar__plus_00_dot_97_bar__plus_00_dot_18 loc_bar__minus_1_bar_2_bar_3_bar_45)\n (objectAtLocation Kettle_bar__plus_03_dot_20_bar__plus_00_dot_90_bar__minus_00_dot_60 loc_bar_10_bar__minus_2_bar_1_bar_45)\n (objectAtLocation ButterKnife_bar__plus_03_dot_04_bar__plus_00_dot_90_bar__minus_00_dot_80 loc_bar_10_bar__minus_2_bar_1_bar_45)\n (objectAtLocation Sink_bar__plus_03_dot_08_bar__plus_00_dot_89_bar__plus_00_dot_09 loc_bar_10_bar_0_bar_1_bar_60)\n (objectAtLocation Mirror_bar__minus_01_dot_30_bar__plus_01_dot_63_bar__plus_00_dot_05 loc_bar__minus_1_bar_1_bar_3_bar_0)\n (objectAtLocation Plate_bar__plus_03_dot_08_bar__plus_00_dot_19_bar__plus_00_dot_70 loc_bar_8_bar_1_bar_1_bar_60)\n (objectAtLocation Glassbottle_bar__plus_02_dot_91_bar__plus_01_dot_47_bar__minus_01_dot_65 loc_bar_8_bar__minus_5_bar_1_bar_0)\n (objectAtLocation SoapBottle_bar__plus_00_dot_81_bar__plus_01_dot_68_bar__minus_01_dot_69 loc_bar_4_bar__minus_2_bar_2_bar__minus_15)\n (objectAtLocation Potato_bar__plus_00_dot_04_bar__plus_00_dot_94_bar__minus_01_dot_68 loc_bar_1_bar__minus_3_bar_2_bar_45)\n (objectAtLocation HousePlant_bar__plus_03_dot_20_bar__plus_00_dot_89_bar__minus_00_dot_37 loc_bar_10_bar__minus_2_bar_1_bar_45)\n (objectAtLocation StoveKnob_bar__minus_00_dot_09_bar__plus_00_dot_79_bar__minus_01_dot_01 loc_bar_0_bar__minus_3_bar_2_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_28_bar__plus_00_dot_79_bar__minus_00_dot_82 loc_bar_0_bar__minus_3_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_18_bar__plus_00_dot_79_bar__minus_00_dot_92 loc_bar_0_bar__minus_3_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_37_bar__plus_00_dot_79_bar__minus_00_dot_72 loc_bar__minus_1_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Fork_bar__plus_00_dot_97_bar__plus_00_dot_91_bar__plus_00_dot_75 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Ladle_bar__plus_00_dot_67_bar__plus_01_dot_71_bar__minus_01_dot_41 loc_bar_4_bar__minus_2_bar_2_bar__minus_15)\n (objectAtLocation Pot_bar__plus_00_dot_42_bar__plus_00_dot_90_bar__plus_00_dot_87 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Kettle_bar__minus_00_dot_94_bar__plus_00_dot_90_bar__plus_00_dot_62 loc_bar__minus_1_bar_2_bar_3_bar_45)\n (objectAtLocation Window_bar__plus_03_dot_70_bar__plus_01_dot_68_bar__plus_00_dot_05 loc_bar_10_bar_0_bar_1_bar_0)\n (objectAtLocation Spatula_bar__plus_01_dot_10_bar__plus_00_dot_93_bar__plus_00_dot_46 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Knife_bar__plus_00_dot_53_bar__plus_00_dot_94_bar__plus_00_dot_33 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Lettuce_bar__plus_00_dot_10_bar__plus_00_dot_97_bar__minus_01_dot_45 loc_bar_1_bar__minus_3_bar_2_bar_45)\n (objectAtLocation LightSwitch_bar__plus_02_dot_59_bar__plus_01_dot_31_bar__minus_01_dot_88 loc_bar_9_bar__minus_5_bar_2_bar_30)\n (objectAtLocation Cup_bar__plus_01_dot_11_bar__plus_01_dot_67_bar__minus_01_dot_55 loc_bar_4_bar__minus_2_bar_2_bar__minus_15)\n (objectAtLocation SaltShaker_bar__plus_02_dot_95_bar__plus_00_dot_71_bar__plus_00_dot_90 loc_bar_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Egg_bar__plus_00_dot_06_bar__plus_00_dot_95_bar__minus_01_dot_29 loc_bar_1_bar__minus_3_bar_2_bar_45)\n (objectAtLocation PepperShaker_bar__plus_03_dot_15_bar__plus_00_dot_71_bar__minus_00_dot_36 loc_bar_9_bar_2_bar_2_bar_45)\n (objectAtLocation ButterKnife_bar__minus_00_dot_87_bar__plus_00_dot_13_bar__plus_00_dot_75 loc_bar_0_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Apple_bar__minus_01_dot_02_bar__plus_01_dot_07_bar__plus_01_dot_26 loc_bar__minus_1_bar_5_bar_3_bar_45)\n (objectAtLocation Pan_bar__minus_00_dot_24_bar__plus_00_dot_90_bar__minus_01_dot_09 loc_bar_0_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Bread_bar__plus_01_dot_53_bar__plus_00_dot_97_bar__plus_00_dot_49 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation CellPhone_bar__minus_00_dot_91_bar__plus_00_dot_13_bar__plus_00_dot_66 loc_bar_0_bar__minus_2_bar_0_bar_45)\n (objectAtLocation DishSponge_bar__plus_00_dot_72_bar__plus_00_dot_91_bar__plus_00_dot_14 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Tomato_bar__plus_00_dot_55_bar__plus_00_dot_95_bar__plus_00_dot_14 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Spoon_bar__plus_00_dot_34_bar__plus_00_dot_90_bar__minus_01_dot_37 loc_bar_1_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Bowl_bar__minus_00_dot_86_bar__plus_00_dot_90_bar__minus_00_dot_05 loc_bar__minus_1_bar_2_bar_3_bar_45)\n (objectAtLocation Mug_bar__plus_01_dot_24_bar__plus_01_dot_07_bar__minus_01_dot_48 loc_bar_4_bar__minus_2_bar_2_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o1 - object)\n (and\n (objectType ?o1 EggType)\n (receptacleType ?r MicrowaveType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 EggType)\n (receptacleType ?r MicrowaveType)\n (inReceptacle ?o2 ?r)\n )\n )\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 microwave 1", "open microwave 1", "move egg 1 to microwave 1", "go to fridge 1", "take egg 2 from fridge 1", "go to microwave 1", "move egg 2 to microwave 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Egg-None-Microwave-30/trial_T20190907_163255_256147/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Egg-None-Microwave-30/trial_T20190907_163255_256147/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..71686977ada9cfeed556b9e2cb3b111aa58f54f8 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Egg-None-Microwave-30/trial_T20190907_163255_256147/initial_state.pddl @@ -0,0 +1,1494 @@ + +(define (problem plan_trial_T20190907_163255_256147) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - 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"x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 3237798409, + "scene_num": 30 + }, + "task_id": "trial_T20190907_163255_256147", + "task_type": "pick_two_obj_and_place", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A20FCMWP43CVIU_3A1PQ49WVKY01SJQIWH83OFG5CLH1P", + "high_descs": [ + "turn left, walk along the kitchen to the counter between the fridge and stove, turn right and face counter", + "pick up the light brown ball closest to the front edge of the counter", + "turn right, walk along kitchen to microwave, turn left to face microwave", + "open microwave door, put ball inside on the right of all the objects, close the door", + "turn left, walk along kitchen to counter between fridge and stove, turn right, face counter", + "open fridge door, take out light brown ball on fridge shelf, close fridge door", + "turn right, walk along kitchen to microwave, turn left to face microwave", + "open microwave door, place ball behind other objects in microwave, close door" + ], + "task_desc": "put two light brown balls in microwave", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "AFU00NU09CFXE_3WSELTNVR6JM0PNLE9RQS8B7KZATAL", + "high_descs": [ + "Move to stand at the counter between the fridge and stove. ", + "Pick up the potato to the right of the head of lettuce from the counter. ", + "Carry the potato across the room to stand in front of the microwave. ", + "Place the potato in the microwave.", + "Move back to stand in front of the counter to the right of the fridge. ", + "Open the fridge and take out a potato from inside. ", + "Carry the potato back to the microwave.", + "Open the door of the microwave and place the potato inside behind the apple." + ], + "task_desc": "Move two potatoes to the microwave. ", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A36A780ODXBDEH_3IXQG4FA2WF8ZKJZMHM5WJU18A99BD", + "high_descs": [ + "From the microwave, turn left and go to the counter to the left of the oven.", + "Pick up the egg on the counter.", + "Turn around and head to the microwave at the opposite end of the counter.", + "Place the egg in to the microwave.", + "Turn around and move towards the counter to the right of the refrigerator.", + "Open the refrigerator and take an egg from it.", + "Turn to your right and move back to the microwave.", + "Place this egg in to the microwave as well." + ], + "task_desc": "Place two eggs in the microwave.", + "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-Egg-None-Microwave-30/trial_T20190907_163511_185881/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Egg-None-Microwave-30/trial_T20190907_163511_185881/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..0b8e340700e8dc51fa840f1709aeb41db7adf861 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Egg-None-Microwave-30/trial_T20190907_163511_185881/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\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 egg in microwave.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190907_163511_185881)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\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_16_bar__plus_01_dot_32_bar__minus_01_dot_48 - object\n Apple_bar__minus_01_dot_09_bar__plus_01_dot_07_bar__plus_01_dot_31 - object\n Bowl_bar__plus_01_dot_26_bar__plus_01_dot_67_bar__minus_01_dot_55 - object\n Bread_bar__plus_01_dot_53_bar__plus_00_dot_97_bar__plus_00_dot_49 - object\n ButterKnife_bar__plus_00_dot_80_bar__plus_00_dot_91_bar__plus_00_dot_73 - object\n ButterKnife_bar__plus_02_dot_97_bar__plus_00_dot_90_bar__minus_00_dot_70 - object\n ButterKnife_bar__minus_00_dot_87_bar__plus_00_dot_52_bar__minus_00_dot_27 - object\n CellPhone_bar__minus_00_dot_80_bar__plus_00_dot_90_bar__minus_00_dot_83 - object\n Cup_bar__plus_01_dot_26_bar__plus_01_dot_67_bar__minus_01_dot_34 - object\n Cup_bar__plus_03_dot_07_bar__plus_00_dot_75_bar__plus_00_dot_10 - object\n DishSponge_bar__plus_00_dot_53_bar__plus_00_dot_91_bar__plus_00_dot_73 - object\n DishSponge_bar__minus_00_dot_83_bar__plus_00_dot_52_bar__plus_00_dot_75 - object\n Egg_bar__plus_01_dot_01_bar__plus_00_dot_77_bar__minus_01_dot_43 - object\n Egg_bar__plus_03_dot_15_bar__plus_00_dot_80_bar__minus_00_dot_10 - object\n Egg_bar__plus_03_dot_29_bar__plus_00_dot_15_bar__plus_01_dot_55 - object\n Faucet_bar__plus_03_dot_31_bar__plus_00_dot_89_bar__plus_00_dot_09 - object\n Fork_bar__plus_01_dot_23_bar__plus_00_dot_91_bar__plus_00_dot_04 - object\n Fork_bar__plus_01_dot_23_bar__plus_00_dot_91_bar__plus_00_dot_75 - object\n Fork_bar__minus_00_dot_83_bar__plus_00_dot_33_bar__plus_00_dot_08 - object\n Glassbottle_bar__plus_00_dot_02_bar__plus_00_dot_90_bar__minus_01_dot_59 - object\n Glassbottle_bar__plus_03_dot_08_bar__plus_00_dot_18_bar__minus_00_dot_83 - object\n HousePlant_bar__plus_03_dot_20_bar__plus_00_dot_89_bar__minus_00_dot_37 - object\n Kettle_bar__plus_03_dot_12_bar__plus_00_dot_90_bar__minus_00_dot_80 - object\n Kettle_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_01_dot_27 - object\n Knife_bar__minus_00_dot_99_bar__plus_00_dot_16_bar__minus_00_dot_27 - object\n Ladle_bar__plus_00_dot_97_bar__plus_00_dot_95_bar__plus_00_dot_89 - object\n Ladle_bar__minus_00_dot_15_bar__plus_00_dot_94_bar__minus_01_dot_59 - object\n Lettuce_bar__plus_00_dot_84_bar__plus_00_dot_98_bar__plus_00_dot_32 - object\n LightSwitch_bar__plus_02_dot_59_bar__plus_01_dot_31_bar__minus_01_dot_88 - object\n Mirror_bar__minus_01_dot_30_bar__plus_01_dot_63_bar__plus_00_dot_05 - object\n Mug_bar__plus_02_dot_92_bar__plus_00_dot_17_bar__plus_00_dot_91 - object\n Mug_bar__plus_03_dot_05_bar__plus_00_dot_97_bar__plus_00_dot_59 - object\n Pan_bar__plus_00_dot_34_bar__plus_00_dot_87_bar__minus_01_dot_65 - object\n PepperShaker_bar__plus_03_dot_14_bar__plus_00_dot_17_bar__plus_00_dot_77 - object\n PepperShaker_bar__plus_03_dot_15_bar__plus_01_dot_26_bar__minus_00_dot_92 - object\n Plate_bar__plus_00_dot_81_bar__plus_01_dot_69_bar__minus_01_dot_62 - object\n Potato_bar__plus_03_dot_15_bar__plus_00_dot_79_bar__plus_00_dot_23 - object\n Pot_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_00_dot_92 - object\n Pot_bar__minus_00_dot_86_bar__plus_00_dot_90_bar__plus_00_dot_18 - object\n SaltShaker_bar__plus_00_dot_83_bar__plus_00_dot_91_bar__plus_00_dot_17 - object\n SaltShaker_bar__minus_00_dot_95_bar__plus_00_dot_32_bar__plus_01_dot_26 - object\n Sink_bar__plus_03_dot_08_bar__plus_00_dot_89_bar__plus_00_dot_09 - object\n SoapBottle_bar__plus_00_dot_16_bar__plus_00_dot_91_bar__minus_01_dot_38 - object\n Spatula_bar__plus_00_dot_15_bar__plus_00_dot_92_bar__minus_01_dot_48 - object\n Spatula_bar__plus_00_dot_84_bar__plus_00_dot_93_bar__plus_00_dot_53 - object\n Spatula_bar__minus_00_dot_79_bar__plus_00_dot_53_bar__plus_00_dot_66 - object\n Spoon_bar__plus_00_dot_49_bar__plus_00_dot_91_bar__plus_00_dot_18 - object\n Spoon_bar__plus_00_dot_71_bar__plus_00_dot_91_bar__plus_00_dot_43 - object\n Spoon_bar__minus_01_dot_08_bar__plus_00_dot_90_bar__plus_00_dot_40 - object\n StoveKnob_bar__minus_00_dot_09_bar__plus_00_dot_79_bar__minus_01_dot_01 - object\n StoveKnob_bar__minus_00_dot_18_bar__plus_00_dot_79_bar__minus_00_dot_92 - object\n StoveKnob_bar__minus_00_dot_28_bar__plus_00_dot_79_bar__minus_00_dot_82 - object\n StoveKnob_bar__minus_00_dot_37_bar__plus_00_dot_79_bar__minus_00_dot_72 - object\n Tomato_bar__minus_00_dot_04_bar__plus_00_dot_94_bar__minus_01_dot_39 - object\n Tomato_bar__minus_01_dot_15_bar__plus_00_dot_94_bar__plus_00_dot_18 - object\n Window_bar__plus_03_dot_70_bar__plus_01_dot_68_bar__plus_00_dot_05 - object\n Cabinet_bar__plus_00_dot_14_bar__plus_01_dot_67_bar__minus_01_dot_56 - receptacle\n Cabinet_bar__plus_00_dot_62_bar__plus_01_dot_87_bar__minus_01_dot_26 - receptacle\n Cabinet_bar__plus_01_dot_40_bar__plus_01_dot_87_bar__minus_01_dot_26 - receptacle\n Cabinet_bar__plus_02_dot_82_bar__plus_01_dot_77_bar__minus_01_dot_05 - receptacle\n Cabinet_bar__plus_02_dot_82_bar__plus_01_dot_77_bar__minus_01_dot_85 - receptacle\n Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__plus_00_dot_41 - receptacle\n Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__minus_00_dot_61 - receptacle\n Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__minus_00_dot_96 - receptacle\n Cabinet_bar__plus_03_dot_07_bar__plus_01_dot_67_bar__minus_00_dot_71 - receptacle\n Cabinet_bar__minus_00_dot_19_bar__plus_01_dot_67_bar__minus_01_dot_34 - receptacle\n Cabinet_bar__minus_00_dot_20_bar__plus_01_dot_96_bar__minus_01_dot_33 - receptacle\n Cabinet_bar__minus_00_dot_71_bar__plus_01_dot_96_bar__minus_00_dot_82 - receptacle\n Cabinet_bar__minus_00_dot_92_bar__plus_01_dot_67_bar__minus_00_dot_62 - receptacle\n CoffeeMachine_bar__plus_03_dot_22_bar__plus_00_dot_89_bar__plus_00_dot_70 - receptacle\n CounterTop_bar__plus_00_dot_09_bar__plus_00_dot_89_bar__minus_01_dot_52 - receptacle\n CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46 - receptacle\n CounterTop_bar__plus_03_dot_11_bar__plus_00_dot_94_bar__plus_00_dot_02 - receptacle\n CounterTop_bar__minus_01_dot_01_bar__plus_00_dot_94_bar__minus_00_dot_04 - receptacle\n Drawer_bar__plus_00_dot_38_bar__plus_00_dot_19_bar__minus_01_dot_51 - receptacle\n Drawer_bar__plus_00_dot_38_bar__plus_00_dot_38_bar__minus_01_dot_51 - receptacle\n Drawer_bar__plus_00_dot_38_bar__plus_00_dot_57_bar__minus_01_dot_51 - receptacle\n Drawer_bar__plus_00_dot_38_bar__plus_00_dot_77_bar__minus_01_dot_51 - receptacle\n Drawer_bar__plus_03_dot_02_bar__plus_00_dot_77_bar__plus_00_dot_70 - receptacle\n Drawer_bar__plus_03_dot_02_bar__plus_00_dot_77_bar__minus_00_dot_41 - receptacle\n Drawer_bar__plus_03_dot_02_bar__plus_00_dot_77_bar__minus_00_dot_78 - receptacle\n Drawer_bar__minus_00_dot_05_bar__plus_00_dot_19_bar__minus_01_dot_32 - receptacle\n Drawer_bar__minus_00_dot_05_bar__plus_00_dot_38_bar__minus_01_dot_32 - receptacle\n Drawer_bar__minus_00_dot_05_bar__plus_00_dot_57_bar__minus_01_dot_32 - receptacle\n Drawer_bar__minus_00_dot_05_bar__plus_00_dot_77_bar__minus_01_dot_32 - receptacle\n Drawer_bar__minus_00_dot_68_bar__plus_00_dot_19_bar__minus_00_dot_70 - receptacle\n Drawer_bar__minus_00_dot_68_bar__plus_00_dot_39_bar__minus_00_dot_70 - receptacle\n Drawer_bar__minus_00_dot_68_bar__plus_00_dot_58_bar__minus_00_dot_70 - receptacle\n Drawer_bar__minus_00_dot_68_bar__plus_00_dot_77_bar__minus_00_dot_70 - receptacle\n Drawer_bar__minus_00_dot_86_bar__plus_00_dot_19_bar__plus_00_dot_66 - receptacle\n Drawer_bar__minus_00_dot_86_bar__plus_00_dot_19_bar__plus_01_dot_43 - receptacle\n Drawer_bar__minus_00_dot_86_bar__plus_00_dot_19_bar__minus_00_dot_10 - receptacle\n Drawer_bar__minus_00_dot_86_bar__plus_00_dot_39_bar__plus_00_dot_66 - receptacle\n Drawer_bar__minus_00_dot_86_bar__plus_00_dot_39_bar__plus_01_dot_43 - receptacle\n Drawer_bar__minus_00_dot_86_bar__plus_00_dot_39_bar__minus_00_dot_10 - receptacle\n Drawer_bar__minus_00_dot_86_bar__plus_00_dot_58_bar__plus_00_dot_66 - receptacle\n Drawer_bar__minus_00_dot_86_bar__plus_00_dot_58_bar__plus_01_dot_43 - receptacle\n Drawer_bar__minus_00_dot_86_bar__plus_00_dot_58_bar__minus_00_dot_10 - receptacle\n Drawer_bar__minus_00_dot_86_bar__plus_00_dot_77_bar__plus_00_dot_66 - receptacle\n Drawer_bar__minus_00_dot_86_bar__plus_00_dot_77_bar__plus_01_dot_43 - receptacle\n Drawer_bar__minus_00_dot_86_bar__plus_00_dot_77_bar__minus_00_dot_10 - receptacle\n Fridge_bar__plus_01_dot_01_bar__plus_00_dot_03_bar__minus_01_dot_47 - receptacle\n GarbageCan_bar__plus_03_dot_18_bar__plus_00_dot_03_bar__plus_01_dot_60 - receptacle\n Microwave_bar__minus_01_dot_03_bar__plus_00_dot_89_bar__plus_01_dot_43 - receptacle\n Sink_bar__plus_03_dot_08_bar__plus_00_dot_89_bar__plus_00_dot_09_bar_SinkBasin - receptacle\n StoveBurner_bar__minus_00_dot_24_bar__plus_00_dot_90_bar__minus_01_dot_09 - receptacle\n StoveBurner_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_00_dot_92 - receptacle\n StoveBurner_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_01_dot_27 - receptacle\n StoveBurner_bar__minus_00_dot_60_bar__plus_00_dot_90_bar__minus_01_dot_09 - receptacle\n Toaster_bar__minus_01_dot_04_bar__plus_00_dot_87_bar__minus_00_dot_40 - receptacle\n loc_bar__minus_1_bar_2_bar_3_bar_45 - location\n loc_bar_2_bar__minus_1_bar_2_bar_45 - location\n loc_bar_10_bar_0_bar_1_bar_0 - location\n loc_bar_10_bar_3_bar_1_bar_45 - location\n loc_bar__minus_1_bar_5_bar_3_bar_45 - location\n loc_bar_0_bar_2_bar_0_bar_60 - location\n loc_bar_0_bar_2_bar_2_bar_45 - location\n loc_bar_8_bar_1_bar_1_bar_60 - location\n loc_bar_10_bar__minus_2_bar_1_bar_45 - location\n loc_bar_4_bar__minus_2_bar_0_bar_45 - location\n loc_bar_2_bar__minus_2_bar_2_bar_60 - location\n loc_bar_1_bar__minus_3_bar_2_bar_0 - location\n loc_bar_11_bar_5_bar_1_bar_60 - location\n loc_bar_0_bar_1_bar_2_bar_60 - location\n loc_bar_9_bar_2_bar_2_bar_45 - location\n loc_bar__minus_1_bar_3_bar_2_bar_45 - location\n loc_bar_8_bar_0_bar_1_bar_60 - location\n loc_bar_9_bar__minus_5_bar_1_bar__minus_15 - location\n loc_bar_0_bar_4_bar_2_bar_45 - location\n loc_bar__minus_1_bar__minus_1_bar_2_bar_45 - location\n loc_bar_1_bar__minus_3_bar_2_bar_45 - location\n loc_bar__minus_1_bar__minus_2_bar_3_bar_45 - location\n loc_bar_0_bar__minus_2_bar_0_bar_45 - location\n loc_bar_0_bar_1_bar_2_bar_45 - location\n loc_bar_4_bar__minus_2_bar_2_bar__minus_15 - location\n loc_bar_0_bar__minus_2_bar_2_bar__minus_15 - location\n loc_bar_9_bar__minus_5_bar_2_bar_30 - location\n loc_bar__minus_1_bar__minus_1_bar_0_bar_45 - location\n loc_bar_2_bar__minus_3_bar_2_bar_0 - location\n loc_bar_4_bar__minus_2_bar_2_bar_60 - location\n loc_bar_0_bar__minus_3_bar_3_bar_60 - location\n loc_bar_8_bar__minus_5_bar_1_bar_0 - location\n loc_bar__minus_1_bar_1_bar_3_bar_0 - location\n loc_bar__minus_1_bar__minus_2_bar_3_bar_0 - location\n loc_bar_10_bar__minus_1_bar_1_bar_60 - location\n loc_bar_9_bar_0_bar_2_bar_45 - location\n loc_bar_10_bar_0_bar_1_bar_60 - location\n loc_bar_0_bar_4_bar_2_bar_60 - location\n loc_bar__minus_1_bar__minus_2_bar_2_bar_60 - location\n loc_bar_9_bar__minus_1_bar_0_bar_45 - location\n loc_bar_0_bar__minus_2_bar_2_bar_45 - location\n loc_bar_0_bar__minus_1_bar_2_bar_45 - location\n loc_bar_8_bar__minus_5_bar_1_bar_60 - location\n loc_bar_0_bar_1_bar_0_bar_45 - location\n loc_bar_0_bar__minus_3_bar_3_bar__minus_15 - location\n loc_bar_9_bar__minus_4_bar_1_bar_0 - location\n loc_bar__minus_1_bar_2_bar_0_bar_45 - location\n loc_bar_2_bar__minus_2_bar_2_bar_45 - location\n loc_bar_4_bar__minus_2_bar_3_bar_60 - location\n loc_bar__minus_1_bar_1_bar_2_bar_45 - location\n loc_bar_0_bar__minus_3_bar_2_bar_60 - location\n loc_bar_4_bar__minus_3_bar_2_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Drawer_bar__minus_00_dot_68_bar__plus_00_dot_19_bar__minus_00_dot_70 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_05_bar__plus_00_dot_38_bar__minus_01_dot_32 DrawerType)\n (receptacleType Cabinet_bar__minus_00_dot_92_bar__plus_01_dot_67_bar__minus_00_dot_62 CabinetType)\n (receptacleType 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(canContain DrawerType ButterKnifeType)\n (canContain DrawerType PepperShakerType)\n (canContain DrawerType KnifeType)\n (canContain DrawerType SpatulaType)\n (canContain DrawerType SaltShakerType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType LadleType)\n (canContain DrawerType ForkType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType SpoonType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ButterKnifeType)\n (canContain DrawerType PepperShakerType)\n (canContain DrawerType KnifeType)\n (canContain DrawerType SpatulaType)\n (canContain DrawerType SaltShakerType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType LadleType)\n (canContain DrawerType ForkType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType SpoonType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ButterKnifeType)\n (canContain DrawerType PepperShakerType)\n (canContain DrawerType KnifeType)\n (canContain DrawerType SpatulaType)\n (canContain GarbageCanType BreadType)\n (canContain GarbageCanType DishSpongeType)\n (canContain GarbageCanType EggType)\n (canContain GarbageCanType SoapBottleType)\n (canContain GarbageCanType LettuceType)\n (canContain GarbageCanType PotatoType)\n (canContain GarbageCanType TomatoType)\n (canContain GarbageCanType AppleType)\n (canContain DrawerType SaltShakerType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType LadleType)\n (canContain DrawerType ForkType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType SpoonType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ButterKnifeType)\n (canContain DrawerType PepperShakerType)\n (canContain DrawerType KnifeType)\n (canContain DrawerType SpatulaType)\n (canContain StoveBurnerType KettleType)\n (canContain StoveBurnerType PotType)\n (canContain StoveBurnerType PanType)\n (canContain DrawerType SaltShakerType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType LadleType)\n (canContain DrawerType ForkType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType SpoonType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ButterKnifeType)\n (canContain DrawerType PepperShakerType)\n (canContain DrawerType KnifeType)\n (canContain DrawerType SpatulaType)\n (canContain StoveBurnerType KettleType)\n (canContain StoveBurnerType PotType)\n (canContain StoveBurnerType PanType)\n (canContain DrawerType SaltShakerType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType LadleType)\n (canContain DrawerType ForkType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType SpoonType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ButterKnifeType)\n (canContain DrawerType PepperShakerType)\n (canContain DrawerType KnifeType)\n (canContain DrawerType SpatulaType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType 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ForkType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType SpoonType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ButterKnifeType)\n (canContain DrawerType PepperShakerType)\n (canContain DrawerType KnifeType)\n (canContain DrawerType SpatulaType)\n (canContain DrawerType SaltShakerType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType LadleType)\n (canContain DrawerType ForkType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType SpoonType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ButterKnifeType)\n (canContain DrawerType PepperShakerType)\n (canContain DrawerType KnifeType)\n (canContain DrawerType SpatulaType)\n (canContain CounterTopType SaltShakerType)\n (canContain CounterTopType BreadType)\n (canContain CounterTopType DishSpongeType)\n (canContain CounterTopType BowlType)\n (canContain CounterTopType KettleType)\n (canContain CounterTopType PotType)\n (canContain CounterTopType 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CabinetType LadleType)\n (canContain CabinetType GlassbottleType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType CupType)\n (canContain CabinetType PlateType)\n (canContain CabinetType PepperShakerType)\n (canContain CabinetType PanType)\n (canContain DrawerType SaltShakerType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType LadleType)\n (canContain DrawerType ForkType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType SpoonType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ButterKnifeType)\n (canContain DrawerType PepperShakerType)\n (canContain DrawerType KnifeType)\n (canContain DrawerType SpatulaType)\n (canContain FridgeType BreadType)\n (canContain FridgeType BowlType)\n (canContain FridgeType PotType)\n (canContain FridgeType MugType)\n (canContain FridgeType EggType)\n (canContain FridgeType GlassbottleType)\n (canContain FridgeType LettuceType)\n (canContain FridgeType PotatoType)\n (canContain FridgeType CupType)\n (canContain FridgeType PlateType)\n (canContain FridgeType TomatoType)\n (canContain FridgeType AppleType)\n (canContain FridgeType PanType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType BowlType)\n (canContain CabinetType KettleType)\n (canContain CabinetType PotType)\n (canContain CabinetType MugType)\n (canContain CabinetType LadleType)\n (canContain CabinetType GlassbottleType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType CupType)\n (canContain CabinetType PlateType)\n (canContain CabinetType PepperShakerType)\n (canContain CabinetType PanType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType BowlType)\n (canContain CabinetType KettleType)\n (canContain CabinetType PotType)\n (canContain CabinetType MugType)\n (canContain CabinetType LadleType)\n (canContain CabinetType GlassbottleType)\n (canContain CabinetType 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Fridge_bar__plus_01_dot_01_bar__plus_00_dot_03_bar__minus_01_dot_47)\n (inReceptacle Apple_bar__plus_01_dot_16_bar__plus_01_dot_32_bar__minus_01_dot_48 Fridge_bar__plus_01_dot_01_bar__plus_00_dot_03_bar__minus_01_dot_47)\n (inReceptacle Apple_bar__minus_01_dot_09_bar__plus_01_dot_07_bar__plus_01_dot_31 Microwave_bar__minus_01_dot_03_bar__plus_00_dot_89_bar__plus_01_dot_43)\n \n \n (receptacleAtLocation Cabinet_bar__plus_00_dot_14_bar__plus_01_dot_67_bar__minus_01_dot_56 loc_bar_2_bar__minus_3_bar_2_bar_0)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_62_bar__plus_01_dot_87_bar__minus_01_dot_26 loc_bar_4_bar__minus_2_bar_2_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_40_bar__plus_01_dot_87_bar__minus_01_dot_26 loc_bar_4_bar__minus_2_bar_2_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_82_bar__plus_01_dot_77_bar__minus_01_dot_05 loc_bar_9_bar__minus_5_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_82_bar__plus_01_dot_77_bar__minus_01_dot_85 loc_bar_8_bar__minus_5_bar_1_bar_0)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__plus_00_dot_41 loc_bar_8_bar_1_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__minus_00_dot_61 loc_bar_8_bar_0_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__minus_00_dot_96 loc_bar_8_bar__minus_5_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_03_dot_07_bar__plus_01_dot_67_bar__minus_00_dot_71 loc_bar_9_bar__minus_4_bar_1_bar_0)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_19_bar__plus_01_dot_67_bar__minus_01_dot_34 loc_bar_1_bar__minus_3_bar_2_bar_0)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_20_bar__plus_01_dot_96_bar__minus_01_dot_33 loc_bar_0_bar__minus_2_bar_2_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_71_bar__plus_01_dot_96_bar__minus_00_dot_82 loc_bar_0_bar__minus_3_bar_3_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_92_bar__plus_01_dot_67_bar__minus_00_dot_62 loc_bar__minus_1_bar__minus_2_bar_3_bar_0)\n (receptacleAtLocation CoffeeMachine_bar__plus_03_dot_22_bar__plus_00_dot_89_bar__plus_00_dot_70 loc_bar_10_bar_3_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_00_dot_09_bar__plus_00_dot_89_bar__minus_01_dot_52 loc_bar_1_bar__minus_3_bar_2_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_03_dot_11_bar__plus_00_dot_94_bar__plus_00_dot_02 loc_bar_10_bar__minus_2_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_01_dot_01_bar__plus_00_dot_94_bar__minus_00_dot_04 loc_bar__minus_1_bar_2_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_38_bar__plus_00_dot_19_bar__minus_01_dot_51 loc_bar_0_bar__minus_1_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_38_bar__plus_00_dot_38_bar__minus_01_dot_51 loc_bar__minus_1_bar__minus_1_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_38_bar__plus_00_dot_57_bar__minus_01_dot_51 loc_bar_0_bar__minus_2_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_38_bar__plus_00_dot_77_bar__minus_01_dot_51 loc_bar_0_bar__minus_2_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_03_dot_02_bar__plus_00_dot_77_bar__plus_00_dot_70 loc_bar_9_bar__minus_1_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__plus_03_dot_02_bar__plus_00_dot_77_bar__minus_00_dot_41 loc_bar_9_bar_2_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_03_dot_02_bar__plus_00_dot_77_bar__minus_00_dot_78 loc_bar_9_bar_0_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_05_bar__plus_00_dot_19_bar__minus_01_dot_32 loc_bar_4_bar__minus_2_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_05_bar__plus_00_dot_38_bar__minus_01_dot_32 loc_bar_2_bar__minus_1_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_05_bar__plus_00_dot_57_bar__minus_01_dot_32 loc_bar_2_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_05_bar__plus_00_dot_77_bar__minus_01_dot_32 loc_bar_2_bar__minus_2_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_68_bar__plus_00_dot_19_bar__minus_00_dot_70 loc_bar_0_bar_2_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_68_bar__plus_00_dot_39_bar__minus_00_dot_70 loc_bar_0_bar_1_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_68_bar__plus_00_dot_58_bar__minus_00_dot_70 loc_bar_0_bar_1_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_68_bar__plus_00_dot_77_bar__minus_00_dot_70 loc_bar__minus_1_bar_1_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_19_bar__plus_00_dot_66 loc_bar_0_bar__minus_2_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_19_bar__plus_01_dot_43 loc_bar_0_bar_1_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_19_bar__minus_00_dot_10 loc_bar_0_bar_4_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_39_bar__plus_00_dot_66 loc_bar_0_bar__minus_2_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_39_bar__plus_01_dot_43 loc_bar_0_bar_2_bar_0_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_39_bar__minus_00_dot_10 loc_bar_0_bar_4_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_58_bar__plus_00_dot_66 loc_bar_0_bar__minus_2_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_58_bar__plus_01_dot_43 loc_bar_0_bar_1_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_58_bar__minus_00_dot_10 loc_bar_0_bar_4_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_77_bar__plus_00_dot_66 loc_bar__minus_1_bar__minus_1_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_77_bar__plus_01_dot_43 loc_bar__minus_1_bar_2_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_77_bar__minus_00_dot_10 loc_bar__minus_1_bar_3_bar_2_bar_45)\n (receptacleAtLocation Fridge_bar__plus_01_dot_01_bar__plus_00_dot_03_bar__minus_01_dot_47 loc_bar_4_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation GarbageCan_bar__plus_03_dot_18_bar__plus_00_dot_03_bar__plus_01_dot_60 loc_bar_11_bar_5_bar_1_bar_60)\n (receptacleAtLocation Microwave_bar__minus_01_dot_03_bar__plus_00_dot_89_bar__plus_01_dot_43 loc_bar__minus_1_bar_5_bar_3_bar_45)\n (receptacleAtLocation Sink_bar__plus_03_dot_08_bar__plus_00_dot_89_bar__plus_00_dot_09_bar_SinkBasin loc_bar_10_bar__minus_1_bar_1_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_24_bar__plus_00_dot_90_bar__minus_01_dot_09 loc_bar_0_bar__minus_3_bar_2_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_00_dot_92 loc_bar_0_bar__minus_3_bar_3_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_01_dot_27 loc_bar_0_bar__minus_3_bar_2_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_60_bar__plus_00_dot_90_bar__minus_01_dot_09 loc_bar_0_bar__minus_3_bar_3_bar_60)\n (receptacleAtLocation Toaster_bar__minus_01_dot_04_bar__plus_00_dot_87_bar__minus_00_dot_40 loc_bar__minus_1_bar__minus_2_bar_3_bar_45)\n (objectAtLocation Mug_bar__plus_03_dot_05_bar__plus_00_dot_97_bar__plus_00_dot_59 loc_bar_10_bar_3_bar_1_bar_45)\n (objectAtLocation Spoon_bar__plus_00_dot_49_bar__plus_00_dot_91_bar__plus_00_dot_18 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Tomato_bar__minus_00_dot_04_bar__plus_00_dot_94_bar__minus_01_dot_39 loc_bar_1_bar__minus_3_bar_2_bar_45)\n (objectAtLocation DishSponge_bar__plus_00_dot_53_bar__plus_00_dot_91_bar__plus_00_dot_73 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Apple_bar__minus_01_dot_09_bar__plus_01_dot_07_bar__plus_01_dot_31 loc_bar__minus_1_bar_5_bar_3_bar_45)\n (objectAtLocation ButterKnife_bar__minus_00_dot_87_bar__plus_00_dot_52_bar__minus_00_dot_27 loc_bar_0_bar_4_bar_2_bar_45)\n (objectAtLocation PepperShaker_bar__plus_03_dot_14_bar__plus_00_dot_17_bar__plus_00_dot_77 loc_bar_8_bar_1_bar_1_bar_60)\n (objectAtLocation Egg_bar__plus_03_dot_15_bar__plus_00_dot_80_bar__minus_00_dot_10 loc_bar_10_bar__minus_1_bar_1_bar_60)\n (objectAtLocation SaltShaker_bar__plus_00_dot_83_bar__plus_00_dot_91_bar__plus_00_dot_17 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Cup_bar__plus_01_dot_26_bar__plus_01_dot_67_bar__minus_01_dot_34 loc_bar_4_bar__minus_2_bar_2_bar__minus_15)\n (objectAtLocation Spatula_bar__plus_00_dot_84_bar__plus_00_dot_93_bar__plus_00_dot_53 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Kettle_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_01_dot_27 loc_bar_0_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Pot_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_00_dot_92 loc_bar_0_bar__minus_3_bar_3_bar_60)\n (objectAtLocation Ladle_bar__minus_00_dot_15_bar__plus_00_dot_94_bar__minus_01_dot_59 loc_bar_1_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Fork_bar__plus_01_dot_23_bar__plus_00_dot_91_bar__plus_00_dot_04 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Glassbottle_bar__plus_03_dot_08_bar__plus_00_dot_18_bar__minus_00_dot_83 loc_bar_8_bar__minus_5_bar_1_bar_60)\n (objectAtLocation Egg_bar__plus_03_dot_29_bar__plus_00_dot_15_bar__plus_01_dot_55 loc_bar_11_bar_5_bar_1_bar_60)\n (objectAtLocation Fork_bar__plus_01_dot_23_bar__plus_00_dot_91_bar__plus_00_dot_75 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Spoon_bar__plus_00_dot_71_bar__plus_00_dot_91_bar__plus_00_dot_43 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Spatula_bar__minus_00_dot_79_bar__plus_00_dot_53_bar__plus_00_dot_66 loc_bar_0_bar__minus_2_bar_0_bar_45)\n (objectAtLocation ButterKnife_bar__plus_02_dot_97_bar__plus_00_dot_90_bar__minus_00_dot_70 loc_bar_10_bar__minus_2_bar_1_bar_45)\n (objectAtLocation Sink_bar__plus_03_dot_08_bar__plus_00_dot_89_bar__plus_00_dot_09 loc_bar_10_bar_0_bar_1_bar_60)\n (objectAtLocation Mirror_bar__minus_01_dot_30_bar__plus_01_dot_63_bar__plus_00_dot_05 loc_bar__minus_1_bar_1_bar_3_bar_0)\n (objectAtLocation Plate_bar__plus_00_dot_81_bar__plus_01_dot_69_bar__minus_01_dot_62 loc_bar_4_bar__minus_2_bar_2_bar__minus_15)\n (objectAtLocation Glassbottle_bar__plus_00_dot_02_bar__plus_00_dot_90_bar__minus_01_dot_59 loc_bar_1_bar__minus_3_bar_2_bar_45)\n (objectAtLocation SoapBottle_bar__plus_00_dot_16_bar__plus_00_dot_91_bar__minus_01_dot_38 loc_bar_1_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Potato_bar__plus_03_dot_15_bar__plus_00_dot_79_bar__plus_00_dot_23 loc_bar_10_bar__minus_1_bar_1_bar_60)\n (objectAtLocation HousePlant_bar__plus_03_dot_20_bar__plus_00_dot_89_bar__minus_00_dot_37 loc_bar_10_bar__minus_2_bar_1_bar_45)\n (objectAtLocation StoveKnob_bar__minus_00_dot_09_bar__plus_00_dot_79_bar__minus_01_dot_01 loc_bar_0_bar__minus_3_bar_2_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_28_bar__plus_00_dot_79_bar__minus_00_dot_82 loc_bar_0_bar__minus_3_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_18_bar__plus_00_dot_79_bar__minus_00_dot_92 loc_bar_0_bar__minus_3_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_37_bar__plus_00_dot_79_bar__minus_00_dot_72 loc_bar__minus_1_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Fork_bar__minus_00_dot_83_bar__plus_00_dot_33_bar__plus_00_dot_08 loc_bar_0_bar_4_bar_2_bar_45)\n (objectAtLocation Ladle_bar__plus_00_dot_97_bar__plus_00_dot_95_bar__plus_00_dot_89 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Pot_bar__minus_00_dot_86_bar__plus_00_dot_90_bar__plus_00_dot_18 loc_bar__minus_1_bar_2_bar_3_bar_45)\n (objectAtLocation Kettle_bar__plus_03_dot_12_bar__plus_00_dot_90_bar__minus_00_dot_80 loc_bar_10_bar__minus_2_bar_1_bar_45)\n (objectAtLocation Window_bar__plus_03_dot_70_bar__plus_01_dot_68_bar__plus_00_dot_05 loc_bar_10_bar_0_bar_1_bar_0)\n (objectAtLocation Spatula_bar__plus_00_dot_15_bar__plus_00_dot_92_bar__minus_01_dot_48 loc_bar_1_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Knife_bar__minus_00_dot_99_bar__plus_00_dot_16_bar__minus_00_dot_27 loc_bar_0_bar_4_bar_2_bar_60)\n (objectAtLocation Lettuce_bar__plus_00_dot_84_bar__plus_00_dot_98_bar__plus_00_dot_32 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation LightSwitch_bar__plus_02_dot_59_bar__plus_01_dot_31_bar__minus_01_dot_88 loc_bar_9_bar__minus_5_bar_2_bar_30)\n (objectAtLocation Cup_bar__plus_03_dot_07_bar__plus_00_dot_75_bar__plus_00_dot_10 loc_bar_10_bar__minus_1_bar_1_bar_60)\n (objectAtLocation SaltShaker_bar__minus_00_dot_95_bar__plus_00_dot_32_bar__plus_01_dot_26 loc_bar_0_bar_2_bar_0_bar_60)\n (objectAtLocation Egg_bar__plus_01_dot_01_bar__plus_00_dot_77_bar__minus_01_dot_43 loc_bar_4_bar__minus_2_bar_2_bar_60)\n (objectAtLocation PepperShaker_bar__plus_03_dot_15_bar__plus_01_dot_26_bar__minus_00_dot_92 loc_bar_9_bar__minus_4_bar_1_bar_0)\n (objectAtLocation ButterKnife_bar__plus_00_dot_80_bar__plus_00_dot_91_bar__plus_00_dot_73 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Apple_bar__plus_01_dot_16_bar__plus_01_dot_32_bar__minus_01_dot_48 loc_bar_4_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Pan_bar__plus_00_dot_34_bar__plus_00_dot_87_bar__minus_01_dot_65 loc_bar_1_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Bread_bar__plus_01_dot_53_bar__plus_00_dot_97_bar__plus_00_dot_49 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation CellPhone_bar__minus_00_dot_80_bar__plus_00_dot_90_bar__minus_00_dot_83 loc_bar__minus_1_bar_2_bar_3_bar_45)\n (objectAtLocation DishSponge_bar__minus_00_dot_83_bar__plus_00_dot_52_bar__plus_00_dot_75 loc_bar_0_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Tomato_bar__minus_01_dot_15_bar__plus_00_dot_94_bar__plus_00_dot_18 loc_bar__minus_1_bar_2_bar_3_bar_45)\n (objectAtLocation Spoon_bar__minus_01_dot_08_bar__plus_00_dot_90_bar__plus_00_dot_40 loc_bar__minus_1_bar_2_bar_3_bar_45)\n (objectAtLocation Bowl_bar__plus_01_dot_26_bar__plus_01_dot_67_bar__minus_01_dot_55 loc_bar_4_bar__minus_2_bar_2_bar__minus_15)\n (objectAtLocation Mug_bar__plus_02_dot_92_bar__plus_00_dot_17_bar__plus_00_dot_91 loc_bar_8_bar_1_bar_1_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o1 - object)\n (and\n (objectType ?o1 EggType)\n (receptacleType ?r MicrowaveType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 EggType)\n (receptacleType ?r MicrowaveType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to sinkbasin 1", "take egg 2 from sinkbasin 1", "go to microwave 1", "open microwave 1", "move egg 2 to microwave 1", "go to garbagecan 1", "take egg 1 from garbagecan 1", "go to microwave 1", "move egg 1 to microwave 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Egg-None-Microwave-30/trial_T20190907_163511_185881/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Egg-None-Microwave-30/trial_T20190907_163511_185881/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..86158931cb96cb5baacced828129e0f7e2668536 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Egg-None-Microwave-30/trial_T20190907_163511_185881/initial_state.pddl @@ -0,0 +1,1473 @@ + +(define (problem plan_trial_T20190907_163511_185881) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + 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_16_bar__plus_01_dot_32_bar__minus_01_dot_48 - object + Apple_bar__minus_01_dot_09_bar__plus_01_dot_07_bar__plus_01_dot_31 - object + Bowl_bar__plus_01_dot_26_bar__plus_01_dot_67_bar__minus_01_dot_55 - object + Bread_bar__plus_01_dot_53_bar__plus_00_dot_97_bar__plus_00_dot_49 - object + ButterKnife_bar__plus_00_dot_80_bar__plus_00_dot_91_bar__plus_00_dot_73 - object + ButterKnife_bar__plus_02_dot_97_bar__plus_00_dot_90_bar__minus_00_dot_70 - object + ButterKnife_bar__minus_00_dot_87_bar__plus_00_dot_52_bar__minus_00_dot_27 - object + CellPhone_bar__minus_00_dot_80_bar__plus_00_dot_90_bar__minus_00_dot_83 - object + Cup_bar__plus_01_dot_26_bar__plus_01_dot_67_bar__minus_01_dot_34 - object + Cup_bar__plus_03_dot_07_bar__plus_00_dot_75_bar__plus_00_dot_10 - object + DishSponge_bar__plus_00_dot_53_bar__plus_00_dot_91_bar__plus_00_dot_73 - object + DishSponge_bar__minus_00_dot_83_bar__plus_00_dot_52_bar__plus_00_dot_75 - object + Egg_bar__plus_01_dot_01_bar__plus_00_dot_77_bar__minus_01_dot_43 - object + Egg_bar__plus_03_dot_15_bar__plus_00_dot_80_bar__minus_00_dot_10 - object + Egg_bar__plus_03_dot_29_bar__plus_00_dot_15_bar__plus_01_dot_55 - object + Faucet_bar__plus_03_dot_31_bar__plus_00_dot_89_bar__plus_00_dot_09 - object + Fork_bar__plus_01_dot_23_bar__plus_00_dot_91_bar__plus_00_dot_04 - object + Fork_bar__plus_01_dot_23_bar__plus_00_dot_91_bar__plus_00_dot_75 - object + Fork_bar__minus_00_dot_83_bar__plus_00_dot_33_bar__plus_00_dot_08 - object + Glassbottle_bar__plus_00_dot_02_bar__plus_00_dot_90_bar__minus_01_dot_59 - object + Glassbottle_bar__plus_03_dot_08_bar__plus_00_dot_18_bar__minus_00_dot_83 - object + HousePlant_bar__plus_03_dot_20_bar__plus_00_dot_89_bar__minus_00_dot_37 - object + Kettle_bar__plus_03_dot_12_bar__plus_00_dot_90_bar__minus_00_dot_80 - object + Kettle_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_01_dot_27 - object + Knife_bar__minus_00_dot_99_bar__plus_00_dot_16_bar__minus_00_dot_27 - object + Ladle_bar__plus_00_dot_97_bar__plus_00_dot_95_bar__plus_00_dot_89 - object + Ladle_bar__minus_00_dot_15_bar__plus_00_dot_94_bar__minus_01_dot_59 - object + Lettuce_bar__plus_00_dot_84_bar__plus_00_dot_98_bar__plus_00_dot_32 - object + LightSwitch_bar__plus_02_dot_59_bar__plus_01_dot_31_bar__minus_01_dot_88 - object + Mirror_bar__minus_01_dot_30_bar__plus_01_dot_63_bar__plus_00_dot_05 - object + Mug_bar__plus_02_dot_92_bar__plus_00_dot_17_bar__plus_00_dot_91 - object + Mug_bar__plus_03_dot_05_bar__plus_00_dot_97_bar__plus_00_dot_59 - object + Pan_bar__plus_00_dot_34_bar__plus_00_dot_87_bar__minus_01_dot_65 - object + PepperShaker_bar__plus_03_dot_14_bar__plus_00_dot_17_bar__plus_00_dot_77 - object + PepperShaker_bar__plus_03_dot_15_bar__plus_01_dot_26_bar__minus_00_dot_92 - object + Plate_bar__plus_00_dot_81_bar__plus_01_dot_69_bar__minus_01_dot_62 - object + Potato_bar__plus_03_dot_15_bar__plus_00_dot_79_bar__plus_00_dot_23 - object + Pot_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_00_dot_92 - object + Pot_bar__minus_00_dot_86_bar__plus_00_dot_90_bar__plus_00_dot_18 - object + SaltShaker_bar__plus_00_dot_83_bar__plus_00_dot_91_bar__plus_00_dot_17 - object + SaltShaker_bar__minus_00_dot_95_bar__plus_00_dot_32_bar__plus_01_dot_26 - object + Sink_bar__plus_03_dot_08_bar__plus_00_dot_89_bar__plus_00_dot_09 - object + SoapBottle_bar__plus_00_dot_16_bar__plus_00_dot_91_bar__minus_01_dot_38 - object + Spatula_bar__plus_00_dot_15_bar__plus_00_dot_92_bar__minus_01_dot_48 - object + Spatula_bar__plus_00_dot_84_bar__plus_00_dot_93_bar__plus_00_dot_53 - object + Spatula_bar__minus_00_dot_79_bar__plus_00_dot_53_bar__plus_00_dot_66 - object + Spoon_bar__plus_00_dot_49_bar__plus_00_dot_91_bar__plus_00_dot_18 - object + Spoon_bar__plus_00_dot_71_bar__plus_00_dot_91_bar__plus_00_dot_43 - object + Spoon_bar__minus_01_dot_08_bar__plus_00_dot_90_bar__plus_00_dot_40 - object + StoveKnob_bar__minus_00_dot_09_bar__plus_00_dot_79_bar__minus_01_dot_01 - object + StoveKnob_bar__minus_00_dot_18_bar__plus_00_dot_79_bar__minus_00_dot_92 - object + StoveKnob_bar__minus_00_dot_28_bar__plus_00_dot_79_bar__minus_00_dot_82 - object + StoveKnob_bar__minus_00_dot_37_bar__plus_00_dot_79_bar__minus_00_dot_72 - object + Tomato_bar__minus_00_dot_04_bar__plus_00_dot_94_bar__minus_01_dot_39 - object + Tomato_bar__minus_01_dot_15_bar__plus_00_dot_94_bar__plus_00_dot_18 - object + Window_bar__plus_03_dot_70_bar__plus_01_dot_68_bar__plus_00_dot_05 - object + Cabinet_bar__plus_00_dot_14_bar__plus_01_dot_67_bar__minus_01_dot_56 - receptacle + Cabinet_bar__plus_00_dot_62_bar__plus_01_dot_87_bar__minus_01_dot_26 - receptacle + Cabinet_bar__plus_01_dot_40_bar__plus_01_dot_87_bar__minus_01_dot_26 - receptacle + Cabinet_bar__plus_02_dot_82_bar__plus_01_dot_77_bar__minus_01_dot_05 - receptacle + Cabinet_bar__plus_02_dot_82_bar__plus_01_dot_77_bar__minus_01_dot_85 - receptacle + Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__plus_00_dot_41 - receptacle + Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__minus_00_dot_61 - receptacle + Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__minus_00_dot_96 - receptacle + Cabinet_bar__plus_03_dot_07_bar__plus_01_dot_67_bar__minus_00_dot_71 - receptacle + Cabinet_bar__minus_00_dot_19_bar__plus_01_dot_67_bar__minus_01_dot_34 - receptacle + Cabinet_bar__minus_00_dot_20_bar__plus_01_dot_96_bar__minus_01_dot_33 - receptacle + Cabinet_bar__minus_00_dot_71_bar__plus_01_dot_96_bar__minus_00_dot_82 - receptacle + Cabinet_bar__minus_00_dot_92_bar__plus_01_dot_67_bar__minus_00_dot_62 - receptacle + CoffeeMachine_bar__plus_03_dot_22_bar__plus_00_dot_89_bar__plus_00_dot_70 - receptacle + CounterTop_bar__plus_00_dot_09_bar__plus_00_dot_89_bar__minus_01_dot_52 - receptacle + CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46 - receptacle + CounterTop_bar__plus_03_dot_11_bar__plus_00_dot_94_bar__plus_00_dot_02 - receptacle + CounterTop_bar__minus_01_dot_01_bar__plus_00_dot_94_bar__minus_00_dot_04 - receptacle + Drawer_bar__plus_00_dot_38_bar__plus_00_dot_19_bar__minus_01_dot_51 - receptacle + Drawer_bar__plus_00_dot_38_bar__plus_00_dot_38_bar__minus_01_dot_51 - receptacle + Drawer_bar__plus_00_dot_38_bar__plus_00_dot_57_bar__minus_01_dot_51 - receptacle + Drawer_bar__plus_00_dot_38_bar__plus_00_dot_77_bar__minus_01_dot_51 - receptacle + Drawer_bar__plus_03_dot_02_bar__plus_00_dot_77_bar__plus_00_dot_70 - receptacle + Drawer_bar__plus_03_dot_02_bar__plus_00_dot_77_bar__minus_00_dot_41 - receptacle + Drawer_bar__plus_03_dot_02_bar__plus_00_dot_77_bar__minus_00_dot_78 - receptacle + Drawer_bar__minus_00_dot_05_bar__plus_00_dot_19_bar__minus_01_dot_32 - receptacle + Drawer_bar__minus_00_dot_05_bar__plus_00_dot_38_bar__minus_01_dot_32 - receptacle + Drawer_bar__minus_00_dot_05_bar__plus_00_dot_57_bar__minus_01_dot_32 - receptacle + Drawer_bar__minus_00_dot_05_bar__plus_00_dot_77_bar__minus_01_dot_32 - receptacle + Drawer_bar__minus_00_dot_68_bar__plus_00_dot_19_bar__minus_00_dot_70 - receptacle + Drawer_bar__minus_00_dot_68_bar__plus_00_dot_39_bar__minus_00_dot_70 - receptacle + Drawer_bar__minus_00_dot_68_bar__plus_00_dot_58_bar__minus_00_dot_70 - receptacle + Drawer_bar__minus_00_dot_68_bar__plus_00_dot_77_bar__minus_00_dot_70 - receptacle + Drawer_bar__minus_00_dot_86_bar__plus_00_dot_19_bar__plus_00_dot_66 - receptacle + Drawer_bar__minus_00_dot_86_bar__plus_00_dot_19_bar__plus_01_dot_43 - receptacle + Drawer_bar__minus_00_dot_86_bar__plus_00_dot_19_bar__minus_00_dot_10 - receptacle + Drawer_bar__minus_00_dot_86_bar__plus_00_dot_39_bar__plus_00_dot_66 - receptacle + Drawer_bar__minus_00_dot_86_bar__plus_00_dot_39_bar__plus_01_dot_43 - receptacle + Drawer_bar__minus_00_dot_86_bar__plus_00_dot_39_bar__minus_00_dot_10 - receptacle + Drawer_bar__minus_00_dot_86_bar__plus_00_dot_58_bar__plus_00_dot_66 - receptacle + Drawer_bar__minus_00_dot_86_bar__plus_00_dot_58_bar__plus_01_dot_43 - receptacle + Drawer_bar__minus_00_dot_86_bar__plus_00_dot_58_bar__minus_00_dot_10 - receptacle + Drawer_bar__minus_00_dot_86_bar__plus_00_dot_77_bar__plus_00_dot_66 - receptacle + Drawer_bar__minus_00_dot_86_bar__plus_00_dot_77_bar__plus_01_dot_43 - receptacle + Drawer_bar__minus_00_dot_86_bar__plus_00_dot_77_bar__minus_00_dot_10 - receptacle + Fridge_bar__plus_01_dot_01_bar__plus_00_dot_03_bar__minus_01_dot_47 - receptacle + GarbageCan_bar__plus_03_dot_18_bar__plus_00_dot_03_bar__plus_01_dot_60 - receptacle + Microwave_bar__minus_01_dot_03_bar__plus_00_dot_89_bar__plus_01_dot_43 - receptacle + Sink_bar__plus_03_dot_08_bar__plus_00_dot_89_bar__plus_00_dot_09_bar_SinkBasin - receptacle + StoveBurner_bar__minus_00_dot_24_bar__plus_00_dot_90_bar__minus_01_dot_09 - receptacle + StoveBurner_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_00_dot_92 - receptacle + StoveBurner_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_01_dot_27 - receptacle + StoveBurner_bar__minus_00_dot_60_bar__plus_00_dot_90_bar__minus_01_dot_09 - receptacle + Toaster_bar__minus_01_dot_04_bar__plus_00_dot_87_bar__minus_00_dot_40 - receptacle + loc_bar__minus_1_bar_2_bar_3_bar_45 - location + loc_bar_2_bar__minus_1_bar_2_bar_45 - location + loc_bar_10_bar_0_bar_1_bar_0 - location + loc_bar_10_bar_3_bar_1_bar_45 - location + loc_bar__minus_1_bar_5_bar_3_bar_45 - location + loc_bar_0_bar_2_bar_0_bar_60 - location + loc_bar_0_bar_2_bar_2_bar_45 - location + loc_bar_8_bar_1_bar_1_bar_60 - location + loc_bar_10_bar__minus_2_bar_1_bar_45 - location + loc_bar_4_bar__minus_2_bar_0_bar_45 - location + loc_bar_2_bar__minus_2_bar_2_bar_60 - location + loc_bar_1_bar__minus_3_bar_2_bar_0 - location + loc_bar_11_bar_5_bar_1_bar_60 - location + loc_bar_0_bar_1_bar_2_bar_60 - location + loc_bar_9_bar_2_bar_2_bar_45 - location + loc_bar__minus_1_bar_3_bar_2_bar_45 - location + loc_bar_8_bar_0_bar_1_bar_60 - location + loc_bar_9_bar__minus_5_bar_1_bar__minus_15 - location + loc_bar_0_bar_4_bar_2_bar_45 - location + loc_bar__minus_1_bar__minus_1_bar_2_bar_45 - location + loc_bar_1_bar__minus_3_bar_2_bar_45 - location + loc_bar__minus_1_bar__minus_2_bar_3_bar_45 - location + loc_bar_0_bar__minus_2_bar_0_bar_45 - location + loc_bar_0_bar_1_bar_2_bar_45 - location + loc_bar_4_bar__minus_2_bar_2_bar__minus_15 - location + loc_bar_0_bar__minus_2_bar_2_bar__minus_15 - location + loc_bar_9_bar__minus_5_bar_2_bar_30 - location + loc_bar__minus_1_bar__minus_1_bar_0_bar_45 - location + loc_bar_2_bar__minus_3_bar_2_bar_0 - location + loc_bar_4_bar__minus_2_bar_2_bar_60 - location + loc_bar_0_bar__minus_3_bar_3_bar_60 - location + loc_bar_8_bar__minus_5_bar_1_bar_0 - location + loc_bar__minus_1_bar_1_bar_3_bar_0 - location + loc_bar__minus_1_bar__minus_2_bar_3_bar_0 - location + loc_bar_10_bar__minus_1_bar_1_bar_60 - location + loc_bar_9_bar_0_bar_2_bar_45 - location + loc_bar_10_bar_0_bar_1_bar_60 - location + loc_bar_0_bar_4_bar_2_bar_60 - location + loc_bar__minus_1_bar__minus_2_bar_2_bar_60 - location + loc_bar_9_bar__minus_1_bar_0_bar_45 - location + loc_bar_0_bar__minus_2_bar_2_bar_45 - location + loc_bar_0_bar__minus_1_bar_2_bar_45 - location + loc_bar_8_bar__minus_5_bar_1_bar_60 - location + loc_bar_0_bar_1_bar_0_bar_45 - location + loc_bar_0_bar__minus_3_bar_3_bar__minus_15 - location + loc_bar_9_bar__minus_4_bar_1_bar_0 - location + loc_bar__minus_1_bar_2_bar_0_bar_45 - location + loc_bar_2_bar__minus_2_bar_2_bar_45 - location + loc_bar_4_bar__minus_2_bar_3_bar_60 - location + loc_bar__minus_1_bar_1_bar_2_bar_45 - location + loc_bar_0_bar__minus_3_bar_2_bar_60 - location + loc_bar_4_bar__minus_3_bar_2_bar_30 - location + ) + + +(:init + + + (receptacleType Drawer_bar__minus_00_dot_68_bar__plus_00_dot_19_bar__minus_00_dot_70 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_05_bar__plus_00_dot_38_bar__minus_01_dot_32 DrawerType) + 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(canContain DrawerType CellPhoneType) + (canContain DrawerType SpoonType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ButterKnifeType) + (canContain DrawerType PepperShakerType) + (canContain DrawerType KnifeType) + (canContain DrawerType SpatulaType) + (canContain DrawerType SaltShakerType) + (canContain DrawerType DishSpongeType) + (canContain DrawerType LadleType) + (canContain DrawerType ForkType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType SpoonType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ButterKnifeType) + (canContain DrawerType PepperShakerType) + (canContain DrawerType KnifeType) + (canContain DrawerType SpatulaType) + (canContain StoveBurnerType KettleType) + (canContain StoveBurnerType PotType) + (canContain StoveBurnerType PanType) + (canContain CounterTopType SaltShakerType) + (canContain CounterTopType BreadType) + (canContain CounterTopType DishSpongeType) + (canContain CounterTopType BowlType) + 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(canContain DrawerType ButterKnifeType) + (canContain DrawerType PepperShakerType) + (canContain DrawerType KnifeType) + (canContain DrawerType SpatulaType) + (canContain GarbageCanType BreadType) + (canContain GarbageCanType DishSpongeType) + (canContain GarbageCanType EggType) + (canContain GarbageCanType SoapBottleType) + (canContain GarbageCanType LettuceType) + (canContain GarbageCanType PotatoType) + (canContain GarbageCanType TomatoType) + (canContain GarbageCanType AppleType) + (canContain DrawerType SaltShakerType) + (canContain DrawerType DishSpongeType) + (canContain DrawerType LadleType) + (canContain DrawerType ForkType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType SpoonType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ButterKnifeType) + (canContain DrawerType PepperShakerType) + (canContain DrawerType KnifeType) + (canContain DrawerType SpatulaType) + (canContain StoveBurnerType KettleType) + (canContain StoveBurnerType PotType) + 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(canContain DrawerType SaltShakerType) + (canContain DrawerType DishSpongeType) + (canContain DrawerType LadleType) + (canContain DrawerType ForkType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType SpoonType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ButterKnifeType) + (canContain DrawerType PepperShakerType) + (canContain DrawerType KnifeType) + (canContain DrawerType SpatulaType) + (canContain DrawerType SaltShakerType) + (canContain DrawerType DishSpongeType) + (canContain DrawerType LadleType) + (canContain DrawerType ForkType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType SpoonType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ButterKnifeType) + (canContain DrawerType PepperShakerType) + (canContain DrawerType KnifeType) + (canContain DrawerType SpatulaType) + (canContain CounterTopType SaltShakerType) + (canContain CounterTopType BreadType) + (canContain CounterTopType DishSpongeType) + (canContain 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"rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Glassbottle_20771abe", + "position": { + "x": 3.08485031, + "y": 0.176437557, + "z": -0.828194141 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SoapBottle_5121dd32", + "position": { + "x": 0.156766444, + "y": 0.909402966, + "z": -1.37908173 + }, + "rotation": { + "x": 0.0, + "y": 44.9999962, + "z": 0.0 + } + }, + { + "objectName": "Potato_ed324e47", + "position": { + "x": 3.15292, + "y": 0.7858177, + "z": 0.231725678 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Fork_12a59a81", + "position": { + "x": 1.22986388, + "y": 0.908648551, + "z": 0.0387303829 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Ladle_ff5a3b19", + "position": { + "x": -0.146349043, + "y": 0.937239945, + "z": -1.58935237 + }, + "rotation": { + "x": 0.0, + "y": 135.0, + "z": 0.0 + } + }, + { + "objectName": "Pot_7a7d333f", + "position": { + "x": -0.4203, + "y": 0.902399957, + "z": -0.9203 + }, + "rotation": { + "x": 0.0, + "y": 134.999832, + "z": 0.0 + } + }, + { + "objectName": "Kettle_449c396f", + "position": { + "x": -0.4198, + "y": 0.902399957, + "z": -1.2699 + }, + "rotation": { + "x": 0.0, + "y": 315.000153, + "z": 0.0 + } + }, + { + "objectName": "Spatula_64c860f2", + "position": { + "x": 0.839540362, + "y": 0.9259599, + "z": 0.5306237 + }, + "rotation": { + "x": 0.0, + "y": 36.8105049, + "z": 0.0 + } + }, + { + "objectName": "Knife_3e58a77d", + "position": { + "x": -0.9910205, + "y": 0.1565074, + "z": -0.273891777 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Lettuce_99ab2e9c", + "position": { + "x": 0.83686465, + "y": 0.976551, + "z": 0.322243452 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Cup_be22aed5", + "position": { + "x": 1.25590634, + "y": 1.67271435, + "z": -1.34108067 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SaltShaker_c39806f6", + "position": { + "x": 0.8309021, + "y": 0.90726614, + "z": 0.171530485 + }, + "rotation": { + "x": 0.0, + "y": 36.8105049, + "z": 0.0 + } + }, + { + "objectName": "Egg_7c285ee2", + "position": { + "x": 3.15291977, + "y": 0.7998927, + "z": -0.100778744 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "PepperShaker_6d2fd9f8", + "position": { + "x": 3.14078426, + "y": 0.173548162, + "z": 0.7706443 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "ButterKnife_db774b98", + "position": { + "x": -0.8683, + "y": 0.5180312, + "z": -0.273891777 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Apple_1e1bef89", + "position": { + "x": -1.08558583, + "y": 1.07148921, + "z": 1.31183481 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + }, + { + "objectName": "Pan_000ae861", + "position": { + "x": 0.341, + "y": 0.8731569, + "z": -1.649 + }, + "rotation": { + "x": 0.0, + "y": 167.065247, + "z": 0.0 + } + }, + { + "objectName": "Bread_1e8ab5c8", + "position": { + "x": 1.53420079, + "y": 0.972891867, + "z": 0.48683244 + }, + "rotation": { + "x": -1.66833115e-06, + "y": 289.287476, + "z": 1.804991e-05 + } + }, + { + "objectName": "CellPhone_bf099a5c", + "position": { + "x": -0.803042531, + "y": 0.89769727, + "z": -0.82731843 + }, + "rotation": { + "x": 0.0, + "y": 44.9999962, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_3cec4766", + "position": { + "x": 0.5336, + "y": 0.9076642, + "z": 0.7275939 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Tomato_bfd17fb4", + "position": { + "x": -0.03875556, + "y": 0.937289357, + "z": -1.38891411 + }, + "rotation": { + "x": 0.0, + "y": 44.9999962, + "z": 0.0 + } + }, + { + "objectName": "Spoon_0fe289e3", + "position": { + "x": 0.4916972, + "y": 0.9092294, + "z": 0.181679845 + }, + "rotation": { + "x": 0.0, + "y": 36.8105049, + "z": 0.0 + } + }, + { + "objectName": "Bowl_46f611f6", + "position": { + "x": 1.25590634, + "y": 1.67199731, + "z": -1.55020654 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_ba5c7501", + "position": { + "x": 3.04919958, + "y": 0.966699958, + "z": 0.591800451 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 927858363, + "scene_num": 30 + }, + "task_id": "trial_T20190907_163511_185881", + "task_type": "pick_two_obj_and_place", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A1ELPYAFO7MANS_35GCEFQ6I85I2GXZBM1YROYIZMF3ZS", + "high_descs": [ + "Turn left and head left to the sink.", + "Pick up the egg in the right side of the sink.", + "Turn around and walk left around the kitchen island all the way to the microwave in the corner.", + "Place the egg in the microwave to the left of the apple.", + "Turn left and walk along the counter to the fridge.", + "Take the egg out of the fridge.", + "Turn right and walk back to the microwave.", + "Place the egg in the microwave to the right of the apple." + ], + "task_desc": "Place two eggs in the microwave.", + "votes": [ + 1, + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A36DK84J5YJ942_382M9COHEKW4QFJMUJJMTNN0OS3UEW", + "high_descs": [ + "Move to the sink to the left of the fridge", + "pick up a egg from the sink", + "move to the microwave to the right of the stove", + "put the egg in the microwave", + "move to the fridge to the left of you", + "pick up a egg from the fridge", + "move to the microwave to the right of the stove", + "put the egg in the microwave" + ], + "task_desc": "Put two eggs in the microwave.", + "votes": [ + 1, + 1, + 1, + 1, + 0 + ] + }, + { + "assignment_id": "A1MKCTVKE7J0ZP_3TS1AR6UQTVUYI7MCMAH1DUGSW67F2", + "high_descs": [ + "Turn left, move forward, turn left, step forward, then turn right to face the sink.", + "Pick up the egg in the sink.", + "Turn right, step forward, turn right, go forward, turn right, go forward, then turn left to face the microwave.", + "Put the egg in the microwave, to the left of the apple.", + "Turn left, go forward, turn left, step forward, then turn right to face the fridge.", + "Pick up the egg inside of the fridge.", + "Turn right, move forward, turn right, go forward, then turn left to face the microwave.", + "Put the egg in the microwave, to the right of the apple." + ], + "task_desc": "Put two eggs in the microwave.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-PepperShaker-None-DiningTable-18/trial_T20190908_033626_658330/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-PepperShaker-None-DiningTable-18/trial_T20190908_033626_658330/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..c24e4f922cfcade484dd6e2add4e85e8c1853b60 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-PepperShaker-None-DiningTable-18/trial_T20190908_033626_658330/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\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 peppershaker 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_033626_658330)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Apple_bar__plus_00_dot_06_bar__plus_01_dot_17_bar__plus_00_dot_18 - object\n Apple_bar__plus_02_dot_01_bar__plus_01_dot_59_bar__plus_05_dot_25 - object\n Apple_bar__minus_00_dot_10_bar__plus_00_dot_83_bar__plus_06_dot_79 - object\n Blinds_bar__plus_01_dot_74_bar__plus_02_dot_56_bar__plus_02_dot_31 - object\n Bowl_bar__plus_01_dot_31_bar__plus_00_dot_14_bar__plus_04_dot_72 - object\n Bowl_bar__plus_02_dot_01_bar__plus_01_dot_51_bar__plus_06_dot_00 - object\n Bowl_bar__minus_00_dot_47_bar__plus_00_dot_76_bar__plus_06_dot_60 - object\n Bread_bar__plus_00_dot_10_bar__plus_00_dot_83_bar__plus_06_dot_65 - object\n Bread_bar__minus_00_dot_61_bar__plus_01_dot_06_bar__plus_00_dot_40 - object\n ButterKnife_bar__minus_00_dot_46_bar__plus_00_dot_99_bar__plus_00_dot_30 - object\n ButterKnife_bar__minus_00_dot_48_bar__plus_00_dot_77_bar__plus_00_dot_56 - object\n ButterKnife_bar__minus_00_dot_55_bar__plus_00_dot_77_bar__plus_00_dot_45 - object\n Chair_bar__plus_00_dot_29_bar__plus_00_dot_02_bar__plus_06_dot_14 - object\n Cup_bar__plus_00_dot_92_bar__plus_00_dot_99_bar__plus_00_dot_58 - object\n Cup_bar__plus_02_dot_01_bar__plus_01_dot_51_bar__plus_05_dot_63 - object\n Cup_bar__minus_00_dot_55_bar__plus_00_dot_14_bar__plus_00_dot_51 - object\n DishSponge_bar__plus_01_dot_14_bar__plus_00_dot_99_bar__plus_04_dot_76 - object\n DishSponge_bar__plus_01_dot_66_bar__plus_00_dot_14_bar__plus_02_dot_23 - object\n Egg_bar__plus_00_dot_26_bar__plus_00_dot_81_bar__plus_06_dot_24 - object\n Faucet_bar__plus_01_dot_54_bar__plus_01_dot_03_bar__plus_02_dot_37 - object\n Fork_bar__plus_00_dot_12_bar__plus_00_dot_76_bar__plus_06_dot_11 - object\n Fork_bar__plus_01_dot_29_bar__plus_00_dot_77_bar__plus_04_dot_75 - object\n HousePlant_bar__minus_00_dot_17_bar__plus_00_dot_75_bar__plus_06_dot_44 - object\n Kettle_bar__minus_00_dot_34_bar__plus_00_dot_15_bar__plus_00_dot_51 - object\n Knife_bar__plus_00_dot_19_bar__plus_00_dot_80_bar__plus_00_dot_51 - object\n Knife_bar__plus_00_dot_80_bar__plus_00_dot_80_bar__plus_00_dot_51 - object\n Knife_bar__plus_01_dot_39_bar__plus_00_dot_92_bar__plus_02_dot_58 - object\n 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Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_02_dot_94 - receptacle\n Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_02_dot_99 - receptacle\n Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_04_dot_55 - receptacle\n Cabinet_bar__plus_01_dot_27_bar__plus_02_dot_13_bar__plus_00_dot_43 - receptacle\n Cabinet_bar__plus_01_dot_31_bar__plus_02_dot_46_bar__plus_03_dot_61 - receptacle\n Cabinet_bar__plus_01_dot_31_bar__plus_02_dot_46_bar__plus_04_dot_36 - receptacle\n Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_00_dot_52 - receptacle\n Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_01_dot_53 - receptacle\n Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_03_dot_10 - receptacle\n Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_04_dot_89 - receptacle\n Cabinet_bar__minus_00_dot_17_bar__plus_00_dot_42_bar__plus_00_dot_74 - receptacle\n Cabinet_bar__minus_00_dot_26_bar__plus_02_dot_13_bar__plus_00_dot_43 - receptacle\n Cabinet_bar__minus_00_dot_78_bar__plus_00_dot_42_bar__plus_00_dot_74 - receptacle\n CoffeeMachine_bar__plus_01_dot_55_bar__plus_00_dot_98_bar__plus_00_dot_95 - receptacle\n CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90 - receptacle\n CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_04_dot_72 - receptacle\n DiningTable_bar__minus_00_dot_16_bar__plus_00_dot_67_bar__plus_06_dot_47 - receptacle\n Drawer_bar__plus_00_dot_12_bar__plus_00_dot_80_bar__plus_00_dot_52 - receptacle\n Drawer_bar__plus_00_dot_74_bar__plus_00_dot_80_bar__plus_00_dot_52 - receptacle\n Drawer_bar__plus_01_dot_28_bar__plus_00_dot_80_bar__plus_03_dot_29 - receptacle\n Drawer_bar__plus_01_dot_28_bar__plus_00_dot_81_bar__plus_04_dot_72 - receptacle\n Drawer_bar__minus_00_dot_48_bar__plus_00_dot_80_bar__plus_00_dot_52 - receptacle\n Fridge_bar__plus_02_dot_04_bar__plus_00_dot_00_bar__plus_05_dot_63 - receptacle\n GarbageCan_bar__plus_02_dot_00_bar__plus_00_dot_00_bar__plus_06_dot_50 - receptacle\n Microwave_bar__plus_00_dot_11_bar__plus_00_dot_98_bar__plus_00_dot_26 - receptacle\n Safe_bar__plus_02_dot_05_bar__minus_00_dot_01_bar__plus_07_dot_06 - receptacle\n Sink_bar__plus_01_dot_39_bar__plus_01_dot_01_bar__plus_02_dot_33_bar_SinkBasin - receptacle\n StoveBurner_bar__plus_01_dot_32_bar__plus_00_dot_98_bar__plus_03_dot_85 - receptacle\n StoveBurner_bar__plus_01_dot_32_bar__plus_00_dot_98_bar__plus_04_dot_29 - receptacle\n StoveBurner_bar__plus_01_dot_56_bar__plus_00_dot_98_bar__plus_03_dot_85 - receptacle\n StoveBurner_bar__plus_01_dot_56_bar__plus_00_dot_98_bar__plus_04_dot_29 - receptacle\n Toaster_bar__plus_01_dot_47_bar__plus_00_dot_98_bar__plus_04_dot_72 - receptacle\n loc_bar_3_bar_5_bar_1_bar__minus_30 - location\n loc_bar_2_bar_4_bar_2_bar__minus_30 - location\n loc_bar_0_bar_4_bar_2_bar__minus_30 - location\n loc_bar__minus_1_bar_7_bar_2_bar_45 - location\n loc_bar_3_bar_14_bar_1_bar__minus_30 - location\n loc_bar_4_bar_22_bar_1_bar_60 - location\n loc_bar__minus_6_bar_15_bar_3_bar__minus_30 - location\n loc_bar_3_bar_15_bar_1_bar_45 - location\n loc_bar_1_bar_10_bar_1_bar_60 - location\n loc_bar_3_bar_16_bar_1_bar_60 - location\n loc_bar_3_bar_18_bar_1_bar__minus_30 - location\n loc_bar_3_bar_17_bar_1_bar__minus_30 - location\n loc_bar_1_bar_13_bar_1_bar_45 - location\n loc_bar_3_bar_4_bar_1_bar__minus_30 - location\n loc_bar__minus_5_bar_5_bar_1_bar_45 - location\n loc_bar_0_bar_7_bar_2_bar_45 - location\n loc_bar__minus_6_bar_24_bar_3_bar_15 - location\n loc_bar_3_bar_9_bar_1_bar__minus_30 - location\n loc_bar_4_bar_24_bar_1_bar_60 - location\n loc_bar_3_bar_17_bar_1_bar_60 - location\n loc_bar_1_bar_14_bar_1_bar_60 - location\n loc_bar_3_bar_9_bar_1_bar__minus_15 - location\n loc_bar_1_bar_20_bar_1_bar_45 - location\n loc_bar__minus_3_bar_5_bar_1_bar_45 - location\n loc_bar_3_bar_9_bar_1_bar_45 - location\n loc_bar_3_bar_17_bar_1_bar_45 - location\n loc_bar_1_bar_17_bar_1_bar_60 - location\n loc_bar_4_bar_26_bar_1_bar_60 - location\n loc_bar_1_bar_22_bar_0_bar_60 - location\n loc_bar_0_bar_5_bar_1_bar_45 - location\n loc_bar_3_bar_15_bar_1_bar_60 - location\n loc_bar_1_bar_6_bar_2_bar_30 - location\n loc_bar_1_bar_7_bar_2_bar_45 - location\n loc_bar_3_bar_4_bar_1_bar_45 - location\n loc_bar_1_bar_7_bar_1_bar_60 - location\n loc_bar_3_bar_26_bar_3_bar_45 - location\n loc_bar_3_bar_19_bar_1_bar_45 - location\n loc_bar_3_bar_4_bar_2_bar__minus_30 - location\n loc_bar__minus_3_bar_9_bar_0_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_02_dot_99 CabinetType)\n (receptacleType Drawer_bar__plus_00_dot_12_bar__plus_00_dot_80_bar__plus_00_dot_52 DrawerType)\n (receptacleType CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90 CounterTopType)\n (receptacleType Sink_bar__plus_01_dot_39_bar__plus_01_dot_01_bar__plus_02_dot_33_bar_SinkBasin SinkBasinType)\n (receptacleType 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(receptacleType DiningTable_bar__minus_00_dot_16_bar__plus_00_dot_67_bar__plus_06_dot_47 DiningTableType)\n (receptacleType Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_04_dot_55 CabinetType)\n (receptacleType Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_04_dot_89 CabinetType)\n (receptacleType Drawer_bar__minus_00_dot_48_bar__plus_00_dot_80_bar__plus_00_dot_52 DrawerType)\n (receptacleType CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_04_dot_72 CounterTopType)\n (receptacleType Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_01_dot_53 CabinetType)\n (receptacleType Drawer_bar__plus_01_dot_28_bar__plus_00_dot_80_bar__plus_03_dot_29 DrawerType)\n (receptacleType Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_02_dot_94 CabinetType)\n (receptacleType StoveBurner_bar__plus_01_dot_32_bar__plus_00_dot_98_bar__plus_03_dot_85 StoveBurnerType)\n (receptacleType Cabinet_bar__plus_01_dot_31_bar__plus_02_dot_46_bar__plus_03_dot_61 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(canContain CabinetType PotType)\n (canContain CabinetType MugType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType CupType)\n (canContain CabinetType PlateType)\n (canContain CabinetType PepperShakerType)\n (canContain CabinetType PanType)\n (canContain DrawerType SaltShakerType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType ForkType)\n (canContain DrawerType SpoonType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ButterKnifeType)\n (canContain DrawerType PepperShakerType)\n (canContain DrawerType KnifeType)\n (canContain DrawerType SpatulaType)\n (canContain CounterTopType SaltShakerType)\n (canContain CounterTopType BreadType)\n (canContain CounterTopType DishSpongeType)\n (canContain CounterTopType BowlType)\n (canContain CounterTopType KettleType)\n (canContain CounterTopType PotType)\n (canContain CounterTopType MugType)\n (canContain CounterTopType EggType)\n (canContain CounterTopType ForkType)\n (canContain 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(canContain CabinetType BowlType)\n (canContain CabinetType KettleType)\n (canContain CabinetType PotType)\n (canContain CabinetType MugType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType CupType)\n (canContain CabinetType PlateType)\n (canContain CabinetType PepperShakerType)\n (canContain CabinetType PanType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType BowlType)\n (canContain CabinetType KettleType)\n (canContain CabinetType PotType)\n (canContain CabinetType MugType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType CupType)\n (canContain CabinetType PlateType)\n (canContain CabinetType PepperShakerType)\n (canContain CabinetType PanType)\n (canContain DrawerType SaltShakerType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType ForkType)\n (canContain DrawerType SpoonType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ButterKnifeType)\n (canContain DrawerType PepperShakerType)\n (canContain DrawerType KnifeType)\n (canContain DrawerType SpatulaType)\n (canContain CounterTopType SaltShakerType)\n (canContain CounterTopType BreadType)\n (canContain CounterTopType DishSpongeType)\n (canContain CounterTopType BowlType)\n (canContain CounterTopType KettleType)\n (canContain CounterTopType PotType)\n (canContain CounterTopType MugType)\n (canContain CounterTopType EggType)\n (canContain CounterTopType ForkType)\n (canContain CounterTopType SpoonType)\n (canContain CounterTopType SoapBottleType)\n (canContain CounterTopType LettuceType)\n (canContain CounterTopType PotatoType)\n (canContain CounterTopType ButterKnifeType)\n (canContain CounterTopType CupType)\n (canContain CounterTopType PlateType)\n (canContain CounterTopType PepperShakerType)\n (canContain CounterTopType TomatoType)\n (canContain CounterTopType KnifeType)\n (canContain CounterTopType AppleType)\n (canContain CounterTopType PanType)\n (canContain 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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 StoveBurnerType KettleType)\n (canContain StoveBurnerType PotType)\n (canContain StoveBurnerType PanType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType BowlType)\n (canContain CabinetType KettleType)\n (canContain CabinetType PotType)\n (canContain CabinetType MugType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType CupType)\n (canContain CabinetType PlateType)\n (canContain CabinetType PepperShakerType)\n (canContain CabinetType PanType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType BowlType)\n (canContain CabinetType KettleType)\n (canContain CabinetType PotType)\n (canContain CabinetType MugType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType CupType)\n (canContain CabinetType PlateType)\n (canContain CabinetType PepperShakerType)\n (canContain CabinetType PanType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType BowlType)\n (canContain CabinetType KettleType)\n (canContain CabinetType PotType)\n (canContain CabinetType MugType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType CupType)\n (canContain CabinetType PlateType)\n (canContain CabinetType PepperShakerType)\n (canContain CabinetType PanType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType BowlType)\n (canContain CabinetType KettleType)\n (canContain CabinetType PotType)\n (canContain CabinetType MugType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType CupType)\n (canContain CabinetType PlateType)\n (canContain CabinetType PepperShakerType)\n (canContain CabinetType PanType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType BowlType)\n (canContain CabinetType KettleType)\n (canContain CabinetType PotType)\n (canContain CabinetType MugType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType CupType)\n (canContain CabinetType PlateType)\n (canContain CabinetType PepperShakerType)\n (canContain CabinetType PanType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType BowlType)\n (canContain CabinetType KettleType)\n (canContain CabinetType PotType)\n (canContain CabinetType MugType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType CupType)\n (canContain CabinetType PlateType)\n (canContain CabinetType PepperShakerType)\n (canContain CabinetType PanType)\n (canContain DrawerType SaltShakerType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType ForkType)\n 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CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90)\n (inReceptacle Pan_bar__plus_01_dot_32_bar__plus_00_dot_99_bar__plus_03_dot_85 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90)\n (inReceptacle PepperShaker_bar__minus_00_dot_46_bar__plus_00_dot_99_bar__plus_00_dot_49 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90)\n (inReceptacle Potato_bar__plus_01_dot_14_bar__plus_01_dot_03_bar__plus_04_dot_62 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_04_dot_72)\n (inReceptacle DishSponge_bar__plus_01_dot_14_bar__plus_00_dot_99_bar__plus_04_dot_76 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_04_dot_72)\n (inReceptacle Bowl_bar__plus_01_dot_31_bar__plus_00_dot_14_bar__plus_04_dot_72 Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_04_dot_55)\n (inReceptacle SaltShaker_bar__plus_00_dot_90_bar__plus_01_dot_57_bar__plus_00_dot_25 Cabinet_bar__plus_01_dot_27_bar__plus_02_dot_13_bar__plus_00_dot_43)\n (inReceptacle Kettle_bar__minus_00_dot_34_bar__plus_00_dot_15_bar__plus_00_dot_51 Cabinet_bar__minus_00_dot_78_bar__plus_00_dot_42_bar__plus_00_dot_74)\n (inReceptacle Cup_bar__minus_00_dot_55_bar__plus_00_dot_14_bar__plus_00_dot_51 Cabinet_bar__minus_00_dot_78_bar__plus_00_dot_42_bar__plus_00_dot_74)\n (inReceptacle Apple_bar__plus_00_dot_06_bar__plus_01_dot_17_bar__plus_00_dot_18 Microwave_bar__plus_00_dot_11_bar__plus_00_dot_98_bar__plus_00_dot_26)\n (inReceptacle Cup_bar__plus_02_dot_01_bar__plus_01_dot_51_bar__plus_05_dot_63 Fridge_bar__plus_02_dot_04_bar__plus_00_dot_00_bar__plus_05_dot_63)\n (inReceptacle Apple_bar__plus_02_dot_01_bar__plus_01_dot_59_bar__plus_05_dot_25 Fridge_bar__plus_02_dot_04_bar__plus_00_dot_00_bar__plus_05_dot_63)\n (inReceptacle Bowl_bar__plus_02_dot_01_bar__plus_01_dot_51_bar__plus_06_dot_00 Fridge_bar__plus_02_dot_04_bar__plus_00_dot_00_bar__plus_05_dot_63)\n (inReceptacle Tomato_bar__plus_01_dot_44_bar__plus_00_dot_94_bar__plus_02_dot_68 Sink_bar__plus_01_dot_39_bar__plus_01_dot_01_bar__plus_02_dot_33_bar_SinkBasin)\n (inReceptacle Knife_bar__plus_01_dot_39_bar__plus_00_dot_92_bar__plus_02_dot_58 Sink_bar__plus_01_dot_39_bar__plus_01_dot_01_bar__plus_02_dot_33_bar_SinkBasin)\n \n \n (receptacleAtLocation Cabinet_bar__plus_00_dot_25_bar__plus_02_dot_13_bar__plus_00_dot_43 loc_bar_2_bar_4_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_44_bar__plus_00_dot_42_bar__plus_00_dot_74 loc_bar_1_bar_7_bar_2_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_01_dot_71 loc_bar_1_bar_7_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_02_dot_94 loc_bar_1_bar_10_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_02_dot_99 loc_bar_1_bar_14_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_04_dot_55 loc_bar_1_bar_17_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_27_bar__plus_02_dot_13_bar__plus_00_dot_43 loc_bar_3_bar_4_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_31_bar__plus_02_dot_46_bar__plus_03_dot_61 loc_bar_3_bar_14_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_31_bar__plus_02_dot_46_bar__plus_04_dot_36 loc_bar_3_bar_17_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_00_dot_52 loc_bar_3_bar_4_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_01_dot_53 loc_bar_3_bar_5_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_03_dot_10 loc_bar_3_bar_14_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_04_dot_89 loc_bar_3_bar_18_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_17_bar__plus_00_dot_42_bar__plus_00_dot_74 loc_bar__minus_1_bar_7_bar_2_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_26_bar__plus_02_dot_13_bar__plus_00_dot_43 loc_bar_0_bar_4_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_78_bar__plus_00_dot_42_bar__plus_00_dot_74 loc_bar_0_bar_7_bar_2_bar_45)\n (receptacleAtLocation CoffeeMachine_bar__plus_01_dot_55_bar__plus_00_dot_98_bar__plus_00_dot_95 loc_bar_3_bar_4_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90 loc_bar_3_bar_4_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_04_dot_72 loc_bar_3_bar_19_bar_1_bar_45)\n (receptacleAtLocation DiningTable_bar__minus_00_dot_16_bar__plus_00_dot_67_bar__plus_06_dot_47 loc_bar_3_bar_26_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_12_bar__plus_00_dot_80_bar__plus_00_dot_52 loc_bar__minus_3_bar_5_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_74_bar__plus_00_dot_80_bar__plus_00_dot_52 loc_bar_0_bar_5_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_01_dot_28_bar__plus_00_dot_80_bar__plus_03_dot_29 loc_bar_1_bar_13_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_01_dot_28_bar__plus_00_dot_81_bar__plus_04_dot_72 loc_bar_1_bar_20_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_48_bar__plus_00_dot_80_bar__plus_00_dot_52 loc_bar__minus_5_bar_5_bar_1_bar_45)\n (receptacleAtLocation Fridge_bar__plus_02_dot_04_bar__plus_00_dot_00_bar__plus_05_dot_63 loc_bar_4_bar_22_bar_1_bar_60)\n (receptacleAtLocation GarbageCan_bar__plus_02_dot_00_bar__plus_00_dot_00_bar__plus_06_dot_50 loc_bar_4_bar_24_bar_1_bar_60)\n (receptacleAtLocation Microwave_bar__plus_00_dot_11_bar__plus_00_dot_98_bar__plus_00_dot_26 loc_bar_1_bar_6_bar_2_bar_30)\n (receptacleAtLocation Safe_bar__plus_02_dot_05_bar__minus_00_dot_01_bar__plus_07_dot_06 loc_bar_4_bar_26_bar_1_bar_60)\n (receptacleAtLocation Sink_bar__plus_01_dot_39_bar__plus_01_dot_01_bar__plus_02_dot_33_bar_SinkBasin loc_bar_3_bar_9_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_32_bar__plus_00_dot_98_bar__plus_03_dot_85 loc_bar_3_bar_15_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_32_bar__plus_00_dot_98_bar__plus_04_dot_29 loc_bar_3_bar_17_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_56_bar__plus_00_dot_98_bar__plus_03_dot_85 loc_bar_3_bar_15_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_56_bar__plus_00_dot_98_bar__plus_04_dot_29 loc_bar_3_bar_17_bar_1_bar_45)\n (receptacleAtLocation Toaster_bar__plus_01_dot_47_bar__plus_00_dot_98_bar__plus_04_dot_72 loc_bar_3_bar_19_bar_1_bar_45)\n (objectAtLocation Mug_bar__minus_00_dot_31_bar__plus_00_dot_76_bar__plus_06_dot_35 loc_bar_3_bar_26_bar_3_bar_45)\n (objectAtLocation Spoon_bar__minus_00_dot_18_bar__plus_00_dot_76_bar__plus_06_dot_68 loc_bar_3_bar_26_bar_3_bar_45)\n (objectAtLocation Cup_bar__plus_00_dot_92_bar__plus_00_dot_99_bar__plus_00_dot_58 loc_bar_3_bar_4_bar_1_bar_45)\n (objectAtLocation DishSponge_bar__plus_01_dot_66_bar__plus_00_dot_14_bar__plus_02_dot_23 loc_bar_1_bar_7_bar_1_bar_60)\n (objectAtLocation Tomato_bar__plus_01_dot_44_bar__plus_00_dot_94_bar__plus_02_dot_68 loc_bar_3_bar_9_bar_1_bar_45)\n (objectAtLocation Pan_bar__plus_01_dot_32_bar__plus_00_dot_99_bar__plus_03_dot_85 loc_bar_3_bar_4_bar_1_bar_45)\n (objectAtLocation PepperShaker_bar__plus_01_dot_14_bar__plus_00_dot_99_bar__plus_03_dot_23 loc_bar_3_bar_4_bar_1_bar_45)\n (objectAtLocation ButterKnife_bar__minus_00_dot_48_bar__plus_00_dot_77_bar__plus_00_dot_56 loc_bar__minus_5_bar_5_bar_1_bar_45)\n (objectAtLocation Potato_bar__minus_00_dot_28_bar__plus_00_dot_79_bar__plus_06_dot_94 loc_bar_3_bar_26_bar_3_bar_45)\n (objectAtLocation Spatula_bar__minus_00_dot_48_bar__plus_00_dot_79_bar__plus_00_dot_56 loc_bar__minus_5_bar_5_bar_1_bar_45)\n (objectAtLocation SaltShaker_bar__plus_00_dot_90_bar__plus_01_dot_57_bar__plus_00_dot_25 loc_bar_3_bar_4_bar_2_bar__minus_30)\n (objectAtLocation Apple_bar__minus_00_dot_10_bar__plus_00_dot_83_bar__plus_06_dot_79 loc_bar_3_bar_26_bar_3_bar_45)\n (objectAtLocation Fork_bar__plus_00_dot_12_bar__plus_00_dot_76_bar__plus_06_dot_11 loc_bar_3_bar_26_bar_3_bar_45)\n (objectAtLocation Knife_bar__plus_00_dot_80_bar__plus_00_dot_80_bar__plus_00_dot_51 loc_bar_0_bar_5_bar_1_bar_45)\n (objectAtLocation Bread_bar__plus_00_dot_10_bar__plus_00_dot_83_bar__plus_06_dot_65 loc_bar_3_bar_26_bar_3_bar_45)\n (objectAtLocation Bowl_bar__plus_02_dot_01_bar__plus_01_dot_51_bar__plus_06_dot_00 loc_bar_4_bar_22_bar_1_bar_60)\n (objectAtLocation Apple_bar__plus_02_dot_01_bar__plus_01_dot_59_bar__plus_05_dot_25 loc_bar_4_bar_22_bar_1_bar_60)\n (objectAtLocation Mug_bar__plus_00_dot_31_bar__plus_00_dot_76_bar__plus_06_dot_48 loc_bar_3_bar_26_bar_3_bar_45)\n (objectAtLocation PepperShaker_bar__plus_01_dot_36_bar__plus_02_dot_20_bar__plus_03_dot_84 loc_bar_3_bar_14_bar_1_bar__minus_30)\n (objectAtLocation PepperShaker_bar__minus_00_dot_46_bar__plus_00_dot_99_bar__plus_00_dot_49 loc_bar_3_bar_4_bar_1_bar_45)\n (objectAtLocation Bowl_bar__plus_01_dot_31_bar__plus_00_dot_14_bar__plus_04_dot_72 loc_bar_1_bar_17_bar_1_bar_60)\n (objectAtLocation Knife_bar__plus_01_dot_39_bar__plus_00_dot_92_bar__plus_02_dot_58 loc_bar_3_bar_9_bar_1_bar_45)\n (objectAtLocation Cup_bar__minus_00_dot_55_bar__plus_00_dot_14_bar__plus_00_dot_51 loc_bar_0_bar_7_bar_2_bar_45)\n (objectAtLocation Spoon_bar__plus_01_dot_24_bar__plus_00_dot_77_bar__plus_03_dot_29 loc_bar_1_bar_13_bar_1_bar_45)\n (objectAtLocation ButterKnife_bar__minus_00_dot_55_bar__plus_00_dot_77_bar__plus_00_dot_45 loc_bar__minus_5_bar_5_bar_1_bar_45)\n (objectAtLocation Sink_bar__plus_01_dot_39_bar__plus_01_dot_01_bar__plus_02_dot_33 loc_bar_3_bar_9_bar_1_bar_45)\n (objectAtLocation Bowl_bar__minus_00_dot_47_bar__plus_00_dot_76_bar__plus_06_dot_60 loc_bar_3_bar_26_bar_3_bar_45)\n (objectAtLocation Bread_bar__minus_00_dot_61_bar__plus_01_dot_06_bar__plus_00_dot_40 loc_bar_3_bar_4_bar_1_bar_45)\n (objectAtLocation Egg_bar__plus_00_dot_26_bar__plus_00_dot_81_bar__plus_06_dot_24 loc_bar_3_bar_26_bar_3_bar_45)\n (objectAtLocation Knife_bar__plus_00_dot_19_bar__plus_00_dot_80_bar__plus_00_dot_51 loc_bar__minus_3_bar_5_bar_1_bar_45)\n (objectAtLocation Fork_bar__plus_01_dot_29_bar__plus_00_dot_77_bar__plus_04_dot_75 loc_bar_1_bar_20_bar_1_bar_45)\n (objectAtLocation Apple_bar__plus_00_dot_06_bar__plus_01_dot_17_bar__plus_00_dot_18 loc_bar_1_bar_6_bar_2_bar_30)\n (objectAtLocation Kettle_bar__minus_00_dot_34_bar__plus_00_dot_15_bar__plus_00_dot_51 loc_bar_0_bar_7_bar_2_bar_45)\n (objectAtLocation Plate_bar__plus_01_dot_40_bar__plus_00_dot_99_bar__plus_00_dot_44 loc_bar_3_bar_4_bar_1_bar_45)\n (objectAtLocation HousePlant_bar__minus_00_dot_17_bar__plus_00_dot_75_bar__plus_06_dot_44 loc_bar_3_bar_26_bar_3_bar_45)\n (objectAtLocation SaltShaker_bar__plus_01_dot_62_bar__plus_02_dot_20_bar__plus_03_dot_65 loc_bar_3_bar_14_bar_1_bar__minus_30)\n (objectAtLocation Lettuce_bar__minus_00_dot_57_bar__plus_00_dot_85_bar__plus_06_dot_24 loc_bar_3_bar_26_bar_3_bar_45)\n (objectAtLocation Window_bar__minus_02_dot_07_bar__plus_01_dot_92_bar__plus_03_dot_63 loc_bar__minus_6_bar_15_bar_3_bar__minus_30)\n (objectAtLocation Window_bar__plus_01_dot_76_bar__plus_02_dot_01_bar__plus_02_dot_30 loc_bar_3_bar_9_bar_1_bar__minus_15)\n (objectAtLocation SoapBottle_bar__minus_00_dot_31_bar__plus_00_dot_99_bar__plus_00_dot_58 loc_bar_3_bar_4_bar_1_bar_45)\n (objectAtLocation Spatula_bar__minus_00_dot_28_bar__plus_00_dot_79_bar__plus_00_dot_62 loc_bar__minus_5_bar_5_bar_1_bar_45)\n (objectAtLocation PaperTowelRoll_bar__plus_01_dot_40_bar__plus_01_dot_10_bar__plus_03_dot_14 loc_bar_3_bar_4_bar_1_bar_45)\n (objectAtLocation Pot_bar__plus_00_dot_73_bar__plus_00_dot_98_bar__plus_00_dot_38 loc_bar_3_bar_4_bar_1_bar_45)\n (objectAtLocation Potato_bar__plus_01_dot_14_bar__plus_01_dot_03_bar__plus_04_dot_62 loc_bar_3_bar_19_bar_1_bar_45)\n (objectAtLocation ButterKnife_bar__minus_00_dot_46_bar__plus_00_dot_99_bar__plus_00_dot_30 loc_bar_3_bar_4_bar_1_bar_45)\n (objectAtLocation StoveKnob_bar__plus_01_dot_14_bar__plus_00_dot_93_bar__plus_03_dot_99 loc_bar_3_bar_16_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_14_bar__plus_00_dot_93_bar__plus_04_dot_31 loc_bar_3_bar_17_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_14_bar__plus_00_dot_93_bar__plus_04_dot_14 loc_bar_3_bar_17_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_14_bar__plus_00_dot_93_bar__plus_03_dot_82 loc_bar_3_bar_15_bar_1_bar_60)\n (objectAtLocation PepperShaker_bar__plus_01_dot_58_bar__plus_00_dot_99_bar__plus_03_dot_42 loc_bar_3_bar_4_bar_1_bar_45)\n (objectAtLocation Pan_bar__plus_01_dot_56_bar__plus_00_dot_99_bar__plus_03_dot_85 loc_bar_3_bar_4_bar_1_bar_45)\n (objectAtLocation Tomato_bar__minus_00_dot_03_bar__plus_00_dot_81_bar__plus_06_dot_17 loc_bar_3_bar_26_bar_3_bar_45)\n (objectAtLocation DishSponge_bar__plus_01_dot_14_bar__plus_00_dot_99_bar__plus_04_dot_76 loc_bar_3_bar_19_bar_1_bar_45)\n (objectAtLocation Cup_bar__plus_02_dot_01_bar__plus_01_dot_51_bar__plus_05_dot_63 loc_bar_4_bar_22_bar_1_bar_60)\n (objectAtLocation LightSwitch_bar__minus_02_dot_00_bar__plus_01_dot_55_bar__plus_06_dot_05 loc_bar__minus_6_bar_24_bar_3_bar_15)\n (objectAtLocation Chair_bar__plus_00_dot_29_bar__plus_00_dot_02_bar__plus_06_dot_14 loc_bar_1_bar_22_bar_0_bar_60)\n (objectAtLocation Spoon_bar_00_dot_00_bar__plus_00_dot_76_bar__plus_06_dot_35 loc_bar_3_bar_26_bar_3_bar_45)\n (objectAtLocation Mug_bar__minus_00_dot_03_bar__plus_00_dot_76_bar__plus_06_dot_94 loc_bar_3_bar_26_bar_3_bar_45)\n (objectAtLocation Blinds_bar__plus_01_dot_74_bar__plus_02_dot_56_bar__plus_02_dot_31 loc_bar_3_bar_9_bar_1_bar__minus_30)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o1 - object)\n (and\n (objectType ?o1 PepperShakerType)\n (receptacleType ?r DiningTableType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 PepperShakerType)\n (receptacleType ?r DiningTableType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to cabinet 6", "take peppershaker 2 from cabinet 6", "go to diningtable 1", "move peppershaker 2 to diningtable 1", "go to coffeemachine 1", "take peppershaker 4 from countertop 2", "go to diningtable 1", "move peppershaker 4 to diningtable 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-PepperShaker-None-DiningTable-18/trial_T20190908_033626_658330/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-PepperShaker-None-DiningTable-18/trial_T20190908_033626_658330/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..728f53cf71d806d65403ac93024105a611800dfb --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-PepperShaker-None-DiningTable-18/trial_T20190908_033626_658330/initial_state.pddl @@ -0,0 +1,1131 @@ + +(define (problem plan_trial_T20190908_033626_658330) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Apple_bar__plus_00_dot_06_bar__plus_01_dot_17_bar__plus_00_dot_18 - object + Apple_bar__plus_02_dot_01_bar__plus_01_dot_59_bar__plus_05_dot_25 - object + Apple_bar__minus_00_dot_10_bar__plus_00_dot_83_bar__plus_06_dot_79 - object + Blinds_bar__plus_01_dot_74_bar__plus_02_dot_56_bar__plus_02_dot_31 - object + Bowl_bar__plus_01_dot_31_bar__plus_00_dot_14_bar__plus_04_dot_72 - object + Bowl_bar__plus_02_dot_01_bar__plus_01_dot_51_bar__plus_06_dot_00 - object + Bowl_bar__minus_00_dot_47_bar__plus_00_dot_76_bar__plus_06_dot_60 - object + Bread_bar__plus_00_dot_10_bar__plus_00_dot_83_bar__plus_06_dot_65 - object + Bread_bar__minus_00_dot_61_bar__plus_01_dot_06_bar__plus_00_dot_40 - object + ButterKnife_bar__minus_00_dot_46_bar__plus_00_dot_99_bar__plus_00_dot_30 - object + ButterKnife_bar__minus_00_dot_48_bar__plus_00_dot_77_bar__plus_00_dot_56 - object + ButterKnife_bar__minus_00_dot_55_bar__plus_00_dot_77_bar__plus_00_dot_45 - object + Chair_bar__plus_00_dot_29_bar__plus_00_dot_02_bar__plus_06_dot_14 - object + Cup_bar__plus_00_dot_92_bar__plus_00_dot_99_bar__plus_00_dot_58 - object + Cup_bar__plus_02_dot_01_bar__plus_01_dot_51_bar__plus_05_dot_63 - object + Cup_bar__minus_00_dot_55_bar__plus_00_dot_14_bar__plus_00_dot_51 - object + DishSponge_bar__plus_01_dot_14_bar__plus_00_dot_99_bar__plus_04_dot_76 - object + DishSponge_bar__plus_01_dot_66_bar__plus_00_dot_14_bar__plus_02_dot_23 - object + Egg_bar__plus_00_dot_26_bar__plus_00_dot_81_bar__plus_06_dot_24 - object + Faucet_bar__plus_01_dot_54_bar__plus_01_dot_03_bar__plus_02_dot_37 - object + Fork_bar__plus_00_dot_12_bar__plus_00_dot_76_bar__plus_06_dot_11 - object + Fork_bar__plus_01_dot_29_bar__plus_00_dot_77_bar__plus_04_dot_75 - object + HousePlant_bar__minus_00_dot_17_bar__plus_00_dot_75_bar__plus_06_dot_44 - object + Kettle_bar__minus_00_dot_34_bar__plus_00_dot_15_bar__plus_00_dot_51 - object + Knife_bar__plus_00_dot_19_bar__plus_00_dot_80_bar__plus_00_dot_51 - object + Knife_bar__plus_00_dot_80_bar__plus_00_dot_80_bar__plus_00_dot_51 - object + Knife_bar__plus_01_dot_39_bar__plus_00_dot_92_bar__plus_02_dot_58 - object + Lettuce_bar__minus_00_dot_57_bar__plus_00_dot_85_bar__plus_06_dot_24 - object + LightSwitch_bar__minus_02_dot_00_bar__plus_01_dot_55_bar__plus_06_dot_05 - object + Mug_bar__plus_00_dot_31_bar__plus_00_dot_76_bar__plus_06_dot_48 - object + Mug_bar__minus_00_dot_03_bar__plus_00_dot_76_bar__plus_06_dot_94 - object + Mug_bar__minus_00_dot_31_bar__plus_00_dot_76_bar__plus_06_dot_35 - object + Pan_bar__plus_01_dot_32_bar__plus_00_dot_99_bar__plus_03_dot_85 - object + Pan_bar__plus_01_dot_56_bar__plus_00_dot_99_bar__plus_03_dot_85 - object + PaperTowelRoll_bar__plus_01_dot_40_bar__plus_01_dot_10_bar__plus_03_dot_14 - object + PepperShaker_bar__plus_01_dot_14_bar__plus_00_dot_99_bar__plus_03_dot_23 - object + PepperShaker_bar__plus_01_dot_36_bar__plus_02_dot_20_bar__plus_03_dot_84 - object + PepperShaker_bar__plus_01_dot_58_bar__plus_00_dot_99_bar__plus_03_dot_42 - object + PepperShaker_bar__minus_00_dot_46_bar__plus_00_dot_99_bar__plus_00_dot_49 - object + Plate_bar__plus_01_dot_40_bar__plus_00_dot_99_bar__plus_00_dot_44 - object + Potato_bar__plus_01_dot_14_bar__plus_01_dot_03_bar__plus_04_dot_62 - object + Potato_bar__minus_00_dot_28_bar__plus_00_dot_79_bar__plus_06_dot_94 - object + Pot_bar__plus_00_dot_73_bar__plus_00_dot_98_bar__plus_00_dot_38 - object + SaltShaker_bar__plus_00_dot_90_bar__plus_01_dot_57_bar__plus_00_dot_25 - object + SaltShaker_bar__plus_01_dot_62_bar__plus_02_dot_20_bar__plus_03_dot_65 - object + Sink_bar__plus_01_dot_39_bar__plus_01_dot_01_bar__plus_02_dot_33 - object + SoapBottle_bar__minus_00_dot_31_bar__plus_00_dot_99_bar__plus_00_dot_58 - object + Spatula_bar__minus_00_dot_28_bar__plus_00_dot_79_bar__plus_00_dot_62 - object + Spatula_bar__minus_00_dot_48_bar__plus_00_dot_79_bar__plus_00_dot_56 - object + Spoon_bar__plus_01_dot_24_bar__plus_00_dot_77_bar__plus_03_dot_29 - object + Spoon_bar__minus_00_dot_18_bar__plus_00_dot_76_bar__plus_06_dot_68 - object + Spoon_bar_00_dot_00_bar__plus_00_dot_76_bar__plus_06_dot_35 - object + StoveKnob_bar__plus_01_dot_14_bar__plus_00_dot_93_bar__plus_03_dot_82 - object + StoveKnob_bar__plus_01_dot_14_bar__plus_00_dot_93_bar__plus_03_dot_99 - object + StoveKnob_bar__plus_01_dot_14_bar__plus_00_dot_93_bar__plus_04_dot_14 - object + StoveKnob_bar__plus_01_dot_14_bar__plus_00_dot_93_bar__plus_04_dot_31 - object + Tomato_bar__plus_01_dot_44_bar__plus_00_dot_94_bar__plus_02_dot_68 - object + Tomato_bar__minus_00_dot_03_bar__plus_00_dot_81_bar__plus_06_dot_17 - object + Window_bar__plus_01_dot_76_bar__plus_02_dot_01_bar__plus_02_dot_30 - object + Window_bar__minus_02_dot_07_bar__plus_01_dot_92_bar__plus_03_dot_63 - object + Cabinet_bar__plus_00_dot_25_bar__plus_02_dot_13_bar__plus_00_dot_43 - receptacle + Cabinet_bar__plus_00_dot_44_bar__plus_00_dot_42_bar__plus_00_dot_74 - receptacle + Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_01_dot_71 - receptacle + Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_02_dot_94 - receptacle + Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_02_dot_99 - receptacle + Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_04_dot_55 - receptacle + Cabinet_bar__plus_01_dot_27_bar__plus_02_dot_13_bar__plus_00_dot_43 - receptacle + Cabinet_bar__plus_01_dot_31_bar__plus_02_dot_46_bar__plus_03_dot_61 - receptacle + Cabinet_bar__plus_01_dot_31_bar__plus_02_dot_46_bar__plus_04_dot_36 - receptacle + Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_00_dot_52 - receptacle + Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_01_dot_53 - receptacle + Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_03_dot_10 - receptacle + Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_04_dot_89 - receptacle + Cabinet_bar__minus_00_dot_17_bar__plus_00_dot_42_bar__plus_00_dot_74 - receptacle + Cabinet_bar__minus_00_dot_26_bar__plus_02_dot_13_bar__plus_00_dot_43 - receptacle + Cabinet_bar__minus_00_dot_78_bar__plus_00_dot_42_bar__plus_00_dot_74 - receptacle + CoffeeMachine_bar__plus_01_dot_55_bar__plus_00_dot_98_bar__plus_00_dot_95 - receptacle + CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90 - receptacle + CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_04_dot_72 - receptacle + DiningTable_bar__minus_00_dot_16_bar__plus_00_dot_67_bar__plus_06_dot_47 - receptacle + Drawer_bar__plus_00_dot_12_bar__plus_00_dot_80_bar__plus_00_dot_52 - receptacle + Drawer_bar__plus_00_dot_74_bar__plus_00_dot_80_bar__plus_00_dot_52 - receptacle + Drawer_bar__plus_01_dot_28_bar__plus_00_dot_80_bar__plus_03_dot_29 - receptacle + Drawer_bar__plus_01_dot_28_bar__plus_00_dot_81_bar__plus_04_dot_72 - receptacle + Drawer_bar__minus_00_dot_48_bar__plus_00_dot_80_bar__plus_00_dot_52 - receptacle + Fridge_bar__plus_02_dot_04_bar__plus_00_dot_00_bar__plus_05_dot_63 - receptacle + GarbageCan_bar__plus_02_dot_00_bar__plus_00_dot_00_bar__plus_06_dot_50 - receptacle + Microwave_bar__plus_00_dot_11_bar__plus_00_dot_98_bar__plus_00_dot_26 - receptacle + Safe_bar__plus_02_dot_05_bar__minus_00_dot_01_bar__plus_07_dot_06 - receptacle + Sink_bar__plus_01_dot_39_bar__plus_01_dot_01_bar__plus_02_dot_33_bar_SinkBasin - receptacle + StoveBurner_bar__plus_01_dot_32_bar__plus_00_dot_98_bar__plus_03_dot_85 - receptacle + StoveBurner_bar__plus_01_dot_32_bar__plus_00_dot_98_bar__plus_04_dot_29 - receptacle + StoveBurner_bar__plus_01_dot_56_bar__plus_00_dot_98_bar__plus_03_dot_85 - receptacle + StoveBurner_bar__plus_01_dot_56_bar__plus_00_dot_98_bar__plus_04_dot_29 - receptacle + Toaster_bar__plus_01_dot_47_bar__plus_00_dot_98_bar__plus_04_dot_72 - receptacle + loc_bar_3_bar_5_bar_1_bar__minus_30 - location + loc_bar_2_bar_4_bar_2_bar__minus_30 - location + loc_bar_0_bar_4_bar_2_bar__minus_30 - location + loc_bar__minus_1_bar_7_bar_2_bar_45 - location + loc_bar_3_bar_14_bar_1_bar__minus_30 - location + loc_bar_4_bar_22_bar_1_bar_60 - location + loc_bar__minus_6_bar_15_bar_3_bar__minus_30 - location + loc_bar_3_bar_15_bar_1_bar_45 - location + loc_bar_1_bar_10_bar_1_bar_60 - location + loc_bar_3_bar_16_bar_1_bar_60 - location + loc_bar_3_bar_18_bar_1_bar__minus_30 - location + loc_bar_3_bar_17_bar_1_bar__minus_30 - location + loc_bar_1_bar_13_bar_1_bar_45 - location + loc_bar_3_bar_4_bar_1_bar__minus_30 - location + loc_bar__minus_5_bar_5_bar_1_bar_45 - location + loc_bar_0_bar_7_bar_2_bar_45 - location + loc_bar__minus_6_bar_24_bar_3_bar_15 - location + loc_bar_3_bar_9_bar_1_bar__minus_30 - location + loc_bar_4_bar_24_bar_1_bar_60 - location + loc_bar_3_bar_17_bar_1_bar_60 - location + loc_bar_1_bar_14_bar_1_bar_60 - location + loc_bar_3_bar_9_bar_1_bar__minus_15 - location + loc_bar_1_bar_20_bar_1_bar_45 - location + loc_bar__minus_3_bar_5_bar_1_bar_45 - location + loc_bar_3_bar_9_bar_1_bar_45 - location + loc_bar_3_bar_17_bar_1_bar_45 - location + loc_bar_1_bar_17_bar_1_bar_60 - location + loc_bar_4_bar_26_bar_1_bar_60 - location + loc_bar_1_bar_22_bar_0_bar_60 - location + loc_bar_0_bar_5_bar_1_bar_45 - location + loc_bar_3_bar_15_bar_1_bar_60 - location + loc_bar_1_bar_6_bar_2_bar_30 - location + loc_bar_1_bar_7_bar_2_bar_45 - location + loc_bar_3_bar_4_bar_1_bar_45 - location + loc_bar_1_bar_7_bar_1_bar_60 - location + loc_bar_3_bar_26_bar_3_bar_45 - location + loc_bar_3_bar_19_bar_1_bar_45 - location + loc_bar_3_bar_4_bar_2_bar__minus_30 - location + loc_bar__minus_3_bar_9_bar_0_bar_30 - location + ) + + +(:init + + + (receptacleType Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_02_dot_99 CabinetType) + (receptacleType Drawer_bar__plus_00_dot_12_bar__plus_00_dot_80_bar__plus_00_dot_52 DrawerType) + (receptacleType CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90 CounterTopType) + (receptacleType Sink_bar__plus_01_dot_39_bar__plus_01_dot_01_bar__plus_02_dot_33_bar_SinkBasin SinkBasinType) + (receptacleType Cabinet_bar__plus_01_dot_27_bar__plus_02_dot_13_bar__plus_00_dot_43 CabinetType) + (receptacleType StoveBurner_bar__plus_01_dot_32_bar__plus_00_dot_98_bar__plus_04_dot_29 StoveBurnerType) + (receptacleType StoveBurner_bar__plus_01_dot_56_bar__plus_00_dot_98_bar__plus_03_dot_85 StoveBurnerType) + (receptacleType Cabinet_bar__minus_00_dot_17_bar__plus_00_dot_42_bar__plus_00_dot_74 CabinetType) + (receptacleType Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_01_dot_71 CabinetType) + (receptacleType GarbageCan_bar__plus_02_dot_00_bar__plus_00_dot_00_bar__plus_06_dot_50 GarbageCanType) + (receptacleType Drawer_bar__plus_00_dot_74_bar__plus_00_dot_80_bar__plus_00_dot_52 DrawerType) + (receptacleType Safe_bar__plus_02_dot_05_bar__minus_00_dot_01_bar__plus_07_dot_06 SafeType) + (receptacleType StoveBurner_bar__plus_01_dot_56_bar__plus_00_dot_98_bar__plus_04_dot_29 StoveBurnerType) + (receptacleType Cabinet_bar__plus_00_dot_44_bar__plus_00_dot_42_bar__plus_00_dot_74 CabinetType) + (receptacleType DiningTable_bar__minus_00_dot_16_bar__plus_00_dot_67_bar__plus_06_dot_47 DiningTableType) + (receptacleType Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_04_dot_55 CabinetType) + (receptacleType Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_04_dot_89 CabinetType) + (receptacleType Drawer_bar__minus_00_dot_48_bar__plus_00_dot_80_bar__plus_00_dot_52 DrawerType) + (receptacleType CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_04_dot_72 CounterTopType) + (receptacleType Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_01_dot_53 CabinetType) + (receptacleType Drawer_bar__plus_01_dot_28_bar__plus_00_dot_80_bar__plus_03_dot_29 DrawerType) + (receptacleType Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_02_dot_94 CabinetType) + (receptacleType StoveBurner_bar__plus_01_dot_32_bar__plus_00_dot_98_bar__plus_03_dot_85 StoveBurnerType) + (receptacleType Cabinet_bar__plus_01_dot_31_bar__plus_02_dot_46_bar__plus_03_dot_61 CabinetType) + (receptacleType Cabinet_bar__plus_01_dot_31_bar__plus_02_dot_46_bar__plus_04_dot_36 CabinetType) + (receptacleType Cabinet_bar__minus_00_dot_26_bar__plus_02_dot_13_bar__plus_00_dot_43 CabinetType) + (receptacleType Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_00_dot_52 CabinetType) + (receptacleType Cabinet_bar__plus_00_dot_25_bar__plus_02_dot_13_bar__plus_00_dot_43 CabinetType) + (receptacleType Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_03_dot_10 CabinetType) + (receptacleType Toaster_bar__plus_01_dot_47_bar__plus_00_dot_98_bar__plus_04_dot_72 ToasterType) + (receptacleType Drawer_bar__plus_01_dot_28_bar__plus_00_dot_81_bar__plus_04_dot_72 DrawerType) + (receptacleType CoffeeMachine_bar__plus_01_dot_55_bar__plus_00_dot_98_bar__plus_00_dot_95 CoffeeMachineType) + (receptacleType Cabinet_bar__minus_00_dot_78_bar__plus_00_dot_42_bar__plus_00_dot_74 CabinetType) + (receptacleType Fridge_bar__plus_02_dot_04_bar__plus_00_dot_00_bar__plus_05_dot_63 FridgeType) + (receptacleType Microwave_bar__plus_00_dot_11_bar__plus_00_dot_98_bar__plus_00_dot_26 MicrowaveType) + (objectType Plate_bar__plus_01_dot_40_bar__plus_00_dot_99_bar__plus_00_dot_44 PlateType) + (objectType Bread_bar__plus_00_dot_10_bar__plus_00_dot_83_bar__plus_06_dot_65 BreadType) + (objectType Pot_bar__plus_00_dot_73_bar__plus_00_dot_98_bar__plus_00_dot_38 PotType) + (objectType Knife_bar__plus_00_dot_19_bar__plus_00_dot_80_bar__plus_00_dot_51 KnifeType) + (objectType Mug_bar__minus_00_dot_31_bar__plus_00_dot_76_bar__plus_06_dot_35 MugType) + (objectType Knife_bar__plus_00_dot_80_bar__plus_00_dot_80_bar__plus_00_dot_51 KnifeType) + (objectType Mug_bar__plus_00_dot_31_bar__plus_00_dot_76_bar__plus_06_dot_48 MugType) + (objectType Knife_bar__plus_01_dot_39_bar__plus_00_dot_92_bar__plus_02_dot_58 KnifeType) + (objectType Apple_bar__plus_00_dot_06_bar__plus_01_dot_17_bar__plus_00_dot_18 AppleType) + (objectType 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Spatula_bar__minus_00_dot_48_bar__plus_00_dot_79_bar__plus_00_dot_56) + (cleanable Potato_bar__minus_00_dot_28_bar__plus_00_dot_79_bar__plus_06_dot_94) + (cleanable Spoon_bar__minus_00_dot_18_bar__plus_00_dot_76_bar__plus_06_dot_68) + (cleanable Potato_bar__plus_01_dot_14_bar__plus_01_dot_03_bar__plus_04_dot_62) + (cleanable Apple_bar__minus_00_dot_10_bar__plus_00_dot_83_bar__plus_06_dot_79) + (cleanable Spoon_bar_00_dot_00_bar__plus_00_dot_76_bar__plus_06_dot_35) + (cleanable Apple_bar__plus_02_dot_01_bar__plus_01_dot_59_bar__plus_05_dot_25) + (cleanable Bowl_bar__minus_00_dot_47_bar__plus_00_dot_76_bar__plus_06_dot_60) + (cleanable Fork_bar__plus_00_dot_12_bar__plus_00_dot_76_bar__plus_06_dot_11) + (cleanable Spoon_bar__plus_01_dot_24_bar__plus_00_dot_77_bar__plus_03_dot_29) + (cleanable DishSponge_bar__plus_01_dot_66_bar__plus_00_dot_14_bar__plus_02_dot_23) + (cleanable Egg_bar__plus_00_dot_26_bar__plus_00_dot_81_bar__plus_06_dot_24) + (cleanable DishSponge_bar__plus_01_dot_14_bar__plus_00_dot_99_bar__plus_04_dot_76) + (cleanable Cup_bar__plus_02_dot_01_bar__plus_01_dot_51_bar__plus_05_dot_63) + (cleanable Bowl_bar__plus_02_dot_01_bar__plus_01_dot_51_bar__plus_06_dot_00) + (cleanable Fork_bar__plus_01_dot_29_bar__plus_00_dot_77_bar__plus_04_dot_75) + (cleanable Cup_bar__plus_00_dot_92_bar__plus_00_dot_99_bar__plus_00_dot_58) + (cleanable Tomato_bar__minus_00_dot_03_bar__plus_00_dot_81_bar__plus_06_dot_17) + (cleanable ButterKnife_bar__minus_00_dot_48_bar__plus_00_dot_77_bar__plus_00_dot_56) + (cleanable Lettuce_bar__minus_00_dot_57_bar__plus_00_dot_85_bar__plus_06_dot_24) + (cleanable Spatula_bar__minus_00_dot_28_bar__plus_00_dot_79_bar__plus_00_dot_62) + + (heatable Plate_bar__plus_01_dot_40_bar__plus_00_dot_99_bar__plus_00_dot_44) + (heatable Bread_bar__plus_00_dot_10_bar__plus_00_dot_83_bar__plus_06_dot_65) + (heatable Mug_bar__minus_00_dot_31_bar__plus_00_dot_76_bar__plus_06_dot_35) + (heatable Mug_bar__plus_00_dot_31_bar__plus_00_dot_76_bar__plus_06_dot_48) + (heatable Apple_bar__plus_00_dot_06_bar__plus_01_dot_17_bar__plus_00_dot_18) + (heatable Mug_bar__minus_00_dot_03_bar__plus_00_dot_76_bar__plus_06_dot_94) + (heatable Tomato_bar__plus_01_dot_44_bar__plus_00_dot_94_bar__plus_02_dot_68) + (heatable Cup_bar__minus_00_dot_55_bar__plus_00_dot_14_bar__plus_00_dot_51) + (heatable Potato_bar__minus_00_dot_28_bar__plus_00_dot_79_bar__plus_06_dot_94) + (heatable Potato_bar__plus_01_dot_14_bar__plus_01_dot_03_bar__plus_04_dot_62) + (heatable Apple_bar__minus_00_dot_10_bar__plus_00_dot_83_bar__plus_06_dot_79) + (heatable Apple_bar__plus_02_dot_01_bar__plus_01_dot_59_bar__plus_05_dot_25) + (heatable Bread_bar__minus_00_dot_61_bar__plus_01_dot_06_bar__plus_00_dot_40) + (heatable Egg_bar__plus_00_dot_26_bar__plus_00_dot_81_bar__plus_06_dot_24) + (heatable Cup_bar__plus_02_dot_01_bar__plus_01_dot_51_bar__plus_05_dot_63) + (heatable Cup_bar__plus_00_dot_92_bar__plus_00_dot_99_bar__plus_00_dot_58) + (heatable Tomato_bar__minus_00_dot_03_bar__plus_00_dot_81_bar__plus_06_dot_17) + (coolable Plate_bar__plus_01_dot_40_bar__plus_00_dot_99_bar__plus_00_dot_44) + (coolable Bread_bar__plus_00_dot_10_bar__plus_00_dot_83_bar__plus_06_dot_65) + (coolable Pot_bar__plus_00_dot_73_bar__plus_00_dot_98_bar__plus_00_dot_38) + (coolable Mug_bar__minus_00_dot_31_bar__plus_00_dot_76_bar__plus_06_dot_35) + (coolable Mug_bar__plus_00_dot_31_bar__plus_00_dot_76_bar__plus_06_dot_48) + (coolable Apple_bar__plus_00_dot_06_bar__plus_01_dot_17_bar__plus_00_dot_18) + (coolable Pan_bar__plus_01_dot_56_bar__plus_00_dot_99_bar__plus_03_dot_85) + (coolable Pan_bar__plus_01_dot_32_bar__plus_00_dot_99_bar__plus_03_dot_85) + (coolable Bowl_bar__plus_01_dot_31_bar__plus_00_dot_14_bar__plus_04_dot_72) + (coolable Mug_bar__minus_00_dot_03_bar__plus_00_dot_76_bar__plus_06_dot_94) + (coolable 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Spoon_bar_00_dot_00_bar__plus_00_dot_76_bar__plus_06_dot_35 DiningTable_bar__minus_00_dot_16_bar__plus_00_dot_67_bar__plus_06_dot_47) + (inReceptacle Lettuce_bar__minus_00_dot_57_bar__plus_00_dot_85_bar__plus_06_dot_24 DiningTable_bar__minus_00_dot_16_bar__plus_00_dot_67_bar__plus_06_dot_47) + (inReceptacle Mug_bar__minus_00_dot_03_bar__plus_00_dot_76_bar__plus_06_dot_94 DiningTable_bar__minus_00_dot_16_bar__plus_00_dot_67_bar__plus_06_dot_47) + (inReceptacle ButterKnife_bar__minus_00_dot_48_bar__plus_00_dot_77_bar__plus_00_dot_56 Drawer_bar__minus_00_dot_48_bar__plus_00_dot_80_bar__plus_00_dot_52) + (inReceptacle Spatula_bar__minus_00_dot_28_bar__plus_00_dot_79_bar__plus_00_dot_62 Drawer_bar__minus_00_dot_48_bar__plus_00_dot_80_bar__plus_00_dot_52) + (inReceptacle ButterKnife_bar__minus_00_dot_55_bar__plus_00_dot_77_bar__plus_00_dot_45 Drawer_bar__minus_00_dot_48_bar__plus_00_dot_80_bar__plus_00_dot_52) + (inReceptacle 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CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90) + (inReceptacle ButterKnife_bar__minus_00_dot_46_bar__plus_00_dot_99_bar__plus_00_dot_30 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90) + (inReceptacle PaperTowelRoll_bar__plus_01_dot_40_bar__plus_01_dot_10_bar__plus_03_dot_14 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90) + (inReceptacle PepperShaker_bar__plus_01_dot_58_bar__plus_00_dot_99_bar__plus_03_dot_42 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90) + (inReceptacle Bread_bar__minus_00_dot_61_bar__plus_01_dot_06_bar__plus_00_dot_40 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90) + (inReceptacle Pan_bar__plus_01_dot_56_bar__plus_00_dot_99_bar__plus_03_dot_85 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90) + (inReceptacle PepperShaker_bar__plus_01_dot_14_bar__plus_00_dot_99_bar__plus_03_dot_23 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loc_bar_3_bar_18_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_17_bar__plus_00_dot_42_bar__plus_00_dot_74 loc_bar__minus_1_bar_7_bar_2_bar_45) + (receptacleAtLocation Cabinet_bar__minus_00_dot_26_bar__plus_02_dot_13_bar__plus_00_dot_43 loc_bar_0_bar_4_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_78_bar__plus_00_dot_42_bar__plus_00_dot_74 loc_bar_0_bar_7_bar_2_bar_45) + (receptacleAtLocation CoffeeMachine_bar__plus_01_dot_55_bar__plus_00_dot_98_bar__plus_00_dot_95 loc_bar_3_bar_4_bar_1_bar_45) + (receptacleAtLocation CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90 loc_bar_3_bar_4_bar_1_bar_45) + (receptacleAtLocation CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_04_dot_72 loc_bar_3_bar_19_bar_1_bar_45) + (receptacleAtLocation DiningTable_bar__minus_00_dot_16_bar__plus_00_dot_67_bar__plus_06_dot_47 loc_bar_3_bar_26_bar_3_bar_45) + (receptacleAtLocation 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Mug_bar__minus_00_dot_03_bar__plus_00_dot_76_bar__plus_06_dot_94 loc_bar_3_bar_26_bar_3_bar_45) + (objectAtLocation Blinds_bar__plus_01_dot_74_bar__plus_02_dot_56_bar__plus_02_dot_31 loc_bar_3_bar_9_bar_1_bar__minus_30) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o1 - object) + (and + (objectType ?o1 PepperShakerType) + (receptacleType ?r DiningTableType) + (inReceptacle ?o1 ?r) + (exists (?o2 - object) + (and + (not (= ?o1 ?o2)) + (objectType ?o2 PepperShakerType) + (receptacleType ?r DiningTableType) + (inReceptacle ?o2 ?r) + ) + ) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-PepperShaker-None-DiningTable-18/trial_T20190908_033626_658330/traj_data.json b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-PepperShaker-None-DiningTable-18/trial_T20190908_033626_658330/traj_data.json new file mode 100644 index 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+ "y": 1.09698534, + "z": 3.13762426 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pot_73d89a5b", + "position": { + "x": 0.734, + "y": 0.981694, + "z": 0.38 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Potato_5b11696a", + "position": { + "x": -0.284177959, + "y": 0.7949763, + "z": 6.941612 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "ButterKnife_8d8b47bb", + "position": { + "x": -0.481585175, + "y": 0.7714228, + "z": 0.5639391 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "PepperShaker_cff2324e", + "position": { + "x": 1.13579154, + "y": 0.9877, + "z": 3.23104 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pan_08687688", + "position": { + "x": 1.32, + "y": 0.988599956, + "z": 3.848 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Tomato_8b4d7f57", + "position": { + "x": 1.44258, + "y": 0.940499663, + "z": 2.67926741 + }, + "rotation": { + "x": 2.27491e-21, + "y": 89.99999, + "z": 1.40334183e-14 + } + }, + { + "objectName": "DishSponge_6d7ef995", + "position": { + "x": 1.657605, + "y": 0.140191734, + "z": 2.23386478 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Cup_8e8a26e1", + "position": { + "x": 0.9233889, + "y": 0.9888445, + "z": 0.5784098 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Spoon_cefc2847", + "position": { + "x": -0.180689514, + "y": 0.7612178, + "z": 6.67732763 + }, + "rotation": { + "x": 0.0, + "y": 134.999985, + "z": 0.0 + } + }, + { + "objectName": "Mug_6d84c70f", + "position": { + "x": -0.31275335, + "y": 0.7550884, + "z": 6.354039 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 762056554, + "scene_num": 18 + }, + "task_id": "trial_T20190908_033626_658330", + "task_type": "pick_two_obj_and_place", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A2ALWT2BUSXD83_3DZQRBDBSOWL14BLGU7QVV1FCC8S3F", + "high_descs": [ + "Approach the counter to the right of the oven.", + "Pick up the the pepper shaker from the counter.", + "Turn to your left and and walk to the circular table.", + "Place the pepper shaker on the circular table.", + "Turn around and and walk to the counter to the right of the oven,", + "pick up the salt shaker from the counter.", + "Turn to your left and and walk to the circular table.", + "Place the salt shaker on the circular table." + ], + "task_desc": "Place a salt and a pepper shaker on the circular table.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1O3TWBUDONVLO_3E1QT0TDFSQI8NEVNZ88IA33J1C8IB", + "high_descs": [ + "Take a step forward and turn to the right and walk forward to face the counter to the right of the sink.", + "Pick up the shaker on the counter.", + "Turn left and walk across the room then turn left to face the kitchen table.", + "Place the shaker on the kitchen table to the left of the cup.", + "Turn left and walk halfway across the room, then turn left to face the counter.", + "Pick up the shaker on the counter.", + "Turn left and walk across the room then turn left to face the kitchen table.", + "Place the shaker on the kitchen table to the right of the cup." + ], + "task_desc": "To put two shaker on the kitchen table.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1RLO9LNUJIW5S_31T4R4OBOVXNV6NCLKKGT79DVC37C2", + "high_descs": [ + "Take two steps then turn right and walk to the counter.", + "Pick up the pepper grinder that's furthest from you.", + "Turn left and walk to the chair then turn right and walk to the fridge then turn left and take a step then turn left.", + "Put the pepper grinder to the left of the mug.", + "Go back to where you got the first pepper grinder..", + "Pick up the pepper grinder that's in front of you.", + "Go back to where you put the first pepper grinder.", + "Put the pepper grinder to the right of the mug." + ], + "task_desc": "Put two pepper grinders on the table.", + "votes": [ + 1, + 1, + 0 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-PepperShaker-None-DiningTable-18/trial_T20190918_215048_043255/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-PepperShaker-None-DiningTable-18/trial_T20190918_215048_043255/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..5a40ac008a3e579b26809b572fada2b2999b5063 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-PepperShaker-None-DiningTable-18/trial_T20190918_215048_043255/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\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 peppershaker and put them in diningtable.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190918_215048_043255)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\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_05_bar__plus_01_dot_59_bar__plus_05_dot_25 - object\n Blinds_bar__plus_01_dot_74_bar__plus_02_dot_56_bar__plus_02_dot_31 - object\n Bowl_bar__plus_00_dot_12_bar__plus_00_dot_76_bar__plus_06_dot_11 - object\n Bowl_bar__plus_01_dot_24_bar__plus_00_dot_14_bar__plus_03_dot_44 - 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Spatula_bar__minus_00_dot_47_bar__plus_00_dot_78_bar__plus_06_dot_54 - object\n Spatula_bar__minus_00_dot_48_bar__plus_00_dot_79_bar__plus_00_dot_51 - object\n Spoon_bar__plus_00_dot_87_bar__plus_00_dot_77_bar__plus_00_dot_62 - object\n Spoon_bar__plus_01_dot_35_bar__plus_00_dot_77_bar__plus_03_dot_22 - object\n Spoon_bar__minus_00_dot_03_bar__plus_00_dot_76_bar__plus_06_dot_94 - object\n StoveKnob_bar__plus_01_dot_14_bar__plus_00_dot_93_bar__plus_03_dot_82 - object\n StoveKnob_bar__plus_01_dot_14_bar__plus_00_dot_93_bar__plus_03_dot_99 - object\n StoveKnob_bar__plus_01_dot_14_bar__plus_00_dot_93_bar__plus_04_dot_14 - object\n StoveKnob_bar__plus_01_dot_14_bar__plus_00_dot_93_bar__plus_04_dot_31 - object\n Tomato_bar__plus_02_dot_09_bar__plus_01_dot_57_bar__plus_05_dot_50 - object\n Window_bar__plus_01_dot_76_bar__plus_02_dot_01_bar__plus_02_dot_30 - object\n Window_bar__minus_02_dot_07_bar__plus_01_dot_92_bar__plus_03_dot_63 - object\n Cabinet_bar__plus_00_dot_25_bar__plus_02_dot_13_bar__plus_00_dot_43 - receptacle\n Cabinet_bar__plus_00_dot_44_bar__plus_00_dot_42_bar__plus_00_dot_74 - receptacle\n Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_01_dot_71 - receptacle\n Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_02_dot_94 - receptacle\n Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_02_dot_99 - receptacle\n Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_04_dot_55 - receptacle\n Cabinet_bar__plus_01_dot_27_bar__plus_02_dot_13_bar__plus_00_dot_43 - receptacle\n Cabinet_bar__plus_01_dot_31_bar__plus_02_dot_46_bar__plus_03_dot_61 - receptacle\n Cabinet_bar__plus_01_dot_31_bar__plus_02_dot_46_bar__plus_04_dot_36 - receptacle\n Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_00_dot_52 - receptacle\n Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_01_dot_53 - receptacle\n Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_03_dot_10 - receptacle\n Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_04_dot_89 - receptacle\n Cabinet_bar__minus_00_dot_17_bar__plus_00_dot_42_bar__plus_00_dot_74 - receptacle\n Cabinet_bar__minus_00_dot_26_bar__plus_02_dot_13_bar__plus_00_dot_43 - receptacle\n Cabinet_bar__minus_00_dot_78_bar__plus_00_dot_42_bar__plus_00_dot_74 - receptacle\n CoffeeMachine_bar__plus_01_dot_55_bar__plus_00_dot_98_bar__plus_00_dot_95 - receptacle\n CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90 - receptacle\n CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_04_dot_72 - receptacle\n DiningTable_bar__minus_00_dot_16_bar__plus_00_dot_67_bar__plus_06_dot_47 - receptacle\n Drawer_bar__plus_00_dot_12_bar__plus_00_dot_80_bar__plus_00_dot_52 - receptacle\n Drawer_bar__plus_00_dot_74_bar__plus_00_dot_80_bar__plus_00_dot_52 - receptacle\n Drawer_bar__plus_01_dot_28_bar__plus_00_dot_80_bar__plus_03_dot_29 - receptacle\n Drawer_bar__plus_01_dot_28_bar__plus_00_dot_81_bar__plus_04_dot_72 - 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loc_bar_1_bar_20_bar_1_bar_45 - location\n loc_bar__minus_3_bar_5_bar_1_bar_45 - location\n loc_bar_3_bar_9_bar_1_bar_45 - location\n loc_bar_3_bar_17_bar_1_bar_45 - location\n loc_bar_1_bar_17_bar_1_bar_60 - location\n loc_bar_4_bar_26_bar_1_bar_60 - location\n loc_bar_1_bar_22_bar_0_bar_60 - location\n loc_bar_0_bar_5_bar_1_bar_45 - location\n loc_bar_3_bar_15_bar_1_bar_60 - location\n loc_bar_1_bar_6_bar_2_bar_30 - location\n loc_bar_1_bar_7_bar_2_bar_45 - location\n loc_bar_3_bar_4_bar_1_bar_45 - location\n loc_bar_1_bar_7_bar_1_bar_60 - location\n loc_bar_3_bar_26_bar_3_bar_45 - location\n loc_bar_3_bar_19_bar_1_bar_45 - location\n loc_bar_3_bar_4_bar_2_bar__minus_30 - location\n loc_bar__minus_6_bar_25_bar_2_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_02_dot_99 CabinetType)\n (receptacleType Drawer_bar__plus_00_dot_12_bar__plus_00_dot_80_bar__plus_00_dot_52 DrawerType)\n (receptacleType 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Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_02_dot_94 CabinetType)\n (receptacleType StoveBurner_bar__plus_01_dot_32_bar__plus_00_dot_98_bar__plus_03_dot_85 StoveBurnerType)\n (receptacleType Cabinet_bar__plus_01_dot_31_bar__plus_02_dot_46_bar__plus_03_dot_61 CabinetType)\n (receptacleType Cabinet_bar__plus_01_dot_31_bar__plus_02_dot_46_bar__plus_04_dot_36 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_26_bar__plus_02_dot_13_bar__plus_00_dot_43 CabinetType)\n (receptacleType Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_00_dot_52 CabinetType)\n (receptacleType Cabinet_bar__plus_00_dot_25_bar__plus_02_dot_13_bar__plus_00_dot_43 CabinetType)\n (receptacleType Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_03_dot_10 CabinetType)\n (receptacleType Toaster_bar__plus_01_dot_47_bar__plus_00_dot_98_bar__plus_04_dot_72 ToasterType)\n (receptacleType Drawer_bar__plus_01_dot_28_bar__plus_00_dot_81_bar__plus_04_dot_72 DrawerType)\n (receptacleType 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Cabinet_bar__minus_00_dot_78_bar__plus_00_dot_42_bar__plus_00_dot_74)\n (openable Fridge_bar__plus_02_dot_04_bar__plus_00_dot_00_bar__plus_05_dot_63)\n (openable Microwave_bar__plus_00_dot_11_bar__plus_00_dot_98_bar__plus_00_dot_26)\n \n (atLocation agent1 loc_bar__minus_6_bar_25_bar_2_bar_30)\n \n (cleanable Pan_bar__plus_01_dot_31_bar__plus_00_dot_99_bar__plus_04_dot_28)\n (cleanable Apple_bar__plus_02_dot_05_bar__plus_01_dot_59_bar__plus_05_dot_25)\n (cleanable Mug_bar__minus_00_dot_31_bar__plus_00_dot_76_bar__plus_06_dot_48)\n (cleanable Knife_bar__minus_00_dot_49_bar__plus_00_dot_79_bar__plus_06_dot_15)\n (cleanable Bowl_bar__minus_00_dot_62_bar__plus_00_dot_14_bar__plus_00_dot_58)\n (cleanable Spatula_bar__minus_00_dot_47_bar__plus_00_dot_78_bar__plus_06_dot_54)\n (cleanable DishSponge_bar__plus_00_dot_30_bar__plus_00_dot_76_bar__plus_06_dot_28)\n (cleanable Potato_bar__plus_00_dot_85_bar__plus_01_dot_03_bar__plus_00_dot_30)\n (cleanable Potato_bar__plus_00_dot_31_bar__plus_00_dot_79_bar__plus_06_dot_48)\n (cleanable Kettle_bar__plus_00_dot_19_bar__plus_00_dot_15_bar__plus_00_dot_43)\n (cleanable ButterKnife_bar__plus_01_dot_39_bar__plus_00_dot_89_bar__plus_02_dot_03)\n (cleanable Spoon_bar__plus_00_dot_87_bar__plus_00_dot_77_bar__plus_00_dot_62)\n (cleanable Pot_bar__plus_01_dot_32_bar__plus_00_dot_99_bar__plus_04_dot_29)\n (cleanable Spoon_bar__minus_00_dot_03_bar__plus_00_dot_76_bar__plus_06_dot_94)\n (cleanable Tomato_bar__plus_02_dot_09_bar__plus_01_dot_57_bar__plus_05_dot_50)\n (cleanable Cup_bar__plus_01_dot_16_bar__plus_00_dot_14_bar__plus_02_dot_65)\n (cleanable Spoon_bar__plus_01_dot_35_bar__plus_00_dot_77_bar__plus_03_dot_22)\n (cleanable Kettle_bar__plus_01_dot_57_bar__plus_00_dot_14_bar__plus_02_dot_01)\n (cleanable Spatula_bar__minus_00_dot_48_bar__plus_00_dot_79_bar__plus_00_dot_51)\n (cleanable Bowl_bar__plus_00_dot_12_bar__plus_00_dot_76_bar__plus_06_dot_11)\n (cleanable Pan_bar__plus_01_dot_56_bar__plus_00_dot_99_bar__plus_04_dot_29)\n (cleanable Fork_bar__plus_00_dot_85_bar__plus_00_dot_99_bar__plus_00_dot_49)\n (cleanable Lettuce_bar__minus_00_dot_53_bar__plus_00_dot_85_bar__plus_06_dot_76)\n (cleanable DishSponge_bar__minus_00_dot_28_bar__plus_00_dot_76_bar__plus_06_dot_32)\n (cleanable Egg_bar__plus_01_dot_92_bar__plus_01_dot_57_bar__plus_05_dot_75)\n (cleanable Cup_bar__plus_00_dot_96_bar__plus_01_dot_58_bar__plus_00_dot_16)\n (cleanable Bowl_bar__plus_01_dot_24_bar__plus_00_dot_14_bar__plus_03_dot_44)\n (cleanable Knife_bar__plus_00_dot_26_bar__plus_00_dot_80_bar__plus_00_dot_45)\n (cleanable Lettuce_bar__plus_00_dot_15_bar__plus_00_dot_85_bar__plus_06_dot_35)\n (cleanable Plate_bar__plus_01_dot_40_bar__plus_00_dot_99_bar__plus_03_dot_42)\n \n (heatable Bread_bar__plus_00_dot_02_bar__plus_00_dot_83_bar__plus_06_dot_74)\n (heatable Apple_bar__plus_02_dot_05_bar__plus_01_dot_59_bar__plus_05_dot_25)\n (heatable Mug_bar__minus_00_dot_31_bar__plus_00_dot_76_bar__plus_06_dot_48)\n (heatable Potato_bar__plus_00_dot_85_bar__plus_01_dot_03_bar__plus_00_dot_30)\n (heatable Potato_bar__plus_00_dot_31_bar__plus_00_dot_79_bar__plus_06_dot_48)\n (heatable Bread_bar__minus_00_dot_46_bar__plus_01_dot_06_bar__plus_00_dot_30)\n (heatable Tomato_bar__plus_02_dot_09_bar__plus_01_dot_57_bar__plus_05_dot_50)\n (heatable Cup_bar__plus_01_dot_16_bar__plus_00_dot_14_bar__plus_02_dot_65)\n (heatable Egg_bar__plus_01_dot_92_bar__plus_01_dot_57_bar__plus_05_dot_75)\n (heatable Cup_bar__plus_00_dot_96_bar__plus_01_dot_58_bar__plus_00_dot_16)\n (heatable Plate_bar__plus_01_dot_40_bar__plus_00_dot_99_bar__plus_03_dot_42)\n (coolable Bread_bar__plus_00_dot_02_bar__plus_00_dot_83_bar__plus_06_dot_74)\n (coolable Pan_bar__plus_01_dot_31_bar__plus_00_dot_99_bar__plus_04_dot_28)\n (coolable Apple_bar__plus_02_dot_05_bar__plus_01_dot_59_bar__plus_05_dot_25)\n (coolable Mug_bar__minus_00_dot_31_bar__plus_00_dot_76_bar__plus_06_dot_48)\n (coolable Bowl_bar__minus_00_dot_62_bar__plus_00_dot_14_bar__plus_00_dot_58)\n (coolable Potato_bar__plus_00_dot_85_bar__plus_01_dot_03_bar__plus_00_dot_30)\n (coolable Potato_bar__plus_00_dot_31_bar__plus_00_dot_79_bar__plus_06_dot_48)\n (coolable Bread_bar__minus_00_dot_46_bar__plus_01_dot_06_bar__plus_00_dot_30)\n (coolable Pot_bar__plus_01_dot_32_bar__plus_00_dot_99_bar__plus_04_dot_29)\n (coolable Tomato_bar__plus_02_dot_09_bar__plus_01_dot_57_bar__plus_05_dot_50)\n (coolable Cup_bar__plus_01_dot_16_bar__plus_00_dot_14_bar__plus_02_dot_65)\n (coolable Bowl_bar__plus_00_dot_12_bar__plus_00_dot_76_bar__plus_06_dot_11)\n (coolable Pan_bar__plus_01_dot_56_bar__plus_00_dot_99_bar__plus_04_dot_29)\n (coolable Lettuce_bar__minus_00_dot_53_bar__plus_00_dot_85_bar__plus_06_dot_76)\n (coolable Egg_bar__plus_01_dot_92_bar__plus_01_dot_57_bar__plus_05_dot_75)\n (coolable Cup_bar__plus_00_dot_96_bar__plus_01_dot_58_bar__plus_00_dot_16)\n (coolable Bowl_bar__plus_01_dot_24_bar__plus_00_dot_14_bar__plus_03_dot_44)\n (coolable Lettuce_bar__plus_00_dot_15_bar__plus_00_dot_85_bar__plus_06_dot_35)\n (coolable Plate_bar__plus_01_dot_40_bar__plus_00_dot_99_bar__plus_03_dot_42)\n \n \n \n \n \n (sliceable Bread_bar__plus_00_dot_02_bar__plus_00_dot_83_bar__plus_06_dot_74)\n (sliceable Apple_bar__plus_02_dot_05_bar__plus_01_dot_59_bar__plus_05_dot_25)\n (sliceable Potato_bar__plus_00_dot_85_bar__plus_01_dot_03_bar__plus_00_dot_30)\n (sliceable Potato_bar__plus_00_dot_31_bar__plus_00_dot_79_bar__plus_06_dot_48)\n (sliceable Bread_bar__minus_00_dot_46_bar__plus_01_dot_06_bar__plus_00_dot_30)\n (sliceable Tomato_bar__plus_02_dot_09_bar__plus_01_dot_57_bar__plus_05_dot_50)\n (sliceable Lettuce_bar__minus_00_dot_53_bar__plus_00_dot_85_bar__plus_06_dot_76)\n (sliceable Egg_bar__plus_01_dot_92_bar__plus_01_dot_57_bar__plus_05_dot_75)\n (sliceable Lettuce_bar__plus_00_dot_15_bar__plus_00_dot_85_bar__plus_06_dot_35)\n \n (inReceptacleObject Pot_bar__plus_01_dot_32_bar__plus_00_dot_99_bar__plus_04_dot_29 Pan_bar__plus_01_dot_31_bar__plus_00_dot_99_bar__plus_04_dot_28)\n (inReceptacle SoapBottle_bar__plus_01_dot_40_bar__plus_02_dot_21_bar__plus_04_dot_22 Cabinet_bar__plus_01_dot_31_bar__plus_02_dot_46_bar__plus_04_dot_36)\n (inReceptacle Kettle_bar__plus_01_dot_57_bar__plus_00_dot_14_bar__plus_02_dot_01 Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_01_dot_71)\n (inReceptacle SoapBottle_bar__plus_01_dot_16_bar__plus_00_dot_14_bar__plus_02_dot_01 Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_01_dot_71)\n (inReceptacle Spoon_bar__plus_00_dot_87_bar__plus_00_dot_77_bar__plus_00_dot_62 Drawer_bar__plus_00_dot_74_bar__plus_00_dot_80_bar__plus_00_dot_52)\n (inReceptacle Spoon_bar__plus_01_dot_35_bar__plus_00_dot_77_bar__plus_03_dot_22 Drawer_bar__plus_01_dot_28_bar__plus_00_dot_80_bar__plus_03_dot_29)\n (inReceptacle Bread_bar__plus_00_dot_02_bar__plus_00_dot_83_bar__plus_06_dot_74 DiningTable_bar__minus_00_dot_16_bar__plus_00_dot_67_bar__plus_06_dot_47)\n (inReceptacle SaltShaker_bar__minus_00_dot_35_bar__plus_00_dot_76_bar__plus_06_dot_94 DiningTable_bar__minus_00_dot_16_bar__plus_00_dot_67_bar__plus_06_dot_47)\n (inReceptacle Lettuce_bar__minus_00_dot_53_bar__plus_00_dot_85_bar__plus_06_dot_76 DiningTable_bar__minus_00_dot_16_bar__plus_00_dot_67_bar__plus_06_dot_47)\n (inReceptacle DishSponge_bar__minus_00_dot_28_bar__plus_00_dot_76_bar__plus_06_dot_32 DiningTable_bar__minus_00_dot_16_bar__plus_00_dot_67_bar__plus_06_dot_47)\n (inReceptacle Bowl_bar__plus_00_dot_12_bar__plus_00_dot_76_bar__plus_06_dot_11 DiningTable_bar__minus_00_dot_16_bar__plus_00_dot_67_bar__plus_06_dot_47)\n (inReceptacle HousePlant_bar__minus_00_dot_17_bar__plus_00_dot_75_bar__plus_06_dot_44 DiningTable_bar__minus_00_dot_16_bar__plus_00_dot_67_bar__plus_06_dot_47)\n (inReceptacle Mug_bar__minus_00_dot_31_bar__plus_00_dot_76_bar__plus_06_dot_48 DiningTable_bar__minus_00_dot_16_bar__plus_00_dot_67_bar__plus_06_dot_47)\n (inReceptacle Knife_bar__minus_00_dot_49_bar__plus_00_dot_79_bar__plus_06_dot_15 DiningTable_bar__minus_00_dot_16_bar__plus_00_dot_67_bar__plus_06_dot_47)\n (inReceptacle Spoon_bar__minus_00_dot_03_bar__plus_00_dot_76_bar__plus_06_dot_94 DiningTable_bar__minus_00_dot_16_bar__plus_00_dot_67_bar__plus_06_dot_47)\n (inReceptacle Spatula_bar__minus_00_dot_47_bar__plus_00_dot_78_bar__plus_06_dot_54 DiningTable_bar__minus_00_dot_16_bar__plus_00_dot_67_bar__plus_06_dot_47)\n (inReceptacle DishSponge_bar__plus_00_dot_30_bar__plus_00_dot_76_bar__plus_06_dot_28 DiningTable_bar__minus_00_dot_16_bar__plus_00_dot_67_bar__plus_06_dot_47)\n (inReceptacle Lettuce_bar__plus_00_dot_15_bar__plus_00_dot_85_bar__plus_06_dot_35 DiningTable_bar__minus_00_dot_16_bar__plus_00_dot_67_bar__plus_06_dot_47)\n (inReceptacle Potato_bar__plus_00_dot_31_bar__plus_00_dot_79_bar__plus_06_dot_48 DiningTable_bar__minus_00_dot_16_bar__plus_00_dot_67_bar__plus_06_dot_47)\n (inReceptacle Pot_bar__plus_01_dot_32_bar__plus_00_dot_99_bar__plus_04_dot_29 StoveBurner_bar__plus_01_dot_32_bar__plus_00_dot_98_bar__plus_04_dot_29)\n (inReceptacle Pan_bar__plus_01_dot_31_bar__plus_00_dot_99_bar__plus_04_dot_28 StoveBurner_bar__plus_01_dot_32_bar__plus_00_dot_98_bar__plus_04_dot_29)\n (inReceptacle Spatula_bar__minus_00_dot_48_bar__plus_00_dot_79_bar__plus_00_dot_51 Drawer_bar__minus_00_dot_48_bar__plus_00_dot_80_bar__plus_00_dot_52)\n (inReceptacle Knife_bar__plus_00_dot_26_bar__plus_00_dot_80_bar__plus_00_dot_45 Drawer_bar__plus_00_dot_12_bar__plus_00_dot_80_bar__plus_00_dot_52)\n (inReceptacle Pan_bar__plus_01_dot_56_bar__plus_00_dot_99_bar__plus_04_dot_29 StoveBurner_bar__plus_01_dot_56_bar__plus_00_dot_98_bar__plus_04_dot_29)\n (inReceptacle Fork_bar__plus_00_dot_85_bar__plus_00_dot_99_bar__plus_00_dot_49 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90)\n (inReceptacle Bread_bar__minus_00_dot_46_bar__plus_01_dot_06_bar__plus_00_dot_30 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90)\n (inReceptacle PepperShaker_bar__plus_01_dot_14_bar__plus_00_dot_99_bar__plus_00_dot_21 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90)\n (inReceptacle PaperTowelRoll_bar__plus_01_dot_14_bar__plus_01_dot_10_bar__plus_03_dot_23 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90)\n (inReceptacle Potato_bar__plus_00_dot_85_bar__plus_01_dot_03_bar__plus_00_dot_30 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90)\n (inReceptacle Plate_bar__plus_01_dot_40_bar__plus_00_dot_99_bar__plus_03_dot_42 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90)\n (inReceptacle PepperShaker_bar__plus_01_dot_31_bar__plus_00_dot_99_bar__plus_00_dot_21 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90)\n (inReceptacle SaltShaker_bar__plus_00_dot_60_bar__plus_00_dot_14_bar__plus_00_dot_42 Cabinet_bar__plus_00_dot_44_bar__plus_00_dot_42_bar__plus_00_dot_74)\n (inReceptacle Cup_bar__plus_00_dot_96_bar__plus_01_dot_58_bar__plus_00_dot_16 Cabinet_bar__plus_01_dot_27_bar__plus_02_dot_13_bar__plus_00_dot_43)\n (inReceptacle Bowl_bar__minus_00_dot_62_bar__plus_00_dot_14_bar__plus_00_dot_58 Cabinet_bar__minus_00_dot_78_bar__plus_00_dot_42_bar__plus_00_dot_74)\n (inReceptacle Kettle_bar__plus_00_dot_19_bar__plus_00_dot_15_bar__plus_00_dot_43 Cabinet_bar__minus_00_dot_17_bar__plus_00_dot_42_bar__plus_00_dot_74)\n (inReceptacle PepperShaker_bar__plus_00_dot_06_bar__plus_00_dot_14_bar__plus_00_dot_66 Cabinet_bar__minus_00_dot_17_bar__plus_00_dot_42_bar__plus_00_dot_74)\n (inReceptacle Bowl_bar__plus_01_dot_24_bar__plus_00_dot_14_bar__plus_03_dot_44 Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_02_dot_99)\n (inReceptacle Cup_bar__plus_01_dot_16_bar__plus_00_dot_14_bar__plus_02_dot_65 Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_02_dot_94)\n (inReceptacle Egg_bar__plus_01_dot_92_bar__plus_01_dot_57_bar__plus_05_dot_75 Fridge_bar__plus_02_dot_04_bar__plus_00_dot_00_bar__plus_05_dot_63)\n (inReceptacle Tomato_bar__plus_02_dot_09_bar__plus_01_dot_57_bar__plus_05_dot_50 Fridge_bar__plus_02_dot_04_bar__plus_00_dot_00_bar__plus_05_dot_63)\n (inReceptacle Apple_bar__plus_02_dot_05_bar__plus_01_dot_59_bar__plus_05_dot_25 Fridge_bar__plus_02_dot_04_bar__plus_00_dot_00_bar__plus_05_dot_63)\n (inReceptacleObject Pan_bar__plus_01_dot_31_bar__plus_00_dot_99_bar__plus_04_dot_28 Pot_bar__plus_01_dot_32_bar__plus_00_dot_99_bar__plus_04_dot_29)\n (inReceptacle ButterKnife_bar__plus_01_dot_39_bar__plus_00_dot_89_bar__plus_02_dot_03 Sink_bar__plus_01_dot_39_bar__plus_01_dot_01_bar__plus_02_dot_33_bar_SinkBasin)\n \n \n (receptacleAtLocation Cabinet_bar__plus_00_dot_25_bar__plus_02_dot_13_bar__plus_00_dot_43 loc_bar_2_bar_4_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_44_bar__plus_00_dot_42_bar__plus_00_dot_74 loc_bar_1_bar_7_bar_2_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_01_dot_71 loc_bar_1_bar_7_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_02_dot_94 loc_bar_1_bar_10_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_02_dot_99 loc_bar_1_bar_14_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_04_dot_55 loc_bar_1_bar_17_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_27_bar__plus_02_dot_13_bar__plus_00_dot_43 loc_bar_3_bar_4_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_31_bar__plus_02_dot_46_bar__plus_03_dot_61 loc_bar_3_bar_14_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_31_bar__plus_02_dot_46_bar__plus_04_dot_36 loc_bar_3_bar_17_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_00_dot_52 loc_bar_3_bar_4_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_01_dot_53 loc_bar_3_bar_5_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_03_dot_10 loc_bar_3_bar_14_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_04_dot_89 loc_bar_3_bar_18_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_17_bar__plus_00_dot_42_bar__plus_00_dot_74 loc_bar__minus_1_bar_7_bar_2_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_26_bar__plus_02_dot_13_bar__plus_00_dot_43 loc_bar_0_bar_4_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_78_bar__plus_00_dot_42_bar__plus_00_dot_74 loc_bar_0_bar_7_bar_2_bar_45)\n (receptacleAtLocation CoffeeMachine_bar__plus_01_dot_55_bar__plus_00_dot_98_bar__plus_00_dot_95 loc_bar_3_bar_4_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90 loc_bar_3_bar_4_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_04_dot_72 loc_bar_3_bar_19_bar_1_bar_45)\n (receptacleAtLocation DiningTable_bar__minus_00_dot_16_bar__plus_00_dot_67_bar__plus_06_dot_47 loc_bar_3_bar_26_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_12_bar__plus_00_dot_80_bar__plus_00_dot_52 loc_bar__minus_3_bar_5_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_74_bar__plus_00_dot_80_bar__plus_00_dot_52 loc_bar_0_bar_5_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_01_dot_28_bar__plus_00_dot_80_bar__plus_03_dot_29 loc_bar_1_bar_13_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_01_dot_28_bar__plus_00_dot_81_bar__plus_04_dot_72 loc_bar_1_bar_20_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_48_bar__plus_00_dot_80_bar__plus_00_dot_52 loc_bar__minus_5_bar_5_bar_1_bar_45)\n (receptacleAtLocation Fridge_bar__plus_02_dot_04_bar__plus_00_dot_00_bar__plus_05_dot_63 loc_bar_4_bar_22_bar_1_bar_60)\n (receptacleAtLocation GarbageCan_bar__plus_02_dot_00_bar__plus_00_dot_00_bar__plus_06_dot_50 loc_bar_4_bar_24_bar_1_bar_60)\n (receptacleAtLocation Microwave_bar__plus_00_dot_11_bar__plus_00_dot_98_bar__plus_00_dot_26 loc_bar_1_bar_6_bar_2_bar_30)\n (receptacleAtLocation Safe_bar__plus_02_dot_05_bar__minus_00_dot_01_bar__plus_07_dot_06 loc_bar_4_bar_26_bar_1_bar_60)\n (receptacleAtLocation Sink_bar__plus_01_dot_39_bar__plus_01_dot_01_bar__plus_02_dot_33_bar_SinkBasin loc_bar_3_bar_9_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_32_bar__plus_00_dot_98_bar__plus_03_dot_85 loc_bar_3_bar_15_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_32_bar__plus_00_dot_98_bar__plus_04_dot_29 loc_bar_3_bar_17_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_56_bar__plus_00_dot_98_bar__plus_03_dot_85 loc_bar_3_bar_15_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_56_bar__plus_00_dot_98_bar__plus_04_dot_29 loc_bar_3_bar_17_bar_1_bar_45)\n (receptacleAtLocation Toaster_bar__plus_01_dot_47_bar__plus_00_dot_98_bar__plus_04_dot_72 loc_bar_3_bar_19_bar_1_bar_45)\n (objectAtLocation Spoon_bar__minus_00_dot_03_bar__plus_00_dot_76_bar__plus_06_dot_94 loc_bar_3_bar_26_bar_3_bar_45)\n (objectAtLocation Cup_bar__plus_01_dot_16_bar__plus_00_dot_14_bar__plus_02_dot_65 loc_bar_1_bar_10_bar_1_bar_60)\n (objectAtLocation DishSponge_bar__plus_00_dot_30_bar__plus_00_dot_76_bar__plus_06_dot_28 loc_bar_3_bar_26_bar_3_bar_45)\n (objectAtLocation Pan_bar__plus_01_dot_31_bar__plus_00_dot_99_bar__plus_04_dot_28 loc_bar_3_bar_17_bar_1_bar_45)\n (objectAtLocation PepperShaker_bar__plus_00_dot_06_bar__plus_00_dot_14_bar__plus_00_dot_66 loc_bar__minus_1_bar_7_bar_2_bar_45)\n (objectAtLocation Potato_bar__plus_00_dot_85_bar__plus_01_dot_03_bar__plus_00_dot_30 loc_bar_3_bar_4_bar_1_bar_45)\n (objectAtLocation Spatula_bar__minus_00_dot_47_bar__plus_00_dot_78_bar__plus_06_dot_54 loc_bar_3_bar_26_bar_3_bar_45)\n (objectAtLocation SoapBottle_bar__plus_01_dot_40_bar__plus_02_dot_21_bar__plus_04_dot_22 loc_bar_3_bar_17_bar_1_bar__minus_30)\n (objectAtLocation Lettuce_bar__plus_00_dot_15_bar__plus_00_dot_85_bar__plus_06_dot_35 loc_bar_3_bar_26_bar_3_bar_45)\n (objectAtLocation SaltShaker_bar__minus_00_dot_35_bar__plus_00_dot_76_bar__plus_06_dot_94 loc_bar_3_bar_26_bar_3_bar_45)\n (objectAtLocation Kettle_bar__plus_01_dot_57_bar__plus_00_dot_14_bar__plus_02_dot_01 loc_bar_1_bar_7_bar_1_bar_60)\n (objectAtLocation Knife_bar__plus_00_dot_26_bar__plus_00_dot_80_bar__plus_00_dot_45 loc_bar__minus_3_bar_5_bar_1_bar_45)\n (objectAtLocation Bread_bar__minus_00_dot_46_bar__plus_01_dot_06_bar__plus_00_dot_30 loc_bar_3_bar_4_bar_1_bar_45)\n (objectAtLocation Bowl_bar__plus_00_dot_12_bar__plus_00_dot_76_bar__plus_06_dot_11 loc_bar_3_bar_26_bar_3_bar_45)\n (objectAtLocation PepperShaker_bar__plus_01_dot_31_bar__plus_00_dot_99_bar__plus_00_dot_21 loc_bar_3_bar_4_bar_1_bar_45)\n (objectAtLocation Bowl_bar__plus_01_dot_24_bar__plus_00_dot_14_bar__plus_03_dot_44 loc_bar_1_bar_14_bar_1_bar_60)\n (objectAtLocation Spoon_bar__plus_00_dot_87_bar__plus_00_dot_77_bar__plus_00_dot_62 loc_bar_0_bar_5_bar_1_bar_45)\n (objectAtLocation Sink_bar__plus_01_dot_39_bar__plus_01_dot_01_bar__plus_02_dot_33 loc_bar_3_bar_9_bar_1_bar_45)\n (objectAtLocation Bowl_bar__minus_00_dot_62_bar__plus_00_dot_14_bar__plus_00_dot_58 loc_bar_0_bar_7_bar_2_bar_45)\n (objectAtLocation Bread_bar__plus_00_dot_02_bar__plus_00_dot_83_bar__plus_06_dot_74 loc_bar_3_bar_26_bar_3_bar_45)\n (objectAtLocation Egg_bar__plus_01_dot_92_bar__plus_01_dot_57_bar__plus_05_dot_75 loc_bar_4_bar_22_bar_1_bar_60)\n (objectAtLocation Knife_bar__minus_00_dot_49_bar__plus_00_dot_79_bar__plus_06_dot_15 loc_bar_3_bar_26_bar_3_bar_45)\n (objectAtLocation Fork_bar__plus_00_dot_85_bar__plus_00_dot_99_bar__plus_00_dot_49 loc_bar_3_bar_4_bar_1_bar_45)\n (objectAtLocation Apple_bar__plus_02_dot_05_bar__plus_01_dot_59_bar__plus_05_dot_25 loc_bar_4_bar_22_bar_1_bar_60)\n (objectAtLocation Kettle_bar__plus_00_dot_19_bar__plus_00_dot_15_bar__plus_00_dot_43 loc_bar__minus_1_bar_7_bar_2_bar_45)\n (objectAtLocation Plate_bar__plus_01_dot_40_bar__plus_00_dot_99_bar__plus_03_dot_42 loc_bar_3_bar_4_bar_1_bar_45)\n (objectAtLocation HousePlant_bar__minus_00_dot_17_bar__plus_00_dot_75_bar__plus_06_dot_44 loc_bar_3_bar_26_bar_3_bar_45)\n (objectAtLocation SaltShaker_bar__plus_00_dot_60_bar__plus_00_dot_14_bar__plus_00_dot_42 loc_bar_1_bar_7_bar_2_bar_45)\n (objectAtLocation Lettuce_bar__minus_00_dot_53_bar__plus_00_dot_85_bar__plus_06_dot_76 loc_bar_3_bar_26_bar_3_bar_45)\n (objectAtLocation Window_bar__minus_02_dot_07_bar__plus_01_dot_92_bar__plus_03_dot_63 loc_bar__minus_6_bar_15_bar_3_bar__minus_30)\n (objectAtLocation Window_bar__plus_01_dot_76_bar__plus_02_dot_01_bar__plus_02_dot_30 loc_bar_3_bar_9_bar_1_bar__minus_15)\n (objectAtLocation SoapBottle_bar__plus_01_dot_16_bar__plus_00_dot_14_bar__plus_02_dot_01 loc_bar_1_bar_7_bar_1_bar_60)\n (objectAtLocation Spatula_bar__minus_00_dot_48_bar__plus_00_dot_79_bar__plus_00_dot_51 loc_bar__minus_5_bar_5_bar_1_bar_45)\n (objectAtLocation PaperTowelRoll_bar__plus_01_dot_14_bar__plus_01_dot_10_bar__plus_03_dot_23 loc_bar_3_bar_4_bar_1_bar_45)\n (objectAtLocation Pot_bar__plus_01_dot_32_bar__plus_00_dot_99_bar__plus_04_dot_29 loc_bar_3_bar_17_bar_1_bar_45)\n (objectAtLocation Potato_bar__plus_00_dot_31_bar__plus_00_dot_79_bar__plus_06_dot_48 loc_bar_3_bar_26_bar_3_bar_45)\n (objectAtLocation ButterKnife_bar__plus_01_dot_39_bar__plus_00_dot_89_bar__plus_02_dot_03 loc_bar_3_bar_9_bar_1_bar_45)\n (objectAtLocation StoveKnob_bar__plus_01_dot_14_bar__plus_00_dot_93_bar__plus_03_dot_99 loc_bar_3_bar_16_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_14_bar__plus_00_dot_93_bar__plus_04_dot_31 loc_bar_3_bar_17_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_14_bar__plus_00_dot_93_bar__plus_04_dot_14 loc_bar_3_bar_17_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_14_bar__plus_00_dot_93_bar__plus_03_dot_82 loc_bar_3_bar_15_bar_1_bar_60)\n (objectAtLocation PepperShaker_bar__plus_01_dot_14_bar__plus_00_dot_99_bar__plus_00_dot_21 loc_bar_3_bar_4_bar_1_bar_45)\n (objectAtLocation Pan_bar__plus_01_dot_56_bar__plus_00_dot_99_bar__plus_04_dot_29 loc_bar_3_bar_17_bar_1_bar_45)\n (objectAtLocation Tomato_bar__plus_02_dot_09_bar__plus_01_dot_57_bar__plus_05_dot_50 loc_bar_4_bar_22_bar_1_bar_60)\n (objectAtLocation DishSponge_bar__minus_00_dot_28_bar__plus_00_dot_76_bar__plus_06_dot_32 loc_bar_3_bar_26_bar_3_bar_45)\n (objectAtLocation Cup_bar__plus_00_dot_96_bar__plus_01_dot_58_bar__plus_00_dot_16 loc_bar_3_bar_4_bar_2_bar__minus_30)\n (objectAtLocation LightSwitch_bar__minus_02_dot_00_bar__plus_01_dot_55_bar__plus_06_dot_05 loc_bar__minus_6_bar_24_bar_3_bar_15)\n (objectAtLocation Chair_bar__plus_00_dot_29_bar__plus_00_dot_02_bar__plus_06_dot_14 loc_bar_1_bar_22_bar_0_bar_60)\n (objectAtLocation Spoon_bar__plus_01_dot_35_bar__plus_00_dot_77_bar__plus_03_dot_22 loc_bar_1_bar_13_bar_1_bar_45)\n (objectAtLocation Mug_bar__minus_00_dot_31_bar__plus_00_dot_76_bar__plus_06_dot_48 loc_bar_3_bar_26_bar_3_bar_45)\n (objectAtLocation Blinds_bar__plus_01_dot_74_bar__plus_02_dot_56_bar__plus_02_dot_31 loc_bar_3_bar_9_bar_1_bar__minus_30)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o1 - object)\n (and\n (objectType ?o1 PepperShakerType)\n (receptacleType ?r DiningTableType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 PepperShakerType)\n (receptacleType ?r DiningTableType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to coffeemachine 1", "take peppershaker 2 from countertop 2", "go to diningtable 1", "move peppershaker 2 to diningtable 1", "go to coffeemachine 1", "take peppershaker 1 from countertop 2", "go to diningtable 1", "move peppershaker 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-PepperShaker-None-DiningTable-18/trial_T20190918_215048_043255/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-PepperShaker-None-DiningTable-18/trial_T20190918_215048_043255/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..c92274c51f9cb9a741197d4803957b9eed696250 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-PepperShaker-None-DiningTable-18/trial_T20190918_215048_043255/initial_state.pddl @@ -0,0 +1,1067 @@ + +(define (problem plan_trial_T20190918_215048_043255) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + 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_05_bar__plus_01_dot_59_bar__plus_05_dot_25 - object + Blinds_bar__plus_01_dot_74_bar__plus_02_dot_56_bar__plus_02_dot_31 - object + Bowl_bar__plus_00_dot_12_bar__plus_00_dot_76_bar__plus_06_dot_11 - object + Bowl_bar__plus_01_dot_24_bar__plus_00_dot_14_bar__plus_03_dot_44 - object + Bowl_bar__minus_00_dot_62_bar__plus_00_dot_14_bar__plus_00_dot_58 - object + Bread_bar__plus_00_dot_02_bar__plus_00_dot_83_bar__plus_06_dot_74 - object + Bread_bar__minus_00_dot_46_bar__plus_01_dot_06_bar__plus_00_dot_30 - object + ButterKnife_bar__plus_01_dot_39_bar__plus_00_dot_89_bar__plus_02_dot_03 - object + Chair_bar__plus_00_dot_29_bar__plus_00_dot_02_bar__plus_06_dot_14 - object + Cup_bar__plus_00_dot_96_bar__plus_01_dot_58_bar__plus_00_dot_16 - object + Cup_bar__plus_01_dot_16_bar__plus_00_dot_14_bar__plus_02_dot_65 - object + DishSponge_bar__plus_00_dot_30_bar__plus_00_dot_76_bar__plus_06_dot_28 - object + DishSponge_bar__minus_00_dot_28_bar__plus_00_dot_76_bar__plus_06_dot_32 - object + Egg_bar__plus_01_dot_92_bar__plus_01_dot_57_bar__plus_05_dot_75 - object + Faucet_bar__plus_01_dot_54_bar__plus_01_dot_03_bar__plus_02_dot_37 - object + Fork_bar__plus_00_dot_85_bar__plus_00_dot_99_bar__plus_00_dot_49 - object + HousePlant_bar__minus_00_dot_17_bar__plus_00_dot_75_bar__plus_06_dot_44 - object + Kettle_bar__plus_00_dot_19_bar__plus_00_dot_15_bar__plus_00_dot_43 - object + Kettle_bar__plus_01_dot_57_bar__plus_00_dot_14_bar__plus_02_dot_01 - object + Knife_bar__plus_00_dot_26_bar__plus_00_dot_80_bar__plus_00_dot_45 - object + Knife_bar__minus_00_dot_49_bar__plus_00_dot_79_bar__plus_06_dot_15 - object + Lettuce_bar__plus_00_dot_15_bar__plus_00_dot_85_bar__plus_06_dot_35 - object + Lettuce_bar__minus_00_dot_53_bar__plus_00_dot_85_bar__plus_06_dot_76 - object + LightSwitch_bar__minus_02_dot_00_bar__plus_01_dot_55_bar__plus_06_dot_05 - object + Mug_bar__minus_00_dot_31_bar__plus_00_dot_76_bar__plus_06_dot_48 - object + Pan_bar__plus_01_dot_31_bar__plus_00_dot_99_bar__plus_04_dot_28 - object + Pan_bar__plus_01_dot_56_bar__plus_00_dot_99_bar__plus_04_dot_29 - object + PaperTowelRoll_bar__plus_01_dot_14_bar__plus_01_dot_10_bar__plus_03_dot_23 - object + PepperShaker_bar__plus_00_dot_06_bar__plus_00_dot_14_bar__plus_00_dot_66 - object + PepperShaker_bar__plus_01_dot_14_bar__plus_00_dot_99_bar__plus_00_dot_21 - object + PepperShaker_bar__plus_01_dot_31_bar__plus_00_dot_99_bar__plus_00_dot_21 - object + Plate_bar__plus_01_dot_40_bar__plus_00_dot_99_bar__plus_03_dot_42 - object + Potato_bar__plus_00_dot_31_bar__plus_00_dot_79_bar__plus_06_dot_48 - object + Potato_bar__plus_00_dot_85_bar__plus_01_dot_03_bar__plus_00_dot_30 - object + Pot_bar__plus_01_dot_32_bar__plus_00_dot_99_bar__plus_04_dot_29 - object + SaltShaker_bar__plus_00_dot_60_bar__plus_00_dot_14_bar__plus_00_dot_42 - object + SaltShaker_bar__minus_00_dot_35_bar__plus_00_dot_76_bar__plus_06_dot_94 - object + Sink_bar__plus_01_dot_39_bar__plus_01_dot_01_bar__plus_02_dot_33 - object + SoapBottle_bar__plus_01_dot_16_bar__plus_00_dot_14_bar__plus_02_dot_01 - object + SoapBottle_bar__plus_01_dot_40_bar__plus_02_dot_21_bar__plus_04_dot_22 - object + Spatula_bar__minus_00_dot_47_bar__plus_00_dot_78_bar__plus_06_dot_54 - object + Spatula_bar__minus_00_dot_48_bar__plus_00_dot_79_bar__plus_00_dot_51 - object + Spoon_bar__plus_00_dot_87_bar__plus_00_dot_77_bar__plus_00_dot_62 - object + Spoon_bar__plus_01_dot_35_bar__plus_00_dot_77_bar__plus_03_dot_22 - object + Spoon_bar__minus_00_dot_03_bar__plus_00_dot_76_bar__plus_06_dot_94 - object + StoveKnob_bar__plus_01_dot_14_bar__plus_00_dot_93_bar__plus_03_dot_82 - object + StoveKnob_bar__plus_01_dot_14_bar__plus_00_dot_93_bar__plus_03_dot_99 - object + 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loc_bar_1_bar_7_bar_1_bar_60 - location + loc_bar_3_bar_26_bar_3_bar_45 - location + loc_bar_3_bar_19_bar_1_bar_45 - location + loc_bar_3_bar_4_bar_2_bar__minus_30 - location + loc_bar__minus_6_bar_25_bar_2_bar_30 - location + ) + + +(:init + + + (receptacleType Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_02_dot_99 CabinetType) + (receptacleType Drawer_bar__plus_00_dot_12_bar__plus_00_dot_80_bar__plus_00_dot_52 DrawerType) + (receptacleType CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90 CounterTopType) + (receptacleType Sink_bar__plus_01_dot_39_bar__plus_01_dot_01_bar__plus_02_dot_33_bar_SinkBasin SinkBasinType) + (receptacleType Cabinet_bar__plus_01_dot_27_bar__plus_02_dot_13_bar__plus_00_dot_43 CabinetType) + (receptacleType StoveBurner_bar__plus_01_dot_32_bar__plus_00_dot_98_bar__plus_04_dot_29 StoveBurnerType) + (receptacleType StoveBurner_bar__plus_01_dot_56_bar__plus_00_dot_98_bar__plus_03_dot_85 StoveBurnerType) + (receptacleType 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CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90) + (inReceptacle Potato_bar__plus_00_dot_85_bar__plus_01_dot_03_bar__plus_00_dot_30 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90) + (inReceptacle Plate_bar__plus_01_dot_40_bar__plus_00_dot_99_bar__plus_03_dot_42 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90) + (inReceptacle PepperShaker_bar__plus_01_dot_31_bar__plus_00_dot_99_bar__plus_00_dot_21 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90) + (inReceptacle SaltShaker_bar__plus_00_dot_60_bar__plus_00_dot_14_bar__plus_00_dot_42 Cabinet_bar__plus_00_dot_44_bar__plus_00_dot_42_bar__plus_00_dot_74) + (inReceptacle Cup_bar__plus_00_dot_96_bar__plus_01_dot_58_bar__plus_00_dot_16 Cabinet_bar__plus_01_dot_27_bar__plus_02_dot_13_bar__plus_00_dot_43) + (inReceptacle Bowl_bar__minus_00_dot_62_bar__plus_00_dot_14_bar__plus_00_dot_58 Cabinet_bar__minus_00_dot_78_bar__plus_00_dot_42_bar__plus_00_dot_74) + 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6.479039 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 1224515956, + "scene_num": 18 + }, + "task_id": "trial_T20190918_215048_043255", + "task_type": "pick_two_obj_and_place", + "turk_annotations": { + "anns": [ + { + "assignment_id": "AO33H4GL9KZX9_304SM51WA6LQ4ZFYVNMWDEZR06PSBE", + "high_descs": [ + "Go to the counter on the opposite side of the kitchen.", + "Pick up the salt shaker on the left.", + "Turn around go to the black round table.", + "Place the salt shaker between the potato and the bread.", + "Go back to the counter on the opposite side. ", + "Pick up the remaining salt shaker. ", + "Go back to the black round table. ", + "Place the salt shaker on the table behind the bowl and the lettuce. " + ], + "task_desc": "Put the salt shakers on the table. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3PPLDHC3CG0YN_378XPAWRUFUWRB7AKXSME19Y9QBAII", + "high_descs": [ + "Walk to the counter to the left of the microwave. ", + "Pick up the pepper mill from that's all the way to the left. ", + "Turn around and walk to the black table facing the sponge and the potato. ", + "Put the pepper mill down to the right of the potato. ", + "Turn left and walk back to the counter to the left of the microwave. ", + "Pick up the remaining pepper mill from the counter. ", + "Turn around and walk back over to the black table. ", + "Place the pepper mill on the black table to the right of the black bowl. " + ], + "task_desc": "To move two pepper mills from the counter to the table. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A36DK84J5YJ942_3IX2EGZR7E0KL3DX4QZ8LSD8M9IRJD", + "high_descs": [ + "move to the counter to the right of the sink", + "pick up a grinder from the counter", + "move to the table to the left of the stove", + "put the grinder on the table", + "move to the counter to the right of the sink", + "pick up a grinder from the counter", + "move to the table to the left of the stove", + "put the grinder on the table" + ], + "task_desc": "Put two grinders on a table.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-PepperShaker-None-DiningTable-18/trial_T20190919_002034_827829/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-PepperShaker-None-DiningTable-18/trial_T20190919_002034_827829/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..06c0a0c89a92c6cd5baac6a0e4fa2eeb452deee4 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-PepperShaker-None-DiningTable-18/trial_T20190919_002034_827829/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\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 peppershaker and put them in diningtable.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190919_002034_827829)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\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_97_bar__plus_01_dot_59_bar__plus_05_dot_25 - object\n Apple_bar__plus_02_dot_05_bar__plus_01_dot_59_bar__plus_05_dot_63 - object\n Apple_bar__minus_00_dot_16_bar__plus_00_dot_83_bar__plus_06_dot_29 - object\n 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Spoon_bar__minus_00_dot_33_bar__plus_00_dot_76_bar__plus_06_dot_22 - object\n StoveKnob_bar__plus_01_dot_14_bar__plus_00_dot_93_bar__plus_03_dot_82 - object\n StoveKnob_bar__plus_01_dot_14_bar__plus_00_dot_93_bar__plus_03_dot_99 - object\n StoveKnob_bar__plus_01_dot_14_bar__plus_00_dot_93_bar__plus_04_dot_14 - object\n StoveKnob_bar__plus_01_dot_14_bar__plus_00_dot_93_bar__plus_04_dot_31 - object\n Tomato_bar__plus_01_dot_28_bar__plus_00_dot_94_bar__plus_01_dot_98 - object\n Tomato_bar__plus_02_dot_14_bar__plus_01_dot_57_bar__plus_05_dot_75 - object\n Window_bar__plus_01_dot_76_bar__plus_02_dot_01_bar__plus_02_dot_30 - object\n Window_bar__minus_02_dot_07_bar__plus_01_dot_92_bar__plus_03_dot_63 - object\n Cabinet_bar__plus_00_dot_25_bar__plus_02_dot_13_bar__plus_00_dot_43 - receptacle\n Cabinet_bar__plus_00_dot_44_bar__plus_00_dot_42_bar__plus_00_dot_74 - receptacle\n Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_01_dot_71 - receptacle\n 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Cabinet_bar__minus_00_dot_78_bar__plus_00_dot_42_bar__plus_00_dot_74 - receptacle\n CoffeeMachine_bar__plus_01_dot_55_bar__plus_00_dot_98_bar__plus_00_dot_95 - receptacle\n CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90 - receptacle\n CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_04_dot_72 - receptacle\n DiningTable_bar__minus_00_dot_16_bar__plus_00_dot_67_bar__plus_06_dot_47 - receptacle\n Drawer_bar__plus_00_dot_12_bar__plus_00_dot_80_bar__plus_00_dot_52 - receptacle\n Drawer_bar__plus_00_dot_74_bar__plus_00_dot_80_bar__plus_00_dot_52 - receptacle\n Drawer_bar__plus_01_dot_28_bar__plus_00_dot_80_bar__plus_03_dot_29 - receptacle\n Drawer_bar__plus_01_dot_28_bar__plus_00_dot_81_bar__plus_04_dot_72 - receptacle\n Drawer_bar__minus_00_dot_48_bar__plus_00_dot_80_bar__plus_00_dot_52 - receptacle\n Fridge_bar__plus_02_dot_04_bar__plus_00_dot_00_bar__plus_05_dot_63 - receptacle\n GarbageCan_bar__plus_02_dot_00_bar__plus_00_dot_00_bar__plus_06_dot_50 - 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location\n loc_bar_1_bar_22_bar_0_bar_60 - location\n loc_bar_0_bar_5_bar_1_bar_45 - location\n loc_bar_3_bar_15_bar_1_bar_60 - location\n loc_bar_1_bar_6_bar_2_bar_30 - location\n loc_bar_1_bar_7_bar_2_bar_45 - location\n loc_bar_3_bar_4_bar_1_bar_45 - location\n loc_bar_1_bar_7_bar_1_bar_60 - location\n loc_bar_3_bar_26_bar_3_bar_45 - location\n loc_bar_3_bar_19_bar_1_bar_45 - location\n loc_bar_3_bar_4_bar_2_bar__minus_30 - location\n loc_bar_4_bar_27_bar_3_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_02_dot_99 CabinetType)\n (receptacleType Drawer_bar__plus_00_dot_12_bar__plus_00_dot_80_bar__plus_00_dot_52 DrawerType)\n (receptacleType CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90 CounterTopType)\n (receptacleType Sink_bar__plus_01_dot_39_bar__plus_01_dot_01_bar__plus_02_dot_33_bar_SinkBasin SinkBasinType)\n (receptacleType 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CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90)\n (inReceptacle Spoon_bar__plus_01_dot_49_bar__plus_00_dot_99_bar__plus_03_dot_42 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90)\n (inReceptacle Kettle_bar__plus_01_dot_23_bar__plus_00_dot_99_bar__plus_01_dot_58 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90)\n (inReceptacle Spatula_bar__plus_01_dot_40_bar__plus_01_dot_01_bar__plus_01_dot_58 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90)\n (inReceptacle SaltShaker_bar__minus_00_dot_54_bar__plus_00_dot_99_bar__plus_00_dot_21 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90)\n (inReceptacle ButterKnife_bar__plus_00_dot_92_bar__plus_00_dot_99_bar__plus_00_dot_21 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90)\n (inReceptacle PepperShaker_bar__minus_00_dot_31_bar__plus_00_dot_99_bar__plus_00_dot_58 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90)\n (inReceptacle Knife_bar__minus_00_dot_46_bar__plus_01_dot_02_bar__plus_00_dot_58 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90)\n (inReceptacle PepperShaker_bar__plus_01_dot_14_bar__plus_00_dot_99_bar__plus_04_dot_85 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_04_dot_72)\n (inReceptacle SoapBottle_bar__plus_01_dot_49_bar__plus_00_dot_14_bar__plus_04_dot_80 Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_04_dot_55)\n (inReceptacle SaltShaker_bar__plus_01_dot_23_bar__plus_00_dot_14_bar__plus_04_dot_72 Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_04_dot_55)\n (inReceptacle Kettle_bar__plus_01_dot_50_bar__plus_01_dot_58_bar__plus_04_dot_51 Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_04_dot_89)\n (inReceptacle Plate_bar__plus_00_dot_67_bar__plus_00_dot_14_bar__plus_00_dot_34 Cabinet_bar__plus_00_dot_44_bar__plus_00_dot_42_bar__plus_00_dot_74)\n (inReceptacle Plate_bar__minus_00_dot_55_bar__plus_00_dot_14_bar__plus_00_dot_28 Cabinet_bar__minus_00_dot_78_bar__plus_00_dot_42_bar__plus_00_dot_74)\n (inReceptacle Bowl_bar__plus_01_dot_24_bar__plus_00_dot_14_bar__plus_03_dot_22 Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_02_dot_99)\n (inReceptacle DishSponge_bar__plus_01_dot_41_bar__plus_00_dot_14_bar__plus_03_dot_44 Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_02_dot_99)\n (inReceptacle Pan_bar__plus_01_dot_24_bar__plus_00_dot_14_bar__plus_02_dot_50 Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_02_dot_94)\n (inReceptacle Plate_bar__minus_00_dot_01_bar__plus_01_dot_58_bar__plus_00_dot_25 Cabinet_bar__minus_00_dot_26_bar__plus_02_dot_13_bar__plus_00_dot_43)\n (inReceptacle Cup_bar__plus_00_dot_06_bar__plus_01_dot_09_bar__plus_00_dot_31 Microwave_bar__plus_00_dot_11_bar__plus_00_dot_98_bar__plus_00_dot_26)\n (inReceptacle Tomato_bar__plus_02_dot_14_bar__plus_01_dot_57_bar__plus_05_dot_75 Fridge_bar__plus_02_dot_04_bar__plus_00_dot_00_bar__plus_05_dot_63)\n (inReceptacle Egg_bar__plus_02_dot_05_bar__plus_01_dot_57_bar__plus_05_dot_38 Fridge_bar__plus_02_dot_04_bar__plus_00_dot_00_bar__plus_05_dot_63)\n (inReceptacle Potato_bar__plus_01_dot_97_bar__plus_01_dot_55_bar__plus_06_dot_00 Fridge_bar__plus_02_dot_04_bar__plus_00_dot_00_bar__plus_05_dot_63)\n (inReceptacle Cup_bar__plus_02_dot_14_bar__plus_01_dot_51_bar__plus_05_dot_88 Fridge_bar__plus_02_dot_04_bar__plus_00_dot_00_bar__plus_05_dot_63)\n (inReceptacle Apple_bar__plus_01_dot_97_bar__plus_01_dot_59_bar__plus_05_dot_25 Fridge_bar__plus_02_dot_04_bar__plus_00_dot_00_bar__plus_05_dot_63)\n (inReceptacle Apple_bar__plus_02_dot_05_bar__plus_01_dot_59_bar__plus_05_dot_63 Fridge_bar__plus_02_dot_04_bar__plus_00_dot_00_bar__plus_05_dot_63)\n (inReceptacleObject Pot_bar__plus_01_dot_32_bar__plus_00_dot_99_bar__plus_03_dot_85 Pot_bar__plus_01_dot_56_bar__plus_00_dot_99_bar__plus_03_dot_85)\n (inReceptacle Egg_bar__plus_01_dot_44_bar__plus_00_dot_94_bar__plus_02_dot_14 Sink_bar__plus_01_dot_39_bar__plus_01_dot_01_bar__plus_02_dot_33_bar_SinkBasin)\n (inReceptacle Tomato_bar__plus_01_dot_28_bar__plus_00_dot_94_bar__plus_01_dot_98 Sink_bar__plus_01_dot_39_bar__plus_01_dot_01_bar__plus_02_dot_33_bar_SinkBasin)\n \n \n (receptacleAtLocation Cabinet_bar__plus_00_dot_25_bar__plus_02_dot_13_bar__plus_00_dot_43 loc_bar_2_bar_4_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_44_bar__plus_00_dot_42_bar__plus_00_dot_74 loc_bar_1_bar_7_bar_2_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_01_dot_71 loc_bar_1_bar_7_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_02_dot_94 loc_bar_1_bar_10_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_02_dot_99 loc_bar_1_bar_14_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_04_dot_55 loc_bar_1_bar_17_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_27_bar__plus_02_dot_13_bar__plus_00_dot_43 loc_bar_3_bar_4_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_31_bar__plus_02_dot_46_bar__plus_03_dot_61 loc_bar_3_bar_14_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_31_bar__plus_02_dot_46_bar__plus_04_dot_36 loc_bar_3_bar_17_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_00_dot_52 loc_bar_3_bar_4_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_01_dot_53 loc_bar_3_bar_5_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_03_dot_10 loc_bar_3_bar_14_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_04_dot_89 loc_bar_3_bar_18_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_17_bar__plus_00_dot_42_bar__plus_00_dot_74 loc_bar__minus_1_bar_7_bar_2_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_26_bar__plus_02_dot_13_bar__plus_00_dot_43 loc_bar_0_bar_4_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_78_bar__plus_00_dot_42_bar__plus_00_dot_74 loc_bar_0_bar_7_bar_2_bar_45)\n (receptacleAtLocation CoffeeMachine_bar__plus_01_dot_55_bar__plus_00_dot_98_bar__plus_00_dot_95 loc_bar_3_bar_4_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90 loc_bar_3_bar_4_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_04_dot_72 loc_bar_3_bar_19_bar_1_bar_45)\n (receptacleAtLocation DiningTable_bar__minus_00_dot_16_bar__plus_00_dot_67_bar__plus_06_dot_47 loc_bar_3_bar_26_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_12_bar__plus_00_dot_80_bar__plus_00_dot_52 loc_bar__minus_3_bar_5_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_74_bar__plus_00_dot_80_bar__plus_00_dot_52 loc_bar_0_bar_5_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_01_dot_28_bar__plus_00_dot_80_bar__plus_03_dot_29 loc_bar_1_bar_13_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_01_dot_28_bar__plus_00_dot_81_bar__plus_04_dot_72 loc_bar_1_bar_20_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_48_bar__plus_00_dot_80_bar__plus_00_dot_52 loc_bar__minus_5_bar_5_bar_1_bar_45)\n (receptacleAtLocation Fridge_bar__plus_02_dot_04_bar__plus_00_dot_00_bar__plus_05_dot_63 loc_bar_4_bar_22_bar_1_bar_60)\n (receptacleAtLocation GarbageCan_bar__plus_02_dot_00_bar__plus_00_dot_00_bar__plus_06_dot_50 loc_bar_4_bar_24_bar_1_bar_60)\n (receptacleAtLocation Microwave_bar__plus_00_dot_11_bar__plus_00_dot_98_bar__plus_00_dot_26 loc_bar_1_bar_6_bar_2_bar_30)\n (receptacleAtLocation Safe_bar__plus_02_dot_05_bar__minus_00_dot_01_bar__plus_07_dot_06 loc_bar_4_bar_26_bar_1_bar_60)\n (receptacleAtLocation Sink_bar__plus_01_dot_39_bar__plus_01_dot_01_bar__plus_02_dot_33_bar_SinkBasin loc_bar_3_bar_9_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_32_bar__plus_00_dot_98_bar__plus_03_dot_85 loc_bar_3_bar_15_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_32_bar__plus_00_dot_98_bar__plus_04_dot_29 loc_bar_3_bar_17_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_56_bar__plus_00_dot_98_bar__plus_03_dot_85 loc_bar_3_bar_15_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_56_bar__plus_00_dot_98_bar__plus_04_dot_29 loc_bar_3_bar_17_bar_1_bar_45)\n (receptacleAtLocation Toaster_bar__plus_01_dot_47_bar__plus_00_dot_98_bar__plus_04_dot_72 loc_bar_3_bar_19_bar_1_bar_45)\n (objectAtLocation Spoon_bar__minus_00_dot_33_bar__plus_00_dot_76_bar__plus_06_dot_22 loc_bar_3_bar_26_bar_3_bar_45)\n (objectAtLocation Cup_bar__plus_00_dot_06_bar__plus_01_dot_09_bar__plus_00_dot_31 loc_bar_1_bar_6_bar_2_bar_30)\n (objectAtLocation DishSponge_bar__plus_01_dot_29_bar__plus_00_dot_77_bar__plus_04_dot_79 loc_bar_1_bar_20_bar_1_bar_45)\n (objectAtLocation Tomato_bar__plus_01_dot_28_bar__plus_00_dot_94_bar__plus_01_dot_98 loc_bar_3_bar_9_bar_1_bar_45)\n (objectAtLocation Pan_bar__plus_01_dot_31_bar__plus_00_dot_99_bar__plus_04_dot_28 loc_bar_3_bar_17_bar_1_bar_45)\n (objectAtLocation PepperShaker_bar__plus_01_dot_14_bar__plus_00_dot_99_bar__plus_04_dot_85 loc_bar_3_bar_19_bar_1_bar_45)\n (objectAtLocation ButterKnife_bar__plus_00_dot_92_bar__plus_00_dot_99_bar__plus_00_dot_21 loc_bar_3_bar_4_bar_1_bar_45)\n (objectAtLocation Potato_bar__plus_01_dot_97_bar__plus_01_dot_55_bar__plus_06_dot_00 loc_bar_4_bar_22_bar_1_bar_60)\n (objectAtLocation Pot_bar__plus_01_dot_32_bar__plus_00_dot_99_bar__plus_03_dot_85 loc_bar_3_bar_15_bar_1_bar_45)\n (objectAtLocation Lettuce_bar__plus_00_dot_17_bar__plus_00_dot_85_bar__plus_06_dot_15 loc_bar_3_bar_26_bar_3_bar_45)\n (objectAtLocation SaltShaker_bar__plus_01_dot_23_bar__plus_00_dot_14_bar__plus_04_dot_72 loc_bar_1_bar_17_bar_1_bar_60)\n (objectAtLocation Plate_bar__plus_00_dot_67_bar__plus_00_dot_14_bar__plus_00_dot_34 loc_bar_1_bar_7_bar_2_bar_45)\n (objectAtLocation Kettle_bar__plus_01_dot_23_bar__plus_00_dot_99_bar__plus_01_dot_58 loc_bar_3_bar_4_bar_1_bar_45)\n (objectAtLocation Apple_bar__plus_01_dot_97_bar__plus_01_dot_59_bar__plus_05_dot_25 loc_bar_4_bar_22_bar_1_bar_60)\n (objectAtLocation Fork_bar__minus_00_dot_22_bar__plus_00_dot_76_bar__plus_06_dot_79 loc_bar_3_bar_26_bar_3_bar_45)\n (objectAtLocation Knife_bar__minus_00_dot_46_bar__plus_01_dot_02_bar__plus_00_dot_58 loc_bar_3_bar_4_bar_1_bar_45)\n (objectAtLocation Egg_bar__plus_02_dot_05_bar__plus_01_dot_57_bar__plus_05_dot_38 loc_bar_4_bar_22_bar_1_bar_60)\n (objectAtLocation Bowl_bar__plus_01_dot_24_bar__plus_00_dot_14_bar__plus_03_dot_22 loc_bar_1_bar_14_bar_1_bar_60)\n (objectAtLocation Apple_bar__minus_00_dot_16_bar__plus_00_dot_83_bar__plus_06_dot_29 loc_bar_3_bar_26_bar_3_bar_45)\n (objectAtLocation PepperShaker_bar__plus_00_dot_70_bar__plus_00_dot_99_bar__plus_00_dot_67 loc_bar_3_bar_4_bar_1_bar_45)\n (objectAtLocation Plate_bar__minus_00_dot_55_bar__plus_00_dot_14_bar__plus_00_dot_28 loc_bar_0_bar_7_bar_2_bar_45)\n (objectAtLocation Fork_bar__minus_00_dot_03_bar__plus_00_dot_76_bar__plus_06_dot_63 loc_bar_3_bar_26_bar_3_bar_45)\n (objectAtLocation Spoon_bar__plus_01_dot_49_bar__plus_00_dot_99_bar__plus_03_dot_42 loc_bar_3_bar_4_bar_1_bar_45)\n (objectAtLocation ButterKnife_bar__plus_01_dot_40_bar__plus_00_dot_99_bar__plus_00_dot_21 loc_bar_3_bar_4_bar_1_bar_45)\n (objectAtLocation DishSponge_bar__plus_01_dot_24_bar__plus_00_dot_77_bar__plus_03_dot_36 loc_bar_1_bar_13_bar_1_bar_45)\n (objectAtLocation Sink_bar__plus_01_dot_39_bar__plus_01_dot_01_bar__plus_02_dot_33 loc_bar_3_bar_9_bar_1_bar_45)\n (objectAtLocation Bowl_bar__plus_01_dot_24_bar__plus_00_dot_14_bar__plus_02_dot_16 loc_bar_1_bar_7_bar_1_bar_60)\n (objectAtLocation Bread_bar__plus_01_dot_10_bar__plus_01_dot_05_bar__plus_00_dot_43 loc_bar_3_bar_4_bar_1_bar_45)\n (objectAtLocation Egg_bar__plus_01_dot_44_bar__plus_00_dot_94_bar__plus_02_dot_14 loc_bar_3_bar_9_bar_1_bar_45)\n (objectAtLocation Knife_bar__minus_00_dot_31_bar__plus_00_dot_79_bar__plus_06_dot_35 loc_bar_3_bar_26_bar_3_bar_45)\n (objectAtLocation Fork_bar__plus_00_dot_74_bar__plus_00_dot_77_bar__plus_00_dot_62 loc_bar_0_bar_5_bar_1_bar_45)\n (objectAtLocation Apple_bar__plus_02_dot_05_bar__plus_01_dot_59_bar__plus_05_dot_63 loc_bar_4_bar_22_bar_1_bar_60)\n (objectAtLocation Kettle_bar__plus_01_dot_50_bar__plus_01_dot_58_bar__plus_04_dot_51 loc_bar_3_bar_18_bar_1_bar__minus_30)\n (objectAtLocation Plate_bar__minus_00_dot_01_bar__plus_01_dot_58_bar__plus_00_dot_25 loc_bar_0_bar_4_bar_2_bar__minus_30)\n (objectAtLocation HousePlant_bar__minus_00_dot_17_bar__plus_00_dot_75_bar__plus_06_dot_44 loc_bar_3_bar_26_bar_3_bar_45)\n (objectAtLocation SaltShaker_bar__minus_00_dot_54_bar__plus_00_dot_99_bar__plus_00_dot_21 loc_bar_3_bar_4_bar_1_bar_45)\n (objectAtLocation Lettuce_bar__minus_00_dot_44_bar__plus_00_dot_85_bar__plus_06_dot_85 loc_bar_3_bar_26_bar_3_bar_45)\n (objectAtLocation Window_bar__minus_02_dot_07_bar__plus_01_dot_92_bar__plus_03_dot_63 loc_bar__minus_6_bar_15_bar_3_bar__minus_30)\n (objectAtLocation Window_bar__plus_01_dot_76_bar__plus_02_dot_01_bar__plus_02_dot_30 loc_bar_3_bar_9_bar_1_bar__minus_15)\n (objectAtLocation SoapBottle_bar__plus_01_dot_49_bar__plus_00_dot_14_bar__plus_04_dot_80 loc_bar_1_bar_17_bar_1_bar_60)\n (objectAtLocation Spatula_bar__plus_01_dot_40_bar__plus_01_dot_01_bar__plus_01_dot_58 loc_bar_3_bar_4_bar_1_bar_45)\n (objectAtLocation PaperTowelRoll_bar__minus_00_dot_53_bar__plus_00_dot_86_bar__plus_06_dot_76 loc_bar_3_bar_26_bar_3_bar_45)\n (objectAtLocation Pot_bar__plus_01_dot_56_bar__plus_00_dot_99_bar__plus_03_dot_85 loc_bar_3_bar_15_bar_1_bar_45)\n (objectAtLocation Potato_bar__minus_00_dot_31_bar__plus_00_dot_79_bar__plus_06_dot_54 loc_bar_3_bar_26_bar_3_bar_45)\n (objectAtLocation ButterKnife_bar__plus_00_dot_80_bar__plus_00_dot_77_bar__plus_00_dot_51 loc_bar_0_bar_5_bar_1_bar_45)\n (objectAtLocation StoveKnob_bar__plus_01_dot_14_bar__plus_00_dot_93_bar__plus_03_dot_99 loc_bar_3_bar_16_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_14_bar__plus_00_dot_93_bar__plus_04_dot_31 loc_bar_3_bar_17_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_14_bar__plus_00_dot_93_bar__plus_04_dot_14 loc_bar_3_bar_17_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_14_bar__plus_00_dot_93_bar__plus_03_dot_82 loc_bar_3_bar_15_bar_1_bar_60)\n (objectAtLocation PepperShaker_bar__minus_00_dot_31_bar__plus_00_dot_99_bar__plus_00_dot_58 loc_bar_3_bar_4_bar_1_bar_45)\n (objectAtLocation Pan_bar__plus_01_dot_24_bar__plus_00_dot_14_bar__plus_02_dot_50 loc_bar_1_bar_10_bar_1_bar_60)\n (objectAtLocation Tomato_bar__plus_02_dot_14_bar__plus_01_dot_57_bar__plus_05_dot_75 loc_bar_4_bar_22_bar_1_bar_60)\n (objectAtLocation DishSponge_bar__plus_01_dot_41_bar__plus_00_dot_14_bar__plus_03_dot_44 loc_bar_1_bar_14_bar_1_bar_60)\n (objectAtLocation Cup_bar__plus_02_dot_14_bar__plus_01_dot_51_bar__plus_05_dot_88 loc_bar_4_bar_22_bar_1_bar_60)\n (objectAtLocation LightSwitch_bar__minus_02_dot_00_bar__plus_01_dot_55_bar__plus_06_dot_05 loc_bar__minus_6_bar_24_bar_3_bar_15)\n (objectAtLocation Chair_bar__plus_00_dot_29_bar__plus_00_dot_02_bar__plus_06_dot_14 loc_bar_1_bar_22_bar_0_bar_60)\n (objectAtLocation Spoon_bar__plus_00_dot_06_bar__plus_00_dot_77_bar__plus_00_dot_51 loc_bar__minus_3_bar_5_bar_1_bar_45)\n (objectAtLocation Mug_bar__plus_00_dot_02_bar__plus_00_dot_76_bar__plus_06_dot_74 loc_bar_3_bar_26_bar_3_bar_45)\n (objectAtLocation Blinds_bar__plus_01_dot_74_bar__plus_02_dot_56_bar__plus_02_dot_31 loc_bar_3_bar_9_bar_1_bar__minus_30)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o1 - object)\n (and\n (objectType ?o1 PepperShakerType)\n (receptacleType ?r DiningTableType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 PepperShakerType)\n (receptacleType ?r DiningTableType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 1", "take peppershaker 1 from countertop 1", "go to diningtable 1", "move peppershaker 1 to diningtable 1", "go to coffeemachine 1", "take peppershaker 3 from countertop 2", "go to diningtable 1", "move peppershaker 3 to diningtable 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-PepperShaker-None-DiningTable-18/trial_T20190919_002034_827829/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-PepperShaker-None-DiningTable-18/trial_T20190919_002034_827829/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..fbedaccb18e4d537d10d0201da72fde23cc2f646 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-PepperShaker-None-DiningTable-18/trial_T20190919_002034_827829/initial_state.pddl @@ -0,0 +1,1132 @@ + +(define (problem plan_trial_T20190919_002034_827829) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + 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_97_bar__plus_01_dot_59_bar__plus_05_dot_25 - object + Apple_bar__plus_02_dot_05_bar__plus_01_dot_59_bar__plus_05_dot_63 - object + Apple_bar__minus_00_dot_16_bar__plus_00_dot_83_bar__plus_06_dot_29 - object + Blinds_bar__plus_01_dot_74_bar__plus_02_dot_56_bar__plus_02_dot_31 - object + Bowl_bar__plus_01_dot_24_bar__plus_00_dot_14_bar__plus_02_dot_16 - object + Bowl_bar__plus_01_dot_24_bar__plus_00_dot_14_bar__plus_03_dot_22 - object + Bread_bar__plus_01_dot_10_bar__plus_01_dot_05_bar__plus_00_dot_43 - object + ButterKnife_bar__plus_00_dot_80_bar__plus_00_dot_77_bar__plus_00_dot_51 - object + ButterKnife_bar__plus_00_dot_92_bar__plus_00_dot_99_bar__plus_00_dot_21 - object + ButterKnife_bar__plus_01_dot_40_bar__plus_00_dot_99_bar__plus_00_dot_21 - object + Chair_bar__plus_00_dot_29_bar__plus_00_dot_02_bar__plus_06_dot_14 - object + Cup_bar__plus_00_dot_06_bar__plus_01_dot_09_bar__plus_00_dot_31 - object + Cup_bar__plus_02_dot_14_bar__plus_01_dot_51_bar__plus_05_dot_88 - object + DishSponge_bar__plus_01_dot_24_bar__plus_00_dot_77_bar__plus_03_dot_36 - object + DishSponge_bar__plus_01_dot_29_bar__plus_00_dot_77_bar__plus_04_dot_79 - object + DishSponge_bar__plus_01_dot_41_bar__plus_00_dot_14_bar__plus_03_dot_44 - object + Egg_bar__plus_01_dot_44_bar__plus_00_dot_94_bar__plus_02_dot_14 - object + Egg_bar__plus_02_dot_05_bar__plus_01_dot_57_bar__plus_05_dot_38 - object + Faucet_bar__plus_01_dot_54_bar__plus_01_dot_03_bar__plus_02_dot_37 - object + Fork_bar__plus_00_dot_74_bar__plus_00_dot_77_bar__plus_00_dot_62 - object + Fork_bar__minus_00_dot_03_bar__plus_00_dot_76_bar__plus_06_dot_63 - object + Fork_bar__minus_00_dot_22_bar__plus_00_dot_76_bar__plus_06_dot_79 - object + HousePlant_bar__minus_00_dot_17_bar__plus_00_dot_75_bar__plus_06_dot_44 - object + Kettle_bar__plus_01_dot_23_bar__plus_00_dot_99_bar__plus_01_dot_58 - object + Kettle_bar__plus_01_dot_50_bar__plus_01_dot_58_bar__plus_04_dot_51 - object + Knife_bar__minus_00_dot_31_bar__plus_00_dot_79_bar__plus_06_dot_35 - object + Knife_bar__minus_00_dot_46_bar__plus_01_dot_02_bar__plus_00_dot_58 - object + Lettuce_bar__plus_00_dot_17_bar__plus_00_dot_85_bar__plus_06_dot_15 - object + Lettuce_bar__minus_00_dot_44_bar__plus_00_dot_85_bar__plus_06_dot_85 - object + LightSwitch_bar__minus_02_dot_00_bar__plus_01_dot_55_bar__plus_06_dot_05 - object + Mug_bar__plus_00_dot_02_bar__plus_00_dot_76_bar__plus_06_dot_74 - object + Pan_bar__plus_01_dot_24_bar__plus_00_dot_14_bar__plus_02_dot_50 - object + Pan_bar__plus_01_dot_31_bar__plus_00_dot_99_bar__plus_04_dot_28 - object + PaperTowelRoll_bar__minus_00_dot_53_bar__plus_00_dot_86_bar__plus_06_dot_76 - object + PepperShaker_bar__plus_00_dot_70_bar__plus_00_dot_99_bar__plus_00_dot_67 - object + PepperShaker_bar__plus_01_dot_14_bar__plus_00_dot_99_bar__plus_04_dot_85 - object + PepperShaker_bar__minus_00_dot_31_bar__plus_00_dot_99_bar__plus_00_dot_58 - object + Plate_bar__plus_00_dot_67_bar__plus_00_dot_14_bar__plus_00_dot_34 - object + Plate_bar__minus_00_dot_01_bar__plus_01_dot_58_bar__plus_00_dot_25 - object + Plate_bar__minus_00_dot_55_bar__plus_00_dot_14_bar__plus_00_dot_28 - object + Potato_bar__plus_01_dot_97_bar__plus_01_dot_55_bar__plus_06_dot_00 - object + Potato_bar__minus_00_dot_31_bar__plus_00_dot_79_bar__plus_06_dot_54 - object + Pot_bar__plus_01_dot_32_bar__plus_00_dot_99_bar__plus_03_dot_85 - object + Pot_bar__plus_01_dot_56_bar__plus_00_dot_99_bar__plus_03_dot_85 - object + SaltShaker_bar__plus_01_dot_23_bar__plus_00_dot_14_bar__plus_04_dot_72 - object + SaltShaker_bar__minus_00_dot_54_bar__plus_00_dot_99_bar__plus_00_dot_21 - object + Sink_bar__plus_01_dot_39_bar__plus_01_dot_01_bar__plus_02_dot_33 - object + SoapBottle_bar__plus_01_dot_49_bar__plus_00_dot_14_bar__plus_04_dot_80 - object + Spatula_bar__plus_01_dot_40_bar__plus_01_dot_01_bar__plus_01_dot_58 - object + Spoon_bar__plus_00_dot_06_bar__plus_00_dot_77_bar__plus_00_dot_51 - object + Spoon_bar__plus_01_dot_49_bar__plus_00_dot_99_bar__plus_03_dot_42 - object + Spoon_bar__minus_00_dot_33_bar__plus_00_dot_76_bar__plus_06_dot_22 - object + StoveKnob_bar__plus_01_dot_14_bar__plus_00_dot_93_bar__plus_03_dot_82 - object + StoveKnob_bar__plus_01_dot_14_bar__plus_00_dot_93_bar__plus_03_dot_99 - object + StoveKnob_bar__plus_01_dot_14_bar__plus_00_dot_93_bar__plus_04_dot_14 - object + StoveKnob_bar__plus_01_dot_14_bar__plus_00_dot_93_bar__plus_04_dot_31 - object + Tomato_bar__plus_01_dot_28_bar__plus_00_dot_94_bar__plus_01_dot_98 - object + Tomato_bar__plus_02_dot_14_bar__plus_01_dot_57_bar__plus_05_dot_75 - object + Window_bar__plus_01_dot_76_bar__plus_02_dot_01_bar__plus_02_dot_30 - object + Window_bar__minus_02_dot_07_bar__plus_01_dot_92_bar__plus_03_dot_63 - object + Cabinet_bar__plus_00_dot_25_bar__plus_02_dot_13_bar__plus_00_dot_43 - receptacle + Cabinet_bar__plus_00_dot_44_bar__plus_00_dot_42_bar__plus_00_dot_74 - receptacle + Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_01_dot_71 - receptacle + Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_02_dot_94 - receptacle + Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_02_dot_99 - receptacle + Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_04_dot_55 - receptacle + Cabinet_bar__plus_01_dot_27_bar__plus_02_dot_13_bar__plus_00_dot_43 - receptacle + Cabinet_bar__plus_01_dot_31_bar__plus_02_dot_46_bar__plus_03_dot_61 - receptacle + Cabinet_bar__plus_01_dot_31_bar__plus_02_dot_46_bar__plus_04_dot_36 - receptacle + Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_00_dot_52 - receptacle + Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_01_dot_53 - receptacle + Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_03_dot_10 - receptacle + Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_04_dot_89 - receptacle + Cabinet_bar__minus_00_dot_17_bar__plus_00_dot_42_bar__plus_00_dot_74 - receptacle + Cabinet_bar__minus_00_dot_26_bar__plus_02_dot_13_bar__plus_00_dot_43 - receptacle + Cabinet_bar__minus_00_dot_78_bar__plus_00_dot_42_bar__plus_00_dot_74 - receptacle + CoffeeMachine_bar__plus_01_dot_55_bar__plus_00_dot_98_bar__plus_00_dot_95 - receptacle + CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90 - receptacle + CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_04_dot_72 - receptacle + DiningTable_bar__minus_00_dot_16_bar__plus_00_dot_67_bar__plus_06_dot_47 - receptacle + Drawer_bar__plus_00_dot_12_bar__plus_00_dot_80_bar__plus_00_dot_52 - receptacle + Drawer_bar__plus_00_dot_74_bar__plus_00_dot_80_bar__plus_00_dot_52 - receptacle + Drawer_bar__plus_01_dot_28_bar__plus_00_dot_80_bar__plus_03_dot_29 - receptacle + Drawer_bar__plus_01_dot_28_bar__plus_00_dot_81_bar__plus_04_dot_72 - receptacle + Drawer_bar__minus_00_dot_48_bar__plus_00_dot_80_bar__plus_00_dot_52 - receptacle + Fridge_bar__plus_02_dot_04_bar__plus_00_dot_00_bar__plus_05_dot_63 - receptacle + GarbageCan_bar__plus_02_dot_00_bar__plus_00_dot_00_bar__plus_06_dot_50 - receptacle + Microwave_bar__plus_00_dot_11_bar__plus_00_dot_98_bar__plus_00_dot_26 - receptacle + Safe_bar__plus_02_dot_05_bar__minus_00_dot_01_bar__plus_07_dot_06 - receptacle + Sink_bar__plus_01_dot_39_bar__plus_01_dot_01_bar__plus_02_dot_33_bar_SinkBasin - receptacle + StoveBurner_bar__plus_01_dot_32_bar__plus_00_dot_98_bar__plus_03_dot_85 - receptacle + StoveBurner_bar__plus_01_dot_32_bar__plus_00_dot_98_bar__plus_04_dot_29 - receptacle + StoveBurner_bar__plus_01_dot_56_bar__plus_00_dot_98_bar__plus_03_dot_85 - receptacle + StoveBurner_bar__plus_01_dot_56_bar__plus_00_dot_98_bar__plus_04_dot_29 - receptacle + Toaster_bar__plus_01_dot_47_bar__plus_00_dot_98_bar__plus_04_dot_72 - receptacle + loc_bar_3_bar_5_bar_1_bar__minus_30 - location + loc_bar_2_bar_4_bar_2_bar__minus_30 - location + loc_bar_0_bar_4_bar_2_bar__minus_30 - location + loc_bar__minus_1_bar_7_bar_2_bar_45 - location + loc_bar_3_bar_14_bar_1_bar__minus_30 - location + loc_bar_4_bar_22_bar_1_bar_60 - location + loc_bar__minus_6_bar_15_bar_3_bar__minus_30 - location + loc_bar_3_bar_15_bar_1_bar_45 - location + loc_bar_1_bar_10_bar_1_bar_60 - location + loc_bar_3_bar_16_bar_1_bar_60 - location + loc_bar_3_bar_18_bar_1_bar__minus_30 - location + loc_bar_3_bar_17_bar_1_bar__minus_30 - location + loc_bar_1_bar_13_bar_1_bar_45 - location + loc_bar_3_bar_4_bar_1_bar__minus_30 - location + loc_bar__minus_5_bar_5_bar_1_bar_45 - location + loc_bar_0_bar_7_bar_2_bar_45 - location + loc_bar__minus_6_bar_24_bar_3_bar_15 - location + loc_bar_3_bar_9_bar_1_bar__minus_30 - location + loc_bar_4_bar_24_bar_1_bar_60 - location + loc_bar_3_bar_17_bar_1_bar_60 - location + loc_bar_1_bar_14_bar_1_bar_60 - location + loc_bar_3_bar_9_bar_1_bar__minus_15 - location + loc_bar_1_bar_20_bar_1_bar_45 - location + loc_bar__minus_3_bar_5_bar_1_bar_45 - location + loc_bar_3_bar_9_bar_1_bar_45 - location + loc_bar_3_bar_17_bar_1_bar_45 - location + loc_bar_1_bar_17_bar_1_bar_60 - location + loc_bar_4_bar_26_bar_1_bar_60 - location + loc_bar_1_bar_22_bar_0_bar_60 - location + loc_bar_0_bar_5_bar_1_bar_45 - location + loc_bar_3_bar_15_bar_1_bar_60 - location + loc_bar_1_bar_6_bar_2_bar_30 - location + loc_bar_1_bar_7_bar_2_bar_45 - location + loc_bar_3_bar_4_bar_1_bar_45 - location + loc_bar_1_bar_7_bar_1_bar_60 - location + loc_bar_3_bar_26_bar_3_bar_45 - location + loc_bar_3_bar_19_bar_1_bar_45 - location + loc_bar_3_bar_4_bar_2_bar__minus_30 - location + loc_bar_4_bar_27_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_02_dot_99 CabinetType) + (receptacleType Drawer_bar__plus_00_dot_12_bar__plus_00_dot_80_bar__plus_00_dot_52 DrawerType) + (receptacleType CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90 CounterTopType) + (receptacleType Sink_bar__plus_01_dot_39_bar__plus_01_dot_01_bar__plus_02_dot_33_bar_SinkBasin SinkBasinType) + (receptacleType Cabinet_bar__plus_01_dot_27_bar__plus_02_dot_13_bar__plus_00_dot_43 CabinetType) + (receptacleType StoveBurner_bar__plus_01_dot_32_bar__plus_00_dot_98_bar__plus_04_dot_29 StoveBurnerType) + (receptacleType StoveBurner_bar__plus_01_dot_56_bar__plus_00_dot_98_bar__plus_03_dot_85 StoveBurnerType) + (receptacleType Cabinet_bar__minus_00_dot_17_bar__plus_00_dot_42_bar__plus_00_dot_74 CabinetType) + (receptacleType Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_01_dot_71 CabinetType) + (receptacleType GarbageCan_bar__plus_02_dot_00_bar__plus_00_dot_00_bar__plus_06_dot_50 GarbageCanType) + (receptacleType Drawer_bar__plus_00_dot_74_bar__plus_00_dot_80_bar__plus_00_dot_52 DrawerType) + (receptacleType Safe_bar__plus_02_dot_05_bar__minus_00_dot_01_bar__plus_07_dot_06 SafeType) + (receptacleType StoveBurner_bar__plus_01_dot_56_bar__plus_00_dot_98_bar__plus_04_dot_29 StoveBurnerType) + (receptacleType Cabinet_bar__plus_00_dot_44_bar__plus_00_dot_42_bar__plus_00_dot_74 CabinetType) + (receptacleType DiningTable_bar__minus_00_dot_16_bar__plus_00_dot_67_bar__plus_06_dot_47 DiningTableType) + (receptacleType Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_04_dot_55 CabinetType) + (receptacleType Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_04_dot_89 CabinetType) + (receptacleType Drawer_bar__minus_00_dot_48_bar__plus_00_dot_80_bar__plus_00_dot_52 DrawerType) + (receptacleType CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_04_dot_72 CounterTopType) + (receptacleType Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_01_dot_53 CabinetType) + (receptacleType Drawer_bar__plus_01_dot_28_bar__plus_00_dot_80_bar__plus_03_dot_29 DrawerType) + (receptacleType Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_02_dot_94 CabinetType) + (receptacleType StoveBurner_bar__plus_01_dot_32_bar__plus_00_dot_98_bar__plus_03_dot_85 StoveBurnerType) + (receptacleType Cabinet_bar__plus_01_dot_31_bar__plus_02_dot_46_bar__plus_03_dot_61 CabinetType) + (receptacleType Cabinet_bar__plus_01_dot_31_bar__plus_02_dot_46_bar__plus_04_dot_36 CabinetType) + (receptacleType Cabinet_bar__minus_00_dot_26_bar__plus_02_dot_13_bar__plus_00_dot_43 CabinetType) + (receptacleType Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_00_dot_52 CabinetType) + (receptacleType Cabinet_bar__plus_00_dot_25_bar__plus_02_dot_13_bar__plus_00_dot_43 CabinetType) + (receptacleType Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_03_dot_10 CabinetType) + (receptacleType Toaster_bar__plus_01_dot_47_bar__plus_00_dot_98_bar__plus_04_dot_72 ToasterType) + (receptacleType Drawer_bar__plus_01_dot_28_bar__plus_00_dot_81_bar__plus_04_dot_72 DrawerType) + (receptacleType CoffeeMachine_bar__plus_01_dot_55_bar__plus_00_dot_98_bar__plus_00_dot_95 CoffeeMachineType) + (receptacleType Cabinet_bar__minus_00_dot_78_bar__plus_00_dot_42_bar__plus_00_dot_74 CabinetType) + (receptacleType Fridge_bar__plus_02_dot_04_bar__plus_00_dot_00_bar__plus_05_dot_63 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PepperShaker_bar__minus_00_dot_31_bar__plus_00_dot_99_bar__plus_00_dot_58 loc_bar_3_bar_4_bar_1_bar_45) + (objectAtLocation Pan_bar__plus_01_dot_24_bar__plus_00_dot_14_bar__plus_02_dot_50 loc_bar_1_bar_10_bar_1_bar_60) + (objectAtLocation Tomato_bar__plus_02_dot_14_bar__plus_01_dot_57_bar__plus_05_dot_75 loc_bar_4_bar_22_bar_1_bar_60) + (objectAtLocation DishSponge_bar__plus_01_dot_41_bar__plus_00_dot_14_bar__plus_03_dot_44 loc_bar_1_bar_14_bar_1_bar_60) + (objectAtLocation Cup_bar__plus_02_dot_14_bar__plus_01_dot_51_bar__plus_05_dot_88 loc_bar_4_bar_22_bar_1_bar_60) + (objectAtLocation LightSwitch_bar__minus_02_dot_00_bar__plus_01_dot_55_bar__plus_06_dot_05 loc_bar__minus_6_bar_24_bar_3_bar_15) + (objectAtLocation Chair_bar__plus_00_dot_29_bar__plus_00_dot_02_bar__plus_06_dot_14 loc_bar_1_bar_22_bar_0_bar_60) + (objectAtLocation Spoon_bar__plus_00_dot_06_bar__plus_00_dot_77_bar__plus_00_dot_51 loc_bar__minus_3_bar_5_bar_1_bar_45) + (objectAtLocation Mug_bar__plus_00_dot_02_bar__plus_00_dot_76_bar__plus_06_dot_74 loc_bar_3_bar_26_bar_3_bar_45) + (objectAtLocation Blinds_bar__plus_01_dot_74_bar__plus_02_dot_56_bar__plus_02_dot_31 loc_bar_3_bar_9_bar_1_bar__minus_30) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o1 - object) + (and + (objectType ?o1 PepperShakerType) + (receptacleType ?r DiningTableType) + (inReceptacle ?o1 ?r) + (exists (?o2 - object) + (and + (not (= ?o1 ?o2)) + (objectType ?o2 PepperShakerType) + (receptacleType ?r DiningTableType) + (inReceptacle ?o2 ?r) + ) + ) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-PepperShaker-None-DiningTable-18/trial_T20190919_002034_827829/traj_data.json b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-PepperShaker-None-DiningTable-18/trial_T20190919_002034_827829/traj_data.json new file mode 100644 index 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}, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Cup_8e8a26e1", + "position": { + "x": 0.06465548, + "y": 1.09329116, + "z": 0.310429215 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Spoon_cefc2847", + "position": { + "x": -0.332825184, + "y": 0.7612178, + "z": 6.217004 + }, + "rotation": { + "x": 0.0, + "y": 225.000046, + "z": 0.0 + } + }, + { + "objectName": "Mug_6d84c70f", + "position": { + "x": 0.0157748461, + "y": 0.7550884, + "z": 6.74238 + }, + "rotation": { + "x": 0.0, + "y": 45.000042, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 2717626867, + "scene_num": 18 + }, + "task_id": "trial_T20190919_002034_827829", + "task_type": "pick_two_obj_and_place", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A3PGS1Q1XAY79I_351SEKWQS3YGL10DPMHGWVOLB1RDM0", + "high_descs": [ + "While facing the round gray table turn to your left and walk to the counter with the microwave on it across the room.", + "Pick up the pepper shaker located on the counter to the left side and to the front of the microwave.", + "Turn around and walk to the gray table, stand to the right of the chair at the table.", + "Place the shaker on the table on the side where a white mug with a fork to its left is.", + "Turn and walk to the white countertop with a toaster on it and to the left of the stove.", + "Pick up the pepper shaker located to the left front of the toaster.", + "Turn to your left and walk to the gray table and stand to the right of the chair.", + "Place the pepper shaker on the table to the left of the first shaker and in front of the head of lettuce." + ], + "task_desc": "Pick up two pepper shakers in different areas of the kitchen, place them on the table", + "votes": [ + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A3HL2LL0LEPZT8_3P1L2B7AD46NJG9HFJUH7CLVFB5LO2", + "high_descs": [ + "Turn left, go forward, go around the counter and keep going forward to the counter to the left of the microwave.", + "Take the pepper from the counter.", + "Turn around, go forward, turn right at the fridge, go forward, turn left, go forward, turn left at the round black table.", + "Put the pepper in front of the mug on the table.", + "Turn left, go forward, go around the counter with the toaster, then turn left to face the counter.", + "Take the pepper from the counter.", + "Turn left, go forward, turn right at the fridge, go forward, turn left, go forward, turn left at the round black table.", + "Put the pepper in front of the lettuce on the left of the table." + ], + "task_desc": "Put two pepper mills on a table.", + "votes": [ + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A3HL2LL0LEPZT8_34HJIJKLP8DMBSBTA3HEGNDSPO44V3", + "high_descs": [ + "Turn left, go forward, go around the corner, keep going forward to the counter to the left of the microwave.", + "Take the pepper mill from the counter.", + "Turn around, go forward past the end of the counter, turn left at the round black table.", + "Put the pepper mill on the table in front of the fork and mug.", + "Turn around, go forward, turn left at the counter to the left of the oven.", + "Take the pepper mill from the counter.", + "Turn right, go back to the round black table.", + "Put the pepper mill in front of the closest lettuce." + ], + "task_desc": "Put two pepper mills on a table.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Pillow-None-ArmChair-321/trial_T20190907_121714_804185/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Pillow-None-ArmChair-321/trial_T20190907_121714_804185/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..5d9e7bb7db282cccc412c584ad51386026c87d7c --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Pillow-None-ArmChair-321/trial_T20190907_121714_804185/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\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 pillow and put them in armchair.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190907_121714_804185)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\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_93_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_00_dot_97_bar__plus_00_dot_60_bar__plus_00_dot_53 - object\n Book_bar__plus_01_dot_58_bar__plus_00_dot_60_bar__minus_00_dot_24 - object\n CD_bar__plus_00_dot_32_bar__plus_00_dot_70_bar__minus_01_dot_10 - object\n CellPhone_bar__plus_00_dot_23_bar__plus_00_dot_70_bar__minus_01_dot_19 - object\n Chair_bar__plus_03_dot_23_bar_00_dot_00_bar__minus_01_dot_87 - object\n CreditCard_bar__plus_03_dot_08_bar__plus_00_dot_78_bar__minus_01_dot_32 - object\n KeyChain_bar__plus_00_dot_29_bar__plus_00_dot_71_bar__plus_01_dot_30 - object\n KeyChain_bar__plus_00_dot_31_bar__plus_00_dot_62_bar__minus_01_dot_09 - 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_03_dot_08_bar__plus_00_dot_78_bar__minus_01_dot_77 - 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_24_bar__plus_00_dot_78_bar__minus_01_dot_32 - object\n Pillow_bar__plus_00_dot_54_bar__plus_00_dot_64_bar__minus_00_dot_12 - object\n Pillow_bar__plus_00_dot_97_bar__plus_00_dot_68_bar__minus_00_dot_05 - object\n TissueBox_bar__plus_03_dot_70_bar__plus_00_dot_78_bar__minus_01_dot_68 - 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_3_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 CreditCard_bar__plus_03_dot_08_bar__plus_00_dot_78_bar__minus_01_dot_32 CreditCardType)\n (objectType CD_bar__plus_00_dot_32_bar__plus_00_dot_70_bar__minus_01_dot_10 CDType)\n (objectType KeyChain_bar__plus_00_dot_29_bar__plus_00_dot_71_bar__plus_01_dot_30 KeyChainType)\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 Book_bar__plus_00_dot_97_bar__plus_00_dot_60_bar__plus_00_dot_53 BookType)\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 Pen_bar__plus_03_dot_24_bar__plus_00_dot_78_bar__minus_01_dot_32 PenType)\n (objectType Pillow_bar__plus_00_dot_97_bar__plus_00_dot_68_bar__minus_00_dot_05 PillowType)\n (objectType AlarmClock_bar__plus_02_dot_93_bar__plus_00_dot_78_bar__minus_01_dot_32 AlarmClockType)\n (objectType TissueBox_bar__plus_03_dot_70_bar__plus_00_dot_78_bar__minus_01_dot_68 TissueBoxType)\n (objectType Book_bar__plus_01_dot_58_bar__plus_00_dot_60_bar__minus_00_dot_24 BookType)\n (objectType Window_bar__plus_02_dot_27_bar__plus_01_dot_55_bar__minus_02_dot_92 WindowType)\n (objectType KeyChain_bar__plus_00_dot_31_bar__plus_00_dot_62_bar__minus_01_dot_09 KeyChainType)\n (objectType CellPhone_bar__plus_00_dot_23_bar__plus_00_dot_70_bar__minus_01_dot_19 CellPhoneType)\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 Laptop_bar__plus_03_dot_08_bar__plus_00_dot_78_bar__minus_01_dot_77 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 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 CreditCard_bar__plus_03_dot_08_bar__plus_00_dot_78_bar__minus_01_dot_32)\n (pickupable CD_bar__plus_00_dot_32_bar__plus_00_dot_70_bar__minus_01_dot_10)\n (pickupable KeyChain_bar__plus_00_dot_29_bar__plus_00_dot_71_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 Book_bar__plus_00_dot_97_bar__plus_00_dot_60_bar__plus_00_dot_53)\n (pickupable Pen_bar__plus_03_dot_24_bar__plus_00_dot_78_bar__minus_01_dot_32)\n (pickupable Pillow_bar__plus_00_dot_97_bar__plus_00_dot_68_bar__minus_00_dot_05)\n (pickupable AlarmClock_bar__plus_02_dot_93_bar__plus_00_dot_78_bar__minus_01_dot_32)\n (pickupable TissueBox_bar__plus_03_dot_70_bar__plus_00_dot_78_bar__minus_01_dot_68)\n (pickupable Book_bar__plus_01_dot_58_bar__plus_00_dot_60_bar__minus_00_dot_24)\n (pickupable KeyChain_bar__plus_00_dot_31_bar__plus_00_dot_62_bar__minus_01_dot_09)\n (pickupable CellPhone_bar__plus_00_dot_23_bar__plus_00_dot_70_bar__minus_01_dot_19)\n (pickupable Pencil_bar__plus_03_dot_08_bar__plus_00_dot_78_bar__minus_01_dot_59)\n (pickupable Laptop_bar__plus_03_dot_08_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_3_bar_2_bar_30)\n \n \n \n \n \n \n \n \n \n \n \n \n (inReceptacle Book_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 Book_bar__plus_01_dot_58_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 Pillow_bar__plus_00_dot_97_bar__plus_00_dot_68_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 AlarmClock_bar__plus_02_dot_93_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_03_dot_08_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_70_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 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 Laptop_bar__plus_03_dot_08_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_24_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 KeyChain_bar__plus_00_dot_29_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 CD_bar__plus_00_dot_32_bar__plus_00_dot_70_bar__minus_01_dot_10 SideTable_bar__plus_00_dot_28_bar__plus_00_dot_00_bar__minus_01_dot_02)\n (inReceptacle CellPhone_bar__plus_00_dot_23_bar__plus_00_dot_70_bar__minus_01_dot_19 SideTable_bar__plus_00_dot_28_bar__plus_00_dot_00_bar__minus_01_dot_02)\n (inReceptacle KeyChain_bar__plus_00_dot_31_bar__plus_00_dot_62_bar__minus_01_dot_09 Drawer_bar__plus_00_dot_34_bar__plus_00_dot_62_bar__minus_01_dot_02)\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 KeyChain_bar__plus_00_dot_31_bar__plus_00_dot_62_bar__minus_01_dot_09 loc_bar_4_bar__minus_4_bar_3_bar_60)\n (objectAtLocation Book_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 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_58_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_29_bar__plus_00_dot_71_bar__plus_01_dot_30 loc_bar_3_bar_5_bar_3_bar_60)\n (objectAtLocation Pillow_bar__plus_00_dot_97_bar__plus_00_dot_68_bar__minus_00_dot_05 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_08_bar__plus_00_dot_78_bar__minus_01_dot_32 loc_bar_13_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Pen_bar__plus_03_dot_24_bar__plus_00_dot_78_bar__minus_01_dot_32 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_59 loc_bar_13_bar__minus_3_bar_2_bar_60)\n (objectAtLocation TissueBox_bar__plus_03_dot_70_bar__plus_00_dot_78_bar__minus_01_dot_68 loc_bar_13_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Laptop_bar__plus_03_dot_08_bar__plus_00_dot_78_bar__minus_01_dot_77 loc_bar_13_bar__minus_3_bar_2_bar_60)\n (objectAtLocation CellPhone_bar__plus_00_dot_23_bar__plus_00_dot_70_bar__minus_01_dot_19 loc_bar_4_bar__minus_4_bar_3_bar_60)\n (objectAtLocation AlarmClock_bar__plus_02_dot_93_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_32_bar__plus_00_dot_70_bar__minus_01_dot_10 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 (?o1 - object)\n (and\n (objectType ?o1 PillowType)\n (receptacleType ?r ArmChairType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 PillowType)\n (receptacleType ?r ArmChairType)\n (inReceptacle ?o2 ?r)\n )\n )\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", "go to bed 1", "take pillow 1 from bed 1", "go to armchair 1", "move pillow 1 to armchair 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Pillow-None-ArmChair-321/trial_T20190907_121714_804185/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Pillow-None-ArmChair-321/trial_T20190907_121714_804185/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..da4a9bf529e078f895818174171425ec8c56cb8c --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Pillow-None-ArmChair-321/trial_T20190907_121714_804185/initial_state.pddl @@ -0,0 +1,434 @@ + +(define (problem plan_trial_T20190907_121714_804185) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_93_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_00_dot_97_bar__plus_00_dot_60_bar__plus_00_dot_53 - object + Book_bar__plus_01_dot_58_bar__plus_00_dot_60_bar__minus_00_dot_24 - object + CD_bar__plus_00_dot_32_bar__plus_00_dot_70_bar__minus_01_dot_10 - object + CellPhone_bar__plus_00_dot_23_bar__plus_00_dot_70_bar__minus_01_dot_19 - object + Chair_bar__plus_03_dot_23_bar_00_dot_00_bar__minus_01_dot_87 - object + CreditCard_bar__plus_03_dot_08_bar__plus_00_dot_78_bar__minus_01_dot_32 - object + KeyChain_bar__plus_00_dot_29_bar__plus_00_dot_71_bar__plus_01_dot_30 - object + KeyChain_bar__plus_00_dot_31_bar__plus_00_dot_62_bar__minus_01_dot_09 - 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_03_dot_08_bar__plus_00_dot_78_bar__minus_01_dot_77 - 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_24_bar__plus_00_dot_78_bar__minus_01_dot_32 - object + Pillow_bar__plus_00_dot_54_bar__plus_00_dot_64_bar__minus_00_dot_12 - object + Pillow_bar__plus_00_dot_97_bar__plus_00_dot_68_bar__minus_00_dot_05 - object + TissueBox_bar__plus_03_dot_70_bar__plus_00_dot_78_bar__minus_01_dot_68 - 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_3_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 CreditCard_bar__plus_03_dot_08_bar__plus_00_dot_78_bar__minus_01_dot_32 CreditCardType) + (objectType CD_bar__plus_00_dot_32_bar__plus_00_dot_70_bar__minus_01_dot_10 CDType) + (objectType KeyChain_bar__plus_00_dot_29_bar__plus_00_dot_71_bar__plus_01_dot_30 KeyChainType) + (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 Book_bar__plus_00_dot_97_bar__plus_00_dot_60_bar__plus_00_dot_53 BookType) + (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 Pen_bar__plus_03_dot_24_bar__plus_00_dot_78_bar__minus_01_dot_32 PenType) + (objectType Pillow_bar__plus_00_dot_97_bar__plus_00_dot_68_bar__minus_00_dot_05 PillowType) + (objectType AlarmClock_bar__plus_02_dot_93_bar__plus_00_dot_78_bar__minus_01_dot_32 AlarmClockType) + (objectType TissueBox_bar__plus_03_dot_70_bar__plus_00_dot_78_bar__minus_01_dot_68 TissueBoxType) + (objectType Book_bar__plus_01_dot_58_bar__plus_00_dot_60_bar__minus_00_dot_24 BookType) + (objectType Window_bar__plus_02_dot_27_bar__plus_01_dot_55_bar__minus_02_dot_92 WindowType) + (objectType KeyChain_bar__plus_00_dot_31_bar__plus_00_dot_62_bar__minus_01_dot_09 KeyChainType) + (objectType CellPhone_bar__plus_00_dot_23_bar__plus_00_dot_70_bar__minus_01_dot_19 CellPhoneType) + (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 Laptop_bar__plus_03_dot_08_bar__plus_00_dot_78_bar__minus_01_dot_77 LaptopType) + (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 CreditCard_bar__plus_03_dot_08_bar__plus_00_dot_78_bar__minus_01_dot_32) + (pickupable CD_bar__plus_00_dot_32_bar__plus_00_dot_70_bar__minus_01_dot_10) + (pickupable KeyChain_bar__plus_00_dot_29_bar__plus_00_dot_71_bar__plus_01_dot_30) + (pickupable Pillow_bar__plus_00_dot_54_bar__plus_00_dot_64_bar__minus_00_dot_12) + (pickupable Book_bar__plus_00_dot_97_bar__plus_00_dot_60_bar__plus_00_dot_53) + (pickupable Pen_bar__plus_03_dot_24_bar__plus_00_dot_78_bar__minus_01_dot_32) + (pickupable Pillow_bar__plus_00_dot_97_bar__plus_00_dot_68_bar__minus_00_dot_05) + (pickupable AlarmClock_bar__plus_02_dot_93_bar__plus_00_dot_78_bar__minus_01_dot_32) + (pickupable TissueBox_bar__plus_03_dot_70_bar__plus_00_dot_78_bar__minus_01_dot_68) + (pickupable Book_bar__plus_01_dot_58_bar__plus_00_dot_60_bar__minus_00_dot_24) + (pickupable KeyChain_bar__plus_00_dot_31_bar__plus_00_dot_62_bar__minus_01_dot_09) + (pickupable CellPhone_bar__plus_00_dot_23_bar__plus_00_dot_70_bar__minus_01_dot_19) + (pickupable Pencil_bar__plus_03_dot_08_bar__plus_00_dot_78_bar__minus_01_dot_59) + (pickupable Laptop_bar__plus_03_dot_08_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_3_bar_2_bar_30) + + + + + + + + + + + + + (inReceptacle Book_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 Book_bar__plus_01_dot_58_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 Pillow_bar__plus_00_dot_97_bar__plus_00_dot_68_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 AlarmClock_bar__plus_02_dot_93_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_03_dot_08_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_70_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 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 Laptop_bar__plus_03_dot_08_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_24_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 KeyChain_bar__plus_00_dot_29_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 CD_bar__plus_00_dot_32_bar__plus_00_dot_70_bar__minus_01_dot_10 SideTable_bar__plus_00_dot_28_bar__plus_00_dot_00_bar__minus_01_dot_02) + (inReceptacle CellPhone_bar__plus_00_dot_23_bar__plus_00_dot_70_bar__minus_01_dot_19 SideTable_bar__plus_00_dot_28_bar__plus_00_dot_00_bar__minus_01_dot_02) + (inReceptacle KeyChain_bar__plus_00_dot_31_bar__plus_00_dot_62_bar__minus_01_dot_09 Drawer_bar__plus_00_dot_34_bar__plus_00_dot_62_bar__minus_01_dot_02) + + + (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 KeyChain_bar__plus_00_dot_31_bar__plus_00_dot_62_bar__minus_01_dot_09 loc_bar_4_bar__minus_4_bar_3_bar_60) + (objectAtLocation Book_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 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_58_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_29_bar__plus_00_dot_71_bar__plus_01_dot_30 loc_bar_3_bar_5_bar_3_bar_60) + (objectAtLocation Pillow_bar__plus_00_dot_97_bar__plus_00_dot_68_bar__minus_00_dot_05 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_08_bar__plus_00_dot_78_bar__minus_01_dot_32 loc_bar_13_bar__minus_3_bar_2_bar_60) + (objectAtLocation Pen_bar__plus_03_dot_24_bar__plus_00_dot_78_bar__minus_01_dot_32 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_59 loc_bar_13_bar__minus_3_bar_2_bar_60) + (objectAtLocation TissueBox_bar__plus_03_dot_70_bar__plus_00_dot_78_bar__minus_01_dot_68 loc_bar_13_bar__minus_3_bar_2_bar_60) + (objectAtLocation Laptop_bar__plus_03_dot_08_bar__plus_00_dot_78_bar__minus_01_dot_77 loc_bar_13_bar__minus_3_bar_2_bar_60) + (objectAtLocation CellPhone_bar__plus_00_dot_23_bar__plus_00_dot_70_bar__minus_01_dot_19 loc_bar_4_bar__minus_4_bar_3_bar_60) + (objectAtLocation AlarmClock_bar__plus_02_dot_93_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_32_bar__plus_00_dot_70_bar__minus_01_dot_10 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 (?o1 - object) + (and + (objectType ?o1 PillowType) + (receptacleType ?r ArmChairType) + (inReceptacle ?o1 ?r) + (exists (?o2 - object) + (and + (not (= ?o1 ?o2)) + (objectType ?o2 PillowType) + (receptacleType ?r ArmChairType) + (inReceptacle ?o2 ?r) + ) + ) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Pillow-None-ArmChair-321/trial_T20190907_121714_804185/traj_data.json 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"high_descs": [ + "Go to the right and stand in front of the purple pillows on the bed.", + "Pick up the purple pillow on the right of the other purple pillow on the bed.", + "Go to the right and stand in front of the chair in the corner.", + "Put the pillow on the chair.", + "Turn around and stand in front of the bed where the purple pillow is.", + "Pick the pillow up from the bed.", + "Turn around and stand in front of the chair in the corner with the purple pillow.", + "Put the purple pillow on the chair." + ], + "task_desc": "Put two pillows on a chair.", + "votes": [ + 1, + 1, + 1, + 1, + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1MKCTVKE7J0ZP_3YT88D1N0BFNDLYDBLYO49A5V40K33", + "high_descs": [ + "Go to the desk in front of you, then turn right and go forward, then turn right to face the bed.", + "Pick up the pillow on the bed, on the right.", + "Turn around, and go to the chair in front of you.", + "Place the pillow on the chair.", + "Turn around and return to the bed.", + "Pick up the pillow on the bed.", + "Turn around and go back to the chair.", + "Place the pillow on the chair, next to the other pillow." + ], + "task_desc": "Put two pillows on the chair.", + "votes": [ + 1, + 1, + 1, + 1, + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A4CHLWPHZIP7Y_3ZR9AIQJUEQ6IRAD76TPVUN2V24044", + "high_descs": [ + "Go to the brown desk, turn right, go to the black table, and turn right to face the bed.", + "Take one purple cushion from the bed.", + "Turn around and go to the tan chair.", + "Place the purple cushion on the tan chair.", + "Turn around, go to the bed, turn left, go to the black table, and turn right to face the bed.", + "Take one purple cushion from the bed.", + "Turn around and go to the tan chair.", + "Place the purple cushion on the tan chair." + ], + "task_desc": "Place two purple cushions on the tan chair.", + "votes": [ + 1, + 1, + 1, + 1, + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A2NGMLBFZ3YQP5_36WLNQG782RPUGAGUS2ROXVCZ4DEBA", + "high_descs": [ + "Go to table, turn right, go to the bed, turn right to face bed.", + "Pick up the right hand pillow from the bed.", + "Turn right, cross to table, turn right at table, go to wall, turn right to face armchair.", + "Put the pillow on the armchair.", + "Turn right, cross to bed, walk to head of bed, face the bed.", + "Pick up the pillow from the bed.", + "Turn right, cross to table, turn right at table, go to wall, turn right to face armchair.", + "Put pillow to the right of the other pillow on the chair." + ], + "task_desc": "Put two pillows on an armchair.", + "votes": [ + 1, + 1, + 0 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Pillow-None-ArmChair-321/trial_T20190907_121735_217785/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Pillow-None-ArmChair-321/trial_T20190907_121735_217785/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..58e60c1927c3c976b6b85e19c0c3ef447d6a1d7c --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Pillow-None-ArmChair-321/trial_T20190907_121735_217785/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\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 pillow and put them in armchair.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190907_121735_217785)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\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_41 - object\n AlarmClock_bar__plus_03_dot_08_bar__plus_00_dot_78_bar__minus_01_dot_86 - object\n AlarmClock_bar__plus_03_dot_70_bar__plus_00_dot_78_bar__minus_01_dot_77 - 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_77_bar__plus_00_dot_60_bar__minus_00_dot_43 - object\n Book_bar__plus_01_dot_17_bar__plus_00_dot_60_bar__plus_00_dot_72 - object\n CD_bar__plus_00_dot_35_bar__plus_00_dot_61_bar__minus_00_dot_94 - object\n CellPhone_bar__plus_00_dot_29_bar__plus_00_dot_71_bar__plus_01_dot_30 - object\n CellPhone_bar__plus_02_dot_78_bar__plus_00_dot_78_bar__minus_01_dot_32 - object\n CellPhone_bar__plus_03_dot_08_bar__plus_00_dot_78_bar__minus_01_dot_68 - object\n Chair_bar__plus_03_dot_23_bar_00_dot_00_bar__minus_01_dot_87 - object\n CreditCard_bar__plus_00_dot_36_bar__plus_00_dot_71_bar__minus_01_dot_27 - object\n CreditCard_bar__plus_03_dot_55_bar__plus_00_dot_78_bar__minus_01_dot_32 - object\n CreditCard_bar__plus_03_dot_70_bar__plus_00_dot_78_bar__minus_01_dot_50 - object\n KeyChain_bar__plus_00_dot_36_bar__plus_00_dot_71_bar__plus_01_dot_05 - object\n KeyChain_bar__plus_00_dot_84_bar__plus_00_dot_43_bar__minus_01_dot_86 - 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_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_03_dot_64_bar__plus_00_dot_05_bar__minus_00_dot_98 - object\n Pen_bar__plus_02_dot_93_bar__plus_00_dot_78_bar__minus_01_dot_77 - 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_97_bar__plus_00_dot_68_bar__plus_00_dot_34 - object\n Pillow_bar__plus_01_dot_17_bar__plus_00_dot_68_bar__minus_00_dot_43 - object\n Pillow_bar__plus_01_dot_37_bar__plus_00_dot_68_bar__plus_00_dot_34 - object\n TissueBox_bar__plus_00_dot_30_bar__plus_00_dot_70_bar__minus_00_dot_78 - object\n TissueBox_bar__plus_03_dot_24_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_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_11_bar_5_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 Pencil_bar__plus_03_dot_64_bar__plus_00_dot_05_bar__minus_00_dot_98 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_01_dot_37_bar__plus_00_dot_68_bar__plus_00_dot_34 PillowType)\n (objectType LightSwitch_bar__plus_01_dot_81_bar__plus_01_dot_17_bar__plus_01_dot_70 LightSwitchType)\n (objectType TissueBox_bar__plus_00_dot_30_bar__plus_00_dot_70_bar__minus_00_dot_78 TissueBoxType)\n (objectType CellPhone_bar__plus_03_dot_08_bar__plus_00_dot_78_bar__minus_01_dot_68 CellPhoneType)\n (objectType KeyChain_bar__plus_00_dot_84_bar__plus_00_dot_43_bar__minus_01_dot_86 KeyChainType)\n (objectType CreditCard_bar__plus_03_dot_55_bar__plus_00_dot_78_bar__minus_01_dot_32 CreditCardType)\n (objectType AlarmClock_bar__plus_03_dot_70_bar__plus_00_dot_78_bar__minus_01_dot_77 AlarmClockType)\n (objectType CreditCard_bar__plus_03_dot_70_bar__plus_00_dot_78_bar__minus_01_dot_50 CreditCardType)\n (objectType Laptop_bar__plus_03_dot_45_bar__plus_00_dot_77_bar__minus_01_dot_67 LaptopType)\n (objectType CellPhone_bar__plus_00_dot_29_bar__plus_00_dot_71_bar__plus_01_dot_30 CellPhoneType)\n (objectType CellPhone_bar__plus_02_dot_78_bar__plus_00_dot_78_bar__minus_01_dot_32 CellPhoneType)\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 Pillow_bar__plus_01_dot_17_bar__plus_00_dot_68_bar__minus_00_dot_43 PillowType)\n (objectType Book_bar__plus_01_dot_17_bar__plus_00_dot_60_bar__plus_00_dot_72 BookType)\n (objectType CD_bar__plus_00_dot_35_bar__plus_00_dot_61_bar__minus_00_dot_94 CDType)\n (objectType Pillow_bar__plus_00_dot_97_bar__plus_00_dot_68_bar__plus_00_dot_34 PillowType)\n (objectType AlarmClock_bar__plus_02_dot_78_bar__plus_00_dot_78_bar__minus_01_dot_41 AlarmClockType)\n (objectType Book_bar__plus_00_dot_77_bar__plus_00_dot_60_bar__minus_00_dot_43 BookType)\n (objectType TissueBox_bar__plus_03_dot_24_bar__plus_00_dot_78_bar__minus_01_dot_32 TissueBoxType)\n (objectType Window_bar__plus_02_dot_27_bar__plus_01_dot_55_bar__minus_02_dot_92 WindowType)\n (objectType Pen_bar__plus_02_dot_93_bar__plus_00_dot_78_bar__minus_01_dot_77 PenType)\n (objectType KeyChain_bar__plus_00_dot_36_bar__plus_00_dot_71_bar__plus_01_dot_05 KeyChainType)\n (objectType AlarmClock_bar__plus_03_dot_08_bar__plus_00_dot_78_bar__minus_01_dot_86 AlarmClockType)\n (objectType Blinds_bar__plus_02_dot_30_bar__plus_02_dot_53_bar__minus_02_dot_89 BlindsType)\n (objectType CreditCard_bar__plus_00_dot_36_bar__plus_00_dot_71_bar__minus_01_dot_27 CreditCardType)\n (objectType Painting_bar__plus_00_dot_10_bar__plus_01_dot_43_bar__minus_02_dot_05 PaintingType)\n (canContain DrawerType PenType)\n (canContain 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_64_bar__plus_00_dot_05_bar__minus_00_dot_98)\n (pickupable Pillow_bar__plus_00_dot_46_bar__plus_00_dot_64_bar__plus_00_dot_41)\n (pickupable Pillow_bar__plus_01_dot_37_bar__plus_00_dot_68_bar__plus_00_dot_34)\n (pickupable TissueBox_bar__plus_00_dot_30_bar__plus_00_dot_70_bar__minus_00_dot_78)\n (pickupable CellPhone_bar__plus_03_dot_08_bar__plus_00_dot_78_bar__minus_01_dot_68)\n (pickupable KeyChain_bar__plus_00_dot_84_bar__plus_00_dot_43_bar__minus_01_dot_86)\n (pickupable CreditCard_bar__plus_03_dot_55_bar__plus_00_dot_78_bar__minus_01_dot_32)\n (pickupable AlarmClock_bar__plus_03_dot_70_bar__plus_00_dot_78_bar__minus_01_dot_77)\n (pickupable CreditCard_bar__plus_03_dot_70_bar__plus_00_dot_78_bar__minus_01_dot_50)\n (pickupable Laptop_bar__plus_03_dot_45_bar__plus_00_dot_77_bar__minus_01_dot_67)\n (pickupable CellPhone_bar__plus_00_dot_29_bar__plus_00_dot_71_bar__plus_01_dot_30)\n (pickupable CellPhone_bar__plus_02_dot_78_bar__plus_00_dot_78_bar__minus_01_dot_32)\n (pickupable Pillow_bar__plus_01_dot_17_bar__plus_00_dot_68_bar__minus_00_dot_43)\n (pickupable Book_bar__plus_01_dot_17_bar__plus_00_dot_60_bar__plus_00_dot_72)\n (pickupable CD_bar__plus_00_dot_35_bar__plus_00_dot_61_bar__minus_00_dot_94)\n (pickupable Pillow_bar__plus_00_dot_97_bar__plus_00_dot_68_bar__plus_00_dot_34)\n (pickupable AlarmClock_bar__plus_02_dot_78_bar__plus_00_dot_78_bar__minus_01_dot_41)\n (pickupable Book_bar__plus_00_dot_77_bar__plus_00_dot_60_bar__minus_00_dot_43)\n (pickupable TissueBox_bar__plus_03_dot_24_bar__plus_00_dot_78_bar__minus_01_dot_32)\n (pickupable Pen_bar__plus_02_dot_93_bar__plus_00_dot_78_bar__minus_01_dot_77)\n (pickupable KeyChain_bar__plus_00_dot_36_bar__plus_00_dot_71_bar__plus_01_dot_05)\n (pickupable AlarmClock_bar__plus_03_dot_08_bar__plus_00_dot_78_bar__minus_01_dot_86)\n (pickupable CreditCard_bar__plus_00_dot_36_bar__plus_00_dot_71_bar__minus_01_dot_27)\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_11_bar_5_bar_2_bar_30)\n \n \n \n \n \n \n \n \n \n \n \n \n (inReceptacle Book_bar__plus_00_dot_77_bar__plus_00_dot_60_bar__minus_00_dot_43 Bed_bar__plus_00_dot_94_bar__plus_00_dot_00_bar__plus_00_dot_15)\n (inReceptacle Pillow_bar__plus_01_dot_17_bar__plus_00_dot_68_bar__minus_00_dot_43 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_01_dot_37_bar__plus_00_dot_68_bar__plus_00_dot_34 Bed_bar__plus_00_dot_94_bar__plus_00_dot_00_bar__plus_00_dot_15)\n (inReceptacle Book_bar__plus_01_dot_17_bar__plus_00_dot_60_bar__plus_00_dot_72 Bed_bar__plus_00_dot_94_bar__plus_00_dot_00_bar__plus_00_dot_15)\n (inReceptacle Pillow_bar__plus_00_dot_97_bar__plus_00_dot_68_bar__plus_00_dot_34 Bed_bar__plus_00_dot_94_bar__plus_00_dot_00_bar__plus_00_dot_15)\n (inReceptacle KeyChain_bar__plus_00_dot_84_bar__plus_00_dot_43_bar__minus_01_dot_86 ArmChair_bar__plus_00_dot_70_bar__plus_00_dot_01_bar__minus_02_dot_27)\n (inReceptacle AlarmClock_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 TissueBox_bar__plus_03_dot_24_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 CellPhone_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 CreditCard_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 AlarmClock_bar__plus_03_dot_70_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 CreditCard_bar__plus_03_dot_70_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 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 CellPhone_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 Pen_bar__plus_02_dot_93_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 AlarmClock_bar__plus_02_dot_78_bar__plus_00_dot_78_bar__minus_01_dot_41 DiningTable_bar__plus_03_dot_24_bar__minus_00_dot_01_bar__minus_01_dot_59)\n (inReceptacle Pencil_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 CellPhone_bar__plus_00_dot_29_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 KeyChain_bar__plus_00_dot_36_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 CreditCard_bar__plus_00_dot_36_bar__plus_00_dot_71_bar__minus_01_dot_27 SideTable_bar__plus_00_dot_28_bar__plus_00_dot_00_bar__minus_01_dot_02)\n (inReceptacle TissueBox_bar__plus_00_dot_30_bar__plus_00_dot_70_bar__minus_00_dot_78 SideTable_bar__plus_00_dot_28_bar__plus_00_dot_00_bar__minus_01_dot_02)\n (inReceptacle CD_bar__plus_00_dot_35_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 \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_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 CellPhone_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 TissueBox_bar__plus_00_dot_30_bar__plus_00_dot_70_bar__minus_00_dot_78 loc_bar_4_bar__minus_4_bar_3_bar_60)\n (objectAtLocation CreditCard_bar__plus_00_dot_36_bar__plus_00_dot_71_bar__minus_01_dot_27 loc_bar_4_bar__minus_4_bar_3_bar_60)\n (objectAtLocation Pillow_bar__plus_01_dot_37_bar__plus_00_dot_68_bar__plus_00_dot_34 loc_bar_11_bar_1_bar_3_bar_45)\n (objectAtLocation KeyChain_bar__plus_00_dot_36_bar__plus_00_dot_71_bar__plus_01_dot_05 loc_bar_3_bar_5_bar_3_bar_60)\n (objectAtLocation Book_bar__plus_01_dot_17_bar__plus_00_dot_60_bar__plus_00_dot_72 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_41 loc_bar_13_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Pillow_bar__plus_01_dot_17_bar__plus_00_dot_68_bar__minus_00_dot_43 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_32 loc_bar_13_bar__minus_3_bar_2_bar_60)\n (objectAtLocation CellPhone_bar__plus_00_dot_29_bar__plus_00_dot_71_bar__plus_01_dot_30 loc_bar_3_bar_5_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_00_dot_77_bar__plus_00_dot_60_bar__minus_00_dot_43 loc_bar_11_bar_1_bar_3_bar_45)\n (objectAtLocation KeyChain_bar__plus_00_dot_84_bar__plus_00_dot_43_bar__minus_01_dot_86 loc_bar_7_bar__minus_8_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_97_bar__plus_00_dot_68_bar__plus_00_dot_34 loc_bar_11_bar_1_bar_3_bar_45)\n (objectAtLocation CreditCard_bar__plus_03_dot_70_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_02_dot_93_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_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 TissueBox_bar__plus_03_dot_24_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_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 CellPhone_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 AlarmClock_bar__plus_03_dot_70_bar__plus_00_dot_78_bar__minus_01_dot_77 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_35_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 (?o1 - object)\n (and\n (objectType ?o1 PillowType)\n (receptacleType ?r ArmChairType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 PillowType)\n (receptacleType ?r ArmChairType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to bed 1", "take pillow 4 from bed 1", "go to armchair 1", "move pillow 4 to armchair 1", "go to bed 1", "take pillow 3 from bed 1", "go to armchair 1", "move pillow 3 to armchair 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Pillow-None-ArmChair-321/trial_T20190907_121735_217785/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Pillow-None-ArmChair-321/trial_T20190907_121735_217785/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..2584454879331e94c6a4bb848db11efaa6eaeb98 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Pillow-None-ArmChair-321/trial_T20190907_121735_217785/initial_state.pddl @@ -0,0 +1,479 @@ + +(define (problem plan_trial_T20190907_121735_217785) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_41 - object + AlarmClock_bar__plus_03_dot_08_bar__plus_00_dot_78_bar__minus_01_dot_86 - object + AlarmClock_bar__plus_03_dot_70_bar__plus_00_dot_78_bar__minus_01_dot_77 - object + Blinds_bar__plus_02_dot_30_bar__plus_02_dot_53_bar__minus_02_dot_89 - object + Book_bar__plus_00_dot_77_bar__plus_00_dot_60_bar__minus_00_dot_43 - object + Book_bar__plus_01_dot_17_bar__plus_00_dot_60_bar__plus_00_dot_72 - object + CD_bar__plus_00_dot_35_bar__plus_00_dot_61_bar__minus_00_dot_94 - object + CellPhone_bar__plus_00_dot_29_bar__plus_00_dot_71_bar__plus_01_dot_30 - object + CellPhone_bar__plus_02_dot_78_bar__plus_00_dot_78_bar__minus_01_dot_32 - object + CellPhone_bar__plus_03_dot_08_bar__plus_00_dot_78_bar__minus_01_dot_68 - object + Chair_bar__plus_03_dot_23_bar_00_dot_00_bar__minus_01_dot_87 - object + CreditCard_bar__plus_00_dot_36_bar__plus_00_dot_71_bar__minus_01_dot_27 - object + CreditCard_bar__plus_03_dot_55_bar__plus_00_dot_78_bar__minus_01_dot_32 - object + CreditCard_bar__plus_03_dot_70_bar__plus_00_dot_78_bar__minus_01_dot_50 - object + KeyChain_bar__plus_00_dot_36_bar__plus_00_dot_71_bar__plus_01_dot_05 - object + KeyChain_bar__plus_00_dot_84_bar__plus_00_dot_43_bar__minus_01_dot_86 - 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_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_03_dot_64_bar__plus_00_dot_05_bar__minus_00_dot_98 - object + Pen_bar__plus_02_dot_93_bar__plus_00_dot_78_bar__minus_01_dot_77 - object + Pillow_bar__plus_00_dot_46_bar__plus_00_dot_64_bar__plus_00_dot_41 - object + Pillow_bar__plus_00_dot_97_bar__plus_00_dot_68_bar__plus_00_dot_34 - object + Pillow_bar__plus_01_dot_17_bar__plus_00_dot_68_bar__minus_00_dot_43 - object + Pillow_bar__plus_01_dot_37_bar__plus_00_dot_68_bar__plus_00_dot_34 - object + TissueBox_bar__plus_00_dot_30_bar__plus_00_dot_70_bar__minus_00_dot_78 - object + TissueBox_bar__plus_03_dot_24_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_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_11_bar_5_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 Pencil_bar__plus_03_dot_64_bar__plus_00_dot_05_bar__minus_00_dot_98 PencilType) + (objectType Pillow_bar__plus_00_dot_46_bar__plus_00_dot_64_bar__plus_00_dot_41 PillowType) + (objectType Pillow_bar__plus_01_dot_37_bar__plus_00_dot_68_bar__plus_00_dot_34 PillowType) + (objectType LightSwitch_bar__plus_01_dot_81_bar__plus_01_dot_17_bar__plus_01_dot_70 LightSwitchType) + (objectType TissueBox_bar__plus_00_dot_30_bar__plus_00_dot_70_bar__minus_00_dot_78 TissueBoxType) + (objectType CellPhone_bar__plus_03_dot_08_bar__plus_00_dot_78_bar__minus_01_dot_68 CellPhoneType) + (objectType KeyChain_bar__plus_00_dot_84_bar__plus_00_dot_43_bar__minus_01_dot_86 KeyChainType) + (objectType CreditCard_bar__plus_03_dot_55_bar__plus_00_dot_78_bar__minus_01_dot_32 CreditCardType) + (objectType AlarmClock_bar__plus_03_dot_70_bar__plus_00_dot_78_bar__minus_01_dot_77 AlarmClockType) + (objectType CreditCard_bar__plus_03_dot_70_bar__plus_00_dot_78_bar__minus_01_dot_50 CreditCardType) + (objectType Laptop_bar__plus_03_dot_45_bar__plus_00_dot_77_bar__minus_01_dot_67 LaptopType) + (objectType CellPhone_bar__plus_00_dot_29_bar__plus_00_dot_71_bar__plus_01_dot_30 CellPhoneType) + (objectType CellPhone_bar__plus_02_dot_78_bar__plus_00_dot_78_bar__minus_01_dot_32 CellPhoneType) + (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 Pillow_bar__plus_01_dot_17_bar__plus_00_dot_68_bar__minus_00_dot_43 PillowType) + (objectType Book_bar__plus_01_dot_17_bar__plus_00_dot_60_bar__plus_00_dot_72 BookType) + (objectType CD_bar__plus_00_dot_35_bar__plus_00_dot_61_bar__minus_00_dot_94 CDType) + (objectType Pillow_bar__plus_00_dot_97_bar__plus_00_dot_68_bar__plus_00_dot_34 PillowType) + (objectType AlarmClock_bar__plus_02_dot_78_bar__plus_00_dot_78_bar__minus_01_dot_41 AlarmClockType) + (objectType Book_bar__plus_00_dot_77_bar__plus_00_dot_60_bar__minus_00_dot_43 BookType) + (objectType TissueBox_bar__plus_03_dot_24_bar__plus_00_dot_78_bar__minus_01_dot_32 TissueBoxType) + (objectType Window_bar__plus_02_dot_27_bar__plus_01_dot_55_bar__minus_02_dot_92 WindowType) + (objectType Pen_bar__plus_02_dot_93_bar__plus_00_dot_78_bar__minus_01_dot_77 PenType) + (objectType KeyChain_bar__plus_00_dot_36_bar__plus_00_dot_71_bar__plus_01_dot_05 KeyChainType) + (objectType AlarmClock_bar__plus_03_dot_08_bar__plus_00_dot_78_bar__minus_01_dot_86 AlarmClockType) + (objectType Blinds_bar__plus_02_dot_30_bar__plus_02_dot_53_bar__minus_02_dot_89 BlindsType) + (objectType CreditCard_bar__plus_00_dot_36_bar__plus_00_dot_71_bar__minus_01_dot_27 CreditCardType) + (objectType Painting_bar__plus_00_dot_10_bar__plus_01_dot_43_bar__minus_02_dot_05 PaintingType) + (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_64_bar__plus_00_dot_05_bar__minus_00_dot_98) + (pickupable Pillow_bar__plus_00_dot_46_bar__plus_00_dot_64_bar__plus_00_dot_41) + (pickupable Pillow_bar__plus_01_dot_37_bar__plus_00_dot_68_bar__plus_00_dot_34) + (pickupable TissueBox_bar__plus_00_dot_30_bar__plus_00_dot_70_bar__minus_00_dot_78) + (pickupable CellPhone_bar__plus_03_dot_08_bar__plus_00_dot_78_bar__minus_01_dot_68) + (pickupable KeyChain_bar__plus_00_dot_84_bar__plus_00_dot_43_bar__minus_01_dot_86) + (pickupable CreditCard_bar__plus_03_dot_55_bar__plus_00_dot_78_bar__minus_01_dot_32) + (pickupable AlarmClock_bar__plus_03_dot_70_bar__plus_00_dot_78_bar__minus_01_dot_77) + (pickupable CreditCard_bar__plus_03_dot_70_bar__plus_00_dot_78_bar__minus_01_dot_50) + (pickupable Laptop_bar__plus_03_dot_45_bar__plus_00_dot_77_bar__minus_01_dot_67) + (pickupable CellPhone_bar__plus_00_dot_29_bar__plus_00_dot_71_bar__plus_01_dot_30) + (pickupable CellPhone_bar__plus_02_dot_78_bar__plus_00_dot_78_bar__minus_01_dot_32) + (pickupable Pillow_bar__plus_01_dot_17_bar__plus_00_dot_68_bar__minus_00_dot_43) + (pickupable Book_bar__plus_01_dot_17_bar__plus_00_dot_60_bar__plus_00_dot_72) + (pickupable CD_bar__plus_00_dot_35_bar__plus_00_dot_61_bar__minus_00_dot_94) + (pickupable Pillow_bar__plus_00_dot_97_bar__plus_00_dot_68_bar__plus_00_dot_34) + (pickupable AlarmClock_bar__plus_02_dot_78_bar__plus_00_dot_78_bar__minus_01_dot_41) + (pickupable Book_bar__plus_00_dot_77_bar__plus_00_dot_60_bar__minus_00_dot_43) + (pickupable TissueBox_bar__plus_03_dot_24_bar__plus_00_dot_78_bar__minus_01_dot_32) + (pickupable Pen_bar__plus_02_dot_93_bar__plus_00_dot_78_bar__minus_01_dot_77) + (pickupable KeyChain_bar__plus_00_dot_36_bar__plus_00_dot_71_bar__plus_01_dot_05) + (pickupable AlarmClock_bar__plus_03_dot_08_bar__plus_00_dot_78_bar__minus_01_dot_86) + (pickupable CreditCard_bar__plus_00_dot_36_bar__plus_00_dot_71_bar__minus_01_dot_27) + + (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_11_bar_5_bar_2_bar_30) + + + + + + + + + + + + + (inReceptacle Book_bar__plus_00_dot_77_bar__plus_00_dot_60_bar__minus_00_dot_43 Bed_bar__plus_00_dot_94_bar__plus_00_dot_00_bar__plus_00_dot_15) + (inReceptacle Pillow_bar__plus_01_dot_17_bar__plus_00_dot_68_bar__minus_00_dot_43 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_01_dot_37_bar__plus_00_dot_68_bar__plus_00_dot_34 Bed_bar__plus_00_dot_94_bar__plus_00_dot_00_bar__plus_00_dot_15) + (inReceptacle Book_bar__plus_01_dot_17_bar__plus_00_dot_60_bar__plus_00_dot_72 Bed_bar__plus_00_dot_94_bar__plus_00_dot_00_bar__plus_00_dot_15) + (inReceptacle Pillow_bar__plus_00_dot_97_bar__plus_00_dot_68_bar__plus_00_dot_34 Bed_bar__plus_00_dot_94_bar__plus_00_dot_00_bar__plus_00_dot_15) + (inReceptacle KeyChain_bar__plus_00_dot_84_bar__plus_00_dot_43_bar__minus_01_dot_86 ArmChair_bar__plus_00_dot_70_bar__plus_00_dot_01_bar__minus_02_dot_27) + (inReceptacle AlarmClock_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 TissueBox_bar__plus_03_dot_24_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 CellPhone_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 CreditCard_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 AlarmClock_bar__plus_03_dot_70_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 CreditCard_bar__plus_03_dot_70_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 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 CellPhone_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 Pen_bar__plus_02_dot_93_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 AlarmClock_bar__plus_02_dot_78_bar__plus_00_dot_78_bar__minus_01_dot_41 DiningTable_bar__plus_03_dot_24_bar__minus_00_dot_01_bar__minus_01_dot_59) + (inReceptacle Pencil_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 CellPhone_bar__plus_00_dot_29_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 KeyChain_bar__plus_00_dot_36_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 CreditCard_bar__plus_00_dot_36_bar__plus_00_dot_71_bar__minus_01_dot_27 SideTable_bar__plus_00_dot_28_bar__plus_00_dot_00_bar__minus_01_dot_02) + (inReceptacle TissueBox_bar__plus_00_dot_30_bar__plus_00_dot_70_bar__minus_00_dot_78 SideTable_bar__plus_00_dot_28_bar__plus_00_dot_00_bar__minus_01_dot_02) + (inReceptacle CD_bar__plus_00_dot_35_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) + + + (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_03_dot_08_bar__plus_00_dot_78_bar__minus_01_dot_86 loc_bar_13_bar__minus_3_bar_2_bar_60) + (objectAtLocation CellPhone_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 TissueBox_bar__plus_00_dot_30_bar__plus_00_dot_70_bar__minus_00_dot_78 loc_bar_4_bar__minus_4_bar_3_bar_60) + (objectAtLocation CreditCard_bar__plus_00_dot_36_bar__plus_00_dot_71_bar__minus_01_dot_27 loc_bar_4_bar__minus_4_bar_3_bar_60) + (objectAtLocation Pillow_bar__plus_01_dot_37_bar__plus_00_dot_68_bar__plus_00_dot_34 loc_bar_11_bar_1_bar_3_bar_45) + (objectAtLocation KeyChain_bar__plus_00_dot_36_bar__plus_00_dot_71_bar__plus_01_dot_05 loc_bar_3_bar_5_bar_3_bar_60) + (objectAtLocation Book_bar__plus_01_dot_17_bar__plus_00_dot_60_bar__plus_00_dot_72 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_41 loc_bar_13_bar__minus_3_bar_2_bar_60) + (objectAtLocation Pillow_bar__plus_01_dot_17_bar__plus_00_dot_68_bar__minus_00_dot_43 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_32 loc_bar_13_bar__minus_3_bar_2_bar_60) + (objectAtLocation CellPhone_bar__plus_00_dot_29_bar__plus_00_dot_71_bar__plus_01_dot_30 loc_bar_3_bar_5_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_00_dot_77_bar__plus_00_dot_60_bar__minus_00_dot_43 loc_bar_11_bar_1_bar_3_bar_45) + (objectAtLocation KeyChain_bar__plus_00_dot_84_bar__plus_00_dot_43_bar__minus_01_dot_86 loc_bar_7_bar__minus_8_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_97_bar__plus_00_dot_68_bar__plus_00_dot_34 loc_bar_11_bar_1_bar_3_bar_45) + (objectAtLocation CreditCard_bar__plus_03_dot_70_bar__plus_00_dot_78_bar__minus_01_dot_50 loc_bar_13_bar__minus_3_bar_2_bar_60) + (objectAtLocation Pen_bar__plus_02_dot_93_bar__plus_00_dot_78_bar__minus_01_dot_77 loc_bar_13_bar__minus_3_bar_2_bar_60) + (objectAtLocation Pencil_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 TissueBox_bar__plus_03_dot_24_bar__plus_00_dot_78_bar__minus_01_dot_32 loc_bar_13_bar__minus_3_bar_2_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 CellPhone_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 AlarmClock_bar__plus_03_dot_70_bar__plus_00_dot_78_bar__minus_01_dot_77 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_35_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 (?o1 - object) + (and + (objectType ?o1 PillowType) + (receptacleType ?r ArmChairType) + (inReceptacle ?o1 ?r) + (exists (?o2 - object) + (and + (not (= ?o1 ?o2)) + (objectType ?o2 PillowType) + (receptacleType ?r ArmChairType) + (inReceptacle ?o2 ?r) + ) + ) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git 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"CellPhone_a02909a5", + "position": { + "x": 3.08483267, + "y": 0.7797626, + "z": -1.67929852 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "AlarmClock_55797a1f", + "position": { + "x": 3.08483267, + "y": 0.7780428, + "z": -1.85789537 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "CD_f2466fdb", + "position": { + "x": 0.3528759, + "y": 0.6148637, + "z": -0.940516353 + }, + "rotation": { + "x": 0.0, + "y": 180.000336, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 1533414457, + "scene_num": 321 + }, + "task_id": "trial_T20190907_121735_217785", + "task_type": "pick_two_obj_and_place", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A2KAGFQU28JY43_382M9COHEKW4QFJMUJJMTNN0OLVEUU", + "high_descs": [ + "Walk across the room making a right in front of the desk and walk towards the night stand by the bed, then turn to your right so that you are facing the bed.", + "Pick up the cushion on the edge of the bed closest to you. ", + "Turn around and face the chair in the corner. ", + "Place the cushion on the seat of the chair. ", + "Turn around and walk back to the end of the bed, facing the head board.", + "Pick up the cushion closest to you, at the end of the bed. ", + "Turn to your left and walk back to the chair in the corner.", + "Place the cushion on the chair next to the other cushion. " + ], + "task_desc": "Put two cushion's on the chair in the corner. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3F7G1FSFWQPLE_3XLBSAQ9Z7T03ZYMDY4O45AY4G6Z7I", + "high_descs": [ + "Walk across the room to the wooden table, then turn right and walk over to the middle of the bed.", + "Pick up the closest purple pillow off of the bed.", + "Turn right and take a step, then turn right and walk forward, then turn right and face the chair in the corner of the room.", + "Place the purple pillow standing up on left side of the seat of the chair.", + "Turn around and walk around to the end of the bed.", + "Pick up the closest purple pillow off of the bed.", + "Turn left and walk over to the chair in the corner of the room.", + "Place the pillow standing up on the seat of the chair to the right of the pillow that is already there." + ], + "task_desc": "Move two pillows to the seat of a chair.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3T9K2RY06UO14_3YT88D1N0BFNDLYDBLYO49A5V5Y3KM", + "high_descs": [ + "Turn around and go to the bed.", + "Pick up a cushion on the bed. ", + "Turn around and go to the chair by the window.", + "Put the cushion on the chair. ", + "Turn around and go to the bed.", + "Pick up a cushion on the bed. ", + "Turn around and go to the chair by the window.", + "Put the cushion on the chair. " + ], + "task_desc": "Move two cushions from the bed to the chair by the window. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A22ON3MIIG0IJA_31IBVUNM9VGW988IUKDX7RAJEYPVFY", + "high_descs": [ + "Walk to the table then turn right and walk to the corner of the bed.", + "Pick up the cushion from the bed.", + "Turn around and walk to the brown chair.", + "Stand the cushion on the left side of the brown chair.", + "Turn right and walk to the end of the bed.", + "Pick up the cushion closest to the end of the bed.", + "Turn around and walk to the brown chair in the corner.", + "Stand the cushion on the right side of the brown chair." + ], + "task_desc": "Put two cushions on the brown chair.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A19LVWX8ZLO6CS_3FTYUGLFSX2IDUF7XN0UFTDZPXYD5P", + "high_descs": [ + "Walk forward towards the table, turn right, walk forward, turn right to be on the side of the bed.", + "Pick up the purple cushion on the bed in front of you.", + "Turn around walk to the gray sofa.", + "Place the purple cushion on the sofa.", + "Turn around and head towards the door, turn left at the foot of the bed.", + "Pick up the purple cushion closest to the bottom of the bed.", + "Turn left and return to the gray sofa.", + "Place the cushion to the right on the cushion that is already on the sofa." + ], + "task_desc": "Take two cushions and place them on the gray sofa.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3T9K2RY06UO14_3IKZ72A5B7XJ13Z9STR6XAG6SXCNF2", + "high_descs": [ + "Turn and go to the bed.", + "Pick up a cushion on the bed. ", + "Turn around and go to the chair in the corner. ", + "Put the cushion on the chair in the corner.", + "Turn around and go to the bed.", + "Pick up a cushion on the bed. ", + "Turn around and go to the chair in the corner. ", + "Put the cushion on the chair in the corner." + ], + "task_desc": "Move two cushions from the bed to the chair in the corner.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-SoapBottle-None-Cart-430/trial_T20190908_130158_585471/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-SoapBottle-None-Cart-430/trial_T20190908_130158_585471/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..9893dd86df454af175c2ddbc70a9a96d6523d440 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-SoapBottle-None-Cart-430/trial_T20190908_130158_585471/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\n\\n#task#\"\n }\n ],\n\n \"notImplemented\": [\n {\n \"rhs\": \"TODO\"\n }\n ],\n\n \"task\": [\n {\n \"rhs\": \"Your task is to: put two soapbottle in cart.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using 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_130158_585471)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Bathtub_bar__minus_01_dot_96_bar__plus_00_dot_49_bar__minus_01_dot_23 - object\n Candle_bar__minus_00_dot_24_bar__plus_00_dot_97_bar__plus_02_dot_20 - object\n Cloth_bar__plus_02_dot_20_bar__plus_00_dot_62_bar__minus_02_dot_17 - object\n Cloth_bar__minus_00_dot_05_bar__plus_00_dot_96_bar__minus_01_dot_90 - object\n DishSponge_bar__plus_00_dot_27_bar__plus_00_dot_96_bar__minus_02_dot_09 - object\n DishSponge_bar__minus_02_dot_26_bar__plus_00_dot_08_bar__minus_01_dot_03 - object\n DishSponge_bar__minus_02_dot_88_bar__plus_00_dot_89_bar__plus_00_dot_84 - object\n Faucet_bar__minus_02_dot_79_bar__plus_00_dot_48_bar__minus_00_dot_36 - object\n Faucet_bar__minus_03_dot_11_bar__plus_01_dot_06_bar__plus_00_dot_76 - object\n Footstool_bar__minus_00_dot_33_bar__plus_00_dot_30_bar__minus_01_dot_98 - object\n HandTowel_bar__minus_00_dot_89_bar__plus_01_dot_62_bar__minus_02_dot_50 - object\n LightSwitch_bar__minus_01_dot_41_bar__plus_01_dot_47_bar__plus_02_dot_41 - object\n Mirror_bar__minus_00_dot_05_bar__plus_01_dot_51_bar__minus_02_dot_54 - object\n Plunger_bar__plus_00_dot_51_bar__plus_00_dot_01_bar__plus_02_dot_27 - object\n ScrubBrush_bar__plus_00_dot_34_bar__plus_00_dot_01_bar__plus_02_dot_07 - object\n ShowerDoor_bar__plus_00_dot_65_bar__plus_01_dot_41_bar__plus_02_dot_17 - object\n ShowerGlass_bar__plus_00_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_00 - object\n ShowerHead_bar__plus_01_dot_59_bar__plus_01_dot_70_bar__minus_02_dot_43 - object\n Sink_bar__minus_02_dot_80_bar__plus_00_dot_33_bar__plus_00_dot_76 - object\n SoapBar_bar__plus_00_dot_14_bar__plus_00_dot_97_bar__plus_02_dot_25 - object\n SoapBar_bar__minus_02_dot_84_bar__plus_00_dot_88_bar__plus_00_dot_64 - object\n SoapBottle_bar__plus_00_dot_01_bar__plus_00_dot_98_bar__plus_02_dot_33 - object\n SoapBottle_bar__plus_00_dot_11_bar__plus_00_dot_97_bar__minus_01_dot_81 - object\n SoapBottle_bar__minus_00_dot_05_bar__plus_00_dot_98_bar__plus_02_dot_22 - object\n SprayBottle_bar__plus_01_dot_36_bar__plus_00_dot_62_bar__minus_02_dot_24 - object\n SprayBottle_bar__minus_02_dot_81_bar__plus_00_dot_24_bar__plus_01_dot_47 - object\n SprayBottle_bar__minus_02_dot_86_bar__plus_00_dot_24_bar__plus_01_dot_63 - object\n TissueBox_bar__plus_00_dot_27_bar__plus_00_dot_96_bar__minus_01_dot_90 - object\n TissueBox_bar__plus_00_dot_93_bar__plus_00_dot_62_bar__minus_02_dot_24 - object\n TissueBox_bar__minus_00_dot_21_bar__plus_00_dot_96_bar__minus_02_dot_28 - object\n ToiletPaper_bar__minus_00_dot_18_bar__plus_00_dot_96_bar__plus_02_dot_33 - object\n ToiletPaper_bar__minus_00_dot_37_bar__plus_00_dot_96_bar__minus_02_dot_18 - object\n Towel_bar__plus_00_dot_47_bar__plus_01_dot_21_bar__minus_01_dot_10 - object\n Window_bar__minus_02_dot_15_bar__plus_01_dot_81_bar__minus_02_dot_57 - object\n Window_bar__minus_03_dot_17_bar__plus_01_dot_81_bar__plus_01_dot_60 - object\n Window_bar__minus_03_dot_17_bar__plus_01_dot_81_bar__minus_00_dot_06 - object\n Window_bar__minus_03_dot_17_bar__plus_01_dot_81_bar__minus_01_dot_70 - object\n Bathtub_bar__minus_01_dot_96_bar__plus_00_dot_49_bar__minus_01_dot_23_bar_BathtubBasin - receptacle\n Cart_bar__minus_02_dot_92_bar__plus_00_dot_01_bar__plus_01_dot_48 - receptacle\n CounterTop_bar__plus_00_dot_20_bar__plus_00_dot_43_bar__minus_02_dot_01 - receptacle\n Drawer_bar__plus_00_dot_30_bar__plus_00_dot_30_bar__minus_01_dot_82 - receptacle\n Drawer_bar__plus_00_dot_30_bar__plus_00_dot_49_bar__minus_01_dot_82 - receptacle\n Drawer_bar__plus_00_dot_30_bar__plus_00_dot_68_bar__minus_01_dot_82 - receptacle\n Drawer_bar__plus_00_dot_30_bar__plus_00_dot_83_bar__minus_01_dot_82 - receptacle\n GarbageCan_bar__minus_02_dot_93_bar__plus_00_dot_01_bar__plus_02_dot_09 - receptacle\n HandTowelHolder_bar__minus_00_dot_89_bar__plus_01_dot_72_bar__minus_02_dot_54 - receptacle\n Shelf_bar__plus_01_dot_54_bar__plus_00_dot_61_bar__minus_02_dot_24 - receptacle\n Sink_bar__minus_02_dot_80_bar__plus_00_dot_33_bar__plus_00_dot_76_bar_SinkBasin - receptacle\n ToiletPaperHanger_bar__minus_00_dot_57_bar__plus_00_dot_93_bar__plus_02_dot_41 - receptacle\n Toilet_bar__minus_00_dot_06_bar__plus_00_dot_01_bar__plus_01_dot_84 - receptacle\n TowelHolder_bar__plus_00_dot_57_bar__plus_01_dot_20_bar__minus_01_dot_10 - receptacle\n loc_bar_0_bar__minus_6_bar_2_bar_15 - location\n loc_bar__minus_6_bar_7_bar_0_bar_15 - location\n loc_bar__minus_1_bar__minus_3_bar_2_bar_45 - location\n loc_bar__minus_10_bar_0_bar_3_bar__minus_15 - location\n loc_bar_0_bar__minus_4_bar_2_bar_60 - location\n loc_bar_0_bar__minus_4_bar_1_bar_45 - location\n loc_bar__minus_10_bar_0_bar_0_bar_45 - location\n loc_bar_0_bar_5_bar_0_bar_15 - location\n loc_bar__minus_9_bar_6_bar_3_bar__minus_15 - location\n loc_bar__minus_8_bar_3_bar_3_bar_60 - location\n loc_bar_0_bar__minus_5_bar_2_bar_60 - location\n loc_bar__minus_9_bar_6_bar_3_bar_60 - location\n loc_bar__minus_3_bar__minus_6_bar_2_bar_0 - location\n loc_bar__minus_4_bar_7_bar_1_bar_60 - location\n loc_bar_0_bar_0_bar_2_bar_60 - location\n loc_bar__minus_2_bar_7_bar_0_bar_45 - location\n loc_bar_0_bar_5_bar_0_bar_60 - location\n loc_bar__minus_3_bar__minus_6_bar_3_bar_0 - location\n loc_bar__minus_4_bar__minus_4_bar_3_bar_45 - location\n loc_bar__minus_8_bar_6_bar_3_bar_60 - location\n loc_bar__minus_10_bar_0_bar_2_bar_60 - location\n loc_bar_0_bar__minus_6_bar_2_bar_60 - location\n loc_bar_0_bar__minus_4_bar_2_bar_45 - location\n loc_bar__minus_10_bar_0_bar_2_bar_0 - location\n loc_bar_0_bar__minus_6_bar_1_bar_30 - location\n loc_bar__minus_6_bar_6_bar_1_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType HandTowelHolder_bar__minus_00_dot_89_bar__plus_01_dot_72_bar__minus_02_dot_54 HandTowelHolderType)\n (receptacleType Cart_bar__minus_02_dot_92_bar__plus_00_dot_01_bar__plus_01_dot_48 CartType)\n (receptacleType Drawer_bar__plus_00_dot_30_bar__plus_00_dot_68_bar__minus_01_dot_82 DrawerType)\n (receptacleType Drawer_bar__plus_00_dot_30_bar__plus_00_dot_49_bar__minus_01_dot_82 DrawerType)\n (receptacleType Toilet_bar__minus_00_dot_06_bar__plus_00_dot_01_bar__plus_01_dot_84 ToiletType)\n (receptacleType ToiletPaperHanger_bar__minus_00_dot_57_bar__plus_00_dot_93_bar__plus_02_dot_41 ToiletPaperHangerType)\n (receptacleType Sink_bar__minus_02_dot_80_bar__plus_00_dot_33_bar__plus_00_dot_76_bar_SinkBasin SinkBasinType)\n (receptacleType CounterTop_bar__plus_00_dot_20_bar__plus_00_dot_43_bar__minus_02_dot_01 CounterTopType)\n (receptacleType Drawer_bar__plus_00_dot_30_bar__plus_00_dot_30_bar__minus_01_dot_82 DrawerType)\n (receptacleType Drawer_bar__plus_00_dot_30_bar__plus_00_dot_83_bar__minus_01_dot_82 DrawerType)\n (receptacleType Bathtub_bar__minus_01_dot_96_bar__plus_00_dot_49_bar__minus_01_dot_23_bar_BathtubBasin BathtubBasinType)\n (receptacleType GarbageCan_bar__minus_02_dot_93_bar__plus_00_dot_01_bar__plus_02_dot_09 GarbageCanType)\n (receptacleType TowelHolder_bar__plus_00_dot_57_bar__plus_01_dot_20_bar__minus_01_dot_10 TowelHolderType)\n (receptacleType Shelf_bar__plus_01_dot_54_bar__plus_00_dot_61_bar__minus_02_dot_24 ShelfType)\n (objectType TissueBox_bar__plus_00_dot_93_bar__plus_00_dot_62_bar__minus_02_dot_24 TissueBoxType)\n (objectType Cloth_bar__minus_00_dot_05_bar__plus_00_dot_96_bar__minus_01_dot_90 ClothType)\n (objectType Bathtub_bar__minus_01_dot_96_bar__plus_00_dot_49_bar__minus_01_dot_23 BathtubType)\n (objectType Mirror_bar__minus_00_dot_05_bar__plus_01_dot_51_bar__minus_02_dot_54 MirrorType)\n (objectType Towel_bar__plus_00_dot_47_bar__plus_01_dot_21_bar__minus_01_dot_10 TowelType)\n (objectType Sink_bar__minus_02_dot_80_bar__plus_00_dot_33_bar__plus_00_dot_76 SinkType)\n (objectType ScrubBrush_bar__plus_00_dot_34_bar__plus_00_dot_01_bar__plus_02_dot_07 ScrubBrushType)\n (objectType SoapBottle_bar__plus_00_dot_01_bar__plus_00_dot_98_bar__plus_02_dot_33 SoapBottleType)\n (objectType SoapBottle_bar__plus_00_dot_11_bar__plus_00_dot_97_bar__minus_01_dot_81 SoapBottleType)\n (objectType Window_bar__minus_03_dot_17_bar__plus_01_dot_81_bar__plus_01_dot_60 WindowType)\n (objectType Plunger_bar__plus_00_dot_51_bar__plus_00_dot_01_bar__plus_02_dot_27 PlungerType)\n (objectType Cloth_bar__plus_02_dot_20_bar__plus_00_dot_62_bar__minus_02_dot_17 ClothType)\n (objectType ShowerGlass_bar__plus_00_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_00 ShowerGlassType)\n (objectType SprayBottle_bar__minus_02_dot_86_bar__plus_00_dot_24_bar__plus_01_dot_63 SprayBottleType)\n (objectType Window_bar__minus_03_dot_17_bar__plus_01_dot_81_bar__minus_01_dot_70 WindowType)\n (objectType LightSwitch_bar__minus_01_dot_41_bar__plus_01_dot_47_bar__plus_02_dot_41 LightSwitchType)\n (objectType SprayBottle_bar__plus_01_dot_36_bar__plus_00_dot_62_bar__minus_02_dot_24 SprayBottleType)\n (objectType TissueBox_bar__plus_00_dot_27_bar__plus_00_dot_96_bar__minus_01_dot_90 TissueBoxType)\n (objectType SoapBar_bar__minus_02_dot_84_bar__plus_00_dot_88_bar__plus_00_dot_64 SoapBarType)\n (objectType TissueBox_bar__minus_00_dot_21_bar__plus_00_dot_96_bar__minus_02_dot_28 TissueBoxType)\n (objectType Candle_bar__minus_00_dot_24_bar__plus_00_dot_97_bar__plus_02_dot_20 CandleType)\n (objectType DishSponge_bar__minus_02_dot_88_bar__plus_00_dot_89_bar__plus_00_dot_84 DishSpongeType)\n (objectType ToiletPaper_bar__minus_00_dot_37_bar__plus_00_dot_96_bar__minus_02_dot_18 ToiletPaperType)\n (objectType DishSponge_bar__plus_00_dot_27_bar__plus_00_dot_96_bar__minus_02_dot_09 DishSpongeType)\n (objectType ToiletPaper_bar__minus_00_dot_18_bar__plus_00_dot_96_bar__plus_02_dot_33 ToiletPaperType)\n (objectType Window_bar__minus_03_dot_17_bar__plus_01_dot_81_bar__minus_00_dot_06 WindowType)\n (objectType DishSponge_bar__minus_02_dot_26_bar__plus_00_dot_08_bar__minus_01_dot_03 DishSpongeType)\n (objectType SoapBar_bar__plus_00_dot_14_bar__plus_00_dot_97_bar__plus_02_dot_25 SoapBarType)\n (objectType HandTowel_bar__minus_00_dot_89_bar__plus_01_dot_62_bar__minus_02_dot_50 HandTowelType)\n (objectType Window_bar__minus_02_dot_15_bar__plus_01_dot_81_bar__minus_02_dot_57 WindowType)\n (objectType SprayBottle_bar__minus_02_dot_81_bar__plus_00_dot_24_bar__plus_01_dot_47 SprayBottleType)\n (objectType SoapBottle_bar__minus_00_dot_05_bar__plus_00_dot_98_bar__plus_02_dot_22 SoapBottleType)\n (objectType ShowerDoor_bar__plus_00_dot_65_bar__plus_01_dot_41_bar__plus_02_dot_17 ShowerDoorType)\n (objectType Footstool_bar__minus_00_dot_33_bar__plus_00_dot_30_bar__minus_01_dot_98 FootstoolType)\n (canContain HandTowelHolderType HandTowelType)\n (canContain CartType SoapBottleType)\n (canContain CartType HandTowelType)\n (canContain CartType ToiletPaperType)\n (canContain CartType ClothType)\n (canContain CartType CandleType)\n (canContain CartType SoapBarType)\n (canContain CartType DishSpongeType)\n (canContain CartType PlungerType)\n (canContain CartType SprayBottleType)\n (canContain CartType TissueBoxType)\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 ToiletPaperHangerType ToiletPaperType)\n (canContain SinkBasinType SoapBarType)\n (canContain SinkBasinType DishSpongeType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType HandTowelType)\n (canContain CounterTopType CandleType)\n (canContain CounterTopType DishSpongeType)\n (canContain CounterTopType SoapBarType)\n (canContain CounterTopType SprayBottleType)\n (canContain CounterTopType ToiletPaperType)\n (canContain CounterTopType SoapBottleType)\n (canContain CounterTopType ClothType)\n (canContain CounterTopType TissueBoxType)\n (canContain CounterTopType 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 BathtubBasinType ClothType)\n (canContain BathtubBasinType HandTowelType)\n (canContain BathtubBasinType SoapBarType)\n (canContain BathtubBasinType DishSpongeType)\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 TowelHolderType TowelType)\n (canContain ShelfType CandleType)\n (canContain ShelfType SoapBarType)\n (canContain ShelfType DishSpongeType)\n (canContain ShelfType SprayBottleType)\n (canContain ShelfType ToiletPaperType)\n (canContain ShelfType SoapBottleType)\n (canContain ShelfType ClothType)\n (canContain ShelfType TissueBoxType)\n (canContain ShelfType HandTowelType)\n (pickupable TissueBox_bar__plus_00_dot_93_bar__plus_00_dot_62_bar__minus_02_dot_24)\n (pickupable Cloth_bar__minus_00_dot_05_bar__plus_00_dot_96_bar__minus_01_dot_90)\n (pickupable Towel_bar__plus_00_dot_47_bar__plus_01_dot_21_bar__minus_01_dot_10)\n (pickupable ScrubBrush_bar__plus_00_dot_34_bar__plus_00_dot_01_bar__plus_02_dot_07)\n (pickupable SoapBottle_bar__plus_00_dot_01_bar__plus_00_dot_98_bar__plus_02_dot_33)\n (pickupable SoapBottle_bar__plus_00_dot_11_bar__plus_00_dot_97_bar__minus_01_dot_81)\n (pickupable Plunger_bar__plus_00_dot_51_bar__plus_00_dot_01_bar__plus_02_dot_27)\n (pickupable Cloth_bar__plus_02_dot_20_bar__plus_00_dot_62_bar__minus_02_dot_17)\n (pickupable SprayBottle_bar__minus_02_dot_86_bar__plus_00_dot_24_bar__plus_01_dot_63)\n (pickupable SprayBottle_bar__plus_01_dot_36_bar__plus_00_dot_62_bar__minus_02_dot_24)\n (pickupable TissueBox_bar__plus_00_dot_27_bar__plus_00_dot_96_bar__minus_01_dot_90)\n (pickupable SoapBar_bar__minus_02_dot_84_bar__plus_00_dot_88_bar__plus_00_dot_64)\n (pickupable TissueBox_bar__minus_00_dot_21_bar__plus_00_dot_96_bar__minus_02_dot_28)\n (pickupable Candle_bar__minus_00_dot_24_bar__plus_00_dot_97_bar__plus_02_dot_20)\n (pickupable DishSponge_bar__minus_02_dot_88_bar__plus_00_dot_89_bar__plus_00_dot_84)\n (pickupable ToiletPaper_bar__minus_00_dot_37_bar__plus_00_dot_96_bar__minus_02_dot_18)\n (pickupable DishSponge_bar__plus_00_dot_27_bar__plus_00_dot_96_bar__minus_02_dot_09)\n (pickupable ToiletPaper_bar__minus_00_dot_18_bar__plus_00_dot_96_bar__plus_02_dot_33)\n (pickupable DishSponge_bar__minus_02_dot_26_bar__plus_00_dot_08_bar__minus_01_dot_03)\n (pickupable SoapBar_bar__plus_00_dot_14_bar__plus_00_dot_97_bar__plus_02_dot_25)\n (pickupable HandTowel_bar__minus_00_dot_89_bar__plus_01_dot_62_bar__minus_02_dot_50)\n (pickupable SprayBottle_bar__minus_02_dot_81_bar__plus_00_dot_24_bar__plus_01_dot_47)\n (pickupable SoapBottle_bar__minus_00_dot_05_bar__plus_00_dot_98_bar__plus_02_dot_22)\n (pickupable Footstool_bar__minus_00_dot_33_bar__plus_00_dot_30_bar__minus_01_dot_98)\n \n (openable Drawer_bar__plus_00_dot_30_bar__plus_00_dot_68_bar__minus_01_dot_82)\n (openable Drawer_bar__plus_00_dot_30_bar__plus_00_dot_49_bar__minus_01_dot_82)\n (openable Drawer_bar__plus_00_dot_30_bar__plus_00_dot_30_bar__minus_01_dot_82)\n (openable Drawer_bar__plus_00_dot_30_bar__plus_00_dot_83_bar__minus_01_dot_82)\n \n (atLocation agent1 loc_bar__minus_6_bar_6_bar_1_bar_30)\n \n (cleanable Cloth_bar__minus_00_dot_05_bar__plus_00_dot_96_bar__minus_01_dot_90)\n (cleanable Cloth_bar__plus_02_dot_20_bar__plus_00_dot_62_bar__minus_02_dot_17)\n (cleanable SoapBar_bar__minus_02_dot_84_bar__plus_00_dot_88_bar__plus_00_dot_64)\n (cleanable DishSponge_bar__minus_02_dot_88_bar__plus_00_dot_89_bar__plus_00_dot_84)\n (cleanable DishSponge_bar__plus_00_dot_27_bar__plus_00_dot_96_bar__minus_02_dot_09)\n (cleanable DishSponge_bar__minus_02_dot_26_bar__plus_00_dot_08_bar__minus_01_dot_03)\n (cleanable SoapBar_bar__plus_00_dot_14_bar__plus_00_dot_97_bar__plus_02_dot_25)\n \n \n \n \n \n \n \n \n \n \n (inReceptacle Cloth_bar__minus_00_dot_05_bar__plus_00_dot_96_bar__minus_01_dot_90 CounterTop_bar__plus_00_dot_20_bar__plus_00_dot_43_bar__minus_02_dot_01)\n (inReceptacle ToiletPaper_bar__minus_00_dot_37_bar__plus_00_dot_96_bar__minus_02_dot_18 CounterTop_bar__plus_00_dot_20_bar__plus_00_dot_43_bar__minus_02_dot_01)\n (inReceptacle TissueBox_bar__plus_00_dot_27_bar__plus_00_dot_96_bar__minus_01_dot_90 CounterTop_bar__plus_00_dot_20_bar__plus_00_dot_43_bar__minus_02_dot_01)\n (inReceptacle DishSponge_bar__plus_00_dot_27_bar__plus_00_dot_96_bar__minus_02_dot_09 CounterTop_bar__plus_00_dot_20_bar__plus_00_dot_43_bar__minus_02_dot_01)\n (inReceptacle SoapBottle_bar__plus_00_dot_11_bar__plus_00_dot_97_bar__minus_01_dot_81 CounterTop_bar__plus_00_dot_20_bar__plus_00_dot_43_bar__minus_02_dot_01)\n (inReceptacle TissueBox_bar__minus_00_dot_21_bar__plus_00_dot_96_bar__minus_02_dot_28 CounterTop_bar__plus_00_dot_20_bar__plus_00_dot_43_bar__minus_02_dot_01)\n (inReceptacle Towel_bar__plus_00_dot_47_bar__plus_01_dot_21_bar__minus_01_dot_10 TowelHolder_bar__plus_00_dot_57_bar__plus_01_dot_20_bar__minus_01_dot_10)\n (inReceptacle TissueBox_bar__plus_00_dot_93_bar__plus_00_dot_62_bar__minus_02_dot_24 Shelf_bar__plus_01_dot_54_bar__plus_00_dot_61_bar__minus_02_dot_24)\n (inReceptacle Cloth_bar__plus_02_dot_20_bar__plus_00_dot_62_bar__minus_02_dot_17 Shelf_bar__plus_01_dot_54_bar__plus_00_dot_61_bar__minus_02_dot_24)\n (inReceptacle SprayBottle_bar__plus_01_dot_36_bar__plus_00_dot_62_bar__minus_02_dot_24 Shelf_bar__plus_01_dot_54_bar__plus_00_dot_61_bar__minus_02_dot_24)\n (inReceptacle HandTowel_bar__minus_00_dot_89_bar__plus_01_dot_62_bar__minus_02_dot_50 HandTowelHolder_bar__minus_00_dot_89_bar__plus_01_dot_72_bar__minus_02_dot_54)\n (inReceptacle SprayBottle_bar__minus_02_dot_81_bar__plus_00_dot_24_bar__plus_01_dot_47 Cart_bar__minus_02_dot_92_bar__plus_00_dot_01_bar__plus_01_dot_48)\n (inReceptacle SprayBottle_bar__minus_02_dot_86_bar__plus_00_dot_24_bar__plus_01_dot_63 Cart_bar__minus_02_dot_92_bar__plus_00_dot_01_bar__plus_01_dot_48)\n (inReceptacle SoapBar_bar__plus_00_dot_14_bar__plus_00_dot_97_bar__plus_02_dot_25 Toilet_bar__minus_00_dot_06_bar__plus_00_dot_01_bar__plus_01_dot_84)\n (inReceptacle SoapBottle_bar__minus_00_dot_05_bar__plus_00_dot_98_bar__plus_02_dot_22 Toilet_bar__minus_00_dot_06_bar__plus_00_dot_01_bar__plus_01_dot_84)\n (inReceptacle ToiletPaper_bar__minus_00_dot_18_bar__plus_00_dot_96_bar__plus_02_dot_33 Toilet_bar__minus_00_dot_06_bar__plus_00_dot_01_bar__plus_01_dot_84)\n (inReceptacle SoapBottle_bar__plus_00_dot_01_bar__plus_00_dot_98_bar__plus_02_dot_33 Toilet_bar__minus_00_dot_06_bar__plus_00_dot_01_bar__plus_01_dot_84)\n (inReceptacle Candle_bar__minus_00_dot_24_bar__plus_00_dot_97_bar__plus_02_dot_20 Toilet_bar__minus_00_dot_06_bar__plus_00_dot_01_bar__plus_01_dot_84)\n (inReceptacle DishSponge_bar__minus_02_dot_88_bar__plus_00_dot_89_bar__plus_00_dot_84 Sink_bar__minus_02_dot_80_bar__plus_00_dot_33_bar__plus_00_dot_76_bar_SinkBasin)\n (inReceptacle SoapBar_bar__minus_02_dot_84_bar__plus_00_dot_88_bar__plus_00_dot_64 Sink_bar__minus_02_dot_80_bar__plus_00_dot_33_bar__plus_00_dot_76_bar_SinkBasin)\n (inReceptacle DishSponge_bar__minus_02_dot_26_bar__plus_00_dot_08_bar__minus_01_dot_03 Bathtub_bar__minus_01_dot_96_bar__plus_00_dot_49_bar__minus_01_dot_23_bar_BathtubBasin)\n \n \n (receptacleAtLocation Bathtub_bar__minus_01_dot_96_bar__plus_00_dot_49_bar__minus_01_dot_23_bar_BathtubBasin loc_bar__minus_10_bar_0_bar_2_bar_60)\n (receptacleAtLocation Cart_bar__minus_02_dot_92_bar__plus_00_dot_01_bar__plus_01_dot_48 loc_bar__minus_9_bar_6_bar_3_bar_60)\n (receptacleAtLocation CounterTop_bar__plus_00_dot_20_bar__plus_00_dot_43_bar__minus_02_dot_01 loc_bar_0_bar__minus_5_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__plus_00_dot_30_bar__plus_00_dot_30_bar__minus_01_dot_82 loc_bar__minus_1_bar__minus_3_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_30_bar__plus_00_dot_49_bar__minus_01_dot_82 loc_bar_0_bar__minus_4_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__plus_00_dot_30_bar__plus_00_dot_68_bar__minus_01_dot_82 loc_bar_0_bar__minus_4_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_30_bar__plus_00_dot_83_bar__minus_01_dot_82 loc_bar_0_bar__minus_4_bar_2_bar_45)\n (receptacleAtLocation GarbageCan_bar__minus_02_dot_93_bar__plus_00_dot_01_bar__plus_02_dot_09 loc_bar__minus_8_bar_6_bar_3_bar_60)\n (receptacleAtLocation HandTowelHolder_bar__minus_00_dot_89_bar__plus_01_dot_72_bar__minus_02_dot_54 loc_bar__minus_3_bar__minus_6_bar_2_bar_0)\n (receptacleAtLocation Shelf_bar__plus_01_dot_54_bar__plus_00_dot_61_bar__minus_02_dot_24 loc_bar_0_bar__minus_6_bar_1_bar_30)\n (receptacleAtLocation Sink_bar__minus_02_dot_80_bar__plus_00_dot_33_bar__plus_00_dot_76_bar_SinkBasin loc_bar__minus_10_bar_0_bar_0_bar_45)\n (receptacleAtLocation ToiletPaperHanger_bar__minus_00_dot_57_bar__plus_00_dot_93_bar__plus_02_dot_41 loc_bar__minus_2_bar_7_bar_0_bar_45)\n (receptacleAtLocation Toilet_bar__minus_00_dot_06_bar__plus_00_dot_01_bar__plus_01_dot_84 loc_bar__minus_4_bar_7_bar_1_bar_60)\n (receptacleAtLocation TowelHolder_bar__plus_00_dot_57_bar__plus_01_dot_20_bar__minus_01_dot_10 loc_bar_0_bar__minus_4_bar_1_bar_45)\n (objectAtLocation DishSponge_bar__minus_02_dot_88_bar__plus_00_dot_89_bar__plus_00_dot_84 loc_bar__minus_10_bar_0_bar_0_bar_45)\n (objectAtLocation Cloth_bar__minus_00_dot_05_bar__plus_00_dot_96_bar__minus_01_dot_90 loc_bar_0_bar__minus_5_bar_2_bar_60)\n (objectAtLocation TissueBox_bar__minus_00_dot_21_bar__plus_00_dot_96_bar__minus_02_dot_28 loc_bar_0_bar__minus_5_bar_2_bar_60)\n (objectAtLocation SprayBottle_bar__minus_02_dot_81_bar__plus_00_dot_24_bar__plus_01_dot_47 loc_bar__minus_9_bar_6_bar_3_bar_60)\n (objectAtLocation SoapBar_bar__plus_00_dot_14_bar__plus_00_dot_97_bar__plus_02_dot_25 loc_bar__minus_4_bar_7_bar_1_bar_60)\n (objectAtLocation SoapBottle_bar__plus_00_dot_01_bar__plus_00_dot_98_bar__plus_02_dot_33 loc_bar__minus_4_bar_7_bar_1_bar_60)\n (objectAtLocation SoapBottle_bar__plus_00_dot_11_bar__plus_00_dot_97_bar__minus_01_dot_81 loc_bar_0_bar__minus_5_bar_2_bar_60)\n (objectAtLocation DishSponge_bar__minus_02_dot_26_bar__plus_00_dot_08_bar__minus_01_dot_03 loc_bar__minus_10_bar_0_bar_2_bar_60)\n (objectAtLocation SprayBottle_bar__minus_02_dot_86_bar__plus_00_dot_24_bar__plus_01_dot_63 loc_bar__minus_9_bar_6_bar_3_bar_60)\n (objectAtLocation TissueBox_bar__plus_00_dot_27_bar__plus_00_dot_96_bar__minus_01_dot_90 loc_bar_0_bar__minus_5_bar_2_bar_60)\n (objectAtLocation Bathtub_bar__minus_01_dot_96_bar__plus_00_dot_49_bar__minus_01_dot_23 loc_bar__minus_4_bar__minus_4_bar_3_bar_45)\n (objectAtLocation ShowerDoor_bar__plus_00_dot_65_bar__plus_01_dot_41_bar__plus_02_dot_17 loc_bar_0_bar_5_bar_0_bar_15)\n (objectAtLocation ShowerGlass_bar__plus_00_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_00 loc_bar_0_bar_0_bar_2_bar_60)\n (objectAtLocation Mirror_bar__minus_00_dot_05_bar__plus_01_dot_51_bar__minus_02_dot_54 loc_bar_0_bar__minus_6_bar_2_bar_15)\n (objectAtLocation Sink_bar__minus_02_dot_80_bar__plus_00_dot_33_bar__plus_00_dot_76 loc_bar__minus_8_bar_3_bar_3_bar_60)\n (objectAtLocation Candle_bar__minus_00_dot_24_bar__plus_00_dot_97_bar__plus_02_dot_20 loc_bar__minus_4_bar_7_bar_1_bar_60)\n (objectAtLocation HandTowel_bar__minus_00_dot_89_bar__plus_01_dot_62_bar__minus_02_dot_50 loc_bar__minus_3_bar__minus_6_bar_2_bar_0)\n (objectAtLocation Towel_bar__plus_00_dot_47_bar__plus_01_dot_21_bar__minus_01_dot_10 loc_bar_0_bar__minus_4_bar_1_bar_45)\n (objectAtLocation SoapBottle_bar__minus_00_dot_05_bar__plus_00_dot_98_bar__plus_02_dot_22 loc_bar__minus_4_bar_7_bar_1_bar_60)\n (objectAtLocation SoapBar_bar__minus_02_dot_84_bar__plus_00_dot_88_bar__plus_00_dot_64 loc_bar__minus_10_bar_0_bar_0_bar_45)\n (objectAtLocation ToiletPaper_bar__minus_00_dot_37_bar__plus_00_dot_96_bar__minus_02_dot_18 loc_bar_0_bar__minus_5_bar_2_bar_60)\n (objectAtLocation Plunger_bar__plus_00_dot_51_bar__plus_00_dot_01_bar__plus_02_dot_27 loc_bar_0_bar_5_bar_0_bar_60)\n (objectAtLocation SprayBottle_bar__plus_01_dot_36_bar__plus_00_dot_62_bar__minus_02_dot_24 loc_bar_0_bar__minus_6_bar_1_bar_30)\n (objectAtLocation TissueBox_bar__plus_00_dot_93_bar__plus_00_dot_62_bar__minus_02_dot_24 loc_bar_0_bar__minus_6_bar_1_bar_30)\n (objectAtLocation ToiletPaper_bar__minus_00_dot_18_bar__plus_00_dot_96_bar__plus_02_dot_33 loc_bar__minus_4_bar_7_bar_1_bar_60)\n (objectAtLocation Window_bar__minus_03_dot_17_bar__plus_01_dot_81_bar__minus_01_dot_70 loc_bar__minus_10_bar_0_bar_2_bar_0)\n (objectAtLocation Window_bar__minus_03_dot_17_bar__plus_01_dot_81_bar__plus_01_dot_60 loc_bar__minus_9_bar_6_bar_3_bar__minus_15)\n (objectAtLocation Window_bar__minus_02_dot_15_bar__plus_01_dot_81_bar__minus_02_dot_57 loc_bar__minus_3_bar__minus_6_bar_3_bar_0)\n (objectAtLocation Window_bar__minus_03_dot_17_bar__plus_01_dot_81_bar__minus_00_dot_06 loc_bar__minus_10_bar_0_bar_3_bar__minus_15)\n (objectAtLocation ScrubBrush_bar__plus_00_dot_34_bar__plus_00_dot_01_bar__plus_02_dot_07 loc_bar_0_bar_5_bar_0_bar_60)\n (objectAtLocation LightSwitch_bar__minus_01_dot_41_bar__plus_01_dot_47_bar__plus_02_dot_41 loc_bar__minus_6_bar_7_bar_0_bar_15)\n (objectAtLocation Cloth_bar__plus_02_dot_20_bar__plus_00_dot_62_bar__minus_02_dot_17 loc_bar_0_bar__minus_6_bar_1_bar_30)\n (objectAtLocation DishSponge_bar__plus_00_dot_27_bar__plus_00_dot_96_bar__minus_02_dot_09 loc_bar_0_bar__minus_5_bar_2_bar_60)\n (objectAtLocation Footstool_bar__minus_00_dot_33_bar__plus_00_dot_30_bar__minus_01_dot_98 loc_bar_0_bar__minus_6_bar_2_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o1 - object)\n (and\n (objectType ?o1 SoapBottleType)\n (receptacleType ?r CartType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 SoapBottleType)\n (receptacleType ?r CartType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 1", "take soapbottle 1 from countertop 1", "go to cart 1", "move soapbottle 1 to cart 1", "go to toilet 1", "take soapbottle 3 from toilet 1", "go to cart 1", "move soapbottle 3 to cart 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-SoapBottle-None-Cart-430/trial_T20190908_130158_585471/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-SoapBottle-None-Cart-430/trial_T20190908_130158_585471/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..7a99aab53d78ec1d2c426322305eb0b8b4d28d10 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-SoapBottle-None-Cart-430/trial_T20190908_130158_585471/initial_state.pddl @@ -0,0 +1,564 @@ + +(define (problem plan_trial_T20190908_130158_585471) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Bathtub_bar__minus_01_dot_96_bar__plus_00_dot_49_bar__minus_01_dot_23 - object + Candle_bar__minus_00_dot_24_bar__plus_00_dot_97_bar__plus_02_dot_20 - object + Cloth_bar__plus_02_dot_20_bar__plus_00_dot_62_bar__minus_02_dot_17 - object + Cloth_bar__minus_00_dot_05_bar__plus_00_dot_96_bar__minus_01_dot_90 - object + DishSponge_bar__plus_00_dot_27_bar__plus_00_dot_96_bar__minus_02_dot_09 - object + DishSponge_bar__minus_02_dot_26_bar__plus_00_dot_08_bar__minus_01_dot_03 - object + DishSponge_bar__minus_02_dot_88_bar__plus_00_dot_89_bar__plus_00_dot_84 - object + Faucet_bar__minus_02_dot_79_bar__plus_00_dot_48_bar__minus_00_dot_36 - object + Faucet_bar__minus_03_dot_11_bar__plus_01_dot_06_bar__plus_00_dot_76 - object + Footstool_bar__minus_00_dot_33_bar__plus_00_dot_30_bar__minus_01_dot_98 - object + HandTowel_bar__minus_00_dot_89_bar__plus_01_dot_62_bar__minus_02_dot_50 - object + LightSwitch_bar__minus_01_dot_41_bar__plus_01_dot_47_bar__plus_02_dot_41 - object + Mirror_bar__minus_00_dot_05_bar__plus_01_dot_51_bar__minus_02_dot_54 - object + Plunger_bar__plus_00_dot_51_bar__plus_00_dot_01_bar__plus_02_dot_27 - object + ScrubBrush_bar__plus_00_dot_34_bar__plus_00_dot_01_bar__plus_02_dot_07 - object + ShowerDoor_bar__plus_00_dot_65_bar__plus_01_dot_41_bar__plus_02_dot_17 - object + ShowerGlass_bar__plus_00_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_00 - object + ShowerHead_bar__plus_01_dot_59_bar__plus_01_dot_70_bar__minus_02_dot_43 - object + Sink_bar__minus_02_dot_80_bar__plus_00_dot_33_bar__plus_00_dot_76 - object + SoapBar_bar__plus_00_dot_14_bar__plus_00_dot_97_bar__plus_02_dot_25 - object + SoapBar_bar__minus_02_dot_84_bar__plus_00_dot_88_bar__plus_00_dot_64 - object + SoapBottle_bar__plus_00_dot_01_bar__plus_00_dot_98_bar__plus_02_dot_33 - object + SoapBottle_bar__plus_00_dot_11_bar__plus_00_dot_97_bar__minus_01_dot_81 - object + SoapBottle_bar__minus_00_dot_05_bar__plus_00_dot_98_bar__plus_02_dot_22 - object + SprayBottle_bar__plus_01_dot_36_bar__plus_00_dot_62_bar__minus_02_dot_24 - object + SprayBottle_bar__minus_02_dot_81_bar__plus_00_dot_24_bar__plus_01_dot_47 - object + SprayBottle_bar__minus_02_dot_86_bar__plus_00_dot_24_bar__plus_01_dot_63 - object + TissueBox_bar__plus_00_dot_27_bar__plus_00_dot_96_bar__minus_01_dot_90 - object + TissueBox_bar__plus_00_dot_93_bar__plus_00_dot_62_bar__minus_02_dot_24 - object + TissueBox_bar__minus_00_dot_21_bar__plus_00_dot_96_bar__minus_02_dot_28 - object + ToiletPaper_bar__minus_00_dot_18_bar__plus_00_dot_96_bar__plus_02_dot_33 - object + ToiletPaper_bar__minus_00_dot_37_bar__plus_00_dot_96_bar__minus_02_dot_18 - object + Towel_bar__plus_00_dot_47_bar__plus_01_dot_21_bar__minus_01_dot_10 - object + Window_bar__minus_02_dot_15_bar__plus_01_dot_81_bar__minus_02_dot_57 - object + Window_bar__minus_03_dot_17_bar__plus_01_dot_81_bar__plus_01_dot_60 - object + Window_bar__minus_03_dot_17_bar__plus_01_dot_81_bar__minus_00_dot_06 - object + Window_bar__minus_03_dot_17_bar__plus_01_dot_81_bar__minus_01_dot_70 - object + Bathtub_bar__minus_01_dot_96_bar__plus_00_dot_49_bar__minus_01_dot_23_bar_BathtubBasin - receptacle + Cart_bar__minus_02_dot_92_bar__plus_00_dot_01_bar__plus_01_dot_48 - receptacle + CounterTop_bar__plus_00_dot_20_bar__plus_00_dot_43_bar__minus_02_dot_01 - receptacle + Drawer_bar__plus_00_dot_30_bar__plus_00_dot_30_bar__minus_01_dot_82 - receptacle + Drawer_bar__plus_00_dot_30_bar__plus_00_dot_49_bar__minus_01_dot_82 - receptacle + Drawer_bar__plus_00_dot_30_bar__plus_00_dot_68_bar__minus_01_dot_82 - receptacle + Drawer_bar__plus_00_dot_30_bar__plus_00_dot_83_bar__minus_01_dot_82 - receptacle + GarbageCan_bar__minus_02_dot_93_bar__plus_00_dot_01_bar__plus_02_dot_09 - receptacle + HandTowelHolder_bar__minus_00_dot_89_bar__plus_01_dot_72_bar__minus_02_dot_54 - receptacle + Shelf_bar__plus_01_dot_54_bar__plus_00_dot_61_bar__minus_02_dot_24 - receptacle + Sink_bar__minus_02_dot_80_bar__plus_00_dot_33_bar__plus_00_dot_76_bar_SinkBasin - receptacle + ToiletPaperHanger_bar__minus_00_dot_57_bar__plus_00_dot_93_bar__plus_02_dot_41 - receptacle + Toilet_bar__minus_00_dot_06_bar__plus_00_dot_01_bar__plus_01_dot_84 - receptacle + TowelHolder_bar__plus_00_dot_57_bar__plus_01_dot_20_bar__minus_01_dot_10 - receptacle + loc_bar_0_bar__minus_6_bar_2_bar_15 - location + loc_bar__minus_6_bar_7_bar_0_bar_15 - location + loc_bar__minus_1_bar__minus_3_bar_2_bar_45 - location + loc_bar__minus_10_bar_0_bar_3_bar__minus_15 - location + loc_bar_0_bar__minus_4_bar_2_bar_60 - location + loc_bar_0_bar__minus_4_bar_1_bar_45 - location + loc_bar__minus_10_bar_0_bar_0_bar_45 - location + loc_bar_0_bar_5_bar_0_bar_15 - location + loc_bar__minus_9_bar_6_bar_3_bar__minus_15 - location + loc_bar__minus_8_bar_3_bar_3_bar_60 - location + loc_bar_0_bar__minus_5_bar_2_bar_60 - location + loc_bar__minus_9_bar_6_bar_3_bar_60 - location + loc_bar__minus_3_bar__minus_6_bar_2_bar_0 - location + loc_bar__minus_4_bar_7_bar_1_bar_60 - location + loc_bar_0_bar_0_bar_2_bar_60 - location + loc_bar__minus_2_bar_7_bar_0_bar_45 - location + loc_bar_0_bar_5_bar_0_bar_60 - location + loc_bar__minus_3_bar__minus_6_bar_3_bar_0 - location + loc_bar__minus_4_bar__minus_4_bar_3_bar_45 - location + loc_bar__minus_8_bar_6_bar_3_bar_60 - location + loc_bar__minus_10_bar_0_bar_2_bar_60 - location + loc_bar_0_bar__minus_6_bar_2_bar_60 - location + loc_bar_0_bar__minus_4_bar_2_bar_45 - location + loc_bar__minus_10_bar_0_bar_2_bar_0 - location + loc_bar_0_bar__minus_6_bar_1_bar_30 - location + loc_bar__minus_6_bar_6_bar_1_bar_30 - location + ) + + +(:init + + + (receptacleType HandTowelHolder_bar__minus_00_dot_89_bar__plus_01_dot_72_bar__minus_02_dot_54 HandTowelHolderType) + (receptacleType Cart_bar__minus_02_dot_92_bar__plus_00_dot_01_bar__plus_01_dot_48 CartType) + (receptacleType Drawer_bar__plus_00_dot_30_bar__plus_00_dot_68_bar__minus_01_dot_82 DrawerType) + (receptacleType Drawer_bar__plus_00_dot_30_bar__plus_00_dot_49_bar__minus_01_dot_82 DrawerType) + (receptacleType Toilet_bar__minus_00_dot_06_bar__plus_00_dot_01_bar__plus_01_dot_84 ToiletType) + (receptacleType ToiletPaperHanger_bar__minus_00_dot_57_bar__plus_00_dot_93_bar__plus_02_dot_41 ToiletPaperHangerType) + (receptacleType Sink_bar__minus_02_dot_80_bar__plus_00_dot_33_bar__plus_00_dot_76_bar_SinkBasin SinkBasinType) + (receptacleType CounterTop_bar__plus_00_dot_20_bar__plus_00_dot_43_bar__minus_02_dot_01 CounterTopType) + (receptacleType Drawer_bar__plus_00_dot_30_bar__plus_00_dot_30_bar__minus_01_dot_82 DrawerType) + (receptacleType Drawer_bar__plus_00_dot_30_bar__plus_00_dot_83_bar__minus_01_dot_82 DrawerType) + (receptacleType Bathtub_bar__minus_01_dot_96_bar__plus_00_dot_49_bar__minus_01_dot_23_bar_BathtubBasin BathtubBasinType) + (receptacleType GarbageCan_bar__minus_02_dot_93_bar__plus_00_dot_01_bar__plus_02_dot_09 GarbageCanType) + (receptacleType TowelHolder_bar__plus_00_dot_57_bar__plus_01_dot_20_bar__minus_01_dot_10 TowelHolderType) + (receptacleType Shelf_bar__plus_01_dot_54_bar__plus_00_dot_61_bar__minus_02_dot_24 ShelfType) + (objectType TissueBox_bar__plus_00_dot_93_bar__plus_00_dot_62_bar__minus_02_dot_24 TissueBoxType) + (objectType Cloth_bar__minus_00_dot_05_bar__plus_00_dot_96_bar__minus_01_dot_90 ClothType) + (objectType Bathtub_bar__minus_01_dot_96_bar__plus_00_dot_49_bar__minus_01_dot_23 BathtubType) + (objectType Mirror_bar__minus_00_dot_05_bar__plus_01_dot_51_bar__minus_02_dot_54 MirrorType) + (objectType Towel_bar__plus_00_dot_47_bar__plus_01_dot_21_bar__minus_01_dot_10 TowelType) + (objectType Sink_bar__minus_02_dot_80_bar__plus_00_dot_33_bar__plus_00_dot_76 SinkType) + (objectType ScrubBrush_bar__plus_00_dot_34_bar__plus_00_dot_01_bar__plus_02_dot_07 ScrubBrushType) + (objectType SoapBottle_bar__plus_00_dot_01_bar__plus_00_dot_98_bar__plus_02_dot_33 SoapBottleType) + (objectType SoapBottle_bar__plus_00_dot_11_bar__plus_00_dot_97_bar__minus_01_dot_81 SoapBottleType) + (objectType Window_bar__minus_03_dot_17_bar__plus_01_dot_81_bar__plus_01_dot_60 WindowType) + (objectType Plunger_bar__plus_00_dot_51_bar__plus_00_dot_01_bar__plus_02_dot_27 PlungerType) + (objectType Cloth_bar__plus_02_dot_20_bar__plus_00_dot_62_bar__minus_02_dot_17 ClothType) + (objectType ShowerGlass_bar__plus_00_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_00 ShowerGlassType) + (objectType SprayBottle_bar__minus_02_dot_86_bar__plus_00_dot_24_bar__plus_01_dot_63 SprayBottleType) + (objectType Window_bar__minus_03_dot_17_bar__plus_01_dot_81_bar__minus_01_dot_70 WindowType) + (objectType LightSwitch_bar__minus_01_dot_41_bar__plus_01_dot_47_bar__plus_02_dot_41 LightSwitchType) + (objectType SprayBottle_bar__plus_01_dot_36_bar__plus_00_dot_62_bar__minus_02_dot_24 SprayBottleType) + (objectType TissueBox_bar__plus_00_dot_27_bar__plus_00_dot_96_bar__minus_01_dot_90 TissueBoxType) + (objectType SoapBar_bar__minus_02_dot_84_bar__plus_00_dot_88_bar__plus_00_dot_64 SoapBarType) + (objectType TissueBox_bar__minus_00_dot_21_bar__plus_00_dot_96_bar__minus_02_dot_28 TissueBoxType) + (objectType Candle_bar__minus_00_dot_24_bar__plus_00_dot_97_bar__plus_02_dot_20 CandleType) + (objectType DishSponge_bar__minus_02_dot_88_bar__plus_00_dot_89_bar__plus_00_dot_84 DishSpongeType) + (objectType ToiletPaper_bar__minus_00_dot_37_bar__plus_00_dot_96_bar__minus_02_dot_18 ToiletPaperType) + (objectType DishSponge_bar__plus_00_dot_27_bar__plus_00_dot_96_bar__minus_02_dot_09 DishSpongeType) + (objectType ToiletPaper_bar__minus_00_dot_18_bar__plus_00_dot_96_bar__plus_02_dot_33 ToiletPaperType) + (objectType Window_bar__minus_03_dot_17_bar__plus_01_dot_81_bar__minus_00_dot_06 WindowType) + (objectType DishSponge_bar__minus_02_dot_26_bar__plus_00_dot_08_bar__minus_01_dot_03 DishSpongeType) + (objectType SoapBar_bar__plus_00_dot_14_bar__plus_00_dot_97_bar__plus_02_dot_25 SoapBarType) + (objectType HandTowel_bar__minus_00_dot_89_bar__plus_01_dot_62_bar__minus_02_dot_50 HandTowelType) + (objectType Window_bar__minus_02_dot_15_bar__plus_01_dot_81_bar__minus_02_dot_57 WindowType) + (objectType SprayBottle_bar__minus_02_dot_81_bar__plus_00_dot_24_bar__plus_01_dot_47 SprayBottleType) + (objectType SoapBottle_bar__minus_00_dot_05_bar__plus_00_dot_98_bar__plus_02_dot_22 SoapBottleType) + (objectType ShowerDoor_bar__plus_00_dot_65_bar__plus_01_dot_41_bar__plus_02_dot_17 ShowerDoorType) + (objectType Footstool_bar__minus_00_dot_33_bar__plus_00_dot_30_bar__minus_01_dot_98 FootstoolType) + (canContain HandTowelHolderType HandTowelType) + (canContain CartType SoapBottleType) + (canContain CartType HandTowelType) + (canContain CartType ToiletPaperType) + (canContain CartType ClothType) + (canContain CartType CandleType) + (canContain CartType SoapBarType) + (canContain CartType DishSpongeType) + (canContain CartType PlungerType) + (canContain CartType SprayBottleType) + (canContain CartType TissueBoxType) + (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 ToiletPaperHangerType ToiletPaperType) + (canContain SinkBasinType SoapBarType) + (canContain SinkBasinType DishSpongeType) + (canContain SinkBasinType ClothType) + (canContain SinkBasinType HandTowelType) + (canContain CounterTopType CandleType) + (canContain CounterTopType DishSpongeType) + (canContain CounterTopType SoapBarType) + (canContain CounterTopType SprayBottleType) + (canContain CounterTopType ToiletPaperType) + (canContain CounterTopType SoapBottleType) + (canContain CounterTopType ClothType) + (canContain CounterTopType TissueBoxType) + (canContain CounterTopType 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 BathtubBasinType ClothType) + (canContain BathtubBasinType HandTowelType) + (canContain BathtubBasinType SoapBarType) + (canContain BathtubBasinType DishSpongeType) + (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 TowelHolderType TowelType) + (canContain ShelfType CandleType) + (canContain ShelfType SoapBarType) + (canContain ShelfType DishSpongeType) + (canContain ShelfType SprayBottleType) + (canContain ShelfType ToiletPaperType) + (canContain ShelfType SoapBottleType) + (canContain ShelfType ClothType) + (canContain ShelfType TissueBoxType) + (canContain ShelfType HandTowelType) + (pickupable TissueBox_bar__plus_00_dot_93_bar__plus_00_dot_62_bar__minus_02_dot_24) + (pickupable Cloth_bar__minus_00_dot_05_bar__plus_00_dot_96_bar__minus_01_dot_90) + (pickupable Towel_bar__plus_00_dot_47_bar__plus_01_dot_21_bar__minus_01_dot_10) + (pickupable ScrubBrush_bar__plus_00_dot_34_bar__plus_00_dot_01_bar__plus_02_dot_07) + (pickupable SoapBottle_bar__plus_00_dot_01_bar__plus_00_dot_98_bar__plus_02_dot_33) + (pickupable SoapBottle_bar__plus_00_dot_11_bar__plus_00_dot_97_bar__minus_01_dot_81) + (pickupable Plunger_bar__plus_00_dot_51_bar__plus_00_dot_01_bar__plus_02_dot_27) + (pickupable Cloth_bar__plus_02_dot_20_bar__plus_00_dot_62_bar__minus_02_dot_17) + (pickupable SprayBottle_bar__minus_02_dot_86_bar__plus_00_dot_24_bar__plus_01_dot_63) + (pickupable SprayBottle_bar__plus_01_dot_36_bar__plus_00_dot_62_bar__minus_02_dot_24) + (pickupable TissueBox_bar__plus_00_dot_27_bar__plus_00_dot_96_bar__minus_01_dot_90) + (pickupable SoapBar_bar__minus_02_dot_84_bar__plus_00_dot_88_bar__plus_00_dot_64) + (pickupable TissueBox_bar__minus_00_dot_21_bar__plus_00_dot_96_bar__minus_02_dot_28) + (pickupable Candle_bar__minus_00_dot_24_bar__plus_00_dot_97_bar__plus_02_dot_20) + (pickupable DishSponge_bar__minus_02_dot_88_bar__plus_00_dot_89_bar__plus_00_dot_84) + (pickupable ToiletPaper_bar__minus_00_dot_37_bar__plus_00_dot_96_bar__minus_02_dot_18) + (pickupable DishSponge_bar__plus_00_dot_27_bar__plus_00_dot_96_bar__minus_02_dot_09) + (pickupable ToiletPaper_bar__minus_00_dot_18_bar__plus_00_dot_96_bar__plus_02_dot_33) + (pickupable DishSponge_bar__minus_02_dot_26_bar__plus_00_dot_08_bar__minus_01_dot_03) + (pickupable SoapBar_bar__plus_00_dot_14_bar__plus_00_dot_97_bar__plus_02_dot_25) + (pickupable HandTowel_bar__minus_00_dot_89_bar__plus_01_dot_62_bar__minus_02_dot_50) + (pickupable SprayBottle_bar__minus_02_dot_81_bar__plus_00_dot_24_bar__plus_01_dot_47) + (pickupable SoapBottle_bar__minus_00_dot_05_bar__plus_00_dot_98_bar__plus_02_dot_22) + (pickupable Footstool_bar__minus_00_dot_33_bar__plus_00_dot_30_bar__minus_01_dot_98) + + (openable Drawer_bar__plus_00_dot_30_bar__plus_00_dot_68_bar__minus_01_dot_82) + (openable Drawer_bar__plus_00_dot_30_bar__plus_00_dot_49_bar__minus_01_dot_82) + (openable Drawer_bar__plus_00_dot_30_bar__plus_00_dot_30_bar__minus_01_dot_82) + (openable Drawer_bar__plus_00_dot_30_bar__plus_00_dot_83_bar__minus_01_dot_82) + + (atLocation agent1 loc_bar__minus_6_bar_6_bar_1_bar_30) + + (cleanable Cloth_bar__minus_00_dot_05_bar__plus_00_dot_96_bar__minus_01_dot_90) + (cleanable Cloth_bar__plus_02_dot_20_bar__plus_00_dot_62_bar__minus_02_dot_17) + (cleanable SoapBar_bar__minus_02_dot_84_bar__plus_00_dot_88_bar__plus_00_dot_64) + (cleanable DishSponge_bar__minus_02_dot_88_bar__plus_00_dot_89_bar__plus_00_dot_84) + (cleanable DishSponge_bar__plus_00_dot_27_bar__plus_00_dot_96_bar__minus_02_dot_09) + (cleanable DishSponge_bar__minus_02_dot_26_bar__plus_00_dot_08_bar__minus_01_dot_03) + (cleanable SoapBar_bar__plus_00_dot_14_bar__plus_00_dot_97_bar__plus_02_dot_25) + + + + + + + + + + + (inReceptacle Cloth_bar__minus_00_dot_05_bar__plus_00_dot_96_bar__minus_01_dot_90 CounterTop_bar__plus_00_dot_20_bar__plus_00_dot_43_bar__minus_02_dot_01) + (inReceptacle ToiletPaper_bar__minus_00_dot_37_bar__plus_00_dot_96_bar__minus_02_dot_18 CounterTop_bar__plus_00_dot_20_bar__plus_00_dot_43_bar__minus_02_dot_01) + (inReceptacle TissueBox_bar__plus_00_dot_27_bar__plus_00_dot_96_bar__minus_01_dot_90 CounterTop_bar__plus_00_dot_20_bar__plus_00_dot_43_bar__minus_02_dot_01) + (inReceptacle DishSponge_bar__plus_00_dot_27_bar__plus_00_dot_96_bar__minus_02_dot_09 CounterTop_bar__plus_00_dot_20_bar__plus_00_dot_43_bar__minus_02_dot_01) + (inReceptacle SoapBottle_bar__plus_00_dot_11_bar__plus_00_dot_97_bar__minus_01_dot_81 CounterTop_bar__plus_00_dot_20_bar__plus_00_dot_43_bar__minus_02_dot_01) + (inReceptacle TissueBox_bar__minus_00_dot_21_bar__plus_00_dot_96_bar__minus_02_dot_28 CounterTop_bar__plus_00_dot_20_bar__plus_00_dot_43_bar__minus_02_dot_01) + (inReceptacle Towel_bar__plus_00_dot_47_bar__plus_01_dot_21_bar__minus_01_dot_10 TowelHolder_bar__plus_00_dot_57_bar__plus_01_dot_20_bar__minus_01_dot_10) + (inReceptacle TissueBox_bar__plus_00_dot_93_bar__plus_00_dot_62_bar__minus_02_dot_24 Shelf_bar__plus_01_dot_54_bar__plus_00_dot_61_bar__minus_02_dot_24) + (inReceptacle Cloth_bar__plus_02_dot_20_bar__plus_00_dot_62_bar__minus_02_dot_17 Shelf_bar__plus_01_dot_54_bar__plus_00_dot_61_bar__minus_02_dot_24) + (inReceptacle SprayBottle_bar__plus_01_dot_36_bar__plus_00_dot_62_bar__minus_02_dot_24 Shelf_bar__plus_01_dot_54_bar__plus_00_dot_61_bar__minus_02_dot_24) + (inReceptacle HandTowel_bar__minus_00_dot_89_bar__plus_01_dot_62_bar__minus_02_dot_50 HandTowelHolder_bar__minus_00_dot_89_bar__plus_01_dot_72_bar__minus_02_dot_54) + (inReceptacle SprayBottle_bar__minus_02_dot_81_bar__plus_00_dot_24_bar__plus_01_dot_47 Cart_bar__minus_02_dot_92_bar__plus_00_dot_01_bar__plus_01_dot_48) + (inReceptacle SprayBottle_bar__minus_02_dot_86_bar__plus_00_dot_24_bar__plus_01_dot_63 Cart_bar__minus_02_dot_92_bar__plus_00_dot_01_bar__plus_01_dot_48) + (inReceptacle SoapBar_bar__plus_00_dot_14_bar__plus_00_dot_97_bar__plus_02_dot_25 Toilet_bar__minus_00_dot_06_bar__plus_00_dot_01_bar__plus_01_dot_84) + (inReceptacle SoapBottle_bar__minus_00_dot_05_bar__plus_00_dot_98_bar__plus_02_dot_22 Toilet_bar__minus_00_dot_06_bar__plus_00_dot_01_bar__plus_01_dot_84) + (inReceptacle ToiletPaper_bar__minus_00_dot_18_bar__plus_00_dot_96_bar__plus_02_dot_33 Toilet_bar__minus_00_dot_06_bar__plus_00_dot_01_bar__plus_01_dot_84) + (inReceptacle SoapBottle_bar__plus_00_dot_01_bar__plus_00_dot_98_bar__plus_02_dot_33 Toilet_bar__minus_00_dot_06_bar__plus_00_dot_01_bar__plus_01_dot_84) + (inReceptacle Candle_bar__minus_00_dot_24_bar__plus_00_dot_97_bar__plus_02_dot_20 Toilet_bar__minus_00_dot_06_bar__plus_00_dot_01_bar__plus_01_dot_84) + (inReceptacle DishSponge_bar__minus_02_dot_88_bar__plus_00_dot_89_bar__plus_00_dot_84 Sink_bar__minus_02_dot_80_bar__plus_00_dot_33_bar__plus_00_dot_76_bar_SinkBasin) + (inReceptacle SoapBar_bar__minus_02_dot_84_bar__plus_00_dot_88_bar__plus_00_dot_64 Sink_bar__minus_02_dot_80_bar__plus_00_dot_33_bar__plus_00_dot_76_bar_SinkBasin) + (inReceptacle DishSponge_bar__minus_02_dot_26_bar__plus_00_dot_08_bar__minus_01_dot_03 Bathtub_bar__minus_01_dot_96_bar__plus_00_dot_49_bar__minus_01_dot_23_bar_BathtubBasin) + + + (receptacleAtLocation Bathtub_bar__minus_01_dot_96_bar__plus_00_dot_49_bar__minus_01_dot_23_bar_BathtubBasin loc_bar__minus_10_bar_0_bar_2_bar_60) + (receptacleAtLocation Cart_bar__minus_02_dot_92_bar__plus_00_dot_01_bar__plus_01_dot_48 loc_bar__minus_9_bar_6_bar_3_bar_60) + (receptacleAtLocation CounterTop_bar__plus_00_dot_20_bar__plus_00_dot_43_bar__minus_02_dot_01 loc_bar_0_bar__minus_5_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__plus_00_dot_30_bar__plus_00_dot_30_bar__minus_01_dot_82 loc_bar__minus_1_bar__minus_3_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__plus_00_dot_30_bar__plus_00_dot_49_bar__minus_01_dot_82 loc_bar_0_bar__minus_4_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__plus_00_dot_30_bar__plus_00_dot_68_bar__minus_01_dot_82 loc_bar_0_bar__minus_4_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__plus_00_dot_30_bar__plus_00_dot_83_bar__minus_01_dot_82 loc_bar_0_bar__minus_4_bar_2_bar_45) + (receptacleAtLocation GarbageCan_bar__minus_02_dot_93_bar__plus_00_dot_01_bar__plus_02_dot_09 loc_bar__minus_8_bar_6_bar_3_bar_60) + (receptacleAtLocation HandTowelHolder_bar__minus_00_dot_89_bar__plus_01_dot_72_bar__minus_02_dot_54 loc_bar__minus_3_bar__minus_6_bar_2_bar_0) + (receptacleAtLocation Shelf_bar__plus_01_dot_54_bar__plus_00_dot_61_bar__minus_02_dot_24 loc_bar_0_bar__minus_6_bar_1_bar_30) + (receptacleAtLocation Sink_bar__minus_02_dot_80_bar__plus_00_dot_33_bar__plus_00_dot_76_bar_SinkBasin loc_bar__minus_10_bar_0_bar_0_bar_45) + (receptacleAtLocation ToiletPaperHanger_bar__minus_00_dot_57_bar__plus_00_dot_93_bar__plus_02_dot_41 loc_bar__minus_2_bar_7_bar_0_bar_45) + (receptacleAtLocation Toilet_bar__minus_00_dot_06_bar__plus_00_dot_01_bar__plus_01_dot_84 loc_bar__minus_4_bar_7_bar_1_bar_60) + (receptacleAtLocation TowelHolder_bar__plus_00_dot_57_bar__plus_01_dot_20_bar__minus_01_dot_10 loc_bar_0_bar__minus_4_bar_1_bar_45) + (objectAtLocation DishSponge_bar__minus_02_dot_88_bar__plus_00_dot_89_bar__plus_00_dot_84 loc_bar__minus_10_bar_0_bar_0_bar_45) + (objectAtLocation Cloth_bar__minus_00_dot_05_bar__plus_00_dot_96_bar__minus_01_dot_90 loc_bar_0_bar__minus_5_bar_2_bar_60) + (objectAtLocation TissueBox_bar__minus_00_dot_21_bar__plus_00_dot_96_bar__minus_02_dot_28 loc_bar_0_bar__minus_5_bar_2_bar_60) + (objectAtLocation SprayBottle_bar__minus_02_dot_81_bar__plus_00_dot_24_bar__plus_01_dot_47 loc_bar__minus_9_bar_6_bar_3_bar_60) + (objectAtLocation SoapBar_bar__plus_00_dot_14_bar__plus_00_dot_97_bar__plus_02_dot_25 loc_bar__minus_4_bar_7_bar_1_bar_60) + (objectAtLocation SoapBottle_bar__plus_00_dot_01_bar__plus_00_dot_98_bar__plus_02_dot_33 loc_bar__minus_4_bar_7_bar_1_bar_60) + (objectAtLocation SoapBottle_bar__plus_00_dot_11_bar__plus_00_dot_97_bar__minus_01_dot_81 loc_bar_0_bar__minus_5_bar_2_bar_60) + (objectAtLocation DishSponge_bar__minus_02_dot_26_bar__plus_00_dot_08_bar__minus_01_dot_03 loc_bar__minus_10_bar_0_bar_2_bar_60) + (objectAtLocation SprayBottle_bar__minus_02_dot_86_bar__plus_00_dot_24_bar__plus_01_dot_63 loc_bar__minus_9_bar_6_bar_3_bar_60) + (objectAtLocation TissueBox_bar__plus_00_dot_27_bar__plus_00_dot_96_bar__minus_01_dot_90 loc_bar_0_bar__minus_5_bar_2_bar_60) + (objectAtLocation Bathtub_bar__minus_01_dot_96_bar__plus_00_dot_49_bar__minus_01_dot_23 loc_bar__minus_4_bar__minus_4_bar_3_bar_45) + (objectAtLocation ShowerDoor_bar__plus_00_dot_65_bar__plus_01_dot_41_bar__plus_02_dot_17 loc_bar_0_bar_5_bar_0_bar_15) + (objectAtLocation ShowerGlass_bar__plus_00_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_00 loc_bar_0_bar_0_bar_2_bar_60) + (objectAtLocation Mirror_bar__minus_00_dot_05_bar__plus_01_dot_51_bar__minus_02_dot_54 loc_bar_0_bar__minus_6_bar_2_bar_15) + (objectAtLocation Sink_bar__minus_02_dot_80_bar__plus_00_dot_33_bar__plus_00_dot_76 loc_bar__minus_8_bar_3_bar_3_bar_60) + (objectAtLocation Candle_bar__minus_00_dot_24_bar__plus_00_dot_97_bar__plus_02_dot_20 loc_bar__minus_4_bar_7_bar_1_bar_60) + (objectAtLocation HandTowel_bar__minus_00_dot_89_bar__plus_01_dot_62_bar__minus_02_dot_50 loc_bar__minus_3_bar__minus_6_bar_2_bar_0) + (objectAtLocation Towel_bar__plus_00_dot_47_bar__plus_01_dot_21_bar__minus_01_dot_10 loc_bar_0_bar__minus_4_bar_1_bar_45) + (objectAtLocation SoapBottle_bar__minus_00_dot_05_bar__plus_00_dot_98_bar__plus_02_dot_22 loc_bar__minus_4_bar_7_bar_1_bar_60) + (objectAtLocation SoapBar_bar__minus_02_dot_84_bar__plus_00_dot_88_bar__plus_00_dot_64 loc_bar__minus_10_bar_0_bar_0_bar_45) + (objectAtLocation ToiletPaper_bar__minus_00_dot_37_bar__plus_00_dot_96_bar__minus_02_dot_18 loc_bar_0_bar__minus_5_bar_2_bar_60) + (objectAtLocation Plunger_bar__plus_00_dot_51_bar__plus_00_dot_01_bar__plus_02_dot_27 loc_bar_0_bar_5_bar_0_bar_60) + (objectAtLocation SprayBottle_bar__plus_01_dot_36_bar__plus_00_dot_62_bar__minus_02_dot_24 loc_bar_0_bar__minus_6_bar_1_bar_30) + (objectAtLocation TissueBox_bar__plus_00_dot_93_bar__plus_00_dot_62_bar__minus_02_dot_24 loc_bar_0_bar__minus_6_bar_1_bar_30) + (objectAtLocation ToiletPaper_bar__minus_00_dot_18_bar__plus_00_dot_96_bar__plus_02_dot_33 loc_bar__minus_4_bar_7_bar_1_bar_60) + (objectAtLocation Window_bar__minus_03_dot_17_bar__plus_01_dot_81_bar__minus_01_dot_70 loc_bar__minus_10_bar_0_bar_2_bar_0) + (objectAtLocation Window_bar__minus_03_dot_17_bar__plus_01_dot_81_bar__plus_01_dot_60 loc_bar__minus_9_bar_6_bar_3_bar__minus_15) + (objectAtLocation Window_bar__minus_02_dot_15_bar__plus_01_dot_81_bar__minus_02_dot_57 loc_bar__minus_3_bar__minus_6_bar_3_bar_0) + (objectAtLocation Window_bar__minus_03_dot_17_bar__plus_01_dot_81_bar__minus_00_dot_06 loc_bar__minus_10_bar_0_bar_3_bar__minus_15) + (objectAtLocation ScrubBrush_bar__plus_00_dot_34_bar__plus_00_dot_01_bar__plus_02_dot_07 loc_bar_0_bar_5_bar_0_bar_60) + (objectAtLocation LightSwitch_bar__minus_01_dot_41_bar__plus_01_dot_47_bar__plus_02_dot_41 loc_bar__minus_6_bar_7_bar_0_bar_15) + (objectAtLocation Cloth_bar__plus_02_dot_20_bar__plus_00_dot_62_bar__minus_02_dot_17 loc_bar_0_bar__minus_6_bar_1_bar_30) + (objectAtLocation DishSponge_bar__plus_00_dot_27_bar__plus_00_dot_96_bar__minus_02_dot_09 loc_bar_0_bar__minus_5_bar_2_bar_60) + (objectAtLocation Footstool_bar__minus_00_dot_33_bar__plus_00_dot_30_bar__minus_01_dot_98 loc_bar_0_bar__minus_6_bar_2_bar_60) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o1 - object) + (and + (objectType ?o1 SoapBottleType) + (receptacleType ?r CartType) + (inReceptacle ?o1 ?r) + (exists (?o2 - object) + (and + (not (= ?o1 ?o2)) + (objectType ?o2 SoapBottleType) + (receptacleType ?r CartType) + (inReceptacle ?o2 ?r) + ) + ) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-SoapBottle-None-Cart-430/trial_T20190908_130158_585471/traj_data.json b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-SoapBottle-None-Cart-430/trial_T20190908_130158_585471/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..a0440f9df1395852ca58aecf70033e26022b1e9d --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-SoapBottle-None-Cart-430/trial_T20190908_130158_585471/traj_data.json @@ -0,0 +1,11785 @@ +{ + "images": [ + { + "high_idx": 0, + "image_name": "000000000.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": 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"TissueBox_7f6b7a12", + "position": { + "x": 0.9302288, + "y": 0.624048, + "z": -2.242 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "TissueBox_7f6b7a12", + "position": { + "x": 0.270752, + "y": 0.963445544, + "z": -1.89929914 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SoapBar_25110512", + "position": { + "x": -2.8375597, + "y": 0.884171963, + "z": 0.639742255 + }, + "rotation": { + "x": 1.40334208e-14, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "SprayBottle_2f71aee2", + "position": { + "x": 1.35513842, + "y": 0.620348454, + "z": -2.242 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SprayBottle_2f71aee2", + "position": { + "x": -2.86465931, + "y": 0.240984932, + "z": 1.62957907 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_91046b03", + "position": { + "x": 0.270752, + "y": 0.9643103, + "z": -2.08725572 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_91046b03", + "position": { + "x": -2.25811434, + "y": 0.0784726441, + "z": -1.02768672 + }, + "rotation": { + "x": 9.923122e-15, + "y": 45.00003, + "z": 9.92313e-15 + } + }, + { + "objectName": "SoapBottle_67d42c38", + "position": { + "x": -0.0519967377, + "y": 0.976142764, + "z": 2.22369146 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + }, + { + "objectName": "SoapBottle_67d42c38", + "position": { + "x": 0.111016423, + "y": 0.973848939, + "z": -1.80532086 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Candle_2ebf1d6c", + "position": { + "x": -0.239496529, + "y": 0.965013266, + "z": 2.19690061 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + }, + { + "objectName": "HandTowel_31149277", + "position": { + "x": -0.885, + "y": 1.617, + "z": -2.5037 + }, + "rotation": { + "x": 0.0, + "y": 179.999969, + "z": 0.0 + } + }, + { + "objectName": "Towel_24c29b1a", + "position": { + "x": 0.465890378, + "y": 1.21, + "z": -1.095 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + }, + { + "objectName": "SoapBottle_67d42c38", + "position": { + "x": 0.01050359, + "y": 0.976142764, + "z": 2.33085823 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + }, + { + "objectName": "SoapBar_25110512", + "position": { + "x": 0.135503709, + "y": 0.9654547, + "z": 2.250483 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + }, + { + "objectName": "ToiletPaper_cc5027dd", + "position": { + "x": -0.368190348, + "y": 0.959745944, + "z": -2.181234 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Plunger_65d4d49a", + "position": { + "x": 0.5063196, + "y": 0.0115768015, + "z": 2.268863 + }, + "rotation": { + "x": -0.00118246267, + "y": 0.0004405065, + "z": 0.000780726841 + } + }, + { + "objectName": "SprayBottle_2f71aee2", + "position": { + "x": -2.80813169, + "y": 0.240984932, + "z": 1.47356427 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "TissueBox_7f6b7a12", + "position": { + "x": -0.208454743, + "y": 0.963445544, + "z": -2.27521229 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "ToiletPaper_b4152fb5", + "position": { + "x": -0.176996022, + "y": 0.9624831, + "z": 2.330859 + }, + "rotation": { + "x": 7.24445954e-06, + "y": 270.000183, + "z": 1.436768e-05 + } + }, + { + "objectName": "ScrubBrush_f6ab61ab", + "position": { + "x": 0.342862785, + "y": 0.0120397955, + "z": 2.072015 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Cloth_72b782f7", + "position": { + "x": -0.0487191677, + "y": 0.9616724, + "z": -1.89929914 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_91046b03", + "position": { + "x": -2.87901974, + "y": 0.8856665, + "z": 0.8394206 + }, + "rotation": { + "x": 1.40334208e-14, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Footstool_4fb1de73", + "position": { + "x": -0.325, + "y": 0.297, + "z": -1.98 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 1586425062, + "scene_num": 430 + }, + "task_id": "trial_T20190908_130158_585471", + "task_type": "pick_two_obj_and_place", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A12HZGOZQD5YK7_3G5F9DBFOSOO8TLMLIQEBY6YO3GVHN", + "high_descs": [ + "Go ahead to the toilet.", + "Pick up the spray bottle on the edge of the toilet.", + "Turn to the left and go to the metal rack.", + "Put the spray bottle on the top rack.", + "Turn around and go back to the toilet.", + "Pick up the spray bottle on the back of the toilet.", + "Turn left and go to the metal rack.", + "Put the spray bottle on the top rack to the right of the other spray bottle." + ], + "task_desc": "Put two spray bottles on the metal rack.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A19LVWX8ZLO6CS_3WS1NTTKE13O1WT0NVEPNK4VETPF0I", + "high_descs": [ + "Step forward, then turn left to face a toilet paper holder.", + "Pick up the sprayer that's on the top of the toilet.", + "Turn around, step forward, then turn right and walk to the metal racks in front.", + "Place the sprayer on the top shelf of the rack.", + "Turn around and walk to the toilet to be center with it.", + "Pick up the spray bottle next to the pink bar soap.", + "Turn left and return to the metal rack.", + "Place spray bottle to the right of the sprayer already on the rack." + ], + "task_desc": "Pick up two spray bottles off the toilet then place on metal rack.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "ARB8SJAWXUWTD_3U8YCDAGXS7LSLJ91BPJZJ89LVEQ03", + "high_descs": [ + "Go to the toilet", + "Pick up the spray bottle from the top of the toilet", + "Go to the rack", + "Place the spray bottle down on the rack", + "Go to the toilet", + "Pick up the spray bottle from the top of the toilet", + "Go to the rack", + "Place the spray bottle down on the rack" + ], + "task_desc": "Move two spray bottles from the toilet to a rack", + "votes": [ + 1, + 1, + 0 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-SoapBottle-None-Cart-430/trial_T20190908_130358_157745/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-SoapBottle-None-Cart-430/trial_T20190908_130358_157745/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..0dc2bafa9eb1a186980e09d998477bdede711d29 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-SoapBottle-None-Cart-430/trial_T20190908_130358_157745/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\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 soapbottle and put them in cart.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using 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_130358_157745)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Bathtub_bar__minus_01_dot_96_bar__plus_00_dot_49_bar__minus_01_dot_23 - object\n Candle_bar__minus_03_dot_09_bar__plus_00_dot_87_bar__plus_01_dot_55 - object\n Cloth_bar__minus_02_dot_31_bar__plus_00_dot_08_bar__minus_01_dot_08 - object\n DishSponge_bar__plus_00_dot_19_bar__plus_00_dot_44_bar__minus_01_dot_91 - object\n DishSponge_bar__plus_01_dot_57_bar__plus_00_dot_62_bar__minus_02_dot_17 - object\n DishSponge_bar__plus_02_dot_20_bar__plus_00_dot_62_bar__minus_02_dot_09 - object\n Faucet_bar__minus_02_dot_79_bar__plus_00_dot_48_bar__minus_00_dot_36 - object\n Faucet_bar__minus_03_dot_11_bar__plus_01_dot_06_bar__plus_00_dot_76 - object\n Footstool_bar__minus_00_dot_33_bar__plus_00_dot_30_bar__minus_01_dot_98 - object\n HandTowel_bar__minus_00_dot_89_bar__plus_01_dot_62_bar__minus_02_dot_50 - object\n LightSwitch_bar__minus_01_dot_41_bar__plus_01_dot_47_bar__plus_02_dot_41 - object\n Mirror_bar__minus_00_dot_05_bar__plus_01_dot_51_bar__minus_02_dot_54 - object\n Plunger_bar__plus_00_dot_51_bar__plus_00_dot_01_bar__plus_02_dot_27 - object\n ScrubBrush_bar__plus_00_dot_34_bar__plus_00_dot_01_bar__plus_02_dot_07 - object\n ShowerDoor_bar__plus_00_dot_65_bar__plus_01_dot_41_bar__plus_02_dot_17 - object\n ShowerGlass_bar__plus_00_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_00 - object\n ShowerHead_bar__plus_01_dot_59_bar__plus_01_dot_70_bar__minus_02_dot_43 - object\n Sink_bar__minus_02_dot_80_bar__plus_00_dot_33_bar__plus_00_dot_76 - object\n SoapBar_bar__plus_00_dot_24_bar__plus_00_dot_80_bar__minus_01_dot_84 - object\n SoapBottle_bar__plus_01_dot_14_bar__plus_00_dot_63_bar__minus_02_dot_39 - object\n SoapBottle_bar__plus_01_dot_36_bar__plus_00_dot_63_bar__minus_02_dot_46 - object\n SoapBottle_bar__minus_00_dot_05_bar__plus_00_dot_98_bar__plus_02_dot_33 - object\n SoapBottle_bar__minus_00_dot_53_bar__plus_00_dot_97_bar__minus_02_dot_18 - object\n SprayBottle_bar__plus_01_dot_78_bar__plus_00_dot_62_bar__minus_02_dot_02 - object\n SprayBottle_bar__minus_02_dot_86_bar__plus_00_dot_87_bar__plus_01_dot_71 - object\n SprayBottle_bar__minus_02_dot_88_bar__plus_00_dot_05_bar__plus_02_dot_09 - object\n TissueBox_bar__plus_00_dot_27_bar__plus_00_dot_96_bar__minus_02_dot_37 - object\n ToiletPaper_bar__minus_00_dot_05_bar__plus_00_dot_96_bar__minus_02_dot_37 - object\n ToiletPaper_bar__minus_00_dot_52_bar__plus_00_dot_03_bar__plus_02_dot_34 - object\n Towel_bar__plus_00_dot_47_bar__plus_01_dot_21_bar__minus_01_dot_10 - object\n Window_bar__minus_02_dot_15_bar__plus_01_dot_81_bar__minus_02_dot_57 - object\n Window_bar__minus_03_dot_17_bar__plus_01_dot_81_bar__plus_01_dot_60 - object\n Window_bar__minus_03_dot_17_bar__plus_01_dot_81_bar__minus_00_dot_06 - object\n Window_bar__minus_03_dot_17_bar__plus_01_dot_81_bar__minus_01_dot_70 - object\n Bathtub_bar__minus_01_dot_96_bar__plus_00_dot_49_bar__minus_01_dot_23_bar_BathtubBasin - receptacle\n Cart_bar__minus_02_dot_92_bar__plus_00_dot_01_bar__plus_01_dot_48 - receptacle\n CounterTop_bar__plus_00_dot_20_bar__plus_00_dot_43_bar__minus_02_dot_01 - receptacle\n Drawer_bar__plus_00_dot_30_bar__plus_00_dot_30_bar__minus_01_dot_82 - receptacle\n Drawer_bar__plus_00_dot_30_bar__plus_00_dot_49_bar__minus_01_dot_82 - receptacle\n Drawer_bar__plus_00_dot_30_bar__plus_00_dot_68_bar__minus_01_dot_82 - receptacle\n Drawer_bar__plus_00_dot_30_bar__plus_00_dot_83_bar__minus_01_dot_82 - receptacle\n GarbageCan_bar__minus_02_dot_93_bar__plus_00_dot_01_bar__plus_02_dot_09 - receptacle\n HandTowelHolder_bar__minus_00_dot_89_bar__plus_01_dot_72_bar__minus_02_dot_54 - receptacle\n Shelf_bar__plus_01_dot_54_bar__plus_00_dot_61_bar__minus_02_dot_24 - receptacle\n Sink_bar__minus_02_dot_80_bar__plus_00_dot_33_bar__plus_00_dot_76_bar_SinkBasin - receptacle\n ToiletPaperHanger_bar__minus_00_dot_57_bar__plus_00_dot_93_bar__plus_02_dot_41 - receptacle\n Toilet_bar__minus_00_dot_06_bar__plus_00_dot_01_bar__plus_01_dot_84 - receptacle\n TowelHolder_bar__plus_00_dot_57_bar__plus_01_dot_20_bar__minus_01_dot_10 - receptacle\n loc_bar_0_bar__minus_6_bar_2_bar_15 - location\n loc_bar__minus_2_bar_7_bar_0_bar_60 - location\n loc_bar__minus_6_bar_7_bar_0_bar_15 - location\n loc_bar__minus_1_bar__minus_3_bar_2_bar_45 - location\n loc_bar__minus_10_bar_0_bar_3_bar__minus_15 - location\n loc_bar_0_bar__minus_4_bar_2_bar_60 - location\n loc_bar_0_bar__minus_4_bar_1_bar_45 - location\n loc_bar__minus_10_bar_0_bar_0_bar_45 - location\n loc_bar_0_bar_5_bar_0_bar_15 - location\n loc_bar__minus_9_bar_6_bar_3_bar__minus_15 - location\n loc_bar__minus_8_bar_3_bar_3_bar_60 - location\n loc_bar_0_bar__minus_5_bar_2_bar_60 - location\n loc_bar__minus_9_bar_6_bar_3_bar_60 - location\n loc_bar__minus_3_bar__minus_6_bar_2_bar_0 - location\n loc_bar__minus_4_bar_7_bar_1_bar_60 - location\n loc_bar_0_bar_0_bar_2_bar_60 - location\n loc_bar__minus_2_bar_7_bar_0_bar_45 - location\n loc_bar_0_bar_5_bar_0_bar_60 - location\n loc_bar__minus_3_bar__minus_6_bar_3_bar_0 - location\n loc_bar__minus_4_bar__minus_4_bar_3_bar_45 - location\n loc_bar__minus_8_bar_6_bar_3_bar_60 - location\n loc_bar__minus_10_bar_0_bar_2_bar_60 - location\n loc_bar_0_bar__minus_6_bar_2_bar_60 - location\n loc_bar_0_bar__minus_4_bar_2_bar_45 - location\n loc_bar__minus_10_bar_0_bar_2_bar_0 - location\n loc_bar_0_bar__minus_6_bar_1_bar_30 - location\n loc_bar__minus_1_bar__minus_3_bar_3_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType HandTowelHolder_bar__minus_00_dot_89_bar__plus_01_dot_72_bar__minus_02_dot_54 HandTowelHolderType)\n (receptacleType Cart_bar__minus_02_dot_92_bar__plus_00_dot_01_bar__plus_01_dot_48 CartType)\n (receptacleType Drawer_bar__plus_00_dot_30_bar__plus_00_dot_68_bar__minus_01_dot_82 DrawerType)\n (receptacleType Drawer_bar__plus_00_dot_30_bar__plus_00_dot_49_bar__minus_01_dot_82 DrawerType)\n (receptacleType Toilet_bar__minus_00_dot_06_bar__plus_00_dot_01_bar__plus_01_dot_84 ToiletType)\n (receptacleType ToiletPaperHanger_bar__minus_00_dot_57_bar__plus_00_dot_93_bar__plus_02_dot_41 ToiletPaperHangerType)\n (receptacleType Sink_bar__minus_02_dot_80_bar__plus_00_dot_33_bar__plus_00_dot_76_bar_SinkBasin SinkBasinType)\n (receptacleType CounterTop_bar__plus_00_dot_20_bar__plus_00_dot_43_bar__minus_02_dot_01 CounterTopType)\n (receptacleType Drawer_bar__plus_00_dot_30_bar__plus_00_dot_30_bar__minus_01_dot_82 DrawerType)\n (receptacleType Drawer_bar__plus_00_dot_30_bar__plus_00_dot_83_bar__minus_01_dot_82 DrawerType)\n (receptacleType Bathtub_bar__minus_01_dot_96_bar__plus_00_dot_49_bar__minus_01_dot_23_bar_BathtubBasin BathtubBasinType)\n (receptacleType GarbageCan_bar__minus_02_dot_93_bar__plus_00_dot_01_bar__plus_02_dot_09 GarbageCanType)\n (receptacleType TowelHolder_bar__plus_00_dot_57_bar__plus_01_dot_20_bar__minus_01_dot_10 TowelHolderType)\n (receptacleType Shelf_bar__plus_01_dot_54_bar__plus_00_dot_61_bar__minus_02_dot_24 ShelfType)\n (objectType TissueBox_bar__plus_00_dot_27_bar__plus_00_dot_96_bar__minus_02_dot_37 TissueBoxType)\n (objectType SoapBottle_bar__plus_01_dot_36_bar__plus_00_dot_63_bar__minus_02_dot_46 SoapBottleType)\n (objectType DishSponge_bar__plus_00_dot_19_bar__plus_00_dot_44_bar__minus_01_dot_91 DishSpongeType)\n (objectType Bathtub_bar__minus_01_dot_96_bar__plus_00_dot_49_bar__minus_01_dot_23 BathtubType)\n (objectType Mirror_bar__minus_00_dot_05_bar__plus_01_dot_51_bar__minus_02_dot_54 MirrorType)\n (objectType Towel_bar__plus_00_dot_47_bar__plus_01_dot_21_bar__minus_01_dot_10 TowelType)\n (objectType Sink_bar__minus_02_dot_80_bar__plus_00_dot_33_bar__plus_00_dot_76 SinkType)\n (objectType ScrubBrush_bar__plus_00_dot_34_bar__plus_00_dot_01_bar__plus_02_dot_07 ScrubBrushType)\n (objectType DishSponge_bar__plus_01_dot_57_bar__plus_00_dot_62_bar__minus_02_dot_17 DishSpongeType)\n (objectType SprayBottle_bar__minus_02_dot_88_bar__plus_00_dot_05_bar__plus_02_dot_09 SprayBottleType)\n (objectType Window_bar__minus_03_dot_17_bar__plus_01_dot_81_bar__plus_01_dot_60 WindowType)\n (objectType Plunger_bar__plus_00_dot_51_bar__plus_00_dot_01_bar__plus_02_dot_27 PlungerType)\n (objectType ShowerGlass_bar__plus_00_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_00 ShowerGlassType)\n (objectType SprayBottle_bar__minus_02_dot_86_bar__plus_00_dot_87_bar__plus_01_dot_71 SprayBottleType)\n (objectType SoapBottle_bar__plus_01_dot_14_bar__plus_00_dot_63_bar__minus_02_dot_39 SoapBottleType)\n (objectType Cloth_bar__minus_02_dot_31_bar__plus_00_dot_08_bar__minus_01_dot_08 ClothType)\n (objectType Window_bar__minus_03_dot_17_bar__plus_01_dot_81_bar__minus_01_dot_70 WindowType)\n (objectType LightSwitch_bar__minus_01_dot_41_bar__plus_01_dot_47_bar__plus_02_dot_41 LightSwitchType)\n (objectType SoapBottle_bar__minus_00_dot_05_bar__plus_00_dot_98_bar__plus_02_dot_33 SoapBottleType)\n (objectType SprayBottle_bar__plus_01_dot_78_bar__plus_00_dot_62_bar__minus_02_dot_02 SprayBottleType)\n (objectType SoapBar_bar__plus_00_dot_24_bar__plus_00_dot_80_bar__minus_01_dot_84 SoapBarType)\n (objectType ToiletPaper_bar__minus_00_dot_52_bar__plus_00_dot_03_bar__plus_02_dot_34 ToiletPaperType)\n (objectType ToiletPaper_bar__minus_00_dot_05_bar__plus_00_dot_96_bar__minus_02_dot_37 ToiletPaperType)\n (objectType Candle_bar__minus_03_dot_09_bar__plus_00_dot_87_bar__plus_01_dot_55 CandleType)\n (objectType DishSponge_bar__plus_02_dot_20_bar__plus_00_dot_62_bar__minus_02_dot_09 DishSpongeType)\n (objectType Window_bar__minus_03_dot_17_bar__plus_01_dot_81_bar__minus_00_dot_06 WindowType)\n (objectType HandTowel_bar__minus_00_dot_89_bar__plus_01_dot_62_bar__minus_02_dot_50 HandTowelType)\n (objectType Window_bar__minus_02_dot_15_bar__plus_01_dot_81_bar__minus_02_dot_57 WindowType)\n (objectType SoapBottle_bar__minus_00_dot_53_bar__plus_00_dot_97_bar__minus_02_dot_18 SoapBottleType)\n (objectType ShowerDoor_bar__plus_00_dot_65_bar__plus_01_dot_41_bar__plus_02_dot_17 ShowerDoorType)\n (objectType Footstool_bar__minus_00_dot_33_bar__plus_00_dot_30_bar__minus_01_dot_98 FootstoolType)\n (canContain HandTowelHolderType HandTowelType)\n (canContain CartType SoapBottleType)\n (canContain CartType HandTowelType)\n (canContain CartType ToiletPaperType)\n (canContain CartType ClothType)\n (canContain CartType CandleType)\n (canContain CartType SoapBarType)\n (canContain CartType DishSpongeType)\n (canContain CartType PlungerType)\n (canContain CartType SprayBottleType)\n (canContain CartType TissueBoxType)\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 ToiletPaperHangerType ToiletPaperType)\n (canContain SinkBasinType SoapBarType)\n (canContain SinkBasinType DishSpongeType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType HandTowelType)\n (canContain CounterTopType CandleType)\n (canContain CounterTopType DishSpongeType)\n (canContain CounterTopType SoapBarType)\n (canContain CounterTopType SprayBottleType)\n (canContain CounterTopType ToiletPaperType)\n (canContain CounterTopType SoapBottleType)\n (canContain CounterTopType ClothType)\n (canContain CounterTopType TissueBoxType)\n (canContain CounterTopType 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 BathtubBasinType ClothType)\n (canContain BathtubBasinType HandTowelType)\n (canContain BathtubBasinType SoapBarType)\n (canContain BathtubBasinType DishSpongeType)\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 TowelHolderType TowelType)\n (canContain ShelfType CandleType)\n (canContain ShelfType SoapBarType)\n (canContain ShelfType DishSpongeType)\n (canContain ShelfType SprayBottleType)\n (canContain ShelfType ToiletPaperType)\n (canContain ShelfType SoapBottleType)\n (canContain ShelfType ClothType)\n (canContain ShelfType TissueBoxType)\n (canContain ShelfType HandTowelType)\n (pickupable TissueBox_bar__plus_00_dot_27_bar__plus_00_dot_96_bar__minus_02_dot_37)\n (pickupable SoapBottle_bar__plus_01_dot_36_bar__plus_00_dot_63_bar__minus_02_dot_46)\n (pickupable DishSponge_bar__plus_00_dot_19_bar__plus_00_dot_44_bar__minus_01_dot_91)\n (pickupable Towel_bar__plus_00_dot_47_bar__plus_01_dot_21_bar__minus_01_dot_10)\n (pickupable ScrubBrush_bar__plus_00_dot_34_bar__plus_00_dot_01_bar__plus_02_dot_07)\n (pickupable DishSponge_bar__plus_01_dot_57_bar__plus_00_dot_62_bar__minus_02_dot_17)\n (pickupable SprayBottle_bar__minus_02_dot_88_bar__plus_00_dot_05_bar__plus_02_dot_09)\n (pickupable Plunger_bar__plus_00_dot_51_bar__plus_00_dot_01_bar__plus_02_dot_27)\n (pickupable SprayBottle_bar__minus_02_dot_86_bar__plus_00_dot_87_bar__plus_01_dot_71)\n (pickupable SoapBottle_bar__plus_01_dot_14_bar__plus_00_dot_63_bar__minus_02_dot_39)\n (pickupable Cloth_bar__minus_02_dot_31_bar__plus_00_dot_08_bar__minus_01_dot_08)\n (pickupable SoapBottle_bar__minus_00_dot_05_bar__plus_00_dot_98_bar__plus_02_dot_33)\n (pickupable SprayBottle_bar__plus_01_dot_78_bar__plus_00_dot_62_bar__minus_02_dot_02)\n (pickupable SoapBar_bar__plus_00_dot_24_bar__plus_00_dot_80_bar__minus_01_dot_84)\n (pickupable ToiletPaper_bar__minus_00_dot_52_bar__plus_00_dot_03_bar__plus_02_dot_34)\n (pickupable ToiletPaper_bar__minus_00_dot_05_bar__plus_00_dot_96_bar__minus_02_dot_37)\n (pickupable Candle_bar__minus_03_dot_09_bar__plus_00_dot_87_bar__plus_01_dot_55)\n (pickupable DishSponge_bar__plus_02_dot_20_bar__plus_00_dot_62_bar__minus_02_dot_09)\n (pickupable HandTowel_bar__minus_00_dot_89_bar__plus_01_dot_62_bar__minus_02_dot_50)\n (pickupable SoapBottle_bar__minus_00_dot_53_bar__plus_00_dot_97_bar__minus_02_dot_18)\n (pickupable Footstool_bar__minus_00_dot_33_bar__plus_00_dot_30_bar__minus_01_dot_98)\n \n (openable Drawer_bar__plus_00_dot_30_bar__plus_00_dot_68_bar__minus_01_dot_82)\n (openable Drawer_bar__plus_00_dot_30_bar__plus_00_dot_49_bar__minus_01_dot_82)\n (openable Drawer_bar__plus_00_dot_30_bar__plus_00_dot_30_bar__minus_01_dot_82)\n (openable Drawer_bar__plus_00_dot_30_bar__plus_00_dot_83_bar__minus_01_dot_82)\n \n (atLocation agent1 loc_bar__minus_1_bar__minus_3_bar_3_bar_30)\n \n (cleanable DishSponge_bar__plus_00_dot_19_bar__plus_00_dot_44_bar__minus_01_dot_91)\n (cleanable DishSponge_bar__plus_01_dot_57_bar__plus_00_dot_62_bar__minus_02_dot_17)\n (cleanable Cloth_bar__minus_02_dot_31_bar__plus_00_dot_08_bar__minus_01_dot_08)\n (cleanable SoapBar_bar__plus_00_dot_24_bar__plus_00_dot_80_bar__minus_01_dot_84)\n (cleanable DishSponge_bar__plus_02_dot_20_bar__plus_00_dot_62_bar__minus_02_dot_09)\n \n \n \n \n \n \n \n \n \n \n (inReceptacle ToiletPaper_bar__minus_00_dot_05_bar__plus_00_dot_96_bar__minus_02_dot_37 CounterTop_bar__plus_00_dot_20_bar__plus_00_dot_43_bar__minus_02_dot_01)\n (inReceptacle TissueBox_bar__plus_00_dot_27_bar__plus_00_dot_96_bar__minus_02_dot_37 CounterTop_bar__plus_00_dot_20_bar__plus_00_dot_43_bar__minus_02_dot_01)\n (inReceptacle SoapBottle_bar__minus_00_dot_53_bar__plus_00_dot_97_bar__minus_02_dot_18 CounterTop_bar__plus_00_dot_20_bar__plus_00_dot_43_bar__minus_02_dot_01)\n (inReceptacle SoapBar_bar__plus_00_dot_24_bar__plus_00_dot_80_bar__minus_01_dot_84 Drawer_bar__plus_00_dot_30_bar__plus_00_dot_83_bar__minus_01_dot_82)\n (inReceptacle DishSponge_bar__plus_00_dot_19_bar__plus_00_dot_44_bar__minus_01_dot_91 Drawer_bar__plus_00_dot_30_bar__plus_00_dot_49_bar__minus_01_dot_82)\n (inReceptacle Towel_bar__plus_00_dot_47_bar__plus_01_dot_21_bar__minus_01_dot_10 TowelHolder_bar__plus_00_dot_57_bar__plus_01_dot_20_bar__minus_01_dot_10)\n (inReceptacle SoapBottle_bar__plus_01_dot_36_bar__plus_00_dot_63_bar__minus_02_dot_46 Shelf_bar__plus_01_dot_54_bar__plus_00_dot_61_bar__minus_02_dot_24)\n (inReceptacle SoapBottle_bar__plus_01_dot_14_bar__plus_00_dot_63_bar__minus_02_dot_39 Shelf_bar__plus_01_dot_54_bar__plus_00_dot_61_bar__minus_02_dot_24)\n (inReceptacle DishSponge_bar__plus_02_dot_20_bar__plus_00_dot_62_bar__minus_02_dot_09 Shelf_bar__plus_01_dot_54_bar__plus_00_dot_61_bar__minus_02_dot_24)\n (inReceptacle SprayBottle_bar__plus_01_dot_78_bar__plus_00_dot_62_bar__minus_02_dot_02 Shelf_bar__plus_01_dot_54_bar__plus_00_dot_61_bar__minus_02_dot_24)\n (inReceptacle DishSponge_bar__plus_01_dot_57_bar__plus_00_dot_62_bar__minus_02_dot_17 Shelf_bar__plus_01_dot_54_bar__plus_00_dot_61_bar__minus_02_dot_24)\n (inReceptacle HandTowel_bar__minus_00_dot_89_bar__plus_01_dot_62_bar__minus_02_dot_50 HandTowelHolder_bar__minus_00_dot_89_bar__plus_01_dot_72_bar__minus_02_dot_54)\n (inReceptacle SprayBottle_bar__minus_02_dot_88_bar__plus_00_dot_05_bar__plus_02_dot_09 GarbageCan_bar__minus_02_dot_93_bar__plus_00_dot_01_bar__plus_02_dot_09)\n (inReceptacle SprayBottle_bar__minus_02_dot_86_bar__plus_00_dot_87_bar__plus_01_dot_71 Cart_bar__minus_02_dot_92_bar__plus_00_dot_01_bar__plus_01_dot_48)\n (inReceptacle Candle_bar__minus_03_dot_09_bar__plus_00_dot_87_bar__plus_01_dot_55 Cart_bar__minus_02_dot_92_bar__plus_00_dot_01_bar__plus_01_dot_48)\n (inReceptacle SoapBottle_bar__minus_00_dot_05_bar__plus_00_dot_98_bar__plus_02_dot_33 Toilet_bar__minus_00_dot_06_bar__plus_00_dot_01_bar__plus_01_dot_84)\n (inReceptacle Cloth_bar__minus_02_dot_31_bar__plus_00_dot_08_bar__minus_01_dot_08 Bathtub_bar__minus_01_dot_96_bar__plus_00_dot_49_bar__minus_01_dot_23_bar_BathtubBasin)\n \n \n (receptacleAtLocation Bathtub_bar__minus_01_dot_96_bar__plus_00_dot_49_bar__minus_01_dot_23_bar_BathtubBasin loc_bar__minus_10_bar_0_bar_2_bar_60)\n (receptacleAtLocation Cart_bar__minus_02_dot_92_bar__plus_00_dot_01_bar__plus_01_dot_48 loc_bar__minus_9_bar_6_bar_3_bar_60)\n (receptacleAtLocation CounterTop_bar__plus_00_dot_20_bar__plus_00_dot_43_bar__minus_02_dot_01 loc_bar_0_bar__minus_5_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__plus_00_dot_30_bar__plus_00_dot_30_bar__minus_01_dot_82 loc_bar__minus_1_bar__minus_3_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_30_bar__plus_00_dot_49_bar__minus_01_dot_82 loc_bar_0_bar__minus_4_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__plus_00_dot_30_bar__plus_00_dot_68_bar__minus_01_dot_82 loc_bar_0_bar__minus_4_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_30_bar__plus_00_dot_83_bar__minus_01_dot_82 loc_bar_0_bar__minus_4_bar_2_bar_45)\n (receptacleAtLocation GarbageCan_bar__minus_02_dot_93_bar__plus_00_dot_01_bar__plus_02_dot_09 loc_bar__minus_8_bar_6_bar_3_bar_60)\n (receptacleAtLocation HandTowelHolder_bar__minus_00_dot_89_bar__plus_01_dot_72_bar__minus_02_dot_54 loc_bar__minus_3_bar__minus_6_bar_2_bar_0)\n (receptacleAtLocation Shelf_bar__plus_01_dot_54_bar__plus_00_dot_61_bar__minus_02_dot_24 loc_bar_0_bar__minus_6_bar_1_bar_30)\n (receptacleAtLocation Sink_bar__minus_02_dot_80_bar__plus_00_dot_33_bar__plus_00_dot_76_bar_SinkBasin loc_bar__minus_10_bar_0_bar_0_bar_45)\n (receptacleAtLocation ToiletPaperHanger_bar__minus_00_dot_57_bar__plus_00_dot_93_bar__plus_02_dot_41 loc_bar__minus_2_bar_7_bar_0_bar_45)\n (receptacleAtLocation Toilet_bar__minus_00_dot_06_bar__plus_00_dot_01_bar__plus_01_dot_84 loc_bar__minus_4_bar_7_bar_1_bar_60)\n (receptacleAtLocation TowelHolder_bar__plus_00_dot_57_bar__plus_01_dot_20_bar__minus_01_dot_10 loc_bar_0_bar__minus_4_bar_1_bar_45)\n (objectAtLocation DishSponge_bar__plus_00_dot_19_bar__plus_00_dot_44_bar__minus_01_dot_91 loc_bar_0_bar__minus_4_bar_2_bar_60)\n (objectAtLocation SprayBottle_bar__minus_02_dot_86_bar__plus_00_dot_87_bar__plus_01_dot_71 loc_bar__minus_9_bar_6_bar_3_bar_60)\n (objectAtLocation SoapBottle_bar__minus_00_dot_05_bar__plus_00_dot_98_bar__plus_02_dot_33 loc_bar__minus_4_bar_7_bar_1_bar_60)\n (objectAtLocation SoapBottle_bar__plus_01_dot_14_bar__plus_00_dot_63_bar__minus_02_dot_39 loc_bar_0_bar__minus_6_bar_1_bar_30)\n (objectAtLocation SoapBottle_bar__plus_01_dot_36_bar__plus_00_dot_63_bar__minus_02_dot_46 loc_bar_0_bar__minus_6_bar_1_bar_30)\n (objectAtLocation DishSponge_bar__plus_01_dot_57_bar__plus_00_dot_62_bar__minus_02_dot_17 loc_bar_0_bar__minus_6_bar_1_bar_30)\n (objectAtLocation SprayBottle_bar__plus_01_dot_78_bar__plus_00_dot_62_bar__minus_02_dot_02 loc_bar_0_bar__minus_6_bar_1_bar_30)\n (objectAtLocation Bathtub_bar__minus_01_dot_96_bar__plus_00_dot_49_bar__minus_01_dot_23 loc_bar__minus_4_bar__minus_4_bar_3_bar_45)\n (objectAtLocation ShowerDoor_bar__plus_00_dot_65_bar__plus_01_dot_41_bar__plus_02_dot_17 loc_bar_0_bar_5_bar_0_bar_15)\n (objectAtLocation ShowerGlass_bar__plus_00_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_00 loc_bar_0_bar_0_bar_2_bar_60)\n (objectAtLocation Mirror_bar__minus_00_dot_05_bar__plus_01_dot_51_bar__minus_02_dot_54 loc_bar_0_bar__minus_6_bar_2_bar_15)\n (objectAtLocation Sink_bar__minus_02_dot_80_bar__plus_00_dot_33_bar__plus_00_dot_76 loc_bar__minus_8_bar_3_bar_3_bar_60)\n (objectAtLocation Candle_bar__minus_03_dot_09_bar__plus_00_dot_87_bar__plus_01_dot_55 loc_bar__minus_9_bar_6_bar_3_bar_60)\n (objectAtLocation HandTowel_bar__minus_00_dot_89_bar__plus_01_dot_62_bar__minus_02_dot_50 loc_bar__minus_3_bar__minus_6_bar_2_bar_0)\n (objectAtLocation Towel_bar__plus_00_dot_47_bar__plus_01_dot_21_bar__minus_01_dot_10 loc_bar_0_bar__minus_4_bar_1_bar_45)\n (objectAtLocation SoapBottle_bar__minus_00_dot_53_bar__plus_00_dot_97_bar__minus_02_dot_18 loc_bar_0_bar__minus_5_bar_2_bar_60)\n (objectAtLocation SoapBar_bar__plus_00_dot_24_bar__plus_00_dot_80_bar__minus_01_dot_84 loc_bar_0_bar__minus_4_bar_2_bar_45)\n (objectAtLocation ToiletPaper_bar__minus_00_dot_05_bar__plus_00_dot_96_bar__minus_02_dot_37 loc_bar_0_bar__minus_5_bar_2_bar_60)\n (objectAtLocation Plunger_bar__plus_00_dot_51_bar__plus_00_dot_01_bar__plus_02_dot_27 loc_bar_0_bar_5_bar_0_bar_60)\n (objectAtLocation SprayBottle_bar__minus_02_dot_88_bar__plus_00_dot_05_bar__plus_02_dot_09 loc_bar__minus_8_bar_6_bar_3_bar_60)\n (objectAtLocation TissueBox_bar__plus_00_dot_27_bar__plus_00_dot_96_bar__minus_02_dot_37 loc_bar_0_bar__minus_5_bar_2_bar_60)\n (objectAtLocation ToiletPaper_bar__minus_00_dot_52_bar__plus_00_dot_03_bar__plus_02_dot_34 loc_bar__minus_2_bar_7_bar_0_bar_60)\n (objectAtLocation Window_bar__minus_03_dot_17_bar__plus_01_dot_81_bar__minus_01_dot_70 loc_bar__minus_10_bar_0_bar_2_bar_0)\n (objectAtLocation Window_bar__minus_03_dot_17_bar__plus_01_dot_81_bar__plus_01_dot_60 loc_bar__minus_9_bar_6_bar_3_bar__minus_15)\n (objectAtLocation Window_bar__minus_02_dot_15_bar__plus_01_dot_81_bar__minus_02_dot_57 loc_bar__minus_3_bar__minus_6_bar_3_bar_0)\n (objectAtLocation Window_bar__minus_03_dot_17_bar__plus_01_dot_81_bar__minus_00_dot_06 loc_bar__minus_10_bar_0_bar_3_bar__minus_15)\n (objectAtLocation ScrubBrush_bar__plus_00_dot_34_bar__plus_00_dot_01_bar__plus_02_dot_07 loc_bar_0_bar_5_bar_0_bar_60)\n (objectAtLocation LightSwitch_bar__minus_01_dot_41_bar__plus_01_dot_47_bar__plus_02_dot_41 loc_bar__minus_6_bar_7_bar_0_bar_15)\n (objectAtLocation Cloth_bar__minus_02_dot_31_bar__plus_00_dot_08_bar__minus_01_dot_08 loc_bar__minus_10_bar_0_bar_2_bar_60)\n (objectAtLocation DishSponge_bar__plus_02_dot_20_bar__plus_00_dot_62_bar__minus_02_dot_09 loc_bar_0_bar__minus_6_bar_1_bar_30)\n (objectAtLocation Footstool_bar__minus_00_dot_33_bar__plus_00_dot_30_bar__minus_01_dot_98 loc_bar_0_bar__minus_6_bar_2_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o1 - object)\n (and\n (objectType ?o1 SoapBottleType)\n (receptacleType ?r CartType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 SoapBottleType)\n (receptacleType ?r CartType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 1", "take soapbottle 3 from countertop 1", "go to cart 1", "move soapbottle 3 to cart 1", "go to shelf 1", "take soapbottle 2 from shelf 1", "go to cart 1", "move soapbottle 2 to cart 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-SoapBottle-None-Cart-430/trial_T20190908_130358_157745/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-SoapBottle-None-Cart-430/trial_T20190908_130358_157745/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..60fadab69eeb836b675d5974aa1e5e0961048192 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-SoapBottle-None-Cart-430/trial_T20190908_130358_157745/initial_state.pddl @@ -0,0 +1,547 @@ + +(define (problem plan_trial_T20190908_130358_157745) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Bathtub_bar__minus_01_dot_96_bar__plus_00_dot_49_bar__minus_01_dot_23 - object + Candle_bar__minus_03_dot_09_bar__plus_00_dot_87_bar__plus_01_dot_55 - object + Cloth_bar__minus_02_dot_31_bar__plus_00_dot_08_bar__minus_01_dot_08 - object + DishSponge_bar__plus_00_dot_19_bar__plus_00_dot_44_bar__minus_01_dot_91 - object + DishSponge_bar__plus_01_dot_57_bar__plus_00_dot_62_bar__minus_02_dot_17 - object + DishSponge_bar__plus_02_dot_20_bar__plus_00_dot_62_bar__minus_02_dot_09 - object + Faucet_bar__minus_02_dot_79_bar__plus_00_dot_48_bar__minus_00_dot_36 - object + Faucet_bar__minus_03_dot_11_bar__plus_01_dot_06_bar__plus_00_dot_76 - object + Footstool_bar__minus_00_dot_33_bar__plus_00_dot_30_bar__minus_01_dot_98 - object + HandTowel_bar__minus_00_dot_89_bar__plus_01_dot_62_bar__minus_02_dot_50 - object + LightSwitch_bar__minus_01_dot_41_bar__plus_01_dot_47_bar__plus_02_dot_41 - object + Mirror_bar__minus_00_dot_05_bar__plus_01_dot_51_bar__minus_02_dot_54 - object + Plunger_bar__plus_00_dot_51_bar__plus_00_dot_01_bar__plus_02_dot_27 - object + ScrubBrush_bar__plus_00_dot_34_bar__plus_00_dot_01_bar__plus_02_dot_07 - object + ShowerDoor_bar__plus_00_dot_65_bar__plus_01_dot_41_bar__plus_02_dot_17 - object + ShowerGlass_bar__plus_00_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_00 - object + ShowerHead_bar__plus_01_dot_59_bar__plus_01_dot_70_bar__minus_02_dot_43 - object + Sink_bar__minus_02_dot_80_bar__plus_00_dot_33_bar__plus_00_dot_76 - object + SoapBar_bar__plus_00_dot_24_bar__plus_00_dot_80_bar__minus_01_dot_84 - object + SoapBottle_bar__plus_01_dot_14_bar__plus_00_dot_63_bar__minus_02_dot_39 - object + SoapBottle_bar__plus_01_dot_36_bar__plus_00_dot_63_bar__minus_02_dot_46 - object + SoapBottle_bar__minus_00_dot_05_bar__plus_00_dot_98_bar__plus_02_dot_33 - object + SoapBottle_bar__minus_00_dot_53_bar__plus_00_dot_97_bar__minus_02_dot_18 - object + SprayBottle_bar__plus_01_dot_78_bar__plus_00_dot_62_bar__minus_02_dot_02 - object + SprayBottle_bar__minus_02_dot_86_bar__plus_00_dot_87_bar__plus_01_dot_71 - object + SprayBottle_bar__minus_02_dot_88_bar__plus_00_dot_05_bar__plus_02_dot_09 - object + TissueBox_bar__plus_00_dot_27_bar__plus_00_dot_96_bar__minus_02_dot_37 - object + ToiletPaper_bar__minus_00_dot_05_bar__plus_00_dot_96_bar__minus_02_dot_37 - object + ToiletPaper_bar__minus_00_dot_52_bar__plus_00_dot_03_bar__plus_02_dot_34 - object + Towel_bar__plus_00_dot_47_bar__plus_01_dot_21_bar__minus_01_dot_10 - object + Window_bar__minus_02_dot_15_bar__plus_01_dot_81_bar__minus_02_dot_57 - object + Window_bar__minus_03_dot_17_bar__plus_01_dot_81_bar__plus_01_dot_60 - object + Window_bar__minus_03_dot_17_bar__plus_01_dot_81_bar__minus_00_dot_06 - object + Window_bar__minus_03_dot_17_bar__plus_01_dot_81_bar__minus_01_dot_70 - object + Bathtub_bar__minus_01_dot_96_bar__plus_00_dot_49_bar__minus_01_dot_23_bar_BathtubBasin - receptacle + Cart_bar__minus_02_dot_92_bar__plus_00_dot_01_bar__plus_01_dot_48 - receptacle + CounterTop_bar__plus_00_dot_20_bar__plus_00_dot_43_bar__minus_02_dot_01 - receptacle + Drawer_bar__plus_00_dot_30_bar__plus_00_dot_30_bar__minus_01_dot_82 - receptacle + Drawer_bar__plus_00_dot_30_bar__plus_00_dot_49_bar__minus_01_dot_82 - receptacle + Drawer_bar__plus_00_dot_30_bar__plus_00_dot_68_bar__minus_01_dot_82 - receptacle + Drawer_bar__plus_00_dot_30_bar__plus_00_dot_83_bar__minus_01_dot_82 - receptacle + GarbageCan_bar__minus_02_dot_93_bar__plus_00_dot_01_bar__plus_02_dot_09 - receptacle + HandTowelHolder_bar__minus_00_dot_89_bar__plus_01_dot_72_bar__minus_02_dot_54 - receptacle + Shelf_bar__plus_01_dot_54_bar__plus_00_dot_61_bar__minus_02_dot_24 - receptacle + Sink_bar__minus_02_dot_80_bar__plus_00_dot_33_bar__plus_00_dot_76_bar_SinkBasin - receptacle + ToiletPaperHanger_bar__minus_00_dot_57_bar__plus_00_dot_93_bar__plus_02_dot_41 - receptacle + Toilet_bar__minus_00_dot_06_bar__plus_00_dot_01_bar__plus_01_dot_84 - receptacle + TowelHolder_bar__plus_00_dot_57_bar__plus_01_dot_20_bar__minus_01_dot_10 - receptacle + loc_bar_0_bar__minus_6_bar_2_bar_15 - location + loc_bar__minus_2_bar_7_bar_0_bar_60 - location + loc_bar__minus_6_bar_7_bar_0_bar_15 - location + loc_bar__minus_1_bar__minus_3_bar_2_bar_45 - location + loc_bar__minus_10_bar_0_bar_3_bar__minus_15 - location + loc_bar_0_bar__minus_4_bar_2_bar_60 - location + loc_bar_0_bar__minus_4_bar_1_bar_45 - location + loc_bar__minus_10_bar_0_bar_0_bar_45 - location + loc_bar_0_bar_5_bar_0_bar_15 - location + loc_bar__minus_9_bar_6_bar_3_bar__minus_15 - location + loc_bar__minus_8_bar_3_bar_3_bar_60 - location + loc_bar_0_bar__minus_5_bar_2_bar_60 - location + loc_bar__minus_9_bar_6_bar_3_bar_60 - location + loc_bar__minus_3_bar__minus_6_bar_2_bar_0 - location + loc_bar__minus_4_bar_7_bar_1_bar_60 - location + loc_bar_0_bar_0_bar_2_bar_60 - location + loc_bar__minus_2_bar_7_bar_0_bar_45 - location + loc_bar_0_bar_5_bar_0_bar_60 - location + loc_bar__minus_3_bar__minus_6_bar_3_bar_0 - location + loc_bar__minus_4_bar__minus_4_bar_3_bar_45 - location + loc_bar__minus_8_bar_6_bar_3_bar_60 - location + loc_bar__minus_10_bar_0_bar_2_bar_60 - location + loc_bar_0_bar__minus_6_bar_2_bar_60 - location + loc_bar_0_bar__minus_4_bar_2_bar_45 - location + loc_bar__minus_10_bar_0_bar_2_bar_0 - location + loc_bar_0_bar__minus_6_bar_1_bar_30 - location + loc_bar__minus_1_bar__minus_3_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType HandTowelHolder_bar__minus_00_dot_89_bar__plus_01_dot_72_bar__minus_02_dot_54 HandTowelHolderType) + (receptacleType Cart_bar__minus_02_dot_92_bar__plus_00_dot_01_bar__plus_01_dot_48 CartType) + (receptacleType Drawer_bar__plus_00_dot_30_bar__plus_00_dot_68_bar__minus_01_dot_82 DrawerType) + (receptacleType Drawer_bar__plus_00_dot_30_bar__plus_00_dot_49_bar__minus_01_dot_82 DrawerType) + (receptacleType Toilet_bar__minus_00_dot_06_bar__plus_00_dot_01_bar__plus_01_dot_84 ToiletType) + (receptacleType ToiletPaperHanger_bar__minus_00_dot_57_bar__plus_00_dot_93_bar__plus_02_dot_41 ToiletPaperHangerType) + (receptacleType Sink_bar__minus_02_dot_80_bar__plus_00_dot_33_bar__plus_00_dot_76_bar_SinkBasin SinkBasinType) + (receptacleType CounterTop_bar__plus_00_dot_20_bar__plus_00_dot_43_bar__minus_02_dot_01 CounterTopType) + (receptacleType Drawer_bar__plus_00_dot_30_bar__plus_00_dot_30_bar__minus_01_dot_82 DrawerType) + (receptacleType Drawer_bar__plus_00_dot_30_bar__plus_00_dot_83_bar__minus_01_dot_82 DrawerType) + (receptacleType Bathtub_bar__minus_01_dot_96_bar__plus_00_dot_49_bar__minus_01_dot_23_bar_BathtubBasin BathtubBasinType) + (receptacleType GarbageCan_bar__minus_02_dot_93_bar__plus_00_dot_01_bar__plus_02_dot_09 GarbageCanType) + (receptacleType TowelHolder_bar__plus_00_dot_57_bar__plus_01_dot_20_bar__minus_01_dot_10 TowelHolderType) + (receptacleType Shelf_bar__plus_01_dot_54_bar__plus_00_dot_61_bar__minus_02_dot_24 ShelfType) + (objectType TissueBox_bar__plus_00_dot_27_bar__plus_00_dot_96_bar__minus_02_dot_37 TissueBoxType) + (objectType SoapBottle_bar__plus_01_dot_36_bar__plus_00_dot_63_bar__minus_02_dot_46 SoapBottleType) + (objectType DishSponge_bar__plus_00_dot_19_bar__plus_00_dot_44_bar__minus_01_dot_91 DishSpongeType) + (objectType Bathtub_bar__minus_01_dot_96_bar__plus_00_dot_49_bar__minus_01_dot_23 BathtubType) + (objectType Mirror_bar__minus_00_dot_05_bar__plus_01_dot_51_bar__minus_02_dot_54 MirrorType) + (objectType Towel_bar__plus_00_dot_47_bar__plus_01_dot_21_bar__minus_01_dot_10 TowelType) + (objectType Sink_bar__minus_02_dot_80_bar__plus_00_dot_33_bar__plus_00_dot_76 SinkType) + (objectType ScrubBrush_bar__plus_00_dot_34_bar__plus_00_dot_01_bar__plus_02_dot_07 ScrubBrushType) + (objectType DishSponge_bar__plus_01_dot_57_bar__plus_00_dot_62_bar__minus_02_dot_17 DishSpongeType) + (objectType SprayBottle_bar__minus_02_dot_88_bar__plus_00_dot_05_bar__plus_02_dot_09 SprayBottleType) + (objectType Window_bar__minus_03_dot_17_bar__plus_01_dot_81_bar__plus_01_dot_60 WindowType) + (objectType Plunger_bar__plus_00_dot_51_bar__plus_00_dot_01_bar__plus_02_dot_27 PlungerType) + (objectType ShowerGlass_bar__plus_00_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_00 ShowerGlassType) + (objectType SprayBottle_bar__minus_02_dot_86_bar__plus_00_dot_87_bar__plus_01_dot_71 SprayBottleType) + (objectType SoapBottle_bar__plus_01_dot_14_bar__plus_00_dot_63_bar__minus_02_dot_39 SoapBottleType) + (objectType Cloth_bar__minus_02_dot_31_bar__plus_00_dot_08_bar__minus_01_dot_08 ClothType) + (objectType Window_bar__minus_03_dot_17_bar__plus_01_dot_81_bar__minus_01_dot_70 WindowType) + (objectType LightSwitch_bar__minus_01_dot_41_bar__plus_01_dot_47_bar__plus_02_dot_41 LightSwitchType) + (objectType SoapBottle_bar__minus_00_dot_05_bar__plus_00_dot_98_bar__plus_02_dot_33 SoapBottleType) + (objectType SprayBottle_bar__plus_01_dot_78_bar__plus_00_dot_62_bar__minus_02_dot_02 SprayBottleType) + (objectType SoapBar_bar__plus_00_dot_24_bar__plus_00_dot_80_bar__minus_01_dot_84 SoapBarType) + (objectType ToiletPaper_bar__minus_00_dot_52_bar__plus_00_dot_03_bar__plus_02_dot_34 ToiletPaperType) + (objectType ToiletPaper_bar__minus_00_dot_05_bar__plus_00_dot_96_bar__minus_02_dot_37 ToiletPaperType) + (objectType Candle_bar__minus_03_dot_09_bar__plus_00_dot_87_bar__plus_01_dot_55 CandleType) + (objectType DishSponge_bar__plus_02_dot_20_bar__plus_00_dot_62_bar__minus_02_dot_09 DishSpongeType) + (objectType Window_bar__minus_03_dot_17_bar__plus_01_dot_81_bar__minus_00_dot_06 WindowType) + (objectType HandTowel_bar__minus_00_dot_89_bar__plus_01_dot_62_bar__minus_02_dot_50 HandTowelType) + (objectType Window_bar__minus_02_dot_15_bar__plus_01_dot_81_bar__minus_02_dot_57 WindowType) + (objectType SoapBottle_bar__minus_00_dot_53_bar__plus_00_dot_97_bar__minus_02_dot_18 SoapBottleType) + (objectType ShowerDoor_bar__plus_00_dot_65_bar__plus_01_dot_41_bar__plus_02_dot_17 ShowerDoorType) + (objectType Footstool_bar__minus_00_dot_33_bar__plus_00_dot_30_bar__minus_01_dot_98 FootstoolType) + (canContain HandTowelHolderType HandTowelType) + (canContain CartType SoapBottleType) + (canContain CartType HandTowelType) + (canContain CartType ToiletPaperType) + (canContain CartType ClothType) + (canContain CartType CandleType) + (canContain CartType SoapBarType) + (canContain CartType DishSpongeType) + (canContain CartType PlungerType) + (canContain CartType SprayBottleType) + (canContain CartType TissueBoxType) + (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 ToiletPaperHangerType ToiletPaperType) + (canContain SinkBasinType SoapBarType) + (canContain SinkBasinType DishSpongeType) + (canContain SinkBasinType ClothType) + (canContain SinkBasinType HandTowelType) + (canContain CounterTopType CandleType) + (canContain CounterTopType DishSpongeType) + (canContain CounterTopType SoapBarType) + (canContain CounterTopType SprayBottleType) + (canContain CounterTopType ToiletPaperType) + (canContain CounterTopType SoapBottleType) + (canContain CounterTopType ClothType) + (canContain CounterTopType TissueBoxType) + (canContain CounterTopType 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 BathtubBasinType ClothType) + (canContain BathtubBasinType HandTowelType) + (canContain BathtubBasinType SoapBarType) + (canContain BathtubBasinType DishSpongeType) + (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 TowelHolderType TowelType) + (canContain ShelfType CandleType) + (canContain ShelfType SoapBarType) + (canContain ShelfType DishSpongeType) + (canContain ShelfType SprayBottleType) + (canContain ShelfType ToiletPaperType) + (canContain ShelfType SoapBottleType) + (canContain ShelfType ClothType) + (canContain ShelfType TissueBoxType) + (canContain ShelfType HandTowelType) + (pickupable TissueBox_bar__plus_00_dot_27_bar__plus_00_dot_96_bar__minus_02_dot_37) + (pickupable SoapBottle_bar__plus_01_dot_36_bar__plus_00_dot_63_bar__minus_02_dot_46) + (pickupable DishSponge_bar__plus_00_dot_19_bar__plus_00_dot_44_bar__minus_01_dot_91) + (pickupable Towel_bar__plus_00_dot_47_bar__plus_01_dot_21_bar__minus_01_dot_10) + (pickupable ScrubBrush_bar__plus_00_dot_34_bar__plus_00_dot_01_bar__plus_02_dot_07) + (pickupable DishSponge_bar__plus_01_dot_57_bar__plus_00_dot_62_bar__minus_02_dot_17) + (pickupable SprayBottle_bar__minus_02_dot_88_bar__plus_00_dot_05_bar__plus_02_dot_09) + (pickupable Plunger_bar__plus_00_dot_51_bar__plus_00_dot_01_bar__plus_02_dot_27) + (pickupable SprayBottle_bar__minus_02_dot_86_bar__plus_00_dot_87_bar__plus_01_dot_71) + (pickupable SoapBottle_bar__plus_01_dot_14_bar__plus_00_dot_63_bar__minus_02_dot_39) + (pickupable Cloth_bar__minus_02_dot_31_bar__plus_00_dot_08_bar__minus_01_dot_08) + (pickupable SoapBottle_bar__minus_00_dot_05_bar__plus_00_dot_98_bar__plus_02_dot_33) + (pickupable SprayBottle_bar__plus_01_dot_78_bar__plus_00_dot_62_bar__minus_02_dot_02) + (pickupable SoapBar_bar__plus_00_dot_24_bar__plus_00_dot_80_bar__minus_01_dot_84) + (pickupable ToiletPaper_bar__minus_00_dot_52_bar__plus_00_dot_03_bar__plus_02_dot_34) + (pickupable ToiletPaper_bar__minus_00_dot_05_bar__plus_00_dot_96_bar__minus_02_dot_37) + (pickupable Candle_bar__minus_03_dot_09_bar__plus_00_dot_87_bar__plus_01_dot_55) + (pickupable DishSponge_bar__plus_02_dot_20_bar__plus_00_dot_62_bar__minus_02_dot_09) + (pickupable HandTowel_bar__minus_00_dot_89_bar__plus_01_dot_62_bar__minus_02_dot_50) + (pickupable SoapBottle_bar__minus_00_dot_53_bar__plus_00_dot_97_bar__minus_02_dot_18) + (pickupable Footstool_bar__minus_00_dot_33_bar__plus_00_dot_30_bar__minus_01_dot_98) + + (openable Drawer_bar__plus_00_dot_30_bar__plus_00_dot_68_bar__minus_01_dot_82) + (openable Drawer_bar__plus_00_dot_30_bar__plus_00_dot_49_bar__minus_01_dot_82) + (openable Drawer_bar__plus_00_dot_30_bar__plus_00_dot_30_bar__minus_01_dot_82) + (openable Drawer_bar__plus_00_dot_30_bar__plus_00_dot_83_bar__minus_01_dot_82) + + (atLocation agent1 loc_bar__minus_1_bar__minus_3_bar_3_bar_30) + + (cleanable DishSponge_bar__plus_00_dot_19_bar__plus_00_dot_44_bar__minus_01_dot_91) + (cleanable DishSponge_bar__plus_01_dot_57_bar__plus_00_dot_62_bar__minus_02_dot_17) + (cleanable Cloth_bar__minus_02_dot_31_bar__plus_00_dot_08_bar__minus_01_dot_08) + (cleanable SoapBar_bar__plus_00_dot_24_bar__plus_00_dot_80_bar__minus_01_dot_84) + (cleanable DishSponge_bar__plus_02_dot_20_bar__plus_00_dot_62_bar__minus_02_dot_09) + + + + + + + + + + + (inReceptacle ToiletPaper_bar__minus_00_dot_05_bar__plus_00_dot_96_bar__minus_02_dot_37 CounterTop_bar__plus_00_dot_20_bar__plus_00_dot_43_bar__minus_02_dot_01) + (inReceptacle TissueBox_bar__plus_00_dot_27_bar__plus_00_dot_96_bar__minus_02_dot_37 CounterTop_bar__plus_00_dot_20_bar__plus_00_dot_43_bar__minus_02_dot_01) + (inReceptacle SoapBottle_bar__minus_00_dot_53_bar__plus_00_dot_97_bar__minus_02_dot_18 CounterTop_bar__plus_00_dot_20_bar__plus_00_dot_43_bar__minus_02_dot_01) + (inReceptacle SoapBar_bar__plus_00_dot_24_bar__plus_00_dot_80_bar__minus_01_dot_84 Drawer_bar__plus_00_dot_30_bar__plus_00_dot_83_bar__minus_01_dot_82) + (inReceptacle DishSponge_bar__plus_00_dot_19_bar__plus_00_dot_44_bar__minus_01_dot_91 Drawer_bar__plus_00_dot_30_bar__plus_00_dot_49_bar__minus_01_dot_82) + (inReceptacle Towel_bar__plus_00_dot_47_bar__plus_01_dot_21_bar__minus_01_dot_10 TowelHolder_bar__plus_00_dot_57_bar__plus_01_dot_20_bar__minus_01_dot_10) + (inReceptacle SoapBottle_bar__plus_01_dot_36_bar__plus_00_dot_63_bar__minus_02_dot_46 Shelf_bar__plus_01_dot_54_bar__plus_00_dot_61_bar__minus_02_dot_24) + (inReceptacle SoapBottle_bar__plus_01_dot_14_bar__plus_00_dot_63_bar__minus_02_dot_39 Shelf_bar__plus_01_dot_54_bar__plus_00_dot_61_bar__minus_02_dot_24) + (inReceptacle DishSponge_bar__plus_02_dot_20_bar__plus_00_dot_62_bar__minus_02_dot_09 Shelf_bar__plus_01_dot_54_bar__plus_00_dot_61_bar__minus_02_dot_24) + (inReceptacle SprayBottle_bar__plus_01_dot_78_bar__plus_00_dot_62_bar__minus_02_dot_02 Shelf_bar__plus_01_dot_54_bar__plus_00_dot_61_bar__minus_02_dot_24) + (inReceptacle DishSponge_bar__plus_01_dot_57_bar__plus_00_dot_62_bar__minus_02_dot_17 Shelf_bar__plus_01_dot_54_bar__plus_00_dot_61_bar__minus_02_dot_24) + (inReceptacle HandTowel_bar__minus_00_dot_89_bar__plus_01_dot_62_bar__minus_02_dot_50 HandTowelHolder_bar__minus_00_dot_89_bar__plus_01_dot_72_bar__minus_02_dot_54) + (inReceptacle SprayBottle_bar__minus_02_dot_88_bar__plus_00_dot_05_bar__plus_02_dot_09 GarbageCan_bar__minus_02_dot_93_bar__plus_00_dot_01_bar__plus_02_dot_09) + (inReceptacle SprayBottle_bar__minus_02_dot_86_bar__plus_00_dot_87_bar__plus_01_dot_71 Cart_bar__minus_02_dot_92_bar__plus_00_dot_01_bar__plus_01_dot_48) + (inReceptacle Candle_bar__minus_03_dot_09_bar__plus_00_dot_87_bar__plus_01_dot_55 Cart_bar__minus_02_dot_92_bar__plus_00_dot_01_bar__plus_01_dot_48) + (inReceptacle SoapBottle_bar__minus_00_dot_05_bar__plus_00_dot_98_bar__plus_02_dot_33 Toilet_bar__minus_00_dot_06_bar__plus_00_dot_01_bar__plus_01_dot_84) + (inReceptacle Cloth_bar__minus_02_dot_31_bar__plus_00_dot_08_bar__minus_01_dot_08 Bathtub_bar__minus_01_dot_96_bar__plus_00_dot_49_bar__minus_01_dot_23_bar_BathtubBasin) + + + (receptacleAtLocation Bathtub_bar__minus_01_dot_96_bar__plus_00_dot_49_bar__minus_01_dot_23_bar_BathtubBasin loc_bar__minus_10_bar_0_bar_2_bar_60) + (receptacleAtLocation Cart_bar__minus_02_dot_92_bar__plus_00_dot_01_bar__plus_01_dot_48 loc_bar__minus_9_bar_6_bar_3_bar_60) + (receptacleAtLocation CounterTop_bar__plus_00_dot_20_bar__plus_00_dot_43_bar__minus_02_dot_01 loc_bar_0_bar__minus_5_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__plus_00_dot_30_bar__plus_00_dot_30_bar__minus_01_dot_82 loc_bar__minus_1_bar__minus_3_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__plus_00_dot_30_bar__plus_00_dot_49_bar__minus_01_dot_82 loc_bar_0_bar__minus_4_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__plus_00_dot_30_bar__plus_00_dot_68_bar__minus_01_dot_82 loc_bar_0_bar__minus_4_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__plus_00_dot_30_bar__plus_00_dot_83_bar__minus_01_dot_82 loc_bar_0_bar__minus_4_bar_2_bar_45) + (receptacleAtLocation GarbageCan_bar__minus_02_dot_93_bar__plus_00_dot_01_bar__plus_02_dot_09 loc_bar__minus_8_bar_6_bar_3_bar_60) + (receptacleAtLocation HandTowelHolder_bar__minus_00_dot_89_bar__plus_01_dot_72_bar__minus_02_dot_54 loc_bar__minus_3_bar__minus_6_bar_2_bar_0) + (receptacleAtLocation Shelf_bar__plus_01_dot_54_bar__plus_00_dot_61_bar__minus_02_dot_24 loc_bar_0_bar__minus_6_bar_1_bar_30) + (receptacleAtLocation Sink_bar__minus_02_dot_80_bar__plus_00_dot_33_bar__plus_00_dot_76_bar_SinkBasin loc_bar__minus_10_bar_0_bar_0_bar_45) + (receptacleAtLocation ToiletPaperHanger_bar__minus_00_dot_57_bar__plus_00_dot_93_bar__plus_02_dot_41 loc_bar__minus_2_bar_7_bar_0_bar_45) + (receptacleAtLocation Toilet_bar__minus_00_dot_06_bar__plus_00_dot_01_bar__plus_01_dot_84 loc_bar__minus_4_bar_7_bar_1_bar_60) + (receptacleAtLocation TowelHolder_bar__plus_00_dot_57_bar__plus_01_dot_20_bar__minus_01_dot_10 loc_bar_0_bar__minus_4_bar_1_bar_45) + 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loc_bar__minus_4_bar__minus_4_bar_3_bar_45) + (objectAtLocation ShowerDoor_bar__plus_00_dot_65_bar__plus_01_dot_41_bar__plus_02_dot_17 loc_bar_0_bar_5_bar_0_bar_15) + (objectAtLocation ShowerGlass_bar__plus_00_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_00 loc_bar_0_bar_0_bar_2_bar_60) + (objectAtLocation Mirror_bar__minus_00_dot_05_bar__plus_01_dot_51_bar__minus_02_dot_54 loc_bar_0_bar__minus_6_bar_2_bar_15) + (objectAtLocation Sink_bar__minus_02_dot_80_bar__plus_00_dot_33_bar__plus_00_dot_76 loc_bar__minus_8_bar_3_bar_3_bar_60) + (objectAtLocation Candle_bar__minus_03_dot_09_bar__plus_00_dot_87_bar__plus_01_dot_55 loc_bar__minus_9_bar_6_bar_3_bar_60) + (objectAtLocation HandTowel_bar__minus_00_dot_89_bar__plus_01_dot_62_bar__minus_02_dot_50 loc_bar__minus_3_bar__minus_6_bar_2_bar_0) + (objectAtLocation Towel_bar__plus_00_dot_47_bar__plus_01_dot_21_bar__minus_01_dot_10 loc_bar_0_bar__minus_4_bar_1_bar_45) + (objectAtLocation 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"A3F7G1FSFWQPLE_3V0Z7YWSI1RKT3I42XN7OU0WZLE2VU", + "high_descs": [ + "Turn right and walk over to the toilet.", + "Pick up the bottle off of the toilet tank.", + "Turn left and walk over to the metal shelving unit.", + "Put the bottle on the top shelf of the metal shelving unit.", + "Turn around and begin walking across the room, then turn right and walk up to the counter.", + "Pick up the bottle off of the counter.", + "Walk back over to the metal shelving unit.", + "Put the bottle next to the other bottle on the top shelf of the metal shelving unit." + ], + "task_desc": "Move two bottles to a metal shelving unit.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A3HL2LL0LEPZT8_3NVC2EB65TQQIF9SB8OWE39INGEY38", + "high_descs": [ + "Turn right, go forward to the toilet paper holder to the left of the toilet.", + "Take the bottle from the top of the toilet tank.", + "Turn left, go forward to the metal rack.", + "Put the bottle on the top metal rack to the left of the yellow spray bottle.", + "Turn around, go forward to the toilet, turn right, go forward to the vanity.", + "Take the bottle from the right side of the vanity.", + "Turn around, go forward to the toilet paper holder, turn left, go forward to the metal rack.", + "Put the bottle on the top metal rack to the left of the first bottle." + ], + "task_desc": "Put two bottles on a metal rack.", + "votes": [ + 1, + 1, + 0 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-SoapBottle-None-GarbageCan-416/trial_T20190909_003015_267270/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-SoapBottle-None-GarbageCan-416/trial_T20190909_003015_267270/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..0571c4efd145a4acaac7f77ba884f451ed506a12 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-SoapBottle-None-GarbageCan-416/trial_T20190909_003015_267270/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\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 soapbottle and put them 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_003015_267270)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Candle_bar__minus_01_dot_80_bar__plus_00_dot_77_bar__plus_02_dot_83 - object\n Candle_bar__minus_01_dot_80_bar__plus_01_dot_09_bar__plus_00_dot_75 - object\n Cloth_bar__minus_01_dot_49_bar__plus_00_dot_24_bar__plus_03_dot_33 - object\n Cloth_bar__minus_01_dot_57_bar__plus_00_dot_24_bar__plus_02_dot_00 - object\n Faucet_bar__plus_00_dot_85_bar__plus_01_dot_80_bar__plus_01_dot_11 - object\n Faucet_bar__minus_01_dot_93_bar__plus_00_dot_72_bar__plus_02_dot_29 - object\n Faucet_bar__minus_01_dot_93_bar__plus_00_dot_72_bar__plus_03_dot_37 - object\n HandTowel_bar__minus_01_dot_51_bar__plus_01_dot_46_bar__plus_03_dot_96 - object\n LightSwitch_bar__plus_01_dot_25_bar__plus_01_dot_27_bar__plus_03_dot_64 - object\n Mirror_bar__minus_01_dot_92_bar__plus_01_dot_41_bar__plus_02_dot_76 - object\n Plunger_bar__minus_01_dot_69_bar__plus_00_dot_00_bar__plus_00_dot_33 - object\n ScrubBrush_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_14 - object\n ShowerDoor_bar__plus_00_dot_57_bar__plus_01_dot_02_bar__plus_01_dot_12 - object\n Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_02_dot_28 - object\n Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_03_dot_37 - object\n SoapBar_bar__minus_01_dot_53_bar__plus_00_dot_24_bar__plus_02_dot_27 - object\n SoapBar_bar__minus_01_dot_57_bar__plus_00_dot_24_bar__plus_03_dot_73 - object\n SoapBottle_bar__minus_01_dot_46_bar__plus_00_dot_73_bar__plus_02_dot_88 - object\n SoapBottle_bar__minus_01_dot_54_bar__plus_00_dot_73_bar__plus_02_dot_73 - object\n SoapBottle_bar__minus_01_dot_89_bar__plus_00_dot_73_bar__plus_02_dot_78 - object\n SprayBottle_bar__minus_01_dot_80_bar__plus_00_dot_73_bar__plus_02_dot_93 - object\n ToiletPaper_bar__minus_01_dot_55_bar__plus_00_dot_62_bar__plus_00_dot_05 - object\n ToiletPaper_bar__minus_01_dot_72_bar__plus_00_dot_73_bar__plus_02_dot_78 - object\n ToiletPaper_bar__minus_01_dot_87_bar__plus_00_dot_72_bar__plus_01_dot_86 - object\n Towel_bar__plus_00_dot_87_bar__plus_01_dot_17_bar__plus_02_dot_36 - object\n Window_bar__minus_01_dot_04_bar__plus_01_dot_40_bar__plus_00_dot_02 - object\n Window_bar__minus_01_dot_99_bar__plus_01_dot_40_bar__plus_00_dot_71 - object\n CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83 - receptacle\n Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_02_dot_13 - receptacle\n Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_03_dot_33 - receptacle\n GarbageCan_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__plus_01_dot_34 - receptacle\n HandTowelHolder_bar__minus_01_dot_51_bar__plus_01_dot_56_bar__plus_04_dot_00 - receptacle\n HandTowelHolder_bar__minus_02_dot_00_bar__plus_01_dot_69_bar__plus_01_dot_32 - receptacle\n Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_02_dot_28_bar_SinkBasin - receptacle\n Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_03_dot_37_bar_SinkBasin - receptacle\n ToiletPaperHanger_bar__minus_01_dot_50_bar__plus_00_dot_72_bar__plus_00_dot_00 - receptacle\n Toilet_bar__minus_01_dot_55_bar__plus_00_dot_00_bar__plus_00_dot_69 - receptacle\n TowelHolder_bar__plus_00_dot_87_bar__plus_01_dot_16_bar__plus_02_dot_25 - receptacle\n loc_bar_3_bar_14_bar_1_bar_30 - location\n loc_bar__minus_3_bar_3_bar_2_bar_45 - location\n loc_bar_0_bar_12_bar_3_bar_45 - location\n loc_bar__minus_4_bar_9_bar_3_bar_60 - location\n loc_bar__minus_3_bar_9_bar_3_bar_45 - location\n loc_bar__minus_5_bar_5_bar_2_bar_60 - location\n loc_bar_0_bar_10_bar_3_bar_45 - location\n loc_bar__minus_4_bar_7_bar_3_bar_45 - location\n loc_bar__minus_4_bar_11_bar_3_bar_60 - location\n loc_bar_0_bar_5_bar_1_bar_45 - location\n loc_bar__minus_4_bar_13_bar_3_bar_60 - location\n loc_bar__minus_4_bar_11_bar_3_bar_15 - location\n loc_bar__minus_5_bar_5_bar_3_bar_0 - location\n loc_bar__minus_3_bar_3_bar_3_bar_60 - location\n loc_bar__minus_4_bar_12_bar_3_bar_60 - location\n loc_bar__minus_4_bar_14_bar_3_bar_15 - location\n loc_bar__minus_3_bar_3_bar_2_bar_15 - location\n loc_bar_3_bar_11_bar_2_bar_45 - location\n loc_bar__minus_3_bar_3_bar_3_bar_15 - location\n loc_bar__minus_2_bar_7_bar_0_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83 CounterTopType)\n (receptacleType HandTowelHolder_bar__minus_02_dot_00_bar__plus_01_dot_69_bar__plus_01_dot_32 HandTowelHolderType)\n (receptacleType GarbageCan_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__plus_01_dot_34 GarbageCanType)\n (receptacleType Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_03_dot_37_bar_SinkBasin SinkBasinType)\n (receptacleType HandTowelHolder_bar__minus_01_dot_51_bar__plus_01_dot_56_bar__plus_04_dot_00 HandTowelHolderType)\n (receptacleType Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_03_dot_33 DrawerType)\n (receptacleType Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_02_dot_28_bar_SinkBasin SinkBasinType)\n (receptacleType ToiletPaperHanger_bar__minus_01_dot_50_bar__plus_00_dot_72_bar__plus_00_dot_00 ToiletPaperHangerType)\n (receptacleType Toilet_bar__minus_01_dot_55_bar__plus_00_dot_00_bar__plus_00_dot_69 ToiletType)\n (receptacleType TowelHolder_bar__plus_00_dot_87_bar__plus_01_dot_16_bar__plus_02_dot_25 TowelHolderType)\n (receptacleType Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_02_dot_13 DrawerType)\n (objectType Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_03_dot_37 SinkType)\n (objectType LightSwitch_bar__plus_01_dot_25_bar__plus_01_dot_27_bar__plus_03_dot_64 LightSwitchType)\n (objectType Plunger_bar__minus_01_dot_69_bar__plus_00_dot_00_bar__plus_00_dot_33 PlungerType)\n (objectType Cloth_bar__minus_01_dot_49_bar__plus_00_dot_24_bar__plus_03_dot_33 ClothType)\n (objectType SprayBottle_bar__minus_01_dot_80_bar__plus_00_dot_73_bar__plus_02_dot_93 SprayBottleType)\n (objectType SoapBottle_bar__minus_01_dot_89_bar__plus_00_dot_73_bar__plus_02_dot_78 SoapBottleType)\n (objectType Window_bar__minus_01_dot_04_bar__plus_01_dot_40_bar__plus_00_dot_02 WindowType)\n (objectType Window_bar__minus_01_dot_99_bar__plus_01_dot_40_bar__plus_00_dot_71 WindowType)\n (objectType Mirror_bar__minus_01_dot_92_bar__plus_01_dot_41_bar__plus_02_dot_76 MirrorType)\n (objectType ScrubBrush_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_14 ScrubBrushType)\n (objectType ToiletPaper_bar__minus_01_dot_87_bar__plus_00_dot_72_bar__plus_01_dot_86 ToiletPaperType)\n (objectType Cloth_bar__minus_01_dot_57_bar__plus_00_dot_24_bar__plus_02_dot_00 ClothType)\n (objectType Candle_bar__minus_01_dot_80_bar__plus_01_dot_09_bar__plus_00_dot_75 CandleType)\n (objectType ToiletPaper_bar__minus_01_dot_72_bar__plus_00_dot_73_bar__plus_02_dot_78 ToiletPaperType)\n (objectType SoapBar_bar__minus_01_dot_57_bar__plus_00_dot_24_bar__plus_03_dot_73 SoapBarType)\n (objectType Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_02_dot_28 SinkType)\n (objectType SoapBar_bar__minus_01_dot_53_bar__plus_00_dot_24_bar__plus_02_dot_27 SoapBarType)\n (objectType SoapBottle_bar__minus_01_dot_54_bar__plus_00_dot_73_bar__plus_02_dot_73 SoapBottleType)\n (objectType Candle_bar__minus_01_dot_80_bar__plus_00_dot_77_bar__plus_02_dot_83 CandleType)\n (objectType SoapBottle_bar__minus_01_dot_46_bar__plus_00_dot_73_bar__plus_02_dot_88 SoapBottleType)\n (objectType Towel_bar__plus_00_dot_87_bar__plus_01_dot_17_bar__plus_02_dot_36 TowelType)\n (objectType ToiletPaper_bar__minus_01_dot_55_bar__plus_00_dot_62_bar__plus_00_dot_05 ToiletPaperType)\n (objectType ShowerDoor_bar__plus_00_dot_57_bar__plus_01_dot_02_bar__plus_01_dot_12 ShowerDoorType)\n (objectType HandTowel_bar__minus_01_dot_51_bar__plus_01_dot_46_bar__plus_03_dot_96 HandTowelType)\n (canContain CounterTopType CandleType)\n (canContain CounterTopType SoapBarType)\n (canContain CounterTopType SprayBottleType)\n (canContain CounterTopType ToiletPaperType)\n (canContain CounterTopType SoapBottleType)\n (canContain CounterTopType ClothType)\n (canContain CounterTopType HandTowelType)\n (canContain HandTowelHolderType HandTowelType)\n (canContain GarbageCanType SoapBarType)\n (canContain GarbageCanType SprayBottleType)\n (canContain GarbageCanType ToiletPaperType)\n (canContain GarbageCanType SoapBottleType)\n (canContain GarbageCanType ClothType)\n (canContain GarbageCanType HandTowelType)\n (canContain SinkBasinType SoapBarType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType HandTowelType)\n (canContain HandTowelHolderType HandTowelType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType HandTowelType)\n (canContain SinkBasinType SoapBarType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType HandTowelType)\n (canContain ToiletPaperHangerType ToiletPaperType)\n (canContain ToiletType SoapBottleType)\n (canContain ToiletType HandTowelType)\n (canContain ToiletType ToiletPaperType)\n (canContain ToiletType ClothType)\n (canContain ToiletType CandleType)\n (canContain ToiletType SoapBarType)\n (canContain ToiletType SprayBottleType)\n (canContain TowelHolderType TowelType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType HandTowelType)\n (pickupable Plunger_bar__minus_01_dot_69_bar__plus_00_dot_00_bar__plus_00_dot_33)\n (pickupable Cloth_bar__minus_01_dot_49_bar__plus_00_dot_24_bar__plus_03_dot_33)\n (pickupable SprayBottle_bar__minus_01_dot_80_bar__plus_00_dot_73_bar__plus_02_dot_93)\n (pickupable SoapBottle_bar__minus_01_dot_89_bar__plus_00_dot_73_bar__plus_02_dot_78)\n (pickupable ScrubBrush_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_14)\n (pickupable ToiletPaper_bar__minus_01_dot_87_bar__plus_00_dot_72_bar__plus_01_dot_86)\n (pickupable Cloth_bar__minus_01_dot_57_bar__plus_00_dot_24_bar__plus_02_dot_00)\n (pickupable Candle_bar__minus_01_dot_80_bar__plus_01_dot_09_bar__plus_00_dot_75)\n (pickupable ToiletPaper_bar__minus_01_dot_72_bar__plus_00_dot_73_bar__plus_02_dot_78)\n (pickupable SoapBar_bar__minus_01_dot_57_bar__plus_00_dot_24_bar__plus_03_dot_73)\n (pickupable SoapBar_bar__minus_01_dot_53_bar__plus_00_dot_24_bar__plus_02_dot_27)\n (pickupable SoapBottle_bar__minus_01_dot_54_bar__plus_00_dot_73_bar__plus_02_dot_73)\n (pickupable Candle_bar__minus_01_dot_80_bar__plus_00_dot_77_bar__plus_02_dot_83)\n (pickupable SoapBottle_bar__minus_01_dot_46_bar__plus_00_dot_73_bar__plus_02_dot_88)\n (pickupable Towel_bar__plus_00_dot_87_bar__plus_01_dot_17_bar__plus_02_dot_36)\n (pickupable ToiletPaper_bar__minus_01_dot_55_bar__plus_00_dot_62_bar__plus_00_dot_05)\n (pickupable HandTowel_bar__minus_01_dot_51_bar__plus_01_dot_46_bar__plus_03_dot_96)\n \n (openable Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_03_dot_33)\n (openable Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_02_dot_13)\n \n (atLocation agent1 loc_bar__minus_2_bar_7_bar_0_bar_30)\n \n (cleanable Cloth_bar__minus_01_dot_49_bar__plus_00_dot_24_bar__plus_03_dot_33)\n (cleanable Cloth_bar__minus_01_dot_57_bar__plus_00_dot_24_bar__plus_02_dot_00)\n (cleanable SoapBar_bar__minus_01_dot_57_bar__plus_00_dot_24_bar__plus_03_dot_73)\n (cleanable SoapBar_bar__minus_01_dot_53_bar__plus_00_dot_24_bar__plus_02_dot_27)\n \n \n \n \n \n \n \n \n \n \n (inReceptacle SoapBar_bar__minus_01_dot_57_bar__plus_00_dot_24_bar__plus_03_dot_73 Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_03_dot_33)\n (inReceptacle Cloth_bar__minus_01_dot_49_bar__plus_00_dot_24_bar__plus_03_dot_33 Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_03_dot_33)\n (inReceptacle ToiletPaper_bar__minus_01_dot_72_bar__plus_00_dot_73_bar__plus_02_dot_78 CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83)\n (inReceptacle SoapBottle_bar__minus_01_dot_54_bar__plus_00_dot_73_bar__plus_02_dot_73 CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83)\n (inReceptacle Candle_bar__minus_01_dot_80_bar__plus_00_dot_77_bar__plus_02_dot_83 CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83)\n (inReceptacle SprayBottle_bar__minus_01_dot_80_bar__plus_00_dot_73_bar__plus_02_dot_93 CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83)\n (inReceptacle SoapBottle_bar__minus_01_dot_46_bar__plus_00_dot_73_bar__plus_02_dot_88 CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83)\n (inReceptacle SoapBottle_bar__minus_01_dot_89_bar__plus_00_dot_73_bar__plus_02_dot_78 CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83)\n (inReceptacle Cloth_bar__minus_01_dot_57_bar__plus_00_dot_24_bar__plus_02_dot_00 Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_02_dot_13)\n (inReceptacle SoapBar_bar__minus_01_dot_53_bar__plus_00_dot_24_bar__plus_02_dot_27 Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_02_dot_13)\n (inReceptacle Towel_bar__plus_00_dot_87_bar__plus_01_dot_17_bar__plus_02_dot_36 TowelHolder_bar__plus_00_dot_87_bar__plus_01_dot_16_bar__plus_02_dot_25)\n (inReceptacle HandTowel_bar__minus_01_dot_51_bar__plus_01_dot_46_bar__plus_03_dot_96 HandTowelHolder_bar__minus_01_dot_51_bar__plus_01_dot_56_bar__plus_04_dot_00)\n (inReceptacle ToiletPaper_bar__minus_01_dot_55_bar__plus_00_dot_62_bar__plus_00_dot_05 ToiletPaperHanger_bar__minus_01_dot_50_bar__plus_00_dot_72_bar__plus_00_dot_00)\n (inReceptacle Candle_bar__minus_01_dot_80_bar__plus_01_dot_09_bar__plus_00_dot_75 Toilet_bar__minus_01_dot_55_bar__plus_00_dot_00_bar__plus_00_dot_69)\n \n \n (receptacleAtLocation CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83 loc_bar__minus_3_bar_9_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_02_dot_13 loc_bar_0_bar_10_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_03_dot_33 loc_bar_0_bar_12_bar_3_bar_45)\n (receptacleAtLocation GarbageCan_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__plus_01_dot_34 loc_bar__minus_3_bar_3_bar_3_bar_60)\n (receptacleAtLocation HandTowelHolder_bar__minus_01_dot_51_bar__plus_01_dot_56_bar__plus_04_dot_00 loc_bar__minus_4_bar_14_bar_3_bar_15)\n (receptacleAtLocation HandTowelHolder_bar__minus_02_dot_00_bar__plus_01_dot_69_bar__plus_01_dot_32 loc_bar__minus_5_bar_5_bar_3_bar_0)\n (receptacleAtLocation Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_02_dot_28_bar_SinkBasin loc_bar__minus_4_bar_11_bar_3_bar_60)\n (receptacleAtLocation Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_03_dot_37_bar_SinkBasin loc_bar__minus_4_bar_12_bar_3_bar_60)\n (receptacleAtLocation ToiletPaperHanger_bar__minus_01_dot_50_bar__plus_00_dot_72_bar__plus_00_dot_00 loc_bar__minus_3_bar_3_bar_2_bar_45)\n (receptacleAtLocation Toilet_bar__minus_01_dot_55_bar__plus_00_dot_00_bar__plus_00_dot_69 loc_bar__minus_5_bar_5_bar_2_bar_60)\n (receptacleAtLocation TowelHolder_bar__plus_00_dot_87_bar__plus_01_dot_16_bar__plus_02_dot_25 loc_bar_3_bar_11_bar_2_bar_45)\n (objectAtLocation Cloth_bar__minus_01_dot_49_bar__plus_00_dot_24_bar__plus_03_dot_33 loc_bar_0_bar_12_bar_3_bar_45)\n (objectAtLocation ToiletPaper_bar__minus_01_dot_55_bar__plus_00_dot_62_bar__plus_00_dot_05 loc_bar__minus_3_bar_3_bar_2_bar_45)\n (objectAtLocation SoapBar_bar__minus_01_dot_53_bar__plus_00_dot_24_bar__plus_02_dot_27 loc_bar_0_bar_10_bar_3_bar_45)\n (objectAtLocation SoapBottle_bar__minus_01_dot_89_bar__plus_00_dot_73_bar__plus_02_dot_78 loc_bar__minus_3_bar_9_bar_3_bar_45)\n (objectAtLocation Candle_bar__minus_01_dot_80_bar__plus_01_dot_09_bar__plus_00_dot_75 loc_bar__minus_5_bar_5_bar_2_bar_60)\n (objectAtLocation SoapBottle_bar__minus_01_dot_54_bar__plus_00_dot_73_bar__plus_02_dot_73 loc_bar__minus_3_bar_9_bar_3_bar_45)\n (objectAtLocation Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_03_dot_37 loc_bar__minus_4_bar_13_bar_3_bar_60)\n (objectAtLocation ShowerDoor_bar__plus_00_dot_57_bar__plus_01_dot_02_bar__plus_01_dot_12 loc_bar_0_bar_5_bar_1_bar_45)\n (objectAtLocation Mirror_bar__minus_01_dot_92_bar__plus_01_dot_41_bar__plus_02_dot_76 loc_bar__minus_4_bar_11_bar_3_bar_15)\n (objectAtLocation Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_02_dot_28 loc_bar__minus_4_bar_9_bar_3_bar_60)\n (objectAtLocation Candle_bar__minus_01_dot_80_bar__plus_00_dot_77_bar__plus_02_dot_83 loc_bar__minus_3_bar_9_bar_3_bar_45)\n (objectAtLocation HandTowel_bar__minus_01_dot_51_bar__plus_01_dot_46_bar__plus_03_dot_96 loc_bar__minus_4_bar_14_bar_3_bar_15)\n (objectAtLocation Plunger_bar__minus_01_dot_69_bar__plus_00_dot_00_bar__plus_00_dot_33 loc_bar__minus_3_bar_3_bar_3_bar_60)\n (objectAtLocation Towel_bar__plus_00_dot_87_bar__plus_01_dot_17_bar__plus_02_dot_36 loc_bar_3_bar_11_bar_2_bar_45)\n (objectAtLocation SoapBottle_bar__minus_01_dot_46_bar__plus_00_dot_73_bar__plus_02_dot_88 loc_bar__minus_3_bar_9_bar_3_bar_45)\n (objectAtLocation SoapBar_bar__minus_01_dot_57_bar__plus_00_dot_24_bar__plus_03_dot_73 loc_bar_0_bar_12_bar_3_bar_45)\n (objectAtLocation ToiletPaper_bar__minus_01_dot_72_bar__plus_00_dot_73_bar__plus_02_dot_78 loc_bar__minus_3_bar_9_bar_3_bar_45)\n (objectAtLocation Cloth_bar__minus_01_dot_57_bar__plus_00_dot_24_bar__plus_02_dot_00 loc_bar_0_bar_10_bar_3_bar_45)\n (objectAtLocation ToiletPaper_bar__minus_01_dot_87_bar__plus_00_dot_72_bar__plus_01_dot_86 loc_bar__minus_4_bar_7_bar_3_bar_45)\n (objectAtLocation Window_bar__minus_01_dot_04_bar__plus_01_dot_40_bar__plus_00_dot_02 loc_bar__minus_3_bar_3_bar_2_bar_15)\n (objectAtLocation Window_bar__minus_01_dot_99_bar__plus_01_dot_40_bar__plus_00_dot_71 loc_bar__minus_3_bar_3_bar_3_bar_15)\n (objectAtLocation LightSwitch_bar__plus_01_dot_25_bar__plus_01_dot_27_bar__plus_03_dot_64 loc_bar_3_bar_14_bar_1_bar_30)\n (objectAtLocation ScrubBrush_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_14 loc_bar__minus_3_bar_3_bar_3_bar_60)\n (objectAtLocation SprayBottle_bar__minus_01_dot_80_bar__plus_00_dot_73_bar__plus_02_dot_93 loc_bar__minus_3_bar_9_bar_3_bar_45)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o1 - object)\n (and\n (objectType ?o1 SoapBottleType)\n (receptacleType ?r GarbageCanType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 SoapBottleType)\n (receptacleType ?r GarbageCanType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 1", "take soapbottle 3 from countertop 1", "go to garbagecan 1", "move soapbottle 3 to garbagecan 1", "go to countertop 1", "take soapbottle 2 from countertop 1", "go to garbagecan 1", "move soapbottle 2 to garbagecan 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-SoapBottle-None-GarbageCan-416/trial_T20190909_003015_267270/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-SoapBottle-None-GarbageCan-416/trial_T20190909_003015_267270/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..1be425b0ad23864fba0e1f21a65d64f064bdd8f6 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-SoapBottle-None-GarbageCan-416/trial_T20190909_003015_267270/initial_state.pddl @@ -0,0 +1,452 @@ + +(define (problem plan_trial_T20190909_003015_267270) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Candle_bar__minus_01_dot_80_bar__plus_00_dot_77_bar__plus_02_dot_83 - object + Candle_bar__minus_01_dot_80_bar__plus_01_dot_09_bar__plus_00_dot_75 - object + Cloth_bar__minus_01_dot_49_bar__plus_00_dot_24_bar__plus_03_dot_33 - object + Cloth_bar__minus_01_dot_57_bar__plus_00_dot_24_bar__plus_02_dot_00 - object + Faucet_bar__plus_00_dot_85_bar__plus_01_dot_80_bar__plus_01_dot_11 - object + Faucet_bar__minus_01_dot_93_bar__plus_00_dot_72_bar__plus_02_dot_29 - object + Faucet_bar__minus_01_dot_93_bar__plus_00_dot_72_bar__plus_03_dot_37 - object + HandTowel_bar__minus_01_dot_51_bar__plus_01_dot_46_bar__plus_03_dot_96 - object + LightSwitch_bar__plus_01_dot_25_bar__plus_01_dot_27_bar__plus_03_dot_64 - object + Mirror_bar__minus_01_dot_92_bar__plus_01_dot_41_bar__plus_02_dot_76 - object + Plunger_bar__minus_01_dot_69_bar__plus_00_dot_00_bar__plus_00_dot_33 - object + ScrubBrush_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_14 - object + ShowerDoor_bar__plus_00_dot_57_bar__plus_01_dot_02_bar__plus_01_dot_12 - object + Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_02_dot_28 - object + Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_03_dot_37 - object + SoapBar_bar__minus_01_dot_53_bar__plus_00_dot_24_bar__plus_02_dot_27 - object + SoapBar_bar__minus_01_dot_57_bar__plus_00_dot_24_bar__plus_03_dot_73 - object + SoapBottle_bar__minus_01_dot_46_bar__plus_00_dot_73_bar__plus_02_dot_88 - object + SoapBottle_bar__minus_01_dot_54_bar__plus_00_dot_73_bar__plus_02_dot_73 - object + SoapBottle_bar__minus_01_dot_89_bar__plus_00_dot_73_bar__plus_02_dot_78 - object + SprayBottle_bar__minus_01_dot_80_bar__plus_00_dot_73_bar__plus_02_dot_93 - object + ToiletPaper_bar__minus_01_dot_55_bar__plus_00_dot_62_bar__plus_00_dot_05 - object + ToiletPaper_bar__minus_01_dot_72_bar__plus_00_dot_73_bar__plus_02_dot_78 - object + ToiletPaper_bar__minus_01_dot_87_bar__plus_00_dot_72_bar__plus_01_dot_86 - object + Towel_bar__plus_00_dot_87_bar__plus_01_dot_17_bar__plus_02_dot_36 - object + Window_bar__minus_01_dot_04_bar__plus_01_dot_40_bar__plus_00_dot_02 - object + Window_bar__minus_01_dot_99_bar__plus_01_dot_40_bar__plus_00_dot_71 - object + CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83 - receptacle + Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_02_dot_13 - receptacle + Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_03_dot_33 - receptacle + GarbageCan_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__plus_01_dot_34 - receptacle + HandTowelHolder_bar__minus_01_dot_51_bar__plus_01_dot_56_bar__plus_04_dot_00 - receptacle + HandTowelHolder_bar__minus_02_dot_00_bar__plus_01_dot_69_bar__plus_01_dot_32 - receptacle + Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_02_dot_28_bar_SinkBasin - receptacle + Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_03_dot_37_bar_SinkBasin - receptacle + ToiletPaperHanger_bar__minus_01_dot_50_bar__plus_00_dot_72_bar__plus_00_dot_00 - receptacle + Toilet_bar__minus_01_dot_55_bar__plus_00_dot_00_bar__plus_00_dot_69 - receptacle + TowelHolder_bar__plus_00_dot_87_bar__plus_01_dot_16_bar__plus_02_dot_25 - receptacle + loc_bar_3_bar_14_bar_1_bar_30 - location + loc_bar__minus_3_bar_3_bar_2_bar_45 - location + loc_bar_0_bar_12_bar_3_bar_45 - location + loc_bar__minus_4_bar_9_bar_3_bar_60 - location + loc_bar__minus_3_bar_9_bar_3_bar_45 - location + loc_bar__minus_5_bar_5_bar_2_bar_60 - location + loc_bar_0_bar_10_bar_3_bar_45 - location + loc_bar__minus_4_bar_7_bar_3_bar_45 - location + loc_bar__minus_4_bar_11_bar_3_bar_60 - location + loc_bar_0_bar_5_bar_1_bar_45 - location + loc_bar__minus_4_bar_13_bar_3_bar_60 - location + loc_bar__minus_4_bar_11_bar_3_bar_15 - location + loc_bar__minus_5_bar_5_bar_3_bar_0 - location + loc_bar__minus_3_bar_3_bar_3_bar_60 - location + loc_bar__minus_4_bar_12_bar_3_bar_60 - location + loc_bar__minus_4_bar_14_bar_3_bar_15 - location + loc_bar__minus_3_bar_3_bar_2_bar_15 - location + loc_bar_3_bar_11_bar_2_bar_45 - location + loc_bar__minus_3_bar_3_bar_3_bar_15 - location + loc_bar__minus_2_bar_7_bar_0_bar_30 - location + ) + + +(:init + + + (receptacleType CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83 CounterTopType) + (receptacleType HandTowelHolder_bar__minus_02_dot_00_bar__plus_01_dot_69_bar__plus_01_dot_32 HandTowelHolderType) + (receptacleType GarbageCan_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__plus_01_dot_34 GarbageCanType) + (receptacleType Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_03_dot_37_bar_SinkBasin SinkBasinType) + (receptacleType HandTowelHolder_bar__minus_01_dot_51_bar__plus_01_dot_56_bar__plus_04_dot_00 HandTowelHolderType) + (receptacleType Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_03_dot_33 DrawerType) + (receptacleType Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_02_dot_28_bar_SinkBasin SinkBasinType) + (receptacleType ToiletPaperHanger_bar__minus_01_dot_50_bar__plus_00_dot_72_bar__plus_00_dot_00 ToiletPaperHangerType) + (receptacleType Toilet_bar__minus_01_dot_55_bar__plus_00_dot_00_bar__plus_00_dot_69 ToiletType) + (receptacleType TowelHolder_bar__plus_00_dot_87_bar__plus_01_dot_16_bar__plus_02_dot_25 TowelHolderType) + (receptacleType Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_02_dot_13 DrawerType) + (objectType Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_03_dot_37 SinkType) + (objectType LightSwitch_bar__plus_01_dot_25_bar__plus_01_dot_27_bar__plus_03_dot_64 LightSwitchType) + (objectType Plunger_bar__minus_01_dot_69_bar__plus_00_dot_00_bar__plus_00_dot_33 PlungerType) + (objectType Cloth_bar__minus_01_dot_49_bar__plus_00_dot_24_bar__plus_03_dot_33 ClothType) + (objectType SprayBottle_bar__minus_01_dot_80_bar__plus_00_dot_73_bar__plus_02_dot_93 SprayBottleType) + (objectType SoapBottle_bar__minus_01_dot_89_bar__plus_00_dot_73_bar__plus_02_dot_78 SoapBottleType) + (objectType Window_bar__minus_01_dot_04_bar__plus_01_dot_40_bar__plus_00_dot_02 WindowType) + (objectType Window_bar__minus_01_dot_99_bar__plus_01_dot_40_bar__plus_00_dot_71 WindowType) + (objectType Mirror_bar__minus_01_dot_92_bar__plus_01_dot_41_bar__plus_02_dot_76 MirrorType) + (objectType ScrubBrush_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_14 ScrubBrushType) + (objectType ToiletPaper_bar__minus_01_dot_87_bar__plus_00_dot_72_bar__plus_01_dot_86 ToiletPaperType) + (objectType Cloth_bar__minus_01_dot_57_bar__plus_00_dot_24_bar__plus_02_dot_00 ClothType) + (objectType Candle_bar__minus_01_dot_80_bar__plus_01_dot_09_bar__plus_00_dot_75 CandleType) + (objectType ToiletPaper_bar__minus_01_dot_72_bar__plus_00_dot_73_bar__plus_02_dot_78 ToiletPaperType) + (objectType SoapBar_bar__minus_01_dot_57_bar__plus_00_dot_24_bar__plus_03_dot_73 SoapBarType) + (objectType Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_02_dot_28 SinkType) + (objectType SoapBar_bar__minus_01_dot_53_bar__plus_00_dot_24_bar__plus_02_dot_27 SoapBarType) + (objectType SoapBottle_bar__minus_01_dot_54_bar__plus_00_dot_73_bar__plus_02_dot_73 SoapBottleType) + (objectType Candle_bar__minus_01_dot_80_bar__plus_00_dot_77_bar__plus_02_dot_83 CandleType) + (objectType SoapBottle_bar__minus_01_dot_46_bar__plus_00_dot_73_bar__plus_02_dot_88 SoapBottleType) + (objectType Towel_bar__plus_00_dot_87_bar__plus_01_dot_17_bar__plus_02_dot_36 TowelType) + (objectType ToiletPaper_bar__minus_01_dot_55_bar__plus_00_dot_62_bar__plus_00_dot_05 ToiletPaperType) + (objectType ShowerDoor_bar__plus_00_dot_57_bar__plus_01_dot_02_bar__plus_01_dot_12 ShowerDoorType) + (objectType HandTowel_bar__minus_01_dot_51_bar__plus_01_dot_46_bar__plus_03_dot_96 HandTowelType) + (canContain CounterTopType CandleType) + (canContain CounterTopType SoapBarType) + (canContain CounterTopType SprayBottleType) + (canContain CounterTopType ToiletPaperType) + (canContain CounterTopType SoapBottleType) + (canContain CounterTopType ClothType) + (canContain CounterTopType HandTowelType) + (canContain HandTowelHolderType HandTowelType) + (canContain GarbageCanType SoapBarType) + (canContain GarbageCanType SprayBottleType) + (canContain GarbageCanType ToiletPaperType) + (canContain GarbageCanType SoapBottleType) + (canContain GarbageCanType ClothType) + (canContain GarbageCanType HandTowelType) + (canContain SinkBasinType SoapBarType) + (canContain SinkBasinType ClothType) + (canContain SinkBasinType HandTowelType) + (canContain HandTowelHolderType HandTowelType) + (canContain DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ClothType) + (canContain DrawerType HandTowelType) + (canContain SinkBasinType SoapBarType) + (canContain SinkBasinType ClothType) + (canContain SinkBasinType HandTowelType) + (canContain ToiletPaperHangerType ToiletPaperType) + (canContain ToiletType SoapBottleType) + (canContain ToiletType HandTowelType) + (canContain ToiletType ToiletPaperType) + (canContain ToiletType ClothType) + (canContain ToiletType CandleType) + (canContain ToiletType SoapBarType) + (canContain ToiletType SprayBottleType) + (canContain TowelHolderType TowelType) + (canContain DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ClothType) + (canContain DrawerType HandTowelType) + (pickupable Plunger_bar__minus_01_dot_69_bar__plus_00_dot_00_bar__plus_00_dot_33) + (pickupable Cloth_bar__minus_01_dot_49_bar__plus_00_dot_24_bar__plus_03_dot_33) + (pickupable SprayBottle_bar__minus_01_dot_80_bar__plus_00_dot_73_bar__plus_02_dot_93) + (pickupable SoapBottle_bar__minus_01_dot_89_bar__plus_00_dot_73_bar__plus_02_dot_78) + (pickupable ScrubBrush_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_14) + (pickupable ToiletPaper_bar__minus_01_dot_87_bar__plus_00_dot_72_bar__plus_01_dot_86) + (pickupable Cloth_bar__minus_01_dot_57_bar__plus_00_dot_24_bar__plus_02_dot_00) + (pickupable Candle_bar__minus_01_dot_80_bar__plus_01_dot_09_bar__plus_00_dot_75) + (pickupable ToiletPaper_bar__minus_01_dot_72_bar__plus_00_dot_73_bar__plus_02_dot_78) + (pickupable SoapBar_bar__minus_01_dot_57_bar__plus_00_dot_24_bar__plus_03_dot_73) + (pickupable SoapBar_bar__minus_01_dot_53_bar__plus_00_dot_24_bar__plus_02_dot_27) + (pickupable SoapBottle_bar__minus_01_dot_54_bar__plus_00_dot_73_bar__plus_02_dot_73) + (pickupable Candle_bar__minus_01_dot_80_bar__plus_00_dot_77_bar__plus_02_dot_83) + (pickupable SoapBottle_bar__minus_01_dot_46_bar__plus_00_dot_73_bar__plus_02_dot_88) + (pickupable Towel_bar__plus_00_dot_87_bar__plus_01_dot_17_bar__plus_02_dot_36) + (pickupable ToiletPaper_bar__minus_01_dot_55_bar__plus_00_dot_62_bar__plus_00_dot_05) + (pickupable HandTowel_bar__minus_01_dot_51_bar__plus_01_dot_46_bar__plus_03_dot_96) + + (openable Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_03_dot_33) + (openable Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_02_dot_13) + + (atLocation agent1 loc_bar__minus_2_bar_7_bar_0_bar_30) + + (cleanable Cloth_bar__minus_01_dot_49_bar__plus_00_dot_24_bar__plus_03_dot_33) + (cleanable Cloth_bar__minus_01_dot_57_bar__plus_00_dot_24_bar__plus_02_dot_00) + (cleanable SoapBar_bar__minus_01_dot_57_bar__plus_00_dot_24_bar__plus_03_dot_73) + (cleanable SoapBar_bar__minus_01_dot_53_bar__plus_00_dot_24_bar__plus_02_dot_27) + + + + + + + + + + + (inReceptacle SoapBar_bar__minus_01_dot_57_bar__plus_00_dot_24_bar__plus_03_dot_73 Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_03_dot_33) + (inReceptacle Cloth_bar__minus_01_dot_49_bar__plus_00_dot_24_bar__plus_03_dot_33 Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_03_dot_33) + (inReceptacle ToiletPaper_bar__minus_01_dot_72_bar__plus_00_dot_73_bar__plus_02_dot_78 CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83) + (inReceptacle SoapBottle_bar__minus_01_dot_54_bar__plus_00_dot_73_bar__plus_02_dot_73 CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83) + (inReceptacle Candle_bar__minus_01_dot_80_bar__plus_00_dot_77_bar__plus_02_dot_83 CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83) + (inReceptacle SprayBottle_bar__minus_01_dot_80_bar__plus_00_dot_73_bar__plus_02_dot_93 CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83) + (inReceptacle SoapBottle_bar__minus_01_dot_46_bar__plus_00_dot_73_bar__plus_02_dot_88 CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83) + (inReceptacle SoapBottle_bar__minus_01_dot_89_bar__plus_00_dot_73_bar__plus_02_dot_78 CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83) + (inReceptacle Cloth_bar__minus_01_dot_57_bar__plus_00_dot_24_bar__plus_02_dot_00 Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_02_dot_13) + (inReceptacle SoapBar_bar__minus_01_dot_53_bar__plus_00_dot_24_bar__plus_02_dot_27 Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_02_dot_13) + (inReceptacle Towel_bar__plus_00_dot_87_bar__plus_01_dot_17_bar__plus_02_dot_36 TowelHolder_bar__plus_00_dot_87_bar__plus_01_dot_16_bar__plus_02_dot_25) + (inReceptacle HandTowel_bar__minus_01_dot_51_bar__plus_01_dot_46_bar__plus_03_dot_96 HandTowelHolder_bar__minus_01_dot_51_bar__plus_01_dot_56_bar__plus_04_dot_00) + (inReceptacle ToiletPaper_bar__minus_01_dot_55_bar__plus_00_dot_62_bar__plus_00_dot_05 ToiletPaperHanger_bar__minus_01_dot_50_bar__plus_00_dot_72_bar__plus_00_dot_00) + (inReceptacle Candle_bar__minus_01_dot_80_bar__plus_01_dot_09_bar__plus_00_dot_75 Toilet_bar__minus_01_dot_55_bar__plus_00_dot_00_bar__plus_00_dot_69) + + + (receptacleAtLocation CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83 loc_bar__minus_3_bar_9_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_02_dot_13 loc_bar_0_bar_10_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_03_dot_33 loc_bar_0_bar_12_bar_3_bar_45) + (receptacleAtLocation GarbageCan_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__plus_01_dot_34 loc_bar__minus_3_bar_3_bar_3_bar_60) + (receptacleAtLocation HandTowelHolder_bar__minus_01_dot_51_bar__plus_01_dot_56_bar__plus_04_dot_00 loc_bar__minus_4_bar_14_bar_3_bar_15) + (receptacleAtLocation HandTowelHolder_bar__minus_02_dot_00_bar__plus_01_dot_69_bar__plus_01_dot_32 loc_bar__minus_5_bar_5_bar_3_bar_0) + (receptacleAtLocation Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_02_dot_28_bar_SinkBasin loc_bar__minus_4_bar_11_bar_3_bar_60) + (receptacleAtLocation Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_03_dot_37_bar_SinkBasin loc_bar__minus_4_bar_12_bar_3_bar_60) + (receptacleAtLocation ToiletPaperHanger_bar__minus_01_dot_50_bar__plus_00_dot_72_bar__plus_00_dot_00 loc_bar__minus_3_bar_3_bar_2_bar_45) + (receptacleAtLocation Toilet_bar__minus_01_dot_55_bar__plus_00_dot_00_bar__plus_00_dot_69 loc_bar__minus_5_bar_5_bar_2_bar_60) + (receptacleAtLocation TowelHolder_bar__plus_00_dot_87_bar__plus_01_dot_16_bar__plus_02_dot_25 loc_bar_3_bar_11_bar_2_bar_45) + (objectAtLocation Cloth_bar__minus_01_dot_49_bar__plus_00_dot_24_bar__plus_03_dot_33 loc_bar_0_bar_12_bar_3_bar_45) + (objectAtLocation ToiletPaper_bar__minus_01_dot_55_bar__plus_00_dot_62_bar__plus_00_dot_05 loc_bar__minus_3_bar_3_bar_2_bar_45) + (objectAtLocation SoapBar_bar__minus_01_dot_53_bar__plus_00_dot_24_bar__plus_02_dot_27 loc_bar_0_bar_10_bar_3_bar_45) + (objectAtLocation SoapBottle_bar__minus_01_dot_89_bar__plus_00_dot_73_bar__plus_02_dot_78 loc_bar__minus_3_bar_9_bar_3_bar_45) + (objectAtLocation Candle_bar__minus_01_dot_80_bar__plus_01_dot_09_bar__plus_00_dot_75 loc_bar__minus_5_bar_5_bar_2_bar_60) + (objectAtLocation SoapBottle_bar__minus_01_dot_54_bar__plus_00_dot_73_bar__plus_02_dot_73 loc_bar__minus_3_bar_9_bar_3_bar_45) + (objectAtLocation Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_03_dot_37 loc_bar__minus_4_bar_13_bar_3_bar_60) + (objectAtLocation ShowerDoor_bar__plus_00_dot_57_bar__plus_01_dot_02_bar__plus_01_dot_12 loc_bar_0_bar_5_bar_1_bar_45) + (objectAtLocation Mirror_bar__minus_01_dot_92_bar__plus_01_dot_41_bar__plus_02_dot_76 loc_bar__minus_4_bar_11_bar_3_bar_15) + (objectAtLocation Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_02_dot_28 loc_bar__minus_4_bar_9_bar_3_bar_60) + (objectAtLocation Candle_bar__minus_01_dot_80_bar__plus_00_dot_77_bar__plus_02_dot_83 loc_bar__minus_3_bar_9_bar_3_bar_45) + (objectAtLocation HandTowel_bar__minus_01_dot_51_bar__plus_01_dot_46_bar__plus_03_dot_96 loc_bar__minus_4_bar_14_bar_3_bar_15) + (objectAtLocation Plunger_bar__minus_01_dot_69_bar__plus_00_dot_00_bar__plus_00_dot_33 loc_bar__minus_3_bar_3_bar_3_bar_60) + (objectAtLocation Towel_bar__plus_00_dot_87_bar__plus_01_dot_17_bar__plus_02_dot_36 loc_bar_3_bar_11_bar_2_bar_45) + (objectAtLocation SoapBottle_bar__minus_01_dot_46_bar__plus_00_dot_73_bar__plus_02_dot_88 loc_bar__minus_3_bar_9_bar_3_bar_45) + (objectAtLocation SoapBar_bar__minus_01_dot_57_bar__plus_00_dot_24_bar__plus_03_dot_73 loc_bar_0_bar_12_bar_3_bar_45) + (objectAtLocation ToiletPaper_bar__minus_01_dot_72_bar__plus_00_dot_73_bar__plus_02_dot_78 loc_bar__minus_3_bar_9_bar_3_bar_45) + (objectAtLocation Cloth_bar__minus_01_dot_57_bar__plus_00_dot_24_bar__plus_02_dot_00 loc_bar_0_bar_10_bar_3_bar_45) + (objectAtLocation ToiletPaper_bar__minus_01_dot_87_bar__plus_00_dot_72_bar__plus_01_dot_86 loc_bar__minus_4_bar_7_bar_3_bar_45) + (objectAtLocation Window_bar__minus_01_dot_04_bar__plus_01_dot_40_bar__plus_00_dot_02 loc_bar__minus_3_bar_3_bar_2_bar_15) + (objectAtLocation Window_bar__minus_01_dot_99_bar__plus_01_dot_40_bar__plus_00_dot_71 loc_bar__minus_3_bar_3_bar_3_bar_15) + (objectAtLocation LightSwitch_bar__plus_01_dot_25_bar__plus_01_dot_27_bar__plus_03_dot_64 loc_bar_3_bar_14_bar_1_bar_30) + (objectAtLocation ScrubBrush_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_14 loc_bar__minus_3_bar_3_bar_3_bar_60) + (objectAtLocation SprayBottle_bar__minus_01_dot_80_bar__plus_00_dot_73_bar__plus_02_dot_93 loc_bar__minus_3_bar_9_bar_3_bar_45) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o1 - object) + (and + (objectType ?o1 SoapBottleType) + (receptacleType ?r GarbageCanType) + (inReceptacle ?o1 ?r) + (exists (?o2 - object) + (and + (not (= ?o1 ?o2)) + (objectType ?o2 SoapBottleType) + (receptacleType ?r GarbageCanType) + (inReceptacle ?o2 ?r) + ) + ) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git 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counter in between two sinks", + "pick up blue bottle from back of counter to the left of purple bottle", + "turn left, go to toilet to the right", + "place blue bottle in gray bin to the right of toilet", + "turn right, go to counter in between two sinks to the right", + "pick up blue bottle on the left from counter", + "turn left, go to toilet to the right", + "place blue bottle in front of other bottle in gray bin to the right of toilet" + ], + "task_desc": "place two blue bottles in gray bin", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1OWHPMKE7YAGL_3YJ6NA41JE77UFJGN6K0HJXVFCYJPK", + "high_descs": [ + "Go forward, hang a left and go to the counter between the two sinks.", + "Pick up the rearmost bottle of lotion from the counter. ", + "Turn around, go to the right to the toilet.", + "Put the lotion in the garbage can to the right of the toilet.", + "Turn to the right, go to the counter between the two sinks that is on the left. ", + "Pick up the leftmost bottle of lotion from the counter.", + "Turn around, go to the right to the toilet.", + "Put the lotion in the garbage can to the right of the toilet." + ], + "task_desc": "Put two bottles of lotion in the garbage can.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-SoapBottle-None-GarbageCan-416/trial_T20190909_003049_760772/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-SoapBottle-None-GarbageCan-416/trial_T20190909_003049_760772/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..d86b7c5ea9350278f098ca639dbf2e5564d2afb9 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-SoapBottle-None-GarbageCan-416/trial_T20190909_003049_760772/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\n\\n#task#\"\n }\n ],\n\n \"notImplemented\": [\n {\n \"rhs\": \"TODO\"\n }\n ],\n\n \"task\": [\n {\n \"rhs\": \"Your task is to: put two soapbottle in garbagecan.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190909_003049_760772)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\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_46_bar__plus_00_dot_77_bar__plus_02_dot_98 - object\n Candle_bar__minus_01_dot_80_bar__plus_01_dot_09_bar__plus_00_dot_62 - object\n Candle_bar__minus_01_dot_90_bar__plus_01_dot_09_bar__plus_00_dot_62 - object\n Cloth_bar__minus_01_dot_49_bar__plus_00_dot_24_bar__plus_02_dot_00 - object\n Cloth_bar__minus_01_dot_57_bar__plus_00_dot_24_bar__plus_01_dot_73 - object\n Faucet_bar__plus_00_dot_85_bar__plus_01_dot_80_bar__plus_01_dot_11 - object\n Faucet_bar__minus_01_dot_93_bar__plus_00_dot_72_bar__plus_02_dot_29 - object\n Faucet_bar__minus_01_dot_93_bar__plus_00_dot_72_bar__plus_03_dot_37 - object\n HandTowel_bar__minus_01_dot_96_bar__plus_01_dot_59_bar__plus_01_dot_32 - object\n LightSwitch_bar__plus_01_dot_25_bar__plus_01_dot_27_bar__plus_03_dot_64 - object\n Mirror_bar__minus_01_dot_92_bar__plus_01_dot_41_bar__plus_02_dot_76 - object\n Plunger_bar__minus_01_dot_69_bar__plus_00_dot_00_bar__plus_00_dot_33 - object\n ScrubBrush_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_14 - object\n ShowerDoor_bar__plus_00_dot_57_bar__plus_01_dot_02_bar__plus_01_dot_12 - object\n Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_02_dot_28 - object\n Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_03_dot_37 - object\n SoapBar_bar__minus_01_dot_45_bar__plus_00_dot_24_bar__plus_03_dot_60 - object\n SoapBottle_bar__minus_01_dot_46_bar__plus_00_dot_73_bar__plus_02_dot_88 - object\n SoapBottle_bar__minus_01_dot_54_bar__plus_00_dot_73_bar__plus_02_dot_73 - object\n SoapBottle_bar__minus_01_dot_80_bar__plus_00_dot_73_bar__plus_02_dot_78 - object\n SoapBottle_bar__minus_01_dot_87_bar__plus_01_dot_05_bar__plus_00_dot_75 - object\n SprayBottle_bar__minus_01_dot_72_bar__plus_00_dot_73_bar__plus_02_dot_78 - object\n SprayBottle_bar__minus_01_dot_72_bar__plus_00_dot_73_bar__plus_02_dot_88 - object\n SprayBottle_bar__minus_01_dot_74_bar__plus_00_dot_05_bar__plus_01_dot_27 - object\n ToiletPaper_bar__minus_01_dot_55_bar__plus_00_dot_62_bar__plus_00_dot_05 - object\n ToiletPaper_bar__minus_01_dot_57_bar__plus_00_dot_64_bar__plus_00_dot_05 - object\n Towel_bar__plus_00_dot_87_bar__plus_01_dot_17_bar__plus_02_dot_36 - object\n Window_bar__minus_01_dot_04_bar__plus_01_dot_40_bar__plus_00_dot_02 - object\n Window_bar__minus_01_dot_99_bar__plus_01_dot_40_bar__plus_00_dot_71 - object\n CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83 - receptacle\n Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_02_dot_13 - receptacle\n Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_03_dot_33 - receptacle\n GarbageCan_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__plus_01_dot_34 - receptacle\n HandTowelHolder_bar__minus_01_dot_51_bar__plus_01_dot_56_bar__plus_04_dot_00 - receptacle\n HandTowelHolder_bar__minus_02_dot_00_bar__plus_01_dot_69_bar__plus_01_dot_32 - receptacle\n Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_02_dot_28_bar_SinkBasin - receptacle\n Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_03_dot_37_bar_SinkBasin - receptacle\n ToiletPaperHanger_bar__minus_01_dot_50_bar__plus_00_dot_72_bar__plus_00_dot_00 - receptacle\n Toilet_bar__minus_01_dot_55_bar__plus_00_dot_00_bar__plus_00_dot_69 - receptacle\n TowelHolder_bar__plus_00_dot_87_bar__plus_01_dot_16_bar__plus_02_dot_25 - receptacle\n loc_bar__minus_5_bar_5_bar_2_bar_60 - location\n loc_bar_0_bar_5_bar_1_bar_45 - location\n loc_bar_3_bar_14_bar_1_bar_30 - location\n loc_bar_0_bar_12_bar_3_bar_45 - location\n loc_bar__minus_4_bar_13_bar_3_bar_60 - location\n loc_bar__minus_3_bar_3_bar_2_bar_45 - location\n loc_bar__minus_4_bar_11_bar_3_bar_15 - location\n loc_bar_0_bar_10_bar_3_bar_45 - location\n loc_bar__minus_5_bar_5_bar_3_bar_0 - location\n loc_bar__minus_4_bar_11_bar_3_bar_60 - location\n loc_bar__minus_3_bar_3_bar_3_bar_60 - location\n loc_bar__minus_3_bar_3_bar_3_bar_15 - location\n loc_bar__minus_4_bar_12_bar_3_bar_60 - location\n loc_bar__minus_4_bar_14_bar_3_bar_15 - location\n loc_bar__minus_3_bar_3_bar_2_bar_15 - location\n loc_bar__minus_4_bar_9_bar_3_bar_60 - location\n loc_bar_3_bar_11_bar_2_bar_45 - location\n loc_bar__minus_3_bar_9_bar_3_bar_45 - location\n loc_bar_0_bar_8_bar_3_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83 CounterTopType)\n (receptacleType HandTowelHolder_bar__minus_02_dot_00_bar__plus_01_dot_69_bar__plus_01_dot_32 HandTowelHolderType)\n (receptacleType GarbageCan_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__plus_01_dot_34 GarbageCanType)\n (receptacleType Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_03_dot_37_bar_SinkBasin SinkBasinType)\n (receptacleType HandTowelHolder_bar__minus_01_dot_51_bar__plus_01_dot_56_bar__plus_04_dot_00 HandTowelHolderType)\n (receptacleType Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_03_dot_33 DrawerType)\n (receptacleType Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_02_dot_28_bar_SinkBasin SinkBasinType)\n (receptacleType ToiletPaperHanger_bar__minus_01_dot_50_bar__plus_00_dot_72_bar__plus_00_dot_00 ToiletPaperHangerType)\n (receptacleType Toilet_bar__minus_01_dot_55_bar__plus_00_dot_00_bar__plus_00_dot_69 ToiletType)\n (receptacleType TowelHolder_bar__plus_00_dot_87_bar__plus_01_dot_16_bar__plus_02_dot_25 TowelHolderType)\n (receptacleType Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_02_dot_13 DrawerType)\n (objectType Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_03_dot_37 SinkType)\n (objectType LightSwitch_bar__plus_01_dot_25_bar__plus_01_dot_27_bar__plus_03_dot_64 LightSwitchType)\n (objectType Plunger_bar__minus_01_dot_69_bar__plus_00_dot_00_bar__plus_00_dot_33 PlungerType)\n (objectType SoapBottle_bar__minus_01_dot_80_bar__plus_00_dot_73_bar__plus_02_dot_78 SoapBottleType)\n (objectType SprayBottle_bar__minus_01_dot_74_bar__plus_00_dot_05_bar__plus_01_dot_27 SprayBottleType)\n (objectType Candle_bar__minus_01_dot_46_bar__plus_00_dot_77_bar__plus_02_dot_98 CandleType)\n (objectType HandTowel_bar__minus_01_dot_96_bar__plus_01_dot_59_bar__plus_01_dot_32 HandTowelType)\n (objectType Cloth_bar__minus_01_dot_57_bar__plus_00_dot_24_bar__plus_01_dot_73 ClothType)\n (objectType SprayBottle_bar__minus_01_dot_72_bar__plus_00_dot_73_bar__plus_02_dot_78 SprayBottleType)\n (objectType Window_bar__minus_01_dot_04_bar__plus_01_dot_40_bar__plus_00_dot_02 WindowType)\n (objectType Window_bar__minus_01_dot_99_bar__plus_01_dot_40_bar__plus_00_dot_71 WindowType)\n (objectType Mirror_bar__minus_01_dot_92_bar__plus_01_dot_41_bar__plus_02_dot_76 MirrorType)\n (objectType ScrubBrush_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_14 ScrubBrushType)\n (objectType SprayBottle_bar__minus_01_dot_72_bar__plus_00_dot_73_bar__plus_02_dot_88 SprayBottleType)\n (objectType Cloth_bar__minus_01_dot_49_bar__plus_00_dot_24_bar__plus_02_dot_00 ClothType)\n (objectType Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_02_dot_28 SinkType)\n (objectType SoapBar_bar__minus_01_dot_45_bar__plus_00_dot_24_bar__plus_03_dot_60 SoapBarType)\n (objectType ToiletPaper_bar__minus_01_dot_57_bar__plus_00_dot_64_bar__plus_00_dot_05 ToiletPaperType)\n (objectType SoapBottle_bar__minus_01_dot_87_bar__plus_01_dot_05_bar__plus_00_dot_75 SoapBottleType)\n (objectType Candle_bar__minus_01_dot_80_bar__plus_01_dot_09_bar__plus_00_dot_62 CandleType)\n (objectType SoapBottle_bar__minus_01_dot_54_bar__plus_00_dot_73_bar__plus_02_dot_73 SoapBottleType)\n (objectType SoapBottle_bar__minus_01_dot_46_bar__plus_00_dot_73_bar__plus_02_dot_88 SoapBottleType)\n (objectType Towel_bar__plus_00_dot_87_bar__plus_01_dot_17_bar__plus_02_dot_36 TowelType)\n (objectType ToiletPaper_bar__minus_01_dot_55_bar__plus_00_dot_62_bar__plus_00_dot_05 ToiletPaperType)\n (objectType Candle_bar__minus_01_dot_90_bar__plus_01_dot_09_bar__plus_00_dot_62 CandleType)\n (objectType ShowerDoor_bar__plus_00_dot_57_bar__plus_01_dot_02_bar__plus_01_dot_12 ShowerDoorType)\n (canContain CounterTopType CandleType)\n (canContain CounterTopType SoapBarType)\n (canContain CounterTopType SprayBottleType)\n (canContain CounterTopType ToiletPaperType)\n (canContain CounterTopType SoapBottleType)\n (canContain CounterTopType ClothType)\n (canContain CounterTopType HandTowelType)\n (canContain HandTowelHolderType HandTowelType)\n (canContain GarbageCanType SoapBarType)\n (canContain GarbageCanType SprayBottleType)\n (canContain GarbageCanType ToiletPaperType)\n (canContain GarbageCanType SoapBottleType)\n (canContain GarbageCanType ClothType)\n (canContain GarbageCanType HandTowelType)\n (canContain SinkBasinType SoapBarType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType HandTowelType)\n (canContain HandTowelHolderType HandTowelType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType HandTowelType)\n (canContain SinkBasinType SoapBarType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType HandTowelType)\n (canContain ToiletPaperHangerType ToiletPaperType)\n (canContain ToiletType SoapBottleType)\n (canContain ToiletType HandTowelType)\n (canContain ToiletType ToiletPaperType)\n (canContain ToiletType ClothType)\n (canContain ToiletType CandleType)\n (canContain ToiletType SoapBarType)\n (canContain ToiletType SprayBottleType)\n (canContain TowelHolderType TowelType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType HandTowelType)\n (pickupable Plunger_bar__minus_01_dot_69_bar__plus_00_dot_00_bar__plus_00_dot_33)\n (pickupable SoapBottle_bar__minus_01_dot_80_bar__plus_00_dot_73_bar__plus_02_dot_78)\n (pickupable SprayBottle_bar__minus_01_dot_74_bar__plus_00_dot_05_bar__plus_01_dot_27)\n (pickupable Candle_bar__minus_01_dot_46_bar__plus_00_dot_77_bar__plus_02_dot_98)\n (pickupable HandTowel_bar__minus_01_dot_96_bar__plus_01_dot_59_bar__plus_01_dot_32)\n (pickupable Cloth_bar__minus_01_dot_57_bar__plus_00_dot_24_bar__plus_01_dot_73)\n (pickupable SprayBottle_bar__minus_01_dot_72_bar__plus_00_dot_73_bar__plus_02_dot_78)\n (pickupable ScrubBrush_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_14)\n (pickupable SprayBottle_bar__minus_01_dot_72_bar__plus_00_dot_73_bar__plus_02_dot_88)\n (pickupable Cloth_bar__minus_01_dot_49_bar__plus_00_dot_24_bar__plus_02_dot_00)\n (pickupable SoapBar_bar__minus_01_dot_45_bar__plus_00_dot_24_bar__plus_03_dot_60)\n (pickupable ToiletPaper_bar__minus_01_dot_57_bar__plus_00_dot_64_bar__plus_00_dot_05)\n (pickupable SoapBottle_bar__minus_01_dot_87_bar__plus_01_dot_05_bar__plus_00_dot_75)\n (pickupable Candle_bar__minus_01_dot_80_bar__plus_01_dot_09_bar__plus_00_dot_62)\n (pickupable SoapBottle_bar__minus_01_dot_54_bar__plus_00_dot_73_bar__plus_02_dot_73)\n (pickupable SoapBottle_bar__minus_01_dot_46_bar__plus_00_dot_73_bar__plus_02_dot_88)\n (pickupable Towel_bar__plus_00_dot_87_bar__plus_01_dot_17_bar__plus_02_dot_36)\n (pickupable ToiletPaper_bar__minus_01_dot_55_bar__plus_00_dot_62_bar__plus_00_dot_05)\n (pickupable Candle_bar__minus_01_dot_90_bar__plus_01_dot_09_bar__plus_00_dot_62)\n \n (openable Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_03_dot_33)\n (openable Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_02_dot_13)\n \n (atLocation agent1 loc_bar_0_bar_8_bar_3_bar_30)\n \n (cleanable Cloth_bar__minus_01_dot_57_bar__plus_00_dot_24_bar__plus_01_dot_73)\n (cleanable Cloth_bar__minus_01_dot_49_bar__plus_00_dot_24_bar__plus_02_dot_00)\n (cleanable SoapBar_bar__minus_01_dot_45_bar__plus_00_dot_24_bar__plus_03_dot_60)\n \n \n \n \n \n \n \n \n \n \n (inReceptacle SoapBar_bar__minus_01_dot_45_bar__plus_00_dot_24_bar__plus_03_dot_60 Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_03_dot_33)\n (inReceptacle SprayBottle_bar__minus_01_dot_72_bar__plus_00_dot_73_bar__plus_02_dot_78 CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83)\n (inReceptacle SoapBottle_bar__minus_01_dot_54_bar__plus_00_dot_73_bar__plus_02_dot_73 CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83)\n (inReceptacle SoapBottle_bar__minus_01_dot_80_bar__plus_00_dot_73_bar__plus_02_dot_78 CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83)\n (inReceptacle SoapBottle_bar__minus_01_dot_46_bar__plus_00_dot_73_bar__plus_02_dot_88 CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83)\n (inReceptacle Candle_bar__minus_01_dot_46_bar__plus_00_dot_77_bar__plus_02_dot_98 CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83)\n (inReceptacle SprayBottle_bar__minus_01_dot_72_bar__plus_00_dot_73_bar__plus_02_dot_88 CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83)\n (inReceptacle Cloth_bar__minus_01_dot_49_bar__plus_00_dot_24_bar__plus_02_dot_00 Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_02_dot_13)\n (inReceptacle Cloth_bar__minus_01_dot_57_bar__plus_00_dot_24_bar__plus_01_dot_73 Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_02_dot_13)\n (inReceptacle Towel_bar__plus_00_dot_87_bar__plus_01_dot_17_bar__plus_02_dot_36 TowelHolder_bar__plus_00_dot_87_bar__plus_01_dot_16_bar__plus_02_dot_25)\n (inReceptacle HandTowel_bar__minus_01_dot_96_bar__plus_01_dot_59_bar__plus_01_dot_32 HandTowelHolder_bar__minus_02_dot_00_bar__plus_01_dot_69_bar__plus_01_dot_32)\n (inReceptacle ToiletPaper_bar__minus_01_dot_57_bar__plus_00_dot_64_bar__plus_00_dot_05 ToiletPaperHanger_bar__minus_01_dot_50_bar__plus_00_dot_72_bar__plus_00_dot_00)\n (inReceptacle SprayBottle_bar__minus_01_dot_74_bar__plus_00_dot_05_bar__plus_01_dot_27 GarbageCan_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__plus_01_dot_34)\n (inReceptacle SoapBottle_bar__minus_01_dot_87_bar__plus_01_dot_05_bar__plus_00_dot_75 Toilet_bar__minus_01_dot_55_bar__plus_00_dot_00_bar__plus_00_dot_69)\n (inReceptacle Candle_bar__minus_01_dot_80_bar__plus_01_dot_09_bar__plus_00_dot_62 Toilet_bar__minus_01_dot_55_bar__plus_00_dot_00_bar__plus_00_dot_69)\n (inReceptacle Candle_bar__minus_01_dot_90_bar__plus_01_dot_09_bar__plus_00_dot_62 Toilet_bar__minus_01_dot_55_bar__plus_00_dot_00_bar__plus_00_dot_69)\n \n \n (receptacleAtLocation CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83 loc_bar__minus_3_bar_9_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_02_dot_13 loc_bar_0_bar_10_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_03_dot_33 loc_bar_0_bar_12_bar_3_bar_45)\n (receptacleAtLocation GarbageCan_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__plus_01_dot_34 loc_bar__minus_3_bar_3_bar_3_bar_60)\n (receptacleAtLocation HandTowelHolder_bar__minus_01_dot_51_bar__plus_01_dot_56_bar__plus_04_dot_00 loc_bar__minus_4_bar_14_bar_3_bar_15)\n (receptacleAtLocation HandTowelHolder_bar__minus_02_dot_00_bar__plus_01_dot_69_bar__plus_01_dot_32 loc_bar__minus_5_bar_5_bar_3_bar_0)\n (receptacleAtLocation Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_02_dot_28_bar_SinkBasin loc_bar__minus_4_bar_11_bar_3_bar_60)\n (receptacleAtLocation Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_03_dot_37_bar_SinkBasin loc_bar__minus_4_bar_12_bar_3_bar_60)\n (receptacleAtLocation ToiletPaperHanger_bar__minus_01_dot_50_bar__plus_00_dot_72_bar__plus_00_dot_00 loc_bar__minus_3_bar_3_bar_2_bar_45)\n (receptacleAtLocation Toilet_bar__minus_01_dot_55_bar__plus_00_dot_00_bar__plus_00_dot_69 loc_bar__minus_5_bar_5_bar_2_bar_60)\n (receptacleAtLocation TowelHolder_bar__plus_00_dot_87_bar__plus_01_dot_16_bar__plus_02_dot_25 loc_bar_3_bar_11_bar_2_bar_45)\n (objectAtLocation SprayBottle_bar__minus_01_dot_74_bar__plus_00_dot_05_bar__plus_01_dot_27 loc_bar__minus_3_bar_3_bar_3_bar_60)\n (objectAtLocation Cloth_bar__minus_01_dot_49_bar__plus_00_dot_24_bar__plus_02_dot_00 loc_bar_0_bar_10_bar_3_bar_45)\n (objectAtLocation SoapBottle_bar__minus_01_dot_87_bar__plus_01_dot_05_bar__plus_00_dot_75 loc_bar__minus_5_bar_5_bar_2_bar_60)\n (objectAtLocation Candle_bar__minus_01_dot_80_bar__plus_01_dot_09_bar__plus_00_dot_62 loc_bar__minus_5_bar_5_bar_2_bar_60)\n (objectAtLocation SoapBottle_bar__minus_01_dot_46_bar__plus_00_dot_73_bar__plus_02_dot_88 loc_bar__minus_3_bar_9_bar_3_bar_45)\n (objectAtLocation SoapBottle_bar__minus_01_dot_80_bar__plus_00_dot_73_bar__plus_02_dot_78 loc_bar__minus_3_bar_9_bar_3_bar_45)\n (objectAtLocation SprayBottle_bar__minus_01_dot_72_bar__plus_00_dot_73_bar__plus_02_dot_78 loc_bar__minus_3_bar_9_bar_3_bar_45)\n (objectAtLocation Candle_bar__minus_01_dot_90_bar__plus_01_dot_09_bar__plus_00_dot_62 loc_bar__minus_5_bar_5_bar_2_bar_60)\n (objectAtLocation Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_03_dot_37 loc_bar__minus_4_bar_13_bar_3_bar_60)\n (objectAtLocation ShowerDoor_bar__plus_00_dot_57_bar__plus_01_dot_02_bar__plus_01_dot_12 loc_bar_0_bar_5_bar_1_bar_45)\n (objectAtLocation Mirror_bar__minus_01_dot_92_bar__plus_01_dot_41_bar__plus_02_dot_76 loc_bar__minus_4_bar_11_bar_3_bar_15)\n (objectAtLocation Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_02_dot_28 loc_bar__minus_4_bar_9_bar_3_bar_60)\n (objectAtLocation Candle_bar__minus_01_dot_46_bar__plus_00_dot_77_bar__plus_02_dot_98 loc_bar__minus_3_bar_9_bar_3_bar_45)\n (objectAtLocation HandTowel_bar__minus_01_dot_96_bar__plus_01_dot_59_bar__plus_01_dot_32 loc_bar__minus_5_bar_5_bar_3_bar_0)\n (objectAtLocation Plunger_bar__minus_01_dot_69_bar__plus_00_dot_00_bar__plus_00_dot_33 loc_bar__minus_3_bar_3_bar_3_bar_60)\n (objectAtLocation Towel_bar__plus_00_dot_87_bar__plus_01_dot_17_bar__plus_02_dot_36 loc_bar_3_bar_11_bar_2_bar_45)\n (objectAtLocation SoapBottle_bar__minus_01_dot_54_bar__plus_00_dot_73_bar__plus_02_dot_73 loc_bar__minus_3_bar_9_bar_3_bar_45)\n (objectAtLocation SoapBar_bar__minus_01_dot_45_bar__plus_00_dot_24_bar__plus_03_dot_60 loc_bar_0_bar_12_bar_3_bar_45)\n (objectAtLocation ToiletPaper_bar__minus_01_dot_57_bar__plus_00_dot_64_bar__plus_00_dot_05 loc_bar__minus_3_bar_3_bar_2_bar_45)\n (objectAtLocation Cloth_bar__minus_01_dot_57_bar__plus_00_dot_24_bar__plus_01_dot_73 loc_bar_0_bar_10_bar_3_bar_45)\n (objectAtLocation ToiletPaper_bar__minus_01_dot_55_bar__plus_00_dot_62_bar__plus_00_dot_05 loc_bar__minus_3_bar_3_bar_3_bar_60)\n (objectAtLocation Window_bar__minus_01_dot_04_bar__plus_01_dot_40_bar__plus_00_dot_02 loc_bar__minus_3_bar_3_bar_2_bar_15)\n (objectAtLocation Window_bar__minus_01_dot_99_bar__plus_01_dot_40_bar__plus_00_dot_71 loc_bar__minus_3_bar_3_bar_3_bar_15)\n (objectAtLocation LightSwitch_bar__plus_01_dot_25_bar__plus_01_dot_27_bar__plus_03_dot_64 loc_bar_3_bar_14_bar_1_bar_30)\n (objectAtLocation ScrubBrush_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_14 loc_bar__minus_3_bar_3_bar_3_bar_60)\n (objectAtLocation SprayBottle_bar__minus_01_dot_72_bar__plus_00_dot_73_bar__plus_02_dot_88 loc_bar__minus_3_bar_9_bar_3_bar_45)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o1 - object)\n (and\n (objectType ?o1 SoapBottleType)\n (receptacleType ?r GarbageCanType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 SoapBottleType)\n (receptacleType ?r GarbageCanType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 1", "take soapbottle 4 from countertop 1", "go to garbagecan 1", "move soapbottle 4 to garbagecan 1", "go to countertop 1", "take soapbottle 3 from countertop 1", "go to garbagecan 1", "move soapbottle 3 to garbagecan 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-SoapBottle-None-GarbageCan-416/trial_T20190909_003049_760772/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-SoapBottle-None-GarbageCan-416/trial_T20190909_003049_760772/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..f8c1d27c38d33a57c41756dd36d2e8c55c717b05 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-SoapBottle-None-GarbageCan-416/trial_T20190909_003049_760772/initial_state.pddl @@ -0,0 +1,460 @@ + +(define (problem plan_trial_T20190909_003049_760772) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_46_bar__plus_00_dot_77_bar__plus_02_dot_98 - object + Candle_bar__minus_01_dot_80_bar__plus_01_dot_09_bar__plus_00_dot_62 - object + Candle_bar__minus_01_dot_90_bar__plus_01_dot_09_bar__plus_00_dot_62 - object + Cloth_bar__minus_01_dot_49_bar__plus_00_dot_24_bar__plus_02_dot_00 - object + Cloth_bar__minus_01_dot_57_bar__plus_00_dot_24_bar__plus_01_dot_73 - object + Faucet_bar__plus_00_dot_85_bar__plus_01_dot_80_bar__plus_01_dot_11 - object + Faucet_bar__minus_01_dot_93_bar__plus_00_dot_72_bar__plus_02_dot_29 - object + Faucet_bar__minus_01_dot_93_bar__plus_00_dot_72_bar__plus_03_dot_37 - object + HandTowel_bar__minus_01_dot_96_bar__plus_01_dot_59_bar__plus_01_dot_32 - object + LightSwitch_bar__plus_01_dot_25_bar__plus_01_dot_27_bar__plus_03_dot_64 - object + Mirror_bar__minus_01_dot_92_bar__plus_01_dot_41_bar__plus_02_dot_76 - object + Plunger_bar__minus_01_dot_69_bar__plus_00_dot_00_bar__plus_00_dot_33 - object + ScrubBrush_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_14 - object + ShowerDoor_bar__plus_00_dot_57_bar__plus_01_dot_02_bar__plus_01_dot_12 - object + Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_02_dot_28 - object + Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_03_dot_37 - object + SoapBar_bar__minus_01_dot_45_bar__plus_00_dot_24_bar__plus_03_dot_60 - object + SoapBottle_bar__minus_01_dot_46_bar__plus_00_dot_73_bar__plus_02_dot_88 - object + SoapBottle_bar__minus_01_dot_54_bar__plus_00_dot_73_bar__plus_02_dot_73 - object + SoapBottle_bar__minus_01_dot_80_bar__plus_00_dot_73_bar__plus_02_dot_78 - object + SoapBottle_bar__minus_01_dot_87_bar__plus_01_dot_05_bar__plus_00_dot_75 - object + SprayBottle_bar__minus_01_dot_72_bar__plus_00_dot_73_bar__plus_02_dot_78 - object + SprayBottle_bar__minus_01_dot_72_bar__plus_00_dot_73_bar__plus_02_dot_88 - object + SprayBottle_bar__minus_01_dot_74_bar__plus_00_dot_05_bar__plus_01_dot_27 - object + ToiletPaper_bar__minus_01_dot_55_bar__plus_00_dot_62_bar__plus_00_dot_05 - object + ToiletPaper_bar__minus_01_dot_57_bar__plus_00_dot_64_bar__plus_00_dot_05 - object + Towel_bar__plus_00_dot_87_bar__plus_01_dot_17_bar__plus_02_dot_36 - object + Window_bar__minus_01_dot_04_bar__plus_01_dot_40_bar__plus_00_dot_02 - object + Window_bar__minus_01_dot_99_bar__plus_01_dot_40_bar__plus_00_dot_71 - object + CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83 - receptacle + Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_02_dot_13 - receptacle + Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_03_dot_33 - receptacle + GarbageCan_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__plus_01_dot_34 - receptacle + HandTowelHolder_bar__minus_01_dot_51_bar__plus_01_dot_56_bar__plus_04_dot_00 - receptacle + HandTowelHolder_bar__minus_02_dot_00_bar__plus_01_dot_69_bar__plus_01_dot_32 - receptacle + Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_02_dot_28_bar_SinkBasin - receptacle + Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_03_dot_37_bar_SinkBasin - receptacle + ToiletPaperHanger_bar__minus_01_dot_50_bar__plus_00_dot_72_bar__plus_00_dot_00 - receptacle + Toilet_bar__minus_01_dot_55_bar__plus_00_dot_00_bar__plus_00_dot_69 - receptacle + TowelHolder_bar__plus_00_dot_87_bar__plus_01_dot_16_bar__plus_02_dot_25 - receptacle + loc_bar__minus_5_bar_5_bar_2_bar_60 - location + loc_bar_0_bar_5_bar_1_bar_45 - location + loc_bar_3_bar_14_bar_1_bar_30 - location + loc_bar_0_bar_12_bar_3_bar_45 - location + loc_bar__minus_4_bar_13_bar_3_bar_60 - location + loc_bar__minus_3_bar_3_bar_2_bar_45 - location + loc_bar__minus_4_bar_11_bar_3_bar_15 - location + loc_bar_0_bar_10_bar_3_bar_45 - location + loc_bar__minus_5_bar_5_bar_3_bar_0 - location + loc_bar__minus_4_bar_11_bar_3_bar_60 - location + loc_bar__minus_3_bar_3_bar_3_bar_60 - location + loc_bar__minus_3_bar_3_bar_3_bar_15 - location + loc_bar__minus_4_bar_12_bar_3_bar_60 - location + loc_bar__minus_4_bar_14_bar_3_bar_15 - location + loc_bar__minus_3_bar_3_bar_2_bar_15 - location + loc_bar__minus_4_bar_9_bar_3_bar_60 - location + loc_bar_3_bar_11_bar_2_bar_45 - location + loc_bar__minus_3_bar_9_bar_3_bar_45 - location + loc_bar_0_bar_8_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83 CounterTopType) + (receptacleType HandTowelHolder_bar__minus_02_dot_00_bar__plus_01_dot_69_bar__plus_01_dot_32 HandTowelHolderType) + (receptacleType GarbageCan_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__plus_01_dot_34 GarbageCanType) + (receptacleType Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_03_dot_37_bar_SinkBasin SinkBasinType) + (receptacleType HandTowelHolder_bar__minus_01_dot_51_bar__plus_01_dot_56_bar__plus_04_dot_00 HandTowelHolderType) + (receptacleType Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_03_dot_33 DrawerType) + (receptacleType Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_02_dot_28_bar_SinkBasin SinkBasinType) + (receptacleType ToiletPaperHanger_bar__minus_01_dot_50_bar__plus_00_dot_72_bar__plus_00_dot_00 ToiletPaperHangerType) + (receptacleType Toilet_bar__minus_01_dot_55_bar__plus_00_dot_00_bar__plus_00_dot_69 ToiletType) + (receptacleType TowelHolder_bar__plus_00_dot_87_bar__plus_01_dot_16_bar__plus_02_dot_25 TowelHolderType) + (receptacleType Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_02_dot_13 DrawerType) + (objectType Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_03_dot_37 SinkType) + (objectType LightSwitch_bar__plus_01_dot_25_bar__plus_01_dot_27_bar__plus_03_dot_64 LightSwitchType) + (objectType Plunger_bar__minus_01_dot_69_bar__plus_00_dot_00_bar__plus_00_dot_33 PlungerType) + (objectType SoapBottle_bar__minus_01_dot_80_bar__plus_00_dot_73_bar__plus_02_dot_78 SoapBottleType) + (objectType SprayBottle_bar__minus_01_dot_74_bar__plus_00_dot_05_bar__plus_01_dot_27 SprayBottleType) + (objectType Candle_bar__minus_01_dot_46_bar__plus_00_dot_77_bar__plus_02_dot_98 CandleType) + (objectType HandTowel_bar__minus_01_dot_96_bar__plus_01_dot_59_bar__plus_01_dot_32 HandTowelType) + (objectType Cloth_bar__minus_01_dot_57_bar__plus_00_dot_24_bar__plus_01_dot_73 ClothType) + (objectType SprayBottle_bar__minus_01_dot_72_bar__plus_00_dot_73_bar__plus_02_dot_78 SprayBottleType) + (objectType Window_bar__minus_01_dot_04_bar__plus_01_dot_40_bar__plus_00_dot_02 WindowType) + (objectType Window_bar__minus_01_dot_99_bar__plus_01_dot_40_bar__plus_00_dot_71 WindowType) + (objectType Mirror_bar__minus_01_dot_92_bar__plus_01_dot_41_bar__plus_02_dot_76 MirrorType) + (objectType ScrubBrush_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_14 ScrubBrushType) + (objectType SprayBottle_bar__minus_01_dot_72_bar__plus_00_dot_73_bar__plus_02_dot_88 SprayBottleType) + (objectType Cloth_bar__minus_01_dot_49_bar__plus_00_dot_24_bar__plus_02_dot_00 ClothType) + (objectType Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_02_dot_28 SinkType) + (objectType SoapBar_bar__minus_01_dot_45_bar__plus_00_dot_24_bar__plus_03_dot_60 SoapBarType) + (objectType ToiletPaper_bar__minus_01_dot_57_bar__plus_00_dot_64_bar__plus_00_dot_05 ToiletPaperType) + (objectType SoapBottle_bar__minus_01_dot_87_bar__plus_01_dot_05_bar__plus_00_dot_75 SoapBottleType) + (objectType Candle_bar__minus_01_dot_80_bar__plus_01_dot_09_bar__plus_00_dot_62 CandleType) + (objectType SoapBottle_bar__minus_01_dot_54_bar__plus_00_dot_73_bar__plus_02_dot_73 SoapBottleType) + (objectType SoapBottle_bar__minus_01_dot_46_bar__plus_00_dot_73_bar__plus_02_dot_88 SoapBottleType) + (objectType Towel_bar__plus_00_dot_87_bar__plus_01_dot_17_bar__plus_02_dot_36 TowelType) + (objectType ToiletPaper_bar__minus_01_dot_55_bar__plus_00_dot_62_bar__plus_00_dot_05 ToiletPaperType) + (objectType Candle_bar__minus_01_dot_90_bar__plus_01_dot_09_bar__plus_00_dot_62 CandleType) + (objectType ShowerDoor_bar__plus_00_dot_57_bar__plus_01_dot_02_bar__plus_01_dot_12 ShowerDoorType) + (canContain CounterTopType CandleType) + (canContain CounterTopType SoapBarType) + (canContain CounterTopType SprayBottleType) + (canContain CounterTopType ToiletPaperType) + (canContain CounterTopType SoapBottleType) + (canContain CounterTopType ClothType) + (canContain CounterTopType HandTowelType) + (canContain HandTowelHolderType HandTowelType) + (canContain GarbageCanType SoapBarType) + (canContain GarbageCanType SprayBottleType) + (canContain GarbageCanType ToiletPaperType) + (canContain GarbageCanType SoapBottleType) + (canContain GarbageCanType ClothType) + (canContain GarbageCanType HandTowelType) + (canContain SinkBasinType SoapBarType) + (canContain SinkBasinType ClothType) + (canContain SinkBasinType HandTowelType) + (canContain HandTowelHolderType HandTowelType) + (canContain DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ClothType) + (canContain DrawerType HandTowelType) + (canContain SinkBasinType SoapBarType) + (canContain SinkBasinType ClothType) + (canContain SinkBasinType HandTowelType) + (canContain ToiletPaperHangerType ToiletPaperType) + (canContain ToiletType SoapBottleType) + (canContain ToiletType HandTowelType) + (canContain ToiletType ToiletPaperType) + (canContain ToiletType ClothType) + (canContain ToiletType CandleType) + (canContain ToiletType SoapBarType) + (canContain ToiletType SprayBottleType) + (canContain TowelHolderType TowelType) + (canContain DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ClothType) + (canContain DrawerType HandTowelType) + (pickupable Plunger_bar__minus_01_dot_69_bar__plus_00_dot_00_bar__plus_00_dot_33) + (pickupable SoapBottle_bar__minus_01_dot_80_bar__plus_00_dot_73_bar__plus_02_dot_78) + (pickupable SprayBottle_bar__minus_01_dot_74_bar__plus_00_dot_05_bar__plus_01_dot_27) + (pickupable Candle_bar__minus_01_dot_46_bar__plus_00_dot_77_bar__plus_02_dot_98) + (pickupable HandTowel_bar__minus_01_dot_96_bar__plus_01_dot_59_bar__plus_01_dot_32) + (pickupable Cloth_bar__minus_01_dot_57_bar__plus_00_dot_24_bar__plus_01_dot_73) + (pickupable SprayBottle_bar__minus_01_dot_72_bar__plus_00_dot_73_bar__plus_02_dot_78) + (pickupable ScrubBrush_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_14) + (pickupable SprayBottle_bar__minus_01_dot_72_bar__plus_00_dot_73_bar__plus_02_dot_88) + (pickupable Cloth_bar__minus_01_dot_49_bar__plus_00_dot_24_bar__plus_02_dot_00) + (pickupable SoapBar_bar__minus_01_dot_45_bar__plus_00_dot_24_bar__plus_03_dot_60) + (pickupable ToiletPaper_bar__minus_01_dot_57_bar__plus_00_dot_64_bar__plus_00_dot_05) + (pickupable SoapBottle_bar__minus_01_dot_87_bar__plus_01_dot_05_bar__plus_00_dot_75) + (pickupable Candle_bar__minus_01_dot_80_bar__plus_01_dot_09_bar__plus_00_dot_62) + (pickupable SoapBottle_bar__minus_01_dot_54_bar__plus_00_dot_73_bar__plus_02_dot_73) + (pickupable SoapBottle_bar__minus_01_dot_46_bar__plus_00_dot_73_bar__plus_02_dot_88) + (pickupable Towel_bar__plus_00_dot_87_bar__plus_01_dot_17_bar__plus_02_dot_36) + (pickupable ToiletPaper_bar__minus_01_dot_55_bar__plus_00_dot_62_bar__plus_00_dot_05) + (pickupable Candle_bar__minus_01_dot_90_bar__plus_01_dot_09_bar__plus_00_dot_62) + + (openable Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_03_dot_33) + (openable Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_02_dot_13) + + (atLocation agent1 loc_bar_0_bar_8_bar_3_bar_30) + + (cleanable Cloth_bar__minus_01_dot_57_bar__plus_00_dot_24_bar__plus_01_dot_73) + (cleanable Cloth_bar__minus_01_dot_49_bar__plus_00_dot_24_bar__plus_02_dot_00) + (cleanable SoapBar_bar__minus_01_dot_45_bar__plus_00_dot_24_bar__plus_03_dot_60) + + + + + + + + + + + (inReceptacle SoapBar_bar__minus_01_dot_45_bar__plus_00_dot_24_bar__plus_03_dot_60 Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_03_dot_33) + (inReceptacle SprayBottle_bar__minus_01_dot_72_bar__plus_00_dot_73_bar__plus_02_dot_78 CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83) + (inReceptacle SoapBottle_bar__minus_01_dot_54_bar__plus_00_dot_73_bar__plus_02_dot_73 CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83) + (inReceptacle SoapBottle_bar__minus_01_dot_80_bar__plus_00_dot_73_bar__plus_02_dot_78 CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83) + (inReceptacle SoapBottle_bar__minus_01_dot_46_bar__plus_00_dot_73_bar__plus_02_dot_88 CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83) + (inReceptacle Candle_bar__minus_01_dot_46_bar__plus_00_dot_77_bar__plus_02_dot_98 CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83) + (inReceptacle SprayBottle_bar__minus_01_dot_72_bar__plus_00_dot_73_bar__plus_02_dot_88 CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83) + (inReceptacle Cloth_bar__minus_01_dot_49_bar__plus_00_dot_24_bar__plus_02_dot_00 Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_02_dot_13) + (inReceptacle Cloth_bar__minus_01_dot_57_bar__plus_00_dot_24_bar__plus_01_dot_73 Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_02_dot_13) + (inReceptacle Towel_bar__plus_00_dot_87_bar__plus_01_dot_17_bar__plus_02_dot_36 TowelHolder_bar__plus_00_dot_87_bar__plus_01_dot_16_bar__plus_02_dot_25) + (inReceptacle HandTowel_bar__minus_01_dot_96_bar__plus_01_dot_59_bar__plus_01_dot_32 HandTowelHolder_bar__minus_02_dot_00_bar__plus_01_dot_69_bar__plus_01_dot_32) + (inReceptacle ToiletPaper_bar__minus_01_dot_57_bar__plus_00_dot_64_bar__plus_00_dot_05 ToiletPaperHanger_bar__minus_01_dot_50_bar__plus_00_dot_72_bar__plus_00_dot_00) + (inReceptacle SprayBottle_bar__minus_01_dot_74_bar__plus_00_dot_05_bar__plus_01_dot_27 GarbageCan_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__plus_01_dot_34) + (inReceptacle SoapBottle_bar__minus_01_dot_87_bar__plus_01_dot_05_bar__plus_00_dot_75 Toilet_bar__minus_01_dot_55_bar__plus_00_dot_00_bar__plus_00_dot_69) + (inReceptacle Candle_bar__minus_01_dot_80_bar__plus_01_dot_09_bar__plus_00_dot_62 Toilet_bar__minus_01_dot_55_bar__plus_00_dot_00_bar__plus_00_dot_69) + (inReceptacle Candle_bar__minus_01_dot_90_bar__plus_01_dot_09_bar__plus_00_dot_62 Toilet_bar__minus_01_dot_55_bar__plus_00_dot_00_bar__plus_00_dot_69) + + + (receptacleAtLocation CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83 loc_bar__minus_3_bar_9_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_02_dot_13 loc_bar_0_bar_10_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_03_dot_33 loc_bar_0_bar_12_bar_3_bar_45) + (receptacleAtLocation GarbageCan_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__plus_01_dot_34 loc_bar__minus_3_bar_3_bar_3_bar_60) + (receptacleAtLocation HandTowelHolder_bar__minus_01_dot_51_bar__plus_01_dot_56_bar__plus_04_dot_00 loc_bar__minus_4_bar_14_bar_3_bar_15) + (receptacleAtLocation HandTowelHolder_bar__minus_02_dot_00_bar__plus_01_dot_69_bar__plus_01_dot_32 loc_bar__minus_5_bar_5_bar_3_bar_0) + (receptacleAtLocation Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_02_dot_28_bar_SinkBasin loc_bar__minus_4_bar_11_bar_3_bar_60) + (receptacleAtLocation Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_03_dot_37_bar_SinkBasin loc_bar__minus_4_bar_12_bar_3_bar_60) + (receptacleAtLocation ToiletPaperHanger_bar__minus_01_dot_50_bar__plus_00_dot_72_bar__plus_00_dot_00 loc_bar__minus_3_bar_3_bar_2_bar_45) + (receptacleAtLocation Toilet_bar__minus_01_dot_55_bar__plus_00_dot_00_bar__plus_00_dot_69 loc_bar__minus_5_bar_5_bar_2_bar_60) + (receptacleAtLocation TowelHolder_bar__plus_00_dot_87_bar__plus_01_dot_16_bar__plus_02_dot_25 loc_bar_3_bar_11_bar_2_bar_45) + (objectAtLocation SprayBottle_bar__minus_01_dot_74_bar__plus_00_dot_05_bar__plus_01_dot_27 loc_bar__minus_3_bar_3_bar_3_bar_60) + (objectAtLocation Cloth_bar__minus_01_dot_49_bar__plus_00_dot_24_bar__plus_02_dot_00 loc_bar_0_bar_10_bar_3_bar_45) + (objectAtLocation SoapBottle_bar__minus_01_dot_87_bar__plus_01_dot_05_bar__plus_00_dot_75 loc_bar__minus_5_bar_5_bar_2_bar_60) + (objectAtLocation Candle_bar__minus_01_dot_80_bar__plus_01_dot_09_bar__plus_00_dot_62 loc_bar__minus_5_bar_5_bar_2_bar_60) + (objectAtLocation SoapBottle_bar__minus_01_dot_46_bar__plus_00_dot_73_bar__plus_02_dot_88 loc_bar__minus_3_bar_9_bar_3_bar_45) + (objectAtLocation SoapBottle_bar__minus_01_dot_80_bar__plus_00_dot_73_bar__plus_02_dot_78 loc_bar__minus_3_bar_9_bar_3_bar_45) + (objectAtLocation SprayBottle_bar__minus_01_dot_72_bar__plus_00_dot_73_bar__plus_02_dot_78 loc_bar__minus_3_bar_9_bar_3_bar_45) + (objectAtLocation Candle_bar__minus_01_dot_90_bar__plus_01_dot_09_bar__plus_00_dot_62 loc_bar__minus_5_bar_5_bar_2_bar_60) + (objectAtLocation Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_03_dot_37 loc_bar__minus_4_bar_13_bar_3_bar_60) + (objectAtLocation ShowerDoor_bar__plus_00_dot_57_bar__plus_01_dot_02_bar__plus_01_dot_12 loc_bar_0_bar_5_bar_1_bar_45) + (objectAtLocation Mirror_bar__minus_01_dot_92_bar__plus_01_dot_41_bar__plus_02_dot_76 loc_bar__minus_4_bar_11_bar_3_bar_15) + (objectAtLocation Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_02_dot_28 loc_bar__minus_4_bar_9_bar_3_bar_60) + (objectAtLocation Candle_bar__minus_01_dot_46_bar__plus_00_dot_77_bar__plus_02_dot_98 loc_bar__minus_3_bar_9_bar_3_bar_45) + (objectAtLocation HandTowel_bar__minus_01_dot_96_bar__plus_01_dot_59_bar__plus_01_dot_32 loc_bar__minus_5_bar_5_bar_3_bar_0) + (objectAtLocation Plunger_bar__minus_01_dot_69_bar__plus_00_dot_00_bar__plus_00_dot_33 loc_bar__minus_3_bar_3_bar_3_bar_60) + (objectAtLocation Towel_bar__plus_00_dot_87_bar__plus_01_dot_17_bar__plus_02_dot_36 loc_bar_3_bar_11_bar_2_bar_45) + (objectAtLocation SoapBottle_bar__minus_01_dot_54_bar__plus_00_dot_73_bar__plus_02_dot_73 loc_bar__minus_3_bar_9_bar_3_bar_45) + (objectAtLocation SoapBar_bar__minus_01_dot_45_bar__plus_00_dot_24_bar__plus_03_dot_60 loc_bar_0_bar_12_bar_3_bar_45) + (objectAtLocation ToiletPaper_bar__minus_01_dot_57_bar__plus_00_dot_64_bar__plus_00_dot_05 loc_bar__minus_3_bar_3_bar_2_bar_45) + (objectAtLocation Cloth_bar__minus_01_dot_57_bar__plus_00_dot_24_bar__plus_01_dot_73 loc_bar_0_bar_10_bar_3_bar_45) + (objectAtLocation ToiletPaper_bar__minus_01_dot_55_bar__plus_00_dot_62_bar__plus_00_dot_05 loc_bar__minus_3_bar_3_bar_3_bar_60) + (objectAtLocation Window_bar__minus_01_dot_04_bar__plus_01_dot_40_bar__plus_00_dot_02 loc_bar__minus_3_bar_3_bar_2_bar_15) + (objectAtLocation Window_bar__minus_01_dot_99_bar__plus_01_dot_40_bar__plus_00_dot_71 loc_bar__minus_3_bar_3_bar_3_bar_15) + (objectAtLocation LightSwitch_bar__plus_01_dot_25_bar__plus_01_dot_27_bar__plus_03_dot_64 loc_bar_3_bar_14_bar_1_bar_30) + (objectAtLocation ScrubBrush_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_14 loc_bar__minus_3_bar_3_bar_3_bar_60) + (objectAtLocation SprayBottle_bar__minus_01_dot_72_bar__plus_00_dot_73_bar__plus_02_dot_88 loc_bar__minus_3_bar_9_bar_3_bar_45) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o1 - object) + (and + (objectType ?o1 SoapBottleType) + (receptacleType ?r GarbageCanType) + (inReceptacle ?o1 ?r) + (exists (?o2 - object) + (and + (not (= ?o1 ?o2)) + (objectType ?o2 SoapBottleType) + (receptacleType ?r GarbageCanType) + (inReceptacle ?o2 ?r) + ) + ) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-SoapBottle-None-GarbageCan-416/trial_T20190909_003049_760772/traj_data.json 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"Candle_aee4958e", + "position": { + "x": -1.45811021, + "y": 0.772414267, + "z": 2.977418 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Candle_aee4958e", + "position": { + "x": -1.89915454, + "y": 1.0870471, + "z": 0.616987944 + }, + "rotation": { + "x": 0.0, + "y": 90.0004959, + "z": 0.0 + } + }, + { + "objectName": "SprayBottle_da02cdb4", + "position": { + "x": -1.715553, + "y": 0.732404053, + "z": 2.87717962 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SprayBottle_da02cdb4", + "position": { + "x": -1.715553, + "y": 0.732404053, + "z": 2.77694154 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SoapBottle_03f7f1cb", + "position": { + "x": -1.54392457, + "y": 0.7316718, + "z": 2.72682238 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SoapBottle_03f7f1cb", + "position": { + "x": -1.8013674, + "y": 0.7316718, + "z": 2.77694154 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SoapBottle_03f7f1cb", + "position": { + "x": -1.45811021, + "y": 0.7316718, + "z": 2.87717962 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Candle_aee4958e", + "position": { + "x": -1.79802954, + "y": 1.0870471, + "z": 0.61698705 + }, + "rotation": { + "x": 0.0, + "y": 90.0004959, + "z": 0.0 + } + }, + { + "objectName": "HandTowel_83a5c12b", + "position": { + "x": -1.9617, + "y": 1.5886662, + "z": 1.32331872 + }, + "rotation": { + "x": 0.0, + "y": 269.999939, + "z": 0.0 + } + }, + { + "objectName": "Plunger_922e82e8", + "position": { + "x": -1.685, + "y": 0.0009356141, + "z": 0.327 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Towel_18af53c8", + "position": { + "x": 0.871, + "y": 1.172, + "z": 2.3569 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SoapBottle_03f7f1cb", + "position": { + "x": -1.873872, + "y": 1.0463047, + "z": 0.748131454 + }, + "rotation": { + "x": 0.0, + "y": 90.0004959, + "z": 0.0 + } + }, + { + "objectName": "SoapBar_fe649227", + "position": { + "x": -1.44670081, + "y": 0.238199383, + "z": 3.59687185 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "ToiletPaper_ce90debb", + "position": { + "x": -1.5663, + "y": 0.6398, + "z": 0.0544 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 269.999969 + } + }, + { + "objectName": "Cloth_2476119a", + "position": { + "x": -1.48806894, + "y": 0.244685829, + "z": 1.99921608 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "ToiletPaper_4b0f5684", + "position": { + "x": -1.55319285, + "y": 0.6243513, + "z": 0.0530493669 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 270.0 + } + }, + { + "objectName": "ScrubBrush_100e631d", + "position": { + "x": -1.849, + "y": 0.0009356141, + "z": 0.137 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SprayBottle_da02cdb4", + "position": { + "x": -1.73544991, + "y": 0.0462967642, + "z": 1.27346909 + }, + "rotation": { + "x": 0.0, + "y": 179.999664, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 1995832953, + "scene_num": 416 + }, + "task_id": "trial_T20190909_003049_760772", + "task_type": "pick_two_obj_and_place", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A3C81THYYSBGVD_37QW5D2ZRJDFNQ3POJR3NYTSMMD8S9", + "high_descs": [ + "Move towards the sink in front of you.", + "Take a bottle from the counter in front of you.", + "Turn left and face the toilet to the right.", + "Place the bottle in the bin near the toilet in front of you.", + "Face the toilet tank in front of you.", + "Take the bottle from on top of the toilet in front of you.", + "Face the bin near the toilet in front of you.", + "Place the bottle in the bin near the toilet in front of you." + ], + "task_desc": "Place bottle in the bin near the toilet.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A20FCMWP43CVIU_37UQDCYH60MRF4FA8942KLH4A6P7VE", + "high_descs": [ + "walk to face counter between sinks", + "pick up blue pumper bottle from counter", + "walk to face toilet", + "put pumper bottle in bin to right of toilet", + "turn to face toilet tank top", + "pick up pumper bottle from toilet tank top", + "turn right to look at bin", + "put pumper bottle in bin to right of toilet" + ], + "task_desc": "put two pumper bottles into a bin", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A271V19C06841K_3PJUZCGDJ97XIB7QFDRC63O2UYY898", + "high_descs": [ + "turn right then left to the counter ", + "pick up bottle off of counter", + "turn around and walk then turn right", + "put the bottle into the trash can", + "look up at the back of the toilet ", + "pick up the bottle off the back of the toilet", + "look down to the trash can", + "place bottle into the trash can " + ], + "task_desc": "take bottle off of counter, place in trash can, take bottle off of back of toilet, put in trash can ", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-SoapBottle-None-GarbageCan-416/trial_T20190909_003119_083823/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-SoapBottle-None-GarbageCan-416/trial_T20190909_003119_083823/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..217ec725646be9a8633dbc162acddbdc5f9e8964 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-SoapBottle-None-GarbageCan-416/trial_T20190909_003119_083823/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\n\\n#task#\"\n }\n ],\n\n \"notImplemented\": [\n {\n \"rhs\": \"TODO\"\n }\n ],\n\n \"task\": [\n {\n \"rhs\": \"Your task is to: put two soapbottle in garbagecan.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190909_003119_083823)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Candle_bar__minus_01_dot_54_bar__plus_00_dot_77_bar__plus_02_dot_88 - object\n Cloth_bar__minus_01_dot_77_bar__plus_00_dot_72_bar__plus_01_dot_63 - object\n Faucet_bar__plus_00_dot_85_bar__plus_01_dot_80_bar__plus_01_dot_11 - object\n Faucet_bar__minus_01_dot_93_bar__plus_00_dot_72_bar__plus_02_dot_29 - object\n Faucet_bar__minus_01_dot_93_bar__plus_00_dot_72_bar__plus_03_dot_37 - object\n HandTowel_bar__minus_01_dot_96_bar__plus_01_dot_59_bar__plus_01_dot_32 - object\n LightSwitch_bar__plus_01_dot_25_bar__plus_01_dot_27_bar__plus_03_dot_64 - object\n Mirror_bar__minus_01_dot_92_bar__plus_01_dot_41_bar__plus_02_dot_76 - object\n Plunger_bar__minus_01_dot_69_bar__plus_00_dot_00_bar__plus_00_dot_33 - object\n ScrubBrush_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_14 - object\n ShowerDoor_bar__plus_00_dot_57_bar__plus_01_dot_02_bar__plus_01_dot_12 - object\n Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_02_dot_28 - object\n Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_03_dot_37 - object\n SoapBar_bar__minus_01_dot_62_bar__plus_00_dot_64_bar__plus_02_dot_24 - object\n SoapBar_bar__minus_01_dot_70_bar__plus_00_dot_64_bar__plus_03_dot_40 - object\n SoapBar_bar__minus_01_dot_80_bar__plus_00_dot_73_bar__plus_02_dot_88 - object\n SoapBottle_bar__minus_01_dot_37_bar__plus_00_dot_73_bar__plus_02_dot_83 - object\n SoapBottle_bar__minus_01_dot_85_bar__plus_01_dot_05_bar__plus_00_dot_81 - object\n SoapBottle_bar__minus_01_dot_89_bar__plus_00_dot_73_bar__plus_02_dot_73 - object\n SprayBottle_bar__minus_01_dot_46_bar__plus_00_dot_73_bar__plus_02_dot_68 - object\n ToiletPaper_bar__minus_01_dot_45_bar__plus_00_dot_24_bar__plus_03_dot_73 - object\n ToiletPaper_bar__minus_01_dot_85_bar__plus_01_dot_04_bar__plus_00_dot_62 - object\n Towel_bar__plus_00_dot_87_bar__plus_01_dot_17_bar__plus_02_dot_36 - object\n Window_bar__minus_01_dot_04_bar__plus_01_dot_40_bar__plus_00_dot_02 - object\n Window_bar__minus_01_dot_99_bar__plus_01_dot_40_bar__plus_00_dot_71 - object\n CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83 - receptacle\n Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_02_dot_13 - receptacle\n Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_03_dot_33 - receptacle\n GarbageCan_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__plus_01_dot_34 - receptacle\n HandTowelHolder_bar__minus_01_dot_51_bar__plus_01_dot_56_bar__plus_04_dot_00 - receptacle\n HandTowelHolder_bar__minus_02_dot_00_bar__plus_01_dot_69_bar__plus_01_dot_32 - receptacle\n Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_02_dot_28_bar_SinkBasin - receptacle\n Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_03_dot_37_bar_SinkBasin - receptacle\n ToiletPaperHanger_bar__minus_01_dot_50_bar__plus_00_dot_72_bar__plus_00_dot_00 - receptacle\n Toilet_bar__minus_01_dot_55_bar__plus_00_dot_00_bar__plus_00_dot_69 - receptacle\n TowelHolder_bar__plus_00_dot_87_bar__plus_01_dot_16_bar__plus_02_dot_25 - receptacle\n loc_bar_3_bar_14_bar_1_bar_30 - location\n loc_bar__minus_3_bar_3_bar_2_bar_45 - location\n loc_bar_0_bar_12_bar_3_bar_45 - location\n loc_bar__minus_4_bar_9_bar_3_bar_60 - location\n loc_bar__minus_3_bar_9_bar_3_bar_45 - location\n loc_bar__minus_5_bar_5_bar_2_bar_60 - location\n loc_bar_0_bar_10_bar_3_bar_45 - location\n loc_bar__minus_4_bar_7_bar_3_bar_45 - location\n loc_bar__minus_4_bar_11_bar_3_bar_60 - location\n loc_bar_0_bar_5_bar_1_bar_45 - location\n loc_bar__minus_4_bar_13_bar_3_bar_60 - location\n loc_bar__minus_4_bar_11_bar_3_bar_15 - location\n loc_bar__minus_5_bar_5_bar_3_bar_0 - location\n loc_bar__minus_3_bar_3_bar_3_bar_60 - location\n loc_bar__minus_4_bar_12_bar_3_bar_60 - location\n loc_bar__minus_4_bar_14_bar_3_bar_15 - location\n loc_bar__minus_3_bar_3_bar_2_bar_15 - location\n loc_bar_3_bar_11_bar_2_bar_45 - location\n loc_bar__minus_3_bar_3_bar_3_bar_15 - location\n loc_bar_0_bar_2_bar_3_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83 CounterTopType)\n (receptacleType HandTowelHolder_bar__minus_02_dot_00_bar__plus_01_dot_69_bar__plus_01_dot_32 HandTowelHolderType)\n (receptacleType GarbageCan_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__plus_01_dot_34 GarbageCanType)\n (receptacleType Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_03_dot_37_bar_SinkBasin SinkBasinType)\n (receptacleType HandTowelHolder_bar__minus_01_dot_51_bar__plus_01_dot_56_bar__plus_04_dot_00 HandTowelHolderType)\n (receptacleType Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_03_dot_33 DrawerType)\n (receptacleType Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_02_dot_28_bar_SinkBasin SinkBasinType)\n (receptacleType ToiletPaperHanger_bar__minus_01_dot_50_bar__plus_00_dot_72_bar__plus_00_dot_00 ToiletPaperHangerType)\n (receptacleType Toilet_bar__minus_01_dot_55_bar__plus_00_dot_00_bar__plus_00_dot_69 ToiletType)\n (receptacleType TowelHolder_bar__plus_00_dot_87_bar__plus_01_dot_16_bar__plus_02_dot_25 TowelHolderType)\n (receptacleType Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_02_dot_13 DrawerType)\n (objectType Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_03_dot_37 SinkType)\n (objectType LightSwitch_bar__plus_01_dot_25_bar__plus_01_dot_27_bar__plus_03_dot_64 LightSwitchType)\n (objectType Plunger_bar__minus_01_dot_69_bar__plus_00_dot_00_bar__plus_00_dot_33 PlungerType)\n (objectType SoapBottle_bar__minus_01_dot_85_bar__plus_01_dot_05_bar__plus_00_dot_81 SoapBottleType)\n (objectType SoapBar_bar__minus_01_dot_62_bar__plus_00_dot_64_bar__plus_02_dot_24 SoapBarType)\n (objectType Candle_bar__minus_01_dot_54_bar__plus_00_dot_77_bar__plus_02_dot_88 CandleType)\n (objectType HandTowel_bar__minus_01_dot_96_bar__plus_01_dot_59_bar__plus_01_dot_32 HandTowelType)\n (objectType Window_bar__minus_01_dot_04_bar__plus_01_dot_40_bar__plus_00_dot_02 WindowType)\n (objectType Window_bar__minus_01_dot_99_bar__plus_01_dot_40_bar__plus_00_dot_71 WindowType)\n (objectType SoapBar_bar__minus_01_dot_70_bar__plus_00_dot_64_bar__plus_03_dot_40 SoapBarType)\n (objectType Mirror_bar__minus_01_dot_92_bar__plus_01_dot_41_bar__plus_02_dot_76 MirrorType)\n (objectType ToiletPaper_bar__minus_01_dot_45_bar__plus_00_dot_24_bar__plus_03_dot_73 ToiletPaperType)\n (objectType ScrubBrush_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_14 ScrubBrushType)\n (objectType ToiletPaper_bar__minus_01_dot_85_bar__plus_01_dot_04_bar__plus_00_dot_62 ToiletPaperType)\n (objectType SoapBottle_bar__minus_01_dot_89_bar__plus_00_dot_73_bar__plus_02_dot_73 SoapBottleType)\n (objectType Cloth_bar__minus_01_dot_77_bar__plus_00_dot_72_bar__plus_01_dot_63 ClothType)\n (objectType SoapBottle_bar__minus_01_dot_37_bar__plus_00_dot_73_bar__plus_02_dot_83 SoapBottleType)\n (objectType Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_02_dot_28 SinkType)\n (objectType SprayBottle_bar__minus_01_dot_46_bar__plus_00_dot_73_bar__plus_02_dot_68 SprayBottleType)\n (objectType SoapBar_bar__minus_01_dot_80_bar__plus_00_dot_73_bar__plus_02_dot_88 SoapBarType)\n (objectType Towel_bar__plus_00_dot_87_bar__plus_01_dot_17_bar__plus_02_dot_36 TowelType)\n (objectType ShowerDoor_bar__plus_00_dot_57_bar__plus_01_dot_02_bar__plus_01_dot_12 ShowerDoorType)\n (canContain CounterTopType CandleType)\n (canContain CounterTopType SoapBarType)\n (canContain CounterTopType SprayBottleType)\n (canContain CounterTopType ToiletPaperType)\n (canContain CounterTopType SoapBottleType)\n (canContain CounterTopType ClothType)\n (canContain CounterTopType HandTowelType)\n (canContain HandTowelHolderType HandTowelType)\n (canContain GarbageCanType SoapBarType)\n (canContain GarbageCanType SprayBottleType)\n (canContain GarbageCanType ToiletPaperType)\n (canContain GarbageCanType SoapBottleType)\n (canContain GarbageCanType ClothType)\n (canContain GarbageCanType HandTowelType)\n (canContain SinkBasinType SoapBarType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType HandTowelType)\n (canContain HandTowelHolderType HandTowelType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType HandTowelType)\n (canContain SinkBasinType SoapBarType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType HandTowelType)\n (canContain ToiletPaperHangerType ToiletPaperType)\n (canContain ToiletType SoapBottleType)\n (canContain ToiletType HandTowelType)\n (canContain ToiletType ToiletPaperType)\n (canContain ToiletType ClothType)\n (canContain ToiletType CandleType)\n (canContain ToiletType SoapBarType)\n (canContain ToiletType SprayBottleType)\n (canContain TowelHolderType TowelType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType HandTowelType)\n (pickupable Plunger_bar__minus_01_dot_69_bar__plus_00_dot_00_bar__plus_00_dot_33)\n (pickupable SoapBottle_bar__minus_01_dot_85_bar__plus_01_dot_05_bar__plus_00_dot_81)\n (pickupable SoapBar_bar__minus_01_dot_62_bar__plus_00_dot_64_bar__plus_02_dot_24)\n (pickupable Candle_bar__minus_01_dot_54_bar__plus_00_dot_77_bar__plus_02_dot_88)\n (pickupable HandTowel_bar__minus_01_dot_96_bar__plus_01_dot_59_bar__plus_01_dot_32)\n (pickupable SoapBar_bar__minus_01_dot_70_bar__plus_00_dot_64_bar__plus_03_dot_40)\n (pickupable ToiletPaper_bar__minus_01_dot_45_bar__plus_00_dot_24_bar__plus_03_dot_73)\n (pickupable ScrubBrush_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_14)\n (pickupable ToiletPaper_bar__minus_01_dot_85_bar__plus_01_dot_04_bar__plus_00_dot_62)\n (pickupable SoapBottle_bar__minus_01_dot_89_bar__plus_00_dot_73_bar__plus_02_dot_73)\n (pickupable Cloth_bar__minus_01_dot_77_bar__plus_00_dot_72_bar__plus_01_dot_63)\n (pickupable SoapBottle_bar__minus_01_dot_37_bar__plus_00_dot_73_bar__plus_02_dot_83)\n (pickupable SprayBottle_bar__minus_01_dot_46_bar__plus_00_dot_73_bar__plus_02_dot_68)\n (pickupable SoapBar_bar__minus_01_dot_80_bar__plus_00_dot_73_bar__plus_02_dot_88)\n (pickupable Towel_bar__plus_00_dot_87_bar__plus_01_dot_17_bar__plus_02_dot_36)\n \n (openable Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_03_dot_33)\n (openable Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_02_dot_13)\n \n (atLocation agent1 loc_bar_0_bar_2_bar_3_bar_30)\n \n (cleanable SoapBar_bar__minus_01_dot_62_bar__plus_00_dot_64_bar__plus_02_dot_24)\n (cleanable SoapBar_bar__minus_01_dot_70_bar__plus_00_dot_64_bar__plus_03_dot_40)\n (cleanable Cloth_bar__minus_01_dot_77_bar__plus_00_dot_72_bar__plus_01_dot_63)\n (cleanable SoapBar_bar__minus_01_dot_80_bar__plus_00_dot_73_bar__plus_02_dot_88)\n \n \n \n \n \n \n \n \n \n \n (inReceptacle ToiletPaper_bar__minus_01_dot_45_bar__plus_00_dot_24_bar__plus_03_dot_73 Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_03_dot_33)\n (inReceptacle SoapBar_bar__minus_01_dot_80_bar__plus_00_dot_73_bar__plus_02_dot_88 CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83)\n (inReceptacle SoapBottle_bar__minus_01_dot_89_bar__plus_00_dot_73_bar__plus_02_dot_73 CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83)\n (inReceptacle Candle_bar__minus_01_dot_54_bar__plus_00_dot_77_bar__plus_02_dot_88 CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83)\n (inReceptacle SoapBottle_bar__minus_01_dot_37_bar__plus_00_dot_73_bar__plus_02_dot_83 CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83)\n (inReceptacle SprayBottle_bar__minus_01_dot_46_bar__plus_00_dot_73_bar__plus_02_dot_68 CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83)\n (inReceptacle Towel_bar__plus_00_dot_87_bar__plus_01_dot_17_bar__plus_02_dot_36 TowelHolder_bar__plus_00_dot_87_bar__plus_01_dot_16_bar__plus_02_dot_25)\n (inReceptacle HandTowel_bar__minus_01_dot_96_bar__plus_01_dot_59_bar__plus_01_dot_32 HandTowelHolder_bar__minus_02_dot_00_bar__plus_01_dot_69_bar__plus_01_dot_32)\n (inReceptacle SoapBar_bar__minus_01_dot_70_bar__plus_00_dot_64_bar__plus_03_dot_40 Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_03_dot_37_bar_SinkBasin)\n (inReceptacle SoapBar_bar__minus_01_dot_62_bar__plus_00_dot_64_bar__plus_02_dot_24 Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_02_dot_28_bar_SinkBasin)\n (inReceptacle SoapBottle_bar__minus_01_dot_85_bar__plus_01_dot_05_bar__plus_00_dot_81 Toilet_bar__minus_01_dot_55_bar__plus_00_dot_00_bar__plus_00_dot_69)\n (inReceptacle ToiletPaper_bar__minus_01_dot_85_bar__plus_01_dot_04_bar__plus_00_dot_62 Toilet_bar__minus_01_dot_55_bar__plus_00_dot_00_bar__plus_00_dot_69)\n \n \n (receptacleAtLocation CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83 loc_bar__minus_3_bar_9_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_02_dot_13 loc_bar_0_bar_10_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_03_dot_33 loc_bar_0_bar_12_bar_3_bar_45)\n (receptacleAtLocation GarbageCan_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__plus_01_dot_34 loc_bar__minus_3_bar_3_bar_3_bar_60)\n (receptacleAtLocation HandTowelHolder_bar__minus_01_dot_51_bar__plus_01_dot_56_bar__plus_04_dot_00 loc_bar__minus_4_bar_14_bar_3_bar_15)\n (receptacleAtLocation HandTowelHolder_bar__minus_02_dot_00_bar__plus_01_dot_69_bar__plus_01_dot_32 loc_bar__minus_5_bar_5_bar_3_bar_0)\n (receptacleAtLocation Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_02_dot_28_bar_SinkBasin loc_bar__minus_4_bar_11_bar_3_bar_60)\n (receptacleAtLocation Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_03_dot_37_bar_SinkBasin loc_bar__minus_4_bar_12_bar_3_bar_60)\n (receptacleAtLocation ToiletPaperHanger_bar__minus_01_dot_50_bar__plus_00_dot_72_bar__plus_00_dot_00 loc_bar__minus_3_bar_3_bar_2_bar_45)\n (receptacleAtLocation Toilet_bar__minus_01_dot_55_bar__plus_00_dot_00_bar__plus_00_dot_69 loc_bar__minus_5_bar_5_bar_2_bar_60)\n (receptacleAtLocation TowelHolder_bar__plus_00_dot_87_bar__plus_01_dot_16_bar__plus_02_dot_25 loc_bar_3_bar_11_bar_2_bar_45)\n (objectAtLocation SoapBar_bar__minus_01_dot_62_bar__plus_00_dot_64_bar__plus_02_dot_24 loc_bar__minus_4_bar_11_bar_3_bar_60)\n (objectAtLocation SoapBottle_bar__minus_01_dot_85_bar__plus_01_dot_05_bar__plus_00_dot_81 loc_bar__minus_5_bar_5_bar_2_bar_60)\n (objectAtLocation SoapBottle_bar__minus_01_dot_89_bar__plus_00_dot_73_bar__plus_02_dot_73 loc_bar__minus_3_bar_9_bar_3_bar_45)\n (objectAtLocation SoapBar_bar__minus_01_dot_70_bar__plus_00_dot_64_bar__plus_03_dot_40 loc_bar__minus_4_bar_12_bar_3_bar_60)\n (objectAtLocation Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_03_dot_37 loc_bar__minus_4_bar_13_bar_3_bar_60)\n (objectAtLocation ShowerDoor_bar__plus_00_dot_57_bar__plus_01_dot_02_bar__plus_01_dot_12 loc_bar_0_bar_5_bar_1_bar_45)\n (objectAtLocation Mirror_bar__minus_01_dot_92_bar__plus_01_dot_41_bar__plus_02_dot_76 loc_bar__minus_4_bar_11_bar_3_bar_15)\n (objectAtLocation Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_02_dot_28 loc_bar__minus_4_bar_9_bar_3_bar_60)\n (objectAtLocation Candle_bar__minus_01_dot_54_bar__plus_00_dot_77_bar__plus_02_dot_88 loc_bar__minus_3_bar_9_bar_3_bar_45)\n (objectAtLocation HandTowel_bar__minus_01_dot_96_bar__plus_01_dot_59_bar__plus_01_dot_32 loc_bar__minus_5_bar_5_bar_3_bar_0)\n (objectAtLocation Plunger_bar__minus_01_dot_69_bar__plus_00_dot_00_bar__plus_00_dot_33 loc_bar__minus_3_bar_3_bar_3_bar_60)\n (objectAtLocation Towel_bar__plus_00_dot_87_bar__plus_01_dot_17_bar__plus_02_dot_36 loc_bar_3_bar_11_bar_2_bar_45)\n (objectAtLocation SoapBottle_bar__minus_01_dot_37_bar__plus_00_dot_73_bar__plus_02_dot_83 loc_bar__minus_3_bar_9_bar_3_bar_45)\n (objectAtLocation SoapBar_bar__minus_01_dot_80_bar__plus_00_dot_73_bar__plus_02_dot_88 loc_bar__minus_3_bar_9_bar_3_bar_45)\n (objectAtLocation ToiletPaper_bar__minus_01_dot_85_bar__plus_01_dot_04_bar__plus_00_dot_62 loc_bar__minus_5_bar_5_bar_2_bar_60)\n (objectAtLocation Cloth_bar__minus_01_dot_77_bar__plus_00_dot_72_bar__plus_01_dot_63 loc_bar__minus_4_bar_7_bar_3_bar_45)\n (objectAtLocation ToiletPaper_bar__minus_01_dot_45_bar__plus_00_dot_24_bar__plus_03_dot_73 loc_bar_0_bar_12_bar_3_bar_45)\n (objectAtLocation Window_bar__minus_01_dot_04_bar__plus_01_dot_40_bar__plus_00_dot_02 loc_bar__minus_3_bar_3_bar_2_bar_15)\n (objectAtLocation Window_bar__minus_01_dot_99_bar__plus_01_dot_40_bar__plus_00_dot_71 loc_bar__minus_3_bar_3_bar_3_bar_15)\n (objectAtLocation LightSwitch_bar__plus_01_dot_25_bar__plus_01_dot_27_bar__plus_03_dot_64 loc_bar_3_bar_14_bar_1_bar_30)\n (objectAtLocation ScrubBrush_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_14 loc_bar__minus_3_bar_3_bar_3_bar_60)\n (objectAtLocation SprayBottle_bar__minus_01_dot_46_bar__plus_00_dot_73_bar__plus_02_dot_68 loc_bar__minus_3_bar_9_bar_3_bar_45)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o1 - object)\n (and\n (objectType ?o1 SoapBottleType)\n (receptacleType ?r GarbageCanType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 SoapBottleType)\n (receptacleType ?r GarbageCanType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 1", "take soapbottle 3 from countertop 1", "go to garbagecan 1", "move soapbottle 3 to garbagecan 1", "go to countertop 1", "take soapbottle 1 from countertop 1", "go to garbagecan 1", "move soapbottle 1 to garbagecan 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-SoapBottle-None-GarbageCan-416/trial_T20190909_003119_083823/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-SoapBottle-None-GarbageCan-416/trial_T20190909_003119_083823/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..c8689e8ec57fcd4840c7f5d6c584b1fc7a761276 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-SoapBottle-None-GarbageCan-416/trial_T20190909_003119_083823/initial_state.pddl @@ -0,0 +1,442 @@ + +(define (problem plan_trial_T20190909_003119_083823) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Candle_bar__minus_01_dot_54_bar__plus_00_dot_77_bar__plus_02_dot_88 - object + Cloth_bar__minus_01_dot_77_bar__plus_00_dot_72_bar__plus_01_dot_63 - object + Faucet_bar__plus_00_dot_85_bar__plus_01_dot_80_bar__plus_01_dot_11 - object + Faucet_bar__minus_01_dot_93_bar__plus_00_dot_72_bar__plus_02_dot_29 - object + Faucet_bar__minus_01_dot_93_bar__plus_00_dot_72_bar__plus_03_dot_37 - object + HandTowel_bar__minus_01_dot_96_bar__plus_01_dot_59_bar__plus_01_dot_32 - object + LightSwitch_bar__plus_01_dot_25_bar__plus_01_dot_27_bar__plus_03_dot_64 - object + Mirror_bar__minus_01_dot_92_bar__plus_01_dot_41_bar__plus_02_dot_76 - object + Plunger_bar__minus_01_dot_69_bar__plus_00_dot_00_bar__plus_00_dot_33 - object + ScrubBrush_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_14 - object + ShowerDoor_bar__plus_00_dot_57_bar__plus_01_dot_02_bar__plus_01_dot_12 - object + Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_02_dot_28 - object + Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_03_dot_37 - object + SoapBar_bar__minus_01_dot_62_bar__plus_00_dot_64_bar__plus_02_dot_24 - object + SoapBar_bar__minus_01_dot_70_bar__plus_00_dot_64_bar__plus_03_dot_40 - object + SoapBar_bar__minus_01_dot_80_bar__plus_00_dot_73_bar__plus_02_dot_88 - object + SoapBottle_bar__minus_01_dot_37_bar__plus_00_dot_73_bar__plus_02_dot_83 - object + SoapBottle_bar__minus_01_dot_85_bar__plus_01_dot_05_bar__plus_00_dot_81 - object + SoapBottle_bar__minus_01_dot_89_bar__plus_00_dot_73_bar__plus_02_dot_73 - object + SprayBottle_bar__minus_01_dot_46_bar__plus_00_dot_73_bar__plus_02_dot_68 - object + ToiletPaper_bar__minus_01_dot_45_bar__plus_00_dot_24_bar__plus_03_dot_73 - object + ToiletPaper_bar__minus_01_dot_85_bar__plus_01_dot_04_bar__plus_00_dot_62 - object + Towel_bar__plus_00_dot_87_bar__plus_01_dot_17_bar__plus_02_dot_36 - object + Window_bar__minus_01_dot_04_bar__plus_01_dot_40_bar__plus_00_dot_02 - object + Window_bar__minus_01_dot_99_bar__plus_01_dot_40_bar__plus_00_dot_71 - object + CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83 - receptacle + Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_02_dot_13 - receptacle + Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_03_dot_33 - receptacle + GarbageCan_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__plus_01_dot_34 - receptacle + HandTowelHolder_bar__minus_01_dot_51_bar__plus_01_dot_56_bar__plus_04_dot_00 - receptacle + HandTowelHolder_bar__minus_02_dot_00_bar__plus_01_dot_69_bar__plus_01_dot_32 - receptacle + Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_02_dot_28_bar_SinkBasin - receptacle + Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_03_dot_37_bar_SinkBasin - receptacle + ToiletPaperHanger_bar__minus_01_dot_50_bar__plus_00_dot_72_bar__plus_00_dot_00 - receptacle + Toilet_bar__minus_01_dot_55_bar__plus_00_dot_00_bar__plus_00_dot_69 - receptacle + TowelHolder_bar__plus_00_dot_87_bar__plus_01_dot_16_bar__plus_02_dot_25 - receptacle + loc_bar_3_bar_14_bar_1_bar_30 - location + loc_bar__minus_3_bar_3_bar_2_bar_45 - location + loc_bar_0_bar_12_bar_3_bar_45 - location + loc_bar__minus_4_bar_9_bar_3_bar_60 - location + loc_bar__minus_3_bar_9_bar_3_bar_45 - location + loc_bar__minus_5_bar_5_bar_2_bar_60 - location + loc_bar_0_bar_10_bar_3_bar_45 - location + loc_bar__minus_4_bar_7_bar_3_bar_45 - location + loc_bar__minus_4_bar_11_bar_3_bar_60 - location + loc_bar_0_bar_5_bar_1_bar_45 - location + loc_bar__minus_4_bar_13_bar_3_bar_60 - location + loc_bar__minus_4_bar_11_bar_3_bar_15 - location + loc_bar__minus_5_bar_5_bar_3_bar_0 - location + loc_bar__minus_3_bar_3_bar_3_bar_60 - location + loc_bar__minus_4_bar_12_bar_3_bar_60 - location + loc_bar__minus_4_bar_14_bar_3_bar_15 - location + loc_bar__minus_3_bar_3_bar_2_bar_15 - location + loc_bar_3_bar_11_bar_2_bar_45 - location + loc_bar__minus_3_bar_3_bar_3_bar_15 - location + loc_bar_0_bar_2_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83 CounterTopType) + (receptacleType HandTowelHolder_bar__minus_02_dot_00_bar__plus_01_dot_69_bar__plus_01_dot_32 HandTowelHolderType) + (receptacleType GarbageCan_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__plus_01_dot_34 GarbageCanType) + (receptacleType Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_03_dot_37_bar_SinkBasin SinkBasinType) + (receptacleType HandTowelHolder_bar__minus_01_dot_51_bar__plus_01_dot_56_bar__plus_04_dot_00 HandTowelHolderType) + (receptacleType Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_03_dot_33 DrawerType) + (receptacleType Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_02_dot_28_bar_SinkBasin SinkBasinType) + (receptacleType ToiletPaperHanger_bar__minus_01_dot_50_bar__plus_00_dot_72_bar__plus_00_dot_00 ToiletPaperHangerType) + (receptacleType Toilet_bar__minus_01_dot_55_bar__plus_00_dot_00_bar__plus_00_dot_69 ToiletType) + (receptacleType TowelHolder_bar__plus_00_dot_87_bar__plus_01_dot_16_bar__plus_02_dot_25 TowelHolderType) + (receptacleType Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_02_dot_13 DrawerType) + (objectType Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_03_dot_37 SinkType) + (objectType LightSwitch_bar__plus_01_dot_25_bar__plus_01_dot_27_bar__plus_03_dot_64 LightSwitchType) + (objectType Plunger_bar__minus_01_dot_69_bar__plus_00_dot_00_bar__plus_00_dot_33 PlungerType) + (objectType SoapBottle_bar__minus_01_dot_85_bar__plus_01_dot_05_bar__plus_00_dot_81 SoapBottleType) + (objectType SoapBar_bar__minus_01_dot_62_bar__plus_00_dot_64_bar__plus_02_dot_24 SoapBarType) + (objectType Candle_bar__minus_01_dot_54_bar__plus_00_dot_77_bar__plus_02_dot_88 CandleType) + (objectType HandTowel_bar__minus_01_dot_96_bar__plus_01_dot_59_bar__plus_01_dot_32 HandTowelType) + (objectType Window_bar__minus_01_dot_04_bar__plus_01_dot_40_bar__plus_00_dot_02 WindowType) + (objectType Window_bar__minus_01_dot_99_bar__plus_01_dot_40_bar__plus_00_dot_71 WindowType) + (objectType SoapBar_bar__minus_01_dot_70_bar__plus_00_dot_64_bar__plus_03_dot_40 SoapBarType) + (objectType Mirror_bar__minus_01_dot_92_bar__plus_01_dot_41_bar__plus_02_dot_76 MirrorType) + (objectType ToiletPaper_bar__minus_01_dot_45_bar__plus_00_dot_24_bar__plus_03_dot_73 ToiletPaperType) + (objectType ScrubBrush_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_14 ScrubBrushType) + (objectType ToiletPaper_bar__minus_01_dot_85_bar__plus_01_dot_04_bar__plus_00_dot_62 ToiletPaperType) + (objectType SoapBottle_bar__minus_01_dot_89_bar__plus_00_dot_73_bar__plus_02_dot_73 SoapBottleType) + (objectType Cloth_bar__minus_01_dot_77_bar__plus_00_dot_72_bar__plus_01_dot_63 ClothType) + (objectType SoapBottle_bar__minus_01_dot_37_bar__plus_00_dot_73_bar__plus_02_dot_83 SoapBottleType) + (objectType Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_02_dot_28 SinkType) + (objectType SprayBottle_bar__minus_01_dot_46_bar__plus_00_dot_73_bar__plus_02_dot_68 SprayBottleType) + (objectType SoapBar_bar__minus_01_dot_80_bar__plus_00_dot_73_bar__plus_02_dot_88 SoapBarType) + (objectType Towel_bar__plus_00_dot_87_bar__plus_01_dot_17_bar__plus_02_dot_36 TowelType) + (objectType ShowerDoor_bar__plus_00_dot_57_bar__plus_01_dot_02_bar__plus_01_dot_12 ShowerDoorType) + (canContain CounterTopType CandleType) + (canContain CounterTopType SoapBarType) + (canContain CounterTopType SprayBottleType) + (canContain CounterTopType ToiletPaperType) + (canContain CounterTopType SoapBottleType) + (canContain CounterTopType ClothType) + (canContain CounterTopType HandTowelType) + (canContain HandTowelHolderType HandTowelType) + (canContain GarbageCanType SoapBarType) + (canContain GarbageCanType SprayBottleType) + (canContain GarbageCanType ToiletPaperType) + (canContain GarbageCanType SoapBottleType) + (canContain GarbageCanType ClothType) + (canContain GarbageCanType HandTowelType) + (canContain SinkBasinType SoapBarType) + (canContain SinkBasinType ClothType) + (canContain SinkBasinType HandTowelType) + (canContain HandTowelHolderType HandTowelType) + (canContain DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ClothType) + (canContain DrawerType HandTowelType) + (canContain SinkBasinType SoapBarType) + (canContain SinkBasinType ClothType) + (canContain SinkBasinType HandTowelType) + (canContain ToiletPaperHangerType ToiletPaperType) + (canContain ToiletType SoapBottleType) + (canContain ToiletType HandTowelType) + (canContain ToiletType ToiletPaperType) + (canContain ToiletType ClothType) + (canContain ToiletType CandleType) + (canContain ToiletType SoapBarType) + (canContain ToiletType SprayBottleType) + (canContain TowelHolderType TowelType) + (canContain DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ClothType) + (canContain DrawerType HandTowelType) + (pickupable Plunger_bar__minus_01_dot_69_bar__plus_00_dot_00_bar__plus_00_dot_33) + (pickupable SoapBottle_bar__minus_01_dot_85_bar__plus_01_dot_05_bar__plus_00_dot_81) + (pickupable SoapBar_bar__minus_01_dot_62_bar__plus_00_dot_64_bar__plus_02_dot_24) + (pickupable Candle_bar__minus_01_dot_54_bar__plus_00_dot_77_bar__plus_02_dot_88) + (pickupable HandTowel_bar__minus_01_dot_96_bar__plus_01_dot_59_bar__plus_01_dot_32) + (pickupable SoapBar_bar__minus_01_dot_70_bar__plus_00_dot_64_bar__plus_03_dot_40) + (pickupable ToiletPaper_bar__minus_01_dot_45_bar__plus_00_dot_24_bar__plus_03_dot_73) + (pickupable ScrubBrush_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_14) + (pickupable ToiletPaper_bar__minus_01_dot_85_bar__plus_01_dot_04_bar__plus_00_dot_62) + (pickupable SoapBottle_bar__minus_01_dot_89_bar__plus_00_dot_73_bar__plus_02_dot_73) + (pickupable Cloth_bar__minus_01_dot_77_bar__plus_00_dot_72_bar__plus_01_dot_63) + (pickupable SoapBottle_bar__minus_01_dot_37_bar__plus_00_dot_73_bar__plus_02_dot_83) + (pickupable SprayBottle_bar__minus_01_dot_46_bar__plus_00_dot_73_bar__plus_02_dot_68) + (pickupable SoapBar_bar__minus_01_dot_80_bar__plus_00_dot_73_bar__plus_02_dot_88) + (pickupable Towel_bar__plus_00_dot_87_bar__plus_01_dot_17_bar__plus_02_dot_36) + + (openable Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_03_dot_33) + (openable Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_02_dot_13) + + (atLocation agent1 loc_bar_0_bar_2_bar_3_bar_30) + + (cleanable SoapBar_bar__minus_01_dot_62_bar__plus_00_dot_64_bar__plus_02_dot_24) + (cleanable SoapBar_bar__minus_01_dot_70_bar__plus_00_dot_64_bar__plus_03_dot_40) + (cleanable Cloth_bar__minus_01_dot_77_bar__plus_00_dot_72_bar__plus_01_dot_63) + (cleanable SoapBar_bar__minus_01_dot_80_bar__plus_00_dot_73_bar__plus_02_dot_88) + + + + + + + + + + + (inReceptacle ToiletPaper_bar__minus_01_dot_45_bar__plus_00_dot_24_bar__plus_03_dot_73 Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_03_dot_33) + (inReceptacle SoapBar_bar__minus_01_dot_80_bar__plus_00_dot_73_bar__plus_02_dot_88 CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83) + (inReceptacle SoapBottle_bar__minus_01_dot_89_bar__plus_00_dot_73_bar__plus_02_dot_73 CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83) + (inReceptacle Candle_bar__minus_01_dot_54_bar__plus_00_dot_77_bar__plus_02_dot_88 CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83) + (inReceptacle SoapBottle_bar__minus_01_dot_37_bar__plus_00_dot_73_bar__plus_02_dot_83 CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83) + (inReceptacle SprayBottle_bar__minus_01_dot_46_bar__plus_00_dot_73_bar__plus_02_dot_68 CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83) + (inReceptacle Towel_bar__plus_00_dot_87_bar__plus_01_dot_17_bar__plus_02_dot_36 TowelHolder_bar__plus_00_dot_87_bar__plus_01_dot_16_bar__plus_02_dot_25) + (inReceptacle HandTowel_bar__minus_01_dot_96_bar__plus_01_dot_59_bar__plus_01_dot_32 HandTowelHolder_bar__minus_02_dot_00_bar__plus_01_dot_69_bar__plus_01_dot_32) + (inReceptacle SoapBar_bar__minus_01_dot_70_bar__plus_00_dot_64_bar__plus_03_dot_40 Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_03_dot_37_bar_SinkBasin) + (inReceptacle SoapBar_bar__minus_01_dot_62_bar__plus_00_dot_64_bar__plus_02_dot_24 Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_02_dot_28_bar_SinkBasin) + (inReceptacle SoapBottle_bar__minus_01_dot_85_bar__plus_01_dot_05_bar__plus_00_dot_81 Toilet_bar__minus_01_dot_55_bar__plus_00_dot_00_bar__plus_00_dot_69) + (inReceptacle ToiletPaper_bar__minus_01_dot_85_bar__plus_01_dot_04_bar__plus_00_dot_62 Toilet_bar__minus_01_dot_55_bar__plus_00_dot_00_bar__plus_00_dot_69) + + + (receptacleAtLocation CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83 loc_bar__minus_3_bar_9_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_02_dot_13 loc_bar_0_bar_10_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_03_dot_33 loc_bar_0_bar_12_bar_3_bar_45) + (receptacleAtLocation GarbageCan_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__plus_01_dot_34 loc_bar__minus_3_bar_3_bar_3_bar_60) + (receptacleAtLocation HandTowelHolder_bar__minus_01_dot_51_bar__plus_01_dot_56_bar__plus_04_dot_00 loc_bar__minus_4_bar_14_bar_3_bar_15) + (receptacleAtLocation HandTowelHolder_bar__minus_02_dot_00_bar__plus_01_dot_69_bar__plus_01_dot_32 loc_bar__minus_5_bar_5_bar_3_bar_0) + (receptacleAtLocation Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_02_dot_28_bar_SinkBasin loc_bar__minus_4_bar_11_bar_3_bar_60) + (receptacleAtLocation Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_03_dot_37_bar_SinkBasin loc_bar__minus_4_bar_12_bar_3_bar_60) + (receptacleAtLocation ToiletPaperHanger_bar__minus_01_dot_50_bar__plus_00_dot_72_bar__plus_00_dot_00 loc_bar__minus_3_bar_3_bar_2_bar_45) + (receptacleAtLocation Toilet_bar__minus_01_dot_55_bar__plus_00_dot_00_bar__plus_00_dot_69 loc_bar__minus_5_bar_5_bar_2_bar_60) + (receptacleAtLocation TowelHolder_bar__plus_00_dot_87_bar__plus_01_dot_16_bar__plus_02_dot_25 loc_bar_3_bar_11_bar_2_bar_45) + (objectAtLocation SoapBar_bar__minus_01_dot_62_bar__plus_00_dot_64_bar__plus_02_dot_24 loc_bar__minus_4_bar_11_bar_3_bar_60) + (objectAtLocation SoapBottle_bar__minus_01_dot_85_bar__plus_01_dot_05_bar__plus_00_dot_81 loc_bar__minus_5_bar_5_bar_2_bar_60) + (objectAtLocation SoapBottle_bar__minus_01_dot_89_bar__plus_00_dot_73_bar__plus_02_dot_73 loc_bar__minus_3_bar_9_bar_3_bar_45) + (objectAtLocation SoapBar_bar__minus_01_dot_70_bar__plus_00_dot_64_bar__plus_03_dot_40 loc_bar__minus_4_bar_12_bar_3_bar_60) + (objectAtLocation Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_03_dot_37 loc_bar__minus_4_bar_13_bar_3_bar_60) + (objectAtLocation ShowerDoor_bar__plus_00_dot_57_bar__plus_01_dot_02_bar__plus_01_dot_12 loc_bar_0_bar_5_bar_1_bar_45) + (objectAtLocation Mirror_bar__minus_01_dot_92_bar__plus_01_dot_41_bar__plus_02_dot_76 loc_bar__minus_4_bar_11_bar_3_bar_15) + (objectAtLocation Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_02_dot_28 loc_bar__minus_4_bar_9_bar_3_bar_60) + (objectAtLocation Candle_bar__minus_01_dot_54_bar__plus_00_dot_77_bar__plus_02_dot_88 loc_bar__minus_3_bar_9_bar_3_bar_45) + (objectAtLocation HandTowel_bar__minus_01_dot_96_bar__plus_01_dot_59_bar__plus_01_dot_32 loc_bar__minus_5_bar_5_bar_3_bar_0) + (objectAtLocation Plunger_bar__minus_01_dot_69_bar__plus_00_dot_00_bar__plus_00_dot_33 loc_bar__minus_3_bar_3_bar_3_bar_60) + (objectAtLocation Towel_bar__plus_00_dot_87_bar__plus_01_dot_17_bar__plus_02_dot_36 loc_bar_3_bar_11_bar_2_bar_45) + (objectAtLocation SoapBottle_bar__minus_01_dot_37_bar__plus_00_dot_73_bar__plus_02_dot_83 loc_bar__minus_3_bar_9_bar_3_bar_45) + (objectAtLocation SoapBar_bar__minus_01_dot_80_bar__plus_00_dot_73_bar__plus_02_dot_88 loc_bar__minus_3_bar_9_bar_3_bar_45) + (objectAtLocation ToiletPaper_bar__minus_01_dot_85_bar__plus_01_dot_04_bar__plus_00_dot_62 loc_bar__minus_5_bar_5_bar_2_bar_60) + (objectAtLocation Cloth_bar__minus_01_dot_77_bar__plus_00_dot_72_bar__plus_01_dot_63 loc_bar__minus_4_bar_7_bar_3_bar_45) + (objectAtLocation ToiletPaper_bar__minus_01_dot_45_bar__plus_00_dot_24_bar__plus_03_dot_73 loc_bar_0_bar_12_bar_3_bar_45) + (objectAtLocation Window_bar__minus_01_dot_04_bar__plus_01_dot_40_bar__plus_00_dot_02 loc_bar__minus_3_bar_3_bar_2_bar_15) + (objectAtLocation Window_bar__minus_01_dot_99_bar__plus_01_dot_40_bar__plus_00_dot_71 loc_bar__minus_3_bar_3_bar_3_bar_15) + (objectAtLocation LightSwitch_bar__plus_01_dot_25_bar__plus_01_dot_27_bar__plus_03_dot_64 loc_bar_3_bar_14_bar_1_bar_30) + (objectAtLocation ScrubBrush_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_14 loc_bar__minus_3_bar_3_bar_3_bar_60) + (objectAtLocation SprayBottle_bar__minus_01_dot_46_bar__plus_00_dot_73_bar__plus_02_dot_68 loc_bar__minus_3_bar_9_bar_3_bar_45) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o1 - object) + (and + (objectType ?o1 SoapBottleType) + (receptacleType ?r GarbageCanType) + (inReceptacle ?o1 ?r) + (exists (?o2 - object) + (and + (not (= ?o1 ?o2)) + (objectType ?o2 SoapBottleType) + (receptacleType ?r GarbageCanType) + (inReceptacle ?o2 ?r) + ) + ) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-SoapBottle-None-GarbageCan-416/trial_T20190909_003119_083823/traj_data.json b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-SoapBottle-None-GarbageCan-416/trial_T20190909_003119_083823/traj_data.json new file mode 100644 index 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+ } + }, + { + "objectName": "ScrubBrush_100e631d", + "position": { + "x": -1.849, + "y": 0.0009356141, + "z": 0.137 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SprayBottle_da02cdb4", + "position": { + "x": -1.45811021, + "y": 0.732404053, + "z": 2.67670321 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 3787980465, + "scene_num": 416 + }, + "task_id": "trial_T20190909_003119_083823", + "task_type": "pick_two_obj_and_place", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A2KAGFQU28JY43_32Q90QCQ1VCY8808WD41OMY4GV1EK0", + "high_descs": [ + "Turn to your right and walk across the bathroom, then turn to your right at the brick wall on your left, and go to the counter space between the two sinks. ", + "Pick up the soap dispenser closest to the edge of the counter top. ", + "Turn to your left and go across the bathroom and turn right just before the toilet, where the garbage can is on the floor, between the toilet and the sink. ", + "Place the soap dispenser in the garbage can. ", + "Go to the toilet in front of you. ", + "Pick up the soap dispenser on the back of the toilet. ", + "Turn to the garbage can on the floor. ", + "Place the soap dispenser in the garbage can, in front of the other one. " + ], + "task_desc": "\nPlace two soap dispenser's in the garbage can. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3C81THYYSBGVD_3PZDLQMM0WCOUUC4BGS2Y2C7EJUC2B", + "high_descs": [ + "Turn right and face the sink to your left.", + "Take the green cream bottle from the sink in front of you.", + "Turn left and face the toilet on your right.", + "Place the green cream bottle in the can near the toilet in front of you.", + "Turn right and face the can near the toilet on your left.", + "Take the green bottle out of the can in front of you.", + "Turn around then right and face the toilet on your right.", + "Place the green bottle in the can near the toilet in front of you." + ], + "task_desc": "Place a bottle in the can near the toilet.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A20FCMWP43CVIU_3WR9XG3T662SLRWVOD3FBVHRXLR47W", + "high_descs": [ + "walk to face sinks", + "pick up blue pumper bottle from counter between sinks", + "walk to face toilet", + "put pumper bottle into bin to right of toilet", + "walk to face toilet tank top", + "pick up blue pumper bottle from toilet tank top", + "turn to face bin", + "put pumper bottle into bin to right of toilet" + ], + "task_desc": "put two pumper bottles into a 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-ToiletPaper-None-Cabinet-408/trial_T20190909_085658_782847/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-ToiletPaper-None-Cabinet-408/trial_T20190909_085658_782847/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..281de814b959881dbc7f6db380afadbe16af000f --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-ToiletPaper-None-Cabinet-408/trial_T20190909_085658_782847/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\n\\n#task#\"\n }\n ],\n\n \"notImplemented\": [\n {\n \"rhs\": \"TODO\"\n }\n ],\n\n \"task\": [\n {\n \"rhs\": \"Your task is to: put two toiletpaper in 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_085658_782847)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Bathtub_bar__plus_00_dot_29_bar__plus_00_dot_29_bar__minus_00_dot_08 - object\n Candle_bar__minus_01_dot_54_bar__plus_01_dot_00_bar__plus_00_dot_63 - object\n Candle_bar__minus_02_dot_71_bar__plus_01_dot_00_bar__plus_00_dot_91 - object\n Cloth_bar__plus_00_dot_42_bar__plus_00_dot_03_bar__minus_00_dot_55 - object\n Cloth_bar__plus_00_dot_49_bar__plus_00_dot_03_bar__plus_00_dot_56 - object\n Cloth_bar__minus_02_dot_99_bar__plus_00_dot_08_bar__plus_00_dot_83 - object\n Faucet_bar__plus_00_dot_27_bar__plus_00_dot_67_bar__plus_00_dot_91 - object\n Faucet_bar__minus_01_dot_92_bar__plus_01_dot_02_bar__plus_00_dot_89 - object\n Faucet_bar__minus_02_dot_68_bar__plus_01_dot_02_bar__plus_00_dot_89 - object\n HandTowel_bar__minus_03_dot_10_bar__plus_01_dot_59_bar__plus_00_dot_74 - object\n LightSwitch_bar__minus_01_dot_39_bar__plus_01_dot_26_bar__minus_01_dot_69 - object\n Mirror_bar__minus_02_dot_31_bar__plus_01_dot_53_bar__plus_01_dot_00 - object\n Plunger_bar__minus_00_dot_71_bar__plus_00_dot_00_bar__plus_00_dot_83 - object\n ScrubBrush_bar__minus_00_dot_49_bar__plus_00_dot_00_bar__plus_00_dot_87 - object\n ShowerCurtain_bar__minus_00_dot_29_bar__plus_01_dot_89_bar__minus_01_dot_03 - object\n Sink_bar__minus_01_dot_92_bar__plus_00_dot_93_bar__plus_00_dot_68 - object\n Sink_bar__minus_02_dot_68_bar__plus_00_dot_93_bar__plus_00_dot_68 - object\n SoapBar_bar__minus_02_dot_82_bar__plus_00_dot_18_bar__minus_01_dot_54 - object\n SoapBar_bar__minus_02_dot_96_bar__plus_00_dot_18_bar__minus_01_dot_58 - object\n SoapBottle_bar__minus_02_dot_09_bar__plus_00_dot_08_bar__plus_00_dot_57 - object\n SoapBottle_bar__minus_02_dot_29_bar__plus_00_dot_96_bar__plus_00_dot_92 - object\n SprayBottle_bar__minus_01_dot_64_bar__plus_00_dot_08_bar__plus_00_dot_83 - object\n ToiletPaper_bar__minus_01_dot_42_bar__plus_00_dot_82_bar__plus_00_dot_67 - object\n ToiletPaper_bar__minus_01_dot_88_bar__plus_00_dot_96_bar__plus_00_dot_92 - object\n Towel_bar__minus_00_dot_49_bar__plus_01_dot_37_bar__plus_00_dot_90 - object\n Bathtub_bar__plus_00_dot_29_bar__plus_00_dot_29_bar__minus_00_dot_08_bar_BathtubBasin - receptacle\n Cabinet_bar__minus_01_dot_50_bar__plus_00_dot_42_bar__plus_00_dot_43 - receptacle\n Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_39_bar__plus_00_dot_42 - receptacle\n Cabinet_bar__minus_02_dot_31_bar__plus_00_dot_42_bar__plus_00_dot_43 - receptacle\n Cabinet_bar__minus_03_dot_09_bar__plus_00_dot_39_bar__plus_00_dot_42 - receptacle\n CounterTop_bar__minus_02_dot_30_bar__plus_00_dot_95_bar__plus_00_dot_69 - receptacle\n GarbageCan_bar__minus_02_dot_92_bar__plus_00_dot_00_bar__minus_01_dot_56 - receptacle\n HandTowelHolder_bar__minus_03_dot_13_bar__plus_01_dot_69_bar__plus_00_dot_74 - receptacle\n Sink_bar__minus_01_dot_92_bar__plus_00_dot_93_bar__plus_00_dot_68_bar_SinkBasin - receptacle\n Sink_bar__minus_02_dot_68_bar__plus_00_dot_93_bar__plus_00_dot_68_bar_SinkBasin - receptacle\n ToiletPaperHanger_bar__minus_01_dot_49_bar__plus_00_dot_81_bar__plus_00_dot_69 - receptacle\n Toilet_bar__minus_01_dot_05_bar__plus_00_dot_00_bar__plus_00_dot_55 - receptacle\n TowelHolder_bar__minus_00_dot_49_bar__plus_01_dot_35_bar__plus_01_dot_01 - receptacle\n loc_bar__minus_6_bar_0_bar_0_bar_45 - location\n loc_bar__minus_9_bar__minus_2_bar_2_bar_60 - location\n loc_bar__minus_6_bar__minus_4_bar_2_bar_30 - location\n loc_bar__minus_8_bar_0_bar_0_bar_45 - location\n loc_bar__minus_9_bar__minus_2_bar_0_bar_60 - location\n loc_bar__minus_10_bar_0_bar_0_bar_0 - location\n loc_bar__minus_2_bar_2_bar_3_bar_60 - location\n loc_bar__minus_2_bar_0_bar_1_bar_60 - location\n loc_bar__minus_3_bar__minus_1_bar_1_bar_60 - location\n loc_bar__minus_2_bar_2_bar_0_bar_60 - location\n loc_bar__minus_8_bar__minus_2_bar_0_bar_60 - location\n loc_bar__minus_7_bar_0_bar_0_bar_45 - location\n loc_bar__minus_10_bar_0_bar_0_bar_45 - location\n loc_bar__minus_6_bar__minus_2_bar_0_bar_60 - location\n loc_bar__minus_9_bar_0_bar_0_bar_0 - location\n loc_bar__minus_2_bar_2_bar_0_bar_30 - location\n loc_bar__minus_8_bar__minus_2_bar_2_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType GarbageCan_bar__minus_02_dot_92_bar__plus_00_dot_00_bar__minus_01_dot_56 GarbageCanType)\n (receptacleType Cabinet_bar__minus_03_dot_09_bar__plus_00_dot_39_bar__plus_00_dot_42 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_31_bar__plus_00_dot_42_bar__plus_00_dot_43 CabinetType)\n (receptacleType Toilet_bar__minus_01_dot_05_bar__plus_00_dot_00_bar__plus_00_dot_55 ToiletType)\n (receptacleType Bathtub_bar__plus_00_dot_29_bar__plus_00_dot_29_bar__minus_00_dot_08_bar_BathtubBasin BathtubBasinType)\n (receptacleType HandTowelHolder_bar__minus_03_dot_13_bar__plus_01_dot_69_bar__plus_00_dot_74 HandTowelHolderType)\n (receptacleType CounterTop_bar__minus_02_dot_30_bar__plus_00_dot_95_bar__plus_00_dot_69 CounterTopType)\n (receptacleType Cabinet_bar__minus_01_dot_50_bar__plus_00_dot_42_bar__plus_00_dot_43 CabinetType)\n (receptacleType TowelHolder_bar__minus_00_dot_49_bar__plus_01_dot_35_bar__plus_01_dot_01 TowelHolderType)\n (receptacleType Sink_bar__minus_01_dot_92_bar__plus_00_dot_93_bar__plus_00_dot_68_bar_SinkBasin SinkBasinType)\n (receptacleType Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_39_bar__plus_00_dot_42 CabinetType)\n (receptacleType ToiletPaperHanger_bar__minus_01_dot_49_bar__plus_00_dot_81_bar__plus_00_dot_69 ToiletPaperHangerType)\n (receptacleType Sink_bar__minus_02_dot_68_bar__plus_00_dot_93_bar__plus_00_dot_68_bar_SinkBasin SinkBasinType)\n (objectType Mirror_bar__minus_02_dot_31_bar__plus_01_dot_53_bar__plus_01_dot_00 MirrorType)\n (objectType LightSwitch_bar__minus_01_dot_39_bar__plus_01_dot_26_bar__minus_01_dot_69 LightSwitchType)\n (objectType SoapBottle_bar__minus_02_dot_29_bar__plus_00_dot_96_bar__plus_00_dot_92 SoapBottleType)\n (objectType Candle_bar__minus_02_dot_71_bar__plus_01_dot_00_bar__plus_00_dot_91 CandleType)\n (objectType SoapBar_bar__minus_02_dot_96_bar__plus_00_dot_18_bar__minus_01_dot_58 SoapBarType)\n (objectType ToiletPaper_bar__minus_01_dot_88_bar__plus_00_dot_96_bar__plus_00_dot_92 ToiletPaperType)\n (objectType HandTowel_bar__minus_03_dot_10_bar__plus_01_dot_59_bar__plus_00_dot_74 HandTowelType)\n (objectType Cloth_bar__plus_00_dot_49_bar__plus_00_dot_03_bar__plus_00_dot_56 ClothType)\n (objectType SoapBar_bar__minus_02_dot_82_bar__plus_00_dot_18_bar__minus_01_dot_54 SoapBarType)\n (objectType Sink_bar__minus_02_dot_68_bar__plus_00_dot_93_bar__plus_00_dot_68 SinkType)\n (objectType Bathtub_bar__plus_00_dot_29_bar__plus_00_dot_29_bar__minus_00_dot_08 BathtubType)\n (objectType ToiletPaper_bar__minus_01_dot_42_bar__plus_00_dot_82_bar__plus_00_dot_67 ToiletPaperType)\n (objectType Cloth_bar__plus_00_dot_42_bar__plus_00_dot_03_bar__minus_00_dot_55 ClothType)\n (objectType Candle_bar__minus_01_dot_54_bar__plus_01_dot_00_bar__plus_00_dot_63 CandleType)\n (objectType SoapBottle_bar__minus_02_dot_09_bar__plus_00_dot_08_bar__plus_00_dot_57 SoapBottleType)\n (objectType Sink_bar__minus_01_dot_92_bar__plus_00_dot_93_bar__plus_00_dot_68 SinkType)\n (objectType Towel_bar__minus_00_dot_49_bar__plus_01_dot_37_bar__plus_00_dot_90 TowelType)\n (objectType Cloth_bar__minus_02_dot_99_bar__plus_00_dot_08_bar__plus_00_dot_83 ClothType)\n (objectType SprayBottle_bar__minus_01_dot_64_bar__plus_00_dot_08_bar__plus_00_dot_83 SprayBottleType)\n (objectType ScrubBrush_bar__minus_00_dot_49_bar__plus_00_dot_00_bar__plus_00_dot_87 ScrubBrushType)\n (objectType Plunger_bar__minus_00_dot_71_bar__plus_00_dot_00_bar__plus_00_dot_83 PlungerType)\n (canContain GarbageCanType SoapBarType)\n (canContain GarbageCanType SprayBottleType)\n (canContain GarbageCanType ToiletPaperType)\n (canContain GarbageCanType SoapBottleType)\n (canContain GarbageCanType ClothType)\n (canContain GarbageCanType HandTowelType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (canContain ToiletType SoapBottleType)\n (canContain ToiletType HandTowelType)\n (canContain ToiletType ToiletPaperType)\n (canContain ToiletType ClothType)\n (canContain ToiletType CandleType)\n (canContain ToiletType SoapBarType)\n (canContain ToiletType SprayBottleType)\n (canContain BathtubBasinType ClothType)\n (canContain BathtubBasinType HandTowelType)\n (canContain BathtubBasinType SoapBarType)\n (canContain HandTowelHolderType HandTowelType)\n (canContain CounterTopType CandleType)\n (canContain CounterTopType SoapBarType)\n (canContain CounterTopType SprayBottleType)\n (canContain CounterTopType ToiletPaperType)\n (canContain CounterTopType SoapBottleType)\n (canContain CounterTopType ClothType)\n (canContain CounterTopType HandTowelType)\n (canContain 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 TowelHolderType TowelType)\n (canContain SinkBasinType SoapBarType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType HandTowelType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (canContain ToiletPaperHangerType ToiletPaperType)\n (canContain SinkBasinType SoapBarType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType HandTowelType)\n (pickupable SoapBottle_bar__minus_02_dot_29_bar__plus_00_dot_96_bar__plus_00_dot_92)\n (pickupable Candle_bar__minus_02_dot_71_bar__plus_01_dot_00_bar__plus_00_dot_91)\n (pickupable SoapBar_bar__minus_02_dot_96_bar__plus_00_dot_18_bar__minus_01_dot_58)\n (pickupable ToiletPaper_bar__minus_01_dot_88_bar__plus_00_dot_96_bar__plus_00_dot_92)\n (pickupable HandTowel_bar__minus_03_dot_10_bar__plus_01_dot_59_bar__plus_00_dot_74)\n (pickupable Cloth_bar__plus_00_dot_49_bar__plus_00_dot_03_bar__plus_00_dot_56)\n (pickupable SoapBar_bar__minus_02_dot_82_bar__plus_00_dot_18_bar__minus_01_dot_54)\n (pickupable ToiletPaper_bar__minus_01_dot_42_bar__plus_00_dot_82_bar__plus_00_dot_67)\n (pickupable Cloth_bar__plus_00_dot_42_bar__plus_00_dot_03_bar__minus_00_dot_55)\n (pickupable Candle_bar__minus_01_dot_54_bar__plus_01_dot_00_bar__plus_00_dot_63)\n (pickupable SoapBottle_bar__minus_02_dot_09_bar__plus_00_dot_08_bar__plus_00_dot_57)\n (pickupable Towel_bar__minus_00_dot_49_bar__plus_01_dot_37_bar__plus_00_dot_90)\n (pickupable Cloth_bar__minus_02_dot_99_bar__plus_00_dot_08_bar__plus_00_dot_83)\n (pickupable SprayBottle_bar__minus_01_dot_64_bar__plus_00_dot_08_bar__plus_00_dot_83)\n (pickupable ScrubBrush_bar__minus_00_dot_49_bar__plus_00_dot_00_bar__plus_00_dot_87)\n (pickupable Plunger_bar__minus_00_dot_71_bar__plus_00_dot_00_bar__plus_00_dot_83)\n \n (openable Cabinet_bar__minus_03_dot_09_bar__plus_00_dot_39_bar__plus_00_dot_42)\n (openable Cabinet_bar__minus_02_dot_31_bar__plus_00_dot_42_bar__plus_00_dot_43)\n (openable Cabinet_bar__minus_01_dot_50_bar__plus_00_dot_42_bar__plus_00_dot_43)\n (openable Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_39_bar__plus_00_dot_42)\n \n (atLocation agent1 loc_bar__minus_8_bar__minus_2_bar_2_bar_30)\n \n (cleanable SoapBar_bar__minus_02_dot_96_bar__plus_00_dot_18_bar__minus_01_dot_58)\n (cleanable Cloth_bar__plus_00_dot_49_bar__plus_00_dot_03_bar__plus_00_dot_56)\n (cleanable SoapBar_bar__minus_02_dot_82_bar__plus_00_dot_18_bar__minus_01_dot_54)\n (cleanable Cloth_bar__plus_00_dot_42_bar__plus_00_dot_03_bar__minus_00_dot_55)\n (cleanable Cloth_bar__minus_02_dot_99_bar__plus_00_dot_08_bar__plus_00_dot_83)\n \n \n \n \n \n \n \n \n \n \n (inReceptacle Cloth_bar__minus_02_dot_99_bar__plus_00_dot_08_bar__plus_00_dot_83 Cabinet_bar__minus_03_dot_09_bar__plus_00_dot_39_bar__plus_00_dot_42)\n (inReceptacle Candle_bar__minus_01_dot_54_bar__plus_01_dot_00_bar__plus_00_dot_63 CounterTop_bar__minus_02_dot_30_bar__plus_00_dot_95_bar__plus_00_dot_69)\n (inReceptacle Candle_bar__minus_02_dot_71_bar__plus_01_dot_00_bar__plus_00_dot_91 CounterTop_bar__minus_02_dot_30_bar__plus_00_dot_95_bar__plus_00_dot_69)\n (inReceptacle ToiletPaper_bar__minus_01_dot_88_bar__plus_00_dot_96_bar__plus_00_dot_92 CounterTop_bar__minus_02_dot_30_bar__plus_00_dot_95_bar__plus_00_dot_69)\n (inReceptacle SoapBottle_bar__minus_02_dot_29_bar__plus_00_dot_96_bar__plus_00_dot_92 CounterTop_bar__minus_02_dot_30_bar__plus_00_dot_95_bar__plus_00_dot_69)\n (inReceptacle SprayBottle_bar__minus_01_dot_64_bar__plus_00_dot_08_bar__plus_00_dot_83 Cabinet_bar__minus_01_dot_50_bar__plus_00_dot_42_bar__plus_00_dot_43)\n (inReceptacle SoapBottle_bar__minus_02_dot_09_bar__plus_00_dot_08_bar__plus_00_dot_57 Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_39_bar__plus_00_dot_42)\n (inReceptacle SoapBar_bar__minus_02_dot_96_bar__plus_00_dot_18_bar__minus_01_dot_58 GarbageCan_bar__minus_02_dot_92_bar__plus_00_dot_00_bar__minus_01_dot_56)\n (inReceptacle SoapBar_bar__minus_02_dot_82_bar__plus_00_dot_18_bar__minus_01_dot_54 GarbageCan_bar__minus_02_dot_92_bar__plus_00_dot_00_bar__minus_01_dot_56)\n (inReceptacle Towel_bar__minus_00_dot_49_bar__plus_01_dot_37_bar__plus_00_dot_90 TowelHolder_bar__minus_00_dot_49_bar__plus_01_dot_35_bar__plus_01_dot_01)\n (inReceptacle Cloth_bar__plus_00_dot_49_bar__plus_00_dot_03_bar__plus_00_dot_56 Bathtub_bar__plus_00_dot_29_bar__plus_00_dot_29_bar__minus_00_dot_08_bar_BathtubBasin)\n (inReceptacle Cloth_bar__plus_00_dot_42_bar__plus_00_dot_03_bar__minus_00_dot_55 Bathtub_bar__plus_00_dot_29_bar__plus_00_dot_29_bar__minus_00_dot_08_bar_BathtubBasin)\n (inReceptacle HandTowel_bar__minus_03_dot_10_bar__plus_01_dot_59_bar__plus_00_dot_74 HandTowelHolder_bar__minus_03_dot_13_bar__plus_01_dot_69_bar__plus_00_dot_74)\n (inReceptacle ToiletPaper_bar__minus_01_dot_42_bar__plus_00_dot_82_bar__plus_00_dot_67 ToiletPaperHanger_bar__minus_01_dot_49_bar__plus_00_dot_81_bar__plus_00_dot_69)\n \n \n (receptacleAtLocation Bathtub_bar__plus_00_dot_29_bar__plus_00_dot_29_bar__minus_00_dot_08_bar_BathtubBasin loc_bar__minus_3_bar__minus_1_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_50_bar__plus_00_dot_42_bar__plus_00_dot_43 loc_bar__minus_9_bar__minus_2_bar_0_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_39_bar__plus_00_dot_42 loc_bar__minus_6_bar__minus_2_bar_0_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_31_bar__plus_00_dot_42_bar__plus_00_dot_43 loc_bar__minus_8_bar__minus_2_bar_0_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_03_dot_09_bar__plus_00_dot_39_bar__plus_00_dot_42 loc_bar__minus_9_bar__minus_2_bar_0_bar_60)\n (receptacleAtLocation CounterTop_bar__minus_02_dot_30_bar__plus_00_dot_95_bar__plus_00_dot_69 loc_bar__minus_8_bar_0_bar_0_bar_45)\n (receptacleAtLocation GarbageCan_bar__minus_02_dot_92_bar__plus_00_dot_00_bar__minus_01_dot_56 loc_bar__minus_9_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation HandTowelHolder_bar__minus_03_dot_13_bar__plus_01_dot_69_bar__plus_00_dot_74 loc_bar__minus_10_bar_0_bar_0_bar_0)\n (receptacleAtLocation Sink_bar__minus_01_dot_92_bar__plus_00_dot_93_bar__plus_00_dot_68_bar_SinkBasin loc_bar__minus_7_bar_0_bar_0_bar_45)\n (receptacleAtLocation Sink_bar__minus_02_dot_68_bar__plus_00_dot_93_bar__plus_00_dot_68_bar_SinkBasin loc_bar__minus_10_bar_0_bar_0_bar_45)\n (receptacleAtLocation ToiletPaperHanger_bar__minus_01_dot_49_bar__plus_00_dot_81_bar__plus_00_dot_69 loc_bar__minus_6_bar_0_bar_0_bar_45)\n (receptacleAtLocation Toilet_bar__minus_01_dot_05_bar__plus_00_dot_00_bar__plus_00_dot_55 loc_bar__minus_2_bar_2_bar_3_bar_60)\n (receptacleAtLocation TowelHolder_bar__minus_00_dot_49_bar__plus_01_dot_35_bar__plus_01_dot_01 loc_bar__minus_2_bar_2_bar_0_bar_30)\n (objectAtLocation SoapBottle_bar__minus_02_dot_29_bar__plus_00_dot_96_bar__plus_00_dot_92 loc_bar__minus_8_bar_0_bar_0_bar_45)\n (objectAtLocation Cloth_bar__minus_02_dot_99_bar__plus_00_dot_08_bar__plus_00_dot_83 loc_bar__minus_9_bar__minus_2_bar_0_bar_60)\n (objectAtLocation SoapBar_bar__minus_02_dot_82_bar__plus_00_dot_18_bar__minus_01_dot_54 loc_bar__minus_9_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Candle_bar__minus_01_dot_54_bar__plus_01_dot_00_bar__plus_00_dot_63 loc_bar__minus_8_bar_0_bar_0_bar_45)\n (objectAtLocation Cloth_bar__plus_00_dot_49_bar__plus_00_dot_03_bar__plus_00_dot_56 loc_bar__minus_3_bar__minus_1_bar_1_bar_60)\n (objectAtLocation Bathtub_bar__plus_00_dot_29_bar__plus_00_dot_29_bar__minus_00_dot_08 loc_bar__minus_2_bar_0_bar_1_bar_60)\n (objectAtLocation Sink_bar__minus_01_dot_92_bar__plus_00_dot_93_bar__plus_00_dot_68 loc_bar__minus_8_bar_0_bar_0_bar_45)\n (objectAtLocation Mirror_bar__minus_02_dot_31_bar__plus_01_dot_53_bar__plus_01_dot_00 loc_bar__minus_9_bar_0_bar_0_bar_0)\n (objectAtLocation Sink_bar__minus_02_dot_68_bar__plus_00_dot_93_bar__plus_00_dot_68 loc_bar__minus_10_bar_0_bar_0_bar_45)\n (objectAtLocation Towel_bar__minus_00_dot_49_bar__plus_01_dot_37_bar__plus_00_dot_90 loc_bar__minus_2_bar_2_bar_0_bar_30)\n (objectAtLocation Candle_bar__minus_02_dot_71_bar__plus_01_dot_00_bar__plus_00_dot_91 loc_bar__minus_8_bar_0_bar_0_bar_45)\n (objectAtLocation LightSwitch_bar__minus_01_dot_39_bar__plus_01_dot_26_bar__minus_01_dot_69 loc_bar__minus_6_bar__minus_4_bar_2_bar_30)\n (objectAtLocation HandTowel_bar__minus_03_dot_10_bar__plus_01_dot_59_bar__plus_00_dot_74 loc_bar__minus_10_bar_0_bar_0_bar_0)\n (objectAtLocation SoapBar_bar__minus_02_dot_96_bar__plus_00_dot_18_bar__minus_01_dot_58 loc_bar__minus_9_bar__minus_2_bar_2_bar_60)\n (objectAtLocation ToiletPaper_bar__minus_01_dot_42_bar__plus_00_dot_82_bar__plus_00_dot_67 loc_bar__minus_6_bar_0_bar_0_bar_45)\n (objectAtLocation Cloth_bar__plus_00_dot_42_bar__plus_00_dot_03_bar__minus_00_dot_55 loc_bar__minus_3_bar__minus_1_bar_1_bar_60)\n (objectAtLocation ToiletPaper_bar__minus_01_dot_88_bar__plus_00_dot_96_bar__plus_00_dot_92 loc_bar__minus_8_bar_0_bar_0_bar_45)\n (objectAtLocation SprayBottle_bar__minus_01_dot_64_bar__plus_00_dot_08_bar__plus_00_dot_83 loc_bar__minus_9_bar__minus_2_bar_0_bar_60)\n (objectAtLocation ScrubBrush_bar__minus_00_dot_49_bar__plus_00_dot_00_bar__plus_00_dot_87 loc_bar__minus_2_bar_2_bar_0_bar_60)\n (objectAtLocation SoapBottle_bar__minus_02_dot_09_bar__plus_00_dot_08_bar__plus_00_dot_57 loc_bar__minus_6_bar__minus_2_bar_0_bar_60)\n (objectAtLocation Plunger_bar__minus_00_dot_71_bar__plus_00_dot_00_bar__plus_00_dot_83 loc_bar__minus_2_bar_2_bar_0_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o1 - object)\n (and\n (objectType ?o1 ToiletPaperType)\n (receptacleType ?r 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 2 from toiletpaperhanger 1", "go to cabinet 3", "open cabinet 3", "move toiletpaper 2 to cabinet 3", "go to countertop 1", "take toiletpaper 1 from countertop 1", "go to cabinet 3", "move toiletpaper 1 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-408/trial_T20190909_085658_782847/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-ToiletPaper-None-Cabinet-408/trial_T20190909_085658_782847/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..d2c64ef580f94514b71580db413fdf1904632ee1 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-ToiletPaper-None-Cabinet-408/trial_T20190909_085658_782847/initial_state.pddl @@ -0,0 +1,469 @@ + +(define (problem plan_trial_T20190909_085658_782847) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Bathtub_bar__plus_00_dot_29_bar__plus_00_dot_29_bar__minus_00_dot_08 - object + Candle_bar__minus_01_dot_54_bar__plus_01_dot_00_bar__plus_00_dot_63 - object + Candle_bar__minus_02_dot_71_bar__plus_01_dot_00_bar__plus_00_dot_91 - object + Cloth_bar__plus_00_dot_42_bar__plus_00_dot_03_bar__minus_00_dot_55 - object + Cloth_bar__plus_00_dot_49_bar__plus_00_dot_03_bar__plus_00_dot_56 - object + Cloth_bar__minus_02_dot_99_bar__plus_00_dot_08_bar__plus_00_dot_83 - object + Faucet_bar__plus_00_dot_27_bar__plus_00_dot_67_bar__plus_00_dot_91 - object + Faucet_bar__minus_01_dot_92_bar__plus_01_dot_02_bar__plus_00_dot_89 - object + Faucet_bar__minus_02_dot_68_bar__plus_01_dot_02_bar__plus_00_dot_89 - object + HandTowel_bar__minus_03_dot_10_bar__plus_01_dot_59_bar__plus_00_dot_74 - object + LightSwitch_bar__minus_01_dot_39_bar__plus_01_dot_26_bar__minus_01_dot_69 - object + Mirror_bar__minus_02_dot_31_bar__plus_01_dot_53_bar__plus_01_dot_00 - object + Plunger_bar__minus_00_dot_71_bar__plus_00_dot_00_bar__plus_00_dot_83 - object + ScrubBrush_bar__minus_00_dot_49_bar__plus_00_dot_00_bar__plus_00_dot_87 - object + ShowerCurtain_bar__minus_00_dot_29_bar__plus_01_dot_89_bar__minus_01_dot_03 - object + Sink_bar__minus_01_dot_92_bar__plus_00_dot_93_bar__plus_00_dot_68 - object + Sink_bar__minus_02_dot_68_bar__plus_00_dot_93_bar__plus_00_dot_68 - object + SoapBar_bar__minus_02_dot_82_bar__plus_00_dot_18_bar__minus_01_dot_54 - object + SoapBar_bar__minus_02_dot_96_bar__plus_00_dot_18_bar__minus_01_dot_58 - object + SoapBottle_bar__minus_02_dot_09_bar__plus_00_dot_08_bar__plus_00_dot_57 - object + SoapBottle_bar__minus_02_dot_29_bar__plus_00_dot_96_bar__plus_00_dot_92 - object + SprayBottle_bar__minus_01_dot_64_bar__plus_00_dot_08_bar__plus_00_dot_83 - object + ToiletPaper_bar__minus_01_dot_42_bar__plus_00_dot_82_bar__plus_00_dot_67 - object + ToiletPaper_bar__minus_01_dot_88_bar__plus_00_dot_96_bar__plus_00_dot_92 - object + Towel_bar__minus_00_dot_49_bar__plus_01_dot_37_bar__plus_00_dot_90 - object + Bathtub_bar__plus_00_dot_29_bar__plus_00_dot_29_bar__minus_00_dot_08_bar_BathtubBasin - receptacle + Cabinet_bar__minus_01_dot_50_bar__plus_00_dot_42_bar__plus_00_dot_43 - receptacle + Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_39_bar__plus_00_dot_42 - receptacle + Cabinet_bar__minus_02_dot_31_bar__plus_00_dot_42_bar__plus_00_dot_43 - receptacle + Cabinet_bar__minus_03_dot_09_bar__plus_00_dot_39_bar__plus_00_dot_42 - receptacle + CounterTop_bar__minus_02_dot_30_bar__plus_00_dot_95_bar__plus_00_dot_69 - receptacle + GarbageCan_bar__minus_02_dot_92_bar__plus_00_dot_00_bar__minus_01_dot_56 - receptacle + HandTowelHolder_bar__minus_03_dot_13_bar__plus_01_dot_69_bar__plus_00_dot_74 - receptacle + Sink_bar__minus_01_dot_92_bar__plus_00_dot_93_bar__plus_00_dot_68_bar_SinkBasin - receptacle + Sink_bar__minus_02_dot_68_bar__plus_00_dot_93_bar__plus_00_dot_68_bar_SinkBasin - receptacle + ToiletPaperHanger_bar__minus_01_dot_49_bar__plus_00_dot_81_bar__plus_00_dot_69 - receptacle + Toilet_bar__minus_01_dot_05_bar__plus_00_dot_00_bar__plus_00_dot_55 - receptacle + TowelHolder_bar__minus_00_dot_49_bar__plus_01_dot_35_bar__plus_01_dot_01 - receptacle + loc_bar__minus_6_bar_0_bar_0_bar_45 - location + loc_bar__minus_9_bar__minus_2_bar_2_bar_60 - location + loc_bar__minus_6_bar__minus_4_bar_2_bar_30 - location + loc_bar__minus_8_bar_0_bar_0_bar_45 - location + loc_bar__minus_9_bar__minus_2_bar_0_bar_60 - location + loc_bar__minus_10_bar_0_bar_0_bar_0 - location + loc_bar__minus_2_bar_2_bar_3_bar_60 - location + loc_bar__minus_2_bar_0_bar_1_bar_60 - location + loc_bar__minus_3_bar__minus_1_bar_1_bar_60 - location + loc_bar__minus_2_bar_2_bar_0_bar_60 - location + loc_bar__minus_8_bar__minus_2_bar_0_bar_60 - location + loc_bar__minus_7_bar_0_bar_0_bar_45 - location + loc_bar__minus_10_bar_0_bar_0_bar_45 - location + loc_bar__minus_6_bar__minus_2_bar_0_bar_60 - location + loc_bar__minus_9_bar_0_bar_0_bar_0 - location + loc_bar__minus_2_bar_2_bar_0_bar_30 - location + loc_bar__minus_8_bar__minus_2_bar_2_bar_30 - location + ) + + +(:init + + + (receptacleType GarbageCan_bar__minus_02_dot_92_bar__plus_00_dot_00_bar__minus_01_dot_56 GarbageCanType) + (receptacleType Cabinet_bar__minus_03_dot_09_bar__plus_00_dot_39_bar__plus_00_dot_42 CabinetType) + (receptacleType Cabinet_bar__minus_02_dot_31_bar__plus_00_dot_42_bar__plus_00_dot_43 CabinetType) + (receptacleType Toilet_bar__minus_01_dot_05_bar__plus_00_dot_00_bar__plus_00_dot_55 ToiletType) + (receptacleType Bathtub_bar__plus_00_dot_29_bar__plus_00_dot_29_bar__minus_00_dot_08_bar_BathtubBasin BathtubBasinType) + (receptacleType HandTowelHolder_bar__minus_03_dot_13_bar__plus_01_dot_69_bar__plus_00_dot_74 HandTowelHolderType) + (receptacleType CounterTop_bar__minus_02_dot_30_bar__plus_00_dot_95_bar__plus_00_dot_69 CounterTopType) + (receptacleType Cabinet_bar__minus_01_dot_50_bar__plus_00_dot_42_bar__plus_00_dot_43 CabinetType) + (receptacleType TowelHolder_bar__minus_00_dot_49_bar__plus_01_dot_35_bar__plus_01_dot_01 TowelHolderType) + (receptacleType Sink_bar__minus_01_dot_92_bar__plus_00_dot_93_bar__plus_00_dot_68_bar_SinkBasin SinkBasinType) + (receptacleType Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_39_bar__plus_00_dot_42 CabinetType) + (receptacleType ToiletPaperHanger_bar__minus_01_dot_49_bar__plus_00_dot_81_bar__plus_00_dot_69 ToiletPaperHangerType) + (receptacleType Sink_bar__minus_02_dot_68_bar__plus_00_dot_93_bar__plus_00_dot_68_bar_SinkBasin SinkBasinType) + (objectType Mirror_bar__minus_02_dot_31_bar__plus_01_dot_53_bar__plus_01_dot_00 MirrorType) + (objectType LightSwitch_bar__minus_01_dot_39_bar__plus_01_dot_26_bar__minus_01_dot_69 LightSwitchType) + (objectType SoapBottle_bar__minus_02_dot_29_bar__plus_00_dot_96_bar__plus_00_dot_92 SoapBottleType) + (objectType Candle_bar__minus_02_dot_71_bar__plus_01_dot_00_bar__plus_00_dot_91 CandleType) + (objectType SoapBar_bar__minus_02_dot_96_bar__plus_00_dot_18_bar__minus_01_dot_58 SoapBarType) + (objectType ToiletPaper_bar__minus_01_dot_88_bar__plus_00_dot_96_bar__plus_00_dot_92 ToiletPaperType) + (objectType HandTowel_bar__minus_03_dot_10_bar__plus_01_dot_59_bar__plus_00_dot_74 HandTowelType) + (objectType Cloth_bar__plus_00_dot_49_bar__plus_00_dot_03_bar__plus_00_dot_56 ClothType) + (objectType SoapBar_bar__minus_02_dot_82_bar__plus_00_dot_18_bar__minus_01_dot_54 SoapBarType) + (objectType Sink_bar__minus_02_dot_68_bar__plus_00_dot_93_bar__plus_00_dot_68 SinkType) + (objectType Bathtub_bar__plus_00_dot_29_bar__plus_00_dot_29_bar__minus_00_dot_08 BathtubType) + (objectType ToiletPaper_bar__minus_01_dot_42_bar__plus_00_dot_82_bar__plus_00_dot_67 ToiletPaperType) + (objectType Cloth_bar__plus_00_dot_42_bar__plus_00_dot_03_bar__minus_00_dot_55 ClothType) + (objectType Candle_bar__minus_01_dot_54_bar__plus_01_dot_00_bar__plus_00_dot_63 CandleType) + (objectType SoapBottle_bar__minus_02_dot_09_bar__plus_00_dot_08_bar__plus_00_dot_57 SoapBottleType) + (objectType Sink_bar__minus_01_dot_92_bar__plus_00_dot_93_bar__plus_00_dot_68 SinkType) + (objectType Towel_bar__minus_00_dot_49_bar__plus_01_dot_37_bar__plus_00_dot_90 TowelType) + (objectType Cloth_bar__minus_02_dot_99_bar__plus_00_dot_08_bar__plus_00_dot_83 ClothType) + (objectType SprayBottle_bar__minus_01_dot_64_bar__plus_00_dot_08_bar__plus_00_dot_83 SprayBottleType) + (objectType ScrubBrush_bar__minus_00_dot_49_bar__plus_00_dot_00_bar__plus_00_dot_87 ScrubBrushType) + (objectType Plunger_bar__minus_00_dot_71_bar__plus_00_dot_00_bar__plus_00_dot_83 PlungerType) + (canContain GarbageCanType SoapBarType) + (canContain GarbageCanType SprayBottleType) + (canContain GarbageCanType ToiletPaperType) + (canContain GarbageCanType SoapBottleType) + (canContain GarbageCanType ClothType) + (canContain GarbageCanType HandTowelType) + (canContain CabinetType CandleType) + (canContain CabinetType SoapBarType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType ToiletPaperType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType ClothType) + (canContain CabinetType HandTowelType) + (canContain CabinetType PlungerType) + (canContain CabinetType CandleType) + (canContain CabinetType SoapBarType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType ToiletPaperType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType ClothType) + (canContain CabinetType HandTowelType) + (canContain CabinetType PlungerType) + (canContain ToiletType SoapBottleType) + (canContain ToiletType HandTowelType) + (canContain ToiletType ToiletPaperType) + (canContain ToiletType ClothType) + (canContain ToiletType CandleType) + (canContain ToiletType SoapBarType) + (canContain ToiletType SprayBottleType) + (canContain BathtubBasinType ClothType) + (canContain BathtubBasinType HandTowelType) + (canContain BathtubBasinType SoapBarType) + (canContain HandTowelHolderType HandTowelType) + (canContain CounterTopType CandleType) + (canContain CounterTopType SoapBarType) + (canContain CounterTopType SprayBottleType) + (canContain CounterTopType ToiletPaperType) + (canContain CounterTopType SoapBottleType) + (canContain CounterTopType ClothType) + (canContain CounterTopType HandTowelType) + (canContain CabinetType CandleType) + (canContain CabinetType SoapBarType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType ToiletPaperType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType ClothType) + (canContain CabinetType HandTowelType) + (canContain CabinetType PlungerType) + (canContain TowelHolderType TowelType) + (canContain SinkBasinType SoapBarType) + (canContain SinkBasinType ClothType) + (canContain SinkBasinType HandTowelType) + (canContain CabinetType CandleType) + (canContain CabinetType SoapBarType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType ToiletPaperType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType ClothType) + (canContain CabinetType HandTowelType) + (canContain CabinetType PlungerType) + (canContain ToiletPaperHangerType ToiletPaperType) + (canContain SinkBasinType SoapBarType) + (canContain SinkBasinType ClothType) + (canContain SinkBasinType HandTowelType) + (pickupable SoapBottle_bar__minus_02_dot_29_bar__plus_00_dot_96_bar__plus_00_dot_92) + (pickupable Candle_bar__minus_02_dot_71_bar__plus_01_dot_00_bar__plus_00_dot_91) + (pickupable SoapBar_bar__minus_02_dot_96_bar__plus_00_dot_18_bar__minus_01_dot_58) + (pickupable ToiletPaper_bar__minus_01_dot_88_bar__plus_00_dot_96_bar__plus_00_dot_92) + (pickupable HandTowel_bar__minus_03_dot_10_bar__plus_01_dot_59_bar__plus_00_dot_74) + (pickupable Cloth_bar__plus_00_dot_49_bar__plus_00_dot_03_bar__plus_00_dot_56) + (pickupable SoapBar_bar__minus_02_dot_82_bar__plus_00_dot_18_bar__minus_01_dot_54) + (pickupable ToiletPaper_bar__minus_01_dot_42_bar__plus_00_dot_82_bar__plus_00_dot_67) + (pickupable Cloth_bar__plus_00_dot_42_bar__plus_00_dot_03_bar__minus_00_dot_55) + (pickupable Candle_bar__minus_01_dot_54_bar__plus_01_dot_00_bar__plus_00_dot_63) + (pickupable SoapBottle_bar__minus_02_dot_09_bar__plus_00_dot_08_bar__plus_00_dot_57) + (pickupable Towel_bar__minus_00_dot_49_bar__plus_01_dot_37_bar__plus_00_dot_90) + (pickupable Cloth_bar__minus_02_dot_99_bar__plus_00_dot_08_bar__plus_00_dot_83) + (pickupable SprayBottle_bar__minus_01_dot_64_bar__plus_00_dot_08_bar__plus_00_dot_83) + (pickupable ScrubBrush_bar__minus_00_dot_49_bar__plus_00_dot_00_bar__plus_00_dot_87) + (pickupable Plunger_bar__minus_00_dot_71_bar__plus_00_dot_00_bar__plus_00_dot_83) + + (openable Cabinet_bar__minus_03_dot_09_bar__plus_00_dot_39_bar__plus_00_dot_42) + (openable Cabinet_bar__minus_02_dot_31_bar__plus_00_dot_42_bar__plus_00_dot_43) + (openable Cabinet_bar__minus_01_dot_50_bar__plus_00_dot_42_bar__plus_00_dot_43) + (openable Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_39_bar__plus_00_dot_42) + + (atLocation agent1 loc_bar__minus_8_bar__minus_2_bar_2_bar_30) + + (cleanable SoapBar_bar__minus_02_dot_96_bar__plus_00_dot_18_bar__minus_01_dot_58) + (cleanable Cloth_bar__plus_00_dot_49_bar__plus_00_dot_03_bar__plus_00_dot_56) + (cleanable SoapBar_bar__minus_02_dot_82_bar__plus_00_dot_18_bar__minus_01_dot_54) + (cleanable Cloth_bar__plus_00_dot_42_bar__plus_00_dot_03_bar__minus_00_dot_55) + (cleanable Cloth_bar__minus_02_dot_99_bar__plus_00_dot_08_bar__plus_00_dot_83) + + + + + + + + + + + (inReceptacle Cloth_bar__minus_02_dot_99_bar__plus_00_dot_08_bar__plus_00_dot_83 Cabinet_bar__minus_03_dot_09_bar__plus_00_dot_39_bar__plus_00_dot_42) + (inReceptacle Candle_bar__minus_01_dot_54_bar__plus_01_dot_00_bar__plus_00_dot_63 CounterTop_bar__minus_02_dot_30_bar__plus_00_dot_95_bar__plus_00_dot_69) + (inReceptacle Candle_bar__minus_02_dot_71_bar__plus_01_dot_00_bar__plus_00_dot_91 CounterTop_bar__minus_02_dot_30_bar__plus_00_dot_95_bar__plus_00_dot_69) + (inReceptacle ToiletPaper_bar__minus_01_dot_88_bar__plus_00_dot_96_bar__plus_00_dot_92 CounterTop_bar__minus_02_dot_30_bar__plus_00_dot_95_bar__plus_00_dot_69) + (inReceptacle SoapBottle_bar__minus_02_dot_29_bar__plus_00_dot_96_bar__plus_00_dot_92 CounterTop_bar__minus_02_dot_30_bar__plus_00_dot_95_bar__plus_00_dot_69) + (inReceptacle SprayBottle_bar__minus_01_dot_64_bar__plus_00_dot_08_bar__plus_00_dot_83 Cabinet_bar__minus_01_dot_50_bar__plus_00_dot_42_bar__plus_00_dot_43) + (inReceptacle SoapBottle_bar__minus_02_dot_09_bar__plus_00_dot_08_bar__plus_00_dot_57 Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_39_bar__plus_00_dot_42) + (inReceptacle SoapBar_bar__minus_02_dot_96_bar__plus_00_dot_18_bar__minus_01_dot_58 GarbageCan_bar__minus_02_dot_92_bar__plus_00_dot_00_bar__minus_01_dot_56) + (inReceptacle SoapBar_bar__minus_02_dot_82_bar__plus_00_dot_18_bar__minus_01_dot_54 GarbageCan_bar__minus_02_dot_92_bar__plus_00_dot_00_bar__minus_01_dot_56) + (inReceptacle Towel_bar__minus_00_dot_49_bar__plus_01_dot_37_bar__plus_00_dot_90 TowelHolder_bar__minus_00_dot_49_bar__plus_01_dot_35_bar__plus_01_dot_01) + (inReceptacle Cloth_bar__plus_00_dot_49_bar__plus_00_dot_03_bar__plus_00_dot_56 Bathtub_bar__plus_00_dot_29_bar__plus_00_dot_29_bar__minus_00_dot_08_bar_BathtubBasin) + (inReceptacle Cloth_bar__plus_00_dot_42_bar__plus_00_dot_03_bar__minus_00_dot_55 Bathtub_bar__plus_00_dot_29_bar__plus_00_dot_29_bar__minus_00_dot_08_bar_BathtubBasin) + (inReceptacle HandTowel_bar__minus_03_dot_10_bar__plus_01_dot_59_bar__plus_00_dot_74 HandTowelHolder_bar__minus_03_dot_13_bar__plus_01_dot_69_bar__plus_00_dot_74) + (inReceptacle ToiletPaper_bar__minus_01_dot_42_bar__plus_00_dot_82_bar__plus_00_dot_67 ToiletPaperHanger_bar__minus_01_dot_49_bar__plus_00_dot_81_bar__plus_00_dot_69) + + + (receptacleAtLocation Bathtub_bar__plus_00_dot_29_bar__plus_00_dot_29_bar__minus_00_dot_08_bar_BathtubBasin loc_bar__minus_3_bar__minus_1_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__minus_01_dot_50_bar__plus_00_dot_42_bar__plus_00_dot_43 loc_bar__minus_9_bar__minus_2_bar_0_bar_60) + (receptacleAtLocation Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_39_bar__plus_00_dot_42 loc_bar__minus_6_bar__minus_2_bar_0_bar_60) + (receptacleAtLocation Cabinet_bar__minus_02_dot_31_bar__plus_00_dot_42_bar__plus_00_dot_43 loc_bar__minus_8_bar__minus_2_bar_0_bar_60) + (receptacleAtLocation Cabinet_bar__minus_03_dot_09_bar__plus_00_dot_39_bar__plus_00_dot_42 loc_bar__minus_9_bar__minus_2_bar_0_bar_60) + (receptacleAtLocation CounterTop_bar__minus_02_dot_30_bar__plus_00_dot_95_bar__plus_00_dot_69 loc_bar__minus_8_bar_0_bar_0_bar_45) + (receptacleAtLocation GarbageCan_bar__minus_02_dot_92_bar__plus_00_dot_00_bar__minus_01_dot_56 loc_bar__minus_9_bar__minus_2_bar_2_bar_60) + (receptacleAtLocation HandTowelHolder_bar__minus_03_dot_13_bar__plus_01_dot_69_bar__plus_00_dot_74 loc_bar__minus_10_bar_0_bar_0_bar_0) + (receptacleAtLocation Sink_bar__minus_01_dot_92_bar__plus_00_dot_93_bar__plus_00_dot_68_bar_SinkBasin loc_bar__minus_7_bar_0_bar_0_bar_45) + (receptacleAtLocation Sink_bar__minus_02_dot_68_bar__plus_00_dot_93_bar__plus_00_dot_68_bar_SinkBasin loc_bar__minus_10_bar_0_bar_0_bar_45) + (receptacleAtLocation ToiletPaperHanger_bar__minus_01_dot_49_bar__plus_00_dot_81_bar__plus_00_dot_69 loc_bar__minus_6_bar_0_bar_0_bar_45) + (receptacleAtLocation Toilet_bar__minus_01_dot_05_bar__plus_00_dot_00_bar__plus_00_dot_55 loc_bar__minus_2_bar_2_bar_3_bar_60) + (receptacleAtLocation TowelHolder_bar__minus_00_dot_49_bar__plus_01_dot_35_bar__plus_01_dot_01 loc_bar__minus_2_bar_2_bar_0_bar_30) + (objectAtLocation SoapBottle_bar__minus_02_dot_29_bar__plus_00_dot_96_bar__plus_00_dot_92 loc_bar__minus_8_bar_0_bar_0_bar_45) + (objectAtLocation Cloth_bar__minus_02_dot_99_bar__plus_00_dot_08_bar__plus_00_dot_83 loc_bar__minus_9_bar__minus_2_bar_0_bar_60) + (objectAtLocation SoapBar_bar__minus_02_dot_82_bar__plus_00_dot_18_bar__minus_01_dot_54 loc_bar__minus_9_bar__minus_2_bar_2_bar_60) + (objectAtLocation Candle_bar__minus_01_dot_54_bar__plus_01_dot_00_bar__plus_00_dot_63 loc_bar__minus_8_bar_0_bar_0_bar_45) + (objectAtLocation Cloth_bar__plus_00_dot_49_bar__plus_00_dot_03_bar__plus_00_dot_56 loc_bar__minus_3_bar__minus_1_bar_1_bar_60) + (objectAtLocation Bathtub_bar__plus_00_dot_29_bar__plus_00_dot_29_bar__minus_00_dot_08 loc_bar__minus_2_bar_0_bar_1_bar_60) + (objectAtLocation Sink_bar__minus_01_dot_92_bar__plus_00_dot_93_bar__plus_00_dot_68 loc_bar__minus_8_bar_0_bar_0_bar_45) + (objectAtLocation Mirror_bar__minus_02_dot_31_bar__plus_01_dot_53_bar__plus_01_dot_00 loc_bar__minus_9_bar_0_bar_0_bar_0) + (objectAtLocation Sink_bar__minus_02_dot_68_bar__plus_00_dot_93_bar__plus_00_dot_68 loc_bar__minus_10_bar_0_bar_0_bar_45) + (objectAtLocation Towel_bar__minus_00_dot_49_bar__plus_01_dot_37_bar__plus_00_dot_90 loc_bar__minus_2_bar_2_bar_0_bar_30) + (objectAtLocation Candle_bar__minus_02_dot_71_bar__plus_01_dot_00_bar__plus_00_dot_91 loc_bar__minus_8_bar_0_bar_0_bar_45) + (objectAtLocation LightSwitch_bar__minus_01_dot_39_bar__plus_01_dot_26_bar__minus_01_dot_69 loc_bar__minus_6_bar__minus_4_bar_2_bar_30) + (objectAtLocation HandTowel_bar__minus_03_dot_10_bar__plus_01_dot_59_bar__plus_00_dot_74 loc_bar__minus_10_bar_0_bar_0_bar_0) + (objectAtLocation SoapBar_bar__minus_02_dot_96_bar__plus_00_dot_18_bar__minus_01_dot_58 loc_bar__minus_9_bar__minus_2_bar_2_bar_60) + (objectAtLocation ToiletPaper_bar__minus_01_dot_42_bar__plus_00_dot_82_bar__plus_00_dot_67 loc_bar__minus_6_bar_0_bar_0_bar_45) + (objectAtLocation Cloth_bar__plus_00_dot_42_bar__plus_00_dot_03_bar__minus_00_dot_55 loc_bar__minus_3_bar__minus_1_bar_1_bar_60) + (objectAtLocation ToiletPaper_bar__minus_01_dot_88_bar__plus_00_dot_96_bar__plus_00_dot_92 loc_bar__minus_8_bar_0_bar_0_bar_45) + (objectAtLocation SprayBottle_bar__minus_01_dot_64_bar__plus_00_dot_08_bar__plus_00_dot_83 loc_bar__minus_9_bar__minus_2_bar_0_bar_60) + (objectAtLocation ScrubBrush_bar__minus_00_dot_49_bar__plus_00_dot_00_bar__plus_00_dot_87 loc_bar__minus_2_bar_2_bar_0_bar_60) + (objectAtLocation SoapBottle_bar__minus_02_dot_09_bar__plus_00_dot_08_bar__plus_00_dot_57 loc_bar__minus_6_bar__minus_2_bar_0_bar_60) + (objectAtLocation Plunger_bar__minus_00_dot_71_bar__plus_00_dot_00_bar__plus_00_dot_83 loc_bar__minus_2_bar_2_bar_0_bar_60) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o1 - object) + (and + (objectType ?o1 ToiletPaperType) + (receptacleType ?r 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-408/trial_T20190909_085658_782847/traj_data.json b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-ToiletPaper-None-Cabinet-408/trial_T20190909_085658_782847/traj_data.json new file mode 100644 index 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0.1828304, + "z": -1.58461249 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SoapBottle_e993ea70", + "position": { + "x": -2.0939, + "y": 0.0830844045, + "z": 0.567163 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Towel_b839ade7", + "position": { + "x": -0.490000516, + "y": 1.3670001, + "z": 0.9026544 + }, + "rotation": { + "x": 0.0, + "y": 180.000259, + "z": 0.0 + } + }, + { + "objectName": "Candle_785b187e", + "position": { + "x": -1.54014349, + "y": 1.0014143, + "z": 0.6301861 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "HandTowel_f391da11", + "position": { + "x": -3.09641314, + "y": 1.587, + "z": 0.744 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "SoapBar_3fe03e51", + "position": { + "x": -2.823437, + "y": 0.1828304, + "z": -1.5353874 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "ToiletPaper_3de2642c", + "position": { + "x": -1.416, + "y": 0.8162, + "z": 0.6653999 + }, + "rotation": { + "x": 0.0, + "y": 90.00002, + "z": 269.999969 + } + }, + { + "objectName": "Cloth_6a80aa54", + "position": { + "x": -2.99230146, + "y": 0.08189297, + "z": 0.8252923 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "ToiletPaper_94faa429", + "position": { + "x": -1.8787868, + "y": 0.957, + "z": 0.9220674 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SprayBottle_0d562139", + "position": { + "x": -1.64291286, + "y": 0.08258498, + "z": 0.8252923 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "ScrubBrush_ca1847f9", + "position": { + "x": -0.4850965, + "y": 0.00104796886, + "z": 0.873910666 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SoapBottle_e993ea70", + "position": { + "x": -2.29449749, + "y": 0.9619035, + "z": 0.9220674 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Plunger_6b4e4cec", + "position": { + "x": -0.710990548, + "y": 0.000584982336, + "z": 0.828180134 + }, + "rotation": { + "x": -0.00118286943, + "y": 0.0004387156, + "z": 0.0007826461 + } + } + ], + "object_toggles": [], + "random_seed": 3354774617, + "scene_num": 408 + }, + "task_id": "trial_T20190909_085658_782847", + "task_type": "pick_two_obj_and_place", + "turk_annotations": { + "anns": [ + { + "assignment_id": "AO33H4GL9KZX9_3NOKK93PR4ZVM88Y0RTYQRLZW17EEO", + "high_descs": [ + "Turn around and go to the left side of the toilet. ", + "Remove the toilet paper from the holder. ", + "Move over left to the right cabinet below the left sink.", + "Place the toilet paper in the cabinet. ", + "Move closer to the sink on the right.", + "Pick up the empty toilet paper roll behind the faucet.", + "Move back from the sink to be able to open the cabinet.", + "Place the empty toilet paper roll in the right cabinet below the left sink." + ], + "task_desc": "Put a new and empty toilet paper rolls into the cabinet.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A20FCMWP43CVIU_3QUO65DNQXFYNVI9K5BZZL1GMR8UOQ", + "high_descs": [ + "walk to face toilet", + "pick up toilet paper from toilet paper hanger", + "walk to face cabinets under sink", + "put toilet paper in cabinet", + "walk to face sinks", + "pick up toilet paper roll from counter near sinks", + "walk to face cabinets under sink", + "put toilet roll in cabinet" + ], + "task_desc": "put toilet paper and roll in cabinet", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1HKHM4NVAO98H_3WRFBPLXRDFW6G5E46FLXNBBJ48N3L", + "high_descs": [ + "turn around and walk over to the right side of the kitchen sink cabinet", + "grab a roll of toilet paper off of the toilet paper roll holder", + "turn around and back up a bit, then face the bathroom cabinets again", + "place the roll of toilet paper inside the bottom left cabinet", + "move forwards a bit to the bathroom sink on the right", + "grab the toilet paper roll holder tube off of the back side of the bathroom sink", + "turn around to back up a bit, and then face the bathroom cabinets again", + "place the tube inside of the same bottom left cabinet you put the toilet paper in" + ], + "task_desc": "place a toilet paper roll and a toilet paper roll holding tube inside of the bathroom cabinet", + "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-408/trial_T20190909_085729_823246/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-ToiletPaper-None-Cabinet-408/trial_T20190909_085729_823246/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..04543aa83014794b54290c2d2ef66cdab6b61064 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-ToiletPaper-None-Cabinet-408/trial_T20190909_085729_823246/initial_state.pddl @@ -0,0 +1,457 @@ + +(define (problem plan_trial_T20190909_085729_823246) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Bathtub_bar__plus_00_dot_29_bar__plus_00_dot_29_bar__minus_00_dot_08 - object + Candle_bar__minus_00_dot_99_bar__plus_01_dot_09_bar__plus_00_dot_81 - object + Cloth_bar__plus_00_dot_21_bar__plus_00_dot_03_bar__minus_00_dot_32 - object + Cloth_bar__plus_00_dot_28_bar__plus_00_dot_03_bar__plus_00_dot_12 - object + Cloth_bar__minus_01_dot_78_bar__plus_00_dot_08_bar__plus_00_dot_63 - object + Faucet_bar__plus_00_dot_27_bar__plus_00_dot_67_bar__plus_00_dot_91 - object + Faucet_bar__minus_01_dot_92_bar__plus_01_dot_02_bar__plus_00_dot_89 - object + Faucet_bar__minus_02_dot_68_bar__plus_01_dot_02_bar__plus_00_dot_89 - object + HandTowel_bar__minus_03_dot_10_bar__plus_01_dot_59_bar__plus_00_dot_74 - object + LightSwitch_bar__minus_01_dot_39_bar__plus_01_dot_26_bar__minus_01_dot_69 - object + Mirror_bar__minus_02_dot_31_bar__plus_01_dot_53_bar__plus_01_dot_00 - object + Plunger_bar__minus_00_dot_71_bar__plus_00_dot_00_bar__plus_00_dot_83 - object + ScrubBrush_bar__minus_00_dot_49_bar__plus_00_dot_00_bar__plus_00_dot_87 - object + ShowerCurtain_bar__minus_00_dot_29_bar__plus_01_dot_89_bar__minus_01_dot_03 - object + Sink_bar__minus_01_dot_92_bar__plus_00_dot_93_bar__plus_00_dot_68 - object + Sink_bar__minus_02_dot_68_bar__plus_00_dot_93_bar__plus_00_dot_68 - object + SoapBar_bar__minus_00_dot_86_bar__plus_01_dot_05_bar__plus_00_dot_91 - object + SoapBottle_bar__minus_01_dot_25_bar__plus_01_dot_05_bar__plus_00_dot_88 - object + SprayBottle_bar__minus_02_dot_50_bar__plus_00_dot_08_bar__plus_00_dot_89 - object + SprayBottle_bar__minus_02_dot_99_bar__plus_00_dot_08_bar__plus_00_dot_89 - object + ToiletPaper_bar__minus_00_dot_17_bar__plus_00_dot_51_bar__plus_00_dot_69 - object + ToiletPaper_bar__minus_01_dot_42_bar__plus_00_dot_82_bar__plus_00_dot_67 - object + Towel_bar__minus_00_dot_49_bar__plus_01_dot_37_bar__plus_00_dot_90 - object + Bathtub_bar__plus_00_dot_29_bar__plus_00_dot_29_bar__minus_00_dot_08_bar_BathtubBasin - receptacle + Cabinet_bar__minus_01_dot_50_bar__plus_00_dot_42_bar__plus_00_dot_43 - receptacle + Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_39_bar__plus_00_dot_42 - receptacle + Cabinet_bar__minus_02_dot_31_bar__plus_00_dot_42_bar__plus_00_dot_43 - receptacle + Cabinet_bar__minus_03_dot_09_bar__plus_00_dot_39_bar__plus_00_dot_42 - receptacle + CounterTop_bar__minus_02_dot_30_bar__plus_00_dot_95_bar__plus_00_dot_69 - receptacle + GarbageCan_bar__minus_02_dot_92_bar__plus_00_dot_00_bar__minus_01_dot_56 - receptacle + HandTowelHolder_bar__minus_03_dot_13_bar__plus_01_dot_69_bar__plus_00_dot_74 - receptacle + Sink_bar__minus_01_dot_92_bar__plus_00_dot_93_bar__plus_00_dot_68_bar_SinkBasin - receptacle + Sink_bar__minus_02_dot_68_bar__plus_00_dot_93_bar__plus_00_dot_68_bar_SinkBasin - receptacle + ToiletPaperHanger_bar__minus_01_dot_49_bar__plus_00_dot_81_bar__plus_00_dot_69 - receptacle + Toilet_bar__minus_01_dot_05_bar__plus_00_dot_00_bar__plus_00_dot_55 - receptacle + TowelHolder_bar__minus_00_dot_49_bar__plus_01_dot_35_bar__plus_01_dot_01 - receptacle + loc_bar__minus_6_bar_0_bar_0_bar_45 - location + loc_bar__minus_9_bar__minus_2_bar_2_bar_60 - location + loc_bar__minus_6_bar__minus_4_bar_2_bar_30 - location + loc_bar__minus_8_bar_0_bar_0_bar_45 - location + loc_bar__minus_9_bar__minus_2_bar_0_bar_60 - location + loc_bar__minus_10_bar_0_bar_0_bar_0 - location + loc_bar__minus_2_bar_2_bar_3_bar_60 - location + loc_bar__minus_2_bar_0_bar_1_bar_60 - location + loc_bar__minus_3_bar__minus_1_bar_1_bar_60 - location + loc_bar__minus_2_bar_2_bar_0_bar_60 - location + loc_bar__minus_8_bar__minus_2_bar_0_bar_60 - location + loc_bar__minus_7_bar_0_bar_0_bar_45 - location + loc_bar__minus_10_bar_0_bar_0_bar_45 - location + loc_bar__minus_6_bar__minus_2_bar_0_bar_60 - location + loc_bar__minus_9_bar_0_bar_0_bar_0 - location + loc_bar__minus_2_bar_2_bar_0_bar_30 - location + loc_bar__minus_9_bar__minus_4_bar_0_bar_30 - location + ) + + +(:init + + + (receptacleType GarbageCan_bar__minus_02_dot_92_bar__plus_00_dot_00_bar__minus_01_dot_56 GarbageCanType) + (receptacleType Cabinet_bar__minus_03_dot_09_bar__plus_00_dot_39_bar__plus_00_dot_42 CabinetType) + (receptacleType Cabinet_bar__minus_02_dot_31_bar__plus_00_dot_42_bar__plus_00_dot_43 CabinetType) + (receptacleType Toilet_bar__minus_01_dot_05_bar__plus_00_dot_00_bar__plus_00_dot_55 ToiletType) + (receptacleType Bathtub_bar__plus_00_dot_29_bar__plus_00_dot_29_bar__minus_00_dot_08_bar_BathtubBasin BathtubBasinType) + (receptacleType HandTowelHolder_bar__minus_03_dot_13_bar__plus_01_dot_69_bar__plus_00_dot_74 HandTowelHolderType) + (receptacleType CounterTop_bar__minus_02_dot_30_bar__plus_00_dot_95_bar__plus_00_dot_69 CounterTopType) + (receptacleType Cabinet_bar__minus_01_dot_50_bar__plus_00_dot_42_bar__plus_00_dot_43 CabinetType) + (receptacleType TowelHolder_bar__minus_00_dot_49_bar__plus_01_dot_35_bar__plus_01_dot_01 TowelHolderType) + (receptacleType Sink_bar__minus_01_dot_92_bar__plus_00_dot_93_bar__plus_00_dot_68_bar_SinkBasin SinkBasinType) + (receptacleType Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_39_bar__plus_00_dot_42 CabinetType) + (receptacleType ToiletPaperHanger_bar__minus_01_dot_49_bar__plus_00_dot_81_bar__plus_00_dot_69 ToiletPaperHangerType) + (receptacleType Sink_bar__minus_02_dot_68_bar__plus_00_dot_93_bar__plus_00_dot_68_bar_SinkBasin SinkBasinType) + (objectType Mirror_bar__minus_02_dot_31_bar__plus_01_dot_53_bar__plus_01_dot_00 MirrorType) + (objectType SprayBottle_bar__minus_02_dot_99_bar__plus_00_dot_08_bar__plus_00_dot_89 SprayBottleType) + (objectType LightSwitch_bar__minus_01_dot_39_bar__plus_01_dot_26_bar__minus_01_dot_69 LightSwitchType) + (objectType HandTowel_bar__minus_03_dot_10_bar__plus_01_dot_59_bar__plus_00_dot_74 HandTowelType) + (objectType Cloth_bar__plus_00_dot_28_bar__plus_00_dot_03_bar__plus_00_dot_12 ClothType) + (objectType Sink_bar__minus_02_dot_68_bar__plus_00_dot_93_bar__plus_00_dot_68 SinkType) + (objectType Bathtub_bar__plus_00_dot_29_bar__plus_00_dot_29_bar__minus_00_dot_08 BathtubType) + (objectType ToiletPaper_bar__minus_01_dot_42_bar__plus_00_dot_82_bar__plus_00_dot_67 ToiletPaperType) + (objectType Cloth_bar__minus_01_dot_78_bar__plus_00_dot_08_bar__plus_00_dot_63 ClothType) + (objectType ToiletPaper_bar__minus_00_dot_17_bar__plus_00_dot_51_bar__plus_00_dot_69 ToiletPaperType) + (objectType Cloth_bar__plus_00_dot_21_bar__plus_00_dot_03_bar__minus_00_dot_32 ClothType) + (objectType Sink_bar__minus_01_dot_92_bar__plus_00_dot_93_bar__plus_00_dot_68 SinkType) + (objectType SprayBottle_bar__minus_02_dot_50_bar__plus_00_dot_08_bar__plus_00_dot_89 SprayBottleType) + (objectType Towel_bar__minus_00_dot_49_bar__plus_01_dot_37_bar__plus_00_dot_90 TowelType) + (objectType SoapBar_bar__minus_00_dot_86_bar__plus_01_dot_05_bar__plus_00_dot_91 SoapBarType) + (objectType SoapBottle_bar__minus_01_dot_25_bar__plus_01_dot_05_bar__plus_00_dot_88 SoapBottleType) + (objectType Candle_bar__minus_00_dot_99_bar__plus_01_dot_09_bar__plus_00_dot_81 CandleType) + (objectType ScrubBrush_bar__minus_00_dot_49_bar__plus_00_dot_00_bar__plus_00_dot_87 ScrubBrushType) + (objectType Plunger_bar__minus_00_dot_71_bar__plus_00_dot_00_bar__plus_00_dot_83 PlungerType) + (canContain GarbageCanType SoapBarType) + (canContain GarbageCanType SprayBottleType) + (canContain GarbageCanType ToiletPaperType) + (canContain GarbageCanType SoapBottleType) + (canContain GarbageCanType ClothType) + (canContain GarbageCanType HandTowelType) + (canContain CabinetType CandleType) + (canContain CabinetType SoapBarType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType ToiletPaperType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType ClothType) + (canContain CabinetType HandTowelType) + (canContain CabinetType PlungerType) + (canContain CabinetType CandleType) + (canContain CabinetType SoapBarType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType ToiletPaperType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType ClothType) + (canContain CabinetType HandTowelType) + (canContain CabinetType PlungerType) + (canContain ToiletType SoapBottleType) + (canContain ToiletType HandTowelType) + (canContain ToiletType ToiletPaperType) + (canContain ToiletType ClothType) + (canContain ToiletType CandleType) + (canContain ToiletType SoapBarType) + (canContain ToiletType SprayBottleType) + (canContain BathtubBasinType ClothType) + (canContain BathtubBasinType HandTowelType) + (canContain BathtubBasinType SoapBarType) + (canContain HandTowelHolderType HandTowelType) + (canContain CounterTopType CandleType) + (canContain CounterTopType SoapBarType) + (canContain CounterTopType SprayBottleType) + (canContain CounterTopType ToiletPaperType) + (canContain CounterTopType SoapBottleType) + (canContain CounterTopType ClothType) + (canContain CounterTopType HandTowelType) + (canContain CabinetType CandleType) + (canContain CabinetType SoapBarType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType ToiletPaperType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType ClothType) + (canContain CabinetType HandTowelType) + (canContain CabinetType PlungerType) + (canContain TowelHolderType TowelType) + (canContain SinkBasinType SoapBarType) + (canContain SinkBasinType ClothType) + (canContain SinkBasinType HandTowelType) + (canContain CabinetType CandleType) + (canContain CabinetType SoapBarType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType ToiletPaperType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType ClothType) + (canContain CabinetType HandTowelType) + (canContain CabinetType PlungerType) + (canContain ToiletPaperHangerType ToiletPaperType) + (canContain SinkBasinType SoapBarType) + (canContain SinkBasinType ClothType) + (canContain SinkBasinType HandTowelType) + (pickupable SprayBottle_bar__minus_02_dot_99_bar__plus_00_dot_08_bar__plus_00_dot_89) + (pickupable HandTowel_bar__minus_03_dot_10_bar__plus_01_dot_59_bar__plus_00_dot_74) + (pickupable Cloth_bar__plus_00_dot_28_bar__plus_00_dot_03_bar__plus_00_dot_12) + (pickupable ToiletPaper_bar__minus_01_dot_42_bar__plus_00_dot_82_bar__plus_00_dot_67) + (pickupable Cloth_bar__minus_01_dot_78_bar__plus_00_dot_08_bar__plus_00_dot_63) + (pickupable ToiletPaper_bar__minus_00_dot_17_bar__plus_00_dot_51_bar__plus_00_dot_69) + (pickupable Cloth_bar__plus_00_dot_21_bar__plus_00_dot_03_bar__minus_00_dot_32) + (pickupable SprayBottle_bar__minus_02_dot_50_bar__plus_00_dot_08_bar__plus_00_dot_89) + (pickupable Towel_bar__minus_00_dot_49_bar__plus_01_dot_37_bar__plus_00_dot_90) + (pickupable SoapBar_bar__minus_00_dot_86_bar__plus_01_dot_05_bar__plus_00_dot_91) + (pickupable SoapBottle_bar__minus_01_dot_25_bar__plus_01_dot_05_bar__plus_00_dot_88) + (pickupable Candle_bar__minus_00_dot_99_bar__plus_01_dot_09_bar__plus_00_dot_81) + (pickupable ScrubBrush_bar__minus_00_dot_49_bar__plus_00_dot_00_bar__plus_00_dot_87) + (pickupable Plunger_bar__minus_00_dot_71_bar__plus_00_dot_00_bar__plus_00_dot_83) + + (openable Cabinet_bar__minus_03_dot_09_bar__plus_00_dot_39_bar__plus_00_dot_42) + (openable Cabinet_bar__minus_02_dot_31_bar__plus_00_dot_42_bar__plus_00_dot_43) + (openable Cabinet_bar__minus_01_dot_50_bar__plus_00_dot_42_bar__plus_00_dot_43) + (openable Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_39_bar__plus_00_dot_42) + + (atLocation agent1 loc_bar__minus_9_bar__minus_4_bar_0_bar_30) + + (cleanable Cloth_bar__plus_00_dot_28_bar__plus_00_dot_03_bar__plus_00_dot_12) + (cleanable Cloth_bar__minus_01_dot_78_bar__plus_00_dot_08_bar__plus_00_dot_63) + (cleanable Cloth_bar__plus_00_dot_21_bar__plus_00_dot_03_bar__minus_00_dot_32) + (cleanable SoapBar_bar__minus_00_dot_86_bar__plus_01_dot_05_bar__plus_00_dot_91) + + + + + + + + + + + (inReceptacle SprayBottle_bar__minus_02_dot_99_bar__plus_00_dot_08_bar__plus_00_dot_89 Cabinet_bar__minus_03_dot_09_bar__plus_00_dot_39_bar__plus_00_dot_42) + (inReceptacle SprayBottle_bar__minus_02_dot_50_bar__plus_00_dot_08_bar__plus_00_dot_89 Cabinet_bar__minus_02_dot_31_bar__plus_00_dot_42_bar__plus_00_dot_43) + (inReceptacle Cloth_bar__minus_01_dot_78_bar__plus_00_dot_08_bar__plus_00_dot_63 Cabinet_bar__minus_01_dot_50_bar__plus_00_dot_42_bar__plus_00_dot_43) + (inReceptacle Towel_bar__minus_00_dot_49_bar__plus_01_dot_37_bar__plus_00_dot_90 TowelHolder_bar__minus_00_dot_49_bar__plus_01_dot_35_bar__plus_01_dot_01) + (inReceptacle Cloth_bar__plus_00_dot_21_bar__plus_00_dot_03_bar__minus_00_dot_32 Bathtub_bar__plus_00_dot_29_bar__plus_00_dot_29_bar__minus_00_dot_08_bar_BathtubBasin) + (inReceptacle Cloth_bar__plus_00_dot_28_bar__plus_00_dot_03_bar__plus_00_dot_12 Bathtub_bar__plus_00_dot_29_bar__plus_00_dot_29_bar__minus_00_dot_08_bar_BathtubBasin) + (inReceptacle HandTowel_bar__minus_03_dot_10_bar__plus_01_dot_59_bar__plus_00_dot_74 HandTowelHolder_bar__minus_03_dot_13_bar__plus_01_dot_69_bar__plus_00_dot_74) + (inReceptacle ToiletPaper_bar__minus_01_dot_42_bar__plus_00_dot_82_bar__plus_00_dot_67 ToiletPaperHanger_bar__minus_01_dot_49_bar__plus_00_dot_81_bar__plus_00_dot_69) + (inReceptacle SoapBar_bar__minus_00_dot_86_bar__plus_01_dot_05_bar__plus_00_dot_91 Toilet_bar__minus_01_dot_05_bar__plus_00_dot_00_bar__plus_00_dot_55) + (inReceptacle Candle_bar__minus_00_dot_99_bar__plus_01_dot_09_bar__plus_00_dot_81 Toilet_bar__minus_01_dot_05_bar__plus_00_dot_00_bar__plus_00_dot_55) + (inReceptacle SoapBottle_bar__minus_01_dot_25_bar__plus_01_dot_05_bar__plus_00_dot_88 Toilet_bar__minus_01_dot_05_bar__plus_00_dot_00_bar__plus_00_dot_55) + + + (receptacleAtLocation Bathtub_bar__plus_00_dot_29_bar__plus_00_dot_29_bar__minus_00_dot_08_bar_BathtubBasin loc_bar__minus_3_bar__minus_1_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__minus_01_dot_50_bar__plus_00_dot_42_bar__plus_00_dot_43 loc_bar__minus_9_bar__minus_2_bar_0_bar_60) + (receptacleAtLocation Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_39_bar__plus_00_dot_42 loc_bar__minus_6_bar__minus_2_bar_0_bar_60) + (receptacleAtLocation Cabinet_bar__minus_02_dot_31_bar__plus_00_dot_42_bar__plus_00_dot_43 loc_bar__minus_8_bar__minus_2_bar_0_bar_60) + (receptacleAtLocation Cabinet_bar__minus_03_dot_09_bar__plus_00_dot_39_bar__plus_00_dot_42 loc_bar__minus_9_bar__minus_2_bar_0_bar_60) + (receptacleAtLocation CounterTop_bar__minus_02_dot_30_bar__plus_00_dot_95_bar__plus_00_dot_69 loc_bar__minus_8_bar_0_bar_0_bar_45) + (receptacleAtLocation GarbageCan_bar__minus_02_dot_92_bar__plus_00_dot_00_bar__minus_01_dot_56 loc_bar__minus_9_bar__minus_2_bar_2_bar_60) + (receptacleAtLocation HandTowelHolder_bar__minus_03_dot_13_bar__plus_01_dot_69_bar__plus_00_dot_74 loc_bar__minus_10_bar_0_bar_0_bar_0) + (receptacleAtLocation Sink_bar__minus_01_dot_92_bar__plus_00_dot_93_bar__plus_00_dot_68_bar_SinkBasin loc_bar__minus_7_bar_0_bar_0_bar_45) + (receptacleAtLocation Sink_bar__minus_02_dot_68_bar__plus_00_dot_93_bar__plus_00_dot_68_bar_SinkBasin loc_bar__minus_10_bar_0_bar_0_bar_45) + (receptacleAtLocation ToiletPaperHanger_bar__minus_01_dot_49_bar__plus_00_dot_81_bar__plus_00_dot_69 loc_bar__minus_6_bar_0_bar_0_bar_45) + (receptacleAtLocation Toilet_bar__minus_01_dot_05_bar__plus_00_dot_00_bar__plus_00_dot_55 loc_bar__minus_2_bar_2_bar_3_bar_60) + (receptacleAtLocation TowelHolder_bar__minus_00_dot_49_bar__plus_01_dot_35_bar__plus_01_dot_01 loc_bar__minus_2_bar_2_bar_0_bar_30) + (objectAtLocation SprayBottle_bar__minus_02_dot_50_bar__plus_00_dot_08_bar__plus_00_dot_89 loc_bar__minus_8_bar__minus_2_bar_0_bar_60) + (objectAtLocation Cloth_bar__plus_00_dot_28_bar__plus_00_dot_03_bar__plus_00_dot_12 loc_bar__minus_3_bar__minus_1_bar_1_bar_60) + (objectAtLocation Cloth_bar__plus_00_dot_21_bar__plus_00_dot_03_bar__minus_00_dot_32 loc_bar__minus_3_bar__minus_1_bar_1_bar_60) + (objectAtLocation Bathtub_bar__plus_00_dot_29_bar__plus_00_dot_29_bar__minus_00_dot_08 loc_bar__minus_2_bar_0_bar_1_bar_60) + (objectAtLocation Sink_bar__minus_01_dot_92_bar__plus_00_dot_93_bar__plus_00_dot_68 loc_bar__minus_8_bar_0_bar_0_bar_45) + (objectAtLocation Mirror_bar__minus_02_dot_31_bar__plus_01_dot_53_bar__plus_01_dot_00 loc_bar__minus_9_bar_0_bar_0_bar_0) + (objectAtLocation Sink_bar__minus_02_dot_68_bar__plus_00_dot_93_bar__plus_00_dot_68 loc_bar__minus_10_bar_0_bar_0_bar_45) + (objectAtLocation Towel_bar__minus_00_dot_49_bar__plus_01_dot_37_bar__plus_00_dot_90 loc_bar__minus_2_bar_2_bar_0_bar_30) + (objectAtLocation Candle_bar__minus_00_dot_99_bar__plus_01_dot_09_bar__plus_00_dot_81 loc_bar__minus_2_bar_2_bar_3_bar_60) + (objectAtLocation LightSwitch_bar__minus_01_dot_39_bar__plus_01_dot_26_bar__minus_01_dot_69 loc_bar__minus_6_bar__minus_4_bar_2_bar_30) + (objectAtLocation HandTowel_bar__minus_03_dot_10_bar__plus_01_dot_59_bar__plus_00_dot_74 loc_bar__minus_10_bar_0_bar_0_bar_0) + (objectAtLocation SoapBar_bar__minus_00_dot_86_bar__plus_01_dot_05_bar__plus_00_dot_91 loc_bar__minus_2_bar_2_bar_3_bar_60) + (objectAtLocation ToiletPaper_bar__minus_01_dot_42_bar__plus_00_dot_82_bar__plus_00_dot_67 loc_bar__minus_6_bar_0_bar_0_bar_45) + (objectAtLocation Cloth_bar__minus_01_dot_78_bar__plus_00_dot_08_bar__plus_00_dot_63 loc_bar__minus_9_bar__minus_2_bar_0_bar_60) + (objectAtLocation ToiletPaper_bar__minus_00_dot_17_bar__plus_00_dot_51_bar__plus_00_dot_69 loc_bar__minus_3_bar__minus_1_bar_1_bar_60) + (objectAtLocation SprayBottle_bar__minus_02_dot_99_bar__plus_00_dot_08_bar__plus_00_dot_89 loc_bar__minus_9_bar__minus_2_bar_0_bar_60) + (objectAtLocation ScrubBrush_bar__minus_00_dot_49_bar__plus_00_dot_00_bar__plus_00_dot_87 loc_bar__minus_2_bar_2_bar_0_bar_60) + (objectAtLocation SoapBottle_bar__minus_01_dot_25_bar__plus_01_dot_05_bar__plus_00_dot_88 loc_bar__minus_2_bar_2_bar_3_bar_60) + (objectAtLocation Plunger_bar__minus_00_dot_71_bar__plus_00_dot_00_bar__plus_00_dot_83 loc_bar__minus_2_bar_2_bar_0_bar_60) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o1 - object) + (and + (objectType ?o1 ToiletPaperType) + (receptacleType ?r 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-408/trial_T20190909_085729_823246/traj_data.json b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-ToiletPaper-None-Cabinet-408/trial_T20190909_085729_823246/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..6ae254a41cd457ebbafba66f53044c8ba8f52ed0 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-ToiletPaper-None-Cabinet-408/trial_T20190909_085729_823246/traj_data.json @@ -0,0 +1,6605 @@ +{ + "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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+ "y": 1.3670001, + "z": 0.9026544 + }, + "rotation": { + "x": 0.0, + "y": 180.000259, + "z": 0.0 + } + }, + { + "objectName": "Candle_785b187e", + "position": { + "x": -0.9918698, + "y": 1.08715963, + "z": 0.8147328 + }, + "rotation": { + "x": 0.0, + "y": 180.000336, + "z": 0.0 + } + }, + { + "objectName": "HandTowel_f391da11", + "position": { + "x": -3.09641314, + "y": 1.587, + "z": 0.744 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "SoapBar_3fe03e51", + "position": { + "x": -0.8607256, + "y": 1.04581511, + "z": 0.9066322 + }, + "rotation": { + "x": 0.0, + "y": 180.000336, + "z": 0.0 + } + }, + { + "objectName": "ToiletPaper_3de2642c", + "position": { + "x": -1.416, + "y": 0.8162, + "z": 0.6653999 + }, + "rotation": { + "x": 0.0, + "y": 90.00002, + "z": 269.999969 + } + }, + { + "objectName": "Cloth_6a80aa54", + "position": { + "x": 0.280458927, + "y": 0.03453505, + "z": 0.118610367 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + }, + { + "objectName": "ToiletPaper_94faa429", + "position": { + "x": -0.173411727, + "y": 0.5138858, + "z": 0.6902845 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SprayBottle_0d562139", + "position": { + "x": -2.496549, + "y": 0.08258498, + "z": 0.889824569 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "ScrubBrush_ca1847f9", + "position": { + "x": -0.4850965, + "y": 0.00104796886, + "z": 0.873910666 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SoapBottle_e993ea70", + "position": { + "x": -1.254157, + "y": 1.04764891, + "z": 0.8760012 + }, + "rotation": { + "x": 0.0, + "y": 180.000336, + "z": 0.0 + } + }, + { + "objectName": "Plunger_6b4e4cec", + "position": { + "x": -0.710990548, + "y": 0.000584982336, + "z": 0.828180134 + }, + "rotation": { + "x": -0.00118286943, + "y": 0.0004387156, + "z": 0.0007826461 + } + } + ], + "object_toggles": [], + "random_seed": 3479736154, + "scene_num": 408 + }, + "task_id": "trial_T20190909_085729_823246", + "task_type": "pick_two_obj_and_place", + "turk_annotations": { + "anns": [ + { + "assignment_id": "ANBWJZYU2A68T_358010RM5HKLUJL1QM80EKUSC2JVXI", + "high_descs": [ + "Turn right and go to the flush toilet", + "Pick up the toilet paper roll from the stand", + "Turn around and face the sink cabinet", + "Open the sink cabinet, put the paper roll inside it ", + "Go to the bathtub to the faucet side", + "Pick up the empty roll from the side of the bathtub", + "Go back to the sink cabinet", + "Open the same drawer and place the empty roll next to the paper roll inside the cabinet" + ], + "task_desc": "Place a toilet paper roll and an empty roll inside the sink cabinet", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3PPLDHC3CG0YN_3GA6AFUKORF4WKJ318K8S3EFXSF3H8", + "high_descs": [ + "Walk to the toilet paper holder to the left of the toilet. ", + "Pick up the roll of toilet paper. ", + "Face the cabinet below the sink on the right side. ", + "Open the cabinet door on the left, place the toilet paper roll inside the cabinet, and close the door. ", + "Move to face the left side of the tub. ", + "Pick up the empty roll from the edge of the tub. ", + "Move back over to face the cabinet below the sink. ", + "Open the cabinet door on the left, put the empty roll to the left of the full roll in the cabinet, and close the door. " + ], + "task_desc": "To move a full roll and an empty roll of toilet paper to the cabinet. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A20FCMWP43CVIU_3JZQSN0I3T1LC04L1X3S8CRBLI1GFP", + "high_descs": [ + "walk to face toilet", + "pick up toilet paper from toilet paper hanger", + "turn to face cabinet below sink", + "put toilet paper in cabinet", + "walk to face bath tub", + "pick up toilet roll from tub edge", + "walk to face cabinets below sink", + "put toilet roll in cabinet" + ], + "task_desc": "put toilet paper and roll in bathroom cabinet", + "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-408/trial_T20190909_085802_996300/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-ToiletPaper-None-Cabinet-408/trial_T20190909_085802_996300/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..a52afeee8fc82787af54c3b747b9ac84b7fbdcdf --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-ToiletPaper-None-Cabinet-408/trial_T20190909_085802_996300/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\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_T20190909_085802_996300)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Bathtub_bar__plus_00_dot_29_bar__plus_00_dot_29_bar__minus_00_dot_08 - object\n Candle_bar__minus_02_dot_45_bar__plus_00_dot_12_bar__plus_00_dot_89 - object\n Cloth_bar__minus_01_dot_78_bar__plus_00_dot_08_bar__plus_00_dot_70 - object\n Cloth_bar__minus_02_dot_41_bar__plus_00_dot_08_bar__plus_00_dot_63 - object\n Cloth_bar__minus_02_dot_99_bar__plus_00_dot_08_bar__plus_00_dot_57 - object\n Faucet_bar__plus_00_dot_27_bar__plus_00_dot_67_bar__plus_00_dot_91 - object\n Faucet_bar__minus_01_dot_92_bar__plus_01_dot_02_bar__plus_00_dot_89 - object\n Faucet_bar__minus_02_dot_68_bar__plus_01_dot_02_bar__plus_00_dot_89 - object\n HandTowel_bar__minus_03_dot_10_bar__plus_01_dot_59_bar__plus_00_dot_74 - object\n LightSwitch_bar__minus_01_dot_39_bar__plus_01_dot_26_bar__minus_01_dot_69 - object\n Mirror_bar__minus_02_dot_31_bar__plus_01_dot_53_bar__plus_01_dot_00 - object\n Plunger_bar__minus_00_dot_71_bar__plus_00_dot_00_bar__plus_00_dot_83 - object\n ScrubBrush_bar__minus_00_dot_49_bar__plus_00_dot_00_bar__plus_00_dot_87 - object\n ShowerCurtain_bar__minus_00_dot_29_bar__plus_01_dot_89_bar__minus_01_dot_03 - object\n Sink_bar__minus_01_dot_92_bar__plus_00_dot_93_bar__plus_00_dot_68 - object\n Sink_bar__minus_02_dot_68_bar__plus_00_dot_93_bar__plus_00_dot_68 - object\n SoapBar_bar__minus_00_dot_19_bar__plus_00_dot_52_bar__plus_00_dot_18 - object\n SoapBar_bar__minus_00_dot_99_bar__plus_01_dot_05_bar__plus_00_dot_94 - object\n SoapBar_bar__minus_02_dot_82_bar__plus_00_dot_18_bar__minus_01_dot_58 - object\n SoapBottle_bar__minus_02_dot_09_bar__plus_00_dot_08_bar__plus_00_dot_70 - object\n SprayBottle_bar__minus_00_dot_99_bar__plus_01_dot_05_bar__plus_00_dot_78 - object\n SprayBottle_bar__minus_02_dot_14_bar__plus_00_dot_08_bar__plus_00_dot_57 - object\n SprayBottle_bar__minus_02_dot_89_bar__plus_00_dot_18_bar__minus_01_dot_54 - object\n ToiletPaper_bar__minus_01_dot_42_bar__plus_00_dot_82_bar__plus_00_dot_67 - object\n ToiletPaper_bar__minus_02_dot_99_bar__plus_00_dot_18_bar__minus_01_dot_58 - object\n Towel_bar__minus_00_dot_49_bar__plus_01_dot_37_bar__plus_00_dot_90 - object\n Bathtub_bar__plus_00_dot_29_bar__plus_00_dot_29_bar__minus_00_dot_08_bar_BathtubBasin - receptacle\n Cabinet_bar__minus_01_dot_50_bar__plus_00_dot_42_bar__plus_00_dot_43 - receptacle\n Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_39_bar__plus_00_dot_42 - receptacle\n Cabinet_bar__minus_02_dot_31_bar__plus_00_dot_42_bar__plus_00_dot_43 - receptacle\n Cabinet_bar__minus_03_dot_09_bar__plus_00_dot_39_bar__plus_00_dot_42 - receptacle\n CounterTop_bar__minus_02_dot_30_bar__plus_00_dot_95_bar__plus_00_dot_69 - receptacle\n GarbageCan_bar__minus_02_dot_92_bar__plus_00_dot_00_bar__minus_01_dot_56 - receptacle\n HandTowelHolder_bar__minus_03_dot_13_bar__plus_01_dot_69_bar__plus_00_dot_74 - receptacle\n Sink_bar__minus_01_dot_92_bar__plus_00_dot_93_bar__plus_00_dot_68_bar_SinkBasin - receptacle\n Sink_bar__minus_02_dot_68_bar__plus_00_dot_93_bar__plus_00_dot_68_bar_SinkBasin - receptacle\n ToiletPaperHanger_bar__minus_01_dot_49_bar__plus_00_dot_81_bar__plus_00_dot_69 - receptacle\n Toilet_bar__minus_01_dot_05_bar__plus_00_dot_00_bar__plus_00_dot_55 - receptacle\n TowelHolder_bar__minus_00_dot_49_bar__plus_01_dot_35_bar__plus_01_dot_01 - receptacle\n loc_bar__minus_6_bar_0_bar_0_bar_45 - location\n loc_bar__minus_9_bar__minus_2_bar_2_bar_60 - location\n loc_bar__minus_6_bar__minus_4_bar_2_bar_30 - location\n loc_bar__minus_8_bar_0_bar_0_bar_45 - location\n loc_bar__minus_9_bar__minus_2_bar_0_bar_60 - location\n loc_bar__minus_10_bar_0_bar_0_bar_0 - location\n loc_bar__minus_2_bar_2_bar_3_bar_60 - location\n loc_bar__minus_2_bar_0_bar_1_bar_60 - location\n loc_bar__minus_3_bar__minus_1_bar_1_bar_60 - location\n loc_bar__minus_2_bar_2_bar_0_bar_60 - location\n loc_bar__minus_8_bar__minus_2_bar_0_bar_60 - location\n loc_bar__minus_7_bar_0_bar_0_bar_45 - location\n loc_bar__minus_10_bar_0_bar_0_bar_45 - location\n loc_bar__minus_6_bar__minus_2_bar_0_bar_60 - location\n loc_bar__minus_9_bar_0_bar_0_bar_0 - location\n loc_bar__minus_2_bar_2_bar_0_bar_30 - location\n loc_bar__minus_7_bar__minus_3_bar_2_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType GarbageCan_bar__minus_02_dot_92_bar__plus_00_dot_00_bar__minus_01_dot_56 GarbageCanType)\n (receptacleType Cabinet_bar__minus_03_dot_09_bar__plus_00_dot_39_bar__plus_00_dot_42 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_31_bar__plus_00_dot_42_bar__plus_00_dot_43 CabinetType)\n (receptacleType Toilet_bar__minus_01_dot_05_bar__plus_00_dot_00_bar__plus_00_dot_55 ToiletType)\n (receptacleType Bathtub_bar__plus_00_dot_29_bar__plus_00_dot_29_bar__minus_00_dot_08_bar_BathtubBasin BathtubBasinType)\n (receptacleType HandTowelHolder_bar__minus_03_dot_13_bar__plus_01_dot_69_bar__plus_00_dot_74 HandTowelHolderType)\n (receptacleType CounterTop_bar__minus_02_dot_30_bar__plus_00_dot_95_bar__plus_00_dot_69 CounterTopType)\n (receptacleType Cabinet_bar__minus_01_dot_50_bar__plus_00_dot_42_bar__plus_00_dot_43 CabinetType)\n (receptacleType TowelHolder_bar__minus_00_dot_49_bar__plus_01_dot_35_bar__plus_01_dot_01 TowelHolderType)\n (receptacleType Sink_bar__minus_01_dot_92_bar__plus_00_dot_93_bar__plus_00_dot_68_bar_SinkBasin SinkBasinType)\n (receptacleType Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_39_bar__plus_00_dot_42 CabinetType)\n (receptacleType ToiletPaperHanger_bar__minus_01_dot_49_bar__plus_00_dot_81_bar__plus_00_dot_69 ToiletPaperHangerType)\n (receptacleType Sink_bar__minus_02_dot_68_bar__plus_00_dot_93_bar__plus_00_dot_68_bar_SinkBasin SinkBasinType)\n (objectType Mirror_bar__minus_02_dot_31_bar__plus_01_dot_53_bar__plus_01_dot_00 MirrorType)\n (objectType LightSwitch_bar__minus_01_dot_39_bar__plus_01_dot_26_bar__minus_01_dot_69 LightSwitchType)\n (objectType Cloth_bar__minus_02_dot_41_bar__plus_00_dot_08_bar__plus_00_dot_63 ClothType)\n (objectType HandTowel_bar__minus_03_dot_10_bar__plus_01_dot_59_bar__plus_00_dot_74 HandTowelType)\n (objectType SprayBottle_bar__minus_02_dot_89_bar__plus_00_dot_18_bar__minus_01_dot_54 SprayBottleType)\n (objectType ToiletPaper_bar__minus_02_dot_99_bar__plus_00_dot_18_bar__minus_01_dot_58 ToiletPaperType)\n (objectType Cloth_bar__minus_02_dot_99_bar__plus_00_dot_08_bar__plus_00_dot_57 ClothType)\n (objectType SprayBottle_bar__minus_02_dot_14_bar__plus_00_dot_08_bar__plus_00_dot_57 SprayBottleType)\n (objectType Sink_bar__minus_02_dot_68_bar__plus_00_dot_93_bar__plus_00_dot_68 SinkType)\n (objectType Bathtub_bar__plus_00_dot_29_bar__plus_00_dot_29_bar__minus_00_dot_08 BathtubType)\n (objectType ToiletPaper_bar__minus_01_dot_42_bar__plus_00_dot_82_bar__plus_00_dot_67 ToiletPaperType)\n (objectType SoapBar_bar__minus_00_dot_99_bar__plus_01_dot_05_bar__plus_00_dot_94 SoapBarType)\n (objectType Candle_bar__minus_02_dot_45_bar__plus_00_dot_12_bar__plus_00_dot_89 CandleType)\n (objectType SprayBottle_bar__minus_00_dot_99_bar__plus_01_dot_05_bar__plus_00_dot_78 SprayBottleType)\n (objectType Cloth_bar__minus_01_dot_78_bar__plus_00_dot_08_bar__plus_00_dot_70 ClothType)\n (objectType Sink_bar__minus_01_dot_92_bar__plus_00_dot_93_bar__plus_00_dot_68 SinkType)\n (objectType SoapBar_bar__minus_02_dot_82_bar__plus_00_dot_18_bar__minus_01_dot_58 SoapBarType)\n (objectType Towel_bar__minus_00_dot_49_bar__plus_01_dot_37_bar__plus_00_dot_90 TowelType)\n (objectType SoapBottle_bar__minus_02_dot_09_bar__plus_00_dot_08_bar__plus_00_dot_70 SoapBottleType)\n (objectType SoapBar_bar__minus_00_dot_19_bar__plus_00_dot_52_bar__plus_00_dot_18 SoapBarType)\n (objectType ScrubBrush_bar__minus_00_dot_49_bar__plus_00_dot_00_bar__plus_00_dot_87 ScrubBrushType)\n (objectType Plunger_bar__minus_00_dot_71_bar__plus_00_dot_00_bar__plus_00_dot_83 PlungerType)\n (canContain GarbageCanType SoapBarType)\n (canContain GarbageCanType SprayBottleType)\n (canContain GarbageCanType ToiletPaperType)\n (canContain GarbageCanType SoapBottleType)\n (canContain GarbageCanType ClothType)\n (canContain GarbageCanType HandTowelType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (canContain ToiletType SoapBottleType)\n (canContain ToiletType HandTowelType)\n (canContain ToiletType ToiletPaperType)\n (canContain ToiletType ClothType)\n (canContain ToiletType CandleType)\n (canContain ToiletType SoapBarType)\n (canContain ToiletType SprayBottleType)\n (canContain BathtubBasinType ClothType)\n (canContain BathtubBasinType HandTowelType)\n (canContain BathtubBasinType SoapBarType)\n (canContain HandTowelHolderType HandTowelType)\n (canContain CounterTopType CandleType)\n (canContain CounterTopType SoapBarType)\n (canContain CounterTopType SprayBottleType)\n (canContain CounterTopType ToiletPaperType)\n (canContain CounterTopType SoapBottleType)\n (canContain CounterTopType ClothType)\n (canContain CounterTopType HandTowelType)\n (canContain 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 TowelHolderType TowelType)\n (canContain SinkBasinType SoapBarType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType HandTowelType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (canContain ToiletPaperHangerType ToiletPaperType)\n (canContain SinkBasinType SoapBarType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType HandTowelType)\n (pickupable Cloth_bar__minus_02_dot_41_bar__plus_00_dot_08_bar__plus_00_dot_63)\n (pickupable HandTowel_bar__minus_03_dot_10_bar__plus_01_dot_59_bar__plus_00_dot_74)\n (pickupable SprayBottle_bar__minus_02_dot_89_bar__plus_00_dot_18_bar__minus_01_dot_54)\n (pickupable ToiletPaper_bar__minus_02_dot_99_bar__plus_00_dot_18_bar__minus_01_dot_58)\n (pickupable Cloth_bar__minus_02_dot_99_bar__plus_00_dot_08_bar__plus_00_dot_57)\n (pickupable SprayBottle_bar__minus_02_dot_14_bar__plus_00_dot_08_bar__plus_00_dot_57)\n (pickupable ToiletPaper_bar__minus_01_dot_42_bar__plus_00_dot_82_bar__plus_00_dot_67)\n (pickupable SoapBar_bar__minus_00_dot_99_bar__plus_01_dot_05_bar__plus_00_dot_94)\n (pickupable Candle_bar__minus_02_dot_45_bar__plus_00_dot_12_bar__plus_00_dot_89)\n (pickupable SprayBottle_bar__minus_00_dot_99_bar__plus_01_dot_05_bar__plus_00_dot_78)\n (pickupable Cloth_bar__minus_01_dot_78_bar__plus_00_dot_08_bar__plus_00_dot_70)\n (pickupable SoapBar_bar__minus_02_dot_82_bar__plus_00_dot_18_bar__minus_01_dot_58)\n (pickupable Towel_bar__minus_00_dot_49_bar__plus_01_dot_37_bar__plus_00_dot_90)\n (pickupable SoapBottle_bar__minus_02_dot_09_bar__plus_00_dot_08_bar__plus_00_dot_70)\n (pickupable SoapBar_bar__minus_00_dot_19_bar__plus_00_dot_52_bar__plus_00_dot_18)\n (pickupable ScrubBrush_bar__minus_00_dot_49_bar__plus_00_dot_00_bar__plus_00_dot_87)\n (pickupable Plunger_bar__minus_00_dot_71_bar__plus_00_dot_00_bar__plus_00_dot_83)\n \n (openable Cabinet_bar__minus_03_dot_09_bar__plus_00_dot_39_bar__plus_00_dot_42)\n (openable Cabinet_bar__minus_02_dot_31_bar__plus_00_dot_42_bar__plus_00_dot_43)\n (openable Cabinet_bar__minus_01_dot_50_bar__plus_00_dot_42_bar__plus_00_dot_43)\n (openable Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_39_bar__plus_00_dot_42)\n \n (atLocation agent1 loc_bar__minus_7_bar__minus_3_bar_2_bar_30)\n \n (cleanable Cloth_bar__minus_02_dot_41_bar__plus_00_dot_08_bar__plus_00_dot_63)\n (cleanable Cloth_bar__minus_02_dot_99_bar__plus_00_dot_08_bar__plus_00_dot_57)\n (cleanable SoapBar_bar__minus_00_dot_99_bar__plus_01_dot_05_bar__plus_00_dot_94)\n (cleanable Cloth_bar__minus_01_dot_78_bar__plus_00_dot_08_bar__plus_00_dot_70)\n (cleanable SoapBar_bar__minus_02_dot_82_bar__plus_00_dot_18_bar__minus_01_dot_58)\n (cleanable SoapBar_bar__minus_00_dot_19_bar__plus_00_dot_52_bar__plus_00_dot_18)\n \n \n \n \n \n \n \n \n \n \n (inReceptacle Cloth_bar__minus_02_dot_99_bar__plus_00_dot_08_bar__plus_00_dot_57 Cabinet_bar__minus_03_dot_09_bar__plus_00_dot_39_bar__plus_00_dot_42)\n (inReceptacle Cloth_bar__minus_02_dot_41_bar__plus_00_dot_08_bar__plus_00_dot_63 Cabinet_bar__minus_02_dot_31_bar__plus_00_dot_42_bar__plus_00_dot_43)\n (inReceptacle Candle_bar__minus_02_dot_45_bar__plus_00_dot_12_bar__plus_00_dot_89 Cabinet_bar__minus_02_dot_31_bar__plus_00_dot_42_bar__plus_00_dot_43)\n (inReceptacle Cloth_bar__minus_01_dot_78_bar__plus_00_dot_08_bar__plus_00_dot_70 Cabinet_bar__minus_01_dot_50_bar__plus_00_dot_42_bar__plus_00_dot_43)\n (inReceptacle SprayBottle_bar__minus_02_dot_14_bar__plus_00_dot_08_bar__plus_00_dot_57 Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_39_bar__plus_00_dot_42)\n (inReceptacle SoapBottle_bar__minus_02_dot_09_bar__plus_00_dot_08_bar__plus_00_dot_70 Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_39_bar__plus_00_dot_42)\n (inReceptacle SprayBottle_bar__minus_02_dot_89_bar__plus_00_dot_18_bar__minus_01_dot_54 GarbageCan_bar__minus_02_dot_92_bar__plus_00_dot_00_bar__minus_01_dot_56)\n (inReceptacle ToiletPaper_bar__minus_02_dot_99_bar__plus_00_dot_18_bar__minus_01_dot_58 GarbageCan_bar__minus_02_dot_92_bar__plus_00_dot_00_bar__minus_01_dot_56)\n (inReceptacle SoapBar_bar__minus_02_dot_82_bar__plus_00_dot_18_bar__minus_01_dot_58 GarbageCan_bar__minus_02_dot_92_bar__plus_00_dot_00_bar__minus_01_dot_56)\n (inReceptacle Towel_bar__minus_00_dot_49_bar__plus_01_dot_37_bar__plus_00_dot_90 TowelHolder_bar__minus_00_dot_49_bar__plus_01_dot_35_bar__plus_01_dot_01)\n (inReceptacle HandTowel_bar__minus_03_dot_10_bar__plus_01_dot_59_bar__plus_00_dot_74 HandTowelHolder_bar__minus_03_dot_13_bar__plus_01_dot_69_bar__plus_00_dot_74)\n (inReceptacle ToiletPaper_bar__minus_01_dot_42_bar__plus_00_dot_82_bar__plus_00_dot_67 ToiletPaperHanger_bar__minus_01_dot_49_bar__plus_00_dot_81_bar__plus_00_dot_69)\n (inReceptacle SoapBar_bar__minus_00_dot_99_bar__plus_01_dot_05_bar__plus_00_dot_94 Toilet_bar__minus_01_dot_05_bar__plus_00_dot_00_bar__plus_00_dot_55)\n (inReceptacle SprayBottle_bar__minus_00_dot_99_bar__plus_01_dot_05_bar__plus_00_dot_78 Toilet_bar__minus_01_dot_05_bar__plus_00_dot_00_bar__plus_00_dot_55)\n \n \n (receptacleAtLocation Bathtub_bar__plus_00_dot_29_bar__plus_00_dot_29_bar__minus_00_dot_08_bar_BathtubBasin loc_bar__minus_3_bar__minus_1_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_50_bar__plus_00_dot_42_bar__plus_00_dot_43 loc_bar__minus_9_bar__minus_2_bar_0_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_39_bar__plus_00_dot_42 loc_bar__minus_6_bar__minus_2_bar_0_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_31_bar__plus_00_dot_42_bar__plus_00_dot_43 loc_bar__minus_8_bar__minus_2_bar_0_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_03_dot_09_bar__plus_00_dot_39_bar__plus_00_dot_42 loc_bar__minus_9_bar__minus_2_bar_0_bar_60)\n (receptacleAtLocation CounterTop_bar__minus_02_dot_30_bar__plus_00_dot_95_bar__plus_00_dot_69 loc_bar__minus_8_bar_0_bar_0_bar_45)\n (receptacleAtLocation GarbageCan_bar__minus_02_dot_92_bar__plus_00_dot_00_bar__minus_01_dot_56 loc_bar__minus_9_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation HandTowelHolder_bar__minus_03_dot_13_bar__plus_01_dot_69_bar__plus_00_dot_74 loc_bar__minus_10_bar_0_bar_0_bar_0)\n (receptacleAtLocation Sink_bar__minus_01_dot_92_bar__plus_00_dot_93_bar__plus_00_dot_68_bar_SinkBasin loc_bar__minus_7_bar_0_bar_0_bar_45)\n (receptacleAtLocation Sink_bar__minus_02_dot_68_bar__plus_00_dot_93_bar__plus_00_dot_68_bar_SinkBasin loc_bar__minus_10_bar_0_bar_0_bar_45)\n (receptacleAtLocation ToiletPaperHanger_bar__minus_01_dot_49_bar__plus_00_dot_81_bar__plus_00_dot_69 loc_bar__minus_6_bar_0_bar_0_bar_45)\n (receptacleAtLocation Toilet_bar__minus_01_dot_05_bar__plus_00_dot_00_bar__plus_00_dot_55 loc_bar__minus_2_bar_2_bar_3_bar_60)\n (receptacleAtLocation TowelHolder_bar__minus_00_dot_49_bar__plus_01_dot_35_bar__plus_01_dot_01 loc_bar__minus_2_bar_2_bar_0_bar_30)\n (objectAtLocation SprayBottle_bar__minus_02_dot_14_bar__plus_00_dot_08_bar__plus_00_dot_57 loc_bar__minus_6_bar__minus_2_bar_0_bar_60)\n (objectAtLocation Cloth_bar__minus_02_dot_41_bar__plus_00_dot_08_bar__plus_00_dot_63 loc_bar__minus_8_bar__minus_2_bar_0_bar_60)\n (objectAtLocation SoapBar_bar__minus_00_dot_19_bar__plus_00_dot_52_bar__plus_00_dot_18 loc_bar__minus_3_bar__minus_1_bar_1_bar_60)\n (objectAtLocation SprayBottle_bar__minus_00_dot_99_bar__plus_01_dot_05_bar__plus_00_dot_78 loc_bar__minus_2_bar_2_bar_3_bar_60)\n (objectAtLocation SoapBar_bar__minus_00_dot_99_bar__plus_01_dot_05_bar__plus_00_dot_94 loc_bar__minus_2_bar_2_bar_3_bar_60)\n (objectAtLocation Cloth_bar__minus_01_dot_78_bar__plus_00_dot_08_bar__plus_00_dot_70 loc_bar__minus_9_bar__minus_2_bar_0_bar_60)\n (objectAtLocation Bathtub_bar__plus_00_dot_29_bar__plus_00_dot_29_bar__minus_00_dot_08 loc_bar__minus_2_bar_0_bar_1_bar_60)\n (objectAtLocation Sink_bar__minus_01_dot_92_bar__plus_00_dot_93_bar__plus_00_dot_68 loc_bar__minus_8_bar_0_bar_0_bar_45)\n (objectAtLocation Mirror_bar__minus_02_dot_31_bar__plus_01_dot_53_bar__plus_01_dot_00 loc_bar__minus_9_bar_0_bar_0_bar_0)\n (objectAtLocation Sink_bar__minus_02_dot_68_bar__plus_00_dot_93_bar__plus_00_dot_68 loc_bar__minus_10_bar_0_bar_0_bar_45)\n (objectAtLocation Towel_bar__minus_00_dot_49_bar__plus_01_dot_37_bar__plus_00_dot_90 loc_bar__minus_2_bar_2_bar_0_bar_30)\n (objectAtLocation Candle_bar__minus_02_dot_45_bar__plus_00_dot_12_bar__plus_00_dot_89 loc_bar__minus_8_bar__minus_2_bar_0_bar_60)\n (objectAtLocation LightSwitch_bar__minus_01_dot_39_bar__plus_01_dot_26_bar__minus_01_dot_69 loc_bar__minus_6_bar__minus_4_bar_2_bar_30)\n (objectAtLocation HandTowel_bar__minus_03_dot_10_bar__plus_01_dot_59_bar__plus_00_dot_74 loc_bar__minus_10_bar_0_bar_0_bar_0)\n (objectAtLocation SoapBar_bar__minus_02_dot_82_bar__plus_00_dot_18_bar__minus_01_dot_58 loc_bar__minus_9_bar__minus_2_bar_2_bar_60)\n (objectAtLocation ToiletPaper_bar__minus_01_dot_42_bar__plus_00_dot_82_bar__plus_00_dot_67 loc_bar__minus_6_bar_0_bar_0_bar_45)\n (objectAtLocation Cloth_bar__minus_02_dot_99_bar__plus_00_dot_08_bar__plus_00_dot_57 loc_bar__minus_9_bar__minus_2_bar_0_bar_60)\n (objectAtLocation ToiletPaper_bar__minus_02_dot_99_bar__plus_00_dot_18_bar__minus_01_dot_58 loc_bar__minus_9_bar__minus_2_bar_2_bar_60)\n (objectAtLocation SprayBottle_bar__minus_02_dot_89_bar__plus_00_dot_18_bar__minus_01_dot_54 loc_bar__minus_9_bar__minus_2_bar_2_bar_60)\n (objectAtLocation ScrubBrush_bar__minus_00_dot_49_bar__plus_00_dot_00_bar__plus_00_dot_87 loc_bar__minus_2_bar_2_bar_0_bar_60)\n (objectAtLocation SoapBottle_bar__minus_02_dot_09_bar__plus_00_dot_08_bar__plus_00_dot_70 loc_bar__minus_6_bar__minus_2_bar_0_bar_60)\n (objectAtLocation Plunger_bar__minus_00_dot_71_bar__plus_00_dot_00_bar__plus_00_dot_83 loc_bar__minus_2_bar_2_bar_0_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o1 - object)\n (and\n (objectType ?o1 ToiletPaperType)\n (receptacleType ?r 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 2 from toiletpaperhanger 1", "go to cabinet 3", "open cabinet 3", "move toiletpaper 2 to cabinet 3", "go to garbagecan 1", "take toiletpaper 1 from garbagecan 1", "go to cabinet 3", "move toiletpaper 1 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-408/trial_T20190909_085802_996300/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-ToiletPaper-None-Cabinet-408/trial_T20190909_085802_996300/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..bbc508f0903a4d817fb963cf67aad6654655a33f --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-ToiletPaper-None-Cabinet-408/trial_T20190909_085802_996300/initial_state.pddl @@ -0,0 +1,474 @@ + +(define (problem plan_trial_T20190909_085802_996300) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Bathtub_bar__plus_00_dot_29_bar__plus_00_dot_29_bar__minus_00_dot_08 - object + Candle_bar__minus_02_dot_45_bar__plus_00_dot_12_bar__plus_00_dot_89 - object + Cloth_bar__minus_01_dot_78_bar__plus_00_dot_08_bar__plus_00_dot_70 - object + Cloth_bar__minus_02_dot_41_bar__plus_00_dot_08_bar__plus_00_dot_63 - object + Cloth_bar__minus_02_dot_99_bar__plus_00_dot_08_bar__plus_00_dot_57 - object + Faucet_bar__plus_00_dot_27_bar__plus_00_dot_67_bar__plus_00_dot_91 - object + Faucet_bar__minus_01_dot_92_bar__plus_01_dot_02_bar__plus_00_dot_89 - object + Faucet_bar__minus_02_dot_68_bar__plus_01_dot_02_bar__plus_00_dot_89 - object + HandTowel_bar__minus_03_dot_10_bar__plus_01_dot_59_bar__plus_00_dot_74 - object + LightSwitch_bar__minus_01_dot_39_bar__plus_01_dot_26_bar__minus_01_dot_69 - object + Mirror_bar__minus_02_dot_31_bar__plus_01_dot_53_bar__plus_01_dot_00 - object + Plunger_bar__minus_00_dot_71_bar__plus_00_dot_00_bar__plus_00_dot_83 - object + ScrubBrush_bar__minus_00_dot_49_bar__plus_00_dot_00_bar__plus_00_dot_87 - object + ShowerCurtain_bar__minus_00_dot_29_bar__plus_01_dot_89_bar__minus_01_dot_03 - object + Sink_bar__minus_01_dot_92_bar__plus_00_dot_93_bar__plus_00_dot_68 - object + Sink_bar__minus_02_dot_68_bar__plus_00_dot_93_bar__plus_00_dot_68 - object + SoapBar_bar__minus_00_dot_19_bar__plus_00_dot_52_bar__plus_00_dot_18 - object + SoapBar_bar__minus_00_dot_99_bar__plus_01_dot_05_bar__plus_00_dot_94 - object + SoapBar_bar__minus_02_dot_82_bar__plus_00_dot_18_bar__minus_01_dot_58 - object + SoapBottle_bar__minus_02_dot_09_bar__plus_00_dot_08_bar__plus_00_dot_70 - object + SprayBottle_bar__minus_00_dot_99_bar__plus_01_dot_05_bar__plus_00_dot_78 - object + SprayBottle_bar__minus_02_dot_14_bar__plus_00_dot_08_bar__plus_00_dot_57 - object + SprayBottle_bar__minus_02_dot_89_bar__plus_00_dot_18_bar__minus_01_dot_54 - object + ToiletPaper_bar__minus_01_dot_42_bar__plus_00_dot_82_bar__plus_00_dot_67 - object + ToiletPaper_bar__minus_02_dot_99_bar__plus_00_dot_18_bar__minus_01_dot_58 - object + Towel_bar__minus_00_dot_49_bar__plus_01_dot_37_bar__plus_00_dot_90 - object + Bathtub_bar__plus_00_dot_29_bar__plus_00_dot_29_bar__minus_00_dot_08_bar_BathtubBasin - receptacle + Cabinet_bar__minus_01_dot_50_bar__plus_00_dot_42_bar__plus_00_dot_43 - receptacle + Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_39_bar__plus_00_dot_42 - receptacle + Cabinet_bar__minus_02_dot_31_bar__plus_00_dot_42_bar__plus_00_dot_43 - receptacle + Cabinet_bar__minus_03_dot_09_bar__plus_00_dot_39_bar__plus_00_dot_42 - receptacle + CounterTop_bar__minus_02_dot_30_bar__plus_00_dot_95_bar__plus_00_dot_69 - receptacle + GarbageCan_bar__minus_02_dot_92_bar__plus_00_dot_00_bar__minus_01_dot_56 - receptacle + HandTowelHolder_bar__minus_03_dot_13_bar__plus_01_dot_69_bar__plus_00_dot_74 - receptacle + Sink_bar__minus_01_dot_92_bar__plus_00_dot_93_bar__plus_00_dot_68_bar_SinkBasin - receptacle + Sink_bar__minus_02_dot_68_bar__plus_00_dot_93_bar__plus_00_dot_68_bar_SinkBasin - receptacle + ToiletPaperHanger_bar__minus_01_dot_49_bar__plus_00_dot_81_bar__plus_00_dot_69 - receptacle + Toilet_bar__minus_01_dot_05_bar__plus_00_dot_00_bar__plus_00_dot_55 - receptacle + TowelHolder_bar__minus_00_dot_49_bar__plus_01_dot_35_bar__plus_01_dot_01 - receptacle + loc_bar__minus_6_bar_0_bar_0_bar_45 - location + loc_bar__minus_9_bar__minus_2_bar_2_bar_60 - location + loc_bar__minus_6_bar__minus_4_bar_2_bar_30 - location + loc_bar__minus_8_bar_0_bar_0_bar_45 - location + loc_bar__minus_9_bar__minus_2_bar_0_bar_60 - location + loc_bar__minus_10_bar_0_bar_0_bar_0 - location + loc_bar__minus_2_bar_2_bar_3_bar_60 - location + loc_bar__minus_2_bar_0_bar_1_bar_60 - location + loc_bar__minus_3_bar__minus_1_bar_1_bar_60 - location + loc_bar__minus_2_bar_2_bar_0_bar_60 - location + loc_bar__minus_8_bar__minus_2_bar_0_bar_60 - location + loc_bar__minus_7_bar_0_bar_0_bar_45 - location + loc_bar__minus_10_bar_0_bar_0_bar_45 - location + loc_bar__minus_6_bar__minus_2_bar_0_bar_60 - location + loc_bar__minus_9_bar_0_bar_0_bar_0 - location + loc_bar__minus_2_bar_2_bar_0_bar_30 - location + loc_bar__minus_7_bar__minus_3_bar_2_bar_30 - location + ) + + +(:init + + + (receptacleType GarbageCan_bar__minus_02_dot_92_bar__plus_00_dot_00_bar__minus_01_dot_56 GarbageCanType) + (receptacleType Cabinet_bar__minus_03_dot_09_bar__plus_00_dot_39_bar__plus_00_dot_42 CabinetType) + (receptacleType Cabinet_bar__minus_02_dot_31_bar__plus_00_dot_42_bar__plus_00_dot_43 CabinetType) + (receptacleType Toilet_bar__minus_01_dot_05_bar__plus_00_dot_00_bar__plus_00_dot_55 ToiletType) + (receptacleType Bathtub_bar__plus_00_dot_29_bar__plus_00_dot_29_bar__minus_00_dot_08_bar_BathtubBasin BathtubBasinType) + (receptacleType HandTowelHolder_bar__minus_03_dot_13_bar__plus_01_dot_69_bar__plus_00_dot_74 HandTowelHolderType) + (receptacleType CounterTop_bar__minus_02_dot_30_bar__plus_00_dot_95_bar__plus_00_dot_69 CounterTopType) + (receptacleType Cabinet_bar__minus_01_dot_50_bar__plus_00_dot_42_bar__plus_00_dot_43 CabinetType) + (receptacleType TowelHolder_bar__minus_00_dot_49_bar__plus_01_dot_35_bar__plus_01_dot_01 TowelHolderType) + (receptacleType Sink_bar__minus_01_dot_92_bar__plus_00_dot_93_bar__plus_00_dot_68_bar_SinkBasin SinkBasinType) + (receptacleType Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_39_bar__plus_00_dot_42 CabinetType) + (receptacleType ToiletPaperHanger_bar__minus_01_dot_49_bar__plus_00_dot_81_bar__plus_00_dot_69 ToiletPaperHangerType) + (receptacleType Sink_bar__minus_02_dot_68_bar__plus_00_dot_93_bar__plus_00_dot_68_bar_SinkBasin SinkBasinType) + (objectType Mirror_bar__minus_02_dot_31_bar__plus_01_dot_53_bar__plus_01_dot_00 MirrorType) + (objectType LightSwitch_bar__minus_01_dot_39_bar__plus_01_dot_26_bar__minus_01_dot_69 LightSwitchType) + (objectType Cloth_bar__minus_02_dot_41_bar__plus_00_dot_08_bar__plus_00_dot_63 ClothType) + (objectType HandTowel_bar__minus_03_dot_10_bar__plus_01_dot_59_bar__plus_00_dot_74 HandTowelType) + (objectType SprayBottle_bar__minus_02_dot_89_bar__plus_00_dot_18_bar__minus_01_dot_54 SprayBottleType) + (objectType ToiletPaper_bar__minus_02_dot_99_bar__plus_00_dot_18_bar__minus_01_dot_58 ToiletPaperType) + (objectType Cloth_bar__minus_02_dot_99_bar__plus_00_dot_08_bar__plus_00_dot_57 ClothType) + (objectType SprayBottle_bar__minus_02_dot_14_bar__plus_00_dot_08_bar__plus_00_dot_57 SprayBottleType) + (objectType Sink_bar__minus_02_dot_68_bar__plus_00_dot_93_bar__plus_00_dot_68 SinkType) + (objectType Bathtub_bar__plus_00_dot_29_bar__plus_00_dot_29_bar__minus_00_dot_08 BathtubType) + (objectType ToiletPaper_bar__minus_01_dot_42_bar__plus_00_dot_82_bar__plus_00_dot_67 ToiletPaperType) + (objectType SoapBar_bar__minus_00_dot_99_bar__plus_01_dot_05_bar__plus_00_dot_94 SoapBarType) + (objectType Candle_bar__minus_02_dot_45_bar__plus_00_dot_12_bar__plus_00_dot_89 CandleType) + (objectType SprayBottle_bar__minus_00_dot_99_bar__plus_01_dot_05_bar__plus_00_dot_78 SprayBottleType) + (objectType Cloth_bar__minus_01_dot_78_bar__plus_00_dot_08_bar__plus_00_dot_70 ClothType) + (objectType Sink_bar__minus_01_dot_92_bar__plus_00_dot_93_bar__plus_00_dot_68 SinkType) + (objectType SoapBar_bar__minus_02_dot_82_bar__plus_00_dot_18_bar__minus_01_dot_58 SoapBarType) + (objectType Towel_bar__minus_00_dot_49_bar__plus_01_dot_37_bar__plus_00_dot_90 TowelType) + (objectType SoapBottle_bar__minus_02_dot_09_bar__plus_00_dot_08_bar__plus_00_dot_70 SoapBottleType) + (objectType SoapBar_bar__minus_00_dot_19_bar__plus_00_dot_52_bar__plus_00_dot_18 SoapBarType) + (objectType ScrubBrush_bar__minus_00_dot_49_bar__plus_00_dot_00_bar__plus_00_dot_87 ScrubBrushType) + (objectType Plunger_bar__minus_00_dot_71_bar__plus_00_dot_00_bar__plus_00_dot_83 PlungerType) + (canContain GarbageCanType SoapBarType) + (canContain GarbageCanType SprayBottleType) + (canContain GarbageCanType ToiletPaperType) + (canContain GarbageCanType SoapBottleType) + (canContain GarbageCanType ClothType) + (canContain GarbageCanType HandTowelType) + (canContain CabinetType CandleType) + (canContain CabinetType SoapBarType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType ToiletPaperType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType ClothType) + (canContain CabinetType HandTowelType) + (canContain CabinetType PlungerType) + (canContain CabinetType CandleType) + (canContain CabinetType SoapBarType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType ToiletPaperType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType ClothType) + (canContain CabinetType HandTowelType) + (canContain CabinetType PlungerType) + (canContain ToiletType SoapBottleType) + (canContain ToiletType HandTowelType) + (canContain ToiletType ToiletPaperType) + (canContain ToiletType ClothType) + (canContain ToiletType CandleType) + (canContain ToiletType SoapBarType) + (canContain ToiletType SprayBottleType) + (canContain BathtubBasinType ClothType) + (canContain BathtubBasinType HandTowelType) + (canContain BathtubBasinType SoapBarType) + (canContain HandTowelHolderType HandTowelType) + (canContain CounterTopType CandleType) + (canContain CounterTopType SoapBarType) + (canContain CounterTopType SprayBottleType) + (canContain CounterTopType ToiletPaperType) + (canContain CounterTopType SoapBottleType) + (canContain CounterTopType ClothType) + (canContain CounterTopType HandTowelType) + (canContain CabinetType CandleType) + (canContain CabinetType SoapBarType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType ToiletPaperType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType ClothType) + (canContain CabinetType HandTowelType) + (canContain CabinetType PlungerType) + (canContain TowelHolderType TowelType) + (canContain SinkBasinType SoapBarType) + (canContain SinkBasinType ClothType) + (canContain SinkBasinType HandTowelType) + (canContain CabinetType CandleType) + (canContain CabinetType SoapBarType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType ToiletPaperType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType ClothType) + (canContain CabinetType HandTowelType) + (canContain CabinetType PlungerType) + (canContain ToiletPaperHangerType ToiletPaperType) + (canContain SinkBasinType SoapBarType) + (canContain SinkBasinType ClothType) + (canContain SinkBasinType HandTowelType) + (pickupable Cloth_bar__minus_02_dot_41_bar__plus_00_dot_08_bar__plus_00_dot_63) + (pickupable HandTowel_bar__minus_03_dot_10_bar__plus_01_dot_59_bar__plus_00_dot_74) + (pickupable SprayBottle_bar__minus_02_dot_89_bar__plus_00_dot_18_bar__minus_01_dot_54) + (pickupable ToiletPaper_bar__minus_02_dot_99_bar__plus_00_dot_18_bar__minus_01_dot_58) + (pickupable Cloth_bar__minus_02_dot_99_bar__plus_00_dot_08_bar__plus_00_dot_57) + (pickupable SprayBottle_bar__minus_02_dot_14_bar__plus_00_dot_08_bar__plus_00_dot_57) + (pickupable ToiletPaper_bar__minus_01_dot_42_bar__plus_00_dot_82_bar__plus_00_dot_67) + (pickupable SoapBar_bar__minus_00_dot_99_bar__plus_01_dot_05_bar__plus_00_dot_94) + (pickupable Candle_bar__minus_02_dot_45_bar__plus_00_dot_12_bar__plus_00_dot_89) + (pickupable SprayBottle_bar__minus_00_dot_99_bar__plus_01_dot_05_bar__plus_00_dot_78) + (pickupable Cloth_bar__minus_01_dot_78_bar__plus_00_dot_08_bar__plus_00_dot_70) + (pickupable SoapBar_bar__minus_02_dot_82_bar__plus_00_dot_18_bar__minus_01_dot_58) + (pickupable Towel_bar__minus_00_dot_49_bar__plus_01_dot_37_bar__plus_00_dot_90) + (pickupable SoapBottle_bar__minus_02_dot_09_bar__plus_00_dot_08_bar__plus_00_dot_70) + (pickupable SoapBar_bar__minus_00_dot_19_bar__plus_00_dot_52_bar__plus_00_dot_18) + (pickupable ScrubBrush_bar__minus_00_dot_49_bar__plus_00_dot_00_bar__plus_00_dot_87) + (pickupable Plunger_bar__minus_00_dot_71_bar__plus_00_dot_00_bar__plus_00_dot_83) + + (openable Cabinet_bar__minus_03_dot_09_bar__plus_00_dot_39_bar__plus_00_dot_42) + (openable Cabinet_bar__minus_02_dot_31_bar__plus_00_dot_42_bar__plus_00_dot_43) + (openable Cabinet_bar__minus_01_dot_50_bar__plus_00_dot_42_bar__plus_00_dot_43) + (openable Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_39_bar__plus_00_dot_42) + + (atLocation agent1 loc_bar__minus_7_bar__minus_3_bar_2_bar_30) + + (cleanable Cloth_bar__minus_02_dot_41_bar__plus_00_dot_08_bar__plus_00_dot_63) + (cleanable Cloth_bar__minus_02_dot_99_bar__plus_00_dot_08_bar__plus_00_dot_57) + (cleanable SoapBar_bar__minus_00_dot_99_bar__plus_01_dot_05_bar__plus_00_dot_94) + (cleanable Cloth_bar__minus_01_dot_78_bar__plus_00_dot_08_bar__plus_00_dot_70) + (cleanable SoapBar_bar__minus_02_dot_82_bar__plus_00_dot_18_bar__minus_01_dot_58) + (cleanable SoapBar_bar__minus_00_dot_19_bar__plus_00_dot_52_bar__plus_00_dot_18) + + + + + + + + + + + (inReceptacle Cloth_bar__minus_02_dot_99_bar__plus_00_dot_08_bar__plus_00_dot_57 Cabinet_bar__minus_03_dot_09_bar__plus_00_dot_39_bar__plus_00_dot_42) + (inReceptacle Cloth_bar__minus_02_dot_41_bar__plus_00_dot_08_bar__plus_00_dot_63 Cabinet_bar__minus_02_dot_31_bar__plus_00_dot_42_bar__plus_00_dot_43) + (inReceptacle Candle_bar__minus_02_dot_45_bar__plus_00_dot_12_bar__plus_00_dot_89 Cabinet_bar__minus_02_dot_31_bar__plus_00_dot_42_bar__plus_00_dot_43) + (inReceptacle Cloth_bar__minus_01_dot_78_bar__plus_00_dot_08_bar__plus_00_dot_70 Cabinet_bar__minus_01_dot_50_bar__plus_00_dot_42_bar__plus_00_dot_43) + (inReceptacle SprayBottle_bar__minus_02_dot_14_bar__plus_00_dot_08_bar__plus_00_dot_57 Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_39_bar__plus_00_dot_42) + (inReceptacle SoapBottle_bar__minus_02_dot_09_bar__plus_00_dot_08_bar__plus_00_dot_70 Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_39_bar__plus_00_dot_42) + (inReceptacle SprayBottle_bar__minus_02_dot_89_bar__plus_00_dot_18_bar__minus_01_dot_54 GarbageCan_bar__minus_02_dot_92_bar__plus_00_dot_00_bar__minus_01_dot_56) + (inReceptacle ToiletPaper_bar__minus_02_dot_99_bar__plus_00_dot_18_bar__minus_01_dot_58 GarbageCan_bar__minus_02_dot_92_bar__plus_00_dot_00_bar__minus_01_dot_56) + (inReceptacle SoapBar_bar__minus_02_dot_82_bar__plus_00_dot_18_bar__minus_01_dot_58 GarbageCan_bar__minus_02_dot_92_bar__plus_00_dot_00_bar__minus_01_dot_56) + (inReceptacle Towel_bar__minus_00_dot_49_bar__plus_01_dot_37_bar__plus_00_dot_90 TowelHolder_bar__minus_00_dot_49_bar__plus_01_dot_35_bar__plus_01_dot_01) + (inReceptacle HandTowel_bar__minus_03_dot_10_bar__plus_01_dot_59_bar__plus_00_dot_74 HandTowelHolder_bar__minus_03_dot_13_bar__plus_01_dot_69_bar__plus_00_dot_74) + (inReceptacle ToiletPaper_bar__minus_01_dot_42_bar__plus_00_dot_82_bar__plus_00_dot_67 ToiletPaperHanger_bar__minus_01_dot_49_bar__plus_00_dot_81_bar__plus_00_dot_69) + (inReceptacle SoapBar_bar__minus_00_dot_99_bar__plus_01_dot_05_bar__plus_00_dot_94 Toilet_bar__minus_01_dot_05_bar__plus_00_dot_00_bar__plus_00_dot_55) + (inReceptacle SprayBottle_bar__minus_00_dot_99_bar__plus_01_dot_05_bar__plus_00_dot_78 Toilet_bar__minus_01_dot_05_bar__plus_00_dot_00_bar__plus_00_dot_55) + + + (receptacleAtLocation Bathtub_bar__plus_00_dot_29_bar__plus_00_dot_29_bar__minus_00_dot_08_bar_BathtubBasin loc_bar__minus_3_bar__minus_1_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__minus_01_dot_50_bar__plus_00_dot_42_bar__plus_00_dot_43 loc_bar__minus_9_bar__minus_2_bar_0_bar_60) + (receptacleAtLocation Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_39_bar__plus_00_dot_42 loc_bar__minus_6_bar__minus_2_bar_0_bar_60) + (receptacleAtLocation Cabinet_bar__minus_02_dot_31_bar__plus_00_dot_42_bar__plus_00_dot_43 loc_bar__minus_8_bar__minus_2_bar_0_bar_60) + (receptacleAtLocation Cabinet_bar__minus_03_dot_09_bar__plus_00_dot_39_bar__plus_00_dot_42 loc_bar__minus_9_bar__minus_2_bar_0_bar_60) + (receptacleAtLocation CounterTop_bar__minus_02_dot_30_bar__plus_00_dot_95_bar__plus_00_dot_69 loc_bar__minus_8_bar_0_bar_0_bar_45) + (receptacleAtLocation GarbageCan_bar__minus_02_dot_92_bar__plus_00_dot_00_bar__minus_01_dot_56 loc_bar__minus_9_bar__minus_2_bar_2_bar_60) + (receptacleAtLocation HandTowelHolder_bar__minus_03_dot_13_bar__plus_01_dot_69_bar__plus_00_dot_74 loc_bar__minus_10_bar_0_bar_0_bar_0) + (receptacleAtLocation Sink_bar__minus_01_dot_92_bar__plus_00_dot_93_bar__plus_00_dot_68_bar_SinkBasin loc_bar__minus_7_bar_0_bar_0_bar_45) + (receptacleAtLocation Sink_bar__minus_02_dot_68_bar__plus_00_dot_93_bar__plus_00_dot_68_bar_SinkBasin loc_bar__minus_10_bar_0_bar_0_bar_45) + (receptacleAtLocation ToiletPaperHanger_bar__minus_01_dot_49_bar__plus_00_dot_81_bar__plus_00_dot_69 loc_bar__minus_6_bar_0_bar_0_bar_45) + (receptacleAtLocation Toilet_bar__minus_01_dot_05_bar__plus_00_dot_00_bar__plus_00_dot_55 loc_bar__minus_2_bar_2_bar_3_bar_60) + (receptacleAtLocation TowelHolder_bar__minus_00_dot_49_bar__plus_01_dot_35_bar__plus_01_dot_01 loc_bar__minus_2_bar_2_bar_0_bar_30) + (objectAtLocation SprayBottle_bar__minus_02_dot_14_bar__plus_00_dot_08_bar__plus_00_dot_57 loc_bar__minus_6_bar__minus_2_bar_0_bar_60) + (objectAtLocation Cloth_bar__minus_02_dot_41_bar__plus_00_dot_08_bar__plus_00_dot_63 loc_bar__minus_8_bar__minus_2_bar_0_bar_60) + (objectAtLocation SoapBar_bar__minus_00_dot_19_bar__plus_00_dot_52_bar__plus_00_dot_18 loc_bar__minus_3_bar__minus_1_bar_1_bar_60) + (objectAtLocation SprayBottle_bar__minus_00_dot_99_bar__plus_01_dot_05_bar__plus_00_dot_78 loc_bar__minus_2_bar_2_bar_3_bar_60) + (objectAtLocation SoapBar_bar__minus_00_dot_99_bar__plus_01_dot_05_bar__plus_00_dot_94 loc_bar__minus_2_bar_2_bar_3_bar_60) + (objectAtLocation Cloth_bar__minus_01_dot_78_bar__plus_00_dot_08_bar__plus_00_dot_70 loc_bar__minus_9_bar__minus_2_bar_0_bar_60) + (objectAtLocation Bathtub_bar__plus_00_dot_29_bar__plus_00_dot_29_bar__minus_00_dot_08 loc_bar__minus_2_bar_0_bar_1_bar_60) + (objectAtLocation Sink_bar__minus_01_dot_92_bar__plus_00_dot_93_bar__plus_00_dot_68 loc_bar__minus_8_bar_0_bar_0_bar_45) + (objectAtLocation Mirror_bar__minus_02_dot_31_bar__plus_01_dot_53_bar__plus_01_dot_00 loc_bar__minus_9_bar_0_bar_0_bar_0) + (objectAtLocation Sink_bar__minus_02_dot_68_bar__plus_00_dot_93_bar__plus_00_dot_68 loc_bar__minus_10_bar_0_bar_0_bar_45) + (objectAtLocation Towel_bar__minus_00_dot_49_bar__plus_01_dot_37_bar__plus_00_dot_90 loc_bar__minus_2_bar_2_bar_0_bar_30) + (objectAtLocation Candle_bar__minus_02_dot_45_bar__plus_00_dot_12_bar__plus_00_dot_89 loc_bar__minus_8_bar__minus_2_bar_0_bar_60) + (objectAtLocation LightSwitch_bar__minus_01_dot_39_bar__plus_01_dot_26_bar__minus_01_dot_69 loc_bar__minus_6_bar__minus_4_bar_2_bar_30) + (objectAtLocation HandTowel_bar__minus_03_dot_10_bar__plus_01_dot_59_bar__plus_00_dot_74 loc_bar__minus_10_bar_0_bar_0_bar_0) + (objectAtLocation SoapBar_bar__minus_02_dot_82_bar__plus_00_dot_18_bar__minus_01_dot_58 loc_bar__minus_9_bar__minus_2_bar_2_bar_60) + (objectAtLocation ToiletPaper_bar__minus_01_dot_42_bar__plus_00_dot_82_bar__plus_00_dot_67 loc_bar__minus_6_bar_0_bar_0_bar_45) + (objectAtLocation Cloth_bar__minus_02_dot_99_bar__plus_00_dot_08_bar__plus_00_dot_57 loc_bar__minus_9_bar__minus_2_bar_0_bar_60) + (objectAtLocation ToiletPaper_bar__minus_02_dot_99_bar__plus_00_dot_18_bar__minus_01_dot_58 loc_bar__minus_9_bar__minus_2_bar_2_bar_60) + (objectAtLocation SprayBottle_bar__minus_02_dot_89_bar__plus_00_dot_18_bar__minus_01_dot_54 loc_bar__minus_9_bar__minus_2_bar_2_bar_60) + (objectAtLocation ScrubBrush_bar__minus_00_dot_49_bar__plus_00_dot_00_bar__plus_00_dot_87 loc_bar__minus_2_bar_2_bar_0_bar_60) + (objectAtLocation SoapBottle_bar__minus_02_dot_09_bar__plus_00_dot_08_bar__plus_00_dot_70 loc_bar__minus_6_bar__minus_2_bar_0_bar_60) + (objectAtLocation Plunger_bar__minus_00_dot_71_bar__plus_00_dot_00_bar__plus_00_dot_83 loc_bar__minus_2_bar_2_bar_0_bar_60) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o1 - object) + (and + (objectType ?o1 ToiletPaperType) + (receptacleType ?r 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 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"position": { + "x": -0.4850965, + "y": 0.00104796886, + "z": 0.873910666 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SoapBottle_e993ea70", + "position": { + "x": -2.0939, + "y": 0.0830844045, + "z": 0.69622767 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Plunger_6b4e4cec", + "position": { + "x": -0.710990548, + "y": 0.000584982336, + "z": 0.828180134 + }, + "rotation": { + "x": -0.00118286943, + "y": 0.0004387156, + "z": 0.0007826461 + } + } + ], + "object_toggles": [], + "random_seed": 3906348219, + "scene_num": 408 + }, + "task_id": "trial_T20190909_085802_996300", + "task_type": "pick_two_obj_and_place", + "turk_annotations": { + "anns": [ + { + "assignment_id": "AFU00NU09CFXE_3GNCZX450LEWTMGCT07NOKUCPSSAPP", + "high_descs": [ + "Turn around and move to the sink.", + "Remove the roll of toilet paper from the toilet paper holder.", + "Move back from the vanity so you have space to open a cupboard.", + "Open the leftmost cupboard next to the wall and place the roll of toilet paper inside.", + "Turn around and move to the trash bin in the corner.", + "Pick up the empty toilet paper roll from the trash bin.", + "Turn around and move closer to the vanity again.", + "Open the leftmost cupboard by the wall and place the empty toilet paper roll inside." + ], + "task_desc": "Move two toilet paper rolls to a cupboard below the sink.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1HKHM4NVAO98H_3VHP9MDGRQB8VOOGZB79IL6WNQ2CF4", + "high_descs": [ + "turn around and walk forwards to the space in between the toilet and the bathroom sink cabinet", + "grab the toilet paper roll off of the toilet paper holder", + "back up a bit and move to the left to face the cabinet again", + "place the toilet paper inside the cabinet to the bottom left of the left side sink", + "turn around and walk over to the left side of the garbage bin in the corner of the room on the right", + "grab the toilet paper roller tube out of the trash there", + "turn right and walk over to the left side of the bathroom cabinet again", + "place the tube inside of the bottom left cabinet where you put the toilet paper" + ], + "task_desc": "put two toilet paper objects inside the bottom left cabinet of the left side sink", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3F7G1FSFWQPLE_3X73LLYYQ45B0OCDJR4N1HCL29WHNS", + "high_descs": [ + "Walk over to the right side of the counter behind you.", + "Pick up the toilet paper roll off of the toilet paper holder in front of you.", + "Turn left and walk over to the wall, then turn left and walk forward and turn around to face the counter.", + "Open the lower left cabinet door and put the toilet paper roll inside, then close the cabinet.", + "Turn around and walk over to the wall, then turn right and look down at the small silver bin.", + "Pick up the toilet paper roll out of the small silver bin.", + "Turn right and walk over to the counter.", + "Open the leftmost cabinet door below the counter and put the toilet paper roll inside, then close the cabinet." + ], + "task_desc": "Move two toilet paper rolls into a cabinet.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Watch-None-Shelf-326/trial_T20190906_201415_685426/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Watch-None-Shelf-326/trial_T20190906_201415_685426/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..b7d9d71bef81b083692996b14e0c361830f6a33c --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Watch-None-Shelf-326/trial_T20190906_201415_685426/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\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 watch and put them in shelf.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190906_201415_685426)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\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_86_bar__plus_01_dot_14_bar__minus_01_dot_61 - object\n AlarmClock_bar__minus_02_dot_89_bar__plus_01_dot_41_bar__minus_02_dot_33 - object\n BaseballBat_bar__minus_02_dot_98_bar__plus_00_dot_02_bar__minus_02_dot_70 - object\n BasketBall_bar__minus_02_dot_72_bar__plus_00_dot_12_bar__minus_01_dot_93 - object\n Blinds_bar__plus_02_dot_29_bar__plus_02_dot_07_bar__minus_03_dot_18 - object\n Blinds_bar__minus_01_dot_00_bar__plus_02_dot_07_bar__minus_03_dot_18 - object\n Book_bar__minus_00_dot_18_bar__plus_00_dot_61_bar__minus_00_dot_32 - object\n Bowl_bar__plus_00_dot_92_bar__plus_01_dot_41_bar__minus_02_dot_09 - object\n Bowl_bar__minus_02_dot_95_bar__plus_01_dot_41_bar__minus_01_dot_63 - object\n CD_bar__minus_01_dot_31_bar__plus_00_dot_61_bar__plus_00_dot_38 - object\n CellPhone_bar__minus_00_dot_33_bar__plus_00_dot_62_bar__minus_00_dot_88 - object\n CellPhone_bar__minus_01_dot_45_bar__plus_00_dot_61_bar__plus_00_dot_34 - object\n Chair_bar__plus_02_dot_73_bar__plus_00_dot_00_bar__minus_01_dot_21 - object\n Chair_bar__plus_02_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_16 - object\n Cloth_bar__plus_00_dot_71_bar_00_dot_00_bar__minus_02_dot_75 - object\n Cloth_bar__plus_00_dot_91_bar__plus_00_dot_03_bar__minus_02_dot_70 - object\n Cloth_bar__plus_00_dot_97_bar_00_dot_00_bar__minus_02_dot_40 - object\n CreditCard_bar__plus_00_dot_99_bar__plus_01_dot_41_bar__minus_01_dot_61 - object\n KeyChain_bar__plus_03_dot_21_bar__plus_00_dot_79_bar__minus_01_dot_12 - object\n KeyChain_bar__minus_01_dot_52_bar__plus_00_dot_62_bar__plus_00_dot_42 - object\n KeyChain_bar__minus_02_dot_98_bar__plus_01_dot_41_bar__minus_02_dot_20 - object\n Lamp_bar__plus_03_dot_24_bar__plus_00_dot_79_bar__minus_00_dot_65 - object\n Laptop_bar__minus_00_dot_78_bar__plus_00_dot_61_bar__minus_00_dot_88 - object\n Laptop_bar__minus_02_dot_76_bar__plus_00_dot_60_bar__minus_01_dot_16 - object\n LightSwitch_bar__minus_00_dot_14_bar__plus_01_dot_33_bar__plus_00_dot_60 - object\n Mirror_bar__plus_00_dot_45_bar__plus_01_dot_49_bar__plus_00_dot_62 - object\n Mug_bar__plus_03_dot_09_bar__plus_00_dot_79_bar__minus_00_dot_84 - object\n Pencil_bar__plus_03_dot_27_bar__plus_00_dot_80_bar__minus_01_dot_97 - object\n Pen_bar__plus_03_dot_06_bar__plus_00_dot_55_bar__minus_00_dot_67 - object\n Pen_bar__plus_03_dot_09_bar__plus_00_dot_80_bar__minus_00_dot_56 - object\n Pillow_bar__minus_00_dot_63_bar__plus_00_dot_65_bar__plus_00_dot_13 - object\n Pillow_bar__minus_02_dot_47_bar__plus_00_dot_66_bar__plus_00_dot_11 - object\n Poster_bar__plus_03_dot_40_bar__plus_01_dot_70_bar__minus_00_dot_79 - object\n Poster_bar__plus_03_dot_40_bar__plus_01_dot_86_bar__minus_01_dot_98 - object\n TeddyBear_bar__minus_02_dot_65_bar__plus_00_dot_62_bar__minus_00_dot_40 - object\n TennisRacket_bar__minus_03_dot_02_bar__plus_00_dot_30_bar__minus_02_dot_20 - object\n Watch_bar__plus_02_dot_96_bar__plus_00_dot_79_bar__minus_02_dot_25 - object\n Watch_bar__plus_03_dot_15_bar__plus_00_dot_79_bar__minus_01_dot_97 - object\n Watch_bar__minus_01_dot_52_bar__plus_00_dot_34_bar__plus_00_dot_37 - object\n Window_bar__plus_02_dot_28_bar__plus_00_dot_93_bar__minus_03_dot_18 - object\n Window_bar__minus_01_dot_02_bar__plus_00_dot_93_bar__minus_03_dot_19 - object\n Bed_bar__minus_00_dot_63_bar__plus_00_dot_00_bar__minus_00_dot_55 - receptacle\n Bed_bar__minus_02_dot_46_bar__plus_00_dot_01_bar__minus_00_dot_55 - receptacle\n DiningTable_bar__plus_03_dot_16_bar__minus_00_dot_01_bar__minus_01_dot_42 - receptacle\n Drawer_bar__minus_01_dot_52_bar__plus_00_dot_15_bar__plus_00_dot_36 - receptacle\n Drawer_bar__minus_01_dot_52_bar__plus_00_dot_42_bar__plus_00_dot_36 - receptacle\n GarbageCan_bar__plus_01_dot_69_bar_00_dot_00_bar__minus_02_dot_79 - receptacle\n Shelf_bar__plus_00_dot_92_bar__plus_01_dot_13_bar__minus_01_dot_62 - receptacle\n Shelf_bar__plus_00_dot_92_bar__plus_01_dot_13_bar__minus_02_dot_16 - receptacle\n Shelf_bar__plus_00_dot_92_bar__plus_01_dot_13_bar__minus_02_dot_73 - receptacle\n Shelf_bar__plus_00_dot_92_bar__plus_01_dot_41_bar__minus_01_dot_62 - receptacle\n Shelf_bar__plus_00_dot_92_bar__plus_01_dot_41_bar__minus_02_dot_16 - receptacle\n Shelf_bar__plus_00_dot_92_bar__plus_01_dot_41_bar__minus_02_dot_73 - receptacle\n Shelf_bar__plus_03_dot_04_bar__plus_00_dot_53_bar__minus_00_dot_56 - receptacle\n Shelf_bar__plus_03_dot_04_bar__plus_00_dot_53_bar__minus_02_dot_26 - receptacle\n Shelf_bar__minus_02_dot_95_bar__plus_01_dot_13_bar__minus_01_dot_62 - receptacle\n Shelf_bar__minus_02_dot_95_bar__plus_01_dot_13_bar__minus_02_dot_19 - receptacle\n Shelf_bar__minus_02_dot_95_bar__plus_01_dot_13_bar__minus_02_dot_74 - receptacle\n Shelf_bar__minus_02_dot_95_bar__plus_01_dot_41_bar__minus_01_dot_62 - receptacle\n Shelf_bar__minus_02_dot_95_bar__plus_01_dot_41_bar__minus_02_dot_19 - receptacle\n Shelf_bar__minus_02_dot_95_bar__plus_01_dot_41_bar__minus_02_dot_74 - receptacle\n SideTable_bar__minus_01_dot_52_bar__plus_00_dot_42_bar__plus_00_dot_36 - receptacle\n loc_bar_1_bar__minus_10_bar_1_bar_15 - location\n loc_bar__minus_9_bar__minus_8_bar_3_bar_15 - location\n loc_bar__minus_9_bar__minus_10_bar_3_bar_30 - location\n loc_bar__minus_9_bar__minus_10_bar_0_bar_45 - location\n loc_bar_3_bar__minus_3_bar_3_bar_45 - location\n loc_bar_1_bar_0_bar_0_bar_30 - location\n loc_bar_9_bar__minus_11_bar_2_bar_60 - location\n loc_bar_9_bar__minus_11_bar_2_bar__minus_30 - location\n loc_bar_1_bar__minus_10_bar_1_bar_30 - location\n loc_bar_2_bar_0_bar_0_bar_15 - location\n loc_bar_9_bar__minus_1_bar_1_bar_60 - location\n loc_bar_1_bar__minus_6_bar_1_bar_30 - location\n loc_bar_1_bar__minus_9_bar_1_bar_15 - location\n loc_bar__minus_4_bar__minus_11_bar_2_bar__minus_30 - location\n loc_bar_9_bar__minus_8_bar_1_bar_60 - location\n loc_bar_10_bar__minus_2_bar_1_bar_0 - location\n loc_bar__minus_6_bar__minus_3_bar_0_bar_60 - location\n loc_bar_10_bar__minus_7_bar_0_bar_60 - location\n loc_bar__minus_6_bar__minus_2_bar_0_bar_60 - location\n loc_bar__minus_6_bar__minus_1_bar_0_bar_60 - location\n loc_bar__minus_9_bar__minus_10_bar_3_bar_60 - location\n loc_bar__minus_8_bar__minus_8_bar_3_bar_30 - location\n loc_bar_9_bar__minus_11_bar_3_bar_60 - location\n loc_bar__minus_9_bar__minus_8_bar_3_bar_60 - location\n loc_bar__minus_9_bar__minus_9_bar_3_bar_60 - location\n loc_bar_1_bar__minus_10_bar_1_bar_60 - location\n loc_bar__minus_9_bar__minus_10_bar_3_bar_15 - location\n loc_bar__minus_9_bar__minus_9_bar_3_bar_30 - location\n loc_bar_1_bar__minus_6_bar_1_bar_15 - location\n loc_bar_10_bar__minus_8_bar_1_bar__minus_15 - location\n loc_bar_1_bar__minus_9_bar_1_bar_30 - location\n loc_bar_8_bar__minus_5_bar_1_bar_60 - location\n loc_bar__minus_4_bar__minus_11_bar_2_bar_60 - location\n loc_bar__minus_9_bar__minus_9_bar_3_bar_15 - location\n loc_bar_9_bar_0_bar_1_bar_60 - location\n loc_bar_7_bar__minus_9_bar_2_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Shelf_bar__plus_00_dot_92_bar__plus_01_dot_13_bar__minus_01_dot_62 ShelfType)\n (receptacleType Bed_bar__minus_02_dot_46_bar__plus_00_dot_01_bar__minus_00_dot_55 BedType)\n (receptacleType Drawer_bar__minus_01_dot_52_bar__plus_00_dot_42_bar__plus_00_dot_36 DrawerType)\n (receptacleType Shelf_bar__minus_02_dot_95_bar__plus_01_dot_13_bar__minus_01_dot_62 ShelfType)\n (receptacleType Shelf_bar__minus_02_dot_95_bar__plus_01_dot_13_bar__minus_02_dot_19 ShelfType)\n (receptacleType SideTable_bar__minus_01_dot_52_bar__plus_00_dot_42_bar__plus_00_dot_36 SideTableType)\n (receptacleType Shelf_bar__plus_03_dot_04_bar__plus_00_dot_53_bar__minus_02_dot_26 ShelfType)\n (receptacleType GarbageCan_bar__plus_01_dot_69_bar_00_dot_00_bar__minus_02_dot_79 GarbageCanType)\n (receptacleType Shelf_bar__plus_00_dot_92_bar__plus_01_dot_41_bar__minus_01_dot_62 ShelfType)\n (receptacleType Drawer_bar__minus_01_dot_52_bar__plus_00_dot_15_bar__plus_00_dot_36 DrawerType)\n (receptacleType Bed_bar__minus_00_dot_63_bar__plus_00_dot_00_bar__minus_00_dot_55 BedType)\n (receptacleType Shelf_bar__minus_02_dot_95_bar__plus_01_dot_13_bar__minus_02_dot_74 ShelfType)\n (receptacleType Shelf_bar__plus_00_dot_92_bar__plus_01_dot_41_bar__minus_02_dot_73 ShelfType)\n (receptacleType Shelf_bar__minus_02_dot_95_bar__plus_01_dot_41_bar__minus_02_dot_19 ShelfType)\n (receptacleType Shelf_bar__minus_02_dot_95_bar__plus_01_dot_41_bar__minus_01_dot_62 ShelfType)\n (receptacleType Shelf_bar__plus_03_dot_04_bar__plus_00_dot_53_bar__minus_00_dot_56 ShelfType)\n (receptacleType Shelf_bar__minus_02_dot_95_bar__plus_01_dot_41_bar__minus_02_dot_74 ShelfType)\n (receptacleType Shelf_bar__plus_00_dot_92_bar__plus_01_dot_41_bar__minus_02_dot_16 ShelfType)\n (receptacleType DiningTable_bar__plus_03_dot_16_bar__minus_00_dot_01_bar__minus_01_dot_42 DiningTableType)\n (receptacleType Shelf_bar__plus_00_dot_92_bar__plus_01_dot_13_bar__minus_02_dot_73 ShelfType)\n (receptacleType Shelf_bar__plus_00_dot_92_bar__plus_01_dot_13_bar__minus_02_dot_16 ShelfType)\n (objectType AlarmClock_bar__minus_02_dot_89_bar__plus_01_dot_41_bar__minus_02_dot_33 AlarmClockType)\n (objectType Chair_bar__plus_02_dot_73_bar__plus_00_dot_00_bar__minus_01_dot_21 ChairType)\n (objectType Pen_bar__plus_03_dot_06_bar__plus_00_dot_55_bar__minus_00_dot_67 PenType)\n (objectType Watch_bar__plus_03_dot_15_bar__plus_00_dot_79_bar__minus_01_dot_97 WatchType)\n (objectType CD_bar__minus_01_dot_31_bar__plus_00_dot_61_bar__plus_00_dot_38 CDType)\n (objectType BasketBall_bar__minus_02_dot_72_bar__plus_00_dot_12_bar__minus_01_dot_93 BasketBallType)\n (objectType TennisRacket_bar__minus_03_dot_02_bar__plus_00_dot_30_bar__minus_02_dot_20 TennisRacketType)\n (objectType CellPhone_bar__minus_00_dot_33_bar__plus_00_dot_62_bar__minus_00_dot_88 CellPhoneType)\n (objectType Watch_bar__minus_01_dot_52_bar__plus_00_dot_34_bar__plus_00_dot_37 WatchType)\n (objectType KeyChain_bar__plus_03_dot_21_bar__plus_00_dot_79_bar__minus_01_dot_12 KeyChainType)\n (objectType Chair_bar__plus_02_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_16 ChairType)\n (objectType Pen_bar__plus_03_dot_09_bar__plus_00_dot_80_bar__minus_00_dot_56 PenType)\n (objectType Cloth_bar__plus_00_dot_91_bar__plus_00_dot_03_bar__minus_02_dot_70 ClothType)\n (objectType Pencil_bar__plus_03_dot_27_bar__plus_00_dot_80_bar__minus_01_dot_97 PencilType)\n (objectType BaseballBat_bar__minus_02_dot_98_bar__plus_00_dot_02_bar__minus_02_dot_70 BaseballBatType)\n (objectType Poster_bar__plus_03_dot_40_bar__plus_01_dot_70_bar__minus_00_dot_79 PosterType)\n (objectType CellPhone_bar__minus_01_dot_45_bar__plus_00_dot_61_bar__plus_00_dot_34 CellPhoneType)\n (objectType AlarmClock_bar__plus_00_dot_86_bar__plus_01_dot_14_bar__minus_01_dot_61 AlarmClockType)\n (objectType Mirror_bar__plus_00_dot_45_bar__plus_01_dot_49_bar__plus_00_dot_62 MirrorType)\n (objectType Watch_bar__plus_02_dot_96_bar__plus_00_dot_79_bar__minus_02_dot_25 WatchType)\n (objectType Pillow_bar__minus_02_dot_47_bar__plus_00_dot_66_bar__plus_00_dot_11 PillowType)\n (objectType Mug_bar__plus_03_dot_09_bar__plus_00_dot_79_bar__minus_00_dot_84 MugType)\n (objectType Laptop_bar__minus_00_dot_78_bar__plus_00_dot_61_bar__minus_00_dot_88 LaptopType)\n (objectType Window_bar__plus_02_dot_28_bar__plus_00_dot_93_bar__minus_03_dot_18 WindowType)\n (objectType Bowl_bar__plus_00_dot_92_bar__plus_01_dot_41_bar__minus_02_dot_09 BowlType)\n (objectType Poster_bar__plus_03_dot_40_bar__plus_01_dot_86_bar__minus_01_dot_98 PosterType)\n (objectType KeyChain_bar__minus_02_dot_98_bar__plus_01_dot_41_bar__minus_02_dot_20 KeyChainType)\n (objectType TeddyBear_bar__minus_02_dot_65_bar__plus_00_dot_62_bar__minus_00_dot_40 TeddyBearType)\n (objectType CreditCard_bar__plus_00_dot_99_bar__plus_01_dot_41_bar__minus_01_dot_61 CreditCardType)\n (objectType Book_bar__minus_00_dot_18_bar__plus_00_dot_61_bar__minus_00_dot_32 BookType)\n (objectType 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(canContain ShelfType WatchType)\n (canContain ShelfType BowlType)\n (canContain ShelfType CDType)\n (canContain ShelfType MugType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType ClothType)\n (canContain ShelfType PencilType)\n (canContain ShelfType AlarmClockType)\n (canContain 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 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 ClothType)\n (canContain DrawerType PencilType)\n (canContain ShelfType PenType)\n (canContain 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(canContain SideTableType MugType)\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 ClothType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType PencilType)\n (canContain SideTableType 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 CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType ClothType)\n (canContain ShelfType PencilType)\n (canContain ShelfType AlarmClockType)\n (canContain GarbageCanType PenType)\n (canContain GarbageCanType CDType)\n (canContain GarbageCanType 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(canContain BedType CellPhoneType)\n (canContain BedType 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 CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType ClothType)\n (canContain ShelfType PencilType)\n (canContain ShelfType AlarmClockType)\n (canContain ShelfType PenType)\n (canContain ShelfType BookType)\n (canContain ShelfType WatchType)\n (canContain ShelfType BowlType)\n (canContain ShelfType CDType)\n (canContain ShelfType MugType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType ClothType)\n (canContain ShelfType PencilType)\n (canContain ShelfType AlarmClockType)\n (canContain ShelfType PenType)\n (canContain ShelfType BookType)\n 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(inReceptacle KeyChain_bar__minus_01_dot_52_bar__plus_00_dot_62_bar__plus_00_dot_42 SideTable_bar__minus_01_dot_52_bar__plus_00_dot_42_bar__plus_00_dot_36)\n (inReceptacle Watch_bar__minus_01_dot_52_bar__plus_00_dot_34_bar__plus_00_dot_37 Drawer_bar__minus_01_dot_52_bar__plus_00_dot_42_bar__plus_00_dot_36)\n (inReceptacle Bowl_bar__minus_02_dot_95_bar__plus_01_dot_41_bar__minus_01_dot_63 Shelf_bar__minus_02_dot_95_bar__plus_01_dot_41_bar__minus_01_dot_62)\n (inReceptacle Bowl_bar__plus_00_dot_92_bar__plus_01_dot_41_bar__minus_02_dot_09 Shelf_bar__plus_00_dot_92_bar__plus_01_dot_41_bar__minus_02_dot_16)\n (inReceptacle AlarmClock_bar__minus_02_dot_89_bar__plus_01_dot_41_bar__minus_02_dot_33 Shelf_bar__minus_02_dot_95_bar__plus_01_dot_41_bar__minus_02_dot_19)\n (inReceptacle KeyChain_bar__minus_02_dot_98_bar__plus_01_dot_41_bar__minus_02_dot_20 Shelf_bar__minus_02_dot_95_bar__plus_01_dot_41_bar__minus_02_dot_19)\n (inReceptacle AlarmClock_bar__plus_00_dot_86_bar__plus_01_dot_14_bar__minus_01_dot_61 Shelf_bar__plus_00_dot_92_bar__plus_01_dot_13_bar__minus_01_dot_62)\n (inReceptacle CreditCard_bar__plus_00_dot_99_bar__plus_01_dot_41_bar__minus_01_dot_61 Shelf_bar__plus_00_dot_92_bar__plus_01_dot_41_bar__minus_01_dot_62)\n (inReceptacle Pen_bar__plus_03_dot_06_bar__plus_00_dot_55_bar__minus_00_dot_67 Shelf_bar__plus_03_dot_04_bar__plus_00_dot_53_bar__minus_00_dot_56)\n \n \n (receptacleAtLocation Bed_bar__minus_00_dot_63_bar__plus_00_dot_00_bar__minus_00_dot_55 loc_bar_3_bar__minus_3_bar_3_bar_45)\n (receptacleAtLocation Bed_bar__minus_02_dot_46_bar__plus_00_dot_01_bar__minus_00_dot_55 loc_bar__minus_9_bar__minus_10_bar_0_bar_45)\n (receptacleAtLocation DiningTable_bar__plus_03_dot_16_bar__minus_00_dot_01_bar__minus_01_dot_42 loc_bar_8_bar__minus_5_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_52_bar__plus_00_dot_15_bar__plus_00_dot_36 loc_bar__minus_6_bar__minus_3_bar_0_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_52_bar__plus_00_dot_42_bar__plus_00_dot_36 loc_bar__minus_6_bar__minus_2_bar_0_bar_60)\n (receptacleAtLocation GarbageCan_bar__plus_01_dot_69_bar_00_dot_00_bar__minus_02_dot_79 loc_bar_9_bar__minus_11_bar_3_bar_60)\n (receptacleAtLocation Shelf_bar__plus_00_dot_92_bar__plus_01_dot_13_bar__minus_01_dot_62 loc_bar_1_bar__minus_6_bar_1_bar_30)\n (receptacleAtLocation Shelf_bar__plus_00_dot_92_bar__plus_01_dot_13_bar__minus_02_dot_16 loc_bar_1_bar__minus_9_bar_1_bar_30)\n (receptacleAtLocation Shelf_bar__plus_00_dot_92_bar__plus_01_dot_13_bar__minus_02_dot_73 loc_bar_1_bar__minus_10_bar_1_bar_30)\n (receptacleAtLocation Shelf_bar__plus_00_dot_92_bar__plus_01_dot_41_bar__minus_01_dot_62 loc_bar_1_bar__minus_6_bar_1_bar_15)\n (receptacleAtLocation Shelf_bar__plus_00_dot_92_bar__plus_01_dot_41_bar__minus_02_dot_16 loc_bar_1_bar__minus_9_bar_1_bar_15)\n (receptacleAtLocation Shelf_bar__plus_00_dot_92_bar__plus_01_dot_41_bar__minus_02_dot_73 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loc_bar__minus_6_bar__minus_1_bar_0_bar_60)\n (objectAtLocation Laptop_bar__minus_02_dot_76_bar__plus_00_dot_60_bar__minus_01_dot_16 loc_bar__minus_9_bar__minus_10_bar_0_bar_45)\n (objectAtLocation KeyChain_bar__plus_03_dot_21_bar__plus_00_dot_79_bar__minus_01_dot_12 loc_bar_8_bar__minus_5_bar_1_bar_60)\n (objectAtLocation Watch_bar__minus_01_dot_52_bar__plus_00_dot_34_bar__plus_00_dot_37 loc_bar__minus_6_bar__minus_2_bar_0_bar_60)\n (objectAtLocation Chair_bar__plus_02_dot_73_bar__plus_00_dot_00_bar__minus_01_dot_21 loc_bar_10_bar__minus_7_bar_0_bar_60)\n (objectAtLocation Chair_bar__plus_02_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_16 loc_bar_9_bar_0_bar_1_bar_60)\n (objectAtLocation Book_bar__minus_00_dot_18_bar__plus_00_dot_61_bar__minus_00_dot_32 loc_bar_3_bar__minus_3_bar_3_bar_45)\n (objectAtLocation Laptop_bar__minus_00_dot_78_bar__plus_00_dot_61_bar__minus_00_dot_88 loc_bar_3_bar__minus_3_bar_3_bar_45)\n (objectAtLocation KeyChain_bar__minus_02_dot_98_bar__plus_01_dot_41_bar__minus_02_dot_20 loc_bar__minus_9_bar__minus_9_bar_3_bar_15)\n (objectAtLocation Cloth_bar__plus_00_dot_97_bar_00_dot_00_bar__minus_02_dot_40 loc_bar_1_bar__minus_10_bar_1_bar_60)\n (objectAtLocation BaseballBat_bar__minus_02_dot_98_bar__plus_00_dot_02_bar__minus_02_dot_70 loc_bar__minus_9_bar__minus_10_bar_3_bar_60)\n (objectAtLocation BasketBall_bar__minus_02_dot_72_bar__plus_00_dot_12_bar__minus_01_dot_93 loc_bar__minus_9_bar__minus_8_bar_3_bar_60)\n (objectAtLocation Pillow_bar__minus_02_dot_47_bar__plus_00_dot_66_bar__plus_00_dot_11 loc_bar__minus_9_bar__minus_10_bar_0_bar_45)\n (objectAtLocation Pillow_bar__minus_00_dot_63_bar__plus_00_dot_65_bar__plus_00_dot_13 loc_bar_3_bar__minus_3_bar_3_bar_45)\n (objectAtLocation TennisRacket_bar__minus_03_dot_02_bar__plus_00_dot_30_bar__minus_02_dot_20 loc_bar__minus_9_bar__minus_9_bar_3_bar_60)\n (objectAtLocation Pencil_bar__plus_03_dot_27_bar__plus_00_dot_80_bar__minus_01_dot_97 loc_bar_8_bar__minus_5_bar_1_bar_60)\n (objectAtLocation CreditCard_bar__plus_00_dot_99_bar__plus_01_dot_41_bar__minus_01_dot_61 loc_bar_1_bar__minus_6_bar_1_bar_15)\n (objectAtLocation Cloth_bar__plus_00_dot_91_bar__plus_00_dot_03_bar__minus_02_dot_70 loc_bar_1_bar__minus_10_bar_1_bar_60)\n (objectAtLocation TeddyBear_bar__minus_02_dot_65_bar__plus_00_dot_62_bar__minus_00_dot_40 loc_bar__minus_9_bar__minus_10_bar_0_bar_45)\n (objectAtLocation LightSwitch_bar__minus_00_dot_14_bar__plus_01_dot_33_bar__plus_00_dot_60 loc_bar_1_bar_0_bar_0_bar_30)\n (objectAtLocation Poster_bar__plus_03_dot_40_bar__plus_01_dot_86_bar__minus_01_dot_98 loc_bar_10_bar__minus_8_bar_1_bar__minus_15)\n (objectAtLocation Poster_bar__plus_03_dot_40_bar__plus_01_dot_70_bar__minus_00_dot_79 loc_bar_10_bar__minus_2_bar_1_bar_0)\n (objectAtLocation Pen_bar__plus_03_dot_09_bar__plus_00_dot_80_bar__minus_00_dot_56 loc_bar_8_bar__minus_5_bar_1_bar_60)\n (objectAtLocation Cloth_bar__plus_00_dot_71_bar_00_dot_00_bar__minus_02_dot_75 loc_bar_1_bar__minus_10_bar_1_bar_60)\n (objectAtLocation AlarmClock_bar__plus_00_dot_86_bar__plus_01_dot_14_bar__minus_01_dot_61 loc_bar_1_bar__minus_6_bar_1_bar_30)\n (objectAtLocation Watch_bar__plus_02_dot_96_bar__plus_00_dot_79_bar__minus_02_dot_25 loc_bar_8_bar__minus_5_bar_1_bar_60)\n (objectAtLocation Mirror_bar__plus_00_dot_45_bar__plus_01_dot_49_bar__plus_00_dot_62 loc_bar_2_bar_0_bar_0_bar_15)\n (objectAtLocation CellPhone_bar__minus_01_dot_45_bar__plus_00_dot_61_bar__plus_00_dot_34 loc_bar__minus_6_bar__minus_1_bar_0_bar_60)\n (objectAtLocation CD_bar__minus_01_dot_31_bar__plus_00_dot_61_bar__plus_00_dot_38 loc_bar__minus_6_bar__minus_1_bar_0_bar_60)\n (objectAtLocation Window_bar__plus_02_dot_28_bar__plus_00_dot_93_bar__minus_03_dot_18 loc_bar_9_bar__minus_11_bar_2_bar_60)\n (objectAtLocation Window_bar__minus_01_dot_02_bar__plus_00_dot_93_bar__minus_03_dot_19 loc_bar__minus_4_bar__minus_11_bar_2_bar_60)\n (objectAtLocation Mug_bar__plus_03_dot_09_bar__plus_00_dot_79_bar__minus_00_dot_84 loc_bar_8_bar__minus_5_bar_1_bar_60)\n (objectAtLocation Blinds_bar__minus_01_dot_00_bar__plus_02_dot_07_bar__minus_03_dot_18 loc_bar__minus_4_bar__minus_11_bar_2_bar__minus_30)\n (objectAtLocation Blinds_bar__plus_02_dot_29_bar__plus_02_dot_07_bar__minus_03_dot_18 loc_bar_9_bar__minus_11_bar_2_bar__minus_30)\n (objectAtLocation Bowl_bar__minus_02_dot_95_bar__plus_01_dot_41_bar__minus_01_dot_63 loc_bar__minus_9_bar__minus_8_bar_3_bar_15)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o1 - object)\n (and\n (objectType ?o1 WatchType)\n (receptacleType ?r ShelfType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 WatchType)\n (receptacleType ?r ShelfType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to diningtable 1", "take watch 2 from diningtable 1", "go to shelf 3", "move watch 2 to shelf 3", "go to diningtable 1", "take watch 1 from diningtable 1", "go to shelf 3", "move watch 1 to shelf 3"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Watch-None-Shelf-326/trial_T20190906_201415_685426/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Watch-None-Shelf-326/trial_T20190906_201415_685426/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..d23df3e8302ac8339038bef315b81579feda5ed4 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Watch-None-Shelf-326/trial_T20190906_201415_685426/initial_state.pddl @@ -0,0 +1,765 @@ + +(define (problem plan_trial_T20190906_201415_685426) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_86_bar__plus_01_dot_14_bar__minus_01_dot_61 - object + AlarmClock_bar__minus_02_dot_89_bar__plus_01_dot_41_bar__minus_02_dot_33 - object + BaseballBat_bar__minus_02_dot_98_bar__plus_00_dot_02_bar__minus_02_dot_70 - object + BasketBall_bar__minus_02_dot_72_bar__plus_00_dot_12_bar__minus_01_dot_93 - object + Blinds_bar__plus_02_dot_29_bar__plus_02_dot_07_bar__minus_03_dot_18 - object + Blinds_bar__minus_01_dot_00_bar__plus_02_dot_07_bar__minus_03_dot_18 - object + Book_bar__minus_00_dot_18_bar__plus_00_dot_61_bar__minus_00_dot_32 - object + Bowl_bar__plus_00_dot_92_bar__plus_01_dot_41_bar__minus_02_dot_09 - object + Bowl_bar__minus_02_dot_95_bar__plus_01_dot_41_bar__minus_01_dot_63 - object + CD_bar__minus_01_dot_31_bar__plus_00_dot_61_bar__plus_00_dot_38 - object + CellPhone_bar__minus_00_dot_33_bar__plus_00_dot_62_bar__minus_00_dot_88 - object + CellPhone_bar__minus_01_dot_45_bar__plus_00_dot_61_bar__plus_00_dot_34 - object + Chair_bar__plus_02_dot_73_bar__plus_00_dot_00_bar__minus_01_dot_21 - object + Chair_bar__plus_02_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_16 - object + Cloth_bar__plus_00_dot_71_bar_00_dot_00_bar__minus_02_dot_75 - object + Cloth_bar__plus_00_dot_91_bar__plus_00_dot_03_bar__minus_02_dot_70 - object + Cloth_bar__plus_00_dot_97_bar_00_dot_00_bar__minus_02_dot_40 - object + CreditCard_bar__plus_00_dot_99_bar__plus_01_dot_41_bar__minus_01_dot_61 - object + KeyChain_bar__plus_03_dot_21_bar__plus_00_dot_79_bar__minus_01_dot_12 - object + KeyChain_bar__minus_01_dot_52_bar__plus_00_dot_62_bar__plus_00_dot_42 - object + KeyChain_bar__minus_02_dot_98_bar__plus_01_dot_41_bar__minus_02_dot_20 - object + Lamp_bar__plus_03_dot_24_bar__plus_00_dot_79_bar__minus_00_dot_65 - object + Laptop_bar__minus_00_dot_78_bar__plus_00_dot_61_bar__minus_00_dot_88 - object + Laptop_bar__minus_02_dot_76_bar__plus_00_dot_60_bar__minus_01_dot_16 - object + LightSwitch_bar__minus_00_dot_14_bar__plus_01_dot_33_bar__plus_00_dot_60 - object + Mirror_bar__plus_00_dot_45_bar__plus_01_dot_49_bar__plus_00_dot_62 - object + Mug_bar__plus_03_dot_09_bar__plus_00_dot_79_bar__minus_00_dot_84 - object + Pencil_bar__plus_03_dot_27_bar__plus_00_dot_80_bar__minus_01_dot_97 - object + Pen_bar__plus_03_dot_06_bar__plus_00_dot_55_bar__minus_00_dot_67 - object + Pen_bar__plus_03_dot_09_bar__plus_00_dot_80_bar__minus_00_dot_56 - object + Pillow_bar__minus_00_dot_63_bar__plus_00_dot_65_bar__plus_00_dot_13 - object + Pillow_bar__minus_02_dot_47_bar__plus_00_dot_66_bar__plus_00_dot_11 - object + Poster_bar__plus_03_dot_40_bar__plus_01_dot_70_bar__minus_00_dot_79 - object + Poster_bar__plus_03_dot_40_bar__plus_01_dot_86_bar__minus_01_dot_98 - object + TeddyBear_bar__minus_02_dot_65_bar__plus_00_dot_62_bar__minus_00_dot_40 - object + TennisRacket_bar__minus_03_dot_02_bar__plus_00_dot_30_bar__minus_02_dot_20 - object + Watch_bar__plus_02_dot_96_bar__plus_00_dot_79_bar__minus_02_dot_25 - object + Watch_bar__plus_03_dot_15_bar__plus_00_dot_79_bar__minus_01_dot_97 - object + Watch_bar__minus_01_dot_52_bar__plus_00_dot_34_bar__plus_00_dot_37 - object + Window_bar__plus_02_dot_28_bar__plus_00_dot_93_bar__minus_03_dot_18 - object + Window_bar__minus_01_dot_02_bar__plus_00_dot_93_bar__minus_03_dot_19 - object + Bed_bar__minus_00_dot_63_bar__plus_00_dot_00_bar__minus_00_dot_55 - receptacle + Bed_bar__minus_02_dot_46_bar__plus_00_dot_01_bar__minus_00_dot_55 - receptacle + DiningTable_bar__plus_03_dot_16_bar__minus_00_dot_01_bar__minus_01_dot_42 - receptacle + Drawer_bar__minus_01_dot_52_bar__plus_00_dot_15_bar__plus_00_dot_36 - receptacle + Drawer_bar__minus_01_dot_52_bar__plus_00_dot_42_bar__plus_00_dot_36 - receptacle + GarbageCan_bar__plus_01_dot_69_bar_00_dot_00_bar__minus_02_dot_79 - receptacle + Shelf_bar__plus_00_dot_92_bar__plus_01_dot_13_bar__minus_01_dot_62 - receptacle + Shelf_bar__plus_00_dot_92_bar__plus_01_dot_13_bar__minus_02_dot_16 - receptacle + Shelf_bar__plus_00_dot_92_bar__plus_01_dot_13_bar__minus_02_dot_73 - receptacle + Shelf_bar__plus_00_dot_92_bar__plus_01_dot_41_bar__minus_01_dot_62 - receptacle + Shelf_bar__plus_00_dot_92_bar__plus_01_dot_41_bar__minus_02_dot_16 - receptacle + Shelf_bar__plus_00_dot_92_bar__plus_01_dot_41_bar__minus_02_dot_73 - receptacle + Shelf_bar__plus_03_dot_04_bar__plus_00_dot_53_bar__minus_00_dot_56 - receptacle + Shelf_bar__plus_03_dot_04_bar__plus_00_dot_53_bar__minus_02_dot_26 - receptacle + Shelf_bar__minus_02_dot_95_bar__plus_01_dot_13_bar__minus_01_dot_62 - receptacle + Shelf_bar__minus_02_dot_95_bar__plus_01_dot_13_bar__minus_02_dot_19 - receptacle + Shelf_bar__minus_02_dot_95_bar__plus_01_dot_13_bar__minus_02_dot_74 - receptacle + Shelf_bar__minus_02_dot_95_bar__plus_01_dot_41_bar__minus_01_dot_62 - receptacle + Shelf_bar__minus_02_dot_95_bar__plus_01_dot_41_bar__minus_02_dot_19 - receptacle + Shelf_bar__minus_02_dot_95_bar__plus_01_dot_41_bar__minus_02_dot_74 - receptacle + SideTable_bar__minus_01_dot_52_bar__plus_00_dot_42_bar__plus_00_dot_36 - receptacle + loc_bar_1_bar__minus_10_bar_1_bar_15 - location + loc_bar__minus_9_bar__minus_8_bar_3_bar_15 - location + loc_bar__minus_9_bar__minus_10_bar_3_bar_30 - location + loc_bar__minus_9_bar__minus_10_bar_0_bar_45 - location + loc_bar_3_bar__minus_3_bar_3_bar_45 - location + loc_bar_1_bar_0_bar_0_bar_30 - location + loc_bar_9_bar__minus_11_bar_2_bar_60 - location + loc_bar_9_bar__minus_11_bar_2_bar__minus_30 - location + loc_bar_1_bar__minus_10_bar_1_bar_30 - location + loc_bar_2_bar_0_bar_0_bar_15 - location + loc_bar_9_bar__minus_1_bar_1_bar_60 - location + loc_bar_1_bar__minus_6_bar_1_bar_30 - location + loc_bar_1_bar__minus_9_bar_1_bar_15 - location + loc_bar__minus_4_bar__minus_11_bar_2_bar__minus_30 - location + loc_bar_9_bar__minus_8_bar_1_bar_60 - location + loc_bar_10_bar__minus_2_bar_1_bar_0 - location + loc_bar__minus_6_bar__minus_3_bar_0_bar_60 - location + loc_bar_10_bar__minus_7_bar_0_bar_60 - location + loc_bar__minus_6_bar__minus_2_bar_0_bar_60 - location + loc_bar__minus_6_bar__minus_1_bar_0_bar_60 - location + loc_bar__minus_9_bar__minus_10_bar_3_bar_60 - location + loc_bar__minus_8_bar__minus_8_bar_3_bar_30 - location + loc_bar_9_bar__minus_11_bar_3_bar_60 - location + loc_bar__minus_9_bar__minus_8_bar_3_bar_60 - location + loc_bar__minus_9_bar__minus_9_bar_3_bar_60 - location + loc_bar_1_bar__minus_10_bar_1_bar_60 - location + loc_bar__minus_9_bar__minus_10_bar_3_bar_15 - location + loc_bar__minus_9_bar__minus_9_bar_3_bar_30 - location + loc_bar_1_bar__minus_6_bar_1_bar_15 - location + loc_bar_10_bar__minus_8_bar_1_bar__minus_15 - location + loc_bar_1_bar__minus_9_bar_1_bar_30 - location + loc_bar_8_bar__minus_5_bar_1_bar_60 - location + loc_bar__minus_4_bar__minus_11_bar_2_bar_60 - location + loc_bar__minus_9_bar__minus_9_bar_3_bar_15 - location + loc_bar_9_bar_0_bar_1_bar_60 - location + loc_bar_7_bar__minus_9_bar_2_bar_30 - location + ) + + +(:init + + + (receptacleType Shelf_bar__plus_00_dot_92_bar__plus_01_dot_13_bar__minus_01_dot_62 ShelfType) + (receptacleType Bed_bar__minus_02_dot_46_bar__plus_00_dot_01_bar__minus_00_dot_55 BedType) + (receptacleType Drawer_bar__minus_01_dot_52_bar__plus_00_dot_42_bar__plus_00_dot_36 DrawerType) + (receptacleType Shelf_bar__minus_02_dot_95_bar__plus_01_dot_13_bar__minus_01_dot_62 ShelfType) + (receptacleType Shelf_bar__minus_02_dot_95_bar__plus_01_dot_13_bar__minus_02_dot_19 ShelfType) + (receptacleType SideTable_bar__minus_01_dot_52_bar__plus_00_dot_42_bar__plus_00_dot_36 SideTableType) + (receptacleType Shelf_bar__plus_03_dot_04_bar__plus_00_dot_53_bar__minus_02_dot_26 ShelfType) + (receptacleType GarbageCan_bar__plus_01_dot_69_bar_00_dot_00_bar__minus_02_dot_79 GarbageCanType) + (receptacleType Shelf_bar__plus_00_dot_92_bar__plus_01_dot_41_bar__minus_01_dot_62 ShelfType) + (receptacleType Drawer_bar__minus_01_dot_52_bar__plus_00_dot_15_bar__plus_00_dot_36 DrawerType) + (receptacleType Bed_bar__minus_00_dot_63_bar__plus_00_dot_00_bar__minus_00_dot_55 BedType) + (receptacleType Shelf_bar__minus_02_dot_95_bar__plus_01_dot_13_bar__minus_02_dot_74 ShelfType) + (receptacleType Shelf_bar__plus_00_dot_92_bar__plus_01_dot_41_bar__minus_02_dot_73 ShelfType) + (receptacleType Shelf_bar__minus_02_dot_95_bar__plus_01_dot_41_bar__minus_02_dot_19 ShelfType) + (receptacleType Shelf_bar__minus_02_dot_95_bar__plus_01_dot_41_bar__minus_01_dot_62 ShelfType) + (receptacleType Shelf_bar__plus_03_dot_04_bar__plus_00_dot_53_bar__minus_00_dot_56 ShelfType) + (receptacleType Shelf_bar__minus_02_dot_95_bar__plus_01_dot_41_bar__minus_02_dot_74 ShelfType) + (receptacleType Shelf_bar__plus_00_dot_92_bar__plus_01_dot_41_bar__minus_02_dot_16 ShelfType) + (receptacleType DiningTable_bar__plus_03_dot_16_bar__minus_00_dot_01_bar__minus_01_dot_42 DiningTableType) + (receptacleType Shelf_bar__plus_00_dot_92_bar__plus_01_dot_13_bar__minus_02_dot_73 ShelfType) + (receptacleType Shelf_bar__plus_00_dot_92_bar__plus_01_dot_13_bar__minus_02_dot_16 ShelfType) + (objectType AlarmClock_bar__minus_02_dot_89_bar__plus_01_dot_41_bar__minus_02_dot_33 AlarmClockType) + (objectType Chair_bar__plus_02_dot_73_bar__plus_00_dot_00_bar__minus_01_dot_21 ChairType) + (objectType Pen_bar__plus_03_dot_06_bar__plus_00_dot_55_bar__minus_00_dot_67 PenType) + (objectType Watch_bar__plus_03_dot_15_bar__plus_00_dot_79_bar__minus_01_dot_97 WatchType) + (objectType CD_bar__minus_01_dot_31_bar__plus_00_dot_61_bar__plus_00_dot_38 CDType) + (objectType BasketBall_bar__minus_02_dot_72_bar__plus_00_dot_12_bar__minus_01_dot_93 BasketBallType) + (objectType TennisRacket_bar__minus_03_dot_02_bar__plus_00_dot_30_bar__minus_02_dot_20 TennisRacketType) + (objectType CellPhone_bar__minus_00_dot_33_bar__plus_00_dot_62_bar__minus_00_dot_88 CellPhoneType) + (objectType Watch_bar__minus_01_dot_52_bar__plus_00_dot_34_bar__plus_00_dot_37 WatchType) + (objectType KeyChain_bar__plus_03_dot_21_bar__plus_00_dot_79_bar__minus_01_dot_12 KeyChainType) + (objectType Chair_bar__plus_02_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_16 ChairType) + (objectType Pen_bar__plus_03_dot_09_bar__plus_00_dot_80_bar__minus_00_dot_56 PenType) + (objectType Cloth_bar__plus_00_dot_91_bar__plus_00_dot_03_bar__minus_02_dot_70 ClothType) + (objectType Pencil_bar__plus_03_dot_27_bar__plus_00_dot_80_bar__minus_01_dot_97 PencilType) + (objectType BaseballBat_bar__minus_02_dot_98_bar__plus_00_dot_02_bar__minus_02_dot_70 BaseballBatType) + (objectType Poster_bar__plus_03_dot_40_bar__plus_01_dot_70_bar__minus_00_dot_79 PosterType) + (objectType CellPhone_bar__minus_01_dot_45_bar__plus_00_dot_61_bar__plus_00_dot_34 CellPhoneType) + (objectType AlarmClock_bar__plus_00_dot_86_bar__plus_01_dot_14_bar__minus_01_dot_61 AlarmClockType) + (objectType Mirror_bar__plus_00_dot_45_bar__plus_01_dot_49_bar__plus_00_dot_62 MirrorType) + (objectType Watch_bar__plus_02_dot_96_bar__plus_00_dot_79_bar__minus_02_dot_25 WatchType) + (objectType Pillow_bar__minus_02_dot_47_bar__plus_00_dot_66_bar__plus_00_dot_11 PillowType) + (objectType Mug_bar__plus_03_dot_09_bar__plus_00_dot_79_bar__minus_00_dot_84 MugType) + (objectType Laptop_bar__minus_00_dot_78_bar__plus_00_dot_61_bar__minus_00_dot_88 LaptopType) + (objectType Window_bar__plus_02_dot_28_bar__plus_00_dot_93_bar__minus_03_dot_18 WindowType) + (objectType Bowl_bar__plus_00_dot_92_bar__plus_01_dot_41_bar__minus_02_dot_09 BowlType) + (objectType Poster_bar__plus_03_dot_40_bar__plus_01_dot_86_bar__minus_01_dot_98 PosterType) + (objectType KeyChain_bar__minus_02_dot_98_bar__plus_01_dot_41_bar__minus_02_dot_20 KeyChainType) + (objectType TeddyBear_bar__minus_02_dot_65_bar__plus_00_dot_62_bar__minus_00_dot_40 TeddyBearType) + (objectType CreditCard_bar__plus_00_dot_99_bar__plus_01_dot_41_bar__minus_01_dot_61 CreditCardType) + (objectType 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loc_bar_1_bar__minus_10_bar_1_bar_15) + (receptacleAtLocation Shelf_bar__plus_03_dot_04_bar__plus_00_dot_53_bar__minus_00_dot_56 loc_bar_9_bar__minus_1_bar_1_bar_60) + (receptacleAtLocation Shelf_bar__plus_03_dot_04_bar__plus_00_dot_53_bar__minus_02_dot_26 loc_bar_9_bar__minus_8_bar_1_bar_60) + (receptacleAtLocation Shelf_bar__minus_02_dot_95_bar__plus_01_dot_13_bar__minus_01_dot_62 loc_bar__minus_8_bar__minus_8_bar_3_bar_30) + (receptacleAtLocation Shelf_bar__minus_02_dot_95_bar__plus_01_dot_13_bar__minus_02_dot_19 loc_bar__minus_9_bar__minus_9_bar_3_bar_30) + (receptacleAtLocation Shelf_bar__minus_02_dot_95_bar__plus_01_dot_13_bar__minus_02_dot_74 loc_bar__minus_9_bar__minus_10_bar_3_bar_30) + (receptacleAtLocation Shelf_bar__minus_02_dot_95_bar__plus_01_dot_41_bar__minus_01_dot_62 loc_bar__minus_9_bar__minus_8_bar_3_bar_15) + (receptacleAtLocation Shelf_bar__minus_02_dot_95_bar__plus_01_dot_41_bar__minus_02_dot_19 loc_bar__minus_9_bar__minus_9_bar_3_bar_15) + (receptacleAtLocation Shelf_bar__minus_02_dot_95_bar__plus_01_dot_41_bar__minus_02_dot_74 loc_bar__minus_9_bar__minus_10_bar_3_bar_15) + (receptacleAtLocation SideTable_bar__minus_01_dot_52_bar__plus_00_dot_42_bar__plus_00_dot_36 loc_bar__minus_6_bar__minus_1_bar_0_bar_60) + (objectAtLocation Bowl_bar__plus_00_dot_92_bar__plus_01_dot_41_bar__minus_02_dot_09 loc_bar_1_bar__minus_9_bar_1_bar_15) + (objectAtLocation CellPhone_bar__minus_00_dot_33_bar__plus_00_dot_62_bar__minus_00_dot_88 loc_bar_3_bar__minus_3_bar_3_bar_45) + (objectAtLocation Watch_bar__plus_03_dot_15_bar__plus_00_dot_79_bar__minus_01_dot_97 loc_bar_8_bar__minus_5_bar_1_bar_60) + (objectAtLocation AlarmClock_bar__minus_02_dot_89_bar__plus_01_dot_41_bar__minus_02_dot_33 loc_bar__minus_9_bar__minus_9_bar_3_bar_15) + (objectAtLocation Pen_bar__plus_03_dot_06_bar__plus_00_dot_55_bar__minus_00_dot_67 loc_bar_9_bar__minus_1_bar_1_bar_60) + (objectAtLocation KeyChain_bar__minus_01_dot_52_bar__plus_00_dot_62_bar__plus_00_dot_42 loc_bar__minus_6_bar__minus_1_bar_0_bar_60) + (objectAtLocation Laptop_bar__minus_02_dot_76_bar__plus_00_dot_60_bar__minus_01_dot_16 loc_bar__minus_9_bar__minus_10_bar_0_bar_45) + (objectAtLocation KeyChain_bar__plus_03_dot_21_bar__plus_00_dot_79_bar__minus_01_dot_12 loc_bar_8_bar__minus_5_bar_1_bar_60) + (objectAtLocation Watch_bar__minus_01_dot_52_bar__plus_00_dot_34_bar__plus_00_dot_37 loc_bar__minus_6_bar__minus_2_bar_0_bar_60) + (objectAtLocation Chair_bar__plus_02_dot_73_bar__plus_00_dot_00_bar__minus_01_dot_21 loc_bar_10_bar__minus_7_bar_0_bar_60) + (objectAtLocation Chair_bar__plus_02_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_16 loc_bar_9_bar_0_bar_1_bar_60) + (objectAtLocation Book_bar__minus_00_dot_18_bar__plus_00_dot_61_bar__minus_00_dot_32 loc_bar_3_bar__minus_3_bar_3_bar_45) + (objectAtLocation Laptop_bar__minus_00_dot_78_bar__plus_00_dot_61_bar__minus_00_dot_88 loc_bar_3_bar__minus_3_bar_3_bar_45) + (objectAtLocation KeyChain_bar__minus_02_dot_98_bar__plus_01_dot_41_bar__minus_02_dot_20 loc_bar__minus_9_bar__minus_9_bar_3_bar_15) + (objectAtLocation Cloth_bar__plus_00_dot_97_bar_00_dot_00_bar__minus_02_dot_40 loc_bar_1_bar__minus_10_bar_1_bar_60) + (objectAtLocation BaseballBat_bar__minus_02_dot_98_bar__plus_00_dot_02_bar__minus_02_dot_70 loc_bar__minus_9_bar__minus_10_bar_3_bar_60) + (objectAtLocation BasketBall_bar__minus_02_dot_72_bar__plus_00_dot_12_bar__minus_01_dot_93 loc_bar__minus_9_bar__minus_8_bar_3_bar_60) + (objectAtLocation Pillow_bar__minus_02_dot_47_bar__plus_00_dot_66_bar__plus_00_dot_11 loc_bar__minus_9_bar__minus_10_bar_0_bar_45) + (objectAtLocation Pillow_bar__minus_00_dot_63_bar__plus_00_dot_65_bar__plus_00_dot_13 loc_bar_3_bar__minus_3_bar_3_bar_45) + (objectAtLocation TennisRacket_bar__minus_03_dot_02_bar__plus_00_dot_30_bar__minus_02_dot_20 loc_bar__minus_9_bar__minus_9_bar_3_bar_60) + (objectAtLocation Pencil_bar__plus_03_dot_27_bar__plus_00_dot_80_bar__minus_01_dot_97 loc_bar_8_bar__minus_5_bar_1_bar_60) + (objectAtLocation CreditCard_bar__plus_00_dot_99_bar__plus_01_dot_41_bar__minus_01_dot_61 loc_bar_1_bar__minus_6_bar_1_bar_15) + (objectAtLocation Cloth_bar__plus_00_dot_91_bar__plus_00_dot_03_bar__minus_02_dot_70 loc_bar_1_bar__minus_10_bar_1_bar_60) + (objectAtLocation TeddyBear_bar__minus_02_dot_65_bar__plus_00_dot_62_bar__minus_00_dot_40 loc_bar__minus_9_bar__minus_10_bar_0_bar_45) + (objectAtLocation LightSwitch_bar__minus_00_dot_14_bar__plus_01_dot_33_bar__plus_00_dot_60 loc_bar_1_bar_0_bar_0_bar_30) + (objectAtLocation Poster_bar__plus_03_dot_40_bar__plus_01_dot_86_bar__minus_01_dot_98 loc_bar_10_bar__minus_8_bar_1_bar__minus_15) + (objectAtLocation Poster_bar__plus_03_dot_40_bar__plus_01_dot_70_bar__minus_00_dot_79 loc_bar_10_bar__minus_2_bar_1_bar_0) + (objectAtLocation Pen_bar__plus_03_dot_09_bar__plus_00_dot_80_bar__minus_00_dot_56 loc_bar_8_bar__minus_5_bar_1_bar_60) + (objectAtLocation Cloth_bar__plus_00_dot_71_bar_00_dot_00_bar__minus_02_dot_75 loc_bar_1_bar__minus_10_bar_1_bar_60) + (objectAtLocation AlarmClock_bar__plus_00_dot_86_bar__plus_01_dot_14_bar__minus_01_dot_61 loc_bar_1_bar__minus_6_bar_1_bar_30) + (objectAtLocation Watch_bar__plus_02_dot_96_bar__plus_00_dot_79_bar__minus_02_dot_25 loc_bar_8_bar__minus_5_bar_1_bar_60) + (objectAtLocation Mirror_bar__plus_00_dot_45_bar__plus_01_dot_49_bar__plus_00_dot_62 loc_bar_2_bar_0_bar_0_bar_15) + (objectAtLocation CellPhone_bar__minus_01_dot_45_bar__plus_00_dot_61_bar__plus_00_dot_34 loc_bar__minus_6_bar__minus_1_bar_0_bar_60) + (objectAtLocation CD_bar__minus_01_dot_31_bar__plus_00_dot_61_bar__plus_00_dot_38 loc_bar__minus_6_bar__minus_1_bar_0_bar_60) + (objectAtLocation Window_bar__plus_02_dot_28_bar__plus_00_dot_93_bar__minus_03_dot_18 loc_bar_9_bar__minus_11_bar_2_bar_60) + (objectAtLocation Window_bar__minus_01_dot_02_bar__plus_00_dot_93_bar__minus_03_dot_19 loc_bar__minus_4_bar__minus_11_bar_2_bar_60) + (objectAtLocation Mug_bar__plus_03_dot_09_bar__plus_00_dot_79_bar__minus_00_dot_84 loc_bar_8_bar__minus_5_bar_1_bar_60) + (objectAtLocation Blinds_bar__minus_01_dot_00_bar__plus_02_dot_07_bar__minus_03_dot_18 loc_bar__minus_4_bar__minus_11_bar_2_bar__minus_30) + (objectAtLocation Blinds_bar__plus_02_dot_29_bar__plus_02_dot_07_bar__minus_03_dot_18 loc_bar_9_bar__minus_11_bar_2_bar__minus_30) + (objectAtLocation Bowl_bar__minus_02_dot_95_bar__plus_01_dot_41_bar__minus_01_dot_63 loc_bar__minus_9_bar__minus_8_bar_3_bar_15) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o1 - object) + (and + (objectType ?o1 WatchType) + (receptacleType ?r ShelfType) + (inReceptacle ?o1 ?r) + (exists (?o2 - object) + (and + (not (= ?o1 ?o2)) + (objectType ?o2 WatchType) + (receptacleType ?r ShelfType) + (inReceptacle ?o2 ?r) + ) + ) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git 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"rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 2203027709, + "scene_num": 326 + }, + "task_id": "trial_T20190906_201415_685426", + "task_type": "pick_two_obj_and_place", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A1HKHM4NVAO98H_3A7Y0R2P2R54IZZ9DP50AAZWMMAXJD", + "high_descs": [ + "turn left and walk to the desk at the end of the room", + "pick up the wrist watch off of the desk", + "back up a bit to face the desk again", + "place the wrist watch in the cabinet inside the right side of the desk", + "move forwards towards the desk again", + "pick up the wrist watch off of the desk again", + "back up a bit to face the desk again", + "place the wrist watch in the cabinet inside the right side of the desk" + ], + "task_desc": "place both of the wrist watches on the desk inside the cabinet", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A36DK84J5YJ942_3K2755HG5VKAFR8W3ZD3154CDUJFDM", + "high_descs": [ + "Move to the desk on the left.", + "Pick up the watch from the table.", + "Move to the desk opening below", + "Place the watch on the left side of the opening", + "Move back to the desk above", + "Pick up the second watch from the top of the desk", + "Move to the desk opening below", + "Set the second watch to the right of the last in the opening" + ], + "task_desc": "Place the two watches on top of the desk into the opening below.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1ELPYAFO7MANS_3YDTZAI2W0X6PGVV3PXP9Z6CZ6614R", + "high_descs": [ + "Turn left and walk to the desk.", + "Pick up the watch on the left.", + "Look down.", + "Place the watch on the shelf on the right.", + "Look up.", + "Pick up the watch on the desk.", + "Look down.", + "Put the watch on the shelf to the right of the first watch." + ], + "task_desc": "Put two watches on a shelf.", + "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-Watch-None-Shelf-326/trial_T20190906_201446_524359/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Watch-None-Shelf-326/trial_T20190906_201446_524359/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..e236f9e86bea138f8022ec61cca642aaa0869c5d --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Watch-None-Shelf-326/trial_T20190906_201446_524359/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\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 watch 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_201446_524359)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\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_95_bar__plus_01_dot_41_bar__minus_01_dot_55 - object\n AlarmClock_bar__plus_03_dot_21_bar__plus_00_dot_79_bar__minus_01_dot_97 - object\n BaseballBat_bar__minus_02_dot_98_bar__plus_00_dot_02_bar__minus_02_dot_70 - object\n BasketBall_bar__minus_02_dot_72_bar__plus_00_dot_12_bar__minus_01_dot_93 - object\n Blinds_bar__plus_02_dot_29_bar__plus_02_dot_07_bar__minus_03_dot_18 - object\n Blinds_bar__minus_01_dot_00_bar__plus_02_dot_07_bar__minus_03_dot_18 - object\n Book_bar__minus_00_dot_33_bar__plus_00_dot_61_bar__minus_00_dot_32 - object\n Book_bar__minus_00_dot_78_bar__plus_00_dot_61_bar__minus_01_dot_44 - object\n Bowl_bar__plus_00_dot_89_bar__plus_01_dot_14_bar__minus_01_dot_67 - object\n CD_bar__plus_00_dot_86_bar__plus_01_dot_41_bar__minus_02_dot_65 - object\n CD_bar__plus_02_dot_96_bar__plus_00_dot_79_bar__minus_01_dot_69 - object\n CD_bar__minus_03_dot_01_bar__plus_01_dot_41_bar__minus_02_dot_20 - object\n CellPhone_bar__plus_00_dot_95_bar__plus_01_dot_41_bar__minus_02_dot_28 - object\n Chair_bar__plus_02_dot_73_bar__plus_00_dot_00_bar__minus_01_dot_21 - object\n Chair_bar__plus_02_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_16 - object\n Cloth_bar__plus_00_dot_71_bar_00_dot_00_bar__minus_02_dot_75 - object\n Cloth_bar__plus_00_dot_91_bar__plus_00_dot_03_bar__minus_02_dot_70 - object\n Cloth_bar__plus_00_dot_97_bar_00_dot_00_bar__minus_02_dot_40 - object\n CreditCard_bar__plus_03_dot_15_bar__plus_00_dot_79_bar__minus_01_dot_40 - object\n CreditCard_bar__minus_01_dot_42_bar__plus_00_dot_34_bar__plus_00_dot_39 - object\n CreditCard_bar__minus_01_dot_57_bar__plus_00_dot_34_bar__plus_00_dot_35 - object\n KeyChain_bar__plus_00_dot_86_bar__plus_01_dot_41_bar__minus_02_dot_03 - object\n KeyChain_bar__plus_03_dot_09_bar__plus_00_dot_79_bar__minus_01_dot_12 - object\n KeyChain_bar__plus_03_dot_21_bar__plus_00_dot_79_bar__minus_01_dot_12 - object\n Lamp_bar__plus_03_dot_24_bar__plus_00_dot_79_bar__minus_00_dot_65 - object\n Laptop_bar__plus_03_dot_15_bar__plus_00_dot_79_bar__minus_02_dot_27 - object\n LightSwitch_bar__minus_00_dot_14_bar__plus_01_dot_33_bar__plus_00_dot_60 - object\n Mirror_bar__plus_00_dot_45_bar__plus_01_dot_49_bar__plus_00_dot_62 - object\n Mug_bar__plus_00_dot_99_bar__plus_01_dot_41_bar__minus_02_dot_79 - object\n Mug_bar__minus_01_dot_38_bar__plus_00_dot_61_bar__plus_00_dot_42 - object\n Mug_bar__minus_02_dot_95_bar__plus_01_dot_41_bar__minus_01_dot_63 - object\n Pencil_bar__plus_03_dot_21_bar__plus_00_dot_80_bar__minus_01_dot_40 - object\n Pen_bar__plus_00_dot_92_bar__plus_01_dot_42_bar__minus_01_dot_73 - object\n Pen_bar__minus_01_dot_52_bar__plus_00_dot_62_bar__plus_00_dot_46 - object\n Pillow_bar__minus_00_dot_63_bar__plus_00_dot_65_bar__plus_00_dot_13 - object\n Pillow_bar__minus_00_dot_63_bar__plus_00_dot_69_bar__minus_00_dot_88 - object\n Pillow_bar__minus_02_dot_61_bar__plus_00_dot_68_bar__minus_01_dot_16 - object\n Poster_bar__plus_03_dot_40_bar__plus_01_dot_70_bar__minus_00_dot_79 - object\n Poster_bar__plus_03_dot_40_bar__plus_01_dot_86_bar__minus_01_dot_98 - object\n TeddyBear_bar__minus_02_dot_65_bar__plus_00_dot_62_bar__minus_00_dot_40 - object\n TennisRacket_bar__minus_03_dot_02_bar__plus_00_dot_30_bar__minus_02_dot_20 - object\n Watch_bar__plus_03_dot_15_bar__plus_00_dot_79_bar__minus_00_dot_84 - object\n Watch_bar__plus_03_dot_15_bar__plus_00_dot_79_bar__minus_01_dot_69 - object\n Window_bar__plus_02_dot_28_bar__plus_00_dot_93_bar__minus_03_dot_18 - object\n Window_bar__minus_01_dot_02_bar__plus_00_dot_93_bar__minus_03_dot_19 - object\n Bed_bar__minus_00_dot_63_bar__plus_00_dot_00_bar__minus_00_dot_55 - receptacle\n Bed_bar__minus_02_dot_46_bar__plus_00_dot_01_bar__minus_00_dot_55 - receptacle\n DiningTable_bar__plus_03_dot_16_bar__minus_00_dot_01_bar__minus_01_dot_42 - receptacle\n Drawer_bar__minus_01_dot_52_bar__plus_00_dot_15_bar__plus_00_dot_36 - receptacle\n Drawer_bar__minus_01_dot_52_bar__plus_00_dot_42_bar__plus_00_dot_36 - receptacle\n GarbageCan_bar__plus_01_dot_69_bar_00_dot_00_bar__minus_02_dot_79 - receptacle\n Shelf_bar__plus_00_dot_92_bar__plus_01_dot_13_bar__minus_01_dot_62 - receptacle\n Shelf_bar__plus_00_dot_92_bar__plus_01_dot_13_bar__minus_02_dot_16 - receptacle\n Shelf_bar__plus_00_dot_92_bar__plus_01_dot_13_bar__minus_02_dot_73 - receptacle\n Shelf_bar__plus_00_dot_92_bar__plus_01_dot_41_bar__minus_01_dot_62 - receptacle\n Shelf_bar__plus_00_dot_92_bar__plus_01_dot_41_bar__minus_02_dot_16 - receptacle\n Shelf_bar__plus_00_dot_92_bar__plus_01_dot_41_bar__minus_02_dot_73 - receptacle\n Shelf_bar__plus_03_dot_04_bar__plus_00_dot_53_bar__minus_00_dot_56 - receptacle\n Shelf_bar__plus_03_dot_04_bar__plus_00_dot_53_bar__minus_02_dot_26 - receptacle\n Shelf_bar__minus_02_dot_95_bar__plus_01_dot_13_bar__minus_01_dot_62 - receptacle\n Shelf_bar__minus_02_dot_95_bar__plus_01_dot_13_bar__minus_02_dot_19 - receptacle\n Shelf_bar__minus_02_dot_95_bar__plus_01_dot_13_bar__minus_02_dot_74 - receptacle\n Shelf_bar__minus_02_dot_95_bar__plus_01_dot_41_bar__minus_01_dot_62 - receptacle\n Shelf_bar__minus_02_dot_95_bar__plus_01_dot_41_bar__minus_02_dot_19 - receptacle\n Shelf_bar__minus_02_dot_95_bar__plus_01_dot_41_bar__minus_02_dot_74 - receptacle\n SideTable_bar__minus_01_dot_52_bar__plus_00_dot_42_bar__plus_00_dot_36 - receptacle\n loc_bar_1_bar__minus_10_bar_1_bar_15 - location\n loc_bar__minus_9_bar__minus_8_bar_3_bar_15 - location\n loc_bar__minus_9_bar__minus_10_bar_3_bar_30 - location\n loc_bar__minus_9_bar__minus_10_bar_0_bar_45 - location\n loc_bar_3_bar__minus_3_bar_3_bar_45 - location\n loc_bar_1_bar_0_bar_0_bar_30 - location\n loc_bar_9_bar__minus_11_bar_2_bar_60 - location\n loc_bar_9_bar__minus_11_bar_2_bar__minus_30 - location\n loc_bar_1_bar__minus_10_bar_1_bar_30 - location\n loc_bar_2_bar_0_bar_0_bar_15 - location\n loc_bar_9_bar__minus_1_bar_1_bar_60 - location\n loc_bar_1_bar__minus_6_bar_1_bar_30 - location\n loc_bar_1_bar__minus_9_bar_1_bar_15 - location\n loc_bar__minus_4_bar__minus_11_bar_2_bar__minus_30 - location\n loc_bar_9_bar__minus_8_bar_1_bar_60 - location\n loc_bar_10_bar__minus_2_bar_1_bar_0 - location\n loc_bar__minus_6_bar__minus_3_bar_0_bar_60 - location\n loc_bar_10_bar__minus_7_bar_0_bar_60 - location\n loc_bar__minus_6_bar__minus_2_bar_0_bar_60 - location\n loc_bar__minus_6_bar__minus_1_bar_0_bar_60 - location\n loc_bar__minus_9_bar__minus_10_bar_3_bar_60 - location\n loc_bar__minus_8_bar__minus_8_bar_3_bar_30 - location\n loc_bar_9_bar__minus_11_bar_3_bar_60 - location\n loc_bar__minus_9_bar__minus_8_bar_3_bar_60 - location\n loc_bar__minus_9_bar__minus_9_bar_3_bar_60 - location\n loc_bar_1_bar__minus_10_bar_1_bar_60 - location\n loc_bar__minus_9_bar__minus_10_bar_3_bar_15 - location\n loc_bar__minus_9_bar__minus_9_bar_3_bar_30 - location\n loc_bar_1_bar__minus_6_bar_1_bar_15 - location\n loc_bar_10_bar__minus_8_bar_1_bar__minus_15 - location\n loc_bar_1_bar__minus_9_bar_1_bar_30 - location\n loc_bar_8_bar__minus_5_bar_1_bar_60 - location\n loc_bar__minus_4_bar__minus_11_bar_2_bar_60 - location\n loc_bar__minus_9_bar__minus_9_bar_3_bar_15 - location\n loc_bar_9_bar_0_bar_1_bar_60 - location\n loc_bar_12_bar__minus_11_bar_3_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Shelf_bar__plus_00_dot_92_bar__plus_01_dot_13_bar__minus_01_dot_62 ShelfType)\n (receptacleType Bed_bar__minus_02_dot_46_bar__plus_00_dot_01_bar__minus_00_dot_55 BedType)\n (receptacleType Drawer_bar__minus_01_dot_52_bar__plus_00_dot_42_bar__plus_00_dot_36 DrawerType)\n (receptacleType Shelf_bar__minus_02_dot_95_bar__plus_01_dot_13_bar__minus_01_dot_62 ShelfType)\n (receptacleType Shelf_bar__minus_02_dot_95_bar__plus_01_dot_13_bar__minus_02_dot_19 ShelfType)\n (receptacleType SideTable_bar__minus_01_dot_52_bar__plus_00_dot_42_bar__plus_00_dot_36 SideTableType)\n (receptacleType Shelf_bar__plus_03_dot_04_bar__plus_00_dot_53_bar__minus_02_dot_26 ShelfType)\n (receptacleType GarbageCan_bar__plus_01_dot_69_bar_00_dot_00_bar__minus_02_dot_79 GarbageCanType)\n (receptacleType Shelf_bar__plus_00_dot_92_bar__plus_01_dot_41_bar__minus_01_dot_62 ShelfType)\n (receptacleType Drawer_bar__minus_01_dot_52_bar__plus_00_dot_15_bar__plus_00_dot_36 DrawerType)\n (receptacleType Bed_bar__minus_00_dot_63_bar__plus_00_dot_00_bar__minus_00_dot_55 BedType)\n (receptacleType Shelf_bar__minus_02_dot_95_bar__plus_01_dot_13_bar__minus_02_dot_74 ShelfType)\n (receptacleType Shelf_bar__plus_00_dot_92_bar__plus_01_dot_41_bar__minus_02_dot_73 ShelfType)\n (receptacleType Shelf_bar__minus_02_dot_95_bar__plus_01_dot_41_bar__minus_02_dot_19 ShelfType)\n (receptacleType Shelf_bar__minus_02_dot_95_bar__plus_01_dot_41_bar__minus_01_dot_62 ShelfType)\n (receptacleType Shelf_bar__plus_03_dot_04_bar__plus_00_dot_53_bar__minus_00_dot_56 ShelfType)\n (receptacleType Shelf_bar__minus_02_dot_95_bar__plus_01_dot_41_bar__minus_02_dot_74 ShelfType)\n (receptacleType Shelf_bar__plus_00_dot_92_bar__plus_01_dot_41_bar__minus_02_dot_16 ShelfType)\n (receptacleType DiningTable_bar__plus_03_dot_16_bar__minus_00_dot_01_bar__minus_01_dot_42 DiningTableType)\n (receptacleType Shelf_bar__plus_00_dot_92_bar__plus_01_dot_13_bar__minus_02_dot_73 ShelfType)\n (receptacleType Shelf_bar__plus_00_dot_92_bar__plus_01_dot_13_bar__minus_02_dot_16 ShelfType)\n (objectType Pencil_bar__plus_03_dot_21_bar__plus_00_dot_80_bar__minus_01_dot_40 PencilType)\n (objectType Book_bar__minus_00_dot_33_bar__plus_00_dot_61_bar__minus_00_dot_32 BookType)\n (objectType Chair_bar__plus_02_dot_73_bar__plus_00_dot_00_bar__minus_01_dot_21 ChairType)\n (objectType Pillow_bar__minus_02_dot_61_bar__plus_00_dot_68_bar__minus_01_dot_16 PillowType)\n (objectType CD_bar__minus_03_dot_01_bar__plus_01_dot_41_bar__minus_02_dot_20 CDType)\n (objectType BasketBall_bar__minus_02_dot_72_bar__plus_00_dot_12_bar__minus_01_dot_93 BasketBallType)\n (objectType TennisRacket_bar__minus_03_dot_02_bar__plus_00_dot_30_bar__minus_02_dot_20 TennisRacketType)\n (objectType CreditCard_bar__plus_03_dot_15_bar__plus_00_dot_79_bar__minus_01_dot_40 CreditCardType)\n (objectType CellPhone_bar__plus_00_dot_95_bar__plus_01_dot_41_bar__minus_02_dot_28 CellPhoneType)\n (objectType KeyChain_bar__plus_03_dot_21_bar__plus_00_dot_79_bar__minus_01_dot_12 KeyChainType)\n (objectType Chair_bar__plus_02_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_16 ChairType)\n (objectType Bowl_bar__plus_00_dot_89_bar__plus_01_dot_14_bar__minus_01_dot_67 BowlType)\n (objectType Cloth_bar__plus_00_dot_91_bar__plus_00_dot_03_bar__minus_02_dot_70 ClothType)\n (objectType Mug_bar__minus_02_dot_95_bar__plus_01_dot_41_bar__minus_01_dot_63 MugType)\n (objectType Mug_bar__plus_00_dot_99_bar__plus_01_dot_41_bar__minus_02_dot_79 MugType)\n (objectType CD_bar__plus_00_dot_86_bar__plus_01_dot_41_bar__minus_02_dot_65 CDType)\n (objectType Mug_bar__minus_01_dot_38_bar__plus_00_dot_61_bar__plus_00_dot_42 MugType)\n (objectType BaseballBat_bar__minus_02_dot_98_bar__plus_00_dot_02_bar__minus_02_dot_70 BaseballBatType)\n (objectType Poster_bar__plus_03_dot_40_bar__plus_01_dot_70_bar__minus_00_dot_79 PosterType)\n (objectType Mirror_bar__plus_00_dot_45_bar__plus_01_dot_49_bar__plus_00_dot_62 MirrorType)\n (objectType AlarmClock_bar__plus_03_dot_21_bar__plus_00_dot_79_bar__minus_01_dot_97 AlarmClockType)\n (objectType Window_bar__plus_02_dot_28_bar__plus_00_dot_93_bar__minus_03_dot_18 WindowType)\n (objectType CreditCard_bar__minus_01_dot_42_bar__plus_00_dot_34_bar__plus_00_dot_39 CreditCardType)\n (objectType Laptop_bar__plus_03_dot_15_bar__plus_00_dot_79_bar__minus_02_dot_27 LaptopType)\n (objectType Pen_bar__minus_01_dot_52_bar__plus_00_dot_62_bar__plus_00_dot_46 PenType)\n (objectType CreditCard_bar__minus_01_dot_57_bar__plus_00_dot_34_bar__plus_00_dot_35 CreditCardType)\n (objectType Poster_bar__plus_03_dot_40_bar__plus_01_dot_86_bar__minus_01_dot_98 PosterType)\n (objectType Book_bar__minus_00_dot_78_bar__plus_00_dot_61_bar__minus_01_dot_44 BookType)\n (objectType Watch_bar__plus_03_dot_15_bar__plus_00_dot_79_bar__minus_00_dot_84 WatchType)\n (objectType TeddyBear_bar__minus_02_dot_65_bar__plus_00_dot_62_bar__minus_00_dot_40 TeddyBearType)\n (objectType AlarmClock_bar__plus_00_dot_95_bar__plus_01_dot_41_bar__minus_01_dot_55 AlarmClockType)\n (objectType Cloth_bar__plus_00_dot_97_bar_00_dot_00_bar__minus_02_dot_40 ClothType)\n (objectType Pillow_bar__minus_00_dot_63_bar__plus_00_dot_65_bar__plus_00_dot_13 PillowType)\n (objectType Blinds_bar__plus_02_dot_29_bar__plus_02_dot_07_bar__minus_03_dot_18 BlindsType)\n (objectType Pillow_bar__minus_00_dot_63_bar__plus_00_dot_69_bar__minus_00_dot_88 PillowType)\n (objectType CD_bar__plus_02_dot_96_bar__plus_00_dot_79_bar__minus_01_dot_69 CDType)\n (objectType Blinds_bar__minus_01_dot_00_bar__plus_02_dot_07_bar__minus_03_dot_18 BlindsType)\n (objectType KeyChain_bar__plus_00_dot_86_bar__plus_01_dot_41_bar__minus_02_dot_03 KeyChainType)\n (objectType LightSwitch_bar__minus_00_dot_14_bar__plus_01_dot_33_bar__plus_00_dot_60 LightSwitchType)\n (objectType 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(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 ClothType)\n (canContain DrawerType PencilType)\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 CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType ClothType)\n (canContain ShelfType PencilType)\n (canContain ShelfType AlarmClockType)\n (canContain ShelfType PenType)\n (canContain ShelfType BookType)\n (canContain ShelfType WatchType)\n (canContain ShelfType BowlType)\n (canContain ShelfType CDType)\n (canContain ShelfType MugType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType ClothType)\n (canContain ShelfType PencilType)\n (canContain ShelfType AlarmClockType)\n (canContain SideTableType PenType)\n (canContain SideTableType BookType)\n (canContain SideTableType WatchType)\n (canContain SideTableType BowlType)\n (canContain SideTableType CDType)\n (canContain SideTableType MugType)\n (canContain SideTableType CellPhoneType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType BasketBallType)\n (canContain SideTableType BaseballBatType)\n (canContain SideTableType TennisRacketType)\n (canContain SideTableType ClothType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType PencilType)\n (canContain SideTableType AlarmClockType)\n (canContain ShelfType 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(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 ClothType)\n (canContain DrawerType PencilType)\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 WatchType)\n (canContain ShelfType BowlType)\n (canContain ShelfType CDType)\n (canContain ShelfType MugType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType ClothType)\n (canContain ShelfType PencilType)\n (canContain ShelfType 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KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType ClothType)\n (canContain ShelfType PencilType)\n (canContain ShelfType AlarmClockType)\n (canContain ShelfType PenType)\n (canContain ShelfType BookType)\n (canContain ShelfType WatchType)\n (canContain ShelfType BowlType)\n (canContain ShelfType CDType)\n (canContain ShelfType MugType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType ClothType)\n (canContain ShelfType PencilType)\n (canContain ShelfType AlarmClockType)\n (canContain DiningTableType PenType)\n (canContain DiningTableType BookType)\n (canContain DiningTableType WatchType)\n (canContain DiningTableType BowlType)\n (canContain DiningTableType CDType)\n (canContain DiningTableType MugType)\n (canContain DiningTableType CellPhoneType)\n (canContain DiningTableType KeyChainType)\n (canContain DiningTableType CreditCardType)\n (canContain DiningTableType BasketBallType)\n (canContain DiningTableType BaseballBatType)\n (canContain DiningTableType TennisRacketType)\n (canContain DiningTableType ClothType)\n (canContain DiningTableType LaptopType)\n (canContain DiningTableType PencilType)\n (canContain DiningTableType 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 CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType ClothType)\n (canContain ShelfType PencilType)\n (canContain ShelfType AlarmClockType)\n (canContain ShelfType PenType)\n (canContain ShelfType BookType)\n (canContain ShelfType WatchType)\n (canContain ShelfType BowlType)\n (canContain ShelfType CDType)\n (canContain ShelfType MugType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType ClothType)\n (canContain ShelfType PencilType)\n (canContain ShelfType AlarmClockType)\n (pickupable Pencil_bar__plus_03_dot_21_bar__plus_00_dot_80_bar__minus_01_dot_40)\n (pickupable Book_bar__minus_00_dot_33_bar__plus_00_dot_61_bar__minus_00_dot_32)\n (pickupable Pillow_bar__minus_02_dot_61_bar__plus_00_dot_68_bar__minus_01_dot_16)\n (pickupable CD_bar__minus_03_dot_01_bar__plus_01_dot_41_bar__minus_02_dot_20)\n (pickupable BasketBall_bar__minus_02_dot_72_bar__plus_00_dot_12_bar__minus_01_dot_93)\n (pickupable TennisRacket_bar__minus_03_dot_02_bar__plus_00_dot_30_bar__minus_02_dot_20)\n (pickupable CreditCard_bar__plus_03_dot_15_bar__plus_00_dot_79_bar__minus_01_dot_40)\n (pickupable CellPhone_bar__plus_00_dot_95_bar__plus_01_dot_41_bar__minus_02_dot_28)\n (pickupable KeyChain_bar__plus_03_dot_21_bar__plus_00_dot_79_bar__minus_01_dot_12)\n (pickupable Bowl_bar__plus_00_dot_89_bar__plus_01_dot_14_bar__minus_01_dot_67)\n (pickupable Cloth_bar__plus_00_dot_91_bar__plus_00_dot_03_bar__minus_02_dot_70)\n (pickupable Mug_bar__minus_02_dot_95_bar__plus_01_dot_41_bar__minus_01_dot_63)\n (pickupable Mug_bar__plus_00_dot_99_bar__plus_01_dot_41_bar__minus_02_dot_79)\n (pickupable CD_bar__plus_00_dot_86_bar__plus_01_dot_41_bar__minus_02_dot_65)\n (pickupable Mug_bar__minus_01_dot_38_bar__plus_00_dot_61_bar__plus_00_dot_42)\n (pickupable BaseballBat_bar__minus_02_dot_98_bar__plus_00_dot_02_bar__minus_02_dot_70)\n (pickupable AlarmClock_bar__plus_03_dot_21_bar__plus_00_dot_79_bar__minus_01_dot_97)\n (pickupable CreditCard_bar__minus_01_dot_42_bar__plus_00_dot_34_bar__plus_00_dot_39)\n (pickupable Laptop_bar__plus_03_dot_15_bar__plus_00_dot_79_bar__minus_02_dot_27)\n (pickupable Pen_bar__minus_01_dot_52_bar__plus_00_dot_62_bar__plus_00_dot_46)\n (pickupable CreditCard_bar__minus_01_dot_57_bar__plus_00_dot_34_bar__plus_00_dot_35)\n (pickupable Book_bar__minus_00_dot_78_bar__plus_00_dot_61_bar__minus_01_dot_44)\n (pickupable Watch_bar__plus_03_dot_15_bar__plus_00_dot_79_bar__minus_00_dot_84)\n (pickupable TeddyBear_bar__minus_02_dot_65_bar__plus_00_dot_62_bar__minus_00_dot_40)\n (pickupable AlarmClock_bar__plus_00_dot_95_bar__plus_01_dot_41_bar__minus_01_dot_55)\n (pickupable Cloth_bar__plus_00_dot_97_bar_00_dot_00_bar__minus_02_dot_40)\n (pickupable Pillow_bar__minus_00_dot_63_bar__plus_00_dot_65_bar__plus_00_dot_13)\n (pickupable Pillow_bar__minus_00_dot_63_bar__plus_00_dot_69_bar__minus_00_dot_88)\n (pickupable CD_bar__plus_02_dot_96_bar__plus_00_dot_79_bar__minus_01_dot_69)\n (pickupable KeyChain_bar__plus_00_dot_86_bar__plus_01_dot_41_bar__minus_02_dot_03)\n (pickupable Watch_bar__plus_03_dot_15_bar__plus_00_dot_79_bar__minus_01_dot_69)\n (pickupable KeyChain_bar__plus_03_dot_09_bar__plus_00_dot_79_bar__minus_01_dot_12)\n (pickupable Pen_bar__plus_00_dot_92_bar__plus_01_dot_42_bar__minus_01_dot_73)\n (pickupable Cloth_bar__plus_00_dot_71_bar_00_dot_00_bar__minus_02_dot_75)\n (isReceptacleObject Bowl_bar__plus_00_dot_89_bar__plus_01_dot_14_bar__minus_01_dot_67)\n (isReceptacleObject Mug_bar__minus_02_dot_95_bar__plus_01_dot_41_bar__minus_01_dot_63)\n (isReceptacleObject Mug_bar__plus_00_dot_99_bar__plus_01_dot_41_bar__minus_02_dot_79)\n (isReceptacleObject Mug_bar__minus_01_dot_38_bar__plus_00_dot_61_bar__plus_00_dot_42)\n (openable Drawer_bar__minus_01_dot_52_bar__plus_00_dot_42_bar__plus_00_dot_36)\n (openable Drawer_bar__minus_01_dot_52_bar__plus_00_dot_15_bar__plus_00_dot_36)\n \n (atLocation agent1 loc_bar_12_bar__minus_11_bar_3_bar_30)\n \n (cleanable Bowl_bar__plus_00_dot_89_bar__plus_01_dot_14_bar__minus_01_dot_67)\n (cleanable Cloth_bar__plus_00_dot_91_bar__plus_00_dot_03_bar__minus_02_dot_70)\n (cleanable Mug_bar__minus_02_dot_95_bar__plus_01_dot_41_bar__minus_01_dot_63)\n (cleanable Mug_bar__plus_00_dot_99_bar__plus_01_dot_41_bar__minus_02_dot_79)\n (cleanable Mug_bar__minus_01_dot_38_bar__plus_00_dot_61_bar__plus_00_dot_42)\n (cleanable Cloth_bar__plus_00_dot_97_bar_00_dot_00_bar__minus_02_dot_40)\n (cleanable Cloth_bar__plus_00_dot_71_bar_00_dot_00_bar__minus_02_dot_75)\n \n (heatable Mug_bar__minus_02_dot_95_bar__plus_01_dot_41_bar__minus_01_dot_63)\n (heatable Mug_bar__plus_00_dot_99_bar__plus_01_dot_41_bar__minus_02_dot_79)\n (heatable Mug_bar__minus_01_dot_38_bar__plus_00_dot_61_bar__plus_00_dot_42)\n (coolable Bowl_bar__plus_00_dot_89_bar__plus_01_dot_14_bar__minus_01_dot_67)\n (coolable Mug_bar__minus_02_dot_95_bar__plus_01_dot_41_bar__minus_01_dot_63)\n (coolable Mug_bar__plus_00_dot_99_bar__plus_01_dot_41_bar__minus_02_dot_79)\n (coolable Mug_bar__minus_01_dot_38_bar__plus_00_dot_61_bar__plus_00_dot_42)\n \n \n \n \n \n \n \n (inReceptacle Pencil_bar__plus_03_dot_21_bar__plus_00_dot_80_bar__minus_01_dot_40 DiningTable_bar__plus_03_dot_16_bar__minus_00_dot_01_bar__minus_01_dot_42)\n (inReceptacle KeyChain_bar__plus_03_dot_21_bar__plus_00_dot_79_bar__minus_01_dot_12 DiningTable_bar__plus_03_dot_16_bar__minus_00_dot_01_bar__minus_01_dot_42)\n (inReceptacle AlarmClock_bar__plus_03_dot_21_bar__plus_00_dot_79_bar__minus_01_dot_97 DiningTable_bar__plus_03_dot_16_bar__minus_00_dot_01_bar__minus_01_dot_42)\n (inReceptacle CD_bar__plus_02_dot_96_bar__plus_00_dot_79_bar__minus_01_dot_69 DiningTable_bar__plus_03_dot_16_bar__minus_00_dot_01_bar__minus_01_dot_42)\n (inReceptacle Laptop_bar__plus_03_dot_15_bar__plus_00_dot_79_bar__minus_02_dot_27 DiningTable_bar__plus_03_dot_16_bar__minus_00_dot_01_bar__minus_01_dot_42)\n (inReceptacle Watch_bar__plus_03_dot_15_bar__plus_00_dot_79_bar__minus_01_dot_69 DiningTable_bar__plus_03_dot_16_bar__minus_00_dot_01_bar__minus_01_dot_42)\n (inReceptacle KeyChain_bar__plus_03_dot_09_bar__plus_00_dot_79_bar__minus_01_dot_12 DiningTable_bar__plus_03_dot_16_bar__minus_00_dot_01_bar__minus_01_dot_42)\n (inReceptacle Watch_bar__plus_03_dot_15_bar__plus_00_dot_79_bar__minus_00_dot_84 DiningTable_bar__plus_03_dot_16_bar__minus_00_dot_01_bar__minus_01_dot_42)\n (inReceptacle CreditCard_bar__plus_03_dot_15_bar__plus_00_dot_79_bar__minus_01_dot_40 DiningTable_bar__plus_03_dot_16_bar__minus_00_dot_01_bar__minus_01_dot_42)\n (inReceptacle TeddyBear_bar__minus_02_dot_65_bar__plus_00_dot_62_bar__minus_00_dot_40 Bed_bar__minus_02_dot_46_bar__plus_00_dot_01_bar__minus_00_dot_55)\n (inReceptacle Pillow_bar__minus_02_dot_61_bar__plus_00_dot_68_bar__minus_01_dot_16 Bed_bar__minus_02_dot_46_bar__plus_00_dot_01_bar__minus_00_dot_55)\n (inReceptacle Book_bar__minus_00_dot_33_bar__plus_00_dot_61_bar__minus_00_dot_32 Bed_bar__minus_00_dot_63_bar__plus_00_dot_00_bar__minus_00_dot_55)\n (inReceptacle Pillow_bar__minus_00_dot_63_bar__plus_00_dot_65_bar__plus_00_dot_13 Bed_bar__minus_00_dot_63_bar__plus_00_dot_00_bar__minus_00_dot_55)\n (inReceptacle Book_bar__minus_00_dot_78_bar__plus_00_dot_61_bar__minus_01_dot_44 Bed_bar__minus_00_dot_63_bar__plus_00_dot_00_bar__minus_00_dot_55)\n (inReceptacle Pillow_bar__minus_00_dot_63_bar__plus_00_dot_69_bar__minus_00_dot_88 Bed_bar__minus_00_dot_63_bar__plus_00_dot_00_bar__minus_00_dot_55)\n (inReceptacle Pen_bar__minus_01_dot_52_bar__plus_00_dot_62_bar__plus_00_dot_46 SideTable_bar__minus_01_dot_52_bar__plus_00_dot_42_bar__plus_00_dot_36)\n (inReceptacle Mug_bar__minus_01_dot_38_bar__plus_00_dot_61_bar__plus_00_dot_42 SideTable_bar__minus_01_dot_52_bar__plus_00_dot_42_bar__plus_00_dot_36)\n (inReceptacle CreditCard_bar__minus_01_dot_57_bar__plus_00_dot_34_bar__plus_00_dot_35 Drawer_bar__minus_01_dot_52_bar__plus_00_dot_42_bar__plus_00_dot_36)\n (inReceptacle CreditCard_bar__minus_01_dot_42_bar__plus_00_dot_34_bar__plus_00_dot_39 Drawer_bar__minus_01_dot_52_bar__plus_00_dot_42_bar__plus_00_dot_36)\n (inReceptacle Mug_bar__minus_02_dot_95_bar__plus_01_dot_41_bar__minus_01_dot_63 Shelf_bar__minus_02_dot_95_bar__plus_01_dot_41_bar__minus_01_dot_62)\n (inReceptacle CellPhone_bar__plus_00_dot_95_bar__plus_01_dot_41_bar__minus_02_dot_28 Shelf_bar__plus_00_dot_92_bar__plus_01_dot_41_bar__minus_02_dot_16)\n (inReceptacle KeyChain_bar__plus_00_dot_86_bar__plus_01_dot_41_bar__minus_02_dot_03 Shelf_bar__plus_00_dot_92_bar__plus_01_dot_41_bar__minus_02_dot_16)\n (inReceptacle Bowl_bar__plus_00_dot_89_bar__plus_01_dot_14_bar__minus_01_dot_67 Shelf_bar__plus_00_dot_92_bar__plus_01_dot_13_bar__minus_01_dot_62)\n (inReceptacle AlarmClock_bar__plus_00_dot_95_bar__plus_01_dot_41_bar__minus_01_dot_55 Shelf_bar__plus_00_dot_92_bar__plus_01_dot_41_bar__minus_01_dot_62)\n (inReceptacle Pen_bar__plus_00_dot_92_bar__plus_01_dot_42_bar__minus_01_dot_73 Shelf_bar__plus_00_dot_92_bar__plus_01_dot_41_bar__minus_01_dot_62)\n (inReceptacle Mug_bar__plus_00_dot_99_bar__plus_01_dot_41_bar__minus_02_dot_79 Shelf_bar__plus_00_dot_92_bar__plus_01_dot_41_bar__minus_02_dot_73)\n \n \n (receptacleAtLocation Bed_bar__minus_00_dot_63_bar__plus_00_dot_00_bar__minus_00_dot_55 loc_bar_3_bar__minus_3_bar_3_bar_45)\n (receptacleAtLocation Bed_bar__minus_02_dot_46_bar__plus_00_dot_01_bar__minus_00_dot_55 loc_bar__minus_9_bar__minus_10_bar_0_bar_45)\n (receptacleAtLocation DiningTable_bar__plus_03_dot_16_bar__minus_00_dot_01_bar__minus_01_dot_42 loc_bar_8_bar__minus_5_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_52_bar__plus_00_dot_15_bar__plus_00_dot_36 loc_bar__minus_6_bar__minus_3_bar_0_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_52_bar__plus_00_dot_42_bar__plus_00_dot_36 loc_bar__minus_6_bar__minus_2_bar_0_bar_60)\n (receptacleAtLocation GarbageCan_bar__plus_01_dot_69_bar_00_dot_00_bar__minus_02_dot_79 loc_bar_9_bar__minus_11_bar_3_bar_60)\n (receptacleAtLocation Shelf_bar__plus_00_dot_92_bar__plus_01_dot_13_bar__minus_01_dot_62 loc_bar_1_bar__minus_6_bar_1_bar_30)\n (receptacleAtLocation Shelf_bar__plus_00_dot_92_bar__plus_01_dot_13_bar__minus_02_dot_16 loc_bar_1_bar__minus_9_bar_1_bar_30)\n (receptacleAtLocation Shelf_bar__plus_00_dot_92_bar__plus_01_dot_13_bar__minus_02_dot_73 loc_bar_1_bar__minus_10_bar_1_bar_30)\n (receptacleAtLocation Shelf_bar__plus_00_dot_92_bar__plus_01_dot_41_bar__minus_01_dot_62 loc_bar_1_bar__minus_6_bar_1_bar_15)\n (receptacleAtLocation Shelf_bar__plus_00_dot_92_bar__plus_01_dot_41_bar__minus_02_dot_16 loc_bar_1_bar__minus_9_bar_1_bar_15)\n (receptacleAtLocation Shelf_bar__plus_00_dot_92_bar__plus_01_dot_41_bar__minus_02_dot_73 loc_bar_1_bar__minus_10_bar_1_bar_15)\n (receptacleAtLocation Shelf_bar__plus_03_dot_04_bar__plus_00_dot_53_bar__minus_00_dot_56 loc_bar_9_bar__minus_1_bar_1_bar_60)\n (receptacleAtLocation Shelf_bar__plus_03_dot_04_bar__plus_00_dot_53_bar__minus_02_dot_26 loc_bar_9_bar__minus_8_bar_1_bar_60)\n (receptacleAtLocation Shelf_bar__minus_02_dot_95_bar__plus_01_dot_13_bar__minus_01_dot_62 loc_bar__minus_8_bar__minus_8_bar_3_bar_30)\n (receptacleAtLocation Shelf_bar__minus_02_dot_95_bar__plus_01_dot_13_bar__minus_02_dot_19 loc_bar__minus_9_bar__minus_9_bar_3_bar_30)\n (receptacleAtLocation Shelf_bar__minus_02_dot_95_bar__plus_01_dot_13_bar__minus_02_dot_74 loc_bar__minus_9_bar__minus_10_bar_3_bar_30)\n (receptacleAtLocation Shelf_bar__minus_02_dot_95_bar__plus_01_dot_41_bar__minus_01_dot_62 loc_bar__minus_9_bar__minus_8_bar_3_bar_15)\n (receptacleAtLocation Shelf_bar__minus_02_dot_95_bar__plus_01_dot_41_bar__minus_02_dot_19 loc_bar__minus_9_bar__minus_9_bar_3_bar_15)\n (receptacleAtLocation Shelf_bar__minus_02_dot_95_bar__plus_01_dot_41_bar__minus_02_dot_74 loc_bar__minus_9_bar__minus_10_bar_3_bar_15)\n (receptacleAtLocation SideTable_bar__minus_01_dot_52_bar__plus_00_dot_42_bar__plus_00_dot_36 loc_bar__minus_6_bar__minus_1_bar_0_bar_60)\n (objectAtLocation Mug_bar__plus_00_dot_99_bar__plus_01_dot_41_bar__minus_02_dot_79 loc_bar_1_bar__minus_10_bar_1_bar_15)\n (objectAtLocation CD_bar__minus_03_dot_01_bar__plus_01_dot_41_bar__minus_02_dot_20 loc_bar__minus_9_bar__minus_9_bar_3_bar_15)\n (objectAtLocation Watch_bar__plus_03_dot_15_bar__plus_00_dot_79_bar__minus_00_dot_84 loc_bar_8_bar__minus_5_bar_1_bar_60)\n (objectAtLocation AlarmClock_bar__plus_00_dot_95_bar__plus_01_dot_41_bar__minus_01_dot_55 loc_bar_1_bar__minus_6_bar_1_bar_15)\n (objectAtLocation Pen_bar__plus_00_dot_92_bar__plus_01_dot_42_bar__minus_01_dot_73 loc_bar_1_bar__minus_6_bar_1_bar_15)\n (objectAtLocation CreditCard_bar__plus_03_dot_15_bar__plus_00_dot_79_bar__minus_01_dot_40 loc_bar_8_bar__minus_5_bar_1_bar_60)\n (objectAtLocation Pillow_bar__minus_02_dot_61_bar__plus_00_dot_68_bar__minus_01_dot_16 loc_bar__minus_9_bar__minus_10_bar_0_bar_45)\n (objectAtLocation KeyChain_bar__plus_00_dot_86_bar__plus_01_dot_41_bar__minus_02_dot_03 loc_bar_1_bar__minus_9_bar_1_bar_15)\n (objectAtLocation Book_bar__minus_00_dot_78_bar__plus_00_dot_61_bar__minus_01_dot_44 loc_bar_3_bar__minus_3_bar_3_bar_45)\n (objectAtLocation KeyChain_bar__plus_03_dot_09_bar__plus_00_dot_79_bar__minus_01_dot_12 loc_bar_8_bar__minus_5_bar_1_bar_60)\n (objectAtLocation CreditCard_bar__minus_01_dot_42_bar__plus_00_dot_34_bar__plus_00_dot_39 loc_bar__minus_6_bar__minus_2_bar_0_bar_60)\n (objectAtLocation CD_bar__plus_00_dot_86_bar__plus_01_dot_41_bar__minus_02_dot_65 loc_bar_1_bar__minus_10_bar_1_bar_15)\n (objectAtLocation Mug_bar__minus_01_dot_38_bar__plus_00_dot_61_bar__plus_00_dot_42 loc_bar__minus_6_bar__minus_1_bar_0_bar_60)\n (objectAtLocation Chair_bar__plus_02_dot_73_bar__plus_00_dot_00_bar__minus_01_dot_21 loc_bar_10_bar__minus_7_bar_0_bar_60)\n (objectAtLocation Chair_bar__plus_02_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_16 loc_bar_9_bar_0_bar_1_bar_60)\n (objectAtLocation Book_bar__minus_00_dot_33_bar__plus_00_dot_61_bar__minus_00_dot_32 loc_bar_3_bar__minus_3_bar_3_bar_45)\n (objectAtLocation Laptop_bar__plus_03_dot_15_bar__plus_00_dot_79_bar__minus_02_dot_27 loc_bar_8_bar__minus_5_bar_1_bar_60)\n (objectAtLocation KeyChain_bar__plus_03_dot_21_bar__plus_00_dot_79_bar__minus_01_dot_12 loc_bar_8_bar__minus_5_bar_1_bar_60)\n (objectAtLocation Cloth_bar__plus_00_dot_97_bar_00_dot_00_bar__minus_02_dot_40 loc_bar_1_bar__minus_10_bar_1_bar_60)\n (objectAtLocation BaseballBat_bar__minus_02_dot_98_bar__plus_00_dot_02_bar__minus_02_dot_70 loc_bar__minus_9_bar__minus_10_bar_3_bar_60)\n (objectAtLocation BasketBall_bar__minus_02_dot_72_bar__plus_00_dot_12_bar__minus_01_dot_93 loc_bar__minus_9_bar__minus_8_bar_3_bar_60)\n (objectAtLocation Pillow_bar__minus_00_dot_63_bar__plus_00_dot_69_bar__minus_00_dot_88 loc_bar_3_bar__minus_3_bar_3_bar_45)\n (objectAtLocation Pillow_bar__minus_00_dot_63_bar__plus_00_dot_65_bar__plus_00_dot_13 loc_bar_3_bar__minus_3_bar_3_bar_45)\n (objectAtLocation TennisRacket_bar__minus_03_dot_02_bar__plus_00_dot_30_bar__minus_02_dot_20 loc_bar__minus_9_bar__minus_9_bar_3_bar_60)\n (objectAtLocation Pencil_bar__plus_03_dot_21_bar__plus_00_dot_80_bar__minus_01_dot_40 loc_bar_8_bar__minus_5_bar_1_bar_60)\n (objectAtLocation CreditCard_bar__minus_01_dot_57_bar__plus_00_dot_34_bar__plus_00_dot_35 loc_bar__minus_6_bar__minus_2_bar_0_bar_60)\n (objectAtLocation Cloth_bar__plus_00_dot_91_bar__plus_00_dot_03_bar__minus_02_dot_70 loc_bar_1_bar__minus_10_bar_1_bar_60)\n (objectAtLocation TeddyBear_bar__minus_02_dot_65_bar__plus_00_dot_62_bar__minus_00_dot_40 loc_bar__minus_9_bar__minus_10_bar_0_bar_45)\n (objectAtLocation LightSwitch_bar__minus_00_dot_14_bar__plus_01_dot_33_bar__plus_00_dot_60 loc_bar_1_bar_0_bar_0_bar_30)\n (objectAtLocation Poster_bar__plus_03_dot_40_bar__plus_01_dot_86_bar__minus_01_dot_98 loc_bar_10_bar__minus_8_bar_1_bar__minus_15)\n (objectAtLocation Poster_bar__plus_03_dot_40_bar__plus_01_dot_70_bar__minus_00_dot_79 loc_bar_10_bar__minus_2_bar_1_bar_0)\n (objectAtLocation Pen_bar__minus_01_dot_52_bar__plus_00_dot_62_bar__plus_00_dot_46 loc_bar__minus_6_bar__minus_1_bar_0_bar_60)\n (objectAtLocation Cloth_bar__plus_00_dot_71_bar_00_dot_00_bar__minus_02_dot_75 loc_bar_1_bar__minus_10_bar_1_bar_60)\n (objectAtLocation AlarmClock_bar__plus_03_dot_21_bar__plus_00_dot_79_bar__minus_01_dot_97 loc_bar_8_bar__minus_5_bar_1_bar_60)\n (objectAtLocation Watch_bar__plus_03_dot_15_bar__plus_00_dot_79_bar__minus_01_dot_69 loc_bar_8_bar__minus_5_bar_1_bar_60)\n (objectAtLocation Mirror_bar__plus_00_dot_45_bar__plus_01_dot_49_bar__plus_00_dot_62 loc_bar_2_bar_0_bar_0_bar_15)\n (objectAtLocation CellPhone_bar__plus_00_dot_95_bar__plus_01_dot_41_bar__minus_02_dot_28 loc_bar_1_bar__minus_9_bar_1_bar_15)\n (objectAtLocation CD_bar__plus_02_dot_96_bar__plus_00_dot_79_bar__minus_01_dot_69 loc_bar_8_bar__minus_5_bar_1_bar_60)\n (objectAtLocation Window_bar__plus_02_dot_28_bar__plus_00_dot_93_bar__minus_03_dot_18 loc_bar_9_bar__minus_11_bar_2_bar_60)\n (objectAtLocation Window_bar__minus_01_dot_02_bar__plus_00_dot_93_bar__minus_03_dot_19 loc_bar__minus_4_bar__minus_11_bar_2_bar_60)\n (objectAtLocation Mug_bar__minus_02_dot_95_bar__plus_01_dot_41_bar__minus_01_dot_63 loc_bar__minus_9_bar__minus_8_bar_3_bar_15)\n (objectAtLocation Blinds_bar__minus_01_dot_00_bar__plus_02_dot_07_bar__minus_03_dot_18 loc_bar__minus_4_bar__minus_11_bar_2_bar__minus_30)\n (objectAtLocation Blinds_bar__plus_02_dot_29_bar__plus_02_dot_07_bar__minus_03_dot_18 loc_bar_9_bar__minus_11_bar_2_bar__minus_30)\n (objectAtLocation Bowl_bar__plus_00_dot_89_bar__plus_01_dot_14_bar__minus_01_dot_67 loc_bar_1_bar__minus_6_bar_1_bar_30)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o1 - object)\n (and\n (objectType ?o1 WatchType)\n (receptacleType ?r ShelfType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 WatchType)\n (receptacleType ?r ShelfType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to diningtable 1", "take watch 2 from diningtable 1", "go to shelf 3", "move watch 2 to shelf 3", "go to diningtable 1", "take watch 1 from diningtable 1", "go to shelf 3", "move watch 1 to shelf 3"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Watch-None-Shelf-326/trial_T20190906_201446_524359/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Watch-None-Shelf-326/trial_T20190906_201446_524359/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..c6c40a7f8de8315e58277010e1bf44c2e36b09ee --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Watch-None-Shelf-326/trial_T20190906_201446_524359/initial_state.pddl @@ -0,0 +1,788 @@ + +(define (problem plan_trial_T20190906_201446_524359) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_95_bar__plus_01_dot_41_bar__minus_01_dot_55 - object + AlarmClock_bar__plus_03_dot_21_bar__plus_00_dot_79_bar__minus_01_dot_97 - object + BaseballBat_bar__minus_02_dot_98_bar__plus_00_dot_02_bar__minus_02_dot_70 - object + BasketBall_bar__minus_02_dot_72_bar__plus_00_dot_12_bar__minus_01_dot_93 - object + Blinds_bar__plus_02_dot_29_bar__plus_02_dot_07_bar__minus_03_dot_18 - object + Blinds_bar__minus_01_dot_00_bar__plus_02_dot_07_bar__minus_03_dot_18 - object + Book_bar__minus_00_dot_33_bar__plus_00_dot_61_bar__minus_00_dot_32 - object + Book_bar__minus_00_dot_78_bar__plus_00_dot_61_bar__minus_01_dot_44 - object + Bowl_bar__plus_00_dot_89_bar__plus_01_dot_14_bar__minus_01_dot_67 - object + CD_bar__plus_00_dot_86_bar__plus_01_dot_41_bar__minus_02_dot_65 - object + CD_bar__plus_02_dot_96_bar__plus_00_dot_79_bar__minus_01_dot_69 - object + CD_bar__minus_03_dot_01_bar__plus_01_dot_41_bar__minus_02_dot_20 - object + CellPhone_bar__plus_00_dot_95_bar__plus_01_dot_41_bar__minus_02_dot_28 - object + Chair_bar__plus_02_dot_73_bar__plus_00_dot_00_bar__minus_01_dot_21 - object + Chair_bar__plus_02_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_16 - object + Cloth_bar__plus_00_dot_71_bar_00_dot_00_bar__minus_02_dot_75 - object + Cloth_bar__plus_00_dot_91_bar__plus_00_dot_03_bar__minus_02_dot_70 - object + Cloth_bar__plus_00_dot_97_bar_00_dot_00_bar__minus_02_dot_40 - object + CreditCard_bar__plus_03_dot_15_bar__plus_00_dot_79_bar__minus_01_dot_40 - object + CreditCard_bar__minus_01_dot_42_bar__plus_00_dot_34_bar__plus_00_dot_39 - object + CreditCard_bar__minus_01_dot_57_bar__plus_00_dot_34_bar__plus_00_dot_35 - object + KeyChain_bar__plus_00_dot_86_bar__plus_01_dot_41_bar__minus_02_dot_03 - object + KeyChain_bar__plus_03_dot_09_bar__plus_00_dot_79_bar__minus_01_dot_12 - object + KeyChain_bar__plus_03_dot_21_bar__plus_00_dot_79_bar__minus_01_dot_12 - object + Lamp_bar__plus_03_dot_24_bar__plus_00_dot_79_bar__minus_00_dot_65 - object + Laptop_bar__plus_03_dot_15_bar__plus_00_dot_79_bar__minus_02_dot_27 - object + 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-1.73007965 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + }, + { + "objectName": "Cloth_83c511c6", + "position": { + "x": 0.705, + "y": -0.00154149532, + "z": -2.75 + }, + "rotation": { + "x": 0.0, + "y": 269.152557, + "z": 0.0 + } + }, + { + "objectName": "AlarmClock_0397722d", + "position": { + "x": 0.954105556, + "y": 1.41469181, + "z": -1.54649222 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + }, + { + "objectName": "Watch_e31da285", + "position": { + "x": 3.14781022, + "y": 0.7930261, + "z": -0.838971436 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "CellPhone_1f80dd7b", + "position": { + "x": 0.9541018, + "y": 1.41361165, + "z": -2.28305745 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + }, + { + "objectName": "CD_f52f155c", + "position": { + "x": -3.01120448, + "y": 1.41300833, + "z": -2.197476 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + }, + { + "objectName": "Mug_0fbdf42c", + "position": { + "x": 0.9856006, + "y": 1.41140163, + "z": -2.78708863 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + }, + { + "objectName": "Bowl_8c269f0e", + "position": { + "x": 0.891100943, + "y": 1.14132226, + "z": -1.66888368 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 4247817269, + "scene_num": 326 + }, + "task_id": "trial_T20190906_201446_524359", + "task_type": "pick_two_obj_and_place", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A3HL2LL0LEPZT8_3M0BCWMB8YDJBGW7FSWXA32C5IZBWN", + "high_descs": [ + "Turn right, got towards the wall, turn right to face the stand with a lamp.", + "Take the watch to the right of the lamp.", + "Turn right, go straight, turn left to face the computer on the stand.", + "Put the watch on the shelf below the computer on the left side of the shelf.", + "Go to the desk are to the left of the computer with the CD.", + "Take the watch that is above the cd.", + "Go right back to facing the computer.", + "Put the watch on the shelf below the computer to the right of the other watch." + ], + "task_desc": "Put watches on a shelf.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A10AVWALIHR4UQ_3OJSZ2ATDVD2WLEX6AX8F1332VR753", + "high_descs": [ + "Move toward the black rubbish bin then turn right and move to the black chair in the corner of the room, turn right and face the desk.", + "Pick up the wristwatch to the right of the lamp on the desk.", + "Turn around and move towards the bed then turn left and move to the black garbage bin, and then turn left and move to the desk.", + "Place the wristwatch on the front left corner of the shelf underneath the laptop computer.", + "Turn left, move toward the black chair, then turn right and face the middle of the desk.", + "Pick up the wristwatch to the rear of the CD and to the right of the credit card on the desk.", + "Turn to the right, move toward the glass door, then turn to the left and face the desk.", + "Place the wristwatch on the shelf underneath the laptop computer to the right of the wristwatch already on the shelf." + ], + "task_desc": "Place two wristwatches on the shelf.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1HKHM4NVAO98H_3P4RDNWND8N7S4AEE35Z70CHY9GIJ8", + "high_descs": [ + "turn right and walk to the end of the room, then turn right and walk towards the left side of the desk", + "grab the wrist watch off of the desk", + "turn around, walk forwards a bit and turn left, walk to the end of the room, and turn left to face the cabinet on the right side of the desk", + "place the wrist watch in the open cabinet hole there", + "move left a bit to face the desk again", + "grab the other wrist watch off of the desk behind the CD", + "move around to the right side of the desk again", + "place the wrist watch inside the open cabinet on the right side of the desk next to the other watch" + ], + "task_desc": "place both of the wrist watches in the cabinet on the right side of the desk", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Watch-None-Shelf-326/trial_T20190911_150057_341885/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Watch-None-Shelf-326/trial_T20190911_150057_341885/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..87cadf5017f848088412c0a9b2da2f73c4f84d22 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Watch-None-Shelf-326/trial_T20190911_150057_341885/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\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 watch 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_T20190911_150057_341885)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\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_86_bar__plus_01_dot_14_bar__minus_02_dot_28 - object\n AlarmClock_bar__plus_03_dot_02_bar__plus_00_dot_79_bar__minus_02_dot_25 - object\n AlarmClock_bar__minus_01_dot_52_bar__plus_00_dot_62_bar__plus_00_dot_50 - object\n BaseballBat_bar__minus_02_dot_98_bar__plus_00_dot_02_bar__minus_02_dot_70 - object\n BasketBall_bar__minus_02_dot_72_bar__plus_00_dot_12_bar__minus_01_dot_93 - object\n Blinds_bar__plus_02_dot_29_bar__plus_02_dot_07_bar__minus_03_dot_18 - object\n Blinds_bar__minus_01_dot_00_bar__plus_02_dot_07_bar__minus_03_dot_18 - object\n Book_bar__minus_02_dot_16_bar__plus_00_dot_60_bar__minus_01_dot_16 - object\n Bowl_bar__minus_02_dot_98_bar__plus_01_dot_14_bar__minus_01_dot_50 - object\n CD_bar__plus_00_dot_95_bar__plus_01_dot_14_bar__minus_02_dot_52 - object\n CellPhone_bar__plus_00_dot_95_bar__plus_01_dot_14_bar__minus_02_dot_09 - object\n CellPhone_bar__minus_00_dot_18_bar__plus_00_dot_62_bar__plus_00_dot_25 - object\n CellPhone_bar__minus_01_dot_38_bar__plus_00_dot_61_bar__plus_00_dot_50 - object\n Chair_bar__plus_02_dot_73_bar__plus_00_dot_00_bar__minus_01_dot_21 - object\n Chair_bar__plus_02_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_16 - object\n Cloth_bar__plus_00_dot_71_bar_00_dot_00_bar__minus_02_dot_75 - object\n Cloth_bar__plus_00_dot_91_bar__plus_00_dot_03_bar__minus_02_dot_70 - object\n Cloth_bar__plus_00_dot_97_bar_00_dot_00_bar__minus_02_dot_40 - object\n CreditCard_bar__minus_01_dot_59_bar__plus_00_dot_61_bar__plus_00_dot_30 - object\n CreditCard_bar__minus_01_dot_63_bar__plus_00_dot_08_bar__plus_00_dot_37 - object\n CreditCard_bar__minus_01_dot_73_bar__plus_00_dot_61_bar__plus_00_dot_50 - object\n KeyChain_bar__plus_00_dot_89_bar__plus_01_dot_41_bar__minus_02_dot_65 - object\n KeyChain_bar__plus_03_dot_15_bar__plus_00_dot_79_bar__minus_01_dot_97 - object\n KeyChain_bar__minus_01_dot_37_bar__plus_00_dot_08_bar__plus_00_dot_35 - object\n Lamp_bar__plus_03_dot_24_bar__plus_00_dot_79_bar__minus_00_dot_65 - object\n Laptop_bar__minus_00_dot_63_bar__plus_00_dot_61_bar__minus_00_dot_32 - object\n Laptop_bar__minus_02_dot_46_bar__plus_00_dot_60_bar__plus_00_dot_25 - object\n LightSwitch_bar__minus_00_dot_14_bar__plus_01_dot_33_bar__plus_00_dot_60 - object\n Mirror_bar__plus_00_dot_45_bar__plus_01_dot_49_bar__plus_00_dot_62 - object\n Mug_bar__plus_03_dot_33_bar__plus_00_dot_79_bar__minus_01_dot_97 - object\n Mug_bar__minus_02_dot_92_bar__plus_01_dot_41_bar__minus_01_dot_70 - object\n Mug_bar__minus_02_dot_95_bar__plus_01_dot_41_bar__minus_02_dot_33 - object\n Pencil_bar__plus_03_dot_15_bar__plus_00_dot_80_bar__minus_01_dot_12 - object\n Pencil_bar__minus_01_dot_45_bar__plus_00_dot_62_bar__plus_00_dot_38 - object\n Pencil_bar__minus_02_dot_85_bar__plus_01_dot_42_bar__minus_02_dot_74 - object\n Pen_bar__minus_02_dot_85_bar__plus_01_dot_15_bar__minus_01_dot_50 - object\n Pillow_bar__minus_00_dot_78_bar__plus_00_dot_69_bar__minus_00_dot_88 - object\n Pillow_bar__minus_02_dot_76_bar__plus_00_dot_68_bar__minus_01_dot_16 - object\n Poster_bar__plus_03_dot_40_bar__plus_01_dot_70_bar__minus_00_dot_79 - object\n Poster_bar__plus_03_dot_40_bar__plus_01_dot_86_bar__minus_01_dot_98 - object\n TeddyBear_bar__minus_02_dot_65_bar__plus_00_dot_62_bar__minus_00_dot_40 - object\n TennisRacket_bar__minus_03_dot_02_bar__plus_00_dot_30_bar__minus_02_dot_20 - object\n Watch_bar__plus_03_dot_02_bar__plus_00_dot_79_bar__minus_00_dot_56 - object\n Watch_bar__plus_03_dot_15_bar__plus_00_dot_79_bar__minus_02_dot_25 - object\n Window_bar__plus_02_dot_28_bar__plus_00_dot_93_bar__minus_03_dot_18 - object\n Window_bar__minus_01_dot_02_bar__plus_00_dot_93_bar__minus_03_dot_19 - object\n Bed_bar__minus_00_dot_63_bar__plus_00_dot_00_bar__minus_00_dot_55 - receptacle\n Bed_bar__minus_02_dot_46_bar__plus_00_dot_01_bar__minus_00_dot_55 - receptacle\n DiningTable_bar__plus_03_dot_16_bar__minus_00_dot_01_bar__minus_01_dot_42 - receptacle\n Drawer_bar__minus_01_dot_52_bar__plus_00_dot_15_bar__plus_00_dot_36 - receptacle\n Drawer_bar__minus_01_dot_52_bar__plus_00_dot_42_bar__plus_00_dot_36 - receptacle\n GarbageCan_bar__plus_01_dot_69_bar_00_dot_00_bar__minus_02_dot_79 - receptacle\n Shelf_bar__plus_00_dot_92_bar__plus_01_dot_13_bar__minus_01_dot_62 - receptacle\n Shelf_bar__plus_00_dot_92_bar__plus_01_dot_13_bar__minus_02_dot_16 - receptacle\n Shelf_bar__plus_00_dot_92_bar__plus_01_dot_13_bar__minus_02_dot_73 - receptacle\n Shelf_bar__plus_00_dot_92_bar__plus_01_dot_41_bar__minus_01_dot_62 - receptacle\n Shelf_bar__plus_00_dot_92_bar__plus_01_dot_41_bar__minus_02_dot_16 - receptacle\n Shelf_bar__plus_00_dot_92_bar__plus_01_dot_41_bar__minus_02_dot_73 - receptacle\n Shelf_bar__plus_03_dot_04_bar__plus_00_dot_53_bar__minus_00_dot_56 - receptacle\n Shelf_bar__plus_03_dot_04_bar__plus_00_dot_53_bar__minus_02_dot_26 - receptacle\n Shelf_bar__minus_02_dot_95_bar__plus_01_dot_13_bar__minus_01_dot_62 - receptacle\n Shelf_bar__minus_02_dot_95_bar__plus_01_dot_13_bar__minus_02_dot_19 - receptacle\n Shelf_bar__minus_02_dot_95_bar__plus_01_dot_13_bar__minus_02_dot_74 - receptacle\n Shelf_bar__minus_02_dot_95_bar__plus_01_dot_41_bar__minus_01_dot_62 - receptacle\n Shelf_bar__minus_02_dot_95_bar__plus_01_dot_41_bar__minus_02_dot_19 - receptacle\n Shelf_bar__minus_02_dot_95_bar__plus_01_dot_41_bar__minus_02_dot_74 - receptacle\n SideTable_bar__minus_01_dot_52_bar__plus_00_dot_42_bar__plus_00_dot_36 - receptacle\n loc_bar_1_bar__minus_10_bar_1_bar_15 - location\n loc_bar__minus_9_bar__minus_8_bar_3_bar_15 - location\n loc_bar__minus_9_bar__minus_10_bar_3_bar_30 - location\n loc_bar__minus_9_bar__minus_10_bar_0_bar_45 - location\n loc_bar_3_bar__minus_3_bar_3_bar_45 - location\n loc_bar_1_bar_0_bar_0_bar_30 - location\n loc_bar_9_bar__minus_11_bar_2_bar_60 - location\n loc_bar_9_bar__minus_11_bar_2_bar__minus_30 - location\n loc_bar_1_bar__minus_10_bar_1_bar_30 - location\n loc_bar_2_bar_0_bar_0_bar_15 - location\n loc_bar_9_bar__minus_1_bar_1_bar_60 - location\n loc_bar_1_bar__minus_6_bar_1_bar_30 - location\n loc_bar_1_bar__minus_9_bar_1_bar_15 - location\n loc_bar__minus_4_bar__minus_11_bar_2_bar__minus_30 - location\n loc_bar_9_bar__minus_8_bar_1_bar_60 - location\n loc_bar_10_bar__minus_2_bar_1_bar_0 - location\n loc_bar__minus_6_bar__minus_3_bar_0_bar_60 - location\n loc_bar_10_bar__minus_7_bar_0_bar_60 - location\n loc_bar__minus_6_bar__minus_2_bar_0_bar_60 - location\n loc_bar__minus_6_bar__minus_1_bar_0_bar_60 - location\n loc_bar__minus_9_bar__minus_10_bar_3_bar_60 - location\n loc_bar__minus_8_bar__minus_8_bar_3_bar_30 - location\n loc_bar_9_bar__minus_11_bar_3_bar_60 - location\n loc_bar__minus_9_bar__minus_8_bar_3_bar_60 - location\n loc_bar__minus_9_bar__minus_9_bar_3_bar_60 - location\n loc_bar_1_bar__minus_10_bar_1_bar_60 - location\n loc_bar__minus_9_bar__minus_10_bar_3_bar_15 - location\n loc_bar__minus_9_bar__minus_9_bar_3_bar_30 - location\n loc_bar_1_bar__minus_6_bar_1_bar_15 - location\n loc_bar_10_bar__minus_8_bar_1_bar__minus_15 - location\n loc_bar_1_bar__minus_9_bar_1_bar_30 - location\n loc_bar_8_bar__minus_5_bar_1_bar_60 - location\n loc_bar__minus_4_bar__minus_11_bar_2_bar_60 - location\n loc_bar__minus_9_bar__minus_9_bar_3_bar_15 - location\n loc_bar_9_bar_0_bar_1_bar_60 - location\n loc_bar_8_bar__minus_5_bar_0_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Shelf_bar__plus_00_dot_92_bar__plus_01_dot_13_bar__minus_01_dot_62 ShelfType)\n (receptacleType Bed_bar__minus_02_dot_46_bar__plus_00_dot_01_bar__minus_00_dot_55 BedType)\n (receptacleType Drawer_bar__minus_01_dot_52_bar__plus_00_dot_42_bar__plus_00_dot_36 DrawerType)\n (receptacleType Shelf_bar__minus_02_dot_95_bar__plus_01_dot_13_bar__minus_01_dot_62 ShelfType)\n (receptacleType Shelf_bar__minus_02_dot_95_bar__plus_01_dot_13_bar__minus_02_dot_19 ShelfType)\n (receptacleType SideTable_bar__minus_01_dot_52_bar__plus_00_dot_42_bar__plus_00_dot_36 SideTableType)\n (receptacleType Shelf_bar__plus_03_dot_04_bar__plus_00_dot_53_bar__minus_02_dot_26 ShelfType)\n (receptacleType GarbageCan_bar__plus_01_dot_69_bar_00_dot_00_bar__minus_02_dot_79 GarbageCanType)\n (receptacleType Shelf_bar__plus_00_dot_92_bar__plus_01_dot_41_bar__minus_01_dot_62 ShelfType)\n (receptacleType Drawer_bar__minus_01_dot_52_bar__plus_00_dot_15_bar__plus_00_dot_36 DrawerType)\n (receptacleType Bed_bar__minus_00_dot_63_bar__plus_00_dot_00_bar__minus_00_dot_55 BedType)\n (receptacleType Shelf_bar__minus_02_dot_95_bar__plus_01_dot_13_bar__minus_02_dot_74 ShelfType)\n (receptacleType Shelf_bar__plus_00_dot_92_bar__plus_01_dot_41_bar__minus_02_dot_73 ShelfType)\n (receptacleType Shelf_bar__minus_02_dot_95_bar__plus_01_dot_41_bar__minus_02_dot_19 ShelfType)\n (receptacleType Shelf_bar__minus_02_dot_95_bar__plus_01_dot_41_bar__minus_01_dot_62 ShelfType)\n (receptacleType Shelf_bar__plus_03_dot_04_bar__plus_00_dot_53_bar__minus_00_dot_56 ShelfType)\n (receptacleType Shelf_bar__minus_02_dot_95_bar__plus_01_dot_41_bar__minus_02_dot_74 ShelfType)\n (receptacleType Shelf_bar__plus_00_dot_92_bar__plus_01_dot_41_bar__minus_02_dot_16 ShelfType)\n (receptacleType DiningTable_bar__plus_03_dot_16_bar__minus_00_dot_01_bar__minus_01_dot_42 DiningTableType)\n (receptacleType Shelf_bar__plus_00_dot_92_bar__plus_01_dot_13_bar__minus_02_dot_73 ShelfType)\n (receptacleType Shelf_bar__plus_00_dot_92_bar__plus_01_dot_13_bar__minus_02_dot_16 ShelfType)\n (objectType Book_bar__minus_02_dot_16_bar__plus_00_dot_60_bar__minus_01_dot_16 BookType)\n (objectType Chair_bar__plus_02_dot_73_bar__plus_00_dot_00_bar__minus_01_dot_21 ChairType)\n (objectType Pen_bar__minus_02_dot_85_bar__plus_01_dot_15_bar__minus_01_dot_50 PenType)\n (objectType CreditCard_bar__minus_01_dot_59_bar__plus_00_dot_61_bar__plus_00_dot_30 CreditCardType)\n (objectType Cloth_bar__plus_00_dot_71_bar_00_dot_00_bar__minus_02_dot_75 ClothType)\n (objectType BasketBall_bar__minus_02_dot_72_bar__plus_00_dot_12_bar__minus_01_dot_93 BasketBallType)\n (objectType AlarmClock_bar__plus_00_dot_86_bar__plus_01_dot_14_bar__minus_02_dot_28 AlarmClockType)\n (objectType TennisRacket_bar__minus_03_dot_02_bar__plus_00_dot_30_bar__minus_02_dot_20 TennisRacketType)\n (objectType Pencil_bar__plus_03_dot_15_bar__plus_00_dot_80_bar__minus_01_dot_12 PencilType)\n (objectType AlarmClock_bar__minus_01_dot_52_bar__plus_00_dot_62_bar__plus_00_dot_50 AlarmClockType)\n (objectType Mug_bar__minus_02_dot_92_bar__plus_01_dot_41_bar__minus_01_dot_70 MugType)\n (objectType CreditCard_bar__minus_01_dot_73_bar__plus_00_dot_61_bar__plus_00_dot_50 CreditCardType)\n (objectType KeyChain_bar__plus_03_dot_15_bar__plus_00_dot_79_bar__minus_01_dot_97 KeyChainType)\n (objectType AlarmClock_bar__plus_03_dot_02_bar__plus_00_dot_79_bar__minus_02_dot_25 AlarmClockType)\n (objectType KeyChain_bar__minus_01_dot_37_bar__plus_00_dot_08_bar__plus_00_dot_35 KeyChainType)\n (objectType Chair_bar__plus_02_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_16 ChairType)\n (objectType CreditCard_bar__minus_01_dot_63_bar__plus_00_dot_08_bar__plus_00_dot_37 CreditCardType)\n (objectType Cloth_bar__plus_00_dot_91_bar__plus_00_dot_03_bar__minus_02_dot_70 ClothType)\n (objectType Pencil_bar__minus_02_dot_85_bar__plus_01_dot_42_bar__minus_02_dot_74 PencilType)\n (objectType Mug_bar__minus_02_dot_95_bar__plus_01_dot_41_bar__minus_02_dot_33 MugType)\n (objectType Watch_bar__plus_03_dot_02_bar__plus_00_dot_79_bar__minus_00_dot_56 WatchType)\n (objectType BaseballBat_bar__minus_02_dot_98_bar__plus_00_dot_02_bar__minus_02_dot_70 BaseballBatType)\n (objectType Poster_bar__plus_03_dot_40_bar__plus_01_dot_70_bar__minus_00_dot_79 PosterType)\n (objectType Mirror_bar__plus_00_dot_45_bar__plus_01_dot_49_bar__plus_00_dot_62 MirrorType)\n (objectType Watch_bar__plus_03_dot_15_bar__plus_00_dot_79_bar__minus_02_dot_25 WatchType)\n (objectType Window_bar__plus_02_dot_28_bar__plus_00_dot_93_bar__minus_03_dot_18 WindowType)\n (objectType CellPhone_bar__minus_01_dot_38_bar__plus_00_dot_61_bar__plus_00_dot_50 CellPhoneType)\n (objectType Pencil_bar__minus_01_dot_45_bar__plus_00_dot_62_bar__plus_00_dot_38 PencilType)\n (objectType Laptop_bar__minus_02_dot_46_bar__plus_00_dot_60_bar__plus_00_dot_25 LaptopType)\n (objectType Bowl_bar__minus_02_dot_98_bar__plus_01_dot_14_bar__minus_01_dot_50 BowlType)\n (objectType Pillow_bar__minus_02_dot_76_bar__plus_00_dot_68_bar__minus_01_dot_16 PillowType)\n (objectType Poster_bar__plus_03_dot_40_bar__plus_01_dot_86_bar__minus_01_dot_98 PosterType)\n (objectType KeyChain_bar__plus_00_dot_89_bar__plus_01_dot_41_bar__minus_02_dot_65 KeyChainType)\n (objectType TeddyBear_bar__minus_02_dot_65_bar__plus_00_dot_62_bar__minus_00_dot_40 TeddyBearType)\n (objectType Cloth_bar__plus_00_dot_97_bar_00_dot_00_bar__minus_02_dot_40 ClothType)\n (objectType Blinds_bar__plus_02_dot_29_bar__plus_02_dot_07_bar__minus_03_dot_18 BlindsType)\n (objectType 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ShelfType CDType)\n (canContain ShelfType MugType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType ClothType)\n (canContain ShelfType PencilType)\n (canContain ShelfType AlarmClockType)\n (canContain 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 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 ClothType)\n (canContain DrawerType PencilType)\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 CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType ClothType)\n (canContain ShelfType PencilType)\n (canContain ShelfType AlarmClockType)\n (canContain ShelfType PenType)\n (canContain ShelfType BookType)\n (canContain ShelfType WatchType)\n (canContain ShelfType BowlType)\n (canContain ShelfType CDType)\n (canContain ShelfType MugType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType ClothType)\n (canContain ShelfType PencilType)\n (canContain ShelfType AlarmClockType)\n (canContain SideTableType PenType)\n (canContain SideTableType BookType)\n (canContain SideTableType WatchType)\n (canContain SideTableType BowlType)\n (canContain SideTableType CDType)\n (canContain SideTableType MugType)\n (canContain SideTableType 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ShelfType AlarmClockType)\n (canContain DiningTableType PenType)\n (canContain DiningTableType BookType)\n (canContain DiningTableType WatchType)\n (canContain DiningTableType BowlType)\n (canContain DiningTableType CDType)\n (canContain DiningTableType MugType)\n (canContain DiningTableType CellPhoneType)\n (canContain DiningTableType KeyChainType)\n (canContain DiningTableType CreditCardType)\n (canContain DiningTableType BasketBallType)\n (canContain DiningTableType BaseballBatType)\n (canContain DiningTableType TennisRacketType)\n (canContain DiningTableType ClothType)\n (canContain DiningTableType LaptopType)\n (canContain DiningTableType PencilType)\n (canContain DiningTableType 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 CellPhoneType)\n (canContain ShelfType KeyChainType)\n 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DiningTable_bar__plus_03_dot_16_bar__minus_00_dot_01_bar__minus_01_dot_42)\n (inReceptacle Watch_bar__plus_03_dot_02_bar__plus_00_dot_79_bar__minus_00_dot_56 DiningTable_bar__plus_03_dot_16_bar__minus_00_dot_01_bar__minus_01_dot_42)\n (inReceptacle Pencil_bar__plus_03_dot_15_bar__plus_00_dot_80_bar__minus_01_dot_12 DiningTable_bar__plus_03_dot_16_bar__minus_00_dot_01_bar__minus_01_dot_42)\n (inReceptacle Pillow_bar__minus_02_dot_76_bar__plus_00_dot_68_bar__minus_01_dot_16 Bed_bar__minus_02_dot_46_bar__plus_00_dot_01_bar__minus_00_dot_55)\n (inReceptacle Book_bar__minus_02_dot_16_bar__plus_00_dot_60_bar__minus_01_dot_16 Bed_bar__minus_02_dot_46_bar__plus_00_dot_01_bar__minus_00_dot_55)\n (inReceptacle Laptop_bar__minus_02_dot_46_bar__plus_00_dot_60_bar__plus_00_dot_25 Bed_bar__minus_02_dot_46_bar__plus_00_dot_01_bar__minus_00_dot_55)\n (inReceptacle TeddyBear_bar__minus_02_dot_65_bar__plus_00_dot_62_bar__minus_00_dot_40 Bed_bar__minus_02_dot_46_bar__plus_00_dot_01_bar__minus_00_dot_55)\n (inReceptacle CreditCard_bar__minus_01_dot_63_bar__plus_00_dot_08_bar__plus_00_dot_37 Drawer_bar__minus_01_dot_52_bar__plus_00_dot_15_bar__plus_00_dot_36)\n (inReceptacle KeyChain_bar__minus_01_dot_37_bar__plus_00_dot_08_bar__plus_00_dot_35 Drawer_bar__minus_01_dot_52_bar__plus_00_dot_15_bar__plus_00_dot_36)\n (inReceptacle Pillow_bar__minus_00_dot_78_bar__plus_00_dot_69_bar__minus_00_dot_88 Bed_bar__minus_00_dot_63_bar__plus_00_dot_00_bar__minus_00_dot_55)\n (inReceptacle CellPhone_bar__minus_00_dot_18_bar__plus_00_dot_62_bar__plus_00_dot_25 Bed_bar__minus_00_dot_63_bar__plus_00_dot_00_bar__minus_00_dot_55)\n (inReceptacle Laptop_bar__minus_00_dot_63_bar__plus_00_dot_61_bar__minus_00_dot_32 Bed_bar__minus_00_dot_63_bar__plus_00_dot_00_bar__minus_00_dot_55)\n (inReceptacle CreditCard_bar__minus_01_dot_73_bar__plus_00_dot_61_bar__plus_00_dot_50 SideTable_bar__minus_01_dot_52_bar__plus_00_dot_42_bar__plus_00_dot_36)\n (inReceptacle CellPhone_bar__minus_01_dot_38_bar__plus_00_dot_61_bar__plus_00_dot_50 SideTable_bar__minus_01_dot_52_bar__plus_00_dot_42_bar__plus_00_dot_36)\n (inReceptacle Pencil_bar__minus_01_dot_45_bar__plus_00_dot_62_bar__plus_00_dot_38 SideTable_bar__minus_01_dot_52_bar__plus_00_dot_42_bar__plus_00_dot_36)\n (inReceptacle CreditCard_bar__minus_01_dot_59_bar__plus_00_dot_61_bar__plus_00_dot_30 SideTable_bar__minus_01_dot_52_bar__plus_00_dot_42_bar__plus_00_dot_36)\n (inReceptacle AlarmClock_bar__minus_01_dot_52_bar__plus_00_dot_62_bar__plus_00_dot_50 SideTable_bar__minus_01_dot_52_bar__plus_00_dot_42_bar__plus_00_dot_36)\n (inReceptacle CellPhone_bar__plus_00_dot_95_bar__plus_01_dot_14_bar__minus_02_dot_09 Shelf_bar__plus_00_dot_92_bar__plus_01_dot_13_bar__minus_02_dot_16)\n (inReceptacle AlarmClock_bar__plus_00_dot_86_bar__plus_01_dot_14_bar__minus_02_dot_28 Shelf_bar__plus_00_dot_92_bar__plus_01_dot_13_bar__minus_02_dot_16)\n (inReceptacle Mug_bar__minus_02_dot_92_bar__plus_01_dot_41_bar__minus_01_dot_70 Shelf_bar__minus_02_dot_95_bar__plus_01_dot_41_bar__minus_01_dot_62)\n (inReceptacle Mug_bar__minus_02_dot_95_bar__plus_01_dot_41_bar__minus_02_dot_33 Shelf_bar__minus_02_dot_95_bar__plus_01_dot_41_bar__minus_02_dot_19)\n (inReceptacle Pencil_bar__minus_02_dot_85_bar__plus_01_dot_42_bar__minus_02_dot_74 Shelf_bar__minus_02_dot_95_bar__plus_01_dot_41_bar__minus_02_dot_74)\n (inReceptacle KeyChain_bar__plus_00_dot_89_bar__plus_01_dot_41_bar__minus_02_dot_65 Shelf_bar__plus_00_dot_92_bar__plus_01_dot_41_bar__minus_02_dot_73)\n (inReceptacle Pen_bar__minus_02_dot_85_bar__plus_01_dot_15_bar__minus_01_dot_50 Shelf_bar__minus_02_dot_95_bar__plus_01_dot_13_bar__minus_01_dot_62)\n (inReceptacle Bowl_bar__minus_02_dot_98_bar__plus_01_dot_14_bar__minus_01_dot_50 Shelf_bar__minus_02_dot_95_bar__plus_01_dot_13_bar__minus_01_dot_62)\n \n \n (receptacleAtLocation Bed_bar__minus_00_dot_63_bar__plus_00_dot_00_bar__minus_00_dot_55 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loc_bar__minus_9_bar__minus_9_bar_3_bar_30)\n (receptacleAtLocation Shelf_bar__minus_02_dot_95_bar__plus_01_dot_13_bar__minus_02_dot_74 loc_bar__minus_9_bar__minus_10_bar_3_bar_30)\n (receptacleAtLocation Shelf_bar__minus_02_dot_95_bar__plus_01_dot_41_bar__minus_01_dot_62 loc_bar__minus_9_bar__minus_8_bar_3_bar_15)\n (receptacleAtLocation Shelf_bar__minus_02_dot_95_bar__plus_01_dot_41_bar__minus_02_dot_19 loc_bar__minus_9_bar__minus_9_bar_3_bar_15)\n (receptacleAtLocation Shelf_bar__minus_02_dot_95_bar__plus_01_dot_41_bar__minus_02_dot_74 loc_bar__minus_9_bar__minus_10_bar_3_bar_15)\n (receptacleAtLocation SideTable_bar__minus_01_dot_52_bar__plus_00_dot_42_bar__plus_00_dot_36 loc_bar__minus_6_bar__minus_1_bar_0_bar_60)\n (objectAtLocation Mug_bar__plus_03_dot_33_bar__plus_00_dot_79_bar__minus_01_dot_97 loc_bar_8_bar__minus_5_bar_1_bar_60)\n (objectAtLocation CellPhone_bar__minus_01_dot_38_bar__plus_00_dot_61_bar__plus_00_dot_50 loc_bar__minus_6_bar__minus_1_bar_0_bar_60)\n (objectAtLocation Watch_bar__plus_03_dot_02_bar__plus_00_dot_79_bar__minus_00_dot_56 loc_bar_8_bar__minus_5_bar_1_bar_60)\n (objectAtLocation AlarmClock_bar__plus_03_dot_02_bar__plus_00_dot_79_bar__minus_02_dot_25 loc_bar_8_bar__minus_5_bar_1_bar_60)\n (objectAtLocation CreditCard_bar__minus_01_dot_73_bar__plus_00_dot_61_bar__plus_00_dot_50 loc_bar__minus_6_bar__minus_1_bar_0_bar_60)\n (objectAtLocation Pencil_bar__plus_03_dot_15_bar__plus_00_dot_80_bar__minus_01_dot_12 loc_bar_8_bar__minus_5_bar_1_bar_60)\n (objectAtLocation KeyChain_bar__minus_01_dot_37_bar__plus_00_dot_08_bar__plus_00_dot_35 loc_bar__minus_6_bar__minus_3_bar_0_bar_60)\n (objectAtLocation Laptop_bar__minus_00_dot_63_bar__plus_00_dot_61_bar__minus_00_dot_32 loc_bar_3_bar__minus_3_bar_3_bar_45)\n (objectAtLocation AlarmClock_bar__plus_00_dot_86_bar__plus_01_dot_14_bar__minus_02_dot_28 loc_bar_1_bar__minus_9_bar_1_bar_30)\n (objectAtLocation KeyChain_bar__plus_03_dot_15_bar__plus_00_dot_79_bar__minus_01_dot_97 loc_bar_8_bar__minus_5_bar_1_bar_60)\n (objectAtLocation CreditCard_bar__minus_01_dot_59_bar__plus_00_dot_61_bar__plus_00_dot_30 loc_bar__minus_6_bar__minus_1_bar_0_bar_60)\n (objectAtLocation Pencil_bar__minus_01_dot_45_bar__plus_00_dot_62_bar__plus_00_dot_38 loc_bar__minus_6_bar__minus_1_bar_0_bar_60)\n (objectAtLocation CellPhone_bar__minus_00_dot_18_bar__plus_00_dot_62_bar__plus_00_dot_25 loc_bar_3_bar__minus_3_bar_3_bar_45)\n (objectAtLocation Mug_bar__minus_02_dot_95_bar__plus_01_dot_41_bar__minus_02_dot_33 loc_bar__minus_9_bar__minus_9_bar_3_bar_15)\n (objectAtLocation Chair_bar__plus_02_dot_73_bar__plus_00_dot_00_bar__minus_01_dot_21 loc_bar_10_bar__minus_7_bar_0_bar_60)\n (objectAtLocation Chair_bar__plus_02_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_16 loc_bar_9_bar_0_bar_1_bar_60)\n (objectAtLocation Book_bar__minus_02_dot_16_bar__plus_00_dot_60_bar__minus_01_dot_16 loc_bar__minus_9_bar__minus_10_bar_0_bar_45)\n (objectAtLocation Laptop_bar__minus_02_dot_46_bar__plus_00_dot_60_bar__plus_00_dot_25 loc_bar__minus_9_bar__minus_10_bar_0_bar_45)\n (objectAtLocation KeyChain_bar__plus_00_dot_89_bar__plus_01_dot_41_bar__minus_02_dot_65 loc_bar_1_bar__minus_10_bar_1_bar_15)\n (objectAtLocation Cloth_bar__plus_00_dot_97_bar_00_dot_00_bar__minus_02_dot_40 loc_bar_1_bar__minus_10_bar_1_bar_60)\n (objectAtLocation BaseballBat_bar__minus_02_dot_98_bar__plus_00_dot_02_bar__minus_02_dot_70 loc_bar__minus_9_bar__minus_10_bar_3_bar_60)\n (objectAtLocation BasketBall_bar__minus_02_dot_72_bar__plus_00_dot_12_bar__minus_01_dot_93 loc_bar__minus_9_bar__minus_8_bar_3_bar_60)\n (objectAtLocation Pillow_bar__minus_00_dot_78_bar__plus_00_dot_69_bar__minus_00_dot_88 loc_bar_3_bar__minus_3_bar_3_bar_45)\n (objectAtLocation Pillow_bar__minus_02_dot_76_bar__plus_00_dot_68_bar__minus_01_dot_16 loc_bar__minus_9_bar__minus_10_bar_0_bar_45)\n (objectAtLocation TennisRacket_bar__minus_03_dot_02_bar__plus_00_dot_30_bar__minus_02_dot_20 loc_bar__minus_9_bar__minus_9_bar_3_bar_60)\n (objectAtLocation Pencil_bar__minus_02_dot_85_bar__plus_01_dot_42_bar__minus_02_dot_74 loc_bar__minus_9_bar__minus_10_bar_3_bar_15)\n (objectAtLocation CreditCard_bar__minus_01_dot_63_bar__plus_00_dot_08_bar__plus_00_dot_37 loc_bar__minus_6_bar__minus_3_bar_0_bar_60)\n (objectAtLocation Cloth_bar__plus_00_dot_91_bar__plus_00_dot_03_bar__minus_02_dot_70 loc_bar_1_bar__minus_10_bar_1_bar_60)\n (objectAtLocation TeddyBear_bar__minus_02_dot_65_bar__plus_00_dot_62_bar__minus_00_dot_40 loc_bar__minus_9_bar__minus_10_bar_0_bar_45)\n (objectAtLocation LightSwitch_bar__minus_00_dot_14_bar__plus_01_dot_33_bar__plus_00_dot_60 loc_bar_1_bar_0_bar_0_bar_30)\n (objectAtLocation Poster_bar__plus_03_dot_40_bar__plus_01_dot_86_bar__minus_01_dot_98 loc_bar_10_bar__minus_8_bar_1_bar__minus_15)\n (objectAtLocation Poster_bar__plus_03_dot_40_bar__plus_01_dot_70_bar__minus_00_dot_79 loc_bar_10_bar__minus_2_bar_1_bar_0)\n (objectAtLocation Pen_bar__minus_02_dot_85_bar__plus_01_dot_15_bar__minus_01_dot_50 loc_bar__minus_8_bar__minus_8_bar_3_bar_30)\n (objectAtLocation Cloth_bar__plus_00_dot_71_bar_00_dot_00_bar__minus_02_dot_75 loc_bar_1_bar__minus_10_bar_1_bar_60)\n (objectAtLocation AlarmClock_bar__minus_01_dot_52_bar__plus_00_dot_62_bar__plus_00_dot_50 loc_bar__minus_6_bar__minus_1_bar_0_bar_60)\n (objectAtLocation Watch_bar__plus_03_dot_15_bar__plus_00_dot_79_bar__minus_02_dot_25 loc_bar_8_bar__minus_5_bar_1_bar_60)\n (objectAtLocation Mirror_bar__plus_00_dot_45_bar__plus_01_dot_49_bar__plus_00_dot_62 loc_bar_2_bar_0_bar_0_bar_15)\n (objectAtLocation CellPhone_bar__plus_00_dot_95_bar__plus_01_dot_14_bar__minus_02_dot_09 loc_bar_1_bar__minus_9_bar_1_bar_30)\n (objectAtLocation CD_bar__plus_00_dot_95_bar__plus_01_dot_14_bar__minus_02_dot_52 loc_bar_1_bar__minus_10_bar_1_bar_30)\n (objectAtLocation Window_bar__plus_02_dot_28_bar__plus_00_dot_93_bar__minus_03_dot_18 loc_bar_9_bar__minus_11_bar_2_bar_60)\n (objectAtLocation Window_bar__minus_01_dot_02_bar__plus_00_dot_93_bar__minus_03_dot_19 loc_bar__minus_4_bar__minus_11_bar_2_bar_60)\n (objectAtLocation Mug_bar__minus_02_dot_92_bar__plus_01_dot_41_bar__minus_01_dot_70 loc_bar__minus_9_bar__minus_8_bar_3_bar_15)\n (objectAtLocation Blinds_bar__minus_01_dot_00_bar__plus_02_dot_07_bar__minus_03_dot_18 loc_bar__minus_4_bar__minus_11_bar_2_bar__minus_30)\n (objectAtLocation Blinds_bar__plus_02_dot_29_bar__plus_02_dot_07_bar__minus_03_dot_18 loc_bar_9_bar__minus_11_bar_2_bar__minus_30)\n (objectAtLocation Bowl_bar__minus_02_dot_98_bar__plus_01_dot_14_bar__minus_01_dot_50 loc_bar__minus_8_bar__minus_8_bar_3_bar_30)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o1 - object)\n (and\n (objectType ?o1 WatchType)\n (receptacleType ?r ShelfType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 WatchType)\n (receptacleType ?r ShelfType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to diningtable 1", "take watch 2 from diningtable 1", "go to shelf 3", "move watch 2 to shelf 3", "go to diningtable 1", "take watch 1 from diningtable 1", "go to shelf 3", "move watch 1 to shelf 3"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Watch-None-Shelf-326/trial_T20190911_150057_341885/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Watch-None-Shelf-326/trial_T20190911_150057_341885/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..e749f753b6256589f3fcf1b326f6d1e06dc540f5 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Watch-None-Shelf-326/trial_T20190911_150057_341885/initial_state.pddl @@ -0,0 +1,794 @@ + +(define (problem plan_trial_T20190911_150057_341885) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_86_bar__plus_01_dot_14_bar__minus_02_dot_28 - object + AlarmClock_bar__plus_03_dot_02_bar__plus_00_dot_79_bar__minus_02_dot_25 - object + AlarmClock_bar__minus_01_dot_52_bar__plus_00_dot_62_bar__plus_00_dot_50 - object + BaseballBat_bar__minus_02_dot_98_bar__plus_00_dot_02_bar__minus_02_dot_70 - object + BasketBall_bar__minus_02_dot_72_bar__plus_00_dot_12_bar__minus_01_dot_93 - object + Blinds_bar__plus_02_dot_29_bar__plus_02_dot_07_bar__minus_03_dot_18 - object + Blinds_bar__minus_01_dot_00_bar__plus_02_dot_07_bar__minus_03_dot_18 - object + Book_bar__minus_02_dot_16_bar__plus_00_dot_60_bar__minus_01_dot_16 - object + Bowl_bar__minus_02_dot_98_bar__plus_01_dot_14_bar__minus_01_dot_50 - object + CD_bar__plus_00_dot_95_bar__plus_01_dot_14_bar__minus_02_dot_52 - object + CellPhone_bar__plus_00_dot_95_bar__plus_01_dot_14_bar__minus_02_dot_09 - object + CellPhone_bar__minus_00_dot_18_bar__plus_00_dot_62_bar__plus_00_dot_25 - object + CellPhone_bar__minus_01_dot_38_bar__plus_00_dot_61_bar__plus_00_dot_50 - object + Chair_bar__plus_02_dot_73_bar__plus_00_dot_00_bar__minus_01_dot_21 - object + Chair_bar__plus_02_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_16 - object + Cloth_bar__plus_00_dot_71_bar_00_dot_00_bar__minus_02_dot_75 - object + Cloth_bar__plus_00_dot_91_bar__plus_00_dot_03_bar__minus_02_dot_70 - object + Cloth_bar__plus_00_dot_97_bar_00_dot_00_bar__minus_02_dot_40 - object + CreditCard_bar__minus_01_dot_59_bar__plus_00_dot_61_bar__plus_00_dot_30 - object + CreditCard_bar__minus_01_dot_63_bar__plus_00_dot_08_bar__plus_00_dot_37 - object + CreditCard_bar__minus_01_dot_73_bar__plus_00_dot_61_bar__plus_00_dot_50 - object + KeyChain_bar__plus_00_dot_89_bar__plus_01_dot_41_bar__minus_02_dot_65 - object + KeyChain_bar__plus_03_dot_15_bar__plus_00_dot_79_bar__minus_01_dot_97 - object + KeyChain_bar__minus_01_dot_37_bar__plus_00_dot_08_bar__plus_00_dot_35 - object + Lamp_bar__plus_03_dot_24_bar__plus_00_dot_79_bar__minus_00_dot_65 - object + Laptop_bar__minus_00_dot_63_bar__plus_00_dot_61_bar__minus_00_dot_32 - object + Laptop_bar__minus_02_dot_46_bar__plus_00_dot_60_bar__plus_00_dot_25 - object + LightSwitch_bar__minus_00_dot_14_bar__plus_01_dot_33_bar__plus_00_dot_60 - object + Mirror_bar__plus_00_dot_45_bar__plus_01_dot_49_bar__plus_00_dot_62 - object + Mug_bar__plus_03_dot_33_bar__plus_00_dot_79_bar__minus_01_dot_97 - object + Mug_bar__minus_02_dot_92_bar__plus_01_dot_41_bar__minus_01_dot_70 - object + Mug_bar__minus_02_dot_95_bar__plus_01_dot_41_bar__minus_02_dot_33 - object + Pencil_bar__plus_03_dot_15_bar__plus_00_dot_80_bar__minus_01_dot_12 - object + Pencil_bar__minus_01_dot_45_bar__plus_00_dot_62_bar__plus_00_dot_38 - object + Pencil_bar__minus_02_dot_85_bar__plus_01_dot_42_bar__minus_02_dot_74 - object + Pen_bar__minus_02_dot_85_bar__plus_01_dot_15_bar__minus_01_dot_50 - object + Pillow_bar__minus_00_dot_78_bar__plus_00_dot_69_bar__minus_00_dot_88 - object + Pillow_bar__minus_02_dot_76_bar__plus_00_dot_68_bar__minus_01_dot_16 - object + Poster_bar__plus_03_dot_40_bar__plus_01_dot_70_bar__minus_00_dot_79 - object + Poster_bar__plus_03_dot_40_bar__plus_01_dot_86_bar__minus_01_dot_98 - object + TeddyBear_bar__minus_02_dot_65_bar__plus_00_dot_62_bar__minus_00_dot_40 - object + TennisRacket_bar__minus_03_dot_02_bar__plus_00_dot_30_bar__minus_02_dot_20 - object + Watch_bar__plus_03_dot_02_bar__plus_00_dot_79_bar__minus_00_dot_56 - object + Watch_bar__plus_03_dot_15_bar__plus_00_dot_79_bar__minus_02_dot_25 - object + Window_bar__plus_02_dot_28_bar__plus_00_dot_93_bar__minus_03_dot_18 - object + Window_bar__minus_01_dot_02_bar__plus_00_dot_93_bar__minus_03_dot_19 - object + Bed_bar__minus_00_dot_63_bar__plus_00_dot_00_bar__minus_00_dot_55 - receptacle + Bed_bar__minus_02_dot_46_bar__plus_00_dot_01_bar__minus_00_dot_55 - receptacle + DiningTable_bar__plus_03_dot_16_bar__minus_00_dot_01_bar__minus_01_dot_42 - receptacle + Drawer_bar__minus_01_dot_52_bar__plus_00_dot_15_bar__plus_00_dot_36 - receptacle + Drawer_bar__minus_01_dot_52_bar__plus_00_dot_42_bar__plus_00_dot_36 - receptacle + GarbageCan_bar__plus_01_dot_69_bar_00_dot_00_bar__minus_02_dot_79 - receptacle + Shelf_bar__plus_00_dot_92_bar__plus_01_dot_13_bar__minus_01_dot_62 - receptacle + Shelf_bar__plus_00_dot_92_bar__plus_01_dot_13_bar__minus_02_dot_16 - receptacle + Shelf_bar__plus_00_dot_92_bar__plus_01_dot_13_bar__minus_02_dot_73 - receptacle + Shelf_bar__plus_00_dot_92_bar__plus_01_dot_41_bar__minus_01_dot_62 - receptacle + Shelf_bar__plus_00_dot_92_bar__plus_01_dot_41_bar__minus_02_dot_16 - receptacle + Shelf_bar__plus_00_dot_92_bar__plus_01_dot_41_bar__minus_02_dot_73 - receptacle + Shelf_bar__plus_03_dot_04_bar__plus_00_dot_53_bar__minus_00_dot_56 - receptacle + Shelf_bar__plus_03_dot_04_bar__plus_00_dot_53_bar__minus_02_dot_26 - receptacle + Shelf_bar__minus_02_dot_95_bar__plus_01_dot_13_bar__minus_01_dot_62 - receptacle + Shelf_bar__minus_02_dot_95_bar__plus_01_dot_13_bar__minus_02_dot_19 - receptacle + Shelf_bar__minus_02_dot_95_bar__plus_01_dot_13_bar__minus_02_dot_74 - receptacle + Shelf_bar__minus_02_dot_95_bar__plus_01_dot_41_bar__minus_01_dot_62 - receptacle + Shelf_bar__minus_02_dot_95_bar__plus_01_dot_41_bar__minus_02_dot_19 - receptacle + Shelf_bar__minus_02_dot_95_bar__plus_01_dot_41_bar__minus_02_dot_74 - receptacle + SideTable_bar__minus_01_dot_52_bar__plus_00_dot_42_bar__plus_00_dot_36 - receptacle + loc_bar_1_bar__minus_10_bar_1_bar_15 - location + loc_bar__minus_9_bar__minus_8_bar_3_bar_15 - location + loc_bar__minus_9_bar__minus_10_bar_3_bar_30 - location + loc_bar__minus_9_bar__minus_10_bar_0_bar_45 - location + loc_bar_3_bar__minus_3_bar_3_bar_45 - location + loc_bar_1_bar_0_bar_0_bar_30 - location + loc_bar_9_bar__minus_11_bar_2_bar_60 - location + loc_bar_9_bar__minus_11_bar_2_bar__minus_30 - location + loc_bar_1_bar__minus_10_bar_1_bar_30 - location + loc_bar_2_bar_0_bar_0_bar_15 - location + loc_bar_9_bar__minus_1_bar_1_bar_60 - location + loc_bar_1_bar__minus_6_bar_1_bar_30 - location + loc_bar_1_bar__minus_9_bar_1_bar_15 - location + loc_bar__minus_4_bar__minus_11_bar_2_bar__minus_30 - location + loc_bar_9_bar__minus_8_bar_1_bar_60 - location + loc_bar_10_bar__minus_2_bar_1_bar_0 - location + loc_bar__minus_6_bar__minus_3_bar_0_bar_60 - location + loc_bar_10_bar__minus_7_bar_0_bar_60 - location + loc_bar__minus_6_bar__minus_2_bar_0_bar_60 - location + loc_bar__minus_6_bar__minus_1_bar_0_bar_60 - location + loc_bar__minus_9_bar__minus_10_bar_3_bar_60 - location + loc_bar__minus_8_bar__minus_8_bar_3_bar_30 - location + loc_bar_9_bar__minus_11_bar_3_bar_60 - location + loc_bar__minus_9_bar__minus_8_bar_3_bar_60 - location + loc_bar__minus_9_bar__minus_9_bar_3_bar_60 - location + loc_bar_1_bar__minus_10_bar_1_bar_60 - location + loc_bar__minus_9_bar__minus_10_bar_3_bar_15 - location + loc_bar__minus_9_bar__minus_9_bar_3_bar_30 - location + loc_bar_1_bar__minus_6_bar_1_bar_15 - location + loc_bar_10_bar__minus_8_bar_1_bar__minus_15 - location + loc_bar_1_bar__minus_9_bar_1_bar_30 - location + loc_bar_8_bar__minus_5_bar_1_bar_60 - location + loc_bar__minus_4_bar__minus_11_bar_2_bar_60 - location + loc_bar__minus_9_bar__minus_9_bar_3_bar_15 - location + loc_bar_9_bar_0_bar_1_bar_60 - location + loc_bar_8_bar__minus_5_bar_0_bar_30 - location + ) + + +(:init + + + (receptacleType Shelf_bar__plus_00_dot_92_bar__plus_01_dot_13_bar__minus_01_dot_62 ShelfType) + (receptacleType Bed_bar__minus_02_dot_46_bar__plus_00_dot_01_bar__minus_00_dot_55 BedType) + (receptacleType Drawer_bar__minus_01_dot_52_bar__plus_00_dot_42_bar__plus_00_dot_36 DrawerType) + (receptacleType Shelf_bar__minus_02_dot_95_bar__plus_01_dot_13_bar__minus_01_dot_62 ShelfType) + (receptacleType Shelf_bar__minus_02_dot_95_bar__plus_01_dot_13_bar__minus_02_dot_19 ShelfType) + (receptacleType SideTable_bar__minus_01_dot_52_bar__plus_00_dot_42_bar__plus_00_dot_36 SideTableType) + (receptacleType Shelf_bar__plus_03_dot_04_bar__plus_00_dot_53_bar__minus_02_dot_26 ShelfType) + (receptacleType GarbageCan_bar__plus_01_dot_69_bar_00_dot_00_bar__minus_02_dot_79 GarbageCanType) + (receptacleType Shelf_bar__plus_00_dot_92_bar__plus_01_dot_41_bar__minus_01_dot_62 ShelfType) + (receptacleType Drawer_bar__minus_01_dot_52_bar__plus_00_dot_15_bar__plus_00_dot_36 DrawerType) + (receptacleType Bed_bar__minus_00_dot_63_bar__plus_00_dot_00_bar__minus_00_dot_55 BedType) + (receptacleType Shelf_bar__minus_02_dot_95_bar__plus_01_dot_13_bar__minus_02_dot_74 ShelfType) + (receptacleType Shelf_bar__plus_00_dot_92_bar__plus_01_dot_41_bar__minus_02_dot_73 ShelfType) + (receptacleType Shelf_bar__minus_02_dot_95_bar__plus_01_dot_41_bar__minus_02_dot_19 ShelfType) + (receptacleType Shelf_bar__minus_02_dot_95_bar__plus_01_dot_41_bar__minus_01_dot_62 ShelfType) + (receptacleType Shelf_bar__plus_03_dot_04_bar__plus_00_dot_53_bar__minus_00_dot_56 ShelfType) + (receptacleType Shelf_bar__minus_02_dot_95_bar__plus_01_dot_41_bar__minus_02_dot_74 ShelfType) + (receptacleType Shelf_bar__plus_00_dot_92_bar__plus_01_dot_41_bar__minus_02_dot_16 ShelfType) + (receptacleType DiningTable_bar__plus_03_dot_16_bar__minus_00_dot_01_bar__minus_01_dot_42 DiningTableType) + (receptacleType Shelf_bar__plus_00_dot_92_bar__plus_01_dot_13_bar__minus_02_dot_73 ShelfType) + (receptacleType Shelf_bar__plus_00_dot_92_bar__plus_01_dot_13_bar__minus_02_dot_16 ShelfType) + (objectType Book_bar__minus_02_dot_16_bar__plus_00_dot_60_bar__minus_01_dot_16 BookType) + (objectType Chair_bar__plus_02_dot_73_bar__plus_00_dot_00_bar__minus_01_dot_21 ChairType) + (objectType Pen_bar__minus_02_dot_85_bar__plus_01_dot_15_bar__minus_01_dot_50 PenType) + (objectType CreditCard_bar__minus_01_dot_59_bar__plus_00_dot_61_bar__plus_00_dot_30 CreditCardType) + (objectType Cloth_bar__plus_00_dot_71_bar_00_dot_00_bar__minus_02_dot_75 ClothType) + (objectType BasketBall_bar__minus_02_dot_72_bar__plus_00_dot_12_bar__minus_01_dot_93 BasketBallType) + (objectType AlarmClock_bar__plus_00_dot_86_bar__plus_01_dot_14_bar__minus_02_dot_28 AlarmClockType) + (objectType TennisRacket_bar__minus_03_dot_02_bar__plus_00_dot_30_bar__minus_02_dot_20 TennisRacketType) + (objectType Pencil_bar__plus_03_dot_15_bar__plus_00_dot_80_bar__minus_01_dot_12 PencilType) + (objectType AlarmClock_bar__minus_01_dot_52_bar__plus_00_dot_62_bar__plus_00_dot_50 AlarmClockType) + (objectType Mug_bar__minus_02_dot_92_bar__plus_01_dot_41_bar__minus_01_dot_70 MugType) + (objectType CreditCard_bar__minus_01_dot_73_bar__plus_00_dot_61_bar__plus_00_dot_50 CreditCardType) + (objectType KeyChain_bar__plus_03_dot_15_bar__plus_00_dot_79_bar__minus_01_dot_97 KeyChainType) + (objectType AlarmClock_bar__plus_03_dot_02_bar__plus_00_dot_79_bar__minus_02_dot_25 AlarmClockType) + (objectType KeyChain_bar__minus_01_dot_37_bar__plus_00_dot_08_bar__plus_00_dot_35 KeyChainType) + (objectType Chair_bar__plus_02_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_16 ChairType) + (objectType CreditCard_bar__minus_01_dot_63_bar__plus_00_dot_08_bar__plus_00_dot_37 CreditCardType) + (objectType Cloth_bar__plus_00_dot_91_bar__plus_00_dot_03_bar__minus_02_dot_70 ClothType) + (objectType Pencil_bar__minus_02_dot_85_bar__plus_01_dot_42_bar__minus_02_dot_74 PencilType) + (objectType Mug_bar__minus_02_dot_95_bar__plus_01_dot_41_bar__minus_02_dot_33 MugType) + (objectType Watch_bar__plus_03_dot_02_bar__plus_00_dot_79_bar__minus_00_dot_56 WatchType) + (objectType BaseballBat_bar__minus_02_dot_98_bar__plus_00_dot_02_bar__minus_02_dot_70 BaseballBatType) + (objectType Poster_bar__plus_03_dot_40_bar__plus_01_dot_70_bar__minus_00_dot_79 PosterType) + (objectType Mirror_bar__plus_00_dot_45_bar__plus_01_dot_49_bar__plus_00_dot_62 MirrorType) + (objectType 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Shelf_bar__plus_00_dot_92_bar__plus_01_dot_13_bar__minus_02_dot_16) + (inReceptacle AlarmClock_bar__plus_00_dot_86_bar__plus_01_dot_14_bar__minus_02_dot_28 Shelf_bar__plus_00_dot_92_bar__plus_01_dot_13_bar__minus_02_dot_16) + (inReceptacle Mug_bar__minus_02_dot_92_bar__plus_01_dot_41_bar__minus_01_dot_70 Shelf_bar__minus_02_dot_95_bar__plus_01_dot_41_bar__minus_01_dot_62) + (inReceptacle Mug_bar__minus_02_dot_95_bar__plus_01_dot_41_bar__minus_02_dot_33 Shelf_bar__minus_02_dot_95_bar__plus_01_dot_41_bar__minus_02_dot_19) + (inReceptacle Pencil_bar__minus_02_dot_85_bar__plus_01_dot_42_bar__minus_02_dot_74 Shelf_bar__minus_02_dot_95_bar__plus_01_dot_41_bar__minus_02_dot_74) + (inReceptacle KeyChain_bar__plus_00_dot_89_bar__plus_01_dot_41_bar__minus_02_dot_65 Shelf_bar__plus_00_dot_92_bar__plus_01_dot_41_bar__minus_02_dot_73) + (inReceptacle Pen_bar__minus_02_dot_85_bar__plus_01_dot_15_bar__minus_01_dot_50 Shelf_bar__minus_02_dot_95_bar__plus_01_dot_13_bar__minus_01_dot_62) + (inReceptacle 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Shelf_bar__plus_00_dot_92_bar__plus_01_dot_13_bar__minus_01_dot_62 loc_bar_1_bar__minus_6_bar_1_bar_30) + (receptacleAtLocation Shelf_bar__plus_00_dot_92_bar__plus_01_dot_13_bar__minus_02_dot_16 loc_bar_1_bar__minus_9_bar_1_bar_30) + (receptacleAtLocation Shelf_bar__plus_00_dot_92_bar__plus_01_dot_13_bar__minus_02_dot_73 loc_bar_1_bar__minus_10_bar_1_bar_30) + (receptacleAtLocation Shelf_bar__plus_00_dot_92_bar__plus_01_dot_41_bar__minus_01_dot_62 loc_bar_1_bar__minus_6_bar_1_bar_15) + (receptacleAtLocation Shelf_bar__plus_00_dot_92_bar__plus_01_dot_41_bar__minus_02_dot_16 loc_bar_1_bar__minus_9_bar_1_bar_15) + (receptacleAtLocation Shelf_bar__plus_00_dot_92_bar__plus_01_dot_41_bar__minus_02_dot_73 loc_bar_1_bar__minus_10_bar_1_bar_15) + (receptacleAtLocation Shelf_bar__plus_03_dot_04_bar__plus_00_dot_53_bar__minus_00_dot_56 loc_bar_9_bar__minus_1_bar_1_bar_60) + (receptacleAtLocation Shelf_bar__plus_03_dot_04_bar__plus_00_dot_53_bar__minus_02_dot_26 loc_bar_9_bar__minus_8_bar_1_bar_60) + (receptacleAtLocation Shelf_bar__minus_02_dot_95_bar__plus_01_dot_13_bar__minus_01_dot_62 loc_bar__minus_8_bar__minus_8_bar_3_bar_30) + (receptacleAtLocation Shelf_bar__minus_02_dot_95_bar__plus_01_dot_13_bar__minus_02_dot_19 loc_bar__minus_9_bar__minus_9_bar_3_bar_30) + (receptacleAtLocation Shelf_bar__minus_02_dot_95_bar__plus_01_dot_13_bar__minus_02_dot_74 loc_bar__minus_9_bar__minus_10_bar_3_bar_30) + (receptacleAtLocation Shelf_bar__minus_02_dot_95_bar__plus_01_dot_41_bar__minus_01_dot_62 loc_bar__minus_9_bar__minus_8_bar_3_bar_15) + (receptacleAtLocation Shelf_bar__minus_02_dot_95_bar__plus_01_dot_41_bar__minus_02_dot_19 loc_bar__minus_9_bar__minus_9_bar_3_bar_15) + (receptacleAtLocation Shelf_bar__minus_02_dot_95_bar__plus_01_dot_41_bar__minus_02_dot_74 loc_bar__minus_9_bar__minus_10_bar_3_bar_15) + (receptacleAtLocation SideTable_bar__minus_01_dot_52_bar__plus_00_dot_42_bar__plus_00_dot_36 loc_bar__minus_6_bar__minus_1_bar_0_bar_60) + 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loc_bar_3_bar__minus_3_bar_3_bar_45) + (objectAtLocation AlarmClock_bar__plus_00_dot_86_bar__plus_01_dot_14_bar__minus_02_dot_28 loc_bar_1_bar__minus_9_bar_1_bar_30) + (objectAtLocation KeyChain_bar__plus_03_dot_15_bar__plus_00_dot_79_bar__minus_01_dot_97 loc_bar_8_bar__minus_5_bar_1_bar_60) + (objectAtLocation CreditCard_bar__minus_01_dot_59_bar__plus_00_dot_61_bar__plus_00_dot_30 loc_bar__minus_6_bar__minus_1_bar_0_bar_60) + (objectAtLocation Pencil_bar__minus_01_dot_45_bar__plus_00_dot_62_bar__plus_00_dot_38 loc_bar__minus_6_bar__minus_1_bar_0_bar_60) + (objectAtLocation CellPhone_bar__minus_00_dot_18_bar__plus_00_dot_62_bar__plus_00_dot_25 loc_bar_3_bar__minus_3_bar_3_bar_45) + (objectAtLocation Mug_bar__minus_02_dot_95_bar__plus_01_dot_41_bar__minus_02_dot_33 loc_bar__minus_9_bar__minus_9_bar_3_bar_15) + (objectAtLocation Chair_bar__plus_02_dot_73_bar__plus_00_dot_00_bar__minus_01_dot_21 loc_bar_10_bar__minus_7_bar_0_bar_60) + (objectAtLocation 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loc_bar_3_bar__minus_3_bar_3_bar_45) + (objectAtLocation Pillow_bar__minus_02_dot_76_bar__plus_00_dot_68_bar__minus_01_dot_16 loc_bar__minus_9_bar__minus_10_bar_0_bar_45) + (objectAtLocation TennisRacket_bar__minus_03_dot_02_bar__plus_00_dot_30_bar__minus_02_dot_20 loc_bar__minus_9_bar__minus_9_bar_3_bar_60) + (objectAtLocation Pencil_bar__minus_02_dot_85_bar__plus_01_dot_42_bar__minus_02_dot_74 loc_bar__minus_9_bar__minus_10_bar_3_bar_15) + (objectAtLocation CreditCard_bar__minus_01_dot_63_bar__plus_00_dot_08_bar__plus_00_dot_37 loc_bar__minus_6_bar__minus_3_bar_0_bar_60) + (objectAtLocation Cloth_bar__plus_00_dot_91_bar__plus_00_dot_03_bar__minus_02_dot_70 loc_bar_1_bar__minus_10_bar_1_bar_60) + (objectAtLocation TeddyBear_bar__minus_02_dot_65_bar__plus_00_dot_62_bar__minus_00_dot_40 loc_bar__minus_9_bar__minus_10_bar_0_bar_45) + (objectAtLocation LightSwitch_bar__minus_00_dot_14_bar__plus_01_dot_33_bar__plus_00_dot_60 loc_bar_1_bar_0_bar_0_bar_30) + (objectAtLocation Poster_bar__plus_03_dot_40_bar__plus_01_dot_86_bar__minus_01_dot_98 loc_bar_10_bar__minus_8_bar_1_bar__minus_15) + (objectAtLocation Poster_bar__plus_03_dot_40_bar__plus_01_dot_70_bar__minus_00_dot_79 loc_bar_10_bar__minus_2_bar_1_bar_0) + (objectAtLocation Pen_bar__minus_02_dot_85_bar__plus_01_dot_15_bar__minus_01_dot_50 loc_bar__minus_8_bar__minus_8_bar_3_bar_30) + (objectAtLocation Cloth_bar__plus_00_dot_71_bar_00_dot_00_bar__minus_02_dot_75 loc_bar_1_bar__minus_10_bar_1_bar_60) + (objectAtLocation AlarmClock_bar__minus_01_dot_52_bar__plus_00_dot_62_bar__plus_00_dot_50 loc_bar__minus_6_bar__minus_1_bar_0_bar_60) + (objectAtLocation Watch_bar__plus_03_dot_15_bar__plus_00_dot_79_bar__minus_02_dot_25 loc_bar_8_bar__minus_5_bar_1_bar_60) + (objectAtLocation Mirror_bar__plus_00_dot_45_bar__plus_01_dot_49_bar__plus_00_dot_62 loc_bar_2_bar_0_bar_0_bar_15) + (objectAtLocation CellPhone_bar__plus_00_dot_95_bar__plus_01_dot_14_bar__minus_02_dot_09 loc_bar_1_bar__minus_9_bar_1_bar_30) + 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0.0, + "z": 0.0 + } + }, + { + "objectName": "CellPhone_1f80dd7b", + "position": { + "x": 0.9541024, + "y": 1.14191175, + "z": -2.08980775 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + }, + { + "objectName": "CellPhone_1f80dd7b", + "position": { + "x": -0.1750977, + "y": 0.616349638, + "z": 0.245433509 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pencil_b98eece4", + "position": { + "x": -2.85369349, + "y": 1.41888618, + "z": -2.74401188 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + }, + { + "objectName": "Pencil_b98eece4", + "position": { + "x": -1.45336914, + "y": 0.619384468, + "z": 0.38144657 + }, + "rotation": { + "x": 0.0, + "y": 0.0003767145, + "z": 0.0 + } + }, + { + "objectName": "CreditCard_096e7851", + "position": { + "x": -1.62562287, + "y": 0.07538244, + "z": 0.371638238 + }, + "rotation": { + "x": 0.0, + "y": 6.488679e-05, + "z": 0.0 + } + }, + { + "objectName": "CreditCard_096e7851", + "position": { + "x": -1.59263182, + "y": 0.613895953, + "z": 0.300253421 + }, + "rotation": { + "x": 0.0, + "y": 180.000381, + "z": 0.0 + } + }, + { + "objectName": "KeyChain_b854204c", + "position": { + "x": 0.8910948, + "y": 1.41498864, + "z": -2.65323687 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + }, + { + "objectName": "KeyChain_b854204c", + "position": { + "x": 3.14781022, + "y": 0.793235, + "z": -1.96834755 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "AlarmClock_0397722d", + "position": { + "x": -1.52299929, + "y": 0.615190148, + "z": 0.5032382 + }, + "rotation": { + "x": 0.0, + "y": 180.000381, + "z": 0.0 + } + }, + { + "objectName": "AlarmClock_0397722d", + "position": { + "x": 0.8595954, + "y": 1.1429919, + "z": -2.28305721 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + }, + { + "objectName": "Laptop_af69458f", + "position": { + "x": -2.46, + "y": 0.598532438, + "z": 0.245433509 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Book_4c818726", + "position": { + "x": -2.15539837, + "y": 0.599222958, + "z": -1.16096044 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Laptop_af69458f", + "position": { + "x": -0.631999969, + "y": 0.6141396, + "z": -0.317124069 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "KeyChain_b854204c", + "position": { + "x": -1.36906576, + "y": 0.07697347, + "z": 0.350125164 + }, + "rotation": { + "x": 0.0, + "y": 90.00007, + "z": 0.0 + } + }, + { + "objectName": "Cloth_9b18bd81", + "position": { + "x": 0.970993042, + "y": -0.00154149532, + "z": -2.404656 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "BaseballBat_7718edb2", + "position": { + "x": -2.982, + "y": 0.015, + "z": -2.698 + }, + "rotation": { + "x": 270.0, + "y": 350.597961, + "z": 0.0 + } + }, + { + "objectName": "BasketBall_11d56643", + "position": { + "x": -2.718, + "y": 0.1184585, + "z": -1.925 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pillow_d4cff861", + "position": { + "x": -0.784300745, + "y": 0.6939142, + "z": -0.8796817 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pillow_6aec589e", + "position": { + "x": -2.76460171, + "y": 0.678307, + "z": -1.16096044 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "TennisRacket_8b81f72e", + "position": { + "x": -3.018, + "y": 0.301, + "z": -2.199 + }, + "rotation": { + "x": 19.103323, + "y": 272.232483, + "z": 184.97876 + } + }, + { + "objectName": "Pencil_b98eece4", + "position": { + "x": 3.14781022, + "y": 0.7971325, + "z": -1.12131548 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "CreditCard_096e7851", + "position": { + "x": -1.73189247, + "y": 0.613895953, + "z": 0.5032396 + }, + "rotation": { + "x": 0.0, + "y": 180.000381, + "z": 0.0 + } + }, + { + "objectName": "Cloth_85b554b9", + "position": { + "x": 0.911633968, + "y": 0.025, + "z": -2.70249653 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "TeddyBear_d565c4f0", + "position": { + "x": -2.64507127, + "y": 0.6247293, + "z": -0.4025734 + }, + "rotation": { + "x": 0.0, + "y": 286.876434, + "z": 0.0 + } + }, + { + "objectName": "Pen_cbcd5e6d", + "position": { + "x": -2.8536942, + "y": 1.1473546, + "z": -1.49768519 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + }, + { + "objectName": "Cloth_83c511c6", + "position": { + "x": 0.705, + "y": -0.00154149532, + "z": -2.75 + }, + "rotation": { + "x": 0.0, + "y": 269.152557, + "z": 0.0 + } + }, + { + "objectName": "AlarmClock_0397722d", + "position": { + "x": 3.02449465, + "y": 0.7929382, + "z": -2.25069141 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Watch_e31da285", + "position": { + "x": 3.02449465, + "y": 0.7930261, + "z": -0.5566274 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "CellPhone_1f80dd7b", + "position": { + "x": -1.38373721, + "y": 0.61411, + "z": 0.503237247 + }, + "rotation": { + "x": 0.0, + "y": 180.000381, + "z": 0.0 + } + }, + { + "objectName": "CD_f52f155c", + "position": { + "x": 0.954099357, + "y": 1.14130843, + "z": -2.51938534 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + }, + { + "objectName": "Mug_0fbdf42c", + "position": { + "x": 3.33278346, + "y": 0.789648, + "z": -1.96834755 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Bowl_8c269f0e", + "position": { + "x": -2.97970247, + "y": 1.14132226, + "z": -1.49768555 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 3773410764, + "scene_num": 326 + }, + "task_id": "trial_T20190911_150057_341885", + "task_type": "pick_two_obj_and_place", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A1HKHM4NVAO98H_3CN4LGXD5053FM6YFE4YNMHM6PI4YR", + "high_descs": [ + "turn right and face the front of the desk", + "grab the wrist watch off of the desk", + "turn around and move over to the right side of the desk", + "place the wrist watch on the cabinet to the bottom right of the desk", + "move to the right side of the desk", + "grab a different wrist watch off the top of the desk there", + "move around to face the front of the desk", + "place the second wrist watch in the cabinet where you placed the other wrist watch" + ], + "task_desc": "place two wrist watches in the cabinet on the right side of the desk", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1RLO9LNUJIW5S_3YW4XOSQKT256EPAIVO7M346YE6U19", + "high_descs": [ + "Walk forward one step then turn right and walk to the table with a light on it.", + "Pick up the watch that's sitting under the light.", + "Position yourself so you are on the other side of the table so the black chair is to the left of you and you are facing the wall with the desk in front of you.", + "Put the watch on the left side of the shelf under the top of the table to the right of the chair.", + "Turn right and walk to the glass doors then turn left and walk to the wall then turn left.", + "Pick up the watch that's in front of you.", + "Walk back to where you placed the first watch.", + "Put the watch to the right of the other watch." + ], + "task_desc": "Place two watches on a shelf.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "AUTYWXILTACCR_336KAV9KYT9TC8RBB0LAU7KOMADY2E", + "high_descs": [ + "Turn to your right and approach the desk.", + "Pick up a watch from the desk.", + "Turn around and walk to the other end of the desk", + "Place the watch inside the desk.", + "Walk to the right of the desk and face the end.", + "Pick up another watch from the desk.", + "Return to the front of the desk. ", + "Place this watch next to the other one." + ], + "task_desc": "Move two watches to the inside of a desk.", + "votes": [ + 1, + 0, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/valid_seen/look_at_obj_in_light-Bowl-None-DeskLamp-301/trial_T20190909_150719_492274/game.tw-pddl b/data/alfworld/json_2.1.1/valid_seen/look_at_obj_in_light-Bowl-None-DeskLamp-301/trial_T20190909_150719_492274/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..5960a82a6a0004ed5f25dae381b425b2ed226a3d --- /dev/null +++ b/data/alfworld/json_2.1.1/valid_seen/look_at_obj_in_light-Bowl-None-DeskLamp-301/trial_T20190909_150719_492274/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\n\\n#task#\"\n }\n ],\n\n \"notImplemented\": [\n {\n \"rhs\": \"TODO\"\n }\n ],\n\n \"task\": [\n {\n \"rhs\": \"Your task is to: examine the bowl with the desklamp.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190909_150719_492274)\n(:domain alfred)\n(:objects\nagent1 - agent\nCurtains - object\n SprayBottle - object\n Mirror - object\n HousePlant - object\n Watch - object\n TeddyBear - object\n WateringCan - object\n Bathtub - object\n LightSwitch - object\n Vase - object\n Candle - object\n Bread - object\n Statue - object\n HandTowel - object\n StoveKnob - object\n PaperTowelRoll - object\n Pan - object\n PepperShaker - object\n Painting - object\n CellPhone - object\n Plunger - object\n Spoon - object\n SaltShaker - object\n KeyChain - object\n Footstool - object\n Poster - object\n Television - object\n LaundryHamperLid - object\n Glassbottle - object\n AlarmClock - object\n WineBottle - object\n Bowl - object\n Sink - object\n TissueBox - object\n TennisRacket - object\n ToiletPaper - object\n ScrubBrush - object\n CreditCard - object\n Laptop - object\n Cloth - object\n Cup - object\n Chair - object\n BasketBall - object\n Kettle - object\n PaperTowel - object\n ShowerDoor - object\n BaseballBat - object\n Potato - object\n Pillow - object\n Lettuce - object\n RemoteControl - object\n Window - object\n DishSponge - object\n CD - object\n Boots - object\n Blinds - object\n Pen - object\n Newspaper - object\n Plate - object\n Mug - object\n ShowerGlass - object\n ToiletPaperRoll - object\n SoapBar - object\n FloorLamp - object\n SoapBottle - object\n Pot - object\n Pencil - object\n Spatula - object\n Towel - object\n Fork - object\n Ladle - object\n Knife - object\n Apple - object\n Box - object\n Tomato - object\n ButterKnife - object\n Egg - object\n Book - object\n DeskLamp - object\nCurtainsType - otype\n SprayBottleType - otype\n MirrorType - otype\n HousePlantType - otype\n WatchType - otype\n TeddyBearType - otype\n WateringCanType - otype\n BathtubType - otype\n LightSwitchType - otype\n VaseType - otype\n CandleType - otype\n BreadType - otype\n StatueType - otype\n HandTowelType - otype\n StoveKnobType - otype\n PaperTowelRollType - otype\n PanType - otype\n PepperShakerType - otype\n PaintingType - otype\n CellPhoneType - otype\n PlungerType - otype\n SpoonType - otype\n SaltShakerType - otype\n KeyChainType - otype\n FootstoolType - otype\n PosterType - otype\n TelevisionType - otype\n LaundryHamperLidType - otype\n GlassbottleType - otype\n AlarmClockType - otype\n WineBottleType - otype\n BowlType - otype\n SinkType - otype\n TissueBoxType - otype\n TennisRacketType - otype\n ToiletPaperType - otype\n ScrubBrushType - otype\n CreditCardType - otype\n LaptopType - otype\n ClothType - otype\n CupType - otype\n ChairType - otype\n BasketBallType - otype\n KettleType - otype\n PaperTowelType - otype\n ShowerDoorType - otype\n BaseballBatType - otype\n PotatoType - otype\n PillowType - otype\n LettuceType - otype\n RemoteControlType - otype\n WindowType - otype\n DishSpongeType - otype\n CDType - otype\n BootsType - otype\n BlindsType - otype\n PenType - otype\n NewspaperType - otype\n PlateType - otype\n MugType - otype\n ShowerGlassType - otype\n ToiletPaperRollType - otype\n SoapBarType - otype\n FloorLampType - otype\n SoapBottleType - otype\n PotType - otype\n PencilType - otype\n SpatulaType - otype\n TowelType - otype\n ForkType - otype\n LadleType - otype\n KnifeType - otype\n AppleType - otype\n BoxType - otype\n TomatoType - otype\n ButterKnifeType - otype\n EggType - otype\n BookType - otype\n DeskLampType - otype\nCabinetType - rtype\n ShelfType - rtype\n DiningTableType - rtype\n TowelHolderType - rtype\n PaintingHangerType - rtype\n TVStandType - rtype\n LaundryHamperType - rtype\n OttomanType - rtype\n SafeType - rtype\n CoffeeMachineType - rtype\n CounterTopType - rtype\n ToiletType - rtype\n FridgeType - rtype\n CoffeeTableType - rtype\n SinkBasinType - rtype\n GarbageCanType - rtype\n BathtubBasinType - rtype\n SideTableType - rtype\n CartType - rtype\n BedType - rtype\n DeskType - rtype\n SofaType - rtype\n ArmChairType - rtype\n MicrowaveType - rtype\n HandTowelHolderType - rtype\n ToasterType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n DrawerType - rtype\n DresserType - rtype\n\n\n AlarmClock_bar__plus_01_dot_84_bar__plus_00_dot_80_bar__minus_01_dot_25 - 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_78_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__minus_01_dot_35_bar__plus_00_dot_11_bar__minus_00_dot_99 - object\n CellPhone_bar__minus_01_dot_25_bar__plus_01_dot_24_bar__minus_00_dot_75 - object\n CellPhone_bar__minus_01_dot_26_bar__plus_00_dot_11_bar__minus_00_dot_62 - object\n Chair_bar__plus_02_dot_40_bar__plus_00_dot_00_bar__minus_01_dot_08 - object\n CreditCard_bar__minus_01_dot_35_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_03_bar__plus_00_dot_79_bar__minus_01_dot_22 - 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_02_dot_59_bar__plus_00_dot_79_bar__minus_01_dot_22 - object\n Pencil_bar__plus_02_dot_66_bar__plus_01_dot_28_bar__minus_01_dot_39 - object\n Pencil_bar__minus_01_dot_29_bar__plus_00_dot_11_bar__minus_00_dot_88 - object\n Pencil_bar__minus_01_dot_35_bar__plus_01_dot_24_bar__minus_00_dot_65 - object\n Pen_bar__plus_02_dot_76_bar__plus_01_dot_28_bar__minus_01_dot_37 - object\n Pillow_bar__minus_00_dot_63_bar__plus_00_dot_63_bar__plus_01_dot_61 - object\n Statue_bar__plus_01_dot_82_bar__plus_01_dot_04_bar__minus_01_dot_42 - object\n TissueBox_bar__plus_01_dot_59_bar__plus_00_dot_35_bar__minus_01_dot_22 - object\n Watch_bar__minus_01_dot_39_bar__plus_01_dot_24_bar__minus_00_dot_46 - object\n Window_bar__plus_00_dot_12_bar__plus_01_dot_50_bar__minus_01_dot_59 - object\n Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87 - receptacle\n Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15 - receptacle\n Drawer_bar__plus_01_dot_63_bar__plus_00_dot_18_bar__minus_01_dot_21 - receptacle\n Drawer_bar__plus_01_dot_63_bar__plus_00_dot_40_bar__minus_01_dot_21 - receptacle\n Drawer_bar__plus_01_dot_63_bar__plus_00_dot_62_bar__minus_01_dot_21 - receptacle\n Drawer_bar__plus_01_dot_95_bar__plus_00_dot_18_bar__minus_01_dot_21 - receptacle\n Drawer_bar__plus_01_dot_95_bar__plus_00_dot_40_bar__minus_01_dot_21 - receptacle\n Drawer_bar__plus_01_dot_95_bar__plus_00_dot_62_bar__minus_01_dot_21 - receptacle\n Drawer_bar__plus_02_dot_82_bar__plus_00_dot_17_bar__minus_01_dot_21 - receptacle\n Drawer_bar__plus_02_dot_82_bar__plus_00_dot_40_bar__minus_01_dot_21 - receptacle\n Drawer_bar__plus_02_dot_82_bar__plus_00_dot_62_bar__minus_01_dot_21 - receptacle\n Drawer_bar__minus_01_dot_29_bar__plus_00_dot_17_bar__minus_00_dot_58 - receptacle\n Drawer_bar__minus_01_dot_29_bar__plus_00_dot_17_bar__minus_00_dot_92 - receptacle\n Drawer_bar__minus_01_dot_29_bar__plus_00_dot_44_bar__minus_00_dot_58 - receptacle\n Drawer_bar__minus_01_dot_29_bar__plus_00_dot_44_bar__minus_00_dot_92 - receptacle\n Drawer_bar__minus_01_dot_29_bar__plus_00_dot_74_bar__minus_00_dot_58 - receptacle\n Drawer_bar__minus_01_dot_29_bar__plus_00_dot_74_bar__minus_00_dot_92 - receptacle\n Drawer_bar__minus_01_dot_29_bar__plus_01_dot_02_bar__minus_00_dot_58 - receptacle\n Drawer_bar__minus_01_dot_29_bar__plus_01_dot_02_bar__minus_00_dot_92 - receptacle\n Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75 - receptacle\n GarbageCan_bar__plus_02_dot_84_bar__plus_00_dot_00_bar__plus_00_dot_22 - receptacle\n Shelf_bar__plus_01_dot_80_bar__plus_00_dot_80_bar__minus_01_dot_42 - receptacle\n Shelf_bar__plus_01_dot_80_bar__plus_01_dot_04_bar__minus_01_dot_42 - receptacle\n Shelf_bar__plus_02_dot_25_bar__plus_01_dot_27_bar__minus_01_dot_42 - receptacle\n Shelf_bar__plus_02_dot_47_bar__plus_00_dot_80_bar__minus_01_dot_41 - receptacle\n Shelf_bar__plus_02_dot_47_bar__plus_01_dot_04_bar__minus_01_dot_41 - receptacle\n Shelf_bar__plus_02_dot_70_bar__plus_01_dot_27_bar__minus_01_dot_42 - receptacle\n loc_bar_9_bar_4_bar_1_bar_60 - location\n loc_bar_10_bar__minus_2_bar_2_bar_60 - location\n loc_bar_8_bar__minus_3_bar_2_bar_45 - location\n loc_bar_8_bar__minus_2_bar_1_bar_60 - location\n loc_bar_3_bar_5_bar_3_bar_45 - location\n loc_bar_10_bar_5_bar_0_bar_30 - location\n loc_bar_3_bar__minus_2_bar_1_bar_60 - location\n loc_bar_8_bar__minus_3_bar_1_bar_45 - location\n loc_bar_0_bar__minus_4_bar_2_bar_15 - location\n loc_bar__minus_3_bar__minus_4_bar_3_bar_60 - location\n loc_bar_9_bar__minus_2_bar_2_bar_60 - location\n loc_bar_1_bar__minus_4_bar_1_bar_30 - location\n loc_bar__minus_3_bar__minus_2_bar_3_bar_45 - location\n loc_bar_0_bar__minus_4_bar_2_bar__minus_30 - location\n loc_bar__minus_3_bar__minus_3_bar_3_bar_60 - location\n loc_bar_4_bar__minus_2_bar_2_bar_60 - location\n loc_bar_10_bar_1_bar_1_bar_60 - location\n loc_bar_7_bar__minus_3_bar_2_bar_45 - location\n loc_bar__minus_3_bar__minus_2_bar_3_bar_60 - location\n loc_bar_4_bar__minus_2_bar_1_bar_60 - location\n loc_bar_8_bar_5_bar_0_bar_30 - location\n loc_bar_8_bar__minus_3_bar_2_bar_30 - location\n loc_bar_10_bar_5_bar_0_bar_60 - location\n loc_bar_8_bar__minus_3_bar_2_bar_60 - location\n loc_bar_10_bar__minus_2_bar_2_bar_45 - location\n loc_bar__minus_3_bar__minus_4_bar_3_bar_45 - location\n loc_bar_10_bar__minus_2_bar_2_bar_30 - location\n loc_bar__minus_1_bar__minus_3_bar_0_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15 DeskType)\n (receptacleType Shelf_bar__plus_02_dot_25_bar__plus_01_dot_27_bar__minus_01_dot_42 ShelfType)\n (receptacleType Drawer_bar__plus_02_dot_82_bar__plus_00_dot_17_bar__minus_01_dot_21 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_01_dot_02_bar__minus_00_dot_92 DrawerType)\n (receptacleType Drawer_bar__plus_01_dot_95_bar__plus_00_dot_40_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__minus_01_dot_29_bar__plus_01_dot_02_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 Drawer_bar__minus_01_dot_29_bar__plus_00_dot_44_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 Drawer_bar__plus_01_dot_63_bar__plus_00_dot_62_bar__minus_01_dot_21 DrawerType)\n (receptacleType Drawer_bar__plus_01_dot_95_bar__plus_00_dot_18_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 Shelf_bar__plus_01_dot_80_bar__plus_01_dot_04_bar__minus_01_dot_42 ShelfType)\n (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_00_dot_74_bar__minus_00_dot_58 DrawerType)\n (receptacleType Shelf_bar__plus_01_dot_80_bar__plus_00_dot_80_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_17_bar__minus_00_dot_58 DrawerType)\n (receptacleType Drawer_bar__plus_02_dot_82_bar__plus_00_dot_40_bar__minus_01_dot_21 DrawerType)\n (receptacleType Drawer_bar__plus_01_dot_63_bar__plus_00_dot_18_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 Shelf_bar__plus_02_dot_70_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 Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75 DresserType)\n (receptacleType Drawer_bar__plus_02_dot_82_bar__plus_00_dot_62_bar__minus_01_dot_21 DrawerType)\n (receptacleType GarbageCan_bar__plus_02_dot_84_bar__plus_00_dot_00_bar__plus_00_dot_22 GarbageCanType)\n (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_00_dot_17_bar__minus_00_dot_92 DrawerType)\n (objectType CreditCard_bar__minus_01_dot_35_bar__plus_01_dot_23_bar__minus_00_dot_75 CreditCardType)\n (objectType AlarmClock_bar__plus_01_dot_84_bar__plus_00_dot_80_bar__minus_01_dot_25 AlarmClockType)\n (objectType Statue_bar__plus_01_dot_82_bar__plus_01_dot_04_bar__minus_01_dot_42 StatueType)\n (objectType LightSwitch_bar__plus_02_dot_66_bar__plus_01_dot_28_bar__plus_01_dot_90 LightSwitchType)\n (objectType Pencil_bar__minus_01_dot_29_bar__plus_00_dot_11_bar__minus_00_dot_88 PencilType)\n (objectType Chair_bar__plus_02_dot_40_bar__plus_00_dot_00_bar__minus_01_dot_08 ChairType)\n (objectType Box_bar__plus_02_dot_73_bar__plus_00_dot_20_bar__plus_00_dot_89 BoxType)\n (objectType Pencil_bar__plus_02_dot_66_bar__plus_01_dot_28_bar__minus_01_dot_39 PencilType)\n (objectType CellPhone_bar__minus_01_dot_25_bar__plus_01_dot_24_bar__minus_00_dot_75 CellPhoneType)\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_90_bar__plus_00_dot_57_bar__plus_01_dot_18 BookType)\n (objectType TissueBox_bar__plus_01_dot_59_bar__plus_00_dot_35_bar__minus_01_dot_22 TissueBoxType)\n (objectType Mug_bar__plus_02_dot_59_bar__plus_00_dot_79_bar__minus_01_dot_22 MugType)\n (objectType Window_bar__plus_00_dot_12_bar__plus_01_dot_50_bar__minus_01_dot_59 WindowType)\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_03_bar__plus_00_dot_79_bar__minus_01_dot_22 KeyChainType)\n (objectType BaseballBat_bar__plus_02_dot_85_bar__plus_00_dot_64_bar__plus_01_dot_84 BaseballBatType)\n (objectType Pillow_bar__minus_00_dot_63_bar__plus_00_dot_63_bar__plus_01_dot_61 PillowType)\n (objectType BasketBall_bar__plus_01_dot_02_bar__plus_00_dot_33_bar__minus_00_dot_98 BasketBallType)\n (objectType Pencil_bar__minus_01_dot_35_bar__plus_01_dot_24_bar__minus_00_dot_65 PencilType)\n (objectType CD_bar__minus_01_dot_35_bar__plus_00_dot_11_bar__minus_00_dot_99 CDType)\n (objectType Mirror_bar__plus_01_dot_99_bar__plus_01_dot_38_bar__plus_01_dot_88 MirrorType)\n (objectType Blinds_bar__plus_00_dot_11_bar__plus_02_dot_34_bar__minus_01_dot_44 BlindsType)\n (objectType Laptop_bar__minus_00_dot_50_bar__plus_00_dot_56_bar__plus_00_dot_29 LaptopType)\n (objectType Bowl_bar__plus_02_dot_78_bar__plus_00_dot_80_bar__minus_01_dot_22 BowlType)\n (objectType Watch_bar__minus_01_dot_39_bar__plus_01_dot_24_bar__minus_00_dot_46 WatchType)\n (objectType CellPhone_bar__minus_01_dot_26_bar__plus_00_dot_11_bar__minus_00_dot_62 CellPhoneType)\n (objectType Pen_bar__plus_02_dot_76_bar__plus_01_dot_28_bar__minus_01_dot_37 PenType)\n (canContain DeskType CellPhoneType)\n (canContain DeskType BasketBallType)\n (canContain DeskType KeyChainType)\n (canContain DeskType WatchType)\n (canContain DeskType AlarmClockType)\n (canContain DeskType BowlType)\n (canContain DeskType CDType)\n (canContain DeskType TissueBoxType)\n (canContain DeskType PencilType)\n (canContain DeskType CreditCardType)\n (canContain DeskType PenType)\n (canContain DeskType LaptopType)\n (canContain DeskType StatueType)\n (canContain DeskType BoxType)\n (canContain DeskType MugType)\n (canContain DeskType BookType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType WatchType)\n (canContain ShelfType AlarmClockType)\n (canContain ShelfType BowlType)\n (canContain ShelfType CDType)\n (canContain ShelfType TissueBoxType)\n (canContain ShelfType PencilType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType PenType)\n (canContain ShelfType StatueType)\n (canContain ShelfType BoxType)\n (canContain ShelfType MugType)\n (canContain ShelfType BookType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType WatchType)\n (canContain DrawerType CDType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType PencilType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType WatchType)\n (canContain DrawerType CDType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType PencilType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PenType)\n (canContain DrawerType 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DrawerType BookType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType WatchType)\n (canContain DrawerType CDType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType PencilType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType WatchType)\n (canContain DrawerType CDType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType PencilType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType WatchType)\n (canContain DrawerType CDType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType PencilType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType WatchType)\n (canContain DrawerType CDType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType PencilType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType WatchType)\n (canContain DrawerType CDType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType PencilType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain BedType CellPhoneType)\n (canContain BedType BaseballBatType)\n (canContain BedType BasketBallType)\n (canContain BedType BookType)\n (canContain BedType PillowType)\n (canContain BedType LaptopType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType WatchType)\n (canContain ShelfType AlarmClockType)\n (canContain ShelfType BowlType)\n (canContain ShelfType CDType)\n (canContain ShelfType TissueBoxType)\n (canContain ShelfType PencilType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType PenType)\n (canContain ShelfType StatueType)\n (canContain ShelfType BoxType)\n (canContain ShelfType MugType)\n (canContain ShelfType BookType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType WatchType)\n (canContain DrawerType CDType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType PencilType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType WatchType)\n (canContain ShelfType AlarmClockType)\n (canContain ShelfType BowlType)\n (canContain ShelfType CDType)\n (canContain ShelfType TissueBoxType)\n (canContain ShelfType PencilType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType PenType)\n (canContain ShelfType StatueType)\n (canContain ShelfType BoxType)\n (canContain ShelfType MugType)\n (canContain ShelfType BookType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType WatchType)\n (canContain ShelfType AlarmClockType)\n (canContain ShelfType BowlType)\n (canContain ShelfType CDType)\n (canContain ShelfType TissueBoxType)\n (canContain ShelfType PencilType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType PenType)\n (canContain ShelfType StatueType)\n (canContain ShelfType BoxType)\n (canContain ShelfType MugType)\n (canContain ShelfType BookType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType WatchType)\n (canContain DrawerType CDType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType PencilType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType WatchType)\n (canContain DrawerType CDType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType PencilType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType WatchType)\n (canContain DrawerType CDType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType PencilType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType WatchType)\n (canContain ShelfType AlarmClockType)\n (canContain ShelfType BowlType)\n (canContain ShelfType CDType)\n (canContain ShelfType TissueBoxType)\n (canContain ShelfType PencilType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType PenType)\n (canContain ShelfType StatueType)\n (canContain ShelfType BoxType)\n (canContain ShelfType MugType)\n (canContain ShelfType BookType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType WatchType)\n (canContain ShelfType AlarmClockType)\n (canContain ShelfType BowlType)\n (canContain ShelfType CDType)\n (canContain ShelfType TissueBoxType)\n (canContain ShelfType PencilType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType PenType)\n (canContain ShelfType StatueType)\n (canContain ShelfType BoxType)\n (canContain ShelfType MugType)\n (canContain ShelfType BookType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType WatchType)\n (canContain DrawerType CDType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType PencilType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DresserType CellPhoneType)\n (canContain DresserType BasketBallType)\n (canContain DresserType KeyChainType)\n (canContain DresserType WatchType)\n (canContain DresserType AlarmClockType)\n (canContain DresserType BowlType)\n (canContain DresserType CDType)\n (canContain DresserType TissueBoxType)\n (canContain DresserType PencilType)\n (canContain DresserType CreditCardType)\n (canContain DresserType PenType)\n (canContain DresserType LaptopType)\n (canContain DresserType StatueType)\n (canContain DresserType BoxType)\n (canContain DresserType MugType)\n (canContain DresserType BookType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType WatchType)\n (canContain DrawerType CDType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType PencilType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain GarbageCanType CDType)\n (canContain GarbageCanType TissueBoxType)\n (canContain GarbageCanType PencilType)\n (canContain GarbageCanType PenType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType WatchType)\n (canContain DrawerType CDType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType PencilType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (pickupable CreditCard_bar__minus_01_dot_35_bar__plus_01_dot_23_bar__minus_00_dot_75)\n (pickupable AlarmClock_bar__plus_01_dot_84_bar__plus_00_dot_80_bar__minus_01_dot_25)\n (pickupable Statue_bar__plus_01_dot_82_bar__plus_01_dot_04_bar__minus_01_dot_42)\n (pickupable Pencil_bar__minus_01_dot_29_bar__plus_00_dot_11_bar__minus_00_dot_88)\n (pickupable Box_bar__plus_02_dot_73_bar__plus_00_dot_20_bar__plus_00_dot_89)\n (pickupable Pencil_bar__plus_02_dot_66_bar__plus_01_dot_28_bar__minus_01_dot_39)\n (pickupable CellPhone_bar__minus_01_dot_25_bar__plus_01_dot_24_bar__minus_00_dot_75)\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_90_bar__plus_00_dot_57_bar__plus_01_dot_18)\n (pickupable TissueBox_bar__plus_01_dot_59_bar__plus_00_dot_35_bar__minus_01_dot_22)\n (pickupable Mug_bar__plus_02_dot_59_bar__plus_00_dot_79_bar__minus_01_dot_22)\n (pickupable KeyChain_bar__plus_02_dot_03_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 Pillow_bar__minus_00_dot_63_bar__plus_00_dot_63_bar__plus_01_dot_61)\n (pickupable BasketBall_bar__plus_01_dot_02_bar__plus_00_dot_33_bar__minus_00_dot_98)\n (pickupable Pencil_bar__minus_01_dot_35_bar__plus_01_dot_24_bar__minus_00_dot_65)\n (pickupable CD_bar__minus_01_dot_35_bar__plus_00_dot_11_bar__minus_00_dot_99)\n (pickupable Laptop_bar__minus_00_dot_50_bar__plus_00_dot_56_bar__plus_00_dot_29)\n (pickupable Bowl_bar__plus_02_dot_78_bar__plus_00_dot_80_bar__minus_01_dot_22)\n (pickupable Watch_bar__minus_01_dot_39_bar__plus_01_dot_24_bar__minus_00_dot_46)\n (pickupable CellPhone_bar__minus_01_dot_26_bar__plus_00_dot_11_bar__minus_00_dot_62)\n (pickupable Pen_bar__plus_02_dot_76_bar__plus_01_dot_28_bar__minus_01_dot_37)\n (isReceptacleObject Box_bar__plus_02_dot_73_bar__plus_00_dot_20_bar__plus_00_dot_89)\n (isReceptacleObject Mug_bar__plus_02_dot_59_bar__plus_00_dot_79_bar__minus_01_dot_22)\n (isReceptacleObject Bowl_bar__plus_02_dot_78_bar__plus_00_dot_80_bar__minus_01_dot_22)\n (openable Drawer_bar__plus_01_dot_95_bar__plus_00_dot_40_bar__minus_01_dot_21)\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_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_02_dot_82_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 \n (atLocation agent1 loc_bar__minus_1_bar__minus_3_bar_0_bar_30)\n \n (cleanable Mug_bar__plus_02_dot_59_bar__plus_00_dot_79_bar__minus_01_dot_22)\n (cleanable Bowl_bar__plus_02_dot_78_bar__plus_00_dot_80_bar__minus_01_dot_22)\n \n (heatable Mug_bar__plus_02_dot_59_bar__plus_00_dot_79_bar__minus_01_dot_22)\n (coolable Mug_bar__plus_02_dot_59_bar__plus_00_dot_79_bar__minus_01_dot_22)\n (coolable Bowl_bar__plus_02_dot_78_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 Pencil_bar__minus_01_dot_29_bar__plus_00_dot_11_bar__minus_00_dot_88 Drawer_bar__minus_01_dot_29_bar__plus_00_dot_17_bar__minus_00_dot_92)\n (inReceptacle CD_bar__minus_01_dot_35_bar__plus_00_dot_11_bar__minus_00_dot_99 Drawer_bar__minus_01_dot_29_bar__plus_00_dot_17_bar__minus_00_dot_92)\n (inReceptacle KeyChain_bar__plus_02_dot_03_bar__plus_00_dot_79_bar__minus_01_dot_22 Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15)\n (inReceptacle AlarmClock_bar__plus_01_dot_84_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_02_dot_59_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 Bowl_bar__plus_02_dot_78_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 TissueBox_bar__plus_01_dot_59_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 CellPhone_bar__minus_01_dot_26_bar__plus_00_dot_11_bar__minus_00_dot_62 Drawer_bar__minus_01_dot_29_bar__plus_00_dot_17_bar__minus_00_dot_58)\n (inReceptacle Pencil_bar__minus_01_dot_35_bar__plus_01_dot_24_bar__minus_00_dot_65 Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75)\n (inReceptacle CreditCard_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 Watch_bar__minus_01_dot_39_bar__plus_01_dot_24_bar__minus_00_dot_46 Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75)\n (inReceptacle CellPhone_bar__minus_01_dot_25_bar__plus_01_dot_24_bar__minus_00_dot_75 Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75)\n (inReceptacle 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 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 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_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 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 Pencil_bar__plus_02_dot_66_bar__plus_01_dot_28_bar__minus_01_dot_39 Shelf_bar__plus_02_dot_70_bar__plus_01_dot_27_bar__minus_01_dot_42)\n (inReceptacle Pen_bar__plus_02_dot_76_bar__plus_01_dot_28_bar__minus_01_dot_37 Shelf_bar__plus_02_dot_70_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 Pencil_bar__minus_01_dot_29_bar__plus_00_dot_11_bar__minus_00_dot_88 loc_bar__minus_3_bar__minus_4_bar_3_bar_60)\n (objectAtLocation CellPhone_bar__minus_01_dot_26_bar__plus_00_dot_11_bar__minus_00_dot_62 loc_bar__minus_3_bar__minus_2_bar_3_bar_60)\n (objectAtLocation Pencil_bar__plus_02_dot_66_bar__plus_01_dot_28_bar__minus_01_dot_39 loc_bar_10_bar__minus_2_bar_2_bar_30)\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_01_dot_25_bar__plus_01_dot_24_bar__minus_00_dot_75 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__plus_01_dot_59_bar__plus_00_dot_35_bar__minus_01_dot_22 loc_bar_3_bar__minus_2_bar_1_bar_60)\n (objectAtLocation CreditCard_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 AlarmClock_bar__plus_01_dot_84_bar__plus_00_dot_80_bar__minus_01_dot_25 loc_bar_9_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Pencil_bar__minus_01_dot_35_bar__plus_01_dot_24_bar__minus_00_dot_65 loc_bar__minus_3_bar__minus_3_bar_3_bar_60)\n (objectAtLocation 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_03_bar__plus_00_dot_79_bar__minus_01_dot_22 loc_bar_9_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Bowl_bar__plus_02_dot_78_bar__plus_00_dot_80_bar__minus_01_dot_22 loc_bar_9_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Watch_bar__minus_01_dot_39_bar__plus_01_dot_24_bar__minus_00_dot_46 loc_bar__minus_3_bar__minus_3_bar_3_bar_60)\n (objectAtLocation Mirror_bar__plus_01_dot_99_bar__plus_01_dot_38_bar__plus_01_dot_88 loc_bar_8_bar_5_bar_0_bar_30)\n (objectAtLocation CD_bar__minus_01_dot_35_bar__plus_00_dot_11_bar__minus_00_dot_99 loc_bar__minus_3_bar__minus_4_bar_3_bar_60)\n (objectAtLocation Pen_bar__plus_02_dot_76_bar__plus_01_dot_28_bar__minus_01_dot_37 loc_bar_10_bar__minus_2_bar_2_bar_30)\n (objectAtLocation Window_bar__plus_00_dot_12_bar__plus_01_dot_50_bar__minus_01_dot_59 loc_bar_0_bar__minus_4_bar_2_bar_15)\n (objectAtLocation LightSwitch_bar__plus_02_dot_66_bar__plus_01_dot_28_bar__plus_01_dot_90 loc_bar_10_bar_5_bar_0_bar_30)\n (objectAtLocation Mug_bar__plus_02_dot_59_bar__plus_00_dot_79_bar__minus_01_dot_22 loc_bar_9_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Statue_bar__plus_01_dot_82_bar__plus_01_dot_04_bar__minus_01_dot_42 loc_bar_7_bar__minus_3_bar_2_bar_45)\n )\n \n\n (:goal\n (and\n (exists (?ot - object\n ?r - receptacle\n ?a - agent\n ?l - location)\n (and\n (objectType ?ot DeskLampType)\n (toggleable ?ot)\n (isToggled ?ot)\n (receptacleAtLocation ?r ?l)\n (atLocation ?a ?l)\n (inReceptacle ?ot ?r)\n )\n )\n (exists (?o - object\n ?a - agent)\n (and\n (objectType ?o BowlType)\n (holds ?a ?o)\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to desk 1", "take bowl 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/valid_seen/look_at_obj_in_light-Bowl-None-DeskLamp-301/trial_T20190909_150719_492274/initial_state.pddl b/data/alfworld/json_2.1.1/valid_seen/look_at_obj_in_light-Bowl-None-DeskLamp-301/trial_T20190909_150719_492274/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..a5fd1e55194c99ff8ccf937d3c7e3e2a0b37f294 --- /dev/null +++ b/data/alfworld/json_2.1.1/valid_seen/look_at_obj_in_light-Bowl-None-DeskLamp-301/trial_T20190909_150719_492274/initial_state.pddl @@ -0,0 +1,771 @@ + +(define (problem plan_trial_T20190909_150719_492274) +(:domain alfred) +(:objects +agent1 - agent +Curtains - object + SprayBottle - object + Mirror - object + HousePlant - object + Watch - object + TeddyBear - object + WateringCan - object + Bathtub - object + LightSwitch - object + Vase - object + Candle - object + Bread - object + Statue - object + HandTowel - object + StoveKnob - object + PaperTowelRoll - object + Pan - object + PepperShaker - object + Painting - object + CellPhone - object + Plunger - object + Spoon - object + SaltShaker - object + KeyChain - object + Footstool - object + Poster - object + Television - object + LaundryHamperLid - object + Glassbottle - object + AlarmClock - object + WineBottle - object + Bowl - object + Sink - object + TissueBox - object + TennisRacket - object + ToiletPaper - object + ScrubBrush - object + CreditCard - object + Laptop - object + Cloth - object + Cup - object + Chair - object + BasketBall - object + Kettle - object + PaperTowel - object + ShowerDoor - object + BaseballBat - object + Potato - object + Pillow - object + Lettuce - object + RemoteControl - object + Window - object + DishSponge - object + CD - object + Boots - object + Blinds - object + Pen - object + Newspaper - object + Plate - object + Mug - object + ShowerGlass - object + ToiletPaperRoll - object + SoapBar - object + FloorLamp - object + SoapBottle - object + Pot - object + Pencil - object + Spatula - object + Towel - object + Fork - object + Ladle - object + Knife - object + Apple - object + Box - object + Tomato - object + ButterKnife - object + Egg - object + Book - object + DeskLamp - object +CurtainsType - otype + SprayBottleType - otype + MirrorType - otype + HousePlantType - otype + WatchType - otype + TeddyBearType - otype + WateringCanType - otype + BathtubType - otype + LightSwitchType - otype + VaseType - otype + CandleType - otype + BreadType - otype + StatueType - otype + HandTowelType - otype + StoveKnobType - otype + PaperTowelRollType - otype + PanType - otype + PepperShakerType - otype + PaintingType - otype + CellPhoneType - otype + PlungerType - otype + SpoonType - otype + SaltShakerType - otype + KeyChainType - otype + FootstoolType - otype + PosterType - otype + TelevisionType - otype + LaundryHamperLidType - otype + GlassbottleType - otype + AlarmClockType - otype + WineBottleType - otype + BowlType - otype + SinkType - otype + TissueBoxType - otype + TennisRacketType - otype + ToiletPaperType - otype + ScrubBrushType - otype + CreditCardType - otype + LaptopType - otype + ClothType - otype + CupType - otype + ChairType - otype + BasketBallType - otype + KettleType - otype + PaperTowelType - otype + ShowerDoorType - otype + BaseballBatType - otype + PotatoType - otype + PillowType - otype + LettuceType - otype + RemoteControlType - otype + WindowType - otype + DishSpongeType - otype + CDType - otype + BootsType - otype + BlindsType - otype + PenType - otype + NewspaperType - otype + PlateType - otype + MugType - otype + ShowerGlassType - otype + ToiletPaperRollType - otype + SoapBarType - otype + FloorLampType - otype + SoapBottleType - otype + PotType - otype + PencilType - otype + SpatulaType - otype + TowelType - otype + ForkType - otype + LadleType - otype + KnifeType - otype + AppleType - otype + BoxType - otype + TomatoType - otype + ButterKnifeType - otype + EggType - otype + BookType - otype + DeskLampType - otype +CabinetType - rtype + ShelfType - rtype + DiningTableType - rtype + TowelHolderType - rtype + PaintingHangerType - rtype + TVStandType - rtype + LaundryHamperType - rtype + OttomanType - rtype + SafeType - rtype + CoffeeMachineType - rtype + CounterTopType - rtype + ToiletType - rtype + FridgeType - rtype + CoffeeTableType - rtype + SinkBasinType - rtype + GarbageCanType - rtype + BathtubBasinType - rtype + SideTableType - rtype + CartType - rtype + BedType - rtype + DeskType - rtype + SofaType - rtype + ArmChairType - rtype + MicrowaveType - rtype + HandTowelHolderType - rtype + ToasterType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + DrawerType - rtype + DresserType - rtype + + + AlarmClock_bar__plus_01_dot_84_bar__plus_00_dot_80_bar__minus_01_dot_25 - 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_78_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__minus_01_dot_35_bar__plus_00_dot_11_bar__minus_00_dot_99 - object + CellPhone_bar__minus_01_dot_25_bar__plus_01_dot_24_bar__minus_00_dot_75 - object + CellPhone_bar__minus_01_dot_26_bar__plus_00_dot_11_bar__minus_00_dot_62 - object + Chair_bar__plus_02_dot_40_bar__plus_00_dot_00_bar__minus_01_dot_08 - object + CreditCard_bar__minus_01_dot_35_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_03_bar__plus_00_dot_79_bar__minus_01_dot_22 - 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_02_dot_59_bar__plus_00_dot_79_bar__minus_01_dot_22 - object + Pencil_bar__plus_02_dot_66_bar__plus_01_dot_28_bar__minus_01_dot_39 - object + Pencil_bar__minus_01_dot_29_bar__plus_00_dot_11_bar__minus_00_dot_88 - object + Pencil_bar__minus_01_dot_35_bar__plus_01_dot_24_bar__minus_00_dot_65 - object + Pen_bar__plus_02_dot_76_bar__plus_01_dot_28_bar__minus_01_dot_37 - object + Pillow_bar__minus_00_dot_63_bar__plus_00_dot_63_bar__plus_01_dot_61 - object + Statue_bar__plus_01_dot_82_bar__plus_01_dot_04_bar__minus_01_dot_42 - object + TissueBox_bar__plus_01_dot_59_bar__plus_00_dot_35_bar__minus_01_dot_22 - object + Watch_bar__minus_01_dot_39_bar__plus_01_dot_24_bar__minus_00_dot_46 - object + Window_bar__plus_00_dot_12_bar__plus_01_dot_50_bar__minus_01_dot_59 - object + Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87 - receptacle + Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15 - receptacle + Drawer_bar__plus_01_dot_63_bar__plus_00_dot_18_bar__minus_01_dot_21 - receptacle + Drawer_bar__plus_01_dot_63_bar__plus_00_dot_40_bar__minus_01_dot_21 - receptacle + Drawer_bar__plus_01_dot_63_bar__plus_00_dot_62_bar__minus_01_dot_21 - receptacle + Drawer_bar__plus_01_dot_95_bar__plus_00_dot_18_bar__minus_01_dot_21 - receptacle + Drawer_bar__plus_01_dot_95_bar__plus_00_dot_40_bar__minus_01_dot_21 - receptacle + Drawer_bar__plus_01_dot_95_bar__plus_00_dot_62_bar__minus_01_dot_21 - receptacle + Drawer_bar__plus_02_dot_82_bar__plus_00_dot_17_bar__minus_01_dot_21 - receptacle + Drawer_bar__plus_02_dot_82_bar__plus_00_dot_40_bar__minus_01_dot_21 - receptacle + Drawer_bar__plus_02_dot_82_bar__plus_00_dot_62_bar__minus_01_dot_21 - receptacle + Drawer_bar__minus_01_dot_29_bar__plus_00_dot_17_bar__minus_00_dot_58 - receptacle + Drawer_bar__minus_01_dot_29_bar__plus_00_dot_17_bar__minus_00_dot_92 - receptacle + Drawer_bar__minus_01_dot_29_bar__plus_00_dot_44_bar__minus_00_dot_58 - receptacle + Drawer_bar__minus_01_dot_29_bar__plus_00_dot_44_bar__minus_00_dot_92 - receptacle + Drawer_bar__minus_01_dot_29_bar__plus_00_dot_74_bar__minus_00_dot_58 - receptacle + Drawer_bar__minus_01_dot_29_bar__plus_00_dot_74_bar__minus_00_dot_92 - receptacle + Drawer_bar__minus_01_dot_29_bar__plus_01_dot_02_bar__minus_00_dot_58 - receptacle + Drawer_bar__minus_01_dot_29_bar__plus_01_dot_02_bar__minus_00_dot_92 - receptacle + Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75 - receptacle + GarbageCan_bar__plus_02_dot_84_bar__plus_00_dot_00_bar__plus_00_dot_22 - receptacle + Shelf_bar__plus_01_dot_80_bar__plus_00_dot_80_bar__minus_01_dot_42 - receptacle + Shelf_bar__plus_01_dot_80_bar__plus_01_dot_04_bar__minus_01_dot_42 - receptacle + Shelf_bar__plus_02_dot_25_bar__plus_01_dot_27_bar__minus_01_dot_42 - receptacle + Shelf_bar__plus_02_dot_47_bar__plus_00_dot_80_bar__minus_01_dot_41 - receptacle + Shelf_bar__plus_02_dot_47_bar__plus_01_dot_04_bar__minus_01_dot_41 - receptacle + Shelf_bar__plus_02_dot_70_bar__plus_01_dot_27_bar__minus_01_dot_42 - receptacle + loc_bar_9_bar_4_bar_1_bar_60 - location + loc_bar_10_bar__minus_2_bar_2_bar_60 - location + loc_bar_8_bar__minus_3_bar_2_bar_45 - location + loc_bar_8_bar__minus_2_bar_1_bar_60 - location + loc_bar_3_bar_5_bar_3_bar_45 - location + loc_bar_10_bar_5_bar_0_bar_30 - location + loc_bar_3_bar__minus_2_bar_1_bar_60 - location + loc_bar_8_bar__minus_3_bar_1_bar_45 - location + loc_bar_0_bar__minus_4_bar_2_bar_15 - location + loc_bar__minus_3_bar__minus_4_bar_3_bar_60 - location + loc_bar_9_bar__minus_2_bar_2_bar_60 - location + loc_bar_1_bar__minus_4_bar_1_bar_30 - location + loc_bar__minus_3_bar__minus_2_bar_3_bar_45 - location + loc_bar_0_bar__minus_4_bar_2_bar__minus_30 - location + loc_bar__minus_3_bar__minus_3_bar_3_bar_60 - location + loc_bar_4_bar__minus_2_bar_2_bar_60 - location + loc_bar_10_bar_1_bar_1_bar_60 - location + loc_bar_7_bar__minus_3_bar_2_bar_45 - location + loc_bar__minus_3_bar__minus_2_bar_3_bar_60 - location + loc_bar_4_bar__minus_2_bar_1_bar_60 - location + loc_bar_8_bar_5_bar_0_bar_30 - location + loc_bar_8_bar__minus_3_bar_2_bar_30 - location + loc_bar_10_bar_5_bar_0_bar_60 - location + loc_bar_8_bar__minus_3_bar_2_bar_60 - location + loc_bar_10_bar__minus_2_bar_2_bar_45 - location + loc_bar__minus_3_bar__minus_4_bar_3_bar_45 - location + loc_bar_10_bar__minus_2_bar_2_bar_30 - location + loc_bar__minus_1_bar__minus_3_bar_0_bar_30 - location + ) + + +(:init + + + (receptacleType Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15 DeskType) + (receptacleType Shelf_bar__plus_02_dot_25_bar__plus_01_dot_27_bar__minus_01_dot_42 ShelfType) + (receptacleType Drawer_bar__plus_02_dot_82_bar__plus_00_dot_17_bar__minus_01_dot_21 DrawerType) + (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_01_dot_02_bar__minus_00_dot_92 DrawerType) + (receptacleType Drawer_bar__plus_01_dot_95_bar__plus_00_dot_40_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__minus_01_dot_29_bar__plus_01_dot_02_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 Drawer_bar__minus_01_dot_29_bar__plus_00_dot_44_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 Drawer_bar__plus_01_dot_63_bar__plus_00_dot_62_bar__minus_01_dot_21 DrawerType) + (receptacleType Drawer_bar__plus_01_dot_95_bar__plus_00_dot_18_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 Shelf_bar__plus_01_dot_80_bar__plus_01_dot_04_bar__minus_01_dot_42 ShelfType) + (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_00_dot_74_bar__minus_00_dot_58 DrawerType) + (receptacleType Shelf_bar__plus_01_dot_80_bar__plus_00_dot_80_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_17_bar__minus_00_dot_58 DrawerType) + (receptacleType Drawer_bar__plus_02_dot_82_bar__plus_00_dot_40_bar__minus_01_dot_21 DrawerType) + (receptacleType Drawer_bar__plus_01_dot_63_bar__plus_00_dot_18_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 Shelf_bar__plus_02_dot_70_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 Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75 DresserType) + (receptacleType Drawer_bar__plus_02_dot_82_bar__plus_00_dot_62_bar__minus_01_dot_21 DrawerType) + (receptacleType GarbageCan_bar__plus_02_dot_84_bar__plus_00_dot_00_bar__plus_00_dot_22 GarbageCanType) + (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_00_dot_17_bar__minus_00_dot_92 DrawerType) + (objectType CreditCard_bar__minus_01_dot_35_bar__plus_01_dot_23_bar__minus_00_dot_75 CreditCardType) + (objectType AlarmClock_bar__plus_01_dot_84_bar__plus_00_dot_80_bar__minus_01_dot_25 AlarmClockType) + (objectType Statue_bar__plus_01_dot_82_bar__plus_01_dot_04_bar__minus_01_dot_42 StatueType) + (objectType LightSwitch_bar__plus_02_dot_66_bar__plus_01_dot_28_bar__plus_01_dot_90 LightSwitchType) + (objectType Pencil_bar__minus_01_dot_29_bar__plus_00_dot_11_bar__minus_00_dot_88 PencilType) + (objectType Chair_bar__plus_02_dot_40_bar__plus_00_dot_00_bar__minus_01_dot_08 ChairType) + (objectType Box_bar__plus_02_dot_73_bar__plus_00_dot_20_bar__plus_00_dot_89 BoxType) + (objectType Pencil_bar__plus_02_dot_66_bar__plus_01_dot_28_bar__minus_01_dot_39 PencilType) + (objectType CellPhone_bar__minus_01_dot_25_bar__plus_01_dot_24_bar__minus_00_dot_75 CellPhoneType) + (objectType Boots_bar__minus_01_dot_28_bar__plus_00_dot_00_bar__minus_01_dot_34 BootsType) + (objectType Book_bar__minus_00_dot_90_bar__plus_00_dot_57_bar__plus_01_dot_18 BookType) + (objectType TissueBox_bar__plus_01_dot_59_bar__plus_00_dot_35_bar__minus_01_dot_22 TissueBoxType) + (objectType Mug_bar__plus_02_dot_59_bar__plus_00_dot_79_bar__minus_01_dot_22 MugType) + (objectType Window_bar__plus_00_dot_12_bar__plus_01_dot_50_bar__minus_01_dot_59 WindowType) + (objectType DeskLamp_bar__minus_01_dot_31_bar__plus_01_dot_23_bar__minus_00_dot_99 DeskLampType) + (objectType KeyChain_bar__plus_02_dot_03_bar__plus_00_dot_79_bar__minus_01_dot_22 KeyChainType) + (objectType BaseballBat_bar__plus_02_dot_85_bar__plus_00_dot_64_bar__plus_01_dot_84 BaseballBatType) + (objectType Pillow_bar__minus_00_dot_63_bar__plus_00_dot_63_bar__plus_01_dot_61 PillowType) + (objectType BasketBall_bar__plus_01_dot_02_bar__plus_00_dot_33_bar__minus_00_dot_98 BasketBallType) + (objectType Pencil_bar__minus_01_dot_35_bar__plus_01_dot_24_bar__minus_00_dot_65 PencilType) + (objectType CD_bar__minus_01_dot_35_bar__plus_00_dot_11_bar__minus_00_dot_99 CDType) + (objectType Mirror_bar__plus_01_dot_99_bar__plus_01_dot_38_bar__plus_01_dot_88 MirrorType) + (objectType Blinds_bar__plus_00_dot_11_bar__plus_02_dot_34_bar__minus_01_dot_44 BlindsType) + (objectType Laptop_bar__minus_00_dot_50_bar__plus_00_dot_56_bar__plus_00_dot_29 LaptopType) + (objectType Bowl_bar__plus_02_dot_78_bar__plus_00_dot_80_bar__minus_01_dot_22 BowlType) + (objectType Watch_bar__minus_01_dot_39_bar__plus_01_dot_24_bar__minus_00_dot_46 WatchType) + (objectType CellPhone_bar__minus_01_dot_26_bar__plus_00_dot_11_bar__minus_00_dot_62 CellPhoneType) + (objectType Pen_bar__plus_02_dot_76_bar__plus_01_dot_28_bar__minus_01_dot_37 PenType) + (canContain DeskType CellPhoneType) + (canContain DeskType BasketBallType) + (canContain DeskType KeyChainType) + (canContain DeskType WatchType) + (canContain DeskType AlarmClockType) + (canContain DeskType BowlType) + (canContain DeskType CDType) + (canContain DeskType TissueBoxType) + (canContain DeskType PencilType) + (canContain DeskType CreditCardType) + (canContain DeskType PenType) + (canContain DeskType LaptopType) + (canContain DeskType StatueType) + (canContain DeskType BoxType) + (canContain DeskType MugType) + (canContain DeskType BookType) + (canContain ShelfType CellPhoneType) + (canContain ShelfType KeyChainType) + (canContain ShelfType WatchType) + (canContain ShelfType AlarmClockType) + (canContain ShelfType BowlType) + (canContain ShelfType CDType) + (canContain ShelfType TissueBoxType) + (canContain ShelfType PencilType) + (canContain ShelfType CreditCardType) + (canContain ShelfType PenType) + (canContain ShelfType StatueType) + (canContain ShelfType BoxType) + (canContain ShelfType MugType) + (canContain ShelfType BookType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType WatchType) + (canContain DrawerType CDType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType PencilType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType WatchType) + (canContain DrawerType CDType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType PencilType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType WatchType) + (canContain DrawerType CDType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType PencilType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType WatchType) + (canContain DrawerType CDType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType PencilType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType WatchType) + (canContain DrawerType CDType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType PencilType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType WatchType) + (canContain DrawerType CDType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType PencilType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType WatchType) + (canContain DrawerType CDType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType PencilType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType WatchType) + (canContain DrawerType CDType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType PencilType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType WatchType) + (canContain DrawerType CDType) + 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(canContain ShelfType PencilType) + (canContain ShelfType CreditCardType) + (canContain ShelfType PenType) + (canContain ShelfType StatueType) + (canContain ShelfType BoxType) + (canContain ShelfType MugType) + (canContain ShelfType BookType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType WatchType) + (canContain DrawerType CDType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType PencilType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain ShelfType CellPhoneType) + (canContain ShelfType KeyChainType) + (canContain ShelfType WatchType) + (canContain ShelfType AlarmClockType) + (canContain ShelfType BowlType) + (canContain ShelfType CDType) + (canContain ShelfType TissueBoxType) + (canContain ShelfType PencilType) + (canContain ShelfType CreditCardType) + (canContain ShelfType PenType) + (canContain ShelfType StatueType) + (canContain 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(pickupable Watch_bar__minus_01_dot_39_bar__plus_01_dot_24_bar__minus_00_dot_46) + (pickupable CellPhone_bar__minus_01_dot_26_bar__plus_00_dot_11_bar__minus_00_dot_62) + (pickupable Pen_bar__plus_02_dot_76_bar__plus_01_dot_28_bar__minus_01_dot_37) + (isReceptacleObject Box_bar__plus_02_dot_73_bar__plus_00_dot_20_bar__plus_00_dot_89) + (isReceptacleObject Mug_bar__plus_02_dot_59_bar__plus_00_dot_79_bar__minus_01_dot_22) + (isReceptacleObject Bowl_bar__plus_02_dot_78_bar__plus_00_dot_80_bar__minus_01_dot_22) + (openable Drawer_bar__plus_01_dot_95_bar__plus_00_dot_40_bar__minus_01_dot_21) + (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_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_02_dot_82_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) + + (atLocation agent1 loc_bar__minus_1_bar__minus_3_bar_0_bar_30) + + (cleanable Mug_bar__plus_02_dot_59_bar__plus_00_dot_79_bar__minus_01_dot_22) + (cleanable Bowl_bar__plus_02_dot_78_bar__plus_00_dot_80_bar__minus_01_dot_22) + + (heatable Mug_bar__plus_02_dot_59_bar__plus_00_dot_79_bar__minus_01_dot_22) + (coolable Mug_bar__plus_02_dot_59_bar__plus_00_dot_79_bar__minus_01_dot_22) + (coolable Bowl_bar__plus_02_dot_78_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 Pencil_bar__minus_01_dot_29_bar__plus_00_dot_11_bar__minus_00_dot_88 Drawer_bar__minus_01_dot_29_bar__plus_00_dot_17_bar__minus_00_dot_92) + (inReceptacle CD_bar__minus_01_dot_35_bar__plus_00_dot_11_bar__minus_00_dot_99 Drawer_bar__minus_01_dot_29_bar__plus_00_dot_17_bar__minus_00_dot_92) + (inReceptacle KeyChain_bar__plus_02_dot_03_bar__plus_00_dot_79_bar__minus_01_dot_22 Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15) + (inReceptacle AlarmClock_bar__plus_01_dot_84_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_02_dot_59_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 Bowl_bar__plus_02_dot_78_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 TissueBox_bar__plus_01_dot_59_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) + (inReceptacle CellPhone_bar__minus_01_dot_26_bar__plus_00_dot_11_bar__minus_00_dot_62 Drawer_bar__minus_01_dot_29_bar__plus_00_dot_17_bar__minus_00_dot_58) + (inReceptacle Pencil_bar__minus_01_dot_35_bar__plus_01_dot_24_bar__minus_00_dot_65 Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75) + (inReceptacle CreditCard_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 Watch_bar__minus_01_dot_39_bar__plus_01_dot_24_bar__minus_00_dot_46 Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75) + (inReceptacle CellPhone_bar__minus_01_dot_25_bar__plus_01_dot_24_bar__minus_00_dot_75 Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75) + (inReceptacle 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 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 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_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 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 Pencil_bar__plus_02_dot_66_bar__plus_01_dot_28_bar__minus_01_dot_39 Shelf_bar__plus_02_dot_70_bar__plus_01_dot_27_bar__minus_01_dot_42) + (inReceptacle Pen_bar__plus_02_dot_76_bar__plus_01_dot_28_bar__minus_01_dot_37 Shelf_bar__plus_02_dot_70_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 Pencil_bar__minus_01_dot_29_bar__plus_00_dot_11_bar__minus_00_dot_88 loc_bar__minus_3_bar__minus_4_bar_3_bar_60) + (objectAtLocation CellPhone_bar__minus_01_dot_26_bar__plus_00_dot_11_bar__minus_00_dot_62 loc_bar__minus_3_bar__minus_2_bar_3_bar_60) + (objectAtLocation Pencil_bar__plus_02_dot_66_bar__plus_01_dot_28_bar__minus_01_dot_39 loc_bar_10_bar__minus_2_bar_2_bar_30) + (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_50_bar__plus_00_dot_56_bar__plus_00_dot_29 loc_bar_3_bar_5_bar_3_bar_45) + (objectAtLocation CellPhone_bar__minus_01_dot_25_bar__plus_01_dot_24_bar__minus_00_dot_75 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__plus_01_dot_59_bar__plus_00_dot_35_bar__minus_01_dot_22 loc_bar_3_bar__minus_2_bar_1_bar_60) + (objectAtLocation CreditCard_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 AlarmClock_bar__plus_01_dot_84_bar__plus_00_dot_80_bar__minus_01_dot_25 loc_bar_9_bar__minus_2_bar_2_bar_60) + (objectAtLocation Pencil_bar__minus_01_dot_35_bar__plus_01_dot_24_bar__minus_00_dot_65 loc_bar__minus_3_bar__minus_3_bar_3_bar_60) + (objectAtLocation 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_03_bar__plus_00_dot_79_bar__minus_01_dot_22 loc_bar_9_bar__minus_2_bar_2_bar_60) + (objectAtLocation Bowl_bar__plus_02_dot_78_bar__plus_00_dot_80_bar__minus_01_dot_22 loc_bar_9_bar__minus_2_bar_2_bar_60) + (objectAtLocation Watch_bar__minus_01_dot_39_bar__plus_01_dot_24_bar__minus_00_dot_46 loc_bar__minus_3_bar__minus_3_bar_3_bar_60) + (objectAtLocation 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(isToggled ?ot) + (receptacleAtLocation ?r ?l) + (atLocation ?a ?l) + (inReceptacle ?ot ?r) + ) + ) + (exists (?o - object + ?a - agent) + (and + (objectType ?o BowlType) + (holds ?a ?o) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/valid_seen/look_at_obj_in_light-Bowl-None-DeskLamp-301/trial_T20190909_150719_492274/traj_data.json b/data/alfworld/json_2.1.1/valid_seen/look_at_obj_in_light-Bowl-None-DeskLamp-301/trial_T20190909_150719_492274/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..2fdaf89a031a3c01f1149540fdba9db3f124ff90 --- /dev/null +++ b/data/alfworld/json_2.1.1/valid_seen/look_at_obj_in_light-Bowl-None-DeskLamp-301/trial_T20190909_150719_492274/traj_data.json @@ -0,0 +1,3008 @@ +{ + "images": [ + { + "high_idx": 0, + "image_name": "000000000.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000001.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000002.png", + 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359.993652 + } + }, + { + "objectName": "Pillow_419db2d8", + "position": { + "x": -0.634, + "y": 0.63, + "z": 1.6116 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "KeyChain_7bb65943", + "position": { + "x": 2.02785969, + "y": 0.7949471, + "z": -1.21782291 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "Bowl_600fd48d", + "position": { + "x": 2.77997541, + "y": 0.79533565, + "z": -1.21782291 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Watch_0f7be4f9", + "position": { + "x": -1.3876152, + "y": 1.23518956, + "z": -0.458181381 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "CD_f25640ea", + "position": { + "x": -1.35019445, + "y": 0.105029538, + "z": -0.988704443 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pen_d94967db", + "position": { + "x": 2.75696778, + "y": 1.28425324, + "z": -1.37226343 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_2a940808", + "position": { + "x": 2.5919466, + "y": 0.793715239, + "z": -1.21782291 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + } + }, + { + "objectName": "Statue_e0075340", + "position": { + "x": 1.823921, + "y": 1.036511, + "z": -1.419659 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [ + { + "isOn": false, + "objectType": "DeskLamp" + } + ], + "random_seed": 1421161184, + "scene_num": 301 + }, + "task_id": "trial_T20190909_150719_492274", + "task_type": "look_at_obj_in_light", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A3UF6XXFFRR237_3BV8HQ2ZZZSOJGY7E48EIK3VUWI6AD", + "high_descs": [ + "go to the desk", + "take the bowl from the desk", + "take the bowl to the lamp", + "turn on the lamp" + ], + "task_desc": "take the bowl to the lamp", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A31681CCEVDIH3_3CFVK00FWOC5FZPBBVX4RYJ6O8RL6K", + "high_descs": [ + "Make a right to walk to the white desk.", + "Pick up the large grey bowl from the desk.", + "Make a right to walk to the white dresser.", + "Turn on the lamp on the dresser." + ], + "task_desc": "Look at a grey bowl under a lit lamp.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1ELPYAFO7MANS_3MB8LZR5BIKCEEA0DZR51HOOP3CKLP", + "high_descs": [ + "Turn right and walk past the desk chair, and face the desk.", + "Pick up the gray bowl on the desk.", + "Turn right and walk to the dresser at the foot of the bed.", + "Turn on the lamp on the dresser." + ], + "task_desc": "Look at a bowl by the light of a lamp.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/valid_seen/look_at_obj_in_light-TennisRacket-None-DeskLamp-324/trial_T20190907_065522_867032/initial_state.pddl b/data/alfworld/json_2.1.1/valid_seen/look_at_obj_in_light-TennisRacket-None-DeskLamp-324/trial_T20190907_065522_867032/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..318be62f71d769eb9528fbdca2b9f01951224c81 --- /dev/null +++ b/data/alfworld/json_2.1.1/valid_seen/look_at_obj_in_light-TennisRacket-None-DeskLamp-324/trial_T20190907_065522_867032/initial_state.pddl @@ -0,0 +1,641 @@ + +(define (problem plan_trial_T20190907_065522_867032) +(:domain alfred) +(:objects +agent1 - agent +Curtains - object + SprayBottle - object + Mirror - object + HousePlant - object + Watch - object + TeddyBear - object + WateringCan - object + Bathtub - object + LightSwitch - object + Vase - object + Candle - object + Bread - object + Statue - object + HandTowel - object + StoveKnob - object + PaperTowelRoll - object + Pan - object + PepperShaker - object + Painting - object + CellPhone - object + Plunger - object + Spoon - object + SaltShaker - object + KeyChain - object + Footstool - object + Poster - object + Television - object + LaundryHamperLid - object + Glassbottle - object + AlarmClock - object + WineBottle - object + Bowl - object + Sink - object + TissueBox - object + TennisRacket - object + ToiletPaper - object + ScrubBrush - object + CreditCard - object + Laptop - object + Cloth - object + Cup - object + Chair - object + BasketBall - object + Kettle - object + PaperTowel - object + ShowerDoor - object + BaseballBat - object + Potato - object + Pillow - object + Lettuce - object + RemoteControl - object + Window - object + DishSponge - object + CD - object + Boots - object + Blinds - object + Pen - object + Newspaper - object + Plate - object + Mug - object + ShowerGlass - object + ToiletPaperRoll - object + SoapBar - object + FloorLamp - object + SoapBottle - object + Pot - object + Pencil - object + Spatula - object + Towel - object + Fork - object + Ladle - object + Knife - object + Apple - object + Box - object + Tomato - object + ButterKnife - object + Egg - object + Book - object + DeskLamp - object +CurtainsType - otype + SprayBottleType - otype + MirrorType - otype + HousePlantType - otype + WatchType - otype + TeddyBearType - otype + WateringCanType - otype + BathtubType - otype + LightSwitchType - otype + VaseType - otype + CandleType - otype + BreadType - otype + StatueType - otype + HandTowelType - otype + StoveKnobType - otype + PaperTowelRollType - otype + PanType - otype + PepperShakerType - otype + PaintingType - otype + CellPhoneType - otype + PlungerType - otype + SpoonType - otype + SaltShakerType - otype + KeyChainType - otype + FootstoolType - otype + PosterType - otype + TelevisionType - otype + LaundryHamperLidType - otype + GlassbottleType - otype + AlarmClockType - otype + WineBottleType - otype + BowlType - otype + SinkType - otype + TissueBoxType - otype + TennisRacketType - otype + ToiletPaperType - otype + ScrubBrushType - otype + CreditCardType - otype + LaptopType - otype + ClothType - otype + CupType - otype + ChairType - otype + BasketBallType - otype + KettleType - otype + PaperTowelType - otype + ShowerDoorType - otype + BaseballBatType - otype + PotatoType - otype + PillowType - otype + LettuceType - otype + RemoteControlType - otype + WindowType - otype + DishSpongeType - otype + CDType - otype + BootsType - otype + BlindsType - otype + PenType - otype + NewspaperType - otype + PlateType - otype + MugType - otype + ShowerGlassType - otype + ToiletPaperRollType - otype + SoapBarType - otype + FloorLampType - otype + SoapBottleType - otype + PotType - otype + PencilType - otype + SpatulaType - otype + TowelType - otype + ForkType - otype + LadleType - otype + KnifeType - otype + AppleType - otype + BoxType - otype + TomatoType - otype + ButterKnifeType - otype + EggType - otype + BookType - otype + DeskLampType - otype +CabinetType - rtype + ShelfType - rtype + DiningTableType - rtype + TowelHolderType - rtype + PaintingHangerType - rtype + TVStandType - rtype + LaundryHamperType - rtype + OttomanType - rtype + SafeType - rtype + CoffeeMachineType - rtype + CounterTopType - rtype + ToiletType - rtype + FridgeType - rtype + CoffeeTableType - rtype + SinkBasinType - rtype + GarbageCanType - rtype + BathtubBasinType - rtype + SideTableType - rtype + CartType - rtype + BedType - rtype + DeskType - rtype + SofaType - rtype + ArmChairType - rtype + MicrowaveType - rtype + HandTowelHolderType - rtype + ToasterType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + DrawerType - rtype + DresserType - rtype + + + AlarmClock_bar__plus_01_dot_60_bar__plus_00_dot_79_bar__minus_01_dot_28 - object + BaseballBat_bar__minus_01_dot_84_bar__plus_00_dot_68_bar__minus_02_dot_20 - object + Blinds_bar__plus_01_dot_01_bar__plus_02_dot_13_bar__minus_02_dot_64 - object + Blinds_bar__minus_00_dot_49_bar__plus_02_dot_13_bar__minus_02_dot_64 - object + Book_bar__minus_00_dot_33_bar__plus_00_dot_69_bar__plus_00_dot_07 - object + Book_bar__minus_00_dot_82_bar__plus_00_dot_69_bar__minus_00_dot_15 - object + CD_bar__plus_01_dot_68_bar__plus_00_dot_01_bar__minus_02_dot_39 - object + CD_bar__plus_01_dot_68_bar__plus_00_dot_33_bar__minus_02_dot_30 - object + CD_bar__plus_01_dot_84_bar__plus_00_dot_80_bar__minus_01_dot_28 - object + CellPhone_bar__plus_01_dot_47_bar__plus_00_dot_80_bar__minus_02_dot_41 - object + CellPhone_bar__plus_01_dot_78_bar__plus_00_dot_80_bar__minus_02_dot_22 - object + CellPhone_bar__minus_00_dot_09_bar__plus_00_dot_70_bar__plus_00_dot_07 - object + CreditCard_bar__plus_01_dot_54_bar__plus_00_dot_79_bar__minus_01_dot_47 - object + CreditCard_bar__plus_01_dot_68_bar__plus_00_dot_01_bar__minus_02_dot_04 - object + CreditCard_bar__plus_01_dot_77_bar__plus_00_dot_01_bar__minus_01_dot_73 - object + DeskLamp_bar__plus_01_dot_74_bar__plus_00_dot_80_bar__minus_01_dot_42 - object + KeyChain_bar__plus_01_dot_68_bar__plus_00_dot_34_bar__minus_01_dot_64 - object + Laptop_bar__plus_01_dot_66_bar__plus_00_dot_79_bar__minus_01_dot_84 - object + LightSwitch_bar__minus_00_dot_08_bar__plus_01_dot_22_bar__plus_01_dot_30 - object + Mirror_bar__plus_03_dot_53_bar__plus_01_dot_66_bar__minus_00_dot_28 - object + Mug_bar__plus_00_dot_26_bar__plus_00_dot_67_bar__minus_02_dot_57 - object + Mug_bar__plus_01_dot_77_bar__plus_00_dot_79_bar__minus_02_dot_36 - object + Painting_bar__plus_00_dot_25_bar__plus_01_dot_56_bar__minus_02_dot_67 - object + Painting_bar__plus_01_dot_90_bar__plus_01_dot_55_bar__minus_01_dot_29 - object + Painting_bar__plus_01_dot_90_bar__plus_01_dot_55_bar__minus_02_dot_43 - object + Pencil_bar__plus_01_dot_60_bar__plus_00_dot_80_bar__minus_02_dot_41 - object + Pen_bar__plus_01_dot_60_bar__plus_00_dot_80_bar__minus_01_dot_47 - object + Pillow_bar__minus_01_dot_49_bar__plus_00_dot_69_bar__minus_00_dot_85 - object + Pillow_bar__minus_01_dot_51_bar__plus_00_dot_69_bar__minus_00_dot_38 - object + TennisRacket_bar__minus_01_dot_60_bar__plus_00_dot_00_bar__minus_01_dot_37 - object + Window_bar__plus_00_dot_99_bar__plus_01_dot_41_bar__minus_02_dot_69 - object + Window_bar__minus_00_dot_49_bar__plus_01_dot_41_bar__minus_02_dot_69 - object + Bed_bar__minus_00_dot_85_bar__minus_00_dot_02_bar__minus_00_dot_36 - receptacle + Drawer_bar__plus_01_dot_62_bar__plus_00_dot_06_bar__minus_01_dot_46 - receptacle + Drawer_bar__plus_01_dot_62_bar__plus_00_dot_06_bar__minus_02_dot_21 - receptacle + Drawer_bar__plus_01_dot_62_bar__plus_00_dot_22_bar__minus_01_dot_46 - receptacle + Drawer_bar__plus_01_dot_62_bar__plus_00_dot_22_bar__minus_02_dot_21 - receptacle + Drawer_bar__plus_01_dot_62_bar__plus_00_dot_38_bar__minus_01_dot_46 - receptacle + Drawer_bar__plus_01_dot_62_bar__plus_00_dot_38_bar__minus_02_dot_21 - receptacle + Drawer_bar__plus_01_dot_62_bar__plus_00_dot_55_bar__minus_01_dot_46 - receptacle + Drawer_bar__plus_01_dot_62_bar__plus_00_dot_55_bar__minus_02_dot_21 - receptacle + Drawer_bar__plus_01_dot_62_bar__plus_00_dot_71_bar__minus_01_dot_46 - receptacle + Drawer_bar__plus_01_dot_62_bar__plus_00_dot_71_bar__minus_02_dot_21 - receptacle + Dresser_bar__plus_01_dot_63_bar__minus_00_dot_02_bar__minus_01_dot_83 - receptacle + GarbageCan_bar__plus_03_dot_38_bar__plus_00_dot_00_bar__plus_00_dot_22 - receptacle + Shelf_bar__plus_00_dot_02_bar__plus_00_dot_01_bar__minus_02_dot_58 - receptacle + Shelf_bar__plus_00_dot_02_bar__plus_00_dot_18_bar__minus_02_dot_58 - receptacle + Shelf_bar__plus_00_dot_24_bar__plus_00_dot_67_bar__minus_02_dot_59 - receptacle + Shelf_bar__plus_00_dot_25_bar__plus_00_dot_35_bar__minus_02_dot_58 - receptacle + Shelf_bar__plus_00_dot_36_bar__plus_00_dot_01_bar__minus_02_dot_58 - receptacle + Shelf_bar__plus_00_dot_36_bar__plus_00_dot_18_bar__minus_02_dot_58 - receptacle + Shelf_bar__plus_00_dot_48_bar__plus_00_dot_35_bar__minus_02_dot_58 - receptacle + loc_bar__minus_2_bar__minus_8_bar_2_bar__minus_30 - location + loc_bar_1_bar__minus_8_bar_2_bar_60 - location + loc_bar_2_bar__minus_8_bar_2_bar_60 - location + loc_bar_2_bar__minus_7_bar_1_bar_60 - location + loc_bar_12_bar__minus_1_bar_1_bar_0 - location + loc_bar_0_bar__minus_8_bar_2_bar_60 - location + loc_bar_4_bar__minus_8_bar_2_bar__minus_30 - location + loc_bar_2_bar__minus_6_bar_1_bar_45 - location + loc_bar__minus_5_bar__minus_6_bar_3_bar_60 - location + loc_bar_4_bar__minus_1_bar_3_bar_45 - location + loc_bar_2_bar__minus_8_bar_1_bar_45 - location + loc_bar_4_bar__minus_8_bar_1_bar_0 - location + loc_bar_2_bar__minus_4_bar_1_bar_45 - location + loc_bar_1_bar__minus_8_bar_2_bar_15 - location + loc_bar_3_bar__minus_8_bar_1_bar_45 - location + loc_bar_4_bar__minus_8_bar_1_bar_60 - location + loc_bar_2_bar__minus_7_bar_1_bar_45 - location + loc_bar_10_bar__minus_1_bar_1_bar_60 - location + loc_bar_4_bar__minus_6_bar_2_bar_60 - location + loc_bar_8_bar__minus_2_bar_2_bar_0 - location + loc_bar_2_bar__minus_5_bar_1_bar_60 - location + loc_bar_3_bar__minus_6_bar_1_bar_45 - location + loc_bar_0_bar_3_bar_0_bar_45 - location + loc_bar__minus_1_bar__minus_7_bar_2_bar_60 - location + loc_bar__minus_5_bar__minus_9_bar_3_bar_60 - location + loc_bar_2_bar__minus_5_bar_0_bar_30 - location + ) + + +(:init + + + (receptacleType Shelf_bar__plus_00_dot_02_bar__plus_00_dot_01_bar__minus_02_dot_58 ShelfType) + (receptacleType Bed_bar__minus_00_dot_85_bar__minus_00_dot_02_bar__minus_00_dot_36 BedType) + (receptacleType Drawer_bar__plus_01_dot_62_bar__plus_00_dot_55_bar__minus_02_dot_21 DrawerType) + (receptacleType Drawer_bar__plus_01_dot_62_bar__plus_00_dot_06_bar__minus_01_dot_46 DrawerType) + (receptacleType Drawer_bar__plus_01_dot_62_bar__plus_00_dot_06_bar__minus_02_dot_21 DrawerType) + (receptacleType Shelf_bar__plus_00_dot_24_bar__plus_00_dot_67_bar__minus_02_dot_59 ShelfType) + (receptacleType Drawer_bar__plus_01_dot_62_bar__plus_00_dot_71_bar__minus_01_dot_46 DrawerType) + (receptacleType Shelf_bar__plus_00_dot_48_bar__plus_00_dot_35_bar__minus_02_dot_58 ShelfType) + (receptacleType Shelf_bar__plus_00_dot_36_bar__plus_00_dot_01_bar__minus_02_dot_58 ShelfType) + (receptacleType Shelf_bar__plus_00_dot_02_bar__plus_00_dot_18_bar__minus_02_dot_58 ShelfType) + (receptacleType Shelf_bar__plus_00_dot_36_bar__plus_00_dot_18_bar__minus_02_dot_58 ShelfType) + (receptacleType Drawer_bar__plus_01_dot_62_bar__plus_00_dot_22_bar__minus_02_dot_21 DrawerType) + (receptacleType Drawer_bar__plus_01_dot_62_bar__plus_00_dot_71_bar__minus_02_dot_21 DrawerType) + (receptacleType Drawer_bar__plus_01_dot_62_bar__plus_00_dot_22_bar__minus_01_dot_46 DrawerType) + (receptacleType GarbageCan_bar__plus_03_dot_38_bar__plus_00_dot_00_bar__plus_00_dot_22 GarbageCanType) + (receptacleType Drawer_bar__plus_01_dot_62_bar__plus_00_dot_38_bar__minus_01_dot_46 DrawerType) + (receptacleType Drawer_bar__plus_01_dot_62_bar__plus_00_dot_38_bar__minus_02_dot_21 DrawerType) + (receptacleType Drawer_bar__plus_01_dot_62_bar__plus_00_dot_55_bar__minus_01_dot_46 DrawerType) + (receptacleType Dresser_bar__plus_01_dot_63_bar__minus_00_dot_02_bar__minus_01_dot_83 DresserType) + (receptacleType Shelf_bar__plus_00_dot_25_bar__plus_00_dot_35_bar__minus_02_dot_58 ShelfType) + (objectType Pencil_bar__plus_01_dot_60_bar__plus_00_dot_80_bar__minus_02_dot_41 PencilType) + (objectType CreditCard_bar__plus_01_dot_54_bar__plus_00_dot_79_bar__minus_01_dot_47 CreditCardType) + (objectType Painting_bar__plus_01_dot_90_bar__plus_01_dot_55_bar__minus_01_dot_29 PaintingType) + (objectType CellPhone_bar__plus_01_dot_78_bar__plus_00_dot_80_bar__minus_02_dot_22 CellPhoneType) + (objectType Laptop_bar__plus_01_dot_66_bar__plus_00_dot_79_bar__minus_01_dot_84 LaptopType) + (objectType Book_bar__minus_00_dot_33_bar__plus_00_dot_69_bar__plus_00_dot_07 BookType) + (objectType CellPhone_bar__plus_01_dot_47_bar__plus_00_dot_80_bar__minus_02_dot_41 CellPhoneType) + (objectType 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(objectAtLocation Mirror_bar__plus_03_dot_53_bar__plus_01_dot_66_bar__minus_00_dot_28 loc_bar_12_bar__minus_1_bar_1_bar_0) + (objectAtLocation Book_bar__minus_00_dot_33_bar__plus_00_dot_69_bar__plus_00_dot_07 loc_bar_4_bar__minus_1_bar_3_bar_45) + (objectAtLocation KeyChain_bar__plus_01_dot_68_bar__plus_00_dot_34_bar__minus_01_dot_64 loc_bar_2_bar__minus_4_bar_1_bar_45) + (objectAtLocation AlarmClock_bar__plus_01_dot_60_bar__plus_00_dot_79_bar__minus_01_dot_28 loc_bar_4_bar__minus_8_bar_1_bar_60) + (objectAtLocation CreditCard_bar__plus_01_dot_77_bar__plus_00_dot_01_bar__minus_01_dot_73 loc_bar_2_bar__minus_5_bar_1_bar_60) + (objectAtLocation Laptop_bar__plus_01_dot_66_bar__plus_00_dot_79_bar__minus_01_dot_84 loc_bar_4_bar__minus_8_bar_1_bar_60) + (objectAtLocation Pen_bar__plus_01_dot_60_bar__plus_00_dot_80_bar__minus_01_dot_47 loc_bar_4_bar__minus_8_bar_1_bar_60) + (objectAtLocation DeskLamp_bar__plus_01_dot_74_bar__plus_00_dot_80_bar__minus_01_dot_42 loc_bar_4_bar__minus_8_bar_1_bar_60) + (objectAtLocation Pencil_bar__plus_01_dot_60_bar__plus_00_dot_80_bar__minus_02_dot_41 loc_bar_4_bar__minus_8_bar_1_bar_60) + (objectAtLocation BaseballBat_bar__minus_01_dot_84_bar__plus_00_dot_68_bar__minus_02_dot_20 loc_bar__minus_5_bar__minus_9_bar_3_bar_60) + (objectAtLocation Painting_bar__plus_00_dot_25_bar__plus_01_dot_56_bar__minus_02_dot_67 loc_bar_1_bar__minus_8_bar_2_bar_15) + (objectAtLocation Painting_bar__plus_01_dot_90_bar__plus_01_dot_55_bar__minus_02_dot_43 loc_bar_4_bar__minus_8_bar_1_bar_0) + (objectAtLocation Painting_bar__plus_01_dot_90_bar__plus_01_dot_55_bar__minus_01_dot_29 loc_bar_8_bar__minus_2_bar_2_bar_0) + (objectAtLocation Pillow_bar__minus_01_dot_49_bar__plus_00_dot_69_bar__minus_00_dot_85 loc_bar_4_bar__minus_1_bar_3_bar_45) + (objectAtLocation Pillow_bar__minus_01_dot_51_bar__plus_00_dot_69_bar__minus_00_dot_38 loc_bar_4_bar__minus_1_bar_3_bar_45) + (objectAtLocation 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loc_bar__minus_2_bar__minus_8_bar_2_bar__minus_30) + (objectAtLocation Blinds_bar__plus_01_dot_01_bar__plus_02_dot_13_bar__minus_02_dot_64 loc_bar_4_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 TennisRacketType) + (holds ?a ?o) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/valid_seen/look_at_obj_in_light-TennisRacket-None-DeskLamp-324/trial_T20190907_065522_867032/traj_data.json b/data/alfworld/json_2.1.1/valid_seen/look_at_obj_in_light-TennisRacket-None-DeskLamp-324/trial_T20190907_065522_867032/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..4c23537d2c67a02f83a8569b62cac19fb599b7c9 --- /dev/null +++ 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-0.378 + }, + "rotation": { + "x": 0.0, + "y": 288.596283, + "z": 0.0 + } + }, + { + "objectName": "TennisRacket_12fc6383", + "position": { + "x": -1.597, + "y": 0.00100616366, + "z": -1.367 + }, + "rotation": { + "x": 90.0, + "y": 37.7924156, + "z": 0.0 + } + }, + { + "objectName": "CellPhone_f01bc236", + "position": { + "x": -0.08810878, + "y": 0.6954822, + "z": 0.06767362 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "CD_3bd63042", + "position": { + "x": 1.84241748, + "y": 0.7996067, + "z": -1.27900982 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_55fbfa26", + "position": { + "x": 1.77488792, + "y": 0.7945342, + "z": -2.36267614 + }, + "rotation": { + "x": 0.000906485657, + "y": 300.742767, + "z": 0.0001855812 + } + } + ], + "object_toggles": [ + { + "isOn": false, + "objectType": "DeskLamp" + } + ], + "random_seed": 2092300727, + "scene_num": 324 + }, + "task_id": "trial_T20190907_065522_867032", + "task_type": "look_at_obj_in_light", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A1AKL5YH9NLD2V_38YMOXR4MXGD54FCJ1FPZNGKSU86W8", + "high_descs": [ + "Turn left and walk to the back of the left side of the bed.", + "Pick up the orange tennis racquet from the ground.", + "Turn right and walk to the green lamp on the brown dresser.", + "Turn the green lamp on." + ], + "task_desc": "Turn the green lamp on while carrying a tennis racquet.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A38Z99XF4NDNH0_3R6BYFZZPATODXDDUZEFVC74UVSXF6", + "high_descs": [ + "Move to the corner of the room to the left of the bed facing the tennis racket", + "Pick up the tennis racket that is on the floor by the bed", + "Carry the tennis racket over to the dresser so that you are facing the lamp", + "Turn on the lamp" + ], + "task_desc": "Carry a tennis racket while turning on a lamp", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1ZE52NWZPN85P_3UN61F00HZ6CE4YCFOVEKIU33J5R5U", + "high_descs": [ + "Turn around completely, and then turn right until you get to the wall", + "Pick up tennis racquet from under the bed", + "Turn right and walk to the chest of drawers, before turning left and then right twice", + "Turn on the lamp on the desk" + ], + "task_desc": "Pick up a tennis racquet prior to turning on a lamp", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/valid_seen/look_at_obj_in_light-WateringCan-None-FloorLamp-212/trial_T20190907_034437_413802/initial_state.pddl b/data/alfworld/json_2.1.1/valid_seen/look_at_obj_in_light-WateringCan-None-FloorLamp-212/trial_T20190907_034437_413802/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..cecbf4d13daf67f6217075bacc22c6033f1ffad5 --- /dev/null +++ b/data/alfworld/json_2.1.1/valid_seen/look_at_obj_in_light-WateringCan-None-FloorLamp-212/trial_T20190907_034437_413802/initial_state.pddl @@ -0,0 +1,543 @@ + +(define (problem plan_trial_T20190907_034437_413802) +(:domain alfred) +(:objects +agent1 - agent +Curtains - object + SprayBottle - object + Mirror - object + HousePlant - object + Watch - object + TeddyBear - object + WateringCan - object + Bathtub - object + LightSwitch - object + Vase - object + Candle - object + Bread - object + Statue - object + HandTowel - object + StoveKnob - object + PaperTowelRoll - object + Pan - object + PepperShaker - object + Painting - object + CellPhone - object + Plunger - object + Spoon - object + SaltShaker - object + KeyChain - object + Footstool - object + Poster - object + Television - object + LaundryHamperLid - object + Glassbottle - object + AlarmClock - object + WineBottle - object + Bowl - object + Sink - object + TissueBox - object + TennisRacket - object + ToiletPaper - object + ScrubBrush - object + CreditCard - object + Laptop - object + Cloth - object + Cup - object + Chair - object + BasketBall - object + Kettle - object + PaperTowel - object + ShowerDoor - object + BaseballBat - object + Potato - object + Pillow - object + Lettuce - object + RemoteControl - object + Window - object + DishSponge - object + CD - object + Boots - object + Blinds - object + Pen - object + Newspaper - object + Plate - object + Mug - object + ShowerGlass - object + ToiletPaperRoll - object + SoapBar - object + FloorLamp - object + SoapBottle - object + Pot - object + Pencil - object + Spatula - object + Towel - object + Fork - object + Ladle - object + Knife - object + Apple - object + Box - object + Tomato - object + ButterKnife - object + Egg - object + Book - object + DeskLamp - object +CurtainsType - otype + SprayBottleType - otype + MirrorType - otype + HousePlantType - otype + WatchType - otype + TeddyBearType - otype + WateringCanType - otype + BathtubType - otype + LightSwitchType - otype + VaseType - otype + CandleType - otype + BreadType - otype + StatueType - otype + HandTowelType - otype + StoveKnobType - otype + PaperTowelRollType - otype + PanType - otype + PepperShakerType - otype + PaintingType - otype + CellPhoneType - otype + PlungerType - otype + SpoonType - otype + SaltShakerType - otype + KeyChainType - otype + FootstoolType - otype + PosterType - otype + TelevisionType - otype + LaundryHamperLidType - otype + GlassbottleType - otype + AlarmClockType - otype + WineBottleType - otype + BowlType - otype + SinkType - otype + TissueBoxType - otype + TennisRacketType - otype + ToiletPaperType - otype + ScrubBrushType - otype + CreditCardType - otype + LaptopType - otype + ClothType - otype + CupType - otype + ChairType - otype + BasketBallType - otype + KettleType - otype + PaperTowelType - otype + ShowerDoorType - otype + BaseballBatType - otype + PotatoType - otype + PillowType - otype + LettuceType - otype + RemoteControlType - otype + WindowType - otype + DishSpongeType - otype + CDType - otype + BootsType - otype + BlindsType - otype + PenType - otype + NewspaperType - otype + PlateType - otype + MugType - otype + ShowerGlassType - otype + ToiletPaperRollType - otype + SoapBarType - otype + FloorLampType - otype + SoapBottleType - otype + PotType - otype + PencilType - otype + SpatulaType - otype + TowelType - otype + ForkType - otype + LadleType - otype + KnifeType - otype + AppleType - otype + BoxType - otype + TomatoType - otype + ButterKnifeType - otype + EggType - otype + BookType - otype + DeskLampType - otype +CabinetType - rtype + ShelfType - rtype + DiningTableType - rtype + TowelHolderType - rtype + PaintingHangerType - rtype + TVStandType - rtype + LaundryHamperType - rtype + OttomanType - rtype + SafeType - rtype + CoffeeMachineType - rtype + CounterTopType - rtype + ToiletType - rtype + FridgeType - rtype + CoffeeTableType - rtype + SinkBasinType - rtype + GarbageCanType - rtype + BathtubBasinType - rtype + SideTableType - rtype + CartType - rtype + BedType - rtype + DeskType - rtype + SofaType - rtype + ArmChairType - rtype + MicrowaveType - rtype + HandTowelHolderType - rtype + ToasterType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + DrawerType - rtype + DresserType - rtype + + + Boots_bar__plus_04_dot_01_bar__plus_00_dot_00_bar__plus_01_dot_71 - object + Box_bar__plus_01_dot_59_bar__plus_00_dot_58_bar__plus_01_dot_82 - object + Box_bar__plus_02_dot_66_bar__plus_00_dot_57_bar__plus_01_dot_80 - object + Box_bar__minus_00_dot_29_bar__plus_01_dot_07_bar__minus_00_dot_71 - object + CreditCard_bar__plus_01_dot_38_bar__plus_00_dot_34_bar__plus_01_dot_75 - object + CreditCard_bar__plus_01_dot_75_bar__plus_00_dot_47_bar__plus_00_dot_27 - object + FloorLamp_bar__plus_03_dot_61_bar__plus_00_dot_00_bar__plus_02_dot_16 - object + HousePlant_bar__plus_00_dot_39_bar__plus_00_dot_83_bar__minus_00_dot_73 - object + KeyChain_bar__plus_03_dot_83_bar__plus_00_dot_77_bar__plus_00_dot_96 - object + KeyChain_bar__plus_03_dot_90_bar__plus_00_dot_77_bar__plus_01_dot_06 - object + KeyChain_bar__minus_00_dot_62_bar__plus_00_dot_84_bar__minus_00_dot_87 - object + Laptop_bar__plus_01_dot_81_bar__plus_00_dot_47_bar__plus_00_dot_50 - object + LightSwitch_bar__minus_01_dot_40_bar__plus_01_dot_29_bar__plus_01_dot_84 - object + Newspaper_bar__plus_00_dot_97_bar__plus_00_dot_33_bar__plus_01_dot_53 - object + Painting_bar__plus_04_dot_07_bar__plus_01_dot_95_bar__plus_00_dot_85 - object + Pencil_bar__plus_03_dot_84_bar__plus_00_dot_07_bar__minus_00_dot_46 - object + Pencil_bar__plus_03_dot_93_bar__plus_00_dot_88_bar__plus_01_dot_08 - object + Pen_bar__plus_03_dot_80_bar__plus_00_dot_77_bar__plus_00_dot_58 - object + Pen_bar__plus_03_dot_95_bar__plus_00_dot_77_bar__plus_00_dot_58 - object + Pillow_bar__plus_00_dot_65_bar__plus_00_dot_40_bar__plus_01_dot_71 - object + RemoteControl_bar__plus_03_dot_85_bar__plus_00_dot_88_bar__plus_00_dot_97 - object + RemoteControl_bar__minus_00_dot_19_bar__plus_00_dot_46_bar__minus_00_dot_73 - object + Statue_bar__minus_00_dot_08_bar__plus_00_dot_06_bar__minus_00_dot_69 - object + Statue_bar__minus_00_dot_53_bar__plus_00_dot_44_bar__minus_00_dot_74 - object + Television_bar__plus_01_dot_90_bar__plus_01_dot_32_bar__minus_00_dot_84 - object + TissueBox_bar__plus_00_dot_04_bar__plus_00_dot_84_bar__minus_00_dot_82 - object + TissueBox_bar__minus_00_dot_51_bar__plus_00_dot_84_bar__minus_00_dot_72 - object + WateringCan_bar__plus_01_dot_62_bar__plus_00_dot_06_bar__minus_00_dot_70 - object + Window_bar__plus_00_dot_02_bar__plus_02_dot_07_bar__plus_02_dot_49 - object + Window_bar__plus_01_dot_57_bar__plus_02_dot_07_bar__plus_02_dot_49 - object + ArmChair_bar__plus_02_dot_66_bar__plus_00_dot_00_bar__plus_01_dot_86 - receptacle + ArmChair_bar__minus_00_dot_27_bar__plus_00_dot_00_bar__plus_01_dot_87 - receptacle + CoffeeTable_bar__plus_01_dot_59_bar_00_dot_00_bar__plus_00_dot_45 - receptacle + Drawer_bar__plus_03_dot_87_bar__plus_00_dot_78_bar__plus_00_dot_87 - receptacle + GarbageCan_bar__plus_03_dot_83_bar__plus_00_dot_00_bar__minus_00_dot_50 - receptacle + Shelf_bar__plus_01_dot_89_bar__plus_00_dot_13_bar__minus_00_dot_73 - receptacle + Shelf_bar__plus_01_dot_89_bar__plus_00_dot_51_bar__minus_00_dot_73 - receptacle + Shelf_bar__minus_00_dot_31_bar__plus_00_dot_13_bar__minus_00_dot_73 - receptacle + Shelf_bar__minus_00_dot_31_bar__plus_00_dot_52_bar__minus_00_dot_73 - receptacle + SideTable_bar__plus_03_dot_95_bar__plus_00_dot_00_bar__plus_00_dot_87 - receptacle + Sofa_bar__plus_01_dot_17_bar__plus_00_dot_00_bar__plus_01_dot_87 - receptacle + TVStand_bar__plus_01_dot_91_bar__plus_00_dot_04_bar__minus_00_dot_77 - receptacle + TVStand_bar__minus_00_dot_29_bar__plus_00_dot_04_bar__minus_00_dot_77 - receptacle + loc_bar__minus_2_bar_3_bar_0_bar_60 - location + loc_bar_2_bar_0_bar_2_bar_45 - location + loc_bar_13_bar__minus_1_bar_3_bar_45 - location + loc_bar_14_bar_5_bar_1_bar_60 - location + loc_bar_13_bar_3_bar_1_bar_60 - location + loc_bar_0_bar_4_bar_0_bar__minus_15 - location + loc_bar__minus_5_bar__minus_2_bar_1_bar_60 - location + loc_bar_6_bar_4_bar_0_bar__minus_15 - location + loc_bar_10_bar_2_bar_2_bar_45 - location + loc_bar_5_bar_4_bar_0_bar_60 - location + loc_bar_14_bar_3_bar_1_bar__minus_30 - location + loc_bar_14_bar_5_bar_0_bar_60 - location + loc_bar_10_bar_1_bar_2_bar_45 - location + loc_bar_2_bar_0_bar_1_bar_60 - location + loc_bar_10_bar_3_bar_0_bar_60 - location + loc_bar_13_bar__minus_1_bar_1_bar_60 - location + loc_bar__minus_2_bar_0_bar_2_bar_60 - location + loc_bar__minus_3_bar_4_bar_0_bar_30 - location + loc_bar_1_bar_2_bar_2_bar_45 - location + loc_bar_1_bar_2_bar_0_bar_30 - location + ) + + +(:init + + + (receptacleType ArmChair_bar__plus_02_dot_66_bar__plus_00_dot_00_bar__plus_01_dot_86 ArmChairType) + (receptacleType Shelf_bar__plus_01_dot_89_bar__plus_00_dot_13_bar__minus_00_dot_73 ShelfType) + (receptacleType SideTable_bar__plus_03_dot_95_bar__plus_00_dot_00_bar__plus_00_dot_87 SideTableType) + (receptacleType GarbageCan_bar__plus_03_dot_83_bar__plus_00_dot_00_bar__minus_00_dot_50 GarbageCanType) + (receptacleType ArmChair_bar__minus_00_dot_27_bar__plus_00_dot_00_bar__plus_01_dot_87 ArmChairType) + (receptacleType Shelf_bar__plus_01_dot_89_bar__plus_00_dot_51_bar__minus_00_dot_73 ShelfType) + (receptacleType CoffeeTable_bar__plus_01_dot_59_bar_00_dot_00_bar__plus_00_dot_45 CoffeeTableType) + (receptacleType Shelf_bar__minus_00_dot_31_bar__plus_00_dot_52_bar__minus_00_dot_73 ShelfType) + (receptacleType Shelf_bar__minus_00_dot_31_bar__plus_00_dot_13_bar__minus_00_dot_73 ShelfType) + (receptacleType TVStand_bar__minus_00_dot_29_bar__plus_00_dot_04_bar__minus_00_dot_77 TVStandType) + (receptacleType Sofa_bar__plus_01_dot_17_bar__plus_00_dot_00_bar__plus_01_dot_87 SofaType) + (receptacleType Drawer_bar__plus_03_dot_87_bar__plus_00_dot_78_bar__plus_00_dot_87 DrawerType) + (receptacleType TVStand_bar__plus_01_dot_91_bar__plus_00_dot_04_bar__minus_00_dot_77 TVStandType) + (objectType KeyChain_bar__minus_00_dot_62_bar__plus_00_dot_84_bar__minus_00_dot_87 KeyChainType) + (objectType FloorLamp_bar__plus_03_dot_61_bar__plus_00_dot_00_bar__plus_02_dot_16 FloorLampType) + (objectType TissueBox_bar__plus_00_dot_04_bar__plus_00_dot_84_bar__minus_00_dot_82 TissueBoxType) + (objectType Pencil_bar__plus_03_dot_84_bar__plus_00_dot_07_bar__minus_00_dot_46 PencilType) + (objectType HousePlant_bar__plus_00_dot_39_bar__plus_00_dot_83_bar__minus_00_dot_73 HousePlantType) + (objectType Laptop_bar__plus_01_dot_81_bar__plus_00_dot_47_bar__plus_00_dot_50 LaptopType) + (objectType Television_bar__plus_01_dot_90_bar__plus_01_dot_32_bar__minus_00_dot_84 TelevisionType) + (objectType Painting_bar__plus_04_dot_07_bar__plus_01_dot_95_bar__plus_00_dot_85 PaintingType) + (objectType CreditCard_bar__plus_01_dot_75_bar__plus_00_dot_47_bar__plus_00_dot_27 CreditCardType) + (objectType Pen_bar__plus_03_dot_80_bar__plus_00_dot_77_bar__plus_00_dot_58 PenType) + (objectType Statue_bar__minus_00_dot_08_bar__plus_00_dot_06_bar__minus_00_dot_69 StatueType) + (objectType CreditCard_bar__plus_01_dot_38_bar__plus_00_dot_34_bar__plus_01_dot_75 CreditCardType) + (objectType Boots_bar__plus_04_dot_01_bar__plus_00_dot_00_bar__plus_01_dot_71 BootsType) + (objectType TissueBox_bar__minus_00_dot_51_bar__plus_00_dot_84_bar__minus_00_dot_72 TissueBoxType) + (objectType Box_bar__minus_00_dot_29_bar__plus_01_dot_07_bar__minus_00_dot_71 BoxType) + (objectType Box_bar__plus_02_dot_66_bar__plus_00_dot_57_bar__plus_01_dot_80 BoxType) + (objectType KeyChain_bar__plus_03_dot_90_bar__plus_00_dot_77_bar__plus_01_dot_06 KeyChainType) + (objectType Statue_bar__minus_00_dot_53_bar__plus_00_dot_44_bar__minus_00_dot_74 StatueType) + (objectType KeyChain_bar__plus_03_dot_83_bar__plus_00_dot_77_bar__plus_00_dot_96 KeyChainType) + (objectType Window_bar__plus_00_dot_02_bar__plus_02_dot_07_bar__plus_02_dot_49 WindowType) + (objectType WateringCan_bar__plus_01_dot_62_bar__plus_00_dot_06_bar__minus_00_dot_70 WateringCanType) + (objectType Newspaper_bar__plus_00_dot_97_bar__plus_00_dot_33_bar__plus_01_dot_53 NewspaperType) + (objectType Pen_bar__plus_03_dot_95_bar__plus_00_dot_77_bar__plus_00_dot_58 PenType) + (objectType RemoteControl_bar__minus_00_dot_19_bar__plus_00_dot_46_bar__minus_00_dot_73 RemoteControlType) + (objectType LightSwitch_bar__minus_01_dot_40_bar__plus_01_dot_29_bar__plus_01_dot_84 LightSwitchType) + (objectType RemoteControl_bar__plus_03_dot_85_bar__plus_00_dot_88_bar__plus_00_dot_97 RemoteControlType) + (objectType Pencil_bar__plus_03_dot_93_bar__plus_00_dot_88_bar__plus_01_dot_08 PencilType) + (objectType Window_bar__plus_01_dot_57_bar__plus_02_dot_07_bar__plus_02_dot_49 WindowType) + (objectType Pillow_bar__plus_00_dot_65_bar__plus_00_dot_40_bar__plus_01_dot_71 PillowType) + (objectType Box_bar__plus_01_dot_59_bar__plus_00_dot_58_bar__plus_01_dot_82 BoxType) + (canContain ArmChairType PillowType) + (canContain ArmChairType RemoteControlType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType CreditCardType) + (canContain ArmChairType BoxType) + (canContain ArmChairType NewspaperType) + (canContain ShelfType KeyChainType) + (canContain ShelfType RemoteControlType) + (canContain ShelfType WateringCanType) + (canContain ShelfType TissueBoxType) + (canContain ShelfType PencilType) + (canContain ShelfType CreditCardType) + (canContain ShelfType PenType) + (canContain ShelfType NewspaperType) + (canContain ShelfType StatueType) + (canContain ShelfType BoxType) + (canContain SideTableType KeyChainType) + (canContain SideTableType RemoteControlType) + (canContain SideTableType WateringCanType) + (canContain SideTableType TissueBoxType) + (canContain SideTableType PencilType) + (canContain SideTableType CreditCardType) + (canContain SideTableType PenType) + (canContain SideTableType NewspaperType) + (canContain SideTableType LaptopType) + (canContain SideTableType StatueType) + (canContain SideTableType BoxType) + (canContain GarbageCanType TissueBoxType) + (canContain GarbageCanType PencilType) + (canContain GarbageCanType PenType) + (canContain GarbageCanType NewspaperType) + (canContain ArmChairType PillowType) + (canContain ArmChairType RemoteControlType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType CreditCardType) + (canContain ArmChairType BoxType) + (canContain ArmChairType NewspaperType) + (canContain ShelfType KeyChainType) + (canContain ShelfType RemoteControlType) + (canContain ShelfType WateringCanType) + (canContain ShelfType TissueBoxType) + (canContain ShelfType PencilType) + (canContain ShelfType CreditCardType) + (canContain ShelfType PenType) + (canContain ShelfType NewspaperType) + (canContain ShelfType StatueType) + (canContain ShelfType BoxType) + (canContain CoffeeTableType KeyChainType) + (canContain CoffeeTableType RemoteControlType) + (canContain CoffeeTableType WateringCanType) + (canContain CoffeeTableType TissueBoxType) + (canContain CoffeeTableType PencilType) + (canContain CoffeeTableType CreditCardType) + (canContain CoffeeTableType PenType) + (canContain CoffeeTableType NewspaperType) + (canContain CoffeeTableType LaptopType) + (canContain CoffeeTableType StatueType) + (canContain CoffeeTableType BoxType) + (canContain ShelfType KeyChainType) + (canContain ShelfType RemoteControlType) + (canContain ShelfType WateringCanType) + (canContain ShelfType TissueBoxType) + (canContain ShelfType PencilType) + (canContain ShelfType CreditCardType) + (canContain ShelfType PenType) + (canContain ShelfType NewspaperType) + (canContain ShelfType StatueType) + (canContain ShelfType BoxType) + (canContain ShelfType KeyChainType) + (canContain ShelfType RemoteControlType) + (canContain ShelfType WateringCanType) + (canContain ShelfType TissueBoxType) + (canContain ShelfType PencilType) + (canContain ShelfType CreditCardType) + (canContain ShelfType PenType) + (canContain ShelfType NewspaperType) + (canContain ShelfType StatueType) + (canContain ShelfType BoxType) + (canContain TVStandType TissueBoxType) + (canContain SofaType PillowType) + (canContain SofaType RemoteControlType) + (canContain SofaType KeyChainType) + (canContain SofaType LaptopType) + (canContain SofaType CreditCardType) + (canContain SofaType BoxType) + (canContain SofaType NewspaperType) + (canContain DrawerType KeyChainType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType WateringCanType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType PencilType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PenType) + (canContain DrawerType NewspaperType) + (canContain TVStandType TissueBoxType) + (pickupable KeyChain_bar__minus_00_dot_62_bar__plus_00_dot_84_bar__minus_00_dot_87) + (pickupable TissueBox_bar__plus_00_dot_04_bar__plus_00_dot_84_bar__minus_00_dot_82) + (pickupable Pencil_bar__plus_03_dot_84_bar__plus_00_dot_07_bar__minus_00_dot_46) + (pickupable Laptop_bar__plus_01_dot_81_bar__plus_00_dot_47_bar__plus_00_dot_50) + (pickupable CreditCard_bar__plus_01_dot_75_bar__plus_00_dot_47_bar__plus_00_dot_27) + (pickupable Pen_bar__plus_03_dot_80_bar__plus_00_dot_77_bar__plus_00_dot_58) + (pickupable Statue_bar__minus_00_dot_08_bar__plus_00_dot_06_bar__minus_00_dot_69) + (pickupable CreditCard_bar__plus_01_dot_38_bar__plus_00_dot_34_bar__plus_01_dot_75) + (pickupable Boots_bar__plus_04_dot_01_bar__plus_00_dot_00_bar__plus_01_dot_71) + (pickupable TissueBox_bar__minus_00_dot_51_bar__plus_00_dot_84_bar__minus_00_dot_72) + (pickupable Box_bar__minus_00_dot_29_bar__plus_01_dot_07_bar__minus_00_dot_71) + (pickupable Box_bar__plus_02_dot_66_bar__plus_00_dot_57_bar__plus_01_dot_80) + (pickupable KeyChain_bar__plus_03_dot_90_bar__plus_00_dot_77_bar__plus_01_dot_06) + (pickupable Statue_bar__minus_00_dot_53_bar__plus_00_dot_44_bar__minus_00_dot_74) + (pickupable KeyChain_bar__plus_03_dot_83_bar__plus_00_dot_77_bar__plus_00_dot_96) + (pickupable WateringCan_bar__plus_01_dot_62_bar__plus_00_dot_06_bar__minus_00_dot_70) + (pickupable Newspaper_bar__plus_00_dot_97_bar__plus_00_dot_33_bar__plus_01_dot_53) + (pickupable Pen_bar__plus_03_dot_95_bar__plus_00_dot_77_bar__plus_00_dot_58) + (pickupable RemoteControl_bar__minus_00_dot_19_bar__plus_00_dot_46_bar__minus_00_dot_73) + (pickupable RemoteControl_bar__plus_03_dot_85_bar__plus_00_dot_88_bar__plus_00_dot_97) + (pickupable Pencil_bar__plus_03_dot_93_bar__plus_00_dot_88_bar__plus_01_dot_08) + (pickupable Pillow_bar__plus_00_dot_65_bar__plus_00_dot_40_bar__plus_01_dot_71) + (pickupable Box_bar__plus_01_dot_59_bar__plus_00_dot_58_bar__plus_01_dot_82) + (isReceptacleObject Box_bar__minus_00_dot_29_bar__plus_01_dot_07_bar__minus_00_dot_71) + (isReceptacleObject Box_bar__plus_02_dot_66_bar__plus_00_dot_57_bar__plus_01_dot_80) + (isReceptacleObject Box_bar__plus_01_dot_59_bar__plus_00_dot_58_bar__plus_01_dot_82) + (openable Drawer_bar__plus_03_dot_87_bar__plus_00_dot_78_bar__plus_00_dot_87) + + (atLocation agent1 loc_bar_1_bar_2_bar_0_bar_30) + + + + + + + + (toggleable FloorLamp_bar__plus_03_dot_61_bar__plus_00_dot_00_bar__plus_02_dot_16) + + + + + (inReceptacleObject TissueBox_bar__plus_00_dot_04_bar__plus_00_dot_84_bar__minus_00_dot_82 Box_bar__minus_00_dot_29_bar__plus_01_dot_07_bar__minus_00_dot_71) + (inReceptacle KeyChain_bar__minus_00_dot_62_bar__plus_00_dot_84_bar__minus_00_dot_87 TVStand_bar__minus_00_dot_29_bar__plus_00_dot_04_bar__minus_00_dot_77) + (inReceptacle Box_bar__minus_00_dot_29_bar__plus_01_dot_07_bar__minus_00_dot_71 TVStand_bar__minus_00_dot_29_bar__plus_00_dot_04_bar__minus_00_dot_77) + (inReceptacle TissueBox_bar__plus_00_dot_04_bar__plus_00_dot_84_bar__minus_00_dot_82 TVStand_bar__minus_00_dot_29_bar__plus_00_dot_04_bar__minus_00_dot_77) + (inReceptacle TissueBox_bar__minus_00_dot_51_bar__plus_00_dot_84_bar__minus_00_dot_72 TVStand_bar__minus_00_dot_29_bar__plus_00_dot_04_bar__minus_00_dot_77) + (inReceptacle WateringCan_bar__plus_01_dot_62_bar__plus_00_dot_06_bar__minus_00_dot_70 Shelf_bar__plus_01_dot_89_bar__plus_00_dot_13_bar__minus_00_dot_73) + (inReceptacle Box_bar__plus_02_dot_66_bar__plus_00_dot_57_bar__plus_01_dot_80 ArmChair_bar__plus_02_dot_66_bar__plus_00_dot_00_bar__plus_01_dot_86) + (inReceptacle Pen_bar__plus_03_dot_80_bar__plus_00_dot_77_bar__plus_00_dot_58 Drawer_bar__plus_03_dot_87_bar__plus_00_dot_78_bar__plus_00_dot_87) + (inReceptacle Pen_bar__plus_03_dot_95_bar__plus_00_dot_77_bar__plus_00_dot_58 Drawer_bar__plus_03_dot_87_bar__plus_00_dot_78_bar__plus_00_dot_87) + (inReceptacle KeyChain_bar__plus_03_dot_90_bar__plus_00_dot_77_bar__plus_01_dot_06 Drawer_bar__plus_03_dot_87_bar__plus_00_dot_78_bar__plus_00_dot_87) + (inReceptacle KeyChain_bar__plus_03_dot_83_bar__plus_00_dot_77_bar__plus_00_dot_96 Drawer_bar__plus_03_dot_87_bar__plus_00_dot_78_bar__plus_00_dot_87) + (inReceptacle CreditCard_bar__plus_01_dot_75_bar__plus_00_dot_47_bar__plus_00_dot_27 CoffeeTable_bar__plus_01_dot_59_bar_00_dot_00_bar__plus_00_dot_45) + (inReceptacle Laptop_bar__plus_01_dot_81_bar__plus_00_dot_47_bar__plus_00_dot_50 CoffeeTable_bar__plus_01_dot_59_bar_00_dot_00_bar__plus_00_dot_45) + (inReceptacle Pillow_bar__plus_00_dot_65_bar__plus_00_dot_40_bar__plus_01_dot_71 Sofa_bar__plus_01_dot_17_bar__plus_00_dot_00_bar__plus_01_dot_87) + (inReceptacle Box_bar__plus_01_dot_59_bar__plus_00_dot_58_bar__plus_01_dot_82 Sofa_bar__plus_01_dot_17_bar__plus_00_dot_00_bar__plus_01_dot_87) + (inReceptacle CreditCard_bar__plus_01_dot_38_bar__plus_00_dot_34_bar__plus_01_dot_75 Sofa_bar__plus_01_dot_17_bar__plus_00_dot_00_bar__plus_01_dot_87) + (inReceptacle Newspaper_bar__plus_00_dot_97_bar__plus_00_dot_33_bar__plus_01_dot_53 Sofa_bar__plus_01_dot_17_bar__plus_00_dot_00_bar__plus_01_dot_87) + (inReceptacle Statue_bar__minus_00_dot_53_bar__plus_00_dot_44_bar__minus_00_dot_74 Shelf_bar__minus_00_dot_31_bar__plus_00_dot_52_bar__minus_00_dot_73) + (inReceptacle RemoteControl_bar__minus_00_dot_19_bar__plus_00_dot_46_bar__minus_00_dot_73 Shelf_bar__minus_00_dot_31_bar__plus_00_dot_52_bar__minus_00_dot_73) + (inReceptacle Statue_bar__minus_00_dot_08_bar__plus_00_dot_06_bar__minus_00_dot_69 Shelf_bar__minus_00_dot_31_bar__plus_00_dot_13_bar__minus_00_dot_73) + (inReceptacle Pencil_bar__plus_03_dot_93_bar__plus_00_dot_88_bar__plus_01_dot_08 SideTable_bar__plus_03_dot_95_bar__plus_00_dot_00_bar__plus_00_dot_87) + (inReceptacle RemoteControl_bar__plus_03_dot_85_bar__plus_00_dot_88_bar__plus_00_dot_97 SideTable_bar__plus_03_dot_95_bar__plus_00_dot_00_bar__plus_00_dot_87) + (inReceptacle Television_bar__plus_01_dot_90_bar__plus_01_dot_32_bar__minus_00_dot_84 TVStand_bar__plus_01_dot_91_bar__plus_00_dot_04_bar__minus_00_dot_77) + (inReceptacle Pencil_bar__plus_03_dot_84_bar__plus_00_dot_07_bar__minus_00_dot_46 GarbageCan_bar__plus_03_dot_83_bar__plus_00_dot_00_bar__minus_00_dot_50) + + + (receptacleAtLocation ArmChair_bar__plus_02_dot_66_bar__plus_00_dot_00_bar__plus_01_dot_86 loc_bar_10_bar_3_bar_0_bar_60) + (receptacleAtLocation ArmChair_bar__minus_00_dot_27_bar__plus_00_dot_00_bar__plus_01_dot_87 loc_bar__minus_2_bar_3_bar_0_bar_60) + (receptacleAtLocation CoffeeTable_bar__plus_01_dot_59_bar_00_dot_00_bar__plus_00_dot_45 loc_bar_2_bar_0_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_03_dot_87_bar__plus_00_dot_78_bar__plus_00_dot_87 loc_bar_13_bar_3_bar_1_bar_60) + (receptacleAtLocation GarbageCan_bar__plus_03_dot_83_bar__plus_00_dot_00_bar__minus_00_dot_50 loc_bar_13_bar__minus_1_bar_1_bar_60) + (receptacleAtLocation Shelf_bar__plus_01_dot_89_bar__plus_00_dot_13_bar__minus_00_dot_73 loc_bar_10_bar_2_bar_2_bar_45) + (receptacleAtLocation Shelf_bar__plus_01_dot_89_bar__plus_00_dot_51_bar__minus_00_dot_73 loc_bar_10_bar_1_bar_2_bar_45) + (receptacleAtLocation Shelf_bar__minus_00_dot_31_bar__plus_00_dot_13_bar__minus_00_dot_73 loc_bar_1_bar_2_bar_2_bar_45) + (receptacleAtLocation Shelf_bar__minus_00_dot_31_bar__plus_00_dot_52_bar__minus_00_dot_73 loc_bar__minus_2_bar_0_bar_2_bar_60) + (receptacleAtLocation SideTable_bar__plus_03_dot_95_bar__plus_00_dot_00_bar__plus_00_dot_87 loc_bar_13_bar_3_bar_1_bar_60) + (receptacleAtLocation Sofa_bar__plus_01_dot_17_bar__plus_00_dot_00_bar__plus_01_dot_87 loc_bar_5_bar_4_bar_0_bar_60) + (receptacleAtLocation TVStand_bar__plus_01_dot_91_bar__plus_00_dot_04_bar__minus_00_dot_77 loc_bar_13_bar__minus_1_bar_3_bar_45) + (receptacleAtLocation TVStand_bar__minus_00_dot_29_bar__plus_00_dot_04_bar__minus_00_dot_77 loc_bar__minus_5_bar__minus_2_bar_1_bar_60) + (objectAtLocation CreditCard_bar__plus_01_dot_75_bar__plus_00_dot_47_bar__plus_00_dot_27 loc_bar_2_bar_0_bar_1_bar_60) + (objectAtLocation RemoteControl_bar__plus_03_dot_85_bar__plus_00_dot_88_bar__plus_00_dot_97 loc_bar_13_bar_3_bar_1_bar_60) + (objectAtLocation Pencil_bar__plus_03_dot_93_bar__plus_00_dot_88_bar__plus_01_dot_08 loc_bar_13_bar_3_bar_1_bar_60) + (objectAtLocation Pen_bar__plus_03_dot_80_bar__plus_00_dot_77_bar__plus_00_dot_58 loc_bar_13_bar_3_bar_1_bar_60) + (objectAtLocation KeyChain_bar__plus_03_dot_90_bar__plus_00_dot_77_bar__plus_01_dot_06 loc_bar_13_bar_3_bar_1_bar_60) + (objectAtLocation TissueBox_bar__minus_00_dot_51_bar__plus_00_dot_84_bar__minus_00_dot_72 loc_bar__minus_5_bar__minus_2_bar_1_bar_60) + (objectAtLocation Box_bar__minus_00_dot_29_bar__plus_01_dot_07_bar__minus_00_dot_71 loc_bar__minus_5_bar__minus_2_bar_1_bar_60) + (objectAtLocation Box_bar__plus_02_dot_66_bar__plus_00_dot_57_bar__plus_01_dot_80 loc_bar_10_bar_3_bar_0_bar_60) + (objectAtLocation KeyChain_bar__minus_00_dot_62_bar__plus_00_dot_84_bar__minus_00_dot_87 loc_bar__minus_5_bar__minus_2_bar_1_bar_60) + (objectAtLocation Box_bar__plus_01_dot_59_bar__plus_00_dot_58_bar__plus_01_dot_82 loc_bar_5_bar_4_bar_0_bar_60) + (objectAtLocation FloorLamp_bar__plus_03_dot_61_bar__plus_00_dot_00_bar__plus_02_dot_16 loc_bar_14_bar_5_bar_0_bar_60) + (objectAtLocation Newspaper_bar__plus_00_dot_97_bar__plus_00_dot_33_bar__plus_01_dot_53 loc_bar_5_bar_4_bar_0_bar_60) + (objectAtLocation Laptop_bar__plus_01_dot_81_bar__plus_00_dot_47_bar__plus_00_dot_50 loc_bar_2_bar_0_bar_1_bar_60) + (objectAtLocation WateringCan_bar__plus_01_dot_62_bar__plus_00_dot_06_bar__minus_00_dot_70 loc_bar_10_bar_2_bar_2_bar_45) + (objectAtLocation TissueBox_bar__plus_00_dot_04_bar__plus_00_dot_84_bar__minus_00_dot_82 loc_bar__minus_5_bar__minus_2_bar_1_bar_60) + (objectAtLocation KeyChain_bar__plus_03_dot_83_bar__plus_00_dot_77_bar__plus_00_dot_96 loc_bar_13_bar_3_bar_1_bar_60) + (objectAtLocation Pen_bar__plus_03_dot_95_bar__plus_00_dot_77_bar__plus_00_dot_58 loc_bar_13_bar_3_bar_1_bar_60) + (objectAtLocation Boots_bar__plus_04_dot_01_bar__plus_00_dot_00_bar__plus_01_dot_71 loc_bar_14_bar_5_bar_1_bar_60) + (objectAtLocation Television_bar__plus_01_dot_90_bar__plus_01_dot_32_bar__minus_00_dot_84 loc_bar_13_bar__minus_1_bar_3_bar_45) + (objectAtLocation Pencil_bar__plus_03_dot_84_bar__plus_00_dot_07_bar__minus_00_dot_46 loc_bar_13_bar__minus_1_bar_1_bar_60) + (objectAtLocation RemoteControl_bar__minus_00_dot_19_bar__plus_00_dot_46_bar__minus_00_dot_73 loc_bar__minus_2_bar_0_bar_2_bar_60) + (objectAtLocation Painting_bar__plus_04_dot_07_bar__plus_01_dot_95_bar__plus_00_dot_85 loc_bar_14_bar_3_bar_1_bar__minus_30) + (objectAtLocation CreditCard_bar__plus_01_dot_38_bar__plus_00_dot_34_bar__plus_01_dot_75 loc_bar_5_bar_4_bar_0_bar_60) + (objectAtLocation HousePlant_bar__plus_00_dot_39_bar__plus_00_dot_83_bar__minus_00_dot_73 loc_bar_2_bar_0_bar_2_bar_45) + (objectAtLocation Window_bar__plus_00_dot_02_bar__plus_02_dot_07_bar__plus_02_dot_49 loc_bar_0_bar_4_bar_0_bar__minus_15) + (objectAtLocation Window_bar__plus_01_dot_57_bar__plus_02_dot_07_bar__plus_02_dot_49 loc_bar_6_bar_4_bar_0_bar__minus_15) + (objectAtLocation Pillow_bar__plus_00_dot_65_bar__plus_00_dot_40_bar__plus_01_dot_71 loc_bar_5_bar_4_bar_0_bar_60) + (objectAtLocation LightSwitch_bar__minus_01_dot_40_bar__plus_01_dot_29_bar__plus_01_dot_84 loc_bar__minus_3_bar_4_bar_0_bar_30) + (objectAtLocation Statue_bar__minus_00_dot_53_bar__plus_00_dot_44_bar__minus_00_dot_74 loc_bar__minus_2_bar_0_bar_2_bar_60) + (objectAtLocation Statue_bar__minus_00_dot_08_bar__plus_00_dot_06_bar__minus_00_dot_69 loc_bar_1_bar_2_bar_2_bar_45) + ) + + + (:goal + (and + (exists (?ot - object + ?r - receptacle + ?a - agent + ?l - location) + (and + (objectType ?ot FloorLampType) + (toggleable ?ot) + (isToggled ?ot) + (receptacleAtLocation ?r ?l) + (atLocation ?a ?l) + (inReceptacle ?ot ?r) + ) + ) + (exists (?o - object + ?a - agent) + (and + (objectType ?o WateringCanType) + (holds ?a ?o) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/valid_seen/look_at_obj_in_light-WateringCan-None-FloorLamp-212/trial_T20190907_034437_413802/traj_data.json b/data/alfworld/json_2.1.1/valid_seen/look_at_obj_in_light-WateringCan-None-FloorLamp-212/trial_T20190907_034437_413802/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..b23822f4b5efe6c0cd6cf600030f91abef4fd209 --- /dev/null +++ b/data/alfworld/json_2.1.1/valid_seen/look_at_obj_in_light-WateringCan-None-FloorLamp-212/trial_T20190907_034437_413802/traj_data.json @@ -0,0 +1,3249 @@ +{ + "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", + 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to the edge of the TV, turn right.", + "Pick up the teapot on the bottom shelf.", + "Turn left and move forward all the way to the trash bin, turn left and move all the way to the lamp.", + "Turn on the lamp." + ], + "task_desc": "Turn on the lamp while holding the teapot.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "ABQ4JY52NCREZ_3T111IHZ5H7VFR0OIE8VWYZ5QGBR9B", + "high_descs": [ + "Go right to the TV stand across the room", + "Pick up the watering can from the TV stand", + "Turn left and walk to the lamp across the room", + "Turn on the lamp" + ], + "task_desc": "Turning on a lamp", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AJQGWGESKQT4Y_3WRFBPLXRD5OLRJG8YQ4W1R9PR63NC", + "high_descs": [ + "Go right and face the right side of the television.", + "Pick up the white object from the shelf below the television.", + "Turn around and walk past the black table to the right and approach the green lamp with the pink stand.", + "Turn the light on." + ], + "task_desc": "Turn a light on while holding a white object.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/valid_seen/pick_and_place_simple-Book-None-SideTable-329/trial_T20190908_050633_745514/game.tw-pddl b/data/alfworld/json_2.1.1/valid_seen/pick_and_place_simple-Book-None-SideTable-329/trial_T20190908_050633_745514/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..c5863d6c33ff42d91737dbce5c18773673acaefd --- /dev/null +++ b/data/alfworld/json_2.1.1/valid_seen/pick_and_place_simple-Book-None-SideTable-329/trial_T20190908_050633_745514/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\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 book on sidetable.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190908_050633_745514)\n(:domain alfred)\n(:objects\nagent1 - agent\nCurtains - object\n SprayBottle - object\n Mirror - object\n HousePlant - object\n Watch - object\n TeddyBear - object\n WateringCan - object\n Bathtub - object\n LightSwitch - object\n Vase - object\n Candle - object\n Bread - object\n Statue - object\n HandTowel - object\n StoveKnob - object\n PaperTowelRoll - object\n Pan - object\n PepperShaker - object\n Painting - object\n CellPhone - object\n Plunger - object\n Spoon - object\n SaltShaker - object\n KeyChain - object\n Footstool - object\n Poster - object\n Television - object\n LaundryHamperLid - object\n Glassbottle - object\n AlarmClock - object\n WineBottle - object\n Bowl - object\n Sink - object\n TissueBox - object\n TennisRacket - object\n ToiletPaper - object\n ScrubBrush - object\n CreditCard - object\n Laptop - object\n Cloth - object\n Cup - object\n Chair - object\n BasketBall - object\n Kettle - object\n PaperTowel - object\n ShowerDoor - object\n BaseballBat - object\n Potato - object\n Pillow - object\n Lettuce - object\n RemoteControl - object\n Window - object\n DishSponge - object\n CD - object\n Boots - object\n Blinds - object\n Pen - object\n Newspaper - object\n Plate - object\n Mug - object\n ShowerGlass - object\n ToiletPaperRoll - object\n SoapBar - object\n FloorLamp - object\n SoapBottle - object\n Pot - object\n Pencil - object\n Spatula - object\n Towel - object\n Fork - object\n Ladle - object\n Knife - object\n Apple - object\n Box - object\n Tomato - object\n ButterKnife - object\n Egg - object\n Book - object\n DeskLamp - object\nCurtainsType - otype\n SprayBottleType - otype\n MirrorType - otype\n HousePlantType - otype\n WatchType - otype\n TeddyBearType - otype\n WateringCanType - otype\n BathtubType - otype\n LightSwitchType - otype\n VaseType - otype\n CandleType - otype\n BreadType - otype\n StatueType - otype\n HandTowelType - otype\n StoveKnobType - otype\n PaperTowelRollType - otype\n PanType - otype\n PepperShakerType - otype\n PaintingType - otype\n CellPhoneType - otype\n PlungerType - otype\n SpoonType - otype\n SaltShakerType - otype\n KeyChainType - otype\n FootstoolType - otype\n PosterType - otype\n TelevisionType - otype\n LaundryHamperLidType - otype\n GlassbottleType - otype\n AlarmClockType - otype\n WineBottleType - otype\n BowlType - otype\n SinkType - otype\n TissueBoxType - otype\n TennisRacketType - otype\n ToiletPaperType - otype\n ScrubBrushType - otype\n CreditCardType - otype\n LaptopType - otype\n ClothType - otype\n CupType - otype\n ChairType - otype\n BasketBallType - otype\n KettleType - otype\n PaperTowelType - otype\n ShowerDoorType - otype\n BaseballBatType - otype\n PotatoType - otype\n PillowType - otype\n LettuceType - otype\n RemoteControlType - otype\n WindowType - otype\n DishSpongeType - otype\n CDType - otype\n BootsType - otype\n BlindsType - otype\n PenType - otype\n NewspaperType - otype\n PlateType - otype\n MugType - otype\n ShowerGlassType - otype\n ToiletPaperRollType - otype\n SoapBarType - otype\n FloorLampType - otype\n SoapBottleType - otype\n PotType - otype\n PencilType - otype\n SpatulaType - otype\n TowelType - otype\n ForkType - otype\n LadleType - otype\n KnifeType - otype\n AppleType - otype\n BoxType - otype\n TomatoType - otype\n ButterKnifeType - otype\n EggType - otype\n BookType - otype\n DeskLampType - otype\nCabinetType - rtype\n ShelfType - rtype\n DiningTableType - rtype\n TowelHolderType - rtype\n PaintingHangerType - rtype\n TVStandType - rtype\n LaundryHamperType - rtype\n OttomanType - rtype\n SafeType - rtype\n CoffeeMachineType - rtype\n CounterTopType - rtype\n ToiletType - rtype\n FridgeType - rtype\n CoffeeTableType - rtype\n SinkBasinType - rtype\n GarbageCanType - rtype\n BathtubBasinType - rtype\n SideTableType - rtype\n CartType - rtype\n BedType - rtype\n DeskType - rtype\n SofaType - rtype\n ArmChairType - rtype\n MicrowaveType - rtype\n HandTowelHolderType - rtype\n ToasterType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n DrawerType - rtype\n DresserType - rtype\n\n\n AlarmClock_bar__minus_00_dot_28_bar__plus_00_dot_62_bar__plus_00_dot_99 - object\n BaseballBat_bar__plus_00_dot_42_bar__plus_00_dot_67_bar__plus_01_dot_04 - object\n Blinds_bar__minus_01_dot_46_bar__plus_02_dot_16_bar__minus_00_dot_05 - object\n Blinds_bar__minus_01_dot_46_bar__plus_02_dot_16_bar__minus_01_dot_34 - object\n Book_bar__plus_00_dot_06_bar__plus_00_dot_56_bar__minus_01_dot_21 - object\n Book_bar__plus_00_dot_43_bar__plus_00_dot_56_bar__minus_00_dot_99 - object\n Book_bar__minus_00_dot_12_bar__plus_00_dot_62_bar__plus_00_dot_83 - 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_91 - object\n CD_bar__minus_00_dot_28_bar__plus_00_dot_62_bar__plus_00_dot_60 - object\n CD_bar__minus_01_dot_25_bar__plus_00_dot_08_bar__minus_02_dot_38 - object\n CellPhone_bar__plus_00_dot_25_bar__plus_00_dot_56_bar__minus_02_dot_10 - object\n CellPhone_bar__plus_00_dot_91_bar__plus_00_dot_38_bar__minus_02_dot_40 - object\n CreditCard_bar__plus_00_dot_19_bar__plus_00_dot_62_bar__plus_00_dot_76 - object\n CreditCard_bar__plus_00_dot_95_bar__plus_00_dot_08_bar__minus_02_dot_42 - object\n KeyChain_bar__plus_00_dot_19_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_99 - object\n KeyChain_bar__minus_01_dot_25_bar__plus_00_dot_38_bar__minus_02_dot_38 - object\n Lamp_bar__plus_00_dot_92_bar__plus_00_dot_67_bar__minus_02_dot_46 - object\n Laptop_bar__minus_00_dot_66_bar__plus_00_dot_61_bar__plus_00_dot_78 - object\n LightSwitch_bar__plus_00_dot_33_bar__plus_01_dot_26_bar__plus_01_dot_15 - object\n Mirror_bar__plus_02_dot_64_bar__plus_01_dot_35_bar__plus_00_dot_39 - object\n Mug_bar__minus_00_dot_43_bar__plus_00_dot_62_bar__plus_00_dot_60 - object\n Mug_bar__minus_00_dot_59_bar__plus_00_dot_62_bar__plus_01_dot_07 - object\n Mug_bar__minus_00_dot_74_bar__plus_00_dot_62_bar__plus_01_dot_07 - object\n Painting_bar__plus_00_dot_00_bar__plus_01_dot_56_bar__minus_02_dot_69 - object\n Pencil_bar__minus_00_dot_28_bar__plus_00_dot_62_bar__plus_00_dot_76 - object\n Pen_bar__plus_00_dot_20_bar__plus_00_dot_62_bar__plus_01_dot_04 - object\n Pillow_bar__minus_00_dot_30_bar__plus_00_dot_65_bar__minus_01_dot_21 - object\n Window_bar__minus_01_dot_56_bar__plus_01_dot_42_bar__minus_00_dot_06 - object\n Window_bar__minus_01_dot_56_bar__plus_01_dot_42_bar__minus_01_dot_36 - object\n Bed_bar__minus_00_dot_12_bar__plus_00_dot_00_bar__minus_01_dot_70 - receptacle\n DiningTable_bar__minus_00_dot_28_bar__minus_00_dot_01_bar__plus_00_dot_83 - receptacle\n Drawer_bar__plus_01_dot_00_bar__plus_00_dot_17_bar__minus_02_dot_39 - receptacle\n Drawer_bar__plus_01_dot_00_bar__plus_00_dot_46_bar__minus_02_dot_39 - receptacle\n Drawer_bar__minus_01_dot_20_bar__plus_00_dot_17_bar__minus_02_dot_39 - receptacle\n Drawer_bar__minus_01_dot_20_bar__plus_00_dot_46_bar__minus_02_dot_39 - receptacle\n GarbageCan_bar__plus_02_dot_47_bar__plus_00_dot_00_bar__plus_00_dot_97 - receptacle\n SideTable_bar__plus_01_dot_00_bar__plus_00_dot_01_bar__minus_02_dot_47 - receptacle\n SideTable_bar__minus_01_dot_20_bar__plus_00_dot_01_bar__minus_02_dot_47 - receptacle\n loc_bar_8_bar__minus_8_bar_3_bar_60 - location\n loc_bar__minus_1_bar__minus_2_bar_2_bar_60 - location\n loc_bar__minus_2_bar__minus_2_bar_0_bar_45 - location\n loc_bar_8_bar_0_bar_1_bar_60 - location\n loc_bar__minus_4_bar__minus_2_bar_2_bar_15 - location\n loc_bar__minus_4_bar_0_bar_3_bar__minus_30 - location\n loc_bar__minus_4_bar_0_bar_3_bar_30 - location\n loc_bar_5_bar__minus_5_bar_2_bar_45 - location\n loc_bar_2_bar_1_bar_0_bar_45 - location\n loc_bar_4_bar__minus_8_bar_3_bar_0 - location\n loc_bar_5_bar__minus_6_bar_2_bar_60 - location\n loc_bar_8_bar_2_bar_0_bar_60 - location\n loc_bar__minus_4_bar__minus_2_bar_2_bar_45 - location\n loc_bar__minus_4_bar__minus_2_bar_2_bar__minus_30 - location\n loc_bar_8_bar_2_bar_1_bar_30 - location\n loc_bar__minus_4_bar__minus_2_bar_2_bar_30 - location\n loc_bar_1_bar_1_bar_0_bar_30 - location\n loc_bar__minus_1_bar__minus_1_bar_2_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Drawer_bar__plus_01_dot_00_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 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 GarbageCan_bar__plus_02_dot_47_bar__plus_00_dot_00_bar__plus_00_dot_97 GarbageCanType)\n (receptacleType Bed_bar__minus_00_dot_12_bar__plus_00_dot_00_bar__minus_01_dot_70 BedType)\n (receptacleType Drawer_bar__minus_01_dot_20_bar__plus_00_dot_17_bar__minus_02_dot_39 DrawerType)\n (receptacleType SideTable_bar__plus_01_dot_00_bar__plus_00_dot_01_bar__minus_02_dot_47 SideTableType)\n (receptacleType Drawer_bar__plus_01_dot_00_bar__plus_00_dot_17_bar__minus_02_dot_39 DrawerType)\n (objectType BaseballBat_bar__plus_00_dot_42_bar__plus_00_dot_67_bar__plus_01_dot_04 BaseballBatType)\n (objectType Blinds_bar__minus_01_dot_46_bar__plus_02_dot_16_bar__minus_00_dot_05 BlindsType)\n (objectType Pen_bar__plus_00_dot_20_bar__plus_00_dot_62_bar__plus_01_dot_04 PenType)\n (objectType Painting_bar__plus_00_dot_00_bar__plus_01_dot_56_bar__minus_02_dot_69 PaintingType)\n (objectType CD_bar__plus_00_dot_03_bar__plus_00_dot_62_bar__plus_00_dot_91 CDType)\n (objectType CD_bar__minus_01_dot_25_bar__plus_00_dot_08_bar__minus_02_dot_38 CDType)\n (objectType CreditCard_bar__plus_00_dot_19_bar__plus_00_dot_62_bar__plus_00_dot_76 CreditCardType)\n (objectType Mug_bar__minus_00_dot_74_bar__plus_00_dot_62_bar__plus_01_dot_07 MugType)\n (objectType Book_bar__plus_00_dot_06_bar__plus_00_dot_56_bar__minus_01_dot_21 BookType)\n (objectType KeyChain_bar__minus_00_dot_43_bar__plus_00_dot_62_bar__plus_00_dot_99 KeyChainType)\n (objectType CellPhone_bar__plus_00_dot_25_bar__plus_00_dot_56_bar__minus_02_dot_10 CellPhoneType)\n (objectType CreditCard_bar__plus_00_dot_95_bar__plus_00_dot_08_bar__minus_02_dot_42 CreditCardType)\n (objectType Laptop_bar__minus_00_dot_66_bar__plus_00_dot_61_bar__plus_00_dot_78 LaptopType)\n (objectType Book_bar__minus_00_dot_12_bar__plus_00_dot_62_bar__plus_00_dot_83 BookType)\n (objectType Blinds_bar__minus_01_dot_46_bar__plus_02_dot_16_bar__minus_01_dot_34 BlindsType)\n (objectType Mirror_bar__plus_02_dot_64_bar__plus_01_dot_35_bar__plus_00_dot_39 MirrorType)\n (objectType Mug_bar__minus_00_dot_59_bar__plus_00_dot_62_bar__plus_01_dot_07 MugType)\n (objectType Mug_bar__minus_00_dot_43_bar__plus_00_dot_62_bar__plus_00_dot_60 MugType)\n (objectType Pencil_bar__minus_00_dot_28_bar__plus_00_dot_62_bar__plus_00_dot_76 PencilType)\n (objectType Window_bar__minus_01_dot_56_bar__plus_01_dot_42_bar__minus_01_dot_36 WindowType)\n (objectType Window_bar__minus_01_dot_56_bar__plus_01_dot_42_bar__minus_00_dot_06 WindowType)\n (objectType Book_bar__plus_00_dot_43_bar__plus_00_dot_56_bar__minus_00_dot_99 BookType)\n (objectType Box_bar__plus_02_dot_45_bar__plus_00_dot_22_bar__minus_00_dot_04 BoxType)\n (objectType KeyChain_bar__plus_00_dot_19_bar__plus_00_dot_62_bar__plus_00_dot_91 KeyChainType)\n (objectType CD_bar__minus_00_dot_28_bar__plus_00_dot_62_bar__plus_00_dot_60 CDType)\n (objectType LightSwitch_bar__plus_00_dot_33_bar__plus_01_dot_26_bar__plus_01_dot_15 LightSwitchType)\n (objectType CellPhone_bar__plus_00_dot_91_bar__plus_00_dot_38_bar__minus_02_dot_40 CellPhoneType)\n (objectType Pillow_bar__minus_00_dot_30_bar__plus_00_dot_65_bar__minus_01_dot_21 PillowType)\n (objectType AlarmClock_bar__minus_00_dot_28_bar__plus_00_dot_62_bar__plus_00_dot_99 AlarmClockType)\n (objectType KeyChain_bar__minus_01_dot_25_bar__plus_00_dot_38_bar__minus_02_dot_38 KeyChainType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CDType)\n (canContain DrawerType PencilType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DiningTableType CellPhoneType)\n (canContain DiningTableType KeyChainType)\n (canContain DiningTableType AlarmClockType)\n (canContain DiningTableType BaseballBatType)\n (canContain DiningTableType CDType)\n (canContain DiningTableType PencilType)\n (canContain DiningTableType CreditCardType)\n (canContain DiningTableType PenType)\n (canContain DiningTableType LaptopType)\n (canContain DiningTableType BoxType)\n (canContain DiningTableType MugType)\n (canContain DiningTableType BookType)\n (canContain SideTableType CellPhoneType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType AlarmClockType)\n (canContain SideTableType BaseballBatType)\n (canContain SideTableType CDType)\n (canContain SideTableType PencilType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType PenType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType BoxType)\n (canContain SideTableType MugType)\n (canContain SideTableType BookType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CDType)\n (canContain DrawerType PencilType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain GarbageCanType CDType)\n (canContain GarbageCanType PencilType)\n (canContain GarbageCanType PenType)\n (canContain BedType CellPhoneType)\n (canContain BedType BaseballBatType)\n (canContain BedType BookType)\n (canContain BedType PillowType)\n (canContain BedType LaptopType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CDType)\n (canContain DrawerType PencilType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain SideTableType CellPhoneType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType AlarmClockType)\n (canContain SideTableType BaseballBatType)\n (canContain SideTableType CDType)\n (canContain SideTableType PencilType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType PenType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType BoxType)\n (canContain SideTableType MugType)\n (canContain SideTableType BookType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CDType)\n (canContain DrawerType PencilType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (pickupable BaseballBat_bar__plus_00_dot_42_bar__plus_00_dot_67_bar__plus_01_dot_04)\n (pickupable Pen_bar__plus_00_dot_20_bar__plus_00_dot_62_bar__plus_01_dot_04)\n (pickupable CD_bar__plus_00_dot_03_bar__plus_00_dot_62_bar__plus_00_dot_91)\n (pickupable CD_bar__minus_01_dot_25_bar__plus_00_dot_08_bar__minus_02_dot_38)\n (pickupable CreditCard_bar__plus_00_dot_19_bar__plus_00_dot_62_bar__plus_00_dot_76)\n (pickupable Mug_bar__minus_00_dot_74_bar__plus_00_dot_62_bar__plus_01_dot_07)\n (pickupable Book_bar__plus_00_dot_06_bar__plus_00_dot_56_bar__minus_01_dot_21)\n (pickupable KeyChain_bar__minus_00_dot_43_bar__plus_00_dot_62_bar__plus_00_dot_99)\n (pickupable CellPhone_bar__plus_00_dot_25_bar__plus_00_dot_56_bar__minus_02_dot_10)\n (pickupable CreditCard_bar__plus_00_dot_95_bar__plus_00_dot_08_bar__minus_02_dot_42)\n (pickupable Laptop_bar__minus_00_dot_66_bar__plus_00_dot_61_bar__plus_00_dot_78)\n (pickupable Book_bar__minus_00_dot_12_bar__plus_00_dot_62_bar__plus_00_dot_83)\n (pickupable Mug_bar__minus_00_dot_59_bar__plus_00_dot_62_bar__plus_01_dot_07)\n (pickupable Mug_bar__minus_00_dot_43_bar__plus_00_dot_62_bar__plus_00_dot_60)\n (pickupable Pencil_bar__minus_00_dot_28_bar__plus_00_dot_62_bar__plus_00_dot_76)\n (pickupable Book_bar__plus_00_dot_43_bar__plus_00_dot_56_bar__minus_00_dot_99)\n (pickupable Box_bar__plus_02_dot_45_bar__plus_00_dot_22_bar__minus_00_dot_04)\n (pickupable KeyChain_bar__plus_00_dot_19_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_00_dot_60)\n (pickupable CellPhone_bar__plus_00_dot_91_bar__plus_00_dot_38_bar__minus_02_dot_40)\n (pickupable Pillow_bar__minus_00_dot_30_bar__plus_00_dot_65_bar__minus_01_dot_21)\n (pickupable AlarmClock_bar__minus_00_dot_28_bar__plus_00_dot_62_bar__plus_00_dot_99)\n (pickupable KeyChain_bar__minus_01_dot_25_bar__plus_00_dot_38_bar__minus_02_dot_38)\n (isReceptacleObject Mug_bar__minus_00_dot_74_bar__plus_00_dot_62_bar__plus_01_dot_07)\n (isReceptacleObject Mug_bar__minus_00_dot_59_bar__plus_00_dot_62_bar__plus_01_dot_07)\n (isReceptacleObject Mug_bar__minus_00_dot_43_bar__plus_00_dot_62_bar__plus_00_dot_60)\n (isReceptacleObject Box_bar__plus_02_dot_45_bar__plus_00_dot_22_bar__minus_00_dot_04)\n (openable Drawer_bar__plus_01_dot_00_bar__plus_00_dot_46_bar__minus_02_dot_39)\n (openable Drawer_bar__plus_01_dot_00_bar__plus_00_dot_17_bar__minus_02_dot_39)\n \n (atLocation agent1 loc_bar__minus_1_bar__minus_1_bar_2_bar_30)\n \n (cleanable Mug_bar__minus_00_dot_74_bar__plus_00_dot_62_bar__plus_01_dot_07)\n (cleanable Mug_bar__minus_00_dot_59_bar__plus_00_dot_62_bar__plus_01_dot_07)\n (cleanable Mug_bar__minus_00_dot_43_bar__plus_00_dot_62_bar__plus_00_dot_60)\n \n (heatable Mug_bar__minus_00_dot_74_bar__plus_00_dot_62_bar__plus_01_dot_07)\n (heatable Mug_bar__minus_00_dot_59_bar__plus_00_dot_62_bar__plus_01_dot_07)\n (heatable Mug_bar__minus_00_dot_43_bar__plus_00_dot_62_bar__plus_00_dot_60)\n (coolable Mug_bar__minus_00_dot_74_bar__plus_00_dot_62_bar__plus_01_dot_07)\n (coolable Mug_bar__minus_00_dot_59_bar__plus_00_dot_62_bar__plus_01_dot_07)\n (coolable Mug_bar__minus_00_dot_43_bar__plus_00_dot_62_bar__plus_00_dot_60)\n \n \n \n \n \n \n \n (inReceptacle Book_bar__plus_00_dot_06_bar__plus_00_dot_56_bar__minus_01_dot_21 Bed_bar__minus_00_dot_12_bar__plus_00_dot_00_bar__minus_01_dot_70)\n (inReceptacle Pillow_bar__minus_00_dot_30_bar__plus_00_dot_65_bar__minus_01_dot_21 Bed_bar__minus_00_dot_12_bar__plus_00_dot_00_bar__minus_01_dot_70)\n (inReceptacle Book_bar__plus_00_dot_43_bar__plus_00_dot_56_bar__minus_00_dot_99 Bed_bar__minus_00_dot_12_bar__plus_00_dot_00_bar__minus_01_dot_70)\n (inReceptacle CellPhone_bar__plus_00_dot_25_bar__plus_00_dot_56_bar__minus_02_dot_10 Bed_bar__minus_00_dot_12_bar__plus_00_dot_00_bar__minus_01_dot_70)\n (inReceptacle CreditCard_bar__plus_00_dot_95_bar__plus_00_dot_08_bar__minus_02_dot_42 Drawer_bar__plus_01_dot_00_bar__plus_00_dot_17_bar__minus_02_dot_39)\n (inReceptacle KeyChain_bar__minus_00_dot_43_bar__plus_00_dot_62_bar__plus_00_dot_99 DiningTable_bar__minus_00_dot_28_bar__minus_00_dot_01_bar__plus_00_dot_83)\n (inReceptacle Pen_bar__plus_00_dot_20_bar__plus_00_dot_62_bar__plus_01_dot_04 DiningTable_bar__minus_00_dot_28_bar__minus_00_dot_01_bar__plus_00_dot_83)\n (inReceptacle KeyChain_bar__plus_00_dot_19_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_00_dot_60 DiningTable_bar__minus_00_dot_28_bar__minus_00_dot_01_bar__plus_00_dot_83)\n (inReceptacle Laptop_bar__minus_00_dot_66_bar__plus_00_dot_61_bar__plus_00_dot_78 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 CD_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 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 Pencil_bar__minus_00_dot_28_bar__plus_00_dot_62_bar__plus_00_dot_76 DiningTable_bar__minus_00_dot_28_bar__minus_00_dot_01_bar__plus_00_dot_83)\n (inReceptacle CreditCard_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 Mug_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 Mug_bar__minus_00_dot_74_bar__plus_00_dot_62_bar__plus_01_dot_07 DiningTable_bar__minus_00_dot_28_bar__minus_00_dot_01_bar__plus_00_dot_83)\n (inReceptacle AlarmClock_bar__minus_00_dot_28_bar__plus_00_dot_62_bar__plus_00_dot_99 DiningTable_bar__minus_00_dot_28_bar__minus_00_dot_01_bar__plus_00_dot_83)\n (inReceptacle CellPhone_bar__plus_00_dot_91_bar__plus_00_dot_38_bar__minus_02_dot_40 Drawer_bar__plus_01_dot_00_bar__plus_00_dot_46_bar__minus_02_dot_39)\n (inReceptacle CD_bar__minus_01_dot_25_bar__plus_00_dot_08_bar__minus_02_dot_38 Drawer_bar__minus_01_dot_20_bar__plus_00_dot_17_bar__minus_02_dot_39)\n (inReceptacle KeyChain_bar__minus_01_dot_25_bar__plus_00_dot_38_bar__minus_02_dot_38 Drawer_bar__minus_01_dot_20_bar__plus_00_dot_46_bar__minus_02_dot_39)\n \n \n (receptacleAtLocation Bed_bar__minus_00_dot_12_bar__plus_00_dot_00_bar__minus_01_dot_70 loc_bar__minus_1_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation DiningTable_bar__minus_00_dot_28_bar__minus_00_dot_01_bar__plus_00_dot_83 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__plus_01_dot_00_bar__plus_00_dot_17_bar__minus_02_dot_39 loc_bar_5_bar__minus_5_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_01_dot_00_bar__plus_00_dot_46_bar__minus_02_dot_39 loc_bar_5_bar__minus_6_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_20_bar__plus_00_dot_17_bar__minus_02_dot_39 loc_bar__minus_4_bar__minus_2_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_20_bar__plus_00_dot_46_bar__minus_02_dot_39 loc_bar__minus_4_bar__minus_2_bar_2_bar_30)\n (receptacleAtLocation GarbageCan_bar__plus_02_dot_47_bar__plus_00_dot_00_bar__plus_00_dot_97 loc_bar_8_bar_2_bar_0_bar_60)\n (receptacleAtLocation SideTable_bar__plus_01_dot_00_bar__plus_00_dot_01_bar__minus_02_dot_47 loc_bar_8_bar__minus_8_bar_3_bar_60)\n (receptacleAtLocation SideTable_bar__minus_01_dot_20_bar__plus_00_dot_01_bar__minus_02_dot_47 loc_bar__minus_4_bar__minus_2_bar_2_bar_45)\n (objectAtLocation Mug_bar__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 CD_bar__minus_01_dot_25_bar__plus_00_dot_08_bar__minus_02_dot_38 loc_bar__minus_4_bar__minus_2_bar_2_bar_45)\n (objectAtLocation CreditCard_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 CellPhone_bar__plus_00_dot_91_bar__plus_00_dot_38_bar__minus_02_dot_40 loc_bar_5_bar__minus_6_bar_2_bar_60)\n (objectAtLocation KeyChain_bar__minus_00_dot_43_bar__plus_00_dot_62_bar__plus_00_dot_99 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Book_bar__plus_00_dot_43_bar__plus_00_dot_56_bar__minus_00_dot_99 loc_bar__minus_1_bar__minus_2_bar_2_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_01_dot_25_bar__plus_00_dot_38_bar__minus_02_dot_38 loc_bar__minus_4_bar__minus_2_bar_2_bar_30)\n (objectAtLocation CD_bar__minus_00_dot_28_bar__plus_00_dot_62_bar__plus_00_dot_60 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Mug_bar__minus_00_dot_74_bar__plus_00_dot_62_bar__plus_01_dot_07 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Mirror_bar__plus_02_dot_64_bar__plus_01_dot_35_bar__plus_00_dot_39 loc_bar_8_bar_2_bar_1_bar_30)\n (objectAtLocation Box_bar__plus_02_dot_45_bar__plus_00_dot_22_bar__minus_00_dot_04 loc_bar_8_bar_0_bar_1_bar_60)\n (objectAtLocation Book_bar__plus_00_dot_06_bar__plus_00_dot_56_bar__minus_01_dot_21 loc_bar__minus_1_bar__minus_2_bar_2_bar_60)\n (objectAtLocation KeyChain_bar__plus_00_dot_19_bar__plus_00_dot_62_bar__plus_00_dot_91 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Pillow_bar__minus_00_dot_30_bar__plus_00_dot_65_bar__minus_01_dot_21 loc_bar__minus_1_bar__minus_2_bar_2_bar_60)\n (objectAtLocation BaseballBat_bar__plus_00_dot_42_bar__plus_00_dot_67_bar__plus_01_dot_04 loc_bar_2_bar_1_bar_0_bar_45)\n (objectAtLocation Pencil_bar__minus_00_dot_28_bar__plus_00_dot_62_bar__plus_00_dot_76 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation CellPhone_bar__plus_00_dot_25_bar__plus_00_dot_56_bar__minus_02_dot_10 loc_bar__minus_1_bar__minus_2_bar_2_bar_60)\n (objectAtLocation CreditCard_bar__plus_00_dot_95_bar__plus_00_dot_08_bar__minus_02_dot_42 loc_bar_5_bar__minus_5_bar_2_bar_45)\n (objectAtLocation LightSwitch_bar__plus_00_dot_33_bar__plus_01_dot_26_bar__plus_01_dot_15 loc_bar_1_bar_1_bar_0_bar_30)\n (objectAtLocation Pen_bar__plus_00_dot_20_bar__plus_00_dot_62_bar__plus_01_dot_04 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Laptop_bar__minus_00_dot_66_bar__plus_00_dot_61_bar__plus_00_dot_78 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Painting_bar__plus_00_dot_00_bar__plus_01_dot_56_bar__minus_02_dot_69 loc_bar_4_bar__minus_8_bar_3_bar_0)\n (objectAtLocation AlarmClock_bar__minus_00_dot_28_bar__plus_00_dot_62_bar__plus_00_dot_99 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation CD_bar__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 Window_bar__minus_01_dot_56_bar__plus_01_dot_42_bar__minus_01_dot_36 loc_bar__minus_4_bar__minus_2_bar_2_bar_15)\n (objectAtLocation Window_bar__minus_01_dot_56_bar__plus_01_dot_42_bar__minus_00_dot_06 loc_bar__minus_4_bar_0_bar_3_bar_30)\n (objectAtLocation Mug_bar__minus_00_dot_43_bar__plus_00_dot_62_bar__plus_00_dot_60 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Blinds_bar__minus_01_dot_46_bar__plus_02_dot_16_bar__minus_01_dot_34 loc_bar__minus_4_bar__minus_2_bar_2_bar__minus_30)\n (objectAtLocation Blinds_bar__minus_01_dot_46_bar__plus_02_dot_16_bar__minus_00_dot_05 loc_bar__minus_4_bar_0_bar_3_bar__minus_30)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (inReceptacle ?o ?r)\n (objectType ?o BookType)\n (receptacleType ?r SideTableType)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to bed 1", "take book 2 from bed 1", "go to sidetable 1", "move book 2 to sidetable 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/valid_seen/pick_and_place_simple-Book-None-SideTable-329/trial_T20190908_050633_745514/initial_state.pddl b/data/alfworld/json_2.1.1/valid_seen/pick_and_place_simple-Book-None-SideTable-329/trial_T20190908_050633_745514/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..ea99b4e30688547420d9637842a35182e6a356ca --- /dev/null +++ b/data/alfworld/json_2.1.1/valid_seen/pick_and_place_simple-Book-None-SideTable-329/trial_T20190908_050633_745514/initial_state.pddl @@ -0,0 +1,499 @@ + +(define (problem plan_trial_T20190908_050633_745514) +(:domain alfred) +(:objects +agent1 - agent +Curtains - object + SprayBottle - object + Mirror - object + HousePlant - object + Watch - object + TeddyBear - object + WateringCan - object + Bathtub - object + LightSwitch - object + Vase - object + Candle - object + Bread - object + Statue - object + HandTowel - object + StoveKnob - object + PaperTowelRoll - object + Pan - object + PepperShaker - object + Painting - object + CellPhone - object + Plunger - object + Spoon - object + SaltShaker - object + KeyChain - object + Footstool - object + Poster - object + Television - object + LaundryHamperLid - object + Glassbottle - object + AlarmClock - object + WineBottle - object + Bowl - object + Sink - object + TissueBox - object + TennisRacket - object + ToiletPaper - object + ScrubBrush - object + CreditCard - object + Laptop - object + Cloth - object + Cup - object + Chair - object + BasketBall - object + Kettle - object + PaperTowel - object + ShowerDoor - object + BaseballBat - object + Potato - object + Pillow - object + Lettuce - object + RemoteControl - object + Window - object + DishSponge - object + CD - object + Boots - object + Blinds - object + Pen - object + Newspaper - object + Plate - object + Mug - object + ShowerGlass - object + ToiletPaperRoll - object + SoapBar - object + FloorLamp - object + SoapBottle - object + Pot - object + Pencil - object + Spatula - object + Towel - object + Fork - object + Ladle - object + Knife - object + Apple - object + Box - object + Tomato - object + ButterKnife - object + Egg - object + Book - object + DeskLamp - object +CurtainsType - otype + SprayBottleType - otype + MirrorType - otype + HousePlantType - otype + WatchType - otype + TeddyBearType - otype + WateringCanType - otype + BathtubType - otype + LightSwitchType - otype + VaseType - otype + CandleType - otype + BreadType - otype + StatueType - otype + HandTowelType - otype + StoveKnobType - otype + PaperTowelRollType - otype + PanType - otype + PepperShakerType - otype + PaintingType - otype + CellPhoneType - otype + PlungerType - otype + SpoonType - otype + SaltShakerType - otype + KeyChainType - otype + FootstoolType - otype + PosterType - otype + TelevisionType - otype + LaundryHamperLidType - otype + GlassbottleType - otype + AlarmClockType - otype + WineBottleType - otype + BowlType - otype + SinkType - otype + TissueBoxType - otype + TennisRacketType - otype + ToiletPaperType - otype + ScrubBrushType - otype + CreditCardType - otype + LaptopType - otype + ClothType - otype + CupType - otype + ChairType - otype + BasketBallType - otype + KettleType - otype + PaperTowelType - otype + ShowerDoorType - otype + BaseballBatType - otype + PotatoType - otype + PillowType - otype + LettuceType - otype + RemoteControlType - otype + WindowType - otype + DishSpongeType - otype + CDType - otype + BootsType - otype + BlindsType - otype + PenType - otype + NewspaperType - otype + PlateType - otype + MugType - otype + ShowerGlassType - otype + ToiletPaperRollType - otype + SoapBarType - otype + FloorLampType - otype + SoapBottleType - otype + PotType - otype + PencilType - otype + SpatulaType - otype + TowelType - otype + ForkType - otype + LadleType - otype + KnifeType - otype + AppleType - otype + BoxType - otype + TomatoType - otype + ButterKnifeType - otype + EggType - otype + BookType - otype + DeskLampType - otype +CabinetType - rtype + ShelfType - rtype + DiningTableType - rtype + TowelHolderType - rtype + PaintingHangerType - rtype + TVStandType - rtype + LaundryHamperType - rtype + OttomanType - rtype + SafeType - rtype + CoffeeMachineType - rtype + CounterTopType - rtype + ToiletType - rtype + FridgeType - rtype + CoffeeTableType - rtype + SinkBasinType - rtype + GarbageCanType - rtype + BathtubBasinType - rtype + SideTableType - rtype + CartType - rtype + BedType - rtype + DeskType - rtype + SofaType - rtype + ArmChairType - rtype + MicrowaveType - rtype + HandTowelHolderType - rtype + ToasterType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + DrawerType - rtype + DresserType - rtype + + + AlarmClock_bar__minus_00_dot_28_bar__plus_00_dot_62_bar__plus_00_dot_99 - object + BaseballBat_bar__plus_00_dot_42_bar__plus_00_dot_67_bar__plus_01_dot_04 - object + Blinds_bar__minus_01_dot_46_bar__plus_02_dot_16_bar__minus_00_dot_05 - object + Blinds_bar__minus_01_dot_46_bar__plus_02_dot_16_bar__minus_01_dot_34 - object + Book_bar__plus_00_dot_06_bar__plus_00_dot_56_bar__minus_01_dot_21 - object + Book_bar__plus_00_dot_43_bar__plus_00_dot_56_bar__minus_00_dot_99 - object + Book_bar__minus_00_dot_12_bar__plus_00_dot_62_bar__plus_00_dot_83 - 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_91 - object + CD_bar__minus_00_dot_28_bar__plus_00_dot_62_bar__plus_00_dot_60 - object + CD_bar__minus_01_dot_25_bar__plus_00_dot_08_bar__minus_02_dot_38 - object + CellPhone_bar__plus_00_dot_25_bar__plus_00_dot_56_bar__minus_02_dot_10 - object + CellPhone_bar__plus_00_dot_91_bar__plus_00_dot_38_bar__minus_02_dot_40 - object + CreditCard_bar__plus_00_dot_19_bar__plus_00_dot_62_bar__plus_00_dot_76 - object + CreditCard_bar__plus_00_dot_95_bar__plus_00_dot_08_bar__minus_02_dot_42 - object + KeyChain_bar__plus_00_dot_19_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_99 - object + KeyChain_bar__minus_01_dot_25_bar__plus_00_dot_38_bar__minus_02_dot_38 - object + Lamp_bar__plus_00_dot_92_bar__plus_00_dot_67_bar__minus_02_dot_46 - object + Laptop_bar__minus_00_dot_66_bar__plus_00_dot_61_bar__plus_00_dot_78 - object + LightSwitch_bar__plus_00_dot_33_bar__plus_01_dot_26_bar__plus_01_dot_15 - object + Mirror_bar__plus_02_dot_64_bar__plus_01_dot_35_bar__plus_00_dot_39 - object + Mug_bar__minus_00_dot_43_bar__plus_00_dot_62_bar__plus_00_dot_60 - object + Mug_bar__minus_00_dot_59_bar__plus_00_dot_62_bar__plus_01_dot_07 - object + Mug_bar__minus_00_dot_74_bar__plus_00_dot_62_bar__plus_01_dot_07 - object + Painting_bar__plus_00_dot_00_bar__plus_01_dot_56_bar__minus_02_dot_69 - object + Pencil_bar__minus_00_dot_28_bar__plus_00_dot_62_bar__plus_00_dot_76 - object + Pen_bar__plus_00_dot_20_bar__plus_00_dot_62_bar__plus_01_dot_04 - object + Pillow_bar__minus_00_dot_30_bar__plus_00_dot_65_bar__minus_01_dot_21 - object + Window_bar__minus_01_dot_56_bar__plus_01_dot_42_bar__minus_00_dot_06 - object + Window_bar__minus_01_dot_56_bar__plus_01_dot_42_bar__minus_01_dot_36 - object + Bed_bar__minus_00_dot_12_bar__plus_00_dot_00_bar__minus_01_dot_70 - receptacle + DiningTable_bar__minus_00_dot_28_bar__minus_00_dot_01_bar__plus_00_dot_83 - receptacle + Drawer_bar__plus_01_dot_00_bar__plus_00_dot_17_bar__minus_02_dot_39 - receptacle + Drawer_bar__plus_01_dot_00_bar__plus_00_dot_46_bar__minus_02_dot_39 - receptacle + Drawer_bar__minus_01_dot_20_bar__plus_00_dot_17_bar__minus_02_dot_39 - receptacle + Drawer_bar__minus_01_dot_20_bar__plus_00_dot_46_bar__minus_02_dot_39 - receptacle + GarbageCan_bar__plus_02_dot_47_bar__plus_00_dot_00_bar__plus_00_dot_97 - receptacle + SideTable_bar__plus_01_dot_00_bar__plus_00_dot_01_bar__minus_02_dot_47 - receptacle + SideTable_bar__minus_01_dot_20_bar__plus_00_dot_01_bar__minus_02_dot_47 - receptacle + loc_bar_8_bar__minus_8_bar_3_bar_60 - location + loc_bar__minus_1_bar__minus_2_bar_2_bar_60 - location + loc_bar__minus_2_bar__minus_2_bar_0_bar_45 - location + loc_bar_8_bar_0_bar_1_bar_60 - location + loc_bar__minus_4_bar__minus_2_bar_2_bar_15 - location + loc_bar__minus_4_bar_0_bar_3_bar__minus_30 - location + loc_bar__minus_4_bar_0_bar_3_bar_30 - location + loc_bar_5_bar__minus_5_bar_2_bar_45 - location + loc_bar_2_bar_1_bar_0_bar_45 - location + loc_bar_4_bar__minus_8_bar_3_bar_0 - location + loc_bar_5_bar__minus_6_bar_2_bar_60 - location + loc_bar_8_bar_2_bar_0_bar_60 - location + loc_bar__minus_4_bar__minus_2_bar_2_bar_45 - location + loc_bar__minus_4_bar__minus_2_bar_2_bar__minus_30 - location + loc_bar_8_bar_2_bar_1_bar_30 - location + loc_bar__minus_4_bar__minus_2_bar_2_bar_30 - location + loc_bar_1_bar_1_bar_0_bar_30 - location + loc_bar__minus_1_bar__minus_1_bar_2_bar_30 - location + ) + + +(:init + + + (receptacleType Drawer_bar__plus_01_dot_00_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 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 GarbageCan_bar__plus_02_dot_47_bar__plus_00_dot_00_bar__plus_00_dot_97 GarbageCanType) + (receptacleType Bed_bar__minus_00_dot_12_bar__plus_00_dot_00_bar__minus_01_dot_70 BedType) + (receptacleType Drawer_bar__minus_01_dot_20_bar__plus_00_dot_17_bar__minus_02_dot_39 DrawerType) + (receptacleType SideTable_bar__plus_01_dot_00_bar__plus_00_dot_01_bar__minus_02_dot_47 SideTableType) + (receptacleType Drawer_bar__plus_01_dot_00_bar__plus_00_dot_17_bar__minus_02_dot_39 DrawerType) + (objectType BaseballBat_bar__plus_00_dot_42_bar__plus_00_dot_67_bar__plus_01_dot_04 BaseballBatType) + (objectType Blinds_bar__minus_01_dot_46_bar__plus_02_dot_16_bar__minus_00_dot_05 BlindsType) + (objectType Pen_bar__plus_00_dot_20_bar__plus_00_dot_62_bar__plus_01_dot_04 PenType) + (objectType Painting_bar__plus_00_dot_00_bar__plus_01_dot_56_bar__minus_02_dot_69 PaintingType) + (objectType CD_bar__plus_00_dot_03_bar__plus_00_dot_62_bar__plus_00_dot_91 CDType) + (objectType CD_bar__minus_01_dot_25_bar__plus_00_dot_08_bar__minus_02_dot_38 CDType) + (objectType CreditCard_bar__plus_00_dot_19_bar__plus_00_dot_62_bar__plus_00_dot_76 CreditCardType) + (objectType Mug_bar__minus_00_dot_74_bar__plus_00_dot_62_bar__plus_01_dot_07 MugType) + (objectType Book_bar__plus_00_dot_06_bar__plus_00_dot_56_bar__minus_01_dot_21 BookType) + (objectType KeyChain_bar__minus_00_dot_43_bar__plus_00_dot_62_bar__plus_00_dot_99 KeyChainType) + (objectType CellPhone_bar__plus_00_dot_25_bar__plus_00_dot_56_bar__minus_02_dot_10 CellPhoneType) + (objectType CreditCard_bar__plus_00_dot_95_bar__plus_00_dot_08_bar__minus_02_dot_42 CreditCardType) + (objectType Laptop_bar__minus_00_dot_66_bar__plus_00_dot_61_bar__plus_00_dot_78 LaptopType) + (objectType Book_bar__minus_00_dot_12_bar__plus_00_dot_62_bar__plus_00_dot_83 BookType) + (objectType Blinds_bar__minus_01_dot_46_bar__plus_02_dot_16_bar__minus_01_dot_34 BlindsType) + (objectType Mirror_bar__plus_02_dot_64_bar__plus_01_dot_35_bar__plus_00_dot_39 MirrorType) + (objectType Mug_bar__minus_00_dot_59_bar__plus_00_dot_62_bar__plus_01_dot_07 MugType) + (objectType Mug_bar__minus_00_dot_43_bar__plus_00_dot_62_bar__plus_00_dot_60 MugType) + (objectType Pencil_bar__minus_00_dot_28_bar__plus_00_dot_62_bar__plus_00_dot_76 PencilType) + (objectType Window_bar__minus_01_dot_56_bar__plus_01_dot_42_bar__minus_01_dot_36 WindowType) + (objectType Window_bar__minus_01_dot_56_bar__plus_01_dot_42_bar__minus_00_dot_06 WindowType) + (objectType Book_bar__plus_00_dot_43_bar__plus_00_dot_56_bar__minus_00_dot_99 BookType) + (objectType Box_bar__plus_02_dot_45_bar__plus_00_dot_22_bar__minus_00_dot_04 BoxType) + (objectType KeyChain_bar__plus_00_dot_19_bar__plus_00_dot_62_bar__plus_00_dot_91 KeyChainType) + (objectType CD_bar__minus_00_dot_28_bar__plus_00_dot_62_bar__plus_00_dot_60 CDType) + (objectType LightSwitch_bar__plus_00_dot_33_bar__plus_01_dot_26_bar__plus_01_dot_15 LightSwitchType) + (objectType CellPhone_bar__plus_00_dot_91_bar__plus_00_dot_38_bar__minus_02_dot_40 CellPhoneType) + (objectType Pillow_bar__minus_00_dot_30_bar__plus_00_dot_65_bar__minus_01_dot_21 PillowType) + (objectType AlarmClock_bar__minus_00_dot_28_bar__plus_00_dot_62_bar__plus_00_dot_99 AlarmClockType) + (objectType KeyChain_bar__minus_01_dot_25_bar__plus_00_dot_38_bar__minus_02_dot_38 KeyChainType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CDType) + (canContain DrawerType PencilType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DiningTableType CellPhoneType) + (canContain DiningTableType KeyChainType) + (canContain DiningTableType AlarmClockType) + (canContain DiningTableType BaseballBatType) + (canContain DiningTableType CDType) + (canContain DiningTableType PencilType) + (canContain DiningTableType CreditCardType) + (canContain DiningTableType PenType) + (canContain DiningTableType LaptopType) + (canContain DiningTableType BoxType) + (canContain DiningTableType MugType) + (canContain DiningTableType BookType) + (canContain SideTableType CellPhoneType) + (canContain SideTableType KeyChainType) + (canContain SideTableType AlarmClockType) + (canContain SideTableType BaseballBatType) + (canContain SideTableType CDType) + (canContain SideTableType PencilType) + (canContain SideTableType CreditCardType) + (canContain SideTableType PenType) + (canContain SideTableType LaptopType) + (canContain SideTableType BoxType) + (canContain SideTableType MugType) + (canContain SideTableType BookType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CDType) + (canContain DrawerType PencilType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain GarbageCanType CDType) + (canContain GarbageCanType PencilType) + (canContain GarbageCanType PenType) + (canContain BedType CellPhoneType) + (canContain BedType BaseballBatType) + (canContain BedType BookType) + (canContain BedType PillowType) + (canContain BedType LaptopType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CDType) + (canContain DrawerType PencilType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain SideTableType CellPhoneType) + (canContain SideTableType KeyChainType) + (canContain SideTableType AlarmClockType) + (canContain SideTableType BaseballBatType) + (canContain SideTableType CDType) + (canContain SideTableType PencilType) + (canContain SideTableType CreditCardType) + (canContain SideTableType PenType) + (canContain SideTableType LaptopType) + (canContain SideTableType BoxType) + (canContain SideTableType MugType) + (canContain SideTableType BookType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CDType) + (canContain DrawerType PencilType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (pickupable BaseballBat_bar__plus_00_dot_42_bar__plus_00_dot_67_bar__plus_01_dot_04) + (pickupable Pen_bar__plus_00_dot_20_bar__plus_00_dot_62_bar__plus_01_dot_04) + (pickupable CD_bar__plus_00_dot_03_bar__plus_00_dot_62_bar__plus_00_dot_91) + (pickupable CD_bar__minus_01_dot_25_bar__plus_00_dot_08_bar__minus_02_dot_38) + (pickupable CreditCard_bar__plus_00_dot_19_bar__plus_00_dot_62_bar__plus_00_dot_76) + (pickupable Mug_bar__minus_00_dot_74_bar__plus_00_dot_62_bar__plus_01_dot_07) + (pickupable Book_bar__plus_00_dot_06_bar__plus_00_dot_56_bar__minus_01_dot_21) + (pickupable KeyChain_bar__minus_00_dot_43_bar__plus_00_dot_62_bar__plus_00_dot_99) + (pickupable CellPhone_bar__plus_00_dot_25_bar__plus_00_dot_56_bar__minus_02_dot_10) + (pickupable CreditCard_bar__plus_00_dot_95_bar__plus_00_dot_08_bar__minus_02_dot_42) + (pickupable Laptop_bar__minus_00_dot_66_bar__plus_00_dot_61_bar__plus_00_dot_78) + (pickupable Book_bar__minus_00_dot_12_bar__plus_00_dot_62_bar__plus_00_dot_83) + (pickupable Mug_bar__minus_00_dot_59_bar__plus_00_dot_62_bar__plus_01_dot_07) + (pickupable Mug_bar__minus_00_dot_43_bar__plus_00_dot_62_bar__plus_00_dot_60) + (pickupable Pencil_bar__minus_00_dot_28_bar__plus_00_dot_62_bar__plus_00_dot_76) + (pickupable Book_bar__plus_00_dot_43_bar__plus_00_dot_56_bar__minus_00_dot_99) + (pickupable Box_bar__plus_02_dot_45_bar__plus_00_dot_22_bar__minus_00_dot_04) + (pickupable KeyChain_bar__plus_00_dot_19_bar__plus_00_dot_62_bar__plus_00_dot_91) + (pickupable CD_bar__minus_00_dot_28_bar__plus_00_dot_62_bar__plus_00_dot_60) + (pickupable CellPhone_bar__plus_00_dot_91_bar__plus_00_dot_38_bar__minus_02_dot_40) + (pickupable Pillow_bar__minus_00_dot_30_bar__plus_00_dot_65_bar__minus_01_dot_21) + (pickupable AlarmClock_bar__minus_00_dot_28_bar__plus_00_dot_62_bar__plus_00_dot_99) + (pickupable KeyChain_bar__minus_01_dot_25_bar__plus_00_dot_38_bar__minus_02_dot_38) + (isReceptacleObject Mug_bar__minus_00_dot_74_bar__plus_00_dot_62_bar__plus_01_dot_07) + (isReceptacleObject Mug_bar__minus_00_dot_59_bar__plus_00_dot_62_bar__plus_01_dot_07) + (isReceptacleObject Mug_bar__minus_00_dot_43_bar__plus_00_dot_62_bar__plus_00_dot_60) + (isReceptacleObject Box_bar__plus_02_dot_45_bar__plus_00_dot_22_bar__minus_00_dot_04) + (openable Drawer_bar__plus_01_dot_00_bar__plus_00_dot_46_bar__minus_02_dot_39) + (openable Drawer_bar__plus_01_dot_00_bar__plus_00_dot_17_bar__minus_02_dot_39) + + (atLocation agent1 loc_bar__minus_1_bar__minus_1_bar_2_bar_30) + + (cleanable Mug_bar__minus_00_dot_74_bar__plus_00_dot_62_bar__plus_01_dot_07) + (cleanable Mug_bar__minus_00_dot_59_bar__plus_00_dot_62_bar__plus_01_dot_07) + (cleanable Mug_bar__minus_00_dot_43_bar__plus_00_dot_62_bar__plus_00_dot_60) + + (heatable Mug_bar__minus_00_dot_74_bar__plus_00_dot_62_bar__plus_01_dot_07) + (heatable Mug_bar__minus_00_dot_59_bar__plus_00_dot_62_bar__plus_01_dot_07) + (heatable Mug_bar__minus_00_dot_43_bar__plus_00_dot_62_bar__plus_00_dot_60) + (coolable Mug_bar__minus_00_dot_74_bar__plus_00_dot_62_bar__plus_01_dot_07) + (coolable Mug_bar__minus_00_dot_59_bar__plus_00_dot_62_bar__plus_01_dot_07) + (coolable Mug_bar__minus_00_dot_43_bar__plus_00_dot_62_bar__plus_00_dot_60) + + + + + + + + (inReceptacle Book_bar__plus_00_dot_06_bar__plus_00_dot_56_bar__minus_01_dot_21 Bed_bar__minus_00_dot_12_bar__plus_00_dot_00_bar__minus_01_dot_70) + (inReceptacle Pillow_bar__minus_00_dot_30_bar__plus_00_dot_65_bar__minus_01_dot_21 Bed_bar__minus_00_dot_12_bar__plus_00_dot_00_bar__minus_01_dot_70) + (inReceptacle Book_bar__plus_00_dot_43_bar__plus_00_dot_56_bar__minus_00_dot_99 Bed_bar__minus_00_dot_12_bar__plus_00_dot_00_bar__minus_01_dot_70) + (inReceptacle CellPhone_bar__plus_00_dot_25_bar__plus_00_dot_56_bar__minus_02_dot_10 Bed_bar__minus_00_dot_12_bar__plus_00_dot_00_bar__minus_01_dot_70) + (inReceptacle CreditCard_bar__plus_00_dot_95_bar__plus_00_dot_08_bar__minus_02_dot_42 Drawer_bar__plus_01_dot_00_bar__plus_00_dot_17_bar__minus_02_dot_39) + (inReceptacle KeyChain_bar__minus_00_dot_43_bar__plus_00_dot_62_bar__plus_00_dot_99 DiningTable_bar__minus_00_dot_28_bar__minus_00_dot_01_bar__plus_00_dot_83) + (inReceptacle Pen_bar__plus_00_dot_20_bar__plus_00_dot_62_bar__plus_01_dot_04 DiningTable_bar__minus_00_dot_28_bar__minus_00_dot_01_bar__plus_00_dot_83) + (inReceptacle KeyChain_bar__plus_00_dot_19_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_00_dot_60 DiningTable_bar__minus_00_dot_28_bar__minus_00_dot_01_bar__plus_00_dot_83) + (inReceptacle Laptop_bar__minus_00_dot_66_bar__plus_00_dot_61_bar__plus_00_dot_78 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 CD_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 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 Pencil_bar__minus_00_dot_28_bar__plus_00_dot_62_bar__plus_00_dot_76 DiningTable_bar__minus_00_dot_28_bar__minus_00_dot_01_bar__plus_00_dot_83) + (inReceptacle CreditCard_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 Mug_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 Mug_bar__minus_00_dot_74_bar__plus_00_dot_62_bar__plus_01_dot_07 DiningTable_bar__minus_00_dot_28_bar__minus_00_dot_01_bar__plus_00_dot_83) + (inReceptacle AlarmClock_bar__minus_00_dot_28_bar__plus_00_dot_62_bar__plus_00_dot_99 DiningTable_bar__minus_00_dot_28_bar__minus_00_dot_01_bar__plus_00_dot_83) + (inReceptacle CellPhone_bar__plus_00_dot_91_bar__plus_00_dot_38_bar__minus_02_dot_40 Drawer_bar__plus_01_dot_00_bar__plus_00_dot_46_bar__minus_02_dot_39) + (inReceptacle CD_bar__minus_01_dot_25_bar__plus_00_dot_08_bar__minus_02_dot_38 Drawer_bar__minus_01_dot_20_bar__plus_00_dot_17_bar__minus_02_dot_39) + (inReceptacle KeyChain_bar__minus_01_dot_25_bar__plus_00_dot_38_bar__minus_02_dot_38 Drawer_bar__minus_01_dot_20_bar__plus_00_dot_46_bar__minus_02_dot_39) + + + (receptacleAtLocation Bed_bar__minus_00_dot_12_bar__plus_00_dot_00_bar__minus_01_dot_70 loc_bar__minus_1_bar__minus_2_bar_2_bar_60) + (receptacleAtLocation DiningTable_bar__minus_00_dot_28_bar__minus_00_dot_01_bar__plus_00_dot_83 loc_bar__minus_2_bar__minus_2_bar_0_bar_45) + (receptacleAtLocation Drawer_bar__plus_01_dot_00_bar__plus_00_dot_17_bar__minus_02_dot_39 loc_bar_5_bar__minus_5_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__plus_01_dot_00_bar__plus_00_dot_46_bar__minus_02_dot_39 loc_bar_5_bar__minus_6_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__minus_01_dot_20_bar__plus_00_dot_17_bar__minus_02_dot_39 loc_bar__minus_4_bar__minus_2_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_20_bar__plus_00_dot_46_bar__minus_02_dot_39 loc_bar__minus_4_bar__minus_2_bar_2_bar_30) + (receptacleAtLocation GarbageCan_bar__plus_02_dot_47_bar__plus_00_dot_00_bar__plus_00_dot_97 loc_bar_8_bar_2_bar_0_bar_60) + (receptacleAtLocation SideTable_bar__plus_01_dot_00_bar__plus_00_dot_01_bar__minus_02_dot_47 loc_bar_8_bar__minus_8_bar_3_bar_60) + (receptacleAtLocation SideTable_bar__minus_01_dot_20_bar__plus_00_dot_01_bar__minus_02_dot_47 loc_bar__minus_4_bar__minus_2_bar_2_bar_45) + (objectAtLocation Mug_bar__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 CD_bar__minus_01_dot_25_bar__plus_00_dot_08_bar__minus_02_dot_38 loc_bar__minus_4_bar__minus_2_bar_2_bar_45) + (objectAtLocation CreditCard_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 CellPhone_bar__plus_00_dot_91_bar__plus_00_dot_38_bar__minus_02_dot_40 loc_bar_5_bar__minus_6_bar_2_bar_60) + (objectAtLocation KeyChain_bar__minus_00_dot_43_bar__plus_00_dot_62_bar__plus_00_dot_99 loc_bar__minus_2_bar__minus_2_bar_0_bar_45) + (objectAtLocation Book_bar__plus_00_dot_43_bar__plus_00_dot_56_bar__minus_00_dot_99 loc_bar__minus_1_bar__minus_2_bar_2_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_01_dot_25_bar__plus_00_dot_38_bar__minus_02_dot_38 loc_bar__minus_4_bar__minus_2_bar_2_bar_30) + (objectAtLocation CD_bar__minus_00_dot_28_bar__plus_00_dot_62_bar__plus_00_dot_60 loc_bar__minus_2_bar__minus_2_bar_0_bar_45) + (objectAtLocation Mug_bar__minus_00_dot_74_bar__plus_00_dot_62_bar__plus_01_dot_07 loc_bar__minus_2_bar__minus_2_bar_0_bar_45) + (objectAtLocation Mirror_bar__plus_02_dot_64_bar__plus_01_dot_35_bar__plus_00_dot_39 loc_bar_8_bar_2_bar_1_bar_30) + (objectAtLocation Box_bar__plus_02_dot_45_bar__plus_00_dot_22_bar__minus_00_dot_04 loc_bar_8_bar_0_bar_1_bar_60) + (objectAtLocation Book_bar__plus_00_dot_06_bar__plus_00_dot_56_bar__minus_01_dot_21 loc_bar__minus_1_bar__minus_2_bar_2_bar_60) + (objectAtLocation KeyChain_bar__plus_00_dot_19_bar__plus_00_dot_62_bar__plus_00_dot_91 loc_bar__minus_2_bar__minus_2_bar_0_bar_45) + (objectAtLocation Pillow_bar__minus_00_dot_30_bar__plus_00_dot_65_bar__minus_01_dot_21 loc_bar__minus_1_bar__minus_2_bar_2_bar_60) + (objectAtLocation BaseballBat_bar__plus_00_dot_42_bar__plus_00_dot_67_bar__plus_01_dot_04 loc_bar_2_bar_1_bar_0_bar_45) + (objectAtLocation Pencil_bar__minus_00_dot_28_bar__plus_00_dot_62_bar__plus_00_dot_76 loc_bar__minus_2_bar__minus_2_bar_0_bar_45) + (objectAtLocation CellPhone_bar__plus_00_dot_25_bar__plus_00_dot_56_bar__minus_02_dot_10 loc_bar__minus_1_bar__minus_2_bar_2_bar_60) + (objectAtLocation CreditCard_bar__plus_00_dot_95_bar__plus_00_dot_08_bar__minus_02_dot_42 loc_bar_5_bar__minus_5_bar_2_bar_45) + (objectAtLocation LightSwitch_bar__plus_00_dot_33_bar__plus_01_dot_26_bar__plus_01_dot_15 loc_bar_1_bar_1_bar_0_bar_30) + (objectAtLocation Pen_bar__plus_00_dot_20_bar__plus_00_dot_62_bar__plus_01_dot_04 loc_bar__minus_2_bar__minus_2_bar_0_bar_45) + (objectAtLocation Laptop_bar__minus_00_dot_66_bar__plus_00_dot_61_bar__plus_00_dot_78 loc_bar__minus_2_bar__minus_2_bar_0_bar_45) + (objectAtLocation Painting_bar__plus_00_dot_00_bar__plus_01_dot_56_bar__minus_02_dot_69 loc_bar_4_bar__minus_8_bar_3_bar_0) + (objectAtLocation AlarmClock_bar__minus_00_dot_28_bar__plus_00_dot_62_bar__plus_00_dot_99 loc_bar__minus_2_bar__minus_2_bar_0_bar_45) + (objectAtLocation CD_bar__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 Window_bar__minus_01_dot_56_bar__plus_01_dot_42_bar__minus_01_dot_36 loc_bar__minus_4_bar__minus_2_bar_2_bar_15) + (objectAtLocation Window_bar__minus_01_dot_56_bar__plus_01_dot_42_bar__minus_00_dot_06 loc_bar__minus_4_bar_0_bar_3_bar_30) + (objectAtLocation Mug_bar__minus_00_dot_43_bar__plus_00_dot_62_bar__plus_00_dot_60 loc_bar__minus_2_bar__minus_2_bar_0_bar_45) + (objectAtLocation Blinds_bar__minus_01_dot_46_bar__plus_02_dot_16_bar__minus_01_dot_34 loc_bar__minus_4_bar__minus_2_bar_2_bar__minus_30) + (objectAtLocation Blinds_bar__minus_01_dot_46_bar__plus_02_dot_16_bar__minus_00_dot_05 loc_bar__minus_4_bar_0_bar_3_bar__minus_30) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (inReceptacle ?o ?r) + (objectType ?o BookType) + (receptacleType ?r SideTableType) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/valid_seen/pick_and_place_simple-Book-None-SideTable-329/trial_T20190908_050633_745514/traj_data.json b/data/alfworld/json_2.1.1/valid_seen/pick_and_place_simple-Book-None-SideTable-329/trial_T20190908_050633_745514/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..0e05bcaf55eea2c99a422830d84f541b6c1ae2ad --- /dev/null +++ b/data/alfworld/json_2.1.1/valid_seen/pick_and_place_simple-Book-None-SideTable-329/trial_T20190908_050633_745514/traj_data.json @@ -0,0 +1,2309 @@ +{ + "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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"votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "ALKQPW0O9C98N_3LQ8PUHQFO9B1YFOQ32EVNW2MSZIHD", + "high_descs": [ + "Turn left and go to the bottom left edge of the bed", + "Pick up the game that is on the bottom left edge of the bed", + "Go right and around the bed to the bedside table", + "Put the game on top of the table" + ], + "task_desc": "Move a game from the bed to the bedside table", + "votes": [ + 1, + 0, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/valid_seen/pick_and_place_simple-Bowl-None-CoffeeTable-201/trial_T20190907_171639_045329/game.tw-pddl b/data/alfworld/json_2.1.1/valid_seen/pick_and_place_simple-Bowl-None-CoffeeTable-201/trial_T20190907_171639_045329/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..33c921045f0e38ce8c84c7e8cf1659111a0179ca --- /dev/null +++ b/data/alfworld/json_2.1.1/valid_seen/pick_and_place_simple-Bowl-None-CoffeeTable-201/trial_T20190907_171639_045329/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\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 bowl on 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_T20190907_171639_045329)\n(:domain alfred)\n(:objects\nagent1 - agent\nCurtains - object\n SprayBottle - object\n Mirror - object\n HousePlant - object\n Watch - object\n TeddyBear - object\n WateringCan - object\n Bathtub - object\n LightSwitch - object\n Vase - object\n Candle - object\n Bread - object\n Statue - object\n HandTowel - object\n StoveKnob - object\n PaperTowelRoll - object\n Pan - object\n PepperShaker - object\n Painting - object\n CellPhone - object\n Plunger - object\n Spoon - object\n SaltShaker - object\n KeyChain - object\n Footstool - object\n Poster - object\n Television - object\n LaundryHamperLid - object\n Glassbottle - object\n AlarmClock - object\n WineBottle - object\n Bowl - object\n Sink - object\n TissueBox - object\n TennisRacket - object\n ToiletPaper - object\n ScrubBrush - object\n CreditCard - object\n Laptop - object\n Cloth - object\n Cup - object\n Chair - object\n BasketBall - object\n Kettle - object\n PaperTowel - object\n ShowerDoor - object\n BaseballBat - object\n Potato - object\n Pillow - object\n Lettuce - object\n RemoteControl - object\n Window - object\n DishSponge - object\n CD - object\n Boots - object\n Blinds - object\n Pen - object\n Newspaper - object\n Plate - object\n Mug - object\n ShowerGlass - object\n ToiletPaperRoll - object\n SoapBar - object\n FloorLamp - object\n SoapBottle - object\n Pot - object\n Pencil - object\n Spatula - object\n Towel - object\n Fork - object\n Ladle - object\n Knife - object\n Apple - object\n Box - object\n Tomato - object\n ButterKnife - object\n Egg - object\n Book - object\n DeskLamp - object\nCurtainsType - otype\n SprayBottleType - otype\n MirrorType - otype\n HousePlantType - otype\n WatchType - otype\n TeddyBearType - otype\n WateringCanType - otype\n BathtubType - otype\n LightSwitchType - otype\n VaseType - otype\n CandleType - otype\n BreadType - otype\n StatueType - otype\n HandTowelType - otype\n StoveKnobType - otype\n PaperTowelRollType - otype\n PanType - otype\n PepperShakerType - otype\n PaintingType - otype\n CellPhoneType - otype\n PlungerType - otype\n SpoonType - otype\n SaltShakerType - otype\n KeyChainType - otype\n FootstoolType - otype\n PosterType - otype\n TelevisionType - otype\n LaundryHamperLidType - otype\n GlassbottleType - otype\n AlarmClockType - otype\n WineBottleType - otype\n BowlType - otype\n SinkType - otype\n TissueBoxType - otype\n TennisRacketType - otype\n ToiletPaperType - otype\n ScrubBrushType - otype\n CreditCardType - otype\n LaptopType - otype\n ClothType - otype\n CupType - otype\n ChairType - otype\n BasketBallType - otype\n KettleType - otype\n PaperTowelType - otype\n ShowerDoorType - otype\n BaseballBatType - otype\n PotatoType - otype\n PillowType - otype\n LettuceType - otype\n RemoteControlType - otype\n WindowType - otype\n DishSpongeType - otype\n CDType - otype\n BootsType - otype\n BlindsType - otype\n PenType - otype\n NewspaperType - otype\n PlateType - otype\n MugType - otype\n ShowerGlassType - otype\n ToiletPaperRollType - otype\n SoapBarType - otype\n FloorLampType - otype\n SoapBottleType - otype\n PotType - otype\n PencilType - otype\n SpatulaType - otype\n TowelType - otype\n ForkType - otype\n LadleType - otype\n KnifeType - otype\n AppleType - otype\n BoxType - otype\n TomatoType - otype\n ButterKnifeType - otype\n EggType - otype\n BookType - otype\n DeskLampType - otype\nCabinetType - rtype\n ShelfType - rtype\n DiningTableType - rtype\n TowelHolderType - rtype\n PaintingHangerType - rtype\n TVStandType - rtype\n LaundryHamperType - rtype\n OttomanType - rtype\n SafeType - rtype\n CoffeeMachineType - rtype\n CounterTopType - rtype\n ToiletType - rtype\n FridgeType - rtype\n CoffeeTableType - rtype\n SinkBasinType - rtype\n GarbageCanType - rtype\n BathtubBasinType - rtype\n SideTableType - rtype\n CartType - rtype\n BedType - rtype\n DeskType - rtype\n SofaType - rtype\n ArmChairType - rtype\n MicrowaveType - rtype\n HandTowelHolderType - rtype\n ToasterType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n DrawerType - rtype\n DresserType - rtype\n\n\n Book_bar__minus_02_dot_24_bar__plus_00_dot_35_bar__plus_04_dot_81 - object\n Book_bar__minus_02_dot_40_bar__plus_00_dot_10_bar__plus_04_dot_81 - object\n Bowl_bar__minus_01_dot_83_bar__plus_00_dot_69_bar__plus_01_dot_30 - object\n Box_bar__minus_03_dot_20_bar__plus_00_dot_68_bar__plus_03_dot_35 - object\n Chair_bar__minus_01_dot_42_bar__minus_00_dot_01_bar__plus_01_dot_43 - object\n Chair_bar__minus_01_dot_86_bar_00_dot_00_bar__plus_01_dot_14 - object\n Chair_bar__minus_01_dot_87_bar__minus_00_dot_01_bar__plus_01_dot_75 - object\n Chair_bar__minus_02_dot_48_bar__plus_00_dot_00_bar__plus_01_dot_75 - object\n Chair_bar__minus_02_dot_49_bar__minus_00_dot_01_bar__plus_01_dot_11 - object\n Chair_bar__minus_03_dot_03_bar__minus_00_dot_01_bar__plus_01_dot_40 - object\n CreditCard_bar__minus_00_dot_81_bar__plus_00_dot_43_bar__plus_05_dot_65 - object\n CreditCard_bar__minus_02_dot_05_bar__plus_00_dot_69_bar__plus_01_dot_42 - object\n Curtains_bar__minus_00_dot_08_bar__plus_02_dot_42_bar__plus_00_dot_97 - object\n FloorLamp_bar__minus_00_dot_57_bar__plus_00_dot_00_bar__plus_00_dot_03 - object\n HousePlant_bar__minus_03_dot_02_bar__plus_00_dot_59_bar__minus_00_dot_02 - object\n KeyChain_bar__minus_01_dot_03_bar__plus_00_dot_44_bar__plus_06_dot_22 - object\n KeyChain_bar__minus_01_dot_97_bar__plus_00_dot_75_bar__minus_00_dot_25 - object\n KeyChain_bar__minus_02_dot_49_bar__plus_00_dot_69_bar__plus_01_dot_18 - object\n Lamp_bar__minus_00_dot_28_bar__plus_00_dot_70_bar__plus_03_dot_61 - object\n Laptop_bar__minus_00_dot_89_bar__plus_00_dot_45_bar__plus_05_dot_97 - object\n Laptop_bar__minus_01_dot_61_bar__plus_00_dot_48_bar__plus_03_dot_62 - object\n Laptop_bar__minus_02_dot_39_bar__plus_00_dot_24_bar__plus_06_dot_12 - object\n LightSwitch_bar__minus_03_dot_31_bar__plus_01_dot_34_bar__minus_00_dot_32 - object\n Newspaper_bar__minus_02_dot_27_bar__plus_00_dot_69_bar__plus_01_dot_79 - object\n Painting_bar__minus_02_dot_05_bar__plus_01_dot_62_bar__minus_00_dot_30 - object\n Pencil_bar__minus_01_dot_97_bar__plus_00_dot_75_bar__plus_00_dot_01 - object\n Pen_bar__minus_02_dot_11_bar__plus_00_dot_75_bar__minus_00_dot_20 - object\n Pillow_bar__minus_02_dot_14_bar__plus_00_dot_56_bar__plus_03_dot_62 - object\n Plate_bar__minus_02_dot_25_bar__plus_00_dot_75_bar__minus_00_dot_12 - object\n Plate_bar__minus_02_dot_76_bar__plus_00_dot_24_bar__plus_06_dot_12 - object\n Plate_bar__minus_02_dot_93_bar__plus_00_dot_69_bar__plus_01_dot_67 - object\n RemoteControl_bar__minus_02_dot_67_bar__plus_00_dot_48_bar__plus_03_dot_44 - object\n RemoteControl_bar__minus_02_dot_67_bar__plus_00_dot_48_bar__plus_03_dot_71 - object\n RemoteControl_bar__minus_04_dot_37_bar__plus_00_dot_44_bar__plus_05_dot_56 - object\n Statue_bar__minus_02_dot_05_bar__plus_00_dot_70_bar__plus_01_dot_18 - object\n Statue_bar__minus_02_dot_40_bar__plus_00_dot_61_bar__plus_04_dot_73 - object\n Statue_bar__minus_02_dot_53_bar__plus_00_dot_75_bar__minus_00_dot_12 - object\n Television_bar__minus_02_dot_36_bar__plus_01_dot_21_bar__plus_06_dot_28 - object\n TissueBox_bar__minus_02_dot_27_bar__plus_00_dot_69_bar__plus_01_dot_42 - object\n Vase_bar__minus_02_dot_71_bar__plus_00_dot_69_bar__plus_01_dot_79 - object\n Watch_bar__minus_00_dot_25_bar__plus_00_dot_70_bar__plus_03_dot_29 - object\n Watch_bar__minus_00_dot_28_bar__plus_00_dot_70_bar__plus_03_dot_12 - object\n Watch_bar__minus_02_dot_16_bar__plus_00_dot_60_bar__plus_04_dot_65 - object\n Window_bar__minus_00_dot_06_bar__plus_00_dot_93_bar__plus_01_dot_76 - object\n Window_bar__minus_00_dot_06_bar__plus_01_dot_13_bar__plus_04_dot_89 - object\n ArmChair_bar__minus_00_dot_78_bar__plus_00_dot_01_bar__plus_06_dot_08 - receptacle\n ArmChair_bar__minus_04_dot_41_bar__plus_00_dot_01_bar__plus_06_dot_01 - receptacle\n CoffeeTable_bar__minus_02_dot_32_bar__plus_00_dot_00_bar__plus_04_dot_89 - receptacle\n DiningTable_bar__minus_02_dot_27_bar__minus_00_dot_02_bar__plus_01_dot_42 - receptacle\n DiningTable_bar__minus_03_dot_20_bar__plus_00_dot_59_bar__plus_00_dot_21 - receptacle\n Drawer_bar__minus_00_dot_30_bar__plus_00_dot_62_bar__plus_03_dot_37 - receptacle\n Drawer_bar__minus_02_dot_11_bar__plus_00_dot_66_bar__minus_00_dot_07 - receptacle\n GarbageCan_bar__minus_04_dot_87_bar__plus_00_dot_00_bar__plus_00_dot_27 - receptacle\n SideTable_bar__minus_00_dot_24_bar__plus_00_dot_00_bar__plus_03_dot_37 - receptacle\n SideTable_bar__minus_02_dot_11_bar__plus_00_dot_01_bar__minus_00_dot_14 - receptacle\n Sofa_bar__minus_02_dot_40_bar__minus_00_dot_07_bar__plus_03_dot_42 - receptacle\n TVStand_bar__minus_02_dot_39_bar__plus_00_dot_00_bar__plus_06_dot_30 - receptacle\n loc_bar__minus_17_bar_20_bar_0_bar_60 - location\n loc_bar__minus_2_bar_20_bar_1_bar_45 - location\n loc_bar__minus_8_bar_2_bar_2_bar_45 - location\n loc_bar__minus_10_bar_22_bar_0_bar_60 - location\n loc_bar__minus_8_bar_2_bar_2_bar_60 - location\n loc_bar__minus_12_bar_2_bar_1_bar_45 - location\n loc_bar__minus_10_bar_2_bar_0_bar_60 - location\n loc_bar__minus_6_bar_9_bar_2_bar_60 - location\n loc_bar__minus_16_bar_2_bar_1_bar_60 - location\n loc_bar__minus_9_bar_17_bar_2_bar_60 - location\n loc_bar__minus_18_bar_2_bar_3_bar_60 - location\n loc_bar__minus_8_bar_2_bar_2_bar_0 - location\n loc_bar__minus_15_bar_6_bar_1_bar_60 - location\n loc_bar__minus_14_bar_1_bar_2_bar_30 - location\n loc_bar__minus_3_bar_6_bar_3_bar_60 - location\n loc_bar__minus_14_bar_18_bar_1_bar_60 - location\n loc_bar__minus_4_bar_20_bar_0_bar_60 - location\n loc_bar__minus_3_bar_9_bar_0_bar_60 - location\n loc_bar__minus_4_bar_17_bar_2_bar_45 - location\n loc_bar__minus_2_bar_7_bar_1_bar_60 - location\n loc_bar__minus_10_bar_10_bar_2_bar_60 - location\n loc_bar__minus_7_bar_2_bar_0_bar_60 - location\n loc_bar__minus_5_bar_1_bar_1_bar_60 - location\n loc_bar__minus_13_bar_22_bar_0_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType TVStand_bar__minus_02_dot_39_bar__plus_00_dot_00_bar__plus_06_dot_30 TVStandType)\n (receptacleType SideTable_bar__minus_02_dot_11_bar__plus_00_dot_01_bar__minus_00_dot_14 SideTableType)\n (receptacleType Drawer_bar__minus_02_dot_11_bar__plus_00_dot_66_bar__minus_00_dot_07 DrawerType)\n (receptacleType ArmChair_bar__minus_04_dot_41_bar__plus_00_dot_01_bar__plus_06_dot_01 ArmChairType)\n (receptacleType SideTable_bar__minus_00_dot_24_bar__plus_00_dot_00_bar__plus_03_dot_37 SideTableType)\n (receptacleType Drawer_bar__minus_00_dot_30_bar__plus_00_dot_62_bar__plus_03_dot_37 DrawerType)\n (receptacleType DiningTable_bar__minus_02_dot_27_bar__minus_00_dot_02_bar__plus_01_dot_42 DiningTableType)\n (receptacleType DiningTable_bar__minus_03_dot_20_bar__plus_00_dot_59_bar__plus_00_dot_21 DiningTableType)\n (receptacleType Sofa_bar__minus_02_dot_40_bar__minus_00_dot_07_bar__plus_03_dot_42 SofaType)\n (receptacleType ArmChair_bar__minus_00_dot_78_bar__plus_00_dot_01_bar__plus_06_dot_08 ArmChairType)\n (receptacleType CoffeeTable_bar__minus_02_dot_32_bar__plus_00_dot_00_bar__plus_04_dot_89 CoffeeTableType)\n (receptacleType GarbageCan_bar__minus_04_dot_87_bar__plus_00_dot_00_bar__plus_00_dot_27 GarbageCanType)\n (objectType Watch_bar__minus_00_dot_25_bar__plus_00_dot_70_bar__plus_03_dot_29 WatchType)\n (objectType RemoteControl_bar__minus_04_dot_37_bar__plus_00_dot_44_bar__plus_05_dot_56 RemoteControlType)\n (objectType Chair_bar__minus_03_dot_03_bar__minus_00_dot_01_bar__plus_01_dot_40 ChairType)\n (objectType Curtains_bar__minus_00_dot_08_bar__plus_02_dot_42_bar__plus_00_dot_97 CurtainsType)\n (objectType Pencil_bar__minus_01_dot_97_bar__plus_00_dot_75_bar__plus_00_dot_01 PencilType)\n (objectType FloorLamp_bar__minus_00_dot_57_bar__plus_00_dot_00_bar__plus_00_dot_03 FloorLampType)\n (objectType Painting_bar__minus_02_dot_05_bar__plus_01_dot_62_bar__minus_00_dot_30 PaintingType)\n (objectType RemoteControl_bar__minus_02_dot_67_bar__plus_00_dot_48_bar__plus_03_dot_44 RemoteControlType)\n (objectType Book_bar__minus_02_dot_24_bar__plus_00_dot_35_bar__plus_04_dot_81 BookType)\n (objectType Watch_bar__minus_00_dot_28_bar__plus_00_dot_70_bar__plus_03_dot_12 WatchType)\n (objectType Chair_bar__minus_01_dot_87_bar__minus_00_dot_01_bar__plus_01_dot_75 ChairType)\n (objectType Chair_bar__minus_01_dot_42_bar__minus_00_dot_01_bar__plus_01_dot_43 ChairType)\n (objectType Chair_bar__minus_01_dot_86_bar_00_dot_00_bar__plus_01_dot_14 ChairType)\n (objectType CreditCard_bar__minus_02_dot_05_bar__plus_00_dot_69_bar__plus_01_dot_42 CreditCardType)\n (objectType HousePlant_bar__minus_03_dot_02_bar__plus_00_dot_59_bar__minus_00_dot_02 HousePlantType)\n (objectType Statue_bar__minus_02_dot_05_bar__plus_00_dot_70_bar__plus_01_dot_18 StatueType)\n (objectType KeyChain_bar__minus_01_dot_97_bar__plus_00_dot_75_bar__minus_00_dot_25 KeyChainType)\n (objectType Plate_bar__minus_02_dot_25_bar__plus_00_dot_75_bar__minus_00_dot_12 PlateType)\n (objectType Window_bar__minus_00_dot_06_bar__plus_00_dot_93_bar__plus_01_dot_76 WindowType)\n (objectType Pen_bar__minus_02_dot_11_bar__plus_00_dot_75_bar__minus_00_dot_20 PenType)\n (objectType 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DiningTable_bar__minus_02_dot_27_bar__minus_00_dot_02_bar__plus_01_dot_42)\n (inReceptacle Statue_bar__minus_02_dot_05_bar__plus_00_dot_70_bar__plus_01_dot_18 DiningTable_bar__minus_02_dot_27_bar__minus_00_dot_02_bar__plus_01_dot_42)\n (inReceptacle Bowl_bar__minus_01_dot_83_bar__plus_00_dot_69_bar__plus_01_dot_30 DiningTable_bar__minus_02_dot_27_bar__minus_00_dot_02_bar__plus_01_dot_42)\n (inReceptacle TissueBox_bar__minus_02_dot_27_bar__plus_00_dot_69_bar__plus_01_dot_42 DiningTable_bar__minus_02_dot_27_bar__minus_00_dot_02_bar__plus_01_dot_42)\n (inReceptacle KeyChain_bar__minus_02_dot_49_bar__plus_00_dot_69_bar__plus_01_dot_18 DiningTable_bar__minus_02_dot_27_bar__minus_00_dot_02_bar__plus_01_dot_42)\n (inReceptacle Newspaper_bar__minus_02_dot_27_bar__plus_00_dot_69_bar__plus_01_dot_79 DiningTable_bar__minus_02_dot_27_bar__minus_00_dot_02_bar__plus_01_dot_42)\n (inReceptacle CreditCard_bar__minus_02_dot_05_bar__plus_00_dot_69_bar__plus_01_dot_42 DiningTable_bar__minus_02_dot_27_bar__minus_00_dot_02_bar__plus_01_dot_42)\n \n \n (receptacleAtLocation ArmChair_bar__minus_00_dot_78_bar__plus_00_dot_01_bar__plus_06_dot_08 loc_bar__minus_4_bar_20_bar_0_bar_60)\n (receptacleAtLocation ArmChair_bar__minus_04_dot_41_bar__plus_00_dot_01_bar__plus_06_dot_01 loc_bar__minus_17_bar_20_bar_0_bar_60)\n (receptacleAtLocation CoffeeTable_bar__minus_02_dot_32_bar__plus_00_dot_00_bar__plus_04_dot_89 loc_bar__minus_14_bar_18_bar_1_bar_60)\n (receptacleAtLocation DiningTable_bar__minus_02_dot_27_bar__minus_00_dot_02_bar__plus_01_dot_42 loc_bar__minus_10_bar_10_bar_2_bar_60)\n (receptacleAtLocation DiningTable_bar__minus_03_dot_20_bar__plus_00_dot_59_bar__plus_00_dot_21 loc_bar__minus_16_bar_2_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_30_bar__plus_00_dot_62_bar__plus_03_dot_37 loc_bar__minus_4_bar_17_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_02_dot_11_bar__plus_00_dot_66_bar__minus_00_dot_07 loc_bar__minus_12_bar_2_bar_1_bar_45)\n (receptacleAtLocation GarbageCan_bar__minus_04_dot_87_bar__plus_00_dot_00_bar__plus_00_dot_27 loc_bar__minus_18_bar_2_bar_3_bar_60)\n (receptacleAtLocation SideTable_bar__minus_00_dot_24_bar__plus_00_dot_00_bar__plus_03_dot_37 loc_bar__minus_3_bar_9_bar_0_bar_60)\n (receptacleAtLocation SideTable_bar__minus_02_dot_11_bar__plus_00_dot_01_bar__minus_00_dot_14 loc_bar__minus_8_bar_2_bar_2_bar_60)\n (receptacleAtLocation Sofa_bar__minus_02_dot_40_bar__minus_00_dot_07_bar__plus_03_dot_42 loc_bar__minus_9_bar_17_bar_2_bar_60)\n (receptacleAtLocation TVStand_bar__minus_02_dot_39_bar__plus_00_dot_00_bar__plus_06_dot_30 loc_bar__minus_10_bar_22_bar_0_bar_60)\n (objectAtLocation Watch_bar__minus_00_dot_25_bar__plus_00_dot_70_bar__plus_03_dot_29 loc_bar__minus_3_bar_9_bar_0_bar_60)\n (objectAtLocation RemoteControl_bar__minus_02_dot_67_bar__plus_00_dot_48_bar__plus_03_dot_44 loc_bar__minus_9_bar_17_bar_2_bar_60)\n (objectAtLocation KeyChain_bar__minus_02_dot_49_bar__plus_00_dot_69_bar__plus_01_dot_18 loc_bar__minus_10_bar_10_bar_2_bar_60)\n (objectAtLocation Plate_bar__minus_02_dot_76_bar__plus_00_dot_24_bar__plus_06_dot_12 loc_bar__minus_10_bar_22_bar_0_bar_60)\n (objectAtLocation CreditCard_bar__minus_02_dot_05_bar__plus_00_dot_69_bar__plus_01_dot_42 loc_bar__minus_10_bar_10_bar_2_bar_60)\n (objectAtLocation Laptop_bar__minus_02_dot_39_bar__plus_00_dot_24_bar__plus_06_dot_12 loc_bar__minus_10_bar_22_bar_0_bar_60)\n (objectAtLocation Statue_bar__minus_02_dot_53_bar__plus_00_dot_75_bar__minus_00_dot_12 loc_bar__minus_8_bar_2_bar_2_bar_60)\n (objectAtLocation Book_bar__minus_02_dot_24_bar__plus_00_dot_35_bar__plus_04_dot_81 loc_bar__minus_14_bar_18_bar_1_bar_60)\n (objectAtLocation Laptop_bar__minus_01_dot_61_bar__plus_00_dot_48_bar__plus_03_dot_62 loc_bar__minus_9_bar_17_bar_2_bar_60)\n (objectAtLocation RemoteControl_bar__minus_04_dot_37_bar__plus_00_dot_44_bar__plus_05_dot_56 loc_bar__minus_17_bar_20_bar_0_bar_60)\n (objectAtLocation KeyChain_bar__minus_01_dot_97_bar__plus_00_dot_75_bar__minus_00_dot_25 loc_bar__minus_8_bar_2_bar_2_bar_45)\n (objectAtLocation Statue_bar__minus_02_dot_40_bar__plus_00_dot_61_bar__plus_04_dot_73 loc_bar__minus_14_bar_18_bar_1_bar_60)\n (objectAtLocation Watch_bar__minus_02_dot_16_bar__plus_00_dot_60_bar__plus_04_dot_65 loc_bar__minus_14_bar_18_bar_1_bar_60)\n (objectAtLocation Plate_bar__minus_02_dot_25_bar__plus_00_dot_75_bar__minus_00_dot_12 loc_bar__minus_8_bar_2_bar_2_bar_60)\n (objectAtLocation Painting_bar__minus_02_dot_05_bar__plus_01_dot_62_bar__minus_00_dot_30 loc_bar__minus_8_bar_2_bar_2_bar_0)\n (objectAtLocation Chair_bar__minus_01_dot_87_bar__minus_00_dot_01_bar__plus_01_dot_75 loc_bar__minus_6_bar_9_bar_2_bar_60)\n (objectAtLocation Book_bar__minus_02_dot_40_bar__plus_00_dot_10_bar__plus_04_dot_81 loc_bar__minus_14_bar_18_bar_1_bar_60)\n (objectAtLocation Chair_bar__minus_02_dot_48_bar__plus_00_dot_00_bar__plus_01_dot_75 loc_bar__minus_10_bar_10_bar_2_bar_60)\n (objectAtLocation Box_bar__minus_03_dot_20_bar__plus_00_dot_68_bar__plus_03_dot_35 loc_bar__minus_9_bar_17_bar_2_bar_60)\n (objectAtLocation Chair_bar__minus_01_dot_42_bar__minus_00_dot_01_bar__plus_01_dot_43 loc_bar__minus_3_bar_6_bar_3_bar_60)\n (objectAtLocation Chair_bar__minus_03_dot_03_bar__minus_00_dot_01_bar__plus_01_dot_40 loc_bar__minus_15_bar_6_bar_1_bar_60)\n (objectAtLocation Chair_bar__minus_01_dot_86_bar_00_dot_00_bar__plus_01_dot_14 loc_bar__minus_7_bar_2_bar_0_bar_60)\n (objectAtLocation Curtains_bar__minus_00_dot_08_bar__plus_02_dot_42_bar__plus_00_dot_97 loc_bar__minus_3_bar_9_bar_0_bar_60)\n (objectAtLocation Statue_bar__minus_02_dot_05_bar__plus_00_dot_70_bar__plus_01_dot_18 loc_bar__minus_10_bar_10_bar_2_bar_60)\n (objectAtLocation Laptop_bar__minus_00_dot_89_bar__plus_00_dot_45_bar__plus_05_dot_97 loc_bar__minus_4_bar_20_bar_0_bar_60)\n (objectAtLocation Television_bar__minus_02_dot_36_bar__plus_01_dot_21_bar__plus_06_dot_28 loc_bar__minus_10_bar_22_bar_0_bar_60)\n (objectAtLocation HousePlant_bar__minus_03_dot_02_bar__plus_00_dot_59_bar__minus_00_dot_02 loc_bar__minus_16_bar_2_bar_1_bar_60)\n (objectAtLocation TissueBox_bar__minus_02_dot_27_bar__plus_00_dot_69_bar__plus_01_dot_42 loc_bar__minus_10_bar_10_bar_2_bar_60)\n (objectAtLocation CreditCard_bar__minus_00_dot_81_bar__plus_00_dot_43_bar__plus_05_dot_65 loc_bar__minus_4_bar_20_bar_0_bar_60)\n (objectAtLocation Plate_bar__minus_02_dot_93_bar__plus_00_dot_69_bar__plus_01_dot_67 loc_bar__minus_10_bar_10_bar_2_bar_60)\n (objectAtLocation KeyChain_bar__minus_01_dot_03_bar__plus_00_dot_44_bar__plus_06_dot_22 loc_bar__minus_4_bar_20_bar_0_bar_60)\n (objectAtLocation FloorLamp_bar__minus_00_dot_57_bar__plus_00_dot_00_bar__plus_00_dot_03 loc_bar__minus_5_bar_1_bar_1_bar_60)\n (objectAtLocation Vase_bar__minus_02_dot_71_bar__plus_00_dot_69_bar__plus_01_dot_79 loc_bar__minus_10_bar_10_bar_2_bar_60)\n (objectAtLocation Chair_bar__minus_02_dot_49_bar__minus_00_dot_01_bar__plus_01_dot_11 loc_bar__minus_10_bar_2_bar_0_bar_60)\n (objectAtLocation Pencil_bar__minus_01_dot_97_bar__plus_00_dot_75_bar__plus_00_dot_01 loc_bar__minus_8_bar_2_bar_2_bar_60)\n (objectAtLocation Pillow_bar__minus_02_dot_14_bar__plus_00_dot_56_bar__plus_03_dot_62 loc_bar__minus_9_bar_17_bar_2_bar_60)\n (objectAtLocation Bowl_bar__minus_01_dot_83_bar__plus_00_dot_69_bar__plus_01_dot_30 loc_bar__minus_10_bar_10_bar_2_bar_60)\n (objectAtLocation RemoteControl_bar__minus_02_dot_67_bar__plus_00_dot_48_bar__plus_03_dot_71 loc_bar__minus_9_bar_17_bar_2_bar_60)\n (objectAtLocation Watch_bar__minus_00_dot_28_bar__plus_00_dot_70_bar__plus_03_dot_12 loc_bar__minus_3_bar_9_bar_0_bar_60)\n (objectAtLocation Pen_bar__minus_02_dot_11_bar__plus_00_dot_75_bar__minus_00_dot_20 loc_bar__minus_8_bar_2_bar_2_bar_60)\n (objectAtLocation Newspaper_bar__minus_02_dot_27_bar__plus_00_dot_69_bar__plus_01_dot_79 loc_bar__minus_10_bar_10_bar_2_bar_60)\n (objectAtLocation Window_bar__minus_00_dot_06_bar__plus_00_dot_93_bar__plus_01_dot_76 loc_bar__minus_2_bar_7_bar_1_bar_60)\n (objectAtLocation Window_bar__minus_00_dot_06_bar__plus_01_dot_13_bar__plus_04_dot_89 loc_bar__minus_2_bar_20_bar_1_bar_45)\n (objectAtLocation LightSwitch_bar__minus_03_dot_31_bar__plus_01_dot_34_bar__minus_00_dot_32 loc_bar__minus_14_bar_1_bar_2_bar_30)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (inReceptacle ?o ?r)\n (objectType ?o BowlType)\n (receptacleType ?r CoffeeTableType)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to diningtable 2", "take bowl 1 from diningtable 2", "go to coffeetable 1", "move bowl 1 to coffeetable 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/valid_seen/pick_and_place_simple-Bowl-None-CoffeeTable-201/trial_T20190907_171639_045329/initial_state.pddl b/data/alfworld/json_2.1.1/valid_seen/pick_and_place_simple-Bowl-None-CoffeeTable-201/trial_T20190907_171639_045329/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..e33a793a8f3a3deb1c36396b7177295faa661cb6 --- /dev/null +++ b/data/alfworld/json_2.1.1/valid_seen/pick_and_place_simple-Bowl-None-CoffeeTable-201/trial_T20190907_171639_045329/initial_state.pddl @@ -0,0 +1,628 @@ + +(define (problem plan_trial_T20190907_171639_045329) +(:domain alfred) +(:objects +agent1 - agent +Curtains - object + SprayBottle - object + Mirror - object + HousePlant - object + Watch - object + TeddyBear - object + WateringCan - object + Bathtub - object + LightSwitch - object + Vase - object + Candle - object + Bread - object + Statue - object + HandTowel - object + StoveKnob - object + PaperTowelRoll - object + Pan - object + PepperShaker - object + Painting - object + CellPhone - object + Plunger - object + Spoon - object + SaltShaker - object + KeyChain - object + Footstool - object + Poster - object + Television - object + LaundryHamperLid - object + Glassbottle - object + AlarmClock - object + WineBottle - object + Bowl - object + Sink - object + TissueBox - object + TennisRacket - object + ToiletPaper - object + ScrubBrush - object + CreditCard - object + Laptop - object + Cloth - object + Cup - object + Chair - object + BasketBall - object + Kettle - object + PaperTowel - object + ShowerDoor - object + BaseballBat - object + Potato - object + Pillow - object + Lettuce - object + RemoteControl - object + Window - object + DishSponge - object + CD - object + Boots - object + Blinds - object + Pen - object + Newspaper - object + Plate - object + Mug - object + ShowerGlass - object + ToiletPaperRoll - object + SoapBar - object + FloorLamp - object + SoapBottle - object + Pot - object + Pencil - object + Spatula - object + Towel - object + Fork - object + Ladle - object + Knife - object + Apple - object + Box - object + Tomato - object + ButterKnife - object + Egg - object + Book - object + DeskLamp - object +CurtainsType - otype + SprayBottleType - otype + MirrorType - otype + HousePlantType - otype + WatchType - otype + TeddyBearType - otype + WateringCanType - otype + BathtubType - otype + LightSwitchType - otype + VaseType - otype + CandleType - otype + BreadType - otype + StatueType - otype + HandTowelType - otype + StoveKnobType - otype + PaperTowelRollType - otype + PanType - otype + PepperShakerType - otype + PaintingType - otype + CellPhoneType - otype + PlungerType - otype + SpoonType - otype + SaltShakerType - otype + KeyChainType - otype + FootstoolType - otype + PosterType - otype + TelevisionType - otype + LaundryHamperLidType - otype + GlassbottleType - otype + AlarmClockType - otype + WineBottleType - otype + BowlType - otype + SinkType - otype + TissueBoxType - otype + TennisRacketType - otype + ToiletPaperType - otype + ScrubBrushType - otype + CreditCardType - otype + LaptopType - otype + ClothType - otype + CupType - otype + ChairType - otype + BasketBallType - otype + KettleType - otype + PaperTowelType - otype + ShowerDoorType - otype + BaseballBatType - otype + PotatoType - otype + PillowType - otype + LettuceType - otype + RemoteControlType - otype + WindowType - otype + DishSpongeType - otype + CDType - otype + BootsType - otype + BlindsType - otype + PenType - otype + NewspaperType - otype + PlateType - otype + MugType - otype + ShowerGlassType - otype + ToiletPaperRollType - otype + SoapBarType - otype + FloorLampType - otype + SoapBottleType - otype + PotType - otype + PencilType - otype + SpatulaType - otype + TowelType - otype + ForkType - otype + LadleType - otype + KnifeType - otype + AppleType - otype + BoxType - otype + TomatoType - otype + ButterKnifeType - otype + EggType - otype + BookType - otype + DeskLampType - otype +CabinetType - rtype + ShelfType - rtype + DiningTableType - rtype + TowelHolderType - rtype + PaintingHangerType - rtype + TVStandType - rtype + LaundryHamperType - rtype + OttomanType - rtype + SafeType - rtype + CoffeeMachineType - rtype + CounterTopType - rtype + ToiletType - rtype + FridgeType - rtype + CoffeeTableType - rtype + SinkBasinType - rtype + GarbageCanType - rtype + BathtubBasinType - rtype + SideTableType - rtype + CartType - rtype + BedType - rtype + DeskType - rtype + SofaType - rtype + ArmChairType - rtype + MicrowaveType - rtype + HandTowelHolderType - rtype + ToasterType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + DrawerType - rtype + DresserType - rtype + + + Book_bar__minus_02_dot_24_bar__plus_00_dot_35_bar__plus_04_dot_81 - object + Book_bar__minus_02_dot_40_bar__plus_00_dot_10_bar__plus_04_dot_81 - object + Bowl_bar__minus_01_dot_83_bar__plus_00_dot_69_bar__plus_01_dot_30 - object + Box_bar__minus_03_dot_20_bar__plus_00_dot_68_bar__plus_03_dot_35 - object + Chair_bar__minus_01_dot_42_bar__minus_00_dot_01_bar__plus_01_dot_43 - object + Chair_bar__minus_01_dot_86_bar_00_dot_00_bar__plus_01_dot_14 - object + Chair_bar__minus_01_dot_87_bar__minus_00_dot_01_bar__plus_01_dot_75 - object + Chair_bar__minus_02_dot_48_bar__plus_00_dot_00_bar__plus_01_dot_75 - object + Chair_bar__minus_02_dot_49_bar__minus_00_dot_01_bar__plus_01_dot_11 - object + Chair_bar__minus_03_dot_03_bar__minus_00_dot_01_bar__plus_01_dot_40 - object + CreditCard_bar__minus_00_dot_81_bar__plus_00_dot_43_bar__plus_05_dot_65 - object + CreditCard_bar__minus_02_dot_05_bar__plus_00_dot_69_bar__plus_01_dot_42 - object + Curtains_bar__minus_00_dot_08_bar__plus_02_dot_42_bar__plus_00_dot_97 - object + FloorLamp_bar__minus_00_dot_57_bar__plus_00_dot_00_bar__plus_00_dot_03 - object + HousePlant_bar__minus_03_dot_02_bar__plus_00_dot_59_bar__minus_00_dot_02 - object + KeyChain_bar__minus_01_dot_03_bar__plus_00_dot_44_bar__plus_06_dot_22 - object + KeyChain_bar__minus_01_dot_97_bar__plus_00_dot_75_bar__minus_00_dot_25 - object + KeyChain_bar__minus_02_dot_49_bar__plus_00_dot_69_bar__plus_01_dot_18 - object + Lamp_bar__minus_00_dot_28_bar__plus_00_dot_70_bar__plus_03_dot_61 - object + Laptop_bar__minus_00_dot_89_bar__plus_00_dot_45_bar__plus_05_dot_97 - object + Laptop_bar__minus_01_dot_61_bar__plus_00_dot_48_bar__plus_03_dot_62 - object + Laptop_bar__minus_02_dot_39_bar__plus_00_dot_24_bar__plus_06_dot_12 - object + LightSwitch_bar__minus_03_dot_31_bar__plus_01_dot_34_bar__minus_00_dot_32 - object + Newspaper_bar__minus_02_dot_27_bar__plus_00_dot_69_bar__plus_01_dot_79 - object + Painting_bar__minus_02_dot_05_bar__plus_01_dot_62_bar__minus_00_dot_30 - object + Pencil_bar__minus_01_dot_97_bar__plus_00_dot_75_bar__plus_00_dot_01 - object + Pen_bar__minus_02_dot_11_bar__plus_00_dot_75_bar__minus_00_dot_20 - object + Pillow_bar__minus_02_dot_14_bar__plus_00_dot_56_bar__plus_03_dot_62 - object + Plate_bar__minus_02_dot_25_bar__plus_00_dot_75_bar__minus_00_dot_12 - object + Plate_bar__minus_02_dot_76_bar__plus_00_dot_24_bar__plus_06_dot_12 - object + Plate_bar__minus_02_dot_93_bar__plus_00_dot_69_bar__plus_01_dot_67 - object + RemoteControl_bar__minus_02_dot_67_bar__plus_00_dot_48_bar__plus_03_dot_44 - object + RemoteControl_bar__minus_02_dot_67_bar__plus_00_dot_48_bar__plus_03_dot_71 - object + RemoteControl_bar__minus_04_dot_37_bar__plus_00_dot_44_bar__plus_05_dot_56 - object + Statue_bar__minus_02_dot_05_bar__plus_00_dot_70_bar__plus_01_dot_18 - object + Statue_bar__minus_02_dot_40_bar__plus_00_dot_61_bar__plus_04_dot_73 - object + Statue_bar__minus_02_dot_53_bar__plus_00_dot_75_bar__minus_00_dot_12 - object + Television_bar__minus_02_dot_36_bar__plus_01_dot_21_bar__plus_06_dot_28 - object + TissueBox_bar__minus_02_dot_27_bar__plus_00_dot_69_bar__plus_01_dot_42 - object + Vase_bar__minus_02_dot_71_bar__plus_00_dot_69_bar__plus_01_dot_79 - object + Watch_bar__minus_00_dot_25_bar__plus_00_dot_70_bar__plus_03_dot_29 - object + Watch_bar__minus_00_dot_28_bar__plus_00_dot_70_bar__plus_03_dot_12 - object + Watch_bar__minus_02_dot_16_bar__plus_00_dot_60_bar__plus_04_dot_65 - object + Window_bar__minus_00_dot_06_bar__plus_00_dot_93_bar__plus_01_dot_76 - object + Window_bar__minus_00_dot_06_bar__plus_01_dot_13_bar__plus_04_dot_89 - object + ArmChair_bar__minus_00_dot_78_bar__plus_00_dot_01_bar__plus_06_dot_08 - receptacle + ArmChair_bar__minus_04_dot_41_bar__plus_00_dot_01_bar__plus_06_dot_01 - receptacle + CoffeeTable_bar__minus_02_dot_32_bar__plus_00_dot_00_bar__plus_04_dot_89 - receptacle + DiningTable_bar__minus_02_dot_27_bar__minus_00_dot_02_bar__plus_01_dot_42 - receptacle + DiningTable_bar__minus_03_dot_20_bar__plus_00_dot_59_bar__plus_00_dot_21 - receptacle + Drawer_bar__minus_00_dot_30_bar__plus_00_dot_62_bar__plus_03_dot_37 - receptacle + Drawer_bar__minus_02_dot_11_bar__plus_00_dot_66_bar__minus_00_dot_07 - receptacle + GarbageCan_bar__minus_04_dot_87_bar__plus_00_dot_00_bar__plus_00_dot_27 - receptacle + SideTable_bar__minus_00_dot_24_bar__plus_00_dot_00_bar__plus_03_dot_37 - receptacle + SideTable_bar__minus_02_dot_11_bar__plus_00_dot_01_bar__minus_00_dot_14 - receptacle + Sofa_bar__minus_02_dot_40_bar__minus_00_dot_07_bar__plus_03_dot_42 - receptacle + TVStand_bar__minus_02_dot_39_bar__plus_00_dot_00_bar__plus_06_dot_30 - receptacle + loc_bar__minus_17_bar_20_bar_0_bar_60 - location + loc_bar__minus_2_bar_20_bar_1_bar_45 - location + loc_bar__minus_8_bar_2_bar_2_bar_45 - location + loc_bar__minus_10_bar_22_bar_0_bar_60 - location + loc_bar__minus_8_bar_2_bar_2_bar_60 - location + loc_bar__minus_12_bar_2_bar_1_bar_45 - location + loc_bar__minus_10_bar_2_bar_0_bar_60 - location + loc_bar__minus_6_bar_9_bar_2_bar_60 - location + loc_bar__minus_16_bar_2_bar_1_bar_60 - location + loc_bar__minus_9_bar_17_bar_2_bar_60 - location + loc_bar__minus_18_bar_2_bar_3_bar_60 - location + loc_bar__minus_8_bar_2_bar_2_bar_0 - location + loc_bar__minus_15_bar_6_bar_1_bar_60 - location + loc_bar__minus_14_bar_1_bar_2_bar_30 - location + loc_bar__minus_3_bar_6_bar_3_bar_60 - location + loc_bar__minus_14_bar_18_bar_1_bar_60 - location + loc_bar__minus_4_bar_20_bar_0_bar_60 - location + loc_bar__minus_3_bar_9_bar_0_bar_60 - location + loc_bar__minus_4_bar_17_bar_2_bar_45 - location + loc_bar__minus_2_bar_7_bar_1_bar_60 - location + loc_bar__minus_10_bar_10_bar_2_bar_60 - location + loc_bar__minus_7_bar_2_bar_0_bar_60 - location + loc_bar__minus_5_bar_1_bar_1_bar_60 - location + loc_bar__minus_13_bar_22_bar_0_bar_30 - location + ) + + +(:init + + + (receptacleType TVStand_bar__minus_02_dot_39_bar__plus_00_dot_00_bar__plus_06_dot_30 TVStandType) + (receptacleType SideTable_bar__minus_02_dot_11_bar__plus_00_dot_01_bar__minus_00_dot_14 SideTableType) + (receptacleType Drawer_bar__minus_02_dot_11_bar__plus_00_dot_66_bar__minus_00_dot_07 DrawerType) + (receptacleType ArmChair_bar__minus_04_dot_41_bar__plus_00_dot_01_bar__plus_06_dot_01 ArmChairType) + (receptacleType SideTable_bar__minus_00_dot_24_bar__plus_00_dot_00_bar__plus_03_dot_37 SideTableType) + (receptacleType Drawer_bar__minus_00_dot_30_bar__plus_00_dot_62_bar__plus_03_dot_37 DrawerType) + (receptacleType DiningTable_bar__minus_02_dot_27_bar__minus_00_dot_02_bar__plus_01_dot_42 DiningTableType) + (receptacleType DiningTable_bar__minus_03_dot_20_bar__plus_00_dot_59_bar__plus_00_dot_21 DiningTableType) + (receptacleType Sofa_bar__minus_02_dot_40_bar__minus_00_dot_07_bar__plus_03_dot_42 SofaType) + (receptacleType ArmChair_bar__minus_00_dot_78_bar__plus_00_dot_01_bar__plus_06_dot_08 ArmChairType) + (receptacleType CoffeeTable_bar__minus_02_dot_32_bar__plus_00_dot_00_bar__plus_04_dot_89 CoffeeTableType) + (receptacleType GarbageCan_bar__minus_04_dot_87_bar__plus_00_dot_00_bar__plus_00_dot_27 GarbageCanType) + (objectType Watch_bar__minus_00_dot_25_bar__plus_00_dot_70_bar__plus_03_dot_29 WatchType) + (objectType RemoteControl_bar__minus_04_dot_37_bar__plus_00_dot_44_bar__plus_05_dot_56 RemoteControlType) + (objectType Chair_bar__minus_03_dot_03_bar__minus_00_dot_01_bar__plus_01_dot_40 ChairType) + (objectType Curtains_bar__minus_00_dot_08_bar__plus_02_dot_42_bar__plus_00_dot_97 CurtainsType) + (objectType Pencil_bar__minus_01_dot_97_bar__plus_00_dot_75_bar__plus_00_dot_01 PencilType) + (objectType FloorLamp_bar__minus_00_dot_57_bar__plus_00_dot_00_bar__plus_00_dot_03 FloorLampType) + (objectType Painting_bar__minus_02_dot_05_bar__plus_01_dot_62_bar__minus_00_dot_30 PaintingType) + (objectType RemoteControl_bar__minus_02_dot_67_bar__plus_00_dot_48_bar__plus_03_dot_44 RemoteControlType) + (objectType Book_bar__minus_02_dot_24_bar__plus_00_dot_35_bar__plus_04_dot_81 BookType) + (objectType Watch_bar__minus_00_dot_28_bar__plus_00_dot_70_bar__plus_03_dot_12 WatchType) + (objectType Chair_bar__minus_01_dot_87_bar__minus_00_dot_01_bar__plus_01_dot_75 ChairType) + (objectType Chair_bar__minus_01_dot_42_bar__minus_00_dot_01_bar__plus_01_dot_43 ChairType) + (objectType Chair_bar__minus_01_dot_86_bar_00_dot_00_bar__plus_01_dot_14 ChairType) + (objectType CreditCard_bar__minus_02_dot_05_bar__plus_00_dot_69_bar__plus_01_dot_42 CreditCardType) + (objectType HousePlant_bar__minus_03_dot_02_bar__plus_00_dot_59_bar__minus_00_dot_02 HousePlantType) + (objectType Statue_bar__minus_02_dot_05_bar__plus_00_dot_70_bar__plus_01_dot_18 StatueType) + (objectType KeyChain_bar__minus_01_dot_97_bar__plus_00_dot_75_bar__minus_00_dot_25 KeyChainType) + (objectType Plate_bar__minus_02_dot_25_bar__plus_00_dot_75_bar__minus_00_dot_12 PlateType) + (objectType Window_bar__minus_00_dot_06_bar__plus_00_dot_93_bar__plus_01_dot_76 WindowType) + (objectType Pen_bar__minus_02_dot_11_bar__plus_00_dot_75_bar__minus_00_dot_20 PenType) + (objectType Statue_bar__minus_02_dot_53_bar__plus_00_dot_75_bar__minus_00_dot_12 StatueType) + (objectType RemoteControl_bar__minus_02_dot_67_bar__plus_00_dot_48_bar__plus_03_dot_71 RemoteControlType) + (objectType Watch_bar__minus_02_dot_16_bar__plus_00_dot_60_bar__plus_04_dot_65 WatchType) + (objectType Window_bar__minus_00_dot_06_bar__plus_01_dot_13_bar__plus_04_dot_89 WindowType) + (objectType Plate_bar__minus_02_dot_76_bar__plus_00_dot_24_bar__plus_06_dot_12 PlateType) + (objectType Pillow_bar__minus_02_dot_14_bar__plus_00_dot_56_bar__plus_03_dot_62 PillowType) + (objectType Laptop_bar__minus_01_dot_61_bar__plus_00_dot_48_bar__plus_03_dot_62 LaptopType) + (objectType CreditCard_bar__minus_00_dot_81_bar__plus_00_dot_43_bar__plus_05_dot_65 CreditCardType) + (objectType Laptop_bar__minus_02_dot_39_bar__plus_00_dot_24_bar__plus_06_dot_12 LaptopType) + (objectType Chair_bar__minus_02_dot_49_bar__minus_00_dot_01_bar__plus_01_dot_11 ChairType) + (objectType Television_bar__minus_02_dot_36_bar__plus_01_dot_21_bar__plus_06_dot_28 TelevisionType) + (objectType KeyChain_bar__minus_02_dot_49_bar__plus_00_dot_69_bar__plus_01_dot_18 KeyChainType) + (objectType Box_bar__minus_03_dot_20_bar__plus_00_dot_68_bar__plus_03_dot_35 BoxType) + (objectType Book_bar__minus_02_dot_40_bar__plus_00_dot_10_bar__plus_04_dot_81 BookType) + (objectType Statue_bar__minus_02_dot_40_bar__plus_00_dot_61_bar__plus_04_dot_73 StatueType) + (objectType Plate_bar__minus_02_dot_93_bar__plus_00_dot_69_bar__plus_01_dot_67 PlateType) + (objectType Vase_bar__minus_02_dot_71_bar__plus_00_dot_69_bar__plus_01_dot_79 VaseType) + (objectType Chair_bar__minus_02_dot_48_bar__plus_00_dot_00_bar__plus_01_dot_75 ChairType) + (objectType KeyChain_bar__minus_01_dot_03_bar__plus_00_dot_44_bar__plus_06_dot_22 KeyChainType) + (objectType Bowl_bar__minus_01_dot_83_bar__plus_00_dot_69_bar__plus_01_dot_30 BowlType) + (objectType TissueBox_bar__minus_02_dot_27_bar__plus_00_dot_69_bar__plus_01_dot_42 TissueBoxType) + (objectType LightSwitch_bar__minus_03_dot_31_bar__plus_01_dot_34_bar__minus_00_dot_32 LightSwitchType) + (objectType Newspaper_bar__minus_02_dot_27_bar__plus_00_dot_69_bar__plus_01_dot_79 NewspaperType) + (objectType Laptop_bar__minus_00_dot_89_bar__plus_00_dot_45_bar__plus_05_dot_97 LaptopType) + (canContain TVStandType TissueBoxType) + (canContain SideTableType KeyChainType) + (canContain SideTableType WatchType) + (canContain SideTableType RemoteControlType) + (canContain SideTableType BowlType) + (canContain SideTableType TissueBoxType) + (canContain SideTableType PencilType) + (canContain SideTableType VaseType) + (canContain SideTableType CreditCardType) + (canContain SideTableType PenType) + (canContain SideTableType NewspaperType) + (canContain SideTableType LaptopType) + (canContain SideTableType StatueType) + (canContain SideTableType PlateType) + (canContain SideTableType BoxType) + (canContain SideTableType BookType) + (canContain DrawerType KeyChainType) + (canContain DrawerType WatchType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType PencilType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PenType) + (canContain DrawerType NewspaperType) + (canContain DrawerType BookType) + (canContain ArmChairType PillowType) + (canContain ArmChairType RemoteControlType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType CreditCardType) + (canContain ArmChairType BoxType) + (canContain ArmChairType NewspaperType) + (canContain ArmChairType BookType) + (canContain SideTableType KeyChainType) + (canContain SideTableType WatchType) + (canContain SideTableType RemoteControlType) + (canContain SideTableType BowlType) + (canContain SideTableType TissueBoxType) + (canContain SideTableType PencilType) + (canContain SideTableType VaseType) + (canContain SideTableType CreditCardType) + (canContain SideTableType PenType) + (canContain SideTableType NewspaperType) + (canContain SideTableType LaptopType) + (canContain SideTableType StatueType) + (canContain SideTableType PlateType) + (canContain SideTableType BoxType) + (canContain SideTableType BookType) + (canContain DrawerType KeyChainType) + (canContain DrawerType WatchType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType PencilType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PenType) + (canContain DrawerType NewspaperType) + (canContain DrawerType BookType) + (canContain DiningTableType KeyChainType) + (canContain DiningTableType WatchType) + (canContain DiningTableType RemoteControlType) + (canContain DiningTableType BowlType) + (canContain DiningTableType TissueBoxType) + (canContain DiningTableType PencilType) + (canContain DiningTableType VaseType) + (canContain DiningTableType CreditCardType) + (canContain DiningTableType PenType) + (canContain DiningTableType NewspaperType) + (canContain DiningTableType LaptopType) + (canContain DiningTableType StatueType) + (canContain DiningTableType PlateType) + (canContain DiningTableType BoxType) + (canContain DiningTableType BookType) + (canContain DiningTableType KeyChainType) + (canContain DiningTableType WatchType) + (canContain DiningTableType RemoteControlType) + (canContain DiningTableType BowlType) + (canContain DiningTableType TissueBoxType) + (canContain DiningTableType PencilType) + (canContain DiningTableType VaseType) + (canContain DiningTableType CreditCardType) + (canContain DiningTableType PenType) + (canContain DiningTableType NewspaperType) + (canContain DiningTableType LaptopType) + (canContain DiningTableType StatueType) + (canContain DiningTableType PlateType) + (canContain DiningTableType BoxType) + (canContain DiningTableType BookType) + (canContain SofaType PillowType) + (canContain SofaType RemoteControlType) + (canContain SofaType KeyChainType) + (canContain SofaType LaptopType) + (canContain SofaType CreditCardType) + (canContain SofaType BoxType) + (canContain SofaType NewspaperType) + (canContain SofaType BookType) + (canContain ArmChairType PillowType) + (canContain ArmChairType RemoteControlType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType CreditCardType) + (canContain ArmChairType BoxType) + (canContain ArmChairType NewspaperType) + (canContain ArmChairType BookType) + (canContain CoffeeTableType KeyChainType) + (canContain CoffeeTableType WatchType) + (canContain CoffeeTableType RemoteControlType) + (canContain CoffeeTableType BowlType) + (canContain CoffeeTableType TissueBoxType) + (canContain CoffeeTableType PencilType) + (canContain CoffeeTableType VaseType) + (canContain CoffeeTableType CreditCardType) + (canContain CoffeeTableType PenType) + (canContain CoffeeTableType NewspaperType) + (canContain CoffeeTableType LaptopType) + (canContain CoffeeTableType StatueType) + (canContain CoffeeTableType PlateType) + (canContain CoffeeTableType BoxType) + (canContain CoffeeTableType BookType) + (canContain GarbageCanType TissueBoxType) + (canContain GarbageCanType PencilType) + (canContain GarbageCanType PenType) + (canContain GarbageCanType NewspaperType) + (pickupable Watch_bar__minus_00_dot_25_bar__plus_00_dot_70_bar__plus_03_dot_29) + (pickupable RemoteControl_bar__minus_04_dot_37_bar__plus_00_dot_44_bar__plus_05_dot_56) + (pickupable Pencil_bar__minus_01_dot_97_bar__plus_00_dot_75_bar__plus_00_dot_01) + (pickupable RemoteControl_bar__minus_02_dot_67_bar__plus_00_dot_48_bar__plus_03_dot_44) + (pickupable Book_bar__minus_02_dot_24_bar__plus_00_dot_35_bar__plus_04_dot_81) + (pickupable Watch_bar__minus_00_dot_28_bar__plus_00_dot_70_bar__plus_03_dot_12) + (pickupable CreditCard_bar__minus_02_dot_05_bar__plus_00_dot_69_bar__plus_01_dot_42) + (pickupable Statue_bar__minus_02_dot_05_bar__plus_00_dot_70_bar__plus_01_dot_18) + (pickupable KeyChain_bar__minus_01_dot_97_bar__plus_00_dot_75_bar__minus_00_dot_25) + (pickupable Plate_bar__minus_02_dot_25_bar__plus_00_dot_75_bar__minus_00_dot_12) + (pickupable Pen_bar__minus_02_dot_11_bar__plus_00_dot_75_bar__minus_00_dot_20) + (pickupable Statue_bar__minus_02_dot_53_bar__plus_00_dot_75_bar__minus_00_dot_12) + (pickupable RemoteControl_bar__minus_02_dot_67_bar__plus_00_dot_48_bar__plus_03_dot_71) + (pickupable Watch_bar__minus_02_dot_16_bar__plus_00_dot_60_bar__plus_04_dot_65) + (pickupable Plate_bar__minus_02_dot_76_bar__plus_00_dot_24_bar__plus_06_dot_12) + (pickupable Pillow_bar__minus_02_dot_14_bar__plus_00_dot_56_bar__plus_03_dot_62) + (pickupable Laptop_bar__minus_01_dot_61_bar__plus_00_dot_48_bar__plus_03_dot_62) + (pickupable CreditCard_bar__minus_00_dot_81_bar__plus_00_dot_43_bar__plus_05_dot_65) + (pickupable Laptop_bar__minus_02_dot_39_bar__plus_00_dot_24_bar__plus_06_dot_12) + (pickupable KeyChain_bar__minus_02_dot_49_bar__plus_00_dot_69_bar__plus_01_dot_18) + (pickupable Box_bar__minus_03_dot_20_bar__plus_00_dot_68_bar__plus_03_dot_35) + (pickupable Book_bar__minus_02_dot_40_bar__plus_00_dot_10_bar__plus_04_dot_81) + (pickupable Statue_bar__minus_02_dot_40_bar__plus_00_dot_61_bar__plus_04_dot_73) + (pickupable Plate_bar__minus_02_dot_93_bar__plus_00_dot_69_bar__plus_01_dot_67) + (pickupable Vase_bar__minus_02_dot_71_bar__plus_00_dot_69_bar__plus_01_dot_79) + (pickupable KeyChain_bar__minus_01_dot_03_bar__plus_00_dot_44_bar__plus_06_dot_22) + (pickupable Bowl_bar__minus_01_dot_83_bar__plus_00_dot_69_bar__plus_01_dot_30) + (pickupable TissueBox_bar__minus_02_dot_27_bar__plus_00_dot_69_bar__plus_01_dot_42) + (pickupable Newspaper_bar__minus_02_dot_27_bar__plus_00_dot_69_bar__plus_01_dot_79) + (pickupable Laptop_bar__minus_00_dot_89_bar__plus_00_dot_45_bar__plus_05_dot_97) + (isReceptacleObject Plate_bar__minus_02_dot_25_bar__plus_00_dot_75_bar__minus_00_dot_12) + (isReceptacleObject Plate_bar__minus_02_dot_76_bar__plus_00_dot_24_bar__plus_06_dot_12) + (isReceptacleObject Box_bar__minus_03_dot_20_bar__plus_00_dot_68_bar__plus_03_dot_35) + (isReceptacleObject Plate_bar__minus_02_dot_93_bar__plus_00_dot_69_bar__plus_01_dot_67) + (isReceptacleObject Bowl_bar__minus_01_dot_83_bar__plus_00_dot_69_bar__plus_01_dot_30) + (openable Drawer_bar__minus_02_dot_11_bar__plus_00_dot_66_bar__minus_00_dot_07) + (openable Drawer_bar__minus_00_dot_30_bar__plus_00_dot_62_bar__plus_03_dot_37) + + (atLocation agent1 loc_bar__minus_13_bar_22_bar_0_bar_30) + + (cleanable Plate_bar__minus_02_dot_25_bar__plus_00_dot_75_bar__minus_00_dot_12) + (cleanable Plate_bar__minus_02_dot_76_bar__plus_00_dot_24_bar__plus_06_dot_12) + (cleanable Plate_bar__minus_02_dot_93_bar__plus_00_dot_69_bar__plus_01_dot_67) + (cleanable Bowl_bar__minus_01_dot_83_bar__plus_00_dot_69_bar__plus_01_dot_30) + + (heatable Plate_bar__minus_02_dot_25_bar__plus_00_dot_75_bar__minus_00_dot_12) + (heatable Plate_bar__minus_02_dot_76_bar__plus_00_dot_24_bar__plus_06_dot_12) + (heatable Plate_bar__minus_02_dot_93_bar__plus_00_dot_69_bar__plus_01_dot_67) + (coolable Plate_bar__minus_02_dot_25_bar__plus_00_dot_75_bar__minus_00_dot_12) + (coolable Plate_bar__minus_02_dot_76_bar__plus_00_dot_24_bar__plus_06_dot_12) + (coolable Plate_bar__minus_02_dot_93_bar__plus_00_dot_69_bar__plus_01_dot_67) + (coolable Bowl_bar__minus_01_dot_83_bar__plus_00_dot_69_bar__plus_01_dot_30) + + + (toggleable FloorLamp_bar__minus_00_dot_57_bar__plus_00_dot_00_bar__plus_00_dot_03) + + + + + (inReceptacleObject Pen_bar__minus_02_dot_11_bar__plus_00_dot_75_bar__minus_00_dot_20 Plate_bar__minus_02_dot_25_bar__plus_00_dot_75_bar__minus_00_dot_12) + (inReceptacle CreditCard_bar__minus_00_dot_81_bar__plus_00_dot_43_bar__plus_05_dot_65 ArmChair_bar__minus_00_dot_78_bar__plus_00_dot_01_bar__plus_06_dot_08) + (inReceptacle Laptop_bar__minus_00_dot_89_bar__plus_00_dot_45_bar__plus_05_dot_97 ArmChair_bar__minus_00_dot_78_bar__plus_00_dot_01_bar__plus_06_dot_08) + (inReceptacle KeyChain_bar__minus_01_dot_03_bar__plus_00_dot_44_bar__plus_06_dot_22 ArmChair_bar__minus_00_dot_78_bar__plus_00_dot_01_bar__plus_06_dot_08) + (inReceptacle HousePlant_bar__minus_03_dot_02_bar__plus_00_dot_59_bar__minus_00_dot_02 DiningTable_bar__minus_03_dot_20_bar__plus_00_dot_59_bar__plus_00_dot_21) + (inReceptacle Laptop_bar__minus_02_dot_39_bar__plus_00_dot_24_bar__plus_06_dot_12 TVStand_bar__minus_02_dot_39_bar__plus_00_dot_00_bar__plus_06_dot_30) + (inReceptacle Plate_bar__minus_02_dot_76_bar__plus_00_dot_24_bar__plus_06_dot_12 TVStand_bar__minus_02_dot_39_bar__plus_00_dot_00_bar__plus_06_dot_30) + (inReceptacle Television_bar__minus_02_dot_36_bar__plus_01_dot_21_bar__plus_06_dot_28 TVStand_bar__minus_02_dot_39_bar__plus_00_dot_00_bar__plus_06_dot_30) + (inReceptacle Statue_bar__minus_02_dot_40_bar__plus_00_dot_61_bar__plus_04_dot_73 CoffeeTable_bar__minus_02_dot_32_bar__plus_00_dot_00_bar__plus_04_dot_89) + (inReceptacle Book_bar__minus_02_dot_24_bar__plus_00_dot_35_bar__plus_04_dot_81 CoffeeTable_bar__minus_02_dot_32_bar__plus_00_dot_00_bar__plus_04_dot_89) + (inReceptacle Book_bar__minus_02_dot_40_bar__plus_00_dot_10_bar__plus_04_dot_81 CoffeeTable_bar__minus_02_dot_32_bar__plus_00_dot_00_bar__plus_04_dot_89) + (inReceptacle Watch_bar__minus_02_dot_16_bar__plus_00_dot_60_bar__plus_04_dot_65 CoffeeTable_bar__minus_02_dot_32_bar__plus_00_dot_00_bar__plus_04_dot_89) + (inReceptacle RemoteControl_bar__minus_04_dot_37_bar__plus_00_dot_44_bar__plus_05_dot_56 ArmChair_bar__minus_04_dot_41_bar__plus_00_dot_01_bar__plus_06_dot_01) + (inReceptacle Pen_bar__minus_02_dot_11_bar__plus_00_dot_75_bar__minus_00_dot_20 SideTable_bar__minus_02_dot_11_bar__plus_00_dot_01_bar__minus_00_dot_14) + (inReceptacle Statue_bar__minus_02_dot_53_bar__plus_00_dot_75_bar__minus_00_dot_12 SideTable_bar__minus_02_dot_11_bar__plus_00_dot_01_bar__minus_00_dot_14) + (inReceptacle Pencil_bar__minus_01_dot_97_bar__plus_00_dot_75_bar__plus_00_dot_01 SideTable_bar__minus_02_dot_11_bar__plus_00_dot_01_bar__minus_00_dot_14) + (inReceptacle Plate_bar__minus_02_dot_25_bar__plus_00_dot_75_bar__minus_00_dot_12 SideTable_bar__minus_02_dot_11_bar__plus_00_dot_01_bar__minus_00_dot_14) + (inReceptacle Watch_bar__minus_00_dot_25_bar__plus_00_dot_70_bar__plus_03_dot_29 SideTable_bar__minus_00_dot_24_bar__plus_00_dot_00_bar__plus_03_dot_37) + (inReceptacle Curtains_bar__minus_00_dot_08_bar__plus_02_dot_42_bar__plus_00_dot_97 SideTable_bar__minus_00_dot_24_bar__plus_00_dot_00_bar__plus_03_dot_37) + (inReceptacle Watch_bar__minus_00_dot_28_bar__plus_00_dot_70_bar__plus_03_dot_12 SideTable_bar__minus_00_dot_24_bar__plus_00_dot_00_bar__plus_03_dot_37) + (inReceptacle RemoteControl_bar__minus_02_dot_67_bar__plus_00_dot_48_bar__plus_03_dot_44 Sofa_bar__minus_02_dot_40_bar__minus_00_dot_07_bar__plus_03_dot_42) + (inReceptacle Box_bar__minus_03_dot_20_bar__plus_00_dot_68_bar__plus_03_dot_35 Sofa_bar__minus_02_dot_40_bar__minus_00_dot_07_bar__plus_03_dot_42) + (inReceptacle RemoteControl_bar__minus_02_dot_67_bar__plus_00_dot_48_bar__plus_03_dot_71 Sofa_bar__minus_02_dot_40_bar__minus_00_dot_07_bar__plus_03_dot_42) + (inReceptacle Pillow_bar__minus_02_dot_14_bar__plus_00_dot_56_bar__plus_03_dot_62 Sofa_bar__minus_02_dot_40_bar__minus_00_dot_07_bar__plus_03_dot_42) + (inReceptacle Laptop_bar__minus_01_dot_61_bar__plus_00_dot_48_bar__plus_03_dot_62 Sofa_bar__minus_02_dot_40_bar__minus_00_dot_07_bar__plus_03_dot_42) + (inReceptacle Plate_bar__minus_02_dot_93_bar__plus_00_dot_69_bar__plus_01_dot_67 DiningTable_bar__minus_02_dot_27_bar__minus_00_dot_02_bar__plus_01_dot_42) + (inReceptacle Vase_bar__minus_02_dot_71_bar__plus_00_dot_69_bar__plus_01_dot_79 DiningTable_bar__minus_02_dot_27_bar__minus_00_dot_02_bar__plus_01_dot_42) + (inReceptacle Statue_bar__minus_02_dot_05_bar__plus_00_dot_70_bar__plus_01_dot_18 DiningTable_bar__minus_02_dot_27_bar__minus_00_dot_02_bar__plus_01_dot_42) + (inReceptacle Bowl_bar__minus_01_dot_83_bar__plus_00_dot_69_bar__plus_01_dot_30 DiningTable_bar__minus_02_dot_27_bar__minus_00_dot_02_bar__plus_01_dot_42) + (inReceptacle TissueBox_bar__minus_02_dot_27_bar__plus_00_dot_69_bar__plus_01_dot_42 DiningTable_bar__minus_02_dot_27_bar__minus_00_dot_02_bar__plus_01_dot_42) + (inReceptacle KeyChain_bar__minus_02_dot_49_bar__plus_00_dot_69_bar__plus_01_dot_18 DiningTable_bar__minus_02_dot_27_bar__minus_00_dot_02_bar__plus_01_dot_42) + (inReceptacle Newspaper_bar__minus_02_dot_27_bar__plus_00_dot_69_bar__plus_01_dot_79 DiningTable_bar__minus_02_dot_27_bar__minus_00_dot_02_bar__plus_01_dot_42) + (inReceptacle CreditCard_bar__minus_02_dot_05_bar__plus_00_dot_69_bar__plus_01_dot_42 DiningTable_bar__minus_02_dot_27_bar__minus_00_dot_02_bar__plus_01_dot_42) + + + (receptacleAtLocation ArmChair_bar__minus_00_dot_78_bar__plus_00_dot_01_bar__plus_06_dot_08 loc_bar__minus_4_bar_20_bar_0_bar_60) + (receptacleAtLocation ArmChair_bar__minus_04_dot_41_bar__plus_00_dot_01_bar__plus_06_dot_01 loc_bar__minus_17_bar_20_bar_0_bar_60) + (receptacleAtLocation CoffeeTable_bar__minus_02_dot_32_bar__plus_00_dot_00_bar__plus_04_dot_89 loc_bar__minus_14_bar_18_bar_1_bar_60) + (receptacleAtLocation DiningTable_bar__minus_02_dot_27_bar__minus_00_dot_02_bar__plus_01_dot_42 loc_bar__minus_10_bar_10_bar_2_bar_60) + (receptacleAtLocation DiningTable_bar__minus_03_dot_20_bar__plus_00_dot_59_bar__plus_00_dot_21 loc_bar__minus_16_bar_2_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__minus_00_dot_30_bar__plus_00_dot_62_bar__plus_03_dot_37 loc_bar__minus_4_bar_17_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_02_dot_11_bar__plus_00_dot_66_bar__minus_00_dot_07 loc_bar__minus_12_bar_2_bar_1_bar_45) + (receptacleAtLocation GarbageCan_bar__minus_04_dot_87_bar__plus_00_dot_00_bar__plus_00_dot_27 loc_bar__minus_18_bar_2_bar_3_bar_60) + (receptacleAtLocation SideTable_bar__minus_00_dot_24_bar__plus_00_dot_00_bar__plus_03_dot_37 loc_bar__minus_3_bar_9_bar_0_bar_60) + (receptacleAtLocation SideTable_bar__minus_02_dot_11_bar__plus_00_dot_01_bar__minus_00_dot_14 loc_bar__minus_8_bar_2_bar_2_bar_60) + (receptacleAtLocation Sofa_bar__minus_02_dot_40_bar__minus_00_dot_07_bar__plus_03_dot_42 loc_bar__minus_9_bar_17_bar_2_bar_60) + (receptacleAtLocation TVStand_bar__minus_02_dot_39_bar__plus_00_dot_00_bar__plus_06_dot_30 loc_bar__minus_10_bar_22_bar_0_bar_60) + (objectAtLocation Watch_bar__minus_00_dot_25_bar__plus_00_dot_70_bar__plus_03_dot_29 loc_bar__minus_3_bar_9_bar_0_bar_60) + (objectAtLocation RemoteControl_bar__minus_02_dot_67_bar__plus_00_dot_48_bar__plus_03_dot_44 loc_bar__minus_9_bar_17_bar_2_bar_60) + (objectAtLocation KeyChain_bar__minus_02_dot_49_bar__plus_00_dot_69_bar__plus_01_dot_18 loc_bar__minus_10_bar_10_bar_2_bar_60) + (objectAtLocation Plate_bar__minus_02_dot_76_bar__plus_00_dot_24_bar__plus_06_dot_12 loc_bar__minus_10_bar_22_bar_0_bar_60) + (objectAtLocation CreditCard_bar__minus_02_dot_05_bar__plus_00_dot_69_bar__plus_01_dot_42 loc_bar__minus_10_bar_10_bar_2_bar_60) + (objectAtLocation Laptop_bar__minus_02_dot_39_bar__plus_00_dot_24_bar__plus_06_dot_12 loc_bar__minus_10_bar_22_bar_0_bar_60) + (objectAtLocation Statue_bar__minus_02_dot_53_bar__plus_00_dot_75_bar__minus_00_dot_12 loc_bar__minus_8_bar_2_bar_2_bar_60) + (objectAtLocation Book_bar__minus_02_dot_24_bar__plus_00_dot_35_bar__plus_04_dot_81 loc_bar__minus_14_bar_18_bar_1_bar_60) + (objectAtLocation Laptop_bar__minus_01_dot_61_bar__plus_00_dot_48_bar__plus_03_dot_62 loc_bar__minus_9_bar_17_bar_2_bar_60) + (objectAtLocation RemoteControl_bar__minus_04_dot_37_bar__plus_00_dot_44_bar__plus_05_dot_56 loc_bar__minus_17_bar_20_bar_0_bar_60) + (objectAtLocation KeyChain_bar__minus_01_dot_97_bar__plus_00_dot_75_bar__minus_00_dot_25 loc_bar__minus_8_bar_2_bar_2_bar_45) + (objectAtLocation Statue_bar__minus_02_dot_40_bar__plus_00_dot_61_bar__plus_04_dot_73 loc_bar__minus_14_bar_18_bar_1_bar_60) + (objectAtLocation Watch_bar__minus_02_dot_16_bar__plus_00_dot_60_bar__plus_04_dot_65 loc_bar__minus_14_bar_18_bar_1_bar_60) + (objectAtLocation Plate_bar__minus_02_dot_25_bar__plus_00_dot_75_bar__minus_00_dot_12 loc_bar__minus_8_bar_2_bar_2_bar_60) + (objectAtLocation Painting_bar__minus_02_dot_05_bar__plus_01_dot_62_bar__minus_00_dot_30 loc_bar__minus_8_bar_2_bar_2_bar_0) + (objectAtLocation Chair_bar__minus_01_dot_87_bar__minus_00_dot_01_bar__plus_01_dot_75 loc_bar__minus_6_bar_9_bar_2_bar_60) + (objectAtLocation Book_bar__minus_02_dot_40_bar__plus_00_dot_10_bar__plus_04_dot_81 loc_bar__minus_14_bar_18_bar_1_bar_60) + (objectAtLocation Chair_bar__minus_02_dot_48_bar__plus_00_dot_00_bar__plus_01_dot_75 loc_bar__minus_10_bar_10_bar_2_bar_60) + (objectAtLocation Box_bar__minus_03_dot_20_bar__plus_00_dot_68_bar__plus_03_dot_35 loc_bar__minus_9_bar_17_bar_2_bar_60) + (objectAtLocation Chair_bar__minus_01_dot_42_bar__minus_00_dot_01_bar__plus_01_dot_43 loc_bar__minus_3_bar_6_bar_3_bar_60) + (objectAtLocation Chair_bar__minus_03_dot_03_bar__minus_00_dot_01_bar__plus_01_dot_40 loc_bar__minus_15_bar_6_bar_1_bar_60) + (objectAtLocation Chair_bar__minus_01_dot_86_bar_00_dot_00_bar__plus_01_dot_14 loc_bar__minus_7_bar_2_bar_0_bar_60) + (objectAtLocation Curtains_bar__minus_00_dot_08_bar__plus_02_dot_42_bar__plus_00_dot_97 loc_bar__minus_3_bar_9_bar_0_bar_60) + (objectAtLocation Statue_bar__minus_02_dot_05_bar__plus_00_dot_70_bar__plus_01_dot_18 loc_bar__minus_10_bar_10_bar_2_bar_60) + (objectAtLocation Laptop_bar__minus_00_dot_89_bar__plus_00_dot_45_bar__plus_05_dot_97 loc_bar__minus_4_bar_20_bar_0_bar_60) + (objectAtLocation Television_bar__minus_02_dot_36_bar__plus_01_dot_21_bar__plus_06_dot_28 loc_bar__minus_10_bar_22_bar_0_bar_60) + (objectAtLocation HousePlant_bar__minus_03_dot_02_bar__plus_00_dot_59_bar__minus_00_dot_02 loc_bar__minus_16_bar_2_bar_1_bar_60) + (objectAtLocation TissueBox_bar__minus_02_dot_27_bar__plus_00_dot_69_bar__plus_01_dot_42 loc_bar__minus_10_bar_10_bar_2_bar_60) + (objectAtLocation CreditCard_bar__minus_00_dot_81_bar__plus_00_dot_43_bar__plus_05_dot_65 loc_bar__minus_4_bar_20_bar_0_bar_60) + (objectAtLocation Plate_bar__minus_02_dot_93_bar__plus_00_dot_69_bar__plus_01_dot_67 loc_bar__minus_10_bar_10_bar_2_bar_60) + (objectAtLocation KeyChain_bar__minus_01_dot_03_bar__plus_00_dot_44_bar__plus_06_dot_22 loc_bar__minus_4_bar_20_bar_0_bar_60) + (objectAtLocation FloorLamp_bar__minus_00_dot_57_bar__plus_00_dot_00_bar__plus_00_dot_03 loc_bar__minus_5_bar_1_bar_1_bar_60) + (objectAtLocation Vase_bar__minus_02_dot_71_bar__plus_00_dot_69_bar__plus_01_dot_79 loc_bar__minus_10_bar_10_bar_2_bar_60) + (objectAtLocation Chair_bar__minus_02_dot_49_bar__minus_00_dot_01_bar__plus_01_dot_11 loc_bar__minus_10_bar_2_bar_0_bar_60) + (objectAtLocation Pencil_bar__minus_01_dot_97_bar__plus_00_dot_75_bar__plus_00_dot_01 loc_bar__minus_8_bar_2_bar_2_bar_60) + (objectAtLocation Pillow_bar__minus_02_dot_14_bar__plus_00_dot_56_bar__plus_03_dot_62 loc_bar__minus_9_bar_17_bar_2_bar_60) + (objectAtLocation Bowl_bar__minus_01_dot_83_bar__plus_00_dot_69_bar__plus_01_dot_30 loc_bar__minus_10_bar_10_bar_2_bar_60) + (objectAtLocation RemoteControl_bar__minus_02_dot_67_bar__plus_00_dot_48_bar__plus_03_dot_71 loc_bar__minus_9_bar_17_bar_2_bar_60) + (objectAtLocation Watch_bar__minus_00_dot_28_bar__plus_00_dot_70_bar__plus_03_dot_12 loc_bar__minus_3_bar_9_bar_0_bar_60) + (objectAtLocation Pen_bar__minus_02_dot_11_bar__plus_00_dot_75_bar__minus_00_dot_20 loc_bar__minus_8_bar_2_bar_2_bar_60) + (objectAtLocation Newspaper_bar__minus_02_dot_27_bar__plus_00_dot_69_bar__plus_01_dot_79 loc_bar__minus_10_bar_10_bar_2_bar_60) + (objectAtLocation Window_bar__minus_00_dot_06_bar__plus_00_dot_93_bar__plus_01_dot_76 loc_bar__minus_2_bar_7_bar_1_bar_60) + (objectAtLocation Window_bar__minus_00_dot_06_bar__plus_01_dot_13_bar__plus_04_dot_89 loc_bar__minus_2_bar_20_bar_1_bar_45) + (objectAtLocation LightSwitch_bar__minus_03_dot_31_bar__plus_01_dot_34_bar__minus_00_dot_32 loc_bar__minus_14_bar_1_bar_2_bar_30) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (inReceptacle ?o ?r) + (objectType ?o BowlType) + (receptacleType ?r CoffeeTableType) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/valid_seen/pick_and_place_simple-Bowl-None-CoffeeTable-201/trial_T20190907_171639_045329/traj_data.json b/data/alfworld/json_2.1.1/valid_seen/pick_and_place_simple-Bowl-None-CoffeeTable-201/trial_T20190907_171639_045329/traj_data.json new file 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face the coffee table.", + "Put the bowl down on the table." + ], + "task_desc": "Put a bowl on a table.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A38Z99XF4NDNH0_3FTOP5WARI5WL9TYADGT1WCLD8IJ0K", + "high_descs": [ + "Move across the room to the dining room table where the statue is ", + "Pick up the bowl to the right of the statue on the table", + "Carry the bowl to the glass coffee table", + "Place the bowl on top of the coffee table between the statue and the square black tray" + ], + "task_desc": "Move a bowl from the table to the coffee table", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/valid_seen/pick_and_place_simple-Box-None-Dresser-224/trial_T20190907_164104_229696/game.tw-pddl b/data/alfworld/json_2.1.1/valid_seen/pick_and_place_simple-Box-None-Dresser-224/trial_T20190907_164104_229696/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..aadeea777756fdd916416241f3ef68465817b96e --- /dev/null +++ b/data/alfworld/json_2.1.1/valid_seen/pick_and_place_simple-Box-None-Dresser-224/trial_T20190907_164104_229696/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\n\\n#task#\"\n }\n ],\n\n \"notImplemented\": [\n {\n \"rhs\": \"TODO\"\n }\n ],\n\n \"task\": [\n {\n \"rhs\": \"Your task is to: put some box on dresser.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190907_164104_229696)\n(:domain alfred)\n(:objects\nagent1 - agent\nCurtains - object\n SprayBottle - object\n Mirror - object\n HousePlant - object\n Watch - object\n TeddyBear - object\n WateringCan - object\n Bathtub - object\n LightSwitch - object\n Vase - object\n Candle - object\n Bread - object\n Statue - object\n HandTowel - object\n StoveKnob - object\n PaperTowelRoll - object\n Pan - object\n PepperShaker - object\n Painting - object\n CellPhone - object\n Plunger - object\n Spoon - object\n SaltShaker - object\n KeyChain - object\n Footstool - object\n Poster - object\n Television - object\n LaundryHamperLid - object\n Glassbottle - object\n AlarmClock - object\n WineBottle - object\n Bowl - object\n Sink - object\n TissueBox - object\n TennisRacket - object\n ToiletPaper - object\n ScrubBrush - object\n CreditCard - object\n Laptop - object\n Cloth - object\n Cup - object\n Chair - object\n BasketBall - object\n Kettle - object\n PaperTowel - object\n ShowerDoor - object\n BaseballBat - object\n Potato - object\n Pillow - object\n Lettuce - object\n RemoteControl - object\n Window - object\n DishSponge - object\n CD - object\n Boots - object\n Blinds - object\n Pen - object\n Newspaper - object\n Plate - object\n Mug - object\n ShowerGlass - object\n ToiletPaperRoll - object\n SoapBar - object\n FloorLamp - object\n SoapBottle - object\n Pot - object\n Pencil - object\n Spatula - object\n Towel - object\n Fork - object\n Ladle - object\n Knife - object\n Apple - object\n Box - object\n Tomato - object\n ButterKnife - object\n Egg - object\n Book - object\n DeskLamp - object\nCurtainsType - otype\n SprayBottleType - otype\n MirrorType - otype\n HousePlantType - otype\n WatchType - otype\n TeddyBearType - otype\n WateringCanType - otype\n BathtubType - otype\n LightSwitchType - otype\n VaseType - otype\n CandleType - otype\n BreadType - otype\n StatueType - otype\n HandTowelType - otype\n StoveKnobType - otype\n PaperTowelRollType - otype\n PanType - otype\n PepperShakerType - otype\n PaintingType - otype\n CellPhoneType - otype\n PlungerType - otype\n SpoonType - otype\n SaltShakerType - otype\n KeyChainType - otype\n FootstoolType - otype\n PosterType - otype\n TelevisionType - otype\n LaundryHamperLidType - otype\n GlassbottleType - otype\n AlarmClockType - otype\n WineBottleType - otype\n BowlType - otype\n SinkType - otype\n TissueBoxType - otype\n TennisRacketType - otype\n ToiletPaperType - otype\n ScrubBrushType - otype\n CreditCardType - otype\n LaptopType - otype\n ClothType - otype\n CupType - otype\n ChairType - otype\n BasketBallType - otype\n KettleType - otype\n PaperTowelType - otype\n ShowerDoorType - otype\n BaseballBatType - otype\n PotatoType - otype\n PillowType - otype\n LettuceType - otype\n RemoteControlType - otype\n WindowType - otype\n DishSpongeType - otype\n CDType - otype\n BootsType - otype\n BlindsType - otype\n PenType - otype\n NewspaperType - otype\n PlateType - otype\n MugType - otype\n ShowerGlassType - otype\n ToiletPaperRollType - otype\n SoapBarType - otype\n FloorLampType - otype\n SoapBottleType - otype\n PotType - otype\n PencilType - otype\n SpatulaType - otype\n TowelType - otype\n ForkType - otype\n LadleType - otype\n KnifeType - otype\n AppleType - otype\n BoxType - otype\n TomatoType - otype\n ButterKnifeType - otype\n EggType - otype\n BookType - otype\n DeskLampType - otype\nCabinetType - rtype\n ShelfType - rtype\n DiningTableType - rtype\n TowelHolderType - rtype\n PaintingHangerType - rtype\n TVStandType - rtype\n LaundryHamperType - rtype\n OttomanType - rtype\n SafeType - rtype\n CoffeeMachineType - rtype\n CounterTopType - rtype\n ToiletType - rtype\n FridgeType - rtype\n CoffeeTableType - rtype\n SinkBasinType - rtype\n GarbageCanType - rtype\n BathtubBasinType - rtype\n SideTableType - rtype\n CartType - rtype\n BedType - rtype\n DeskType - rtype\n SofaType - rtype\n ArmChairType - rtype\n MicrowaveType - rtype\n HandTowelHolderType - rtype\n ToasterType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n DrawerType - rtype\n DresserType - rtype\n\n\n Book_bar__plus_00_dot_12_bar__plus_00_dot_90_bar__plus_01_dot_07 - object\n Box_bar__plus_03_dot_16_bar__plus_00_dot_78_bar__plus_00_dot_30 - object\n Box_bar__plus_03_dot_17_bar__plus_00_dot_21_bar__minus_00_dot_05 - object\n Box_bar__minus_02_dot_81_bar__plus_00_dot_75_bar__plus_00_dot_98 - object\n CellPhone_bar__minus_00_dot_20_bar__plus_00_dot_91_bar__plus_01_dot_70 - object\n Chair_bar__plus_01_dot_05_bar__plus_00_dot_00_bar__minus_02_dot_31 - object\n Chair_bar__plus_01_dot_63_bar__plus_00_dot_02_bar__plus_02_dot_21 - object\n Chair_bar__plus_02_dot_04_bar__plus_00_dot_00_bar__minus_02_dot_35 - object\n Chair_bar__plus_03_dot_14_bar__plus_00_dot_02_bar__minus_01_dot_63 - object\n CreditCard_bar__minus_00_dot_30_bar__plus_00_dot_91_bar__plus_01_dot_95 - object\n CreditCard_bar__minus_02_dot_58_bar__plus_00_dot_36_bar__minus_01_dot_84 - object\n DeskLamp_bar__plus_03_dot_14_bar__plus_00_dot_59_bar__plus_01_dot_47 - object\n FloorLamp_bar__plus_03_dot_10_bar__plus_00_dot_02_bar__minus_02_dot_34 - object\n HousePlant_bar__plus_00_dot_49_bar__plus_00_dot_87_bar__minus_01_dot_58 - object\n KeyChain_bar__minus_00_dot_11_bar__plus_00_dot_91_bar__plus_02_dot_19 - object\n Laptop_bar__minus_02_dot_78_bar__plus_00_dot_37_bar__minus_01_dot_87 - object\n LightSwitch_bar__minus_00_dot_93_bar__plus_01_dot_32_bar__plus_02_dot_85 - object\n Newspaper_bar__plus_00_dot_16_bar__plus_00_dot_92_bar__plus_02_dot_43 - object\n Newspaper_bar__minus_02_dot_89_bar__plus_00_dot_57_bar__plus_01_dot_19 - object\n Painting_bar__plus_03_dot_37_bar__plus_01_dot_79_bar__minus_00_dot_95 - object\n Painting_bar__minus_01_dot_56_bar__plus_01_dot_41_bar__minus_02_dot_32 - object\n Painting_bar__minus_03_dot_49_bar__plus_01_dot_39_bar__minus_00_dot_51 - object\n Pillow_bar__minus_02_dot_81_bar__plus_00_dot_62_bar__plus_01_dot_81 - object\n RemoteControl_bar__minus_00_dot_11_bar__plus_00_dot_91_bar__plus_01_dot_22 - object\n Statue_bar__plus_03_dot_12_bar__plus_00_dot_60_bar__minus_00_dot_57 - object\n Television_bar__plus_00_dot_07_bar__plus_01_dot_39_bar__plus_01_dot_70 - object\n Vase_bar__minus_01_dot_05_bar__plus_01_dot_20_bar__minus_02_dot_15 - object\n Vase_bar__minus_02_dot_17_bar__plus_01_dot_20_bar__minus_02_dot_18 - object\n WateringCan_bar__plus_02_dot_89_bar__plus_00_dot_01_bar__minus_01_dot_92 - object\n Window_bar__plus_01_dot_13_bar__plus_01_dot_22_bar__minus_02_dot_74 - object\n Window_bar__plus_02_dot_01_bar__plus_01_dot_22_bar__minus_02_dot_74 - object\n Window_bar__plus_02_dot_90_bar__plus_01_dot_22_bar__minus_02_dot_74 - object\n Window_bar__minus_00_dot_19_bar__plus_01_dot_16_bar__minus_02_dot_56 - object\n Window_bar__minus_02_dot_97_bar__plus_01_dot_16_bar__minus_02_dot_56 - object\n Window_bar__minus_03_dot_37_bar__plus_01_dot_18_bar__minus_01_dot_54 - object\n ArmChair_bar__minus_02_dot_86_bar__plus_00_dot_02_bar__minus_02_dot_04 - receptacle\n Cabinet_bar__plus_00_dot_33_bar__plus_00_dot_51_bar__minus_02_dot_02 - receptacle\n Drawer_bar__plus_02_dot_99_bar__plus_00_dot_09_bar__plus_00_dot_37 - receptacle\n Drawer_bar__plus_02_dot_99_bar__plus_00_dot_09_bar__plus_01_dot_40 - receptacle\n Drawer_bar__plus_02_dot_99_bar__plus_00_dot_09_bar__minus_00_dot_57 - receptacle\n Drawer_bar__plus_02_dot_99_bar__plus_00_dot_34_bar__plus_00_dot_37 - receptacle\n Drawer_bar__plus_02_dot_99_bar__plus_00_dot_34_bar__plus_01_dot_40 - receptacle\n Drawer_bar__plus_02_dot_99_bar__plus_00_dot_34_bar__minus_00_dot_57 - receptacle\n Drawer_bar__minus_00_dot_16_bar__plus_00_dot_22_bar__plus_00_dot_99 - receptacle\n Drawer_bar__minus_00_dot_16_bar__plus_00_dot_22_bar__plus_01_dot_47 - receptacle\n Drawer_bar__minus_00_dot_16_bar__plus_00_dot_22_bar__plus_01_dot_94 - receptacle\n Drawer_bar__minus_00_dot_16_bar__plus_00_dot_22_bar__plus_02_dot_42 - receptacle\n Drawer_bar__minus_00_dot_16_bar__plus_00_dot_47_bar__plus_00_dot_99 - receptacle\n Drawer_bar__minus_00_dot_16_bar__plus_00_dot_47_bar__plus_01_dot_47 - receptacle\n Drawer_bar__minus_00_dot_16_bar__plus_00_dot_47_bar__plus_01_dot_94 - receptacle\n Drawer_bar__minus_00_dot_16_bar__plus_00_dot_47_bar__plus_02_dot_42 - receptacle\n Drawer_bar__minus_00_dot_16_bar__plus_00_dot_72_bar__plus_00_dot_99 - receptacle\n Drawer_bar__minus_00_dot_16_bar__plus_00_dot_72_bar__plus_01_dot_47 - receptacle\n Drawer_bar__minus_00_dot_16_bar__plus_00_dot_72_bar__plus_01_dot_94 - receptacle\n Drawer_bar__minus_00_dot_16_bar__plus_00_dot_72_bar__plus_02_dot_42 - receptacle\n Drawer_bar__minus_00_dot_17_bar__plus_00_dot_45_bar__minus_02_dot_04 - receptacle\n Drawer_bar__minus_03_dot_13_bar__plus_00_dot_09_bar__minus_00_dot_49 - receptacle\n Drawer_bar__minus_03_dot_13_bar__plus_00_dot_34_bar__minus_00_dot_49 - receptacle\n Dresser_bar__minus_00_dot_02_bar__plus_00_dot_01_bar__plus_01_dot_72 - receptacle\n GarbageCan_bar__plus_03_dot_16_bar__plus_00_dot_02_bar__plus_00_dot_89 - receptacle\n SideTable_bar__plus_03_dot_16_bar__plus_00_dot_02_bar__plus_00_dot_37 - receptacle\n SideTable_bar__plus_03_dot_16_bar__plus_00_dot_02_bar__plus_01_dot_40 - receptacle\n SideTable_bar__plus_03_dot_16_bar__plus_00_dot_02_bar__minus_00_dot_57 - receptacle\n SideTable_bar__minus_00_dot_17_bar__plus_00_dot_01_bar__minus_02_dot_24 - receptacle\n SideTable_bar__minus_03_dot_30_bar__plus_00_dot_02_bar__minus_00_dot_49 - receptacle\n Sofa_bar__minus_02_dot_96_bar__plus_00_dot_08_bar__plus_01_dot_39 - receptacle\n loc_bar_9_bar_6_bar_2_bar_60 - location\n loc_bar_10_bar__minus_7_bar_1_bar_60 - location\n loc_bar_10_bar_5_bar_2_bar_60 - location\n loc_bar_10_bar__minus_9_bar_3_bar_60 - location\n loc_bar__minus_1_bar__minus_7_bar_2_bar_30 - location\n loc_bar_11_bar_4_bar_1_bar_60 - location\n loc_bar__minus_12_bar__minus_5_bar_3_bar_60 - location\n loc_bar__minus_5_bar_2_bar_1_bar_60 - location\n loc_bar__minus_4_bar_5_bar_1_bar_45 - location\n loc_bar_4_bar__minus_6_bar_3_bar_60 - location\n loc_bar__minus_4_bar_9_bar_0_bar_30 - location\n loc_bar_10_bar__minus_8_bar_1_bar_60 - location\n loc_bar__minus_11_bar__minus_2_bar_3_bar_15 - location\n loc_bar__minus_10_bar_0_bar_3_bar_60 - location\n loc_bar_7_bar_7_bar_0_bar_60 - location\n loc_bar_11_bar_5_bar_1_bar_60 - location\n loc_bar_10_bar__minus_9_bar_1_bar_60 - location\n loc_bar__minus_5_bar_6_bar_1_bar_60 - location\n loc_bar__minus_5_bar_8_bar_1_bar_45 - location\n loc_bar__minus_2_bar__minus_7_bar_3_bar_45 - location\n loc_bar_11_bar__minus_4_bar_1_bar__minus_15 - location\n loc_bar_10_bar_2_bar_2_bar_45 - location\n loc_bar_10_bar__minus_7_bar_0_bar_60 - location\n loc_bar__minus_4_bar_7_bar_1_bar_45 - location\n loc_bar__minus_7_bar_6_bar_3_bar_60 - location\n loc_bar__minus_5_bar_8_bar_1_bar_60 - location\n loc_bar__minus_4_bar_8_bar_1_bar_45 - location\n loc_bar__minus_5_bar_4_bar_1_bar_45 - location\n loc_bar__minus_12_bar__minus_5_bar_2_bar_15 - location\n loc_bar__minus_10_bar__minus_6_bar_2_bar_30 - location\n loc_bar__minus_3_bar__minus_5_bar_2_bar_60 - location\n loc_bar_10_bar__minus_9_bar_3_bar_45 - location\n loc_bar_0_bar__minus_7_bar_1_bar_60 - location\n loc_bar_11_bar_2_bar_0_bar_60 - location\n loc_bar_10_bar__minus_9_bar_2_bar_45 - location\n loc_bar_11_bar__minus_3_bar_0_bar_60 - location\n loc_bar_4_bar__minus_7_bar_2_bar_60 - location\n loc_bar__minus_4_bar_9_bar_1_bar_45 - location\n loc_bar__minus_5_bar_6_bar_1_bar_45 - location\n loc_bar_9_bar_2_bar_2_bar_60 - location\n loc_bar_6_bar__minus_8_bar_2_bar_30 - location\n loc_bar__minus_10_bar__minus_6_bar_0_bar_60 - location\n loc_bar_0_bar__minus_4_bar_2_bar_45 - location\n loc_bar__minus_6_bar__minus_5_bar_2_bar_15 - location\n loc_bar__minus_5_bar_2_bar_1_bar_45 - location\n loc_bar_11_bar_0_bar_1_bar_60 - location\n loc_bar__minus_3_bar_8_bar_1_bar_60 - location\n loc_bar__minus_9_bar__minus_3_bar_2_bar_45 - location\n loc_bar__minus_7_bar__minus_3_bar_2_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Drawer_bar__plus_02_dot_99_bar__plus_00_dot_09_bar__minus_00_dot_57 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_16_bar__plus_00_dot_47_bar__plus_01_dot_94 DrawerType)\n (receptacleType Drawer_bar__plus_02_dot_99_bar__plus_00_dot_34_bar__plus_00_dot_37 DrawerType)\n (receptacleType Cabinet_bar__plus_00_dot_33_bar__plus_00_dot_51_bar__minus_02_dot_02 CabinetType)\n (receptacleType Drawer_bar__minus_00_dot_16_bar__plus_00_dot_72_bar__plus_01_dot_94 DrawerType)\n (receptacleType SideTable_bar__plus_03_dot_16_bar__plus_00_dot_02_bar__plus_01_dot_40 SideTableType)\n (receptacleType ArmChair_bar__minus_02_dot_86_bar__plus_00_dot_02_bar__minus_02_dot_04 ArmChairType)\n (receptacleType Drawer_bar__minus_00_dot_16_bar__plus_00_dot_22_bar__plus_00_dot_99 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_16_bar__plus_00_dot_22_bar__plus_02_dot_42 DrawerType)\n (receptacleType Sofa_bar__minus_02_dot_96_bar__plus_00_dot_08_bar__plus_01_dot_39 SofaType)\n (receptacleType GarbageCan_bar__plus_03_dot_16_bar__plus_00_dot_02_bar__plus_00_dot_89 GarbageCanType)\n (receptacleType Drawer_bar__minus_00_dot_17_bar__plus_00_dot_45_bar__minus_02_dot_04 DrawerType)\n (receptacleType 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Drawer_bar__plus_02_dot_99_bar__plus_00_dot_09_bar__plus_00_dot_37 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_16_bar__plus_00_dot_72_bar__plus_02_dot_42 DrawerType)\n (receptacleType Drawer_bar__plus_02_dot_99_bar__plus_00_dot_34_bar__minus_00_dot_57 DrawerType)\n (receptacleType Dresser_bar__minus_00_dot_02_bar__plus_00_dot_01_bar__plus_01_dot_72 DresserType)\n (receptacleType Drawer_bar__plus_02_dot_99_bar__plus_00_dot_34_bar__plus_01_dot_40 DrawerType)\n (receptacleType Drawer_bar__minus_03_dot_13_bar__plus_00_dot_09_bar__minus_00_dot_49 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_16_bar__plus_00_dot_22_bar__plus_01_dot_94 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_16_bar__plus_00_dot_47_bar__plus_02_dot_42 DrawerType)\n (receptacleType SideTable_bar__minus_00_dot_17_bar__plus_00_dot_01_bar__minus_02_dot_24 SideTableType)\n (objectType Painting_bar__plus_03_dot_37_bar__plus_01_dot_79_bar__minus_00_dot_95 PaintingType)\n (objectType 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DrawerType CreditCardType)\n (canContain DrawerType NewspaperType)\n (canContain DrawerType BookType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType WateringCanType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType NewspaperType)\n (canContain DrawerType BookType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType WateringCanType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType NewspaperType)\n (canContain DrawerType BookType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType WateringCanType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType NewspaperType)\n (canContain DrawerType BookType)\n (canContain DresserType CellPhoneType)\n (canContain 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DrawerType KeyChainType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType WateringCanType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType NewspaperType)\n (canContain DrawerType BookType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType WateringCanType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType NewspaperType)\n (canContain DrawerType BookType)\n (canContain SideTableType CellPhoneType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType RemoteControlType)\n (canContain SideTableType WateringCanType)\n (canContain SideTableType VaseType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType NewspaperType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType StatueType)\n (canContain SideTableType BoxType)\n (canContain SideTableType BookType)\n (pickupable Box_bar__plus_03_dot_16_bar__plus_00_dot_78_bar__plus_00_dot_30)\n (pickupable Newspaper_bar__plus_00_dot_16_bar__plus_00_dot_92_bar__plus_02_dot_43)\n (pickupable Box_bar__minus_02_dot_81_bar__plus_00_dot_75_bar__plus_00_dot_98)\n (pickupable RemoteControl_bar__minus_00_dot_11_bar__plus_00_dot_91_bar__plus_01_dot_22)\n (pickupable CreditCard_bar__minus_02_dot_58_bar__plus_00_dot_36_bar__minus_01_dot_84)\n (pickupable Laptop_bar__minus_02_dot_78_bar__plus_00_dot_37_bar__minus_01_dot_87)\n (pickupable Vase_bar__minus_01_dot_05_bar__plus_01_dot_20_bar__minus_02_dot_15)\n (pickupable Box_bar__plus_03_dot_17_bar__plus_00_dot_21_bar__minus_00_dot_05)\n (pickupable Newspaper_bar__minus_02_dot_89_bar__plus_00_dot_57_bar__plus_01_dot_19)\n (pickupable Book_bar__plus_00_dot_12_bar__plus_00_dot_90_bar__plus_01_dot_07)\n (pickupable WateringCan_bar__plus_02_dot_89_bar__plus_00_dot_01_bar__minus_01_dot_92)\n (pickupable Vase_bar__minus_02_dot_17_bar__plus_01_dot_20_bar__minus_02_dot_18)\n (pickupable KeyChain_bar__minus_00_dot_11_bar__plus_00_dot_91_bar__plus_02_dot_19)\n (pickupable Statue_bar__plus_03_dot_12_bar__plus_00_dot_60_bar__minus_00_dot_57)\n (pickupable CellPhone_bar__minus_00_dot_20_bar__plus_00_dot_91_bar__plus_01_dot_70)\n (pickupable Pillow_bar__minus_02_dot_81_bar__plus_00_dot_62_bar__plus_01_dot_81)\n (pickupable CreditCard_bar__minus_00_dot_30_bar__plus_00_dot_91_bar__plus_01_dot_95)\n (isReceptacleObject Box_bar__plus_03_dot_16_bar__plus_00_dot_78_bar__plus_00_dot_30)\n (isReceptacleObject Box_bar__minus_02_dot_81_bar__plus_00_dot_75_bar__plus_00_dot_98)\n (isReceptacleObject Box_bar__plus_03_dot_17_bar__plus_00_dot_21_bar__minus_00_dot_05)\n (openable Drawer_bar__plus_02_dot_99_bar__plus_00_dot_09_bar__minus_00_dot_57)\n (openable Drawer_bar__minus_00_dot_16_bar__plus_00_dot_47_bar__plus_01_dot_94)\n (openable Drawer_bar__plus_02_dot_99_bar__plus_00_dot_34_bar__plus_00_dot_37)\n (openable Drawer_bar__minus_00_dot_16_bar__plus_00_dot_72_bar__plus_01_dot_94)\n (openable Drawer_bar__minus_00_dot_16_bar__plus_00_dot_22_bar__plus_00_dot_99)\n (openable Drawer_bar__minus_00_dot_16_bar__plus_00_dot_22_bar__plus_02_dot_42)\n (openable Drawer_bar__minus_00_dot_17_bar__plus_00_dot_45_bar__minus_02_dot_04)\n (openable Drawer_bar__minus_00_dot_16_bar__plus_00_dot_47_bar__plus_00_dot_99)\n (openable Drawer_bar__minus_00_dot_16_bar__plus_00_dot_72_bar__plus_00_dot_99)\n (openable Drawer_bar__minus_00_dot_16_bar__plus_00_dot_72_bar__plus_01_dot_47)\n (openable Drawer_bar__minus_00_dot_16_bar__plus_00_dot_22_bar__plus_01_dot_47)\n (openable Drawer_bar__minus_03_dot_13_bar__plus_00_dot_34_bar__minus_00_dot_49)\n (openable Drawer_bar__minus_00_dot_16_bar__plus_00_dot_47_bar__plus_01_dot_47)\n (openable Drawer_bar__plus_02_dot_99_bar__plus_00_dot_09_bar__plus_00_dot_37)\n (openable Drawer_bar__minus_00_dot_16_bar__plus_00_dot_72_bar__plus_02_dot_42)\n (openable Drawer_bar__plus_02_dot_99_bar__plus_00_dot_34_bar__minus_00_dot_57)\n (openable Drawer_bar__minus_03_dot_13_bar__plus_00_dot_09_bar__minus_00_dot_49)\n (openable Drawer_bar__minus_00_dot_16_bar__plus_00_dot_22_bar__plus_01_dot_94)\n (openable Drawer_bar__minus_00_dot_16_bar__plus_00_dot_47_bar__plus_02_dot_42)\n \n (atLocation agent1 loc_bar__minus_7_bar__minus_3_bar_2_bar_30)\n \n \n \n \n \n \n \n (toggleable FloorLamp_bar__plus_03_dot_10_bar__plus_00_dot_02_bar__minus_02_dot_34)\n (toggleable DeskLamp_bar__plus_03_dot_14_bar__plus_00_dot_59_bar__plus_01_dot_47)\n \n \n \n \n (inReceptacleObject Newspaper_bar__minus_02_dot_89_bar__plus_00_dot_57_bar__plus_01_dot_19 Box_bar__minus_02_dot_81_bar__plus_00_dot_75_bar__plus_00_dot_98)\n (inReceptacle DeskLamp_bar__plus_03_dot_14_bar__plus_00_dot_59_bar__plus_01_dot_47 SideTable_bar__plus_03_dot_16_bar__plus_00_dot_02_bar__plus_01_dot_40)\n (inReceptacle CreditCard_bar__minus_02_dot_58_bar__plus_00_dot_36_bar__minus_01_dot_84 ArmChair_bar__minus_02_dot_86_bar__plus_00_dot_02_bar__minus_02_dot_04)\n (inReceptacle Laptop_bar__minus_02_dot_78_bar__plus_00_dot_37_bar__minus_01_dot_87 ArmChair_bar__minus_02_dot_86_bar__plus_00_dot_02_bar__minus_02_dot_04)\n (inReceptacle Newspaper_bar__minus_02_dot_89_bar__plus_00_dot_57_bar__plus_01_dot_19 Sofa_bar__minus_02_dot_96_bar__plus_00_dot_08_bar__plus_01_dot_39)\n (inReceptacle Pillow_bar__minus_02_dot_81_bar__plus_00_dot_62_bar__plus_01_dot_81 Sofa_bar__minus_02_dot_96_bar__plus_00_dot_08_bar__plus_01_dot_39)\n (inReceptacle Box_bar__minus_02_dot_81_bar__plus_00_dot_75_bar__plus_00_dot_98 Sofa_bar__minus_02_dot_96_bar__plus_00_dot_08_bar__plus_01_dot_39)\n (inReceptacle Newspaper_bar__plus_00_dot_16_bar__plus_00_dot_92_bar__plus_02_dot_43 Dresser_bar__minus_00_dot_02_bar__plus_00_dot_01_bar__plus_01_dot_72)\n (inReceptacle CreditCard_bar__minus_00_dot_30_bar__plus_00_dot_91_bar__plus_01_dot_95 Dresser_bar__minus_00_dot_02_bar__plus_00_dot_01_bar__plus_01_dot_72)\n (inReceptacle Television_bar__plus_00_dot_07_bar__plus_01_dot_39_bar__plus_01_dot_70 Dresser_bar__minus_00_dot_02_bar__plus_00_dot_01_bar__plus_01_dot_72)\n (inReceptacle Book_bar__plus_00_dot_12_bar__plus_00_dot_90_bar__plus_01_dot_07 Dresser_bar__minus_00_dot_02_bar__plus_00_dot_01_bar__plus_01_dot_72)\n (inReceptacle RemoteControl_bar__minus_00_dot_11_bar__plus_00_dot_91_bar__plus_01_dot_22 Dresser_bar__minus_00_dot_02_bar__plus_00_dot_01_bar__plus_01_dot_72)\n (inReceptacle CellPhone_bar__minus_00_dot_20_bar__plus_00_dot_91_bar__plus_01_dot_70 Dresser_bar__minus_00_dot_02_bar__plus_00_dot_01_bar__plus_01_dot_72)\n (inReceptacle KeyChain_bar__minus_00_dot_11_bar__plus_00_dot_91_bar__plus_02_dot_19 Dresser_bar__minus_00_dot_02_bar__plus_00_dot_01_bar__plus_01_dot_72)\n (inReceptacle Statue_bar__plus_03_dot_12_bar__plus_00_dot_60_bar__minus_00_dot_57 SideTable_bar__plus_03_dot_16_bar__plus_00_dot_02_bar__minus_00_dot_57)\n (inReceptacle Box_bar__plus_03_dot_16_bar__plus_00_dot_78_bar__plus_00_dot_30 SideTable_bar__plus_03_dot_16_bar__plus_00_dot_02_bar__plus_00_dot_37)\n \n \n (receptacleAtLocation ArmChair_bar__minus_02_dot_86_bar__plus_00_dot_02_bar__minus_02_dot_04 loc_bar__minus_9_bar__minus_3_bar_2_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_33_bar__plus_00_dot_51_bar__minus_02_dot_02 loc_bar_0_bar__minus_7_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_02_dot_99_bar__plus_00_dot_09_bar__plus_00_dot_37 loc_bar_9_bar_6_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__plus_02_dot_99_bar__plus_00_dot_09_bar__plus_01_dot_40 loc_bar_11_bar_5_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_02_dot_99_bar__plus_00_dot_09_bar__minus_00_dot_57 loc_bar_9_bar_2_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__plus_02_dot_99_bar__plus_00_dot_34_bar__plus_00_dot_37 loc_bar_10_bar_5_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__plus_02_dot_99_bar__plus_00_dot_34_bar__plus_01_dot_40 loc_bar_11_bar_5_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_02_dot_99_bar__plus_00_dot_34_bar__minus_00_dot_57 loc_bar_10_bar_2_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_16_bar__plus_00_dot_22_bar__plus_00_dot_99 loc_bar__minus_5_bar_2_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_16_bar__plus_00_dot_22_bar__plus_01_dot_47 loc_bar__minus_5_bar_8_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_16_bar__plus_00_dot_22_bar__plus_01_dot_94 loc_bar__minus_5_bar_6_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_16_bar__plus_00_dot_22_bar__plus_02_dot_42 loc_bar__minus_5_bar_8_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_16_bar__plus_00_dot_47_bar__plus_00_dot_99 loc_bar__minus_5_bar_2_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_16_bar__plus_00_dot_47_bar__plus_01_dot_47 loc_bar__minus_5_bar_4_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_16_bar__plus_00_dot_47_bar__plus_01_dot_94 loc_bar__minus_5_bar_6_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_16_bar__plus_00_dot_47_bar__plus_02_dot_42 loc_bar__minus_5_bar_8_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_16_bar__plus_00_dot_72_bar__plus_00_dot_99 loc_bar__minus_4_bar_5_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_16_bar__plus_00_dot_72_bar__plus_01_dot_47 loc_bar__minus_4_bar_7_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_16_bar__plus_00_dot_72_bar__plus_01_dot_94 loc_bar__minus_4_bar_9_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_16_bar__plus_00_dot_72_bar__plus_02_dot_42 loc_bar__minus_4_bar_8_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_17_bar__plus_00_dot_45_bar__minus_02_dot_04 loc_bar_0_bar__minus_4_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_03_dot_13_bar__plus_00_dot_09_bar__minus_00_dot_49 loc_bar__minus_10_bar__minus_6_bar_0_bar_60)\n (receptacleAtLocation Drawer_bar__minus_03_dot_13_bar__plus_00_dot_34_bar__minus_00_dot_49 loc_bar__minus_10_bar__minus_6_bar_0_bar_60)\n (receptacleAtLocation Dresser_bar__minus_00_dot_02_bar__plus_00_dot_01_bar__plus_01_dot_72 loc_bar__minus_3_bar_8_bar_1_bar_60)\n (receptacleAtLocation GarbageCan_bar__plus_03_dot_16_bar__plus_00_dot_02_bar__plus_00_dot_89 loc_bar_11_bar_4_bar_1_bar_60)\n (receptacleAtLocation SideTable_bar__plus_03_dot_16_bar__plus_00_dot_02_bar__plus_00_dot_37 loc_bar_11_bar__minus_3_bar_0_bar_60)\n (receptacleAtLocation SideTable_bar__plus_03_dot_16_bar__plus_00_dot_02_bar__plus_01_dot_40 loc_bar_11_bar_2_bar_0_bar_60)\n (receptacleAtLocation SideTable_bar__plus_03_dot_16_bar__plus_00_dot_02_bar__minus_00_dot_57 loc_bar_10_bar__minus_7_bar_0_bar_60)\n (receptacleAtLocation SideTable_bar__minus_00_dot_17_bar__plus_00_dot_01_bar__minus_02_dot_24 loc_bar__minus_3_bar__minus_5_bar_2_bar_60)\n (receptacleAtLocation SideTable_bar__minus_03_dot_30_bar__plus_00_dot_02_bar__minus_00_dot_49 loc_bar__minus_10_bar_0_bar_3_bar_60)\n (receptacleAtLocation Sofa_bar__minus_02_dot_96_bar__plus_00_dot_08_bar__plus_01_dot_39 loc_bar__minus_7_bar_6_bar_3_bar_60)\n (objectAtLocation Newspaper_bar__minus_02_dot_89_bar__plus_00_dot_57_bar__plus_01_dot_19 loc_bar__minus_7_bar_6_bar_3_bar_60)\n (objectAtLocation CreditCard_bar__minus_02_dot_58_bar__plus_00_dot_36_bar__minus_01_dot_84 loc_bar__minus_9_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Box_bar__plus_03_dot_17_bar__plus_00_dot_21_bar__minus_00_dot_05 loc_bar_11_bar_0_bar_1_bar_60)\n (objectAtLocation Box_bar__minus_02_dot_81_bar__plus_00_dot_75_bar__plus_00_dot_98 loc_bar__minus_7_bar_6_bar_3_bar_60)\n (objectAtLocation Book_bar__plus_00_dot_12_bar__plus_00_dot_90_bar__plus_01_dot_07 loc_bar__minus_3_bar_8_bar_1_bar_60)\n (objectAtLocation Chair_bar__plus_01_dot_63_bar__plus_00_dot_02_bar__plus_02_dot_21 loc_bar_7_bar_7_bar_0_bar_60)\n (objectAtLocation Box_bar__plus_03_dot_16_bar__plus_00_dot_78_bar__plus_00_dot_30 loc_bar_11_bar__minus_3_bar_0_bar_60)\n (objectAtLocation Chair_bar__plus_01_dot_05_bar__plus_00_dot_00_bar__minus_02_dot_31 loc_bar_4_bar__minus_7_bar_2_bar_60)\n (objectAtLocation Chair_bar__plus_03_dot_14_bar__plus_00_dot_02_bar__minus_01_dot_63 loc_bar_10_bar__minus_7_bar_1_bar_60)\n (objectAtLocation Chair_bar__plus_02_dot_04_bar__plus_00_dot_00_bar__minus_02_dot_35 loc_bar_10_bar__minus_9_bar_3_bar_60)\n (objectAtLocation Statue_bar__plus_03_dot_12_bar__plus_00_dot_60_bar__minus_00_dot_57 loc_bar_10_bar__minus_7_bar_0_bar_60)\n (objectAtLocation CreditCard_bar__minus_00_dot_30_bar__plus_00_dot_91_bar__plus_01_dot_95 loc_bar__minus_3_bar_8_bar_1_bar_60)\n (objectAtLocation Laptop_bar__minus_02_dot_78_bar__plus_00_dot_37_bar__minus_01_dot_87 loc_bar__minus_9_bar__minus_3_bar_2_bar_45)\n (objectAtLocation DeskLamp_bar__plus_03_dot_14_bar__plus_00_dot_59_bar__plus_01_dot_47 loc_bar_11_bar_2_bar_0_bar_60)\n (objectAtLocation LightSwitch_bar__minus_00_dot_93_bar__plus_01_dot_32_bar__plus_02_dot_85 loc_bar__minus_4_bar_9_bar_0_bar_30)\n (objectAtLocation WateringCan_bar__plus_02_dot_89_bar__plus_00_dot_01_bar__minus_01_dot_92 loc_bar_10_bar__minus_8_bar_1_bar_60)\n (objectAtLocation Newspaper_bar__plus_00_dot_16_bar__plus_00_dot_92_bar__plus_02_dot_43 loc_bar__minus_3_bar_8_bar_1_bar_60)\n (objectAtLocation Vase_bar__minus_02_dot_17_bar__plus_01_dot_20_bar__minus_02_dot_18 loc_bar__minus_10_bar__minus_6_bar_2_bar_30)\n (objectAtLocation CellPhone_bar__minus_00_dot_20_bar__plus_00_dot_91_bar__plus_01_dot_70 loc_bar__minus_3_bar_8_bar_1_bar_60)\n (objectAtLocation RemoteControl_bar__minus_00_dot_11_bar__plus_00_dot_91_bar__plus_01_dot_22 loc_bar__minus_3_bar_8_bar_1_bar_60)\n (objectAtLocation Vase_bar__minus_01_dot_05_bar__plus_01_dot_20_bar__minus_02_dot_15 loc_bar__minus_2_bar__minus_7_bar_3_bar_45)\n (objectAtLocation HousePlant_bar__plus_00_dot_49_bar__plus_00_dot_87_bar__minus_01_dot_58 loc_bar_4_bar__minus_6_bar_3_bar_60)\n (objectAtLocation Television_bar__plus_00_dot_07_bar__plus_01_dot_39_bar__plus_01_dot_70 loc_bar__minus_3_bar_8_bar_1_bar_60)\n (objectAtLocation Pillow_bar__minus_02_dot_81_bar__plus_00_dot_62_bar__plus_01_dot_81 loc_bar__minus_7_bar_6_bar_3_bar_60)\n (objectAtLocation KeyChain_bar__minus_00_dot_11_bar__plus_00_dot_91_bar__plus_02_dot_19 loc_bar__minus_3_bar_8_bar_1_bar_60)\n (objectAtLocation Painting_bar__minus_01_dot_56_bar__plus_01_dot_41_bar__minus_02_dot_32 loc_bar__minus_6_bar__minus_5_bar_2_bar_15)\n (objectAtLocation Painting_bar__plus_03_dot_37_bar__plus_01_dot_79_bar__minus_00_dot_95 loc_bar_11_bar__minus_4_bar_1_bar__minus_15)\n (objectAtLocation Painting_bar__minus_03_dot_49_bar__plus_01_dot_39_bar__minus_00_dot_51 loc_bar__minus_11_bar__minus_2_bar_3_bar_15)\n (objectAtLocation FloorLamp_bar__plus_03_dot_10_bar__plus_00_dot_02_bar__minus_02_dot_34 loc_bar_10_bar__minus_9_bar_1_bar_60)\n (objectAtLocation Window_bar__plus_01_dot_13_bar__plus_01_dot_22_bar__minus_02_dot_74 loc_bar_6_bar__minus_8_bar_2_bar_30)\n (objectAtLocation Window_bar__minus_03_dot_37_bar__plus_01_dot_18_bar__minus_01_dot_54 loc_bar__minus_12_bar__minus_5_bar_3_bar_60)\n (objectAtLocation Window_bar__plus_02_dot_90_bar__plus_01_dot_22_bar__minus_02_dot_74 loc_bar_10_bar__minus_9_bar_2_bar_45)\n (objectAtLocation Window_bar__plus_02_dot_01_bar__plus_01_dot_22_bar__minus_02_dot_74 loc_bar_10_bar__minus_9_bar_3_bar_45)\n (objectAtLocation Window_bar__minus_00_dot_19_bar__plus_01_dot_16_bar__minus_02_dot_56 loc_bar__minus_1_bar__minus_7_bar_2_bar_30)\n (objectAtLocation Window_bar__minus_02_dot_97_bar__plus_01_dot_16_bar__minus_02_dot_56 loc_bar__minus_12_bar__minus_5_bar_2_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 BoxType)\n (receptacleType ?r DresserType)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to sidetable 2", "take box 2 from sidetable 2", "go to dresser 1", "move box 2 to dresser 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/valid_seen/pick_and_place_simple-Box-None-Dresser-224/trial_T20190907_164104_229696/initial_state.pddl b/data/alfworld/json_2.1.1/valid_seen/pick_and_place_simple-Box-None-Dresser-224/trial_T20190907_164104_229696/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..84c4c80149efa4f6531b0f8b7fcbfd69bb3c96f8 --- /dev/null +++ b/data/alfworld/json_2.1.1/valid_seen/pick_and_place_simple-Box-None-Dresser-224/trial_T20190907_164104_229696/initial_state.pddl @@ -0,0 +1,775 @@ + +(define (problem plan_trial_T20190907_164104_229696) +(:domain alfred) +(:objects +agent1 - agent +Curtains - object + SprayBottle - object + Mirror - object + HousePlant - object + Watch - object + TeddyBear - object + WateringCan - object + Bathtub - object + LightSwitch - object + Vase - object + Candle - object + Bread - object + Statue - object + HandTowel - object + StoveKnob - object + PaperTowelRoll - object + Pan - object + PepperShaker - object + Painting - object + CellPhone - object + Plunger - object + Spoon - object + SaltShaker - object + KeyChain - object + Footstool - object + Poster - object + Television - object + LaundryHamperLid - object + Glassbottle - object + AlarmClock - object + WineBottle - object + Bowl - object + Sink - object + TissueBox - object + TennisRacket - object + ToiletPaper - object + ScrubBrush - object + CreditCard - object + Laptop - object + Cloth - object + Cup - object + Chair - object + BasketBall - object + Kettle - object + PaperTowel - object + ShowerDoor - object + BaseballBat - object + Potato - object + Pillow - object + Lettuce - object + RemoteControl - object + Window - object + DishSponge - object + CD - object + Boots - object + Blinds - object + Pen - object + Newspaper - object + Plate - object + Mug - object + ShowerGlass - object + ToiletPaperRoll - object + SoapBar - object + FloorLamp - object + SoapBottle - object + Pot - object + Pencil - object + Spatula - object + Towel - object + Fork - object + Ladle - object + Knife - object + Apple - object + Box - object + Tomato - object + ButterKnife - object + Egg - object + Book - object + DeskLamp - object +CurtainsType - otype + SprayBottleType - otype + MirrorType - otype + HousePlantType - otype + WatchType - otype + TeddyBearType - otype + WateringCanType - otype + BathtubType - otype + LightSwitchType - otype + VaseType - otype + CandleType - otype + BreadType - otype + StatueType - otype + HandTowelType - otype + StoveKnobType - otype + PaperTowelRollType - otype + PanType - otype + PepperShakerType - otype + PaintingType - otype + CellPhoneType - otype + PlungerType - otype + SpoonType - otype + SaltShakerType - otype + KeyChainType - otype + FootstoolType - otype + PosterType - otype + TelevisionType - otype + LaundryHamperLidType - otype + GlassbottleType - otype + AlarmClockType - otype + WineBottleType - otype + BowlType - otype + SinkType - otype + TissueBoxType - otype + TennisRacketType - otype + ToiletPaperType - otype + ScrubBrushType - otype + CreditCardType - otype + LaptopType - otype + ClothType - otype + CupType - otype + ChairType - otype + BasketBallType - otype + KettleType - otype + PaperTowelType - otype + ShowerDoorType - otype + BaseballBatType - otype + PotatoType - otype + PillowType - otype + LettuceType - otype + RemoteControlType - otype + WindowType - otype + DishSpongeType - otype + CDType - otype + BootsType - otype + BlindsType - otype + PenType - otype + NewspaperType - otype + PlateType - otype + MugType - otype + ShowerGlassType - otype + ToiletPaperRollType - otype + SoapBarType - otype + FloorLampType - otype + SoapBottleType - otype + PotType - otype + PencilType - otype + SpatulaType - otype + TowelType - otype + ForkType - otype + LadleType - otype + KnifeType - otype + AppleType - otype + BoxType - otype + TomatoType - otype + ButterKnifeType - otype + EggType - otype + BookType - otype + DeskLampType - otype +CabinetType - rtype + ShelfType - rtype + DiningTableType - rtype + TowelHolderType - rtype + PaintingHangerType - rtype + TVStandType - rtype + LaundryHamperType - rtype + OttomanType - rtype + SafeType - rtype + CoffeeMachineType - rtype + CounterTopType - rtype + ToiletType - rtype + FridgeType - rtype + CoffeeTableType - rtype + SinkBasinType - rtype + GarbageCanType - rtype + BathtubBasinType - rtype + SideTableType - rtype + CartType - rtype + BedType - rtype + DeskType - rtype + SofaType - rtype + ArmChairType - rtype + MicrowaveType - rtype + HandTowelHolderType - rtype + ToasterType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + DrawerType - rtype + DresserType - rtype + + + Book_bar__plus_00_dot_12_bar__plus_00_dot_90_bar__plus_01_dot_07 - object + Box_bar__plus_03_dot_16_bar__plus_00_dot_78_bar__plus_00_dot_30 - object + Box_bar__plus_03_dot_17_bar__plus_00_dot_21_bar__minus_00_dot_05 - object + Box_bar__minus_02_dot_81_bar__plus_00_dot_75_bar__plus_00_dot_98 - object + CellPhone_bar__minus_00_dot_20_bar__plus_00_dot_91_bar__plus_01_dot_70 - object + Chair_bar__plus_01_dot_05_bar__plus_00_dot_00_bar__minus_02_dot_31 - object + Chair_bar__plus_01_dot_63_bar__plus_00_dot_02_bar__plus_02_dot_21 - object + Chair_bar__plus_02_dot_04_bar__plus_00_dot_00_bar__minus_02_dot_35 - object + Chair_bar__plus_03_dot_14_bar__plus_00_dot_02_bar__minus_01_dot_63 - object + CreditCard_bar__minus_00_dot_30_bar__plus_00_dot_91_bar__plus_01_dot_95 - object + CreditCard_bar__minus_02_dot_58_bar__plus_00_dot_36_bar__minus_01_dot_84 - object + DeskLamp_bar__plus_03_dot_14_bar__plus_00_dot_59_bar__plus_01_dot_47 - object + FloorLamp_bar__plus_03_dot_10_bar__plus_00_dot_02_bar__minus_02_dot_34 - object + HousePlant_bar__plus_00_dot_49_bar__plus_00_dot_87_bar__minus_01_dot_58 - object + KeyChain_bar__minus_00_dot_11_bar__plus_00_dot_91_bar__plus_02_dot_19 - object + Laptop_bar__minus_02_dot_78_bar__plus_00_dot_37_bar__minus_01_dot_87 - object + LightSwitch_bar__minus_00_dot_93_bar__plus_01_dot_32_bar__plus_02_dot_85 - object + Newspaper_bar__plus_00_dot_16_bar__plus_00_dot_92_bar__plus_02_dot_43 - object + Newspaper_bar__minus_02_dot_89_bar__plus_00_dot_57_bar__plus_01_dot_19 - object + Painting_bar__plus_03_dot_37_bar__plus_01_dot_79_bar__minus_00_dot_95 - object + Painting_bar__minus_01_dot_56_bar__plus_01_dot_41_bar__minus_02_dot_32 - object + Painting_bar__minus_03_dot_49_bar__plus_01_dot_39_bar__minus_00_dot_51 - object + Pillow_bar__minus_02_dot_81_bar__plus_00_dot_62_bar__plus_01_dot_81 - object + RemoteControl_bar__minus_00_dot_11_bar__plus_00_dot_91_bar__plus_01_dot_22 - object + Statue_bar__plus_03_dot_12_bar__plus_00_dot_60_bar__minus_00_dot_57 - object + Television_bar__plus_00_dot_07_bar__plus_01_dot_39_bar__plus_01_dot_70 - object + Vase_bar__minus_01_dot_05_bar__plus_01_dot_20_bar__minus_02_dot_15 - object + Vase_bar__minus_02_dot_17_bar__plus_01_dot_20_bar__minus_02_dot_18 - object + WateringCan_bar__plus_02_dot_89_bar__plus_00_dot_01_bar__minus_01_dot_92 - object + Window_bar__plus_01_dot_13_bar__plus_01_dot_22_bar__minus_02_dot_74 - object + Window_bar__plus_02_dot_01_bar__plus_01_dot_22_bar__minus_02_dot_74 - object + Window_bar__plus_02_dot_90_bar__plus_01_dot_22_bar__minus_02_dot_74 - object + Window_bar__minus_00_dot_19_bar__plus_01_dot_16_bar__minus_02_dot_56 - object + Window_bar__minus_02_dot_97_bar__plus_01_dot_16_bar__minus_02_dot_56 - object + Window_bar__minus_03_dot_37_bar__plus_01_dot_18_bar__minus_01_dot_54 - object + ArmChair_bar__minus_02_dot_86_bar__plus_00_dot_02_bar__minus_02_dot_04 - receptacle + Cabinet_bar__plus_00_dot_33_bar__plus_00_dot_51_bar__minus_02_dot_02 - receptacle + Drawer_bar__plus_02_dot_99_bar__plus_00_dot_09_bar__plus_00_dot_37 - receptacle + Drawer_bar__plus_02_dot_99_bar__plus_00_dot_09_bar__plus_01_dot_40 - receptacle + Drawer_bar__plus_02_dot_99_bar__plus_00_dot_09_bar__minus_00_dot_57 - receptacle + Drawer_bar__plus_02_dot_99_bar__plus_00_dot_34_bar__plus_00_dot_37 - receptacle + Drawer_bar__plus_02_dot_99_bar__plus_00_dot_34_bar__plus_01_dot_40 - receptacle + Drawer_bar__plus_02_dot_99_bar__plus_00_dot_34_bar__minus_00_dot_57 - receptacle + Drawer_bar__minus_00_dot_16_bar__plus_00_dot_22_bar__plus_00_dot_99 - receptacle + Drawer_bar__minus_00_dot_16_bar__plus_00_dot_22_bar__plus_01_dot_47 - receptacle + Drawer_bar__minus_00_dot_16_bar__plus_00_dot_22_bar__plus_01_dot_94 - receptacle + Drawer_bar__minus_00_dot_16_bar__plus_00_dot_22_bar__plus_02_dot_42 - receptacle + Drawer_bar__minus_00_dot_16_bar__plus_00_dot_47_bar__plus_00_dot_99 - receptacle + Drawer_bar__minus_00_dot_16_bar__plus_00_dot_47_bar__plus_01_dot_47 - receptacle + Drawer_bar__minus_00_dot_16_bar__plus_00_dot_47_bar__plus_01_dot_94 - receptacle + Drawer_bar__minus_00_dot_16_bar__plus_00_dot_47_bar__plus_02_dot_42 - receptacle + Drawer_bar__minus_00_dot_16_bar__plus_00_dot_72_bar__plus_00_dot_99 - receptacle + Drawer_bar__minus_00_dot_16_bar__plus_00_dot_72_bar__plus_01_dot_47 - receptacle + Drawer_bar__minus_00_dot_16_bar__plus_00_dot_72_bar__plus_01_dot_94 - receptacle + Drawer_bar__minus_00_dot_16_bar__plus_00_dot_72_bar__plus_02_dot_42 - receptacle + Drawer_bar__minus_00_dot_17_bar__plus_00_dot_45_bar__minus_02_dot_04 - receptacle + Drawer_bar__minus_03_dot_13_bar__plus_00_dot_09_bar__minus_00_dot_49 - receptacle + Drawer_bar__minus_03_dot_13_bar__plus_00_dot_34_bar__minus_00_dot_49 - receptacle + Dresser_bar__minus_00_dot_02_bar__plus_00_dot_01_bar__plus_01_dot_72 - receptacle + GarbageCan_bar__plus_03_dot_16_bar__plus_00_dot_02_bar__plus_00_dot_89 - receptacle + SideTable_bar__plus_03_dot_16_bar__plus_00_dot_02_bar__plus_00_dot_37 - receptacle + SideTable_bar__plus_03_dot_16_bar__plus_00_dot_02_bar__plus_01_dot_40 - receptacle + SideTable_bar__plus_03_dot_16_bar__plus_00_dot_02_bar__minus_00_dot_57 - receptacle + SideTable_bar__minus_00_dot_17_bar__plus_00_dot_01_bar__minus_02_dot_24 - receptacle + SideTable_bar__minus_03_dot_30_bar__plus_00_dot_02_bar__minus_00_dot_49 - receptacle + Sofa_bar__minus_02_dot_96_bar__plus_00_dot_08_bar__plus_01_dot_39 - receptacle + loc_bar_9_bar_6_bar_2_bar_60 - location + loc_bar_10_bar__minus_7_bar_1_bar_60 - location + loc_bar_10_bar_5_bar_2_bar_60 - location + loc_bar_10_bar__minus_9_bar_3_bar_60 - location + loc_bar__minus_1_bar__minus_7_bar_2_bar_30 - location + loc_bar_11_bar_4_bar_1_bar_60 - location + loc_bar__minus_12_bar__minus_5_bar_3_bar_60 - location + loc_bar__minus_5_bar_2_bar_1_bar_60 - location + loc_bar__minus_4_bar_5_bar_1_bar_45 - location + loc_bar_4_bar__minus_6_bar_3_bar_60 - location + loc_bar__minus_4_bar_9_bar_0_bar_30 - location + loc_bar_10_bar__minus_8_bar_1_bar_60 - location + loc_bar__minus_11_bar__minus_2_bar_3_bar_15 - location + loc_bar__minus_10_bar_0_bar_3_bar_60 - location + loc_bar_7_bar_7_bar_0_bar_60 - location + loc_bar_11_bar_5_bar_1_bar_60 - location + loc_bar_10_bar__minus_9_bar_1_bar_60 - location + loc_bar__minus_5_bar_6_bar_1_bar_60 - location + loc_bar__minus_5_bar_8_bar_1_bar_45 - location + loc_bar__minus_2_bar__minus_7_bar_3_bar_45 - location + loc_bar_11_bar__minus_4_bar_1_bar__minus_15 - location + loc_bar_10_bar_2_bar_2_bar_45 - location + loc_bar_10_bar__minus_7_bar_0_bar_60 - location + loc_bar__minus_4_bar_7_bar_1_bar_45 - location + loc_bar__minus_7_bar_6_bar_3_bar_60 - location + loc_bar__minus_5_bar_8_bar_1_bar_60 - location + loc_bar__minus_4_bar_8_bar_1_bar_45 - location + loc_bar__minus_5_bar_4_bar_1_bar_45 - location + loc_bar__minus_12_bar__minus_5_bar_2_bar_15 - location + loc_bar__minus_10_bar__minus_6_bar_2_bar_30 - location + loc_bar__minus_3_bar__minus_5_bar_2_bar_60 - location + loc_bar_10_bar__minus_9_bar_3_bar_45 - location + loc_bar_0_bar__minus_7_bar_1_bar_60 - location + loc_bar_11_bar_2_bar_0_bar_60 - location + loc_bar_10_bar__minus_9_bar_2_bar_45 - location + loc_bar_11_bar__minus_3_bar_0_bar_60 - location + loc_bar_4_bar__minus_7_bar_2_bar_60 - location + loc_bar__minus_4_bar_9_bar_1_bar_45 - location + loc_bar__minus_5_bar_6_bar_1_bar_45 - location + loc_bar_9_bar_2_bar_2_bar_60 - location + loc_bar_6_bar__minus_8_bar_2_bar_30 - location + loc_bar__minus_10_bar__minus_6_bar_0_bar_60 - location + loc_bar_0_bar__minus_4_bar_2_bar_45 - location + loc_bar__minus_6_bar__minus_5_bar_2_bar_15 - location + loc_bar__minus_5_bar_2_bar_1_bar_45 - location + loc_bar_11_bar_0_bar_1_bar_60 - location + loc_bar__minus_3_bar_8_bar_1_bar_60 - location + loc_bar__minus_9_bar__minus_3_bar_2_bar_45 - location + loc_bar__minus_7_bar__minus_3_bar_2_bar_30 - location + ) + + +(:init + + + (receptacleType Drawer_bar__plus_02_dot_99_bar__plus_00_dot_09_bar__minus_00_dot_57 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_16_bar__plus_00_dot_47_bar__plus_01_dot_94 DrawerType) + (receptacleType Drawer_bar__plus_02_dot_99_bar__plus_00_dot_34_bar__plus_00_dot_37 DrawerType) + (receptacleType Cabinet_bar__plus_00_dot_33_bar__plus_00_dot_51_bar__minus_02_dot_02 CabinetType) + (receptacleType Drawer_bar__minus_00_dot_16_bar__plus_00_dot_72_bar__plus_01_dot_94 DrawerType) + (receptacleType SideTable_bar__plus_03_dot_16_bar__plus_00_dot_02_bar__plus_01_dot_40 SideTableType) + (receptacleType ArmChair_bar__minus_02_dot_86_bar__plus_00_dot_02_bar__minus_02_dot_04 ArmChairType) + (receptacleType Drawer_bar__minus_00_dot_16_bar__plus_00_dot_22_bar__plus_00_dot_99 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_16_bar__plus_00_dot_22_bar__plus_02_dot_42 DrawerType) + (receptacleType Sofa_bar__minus_02_dot_96_bar__plus_00_dot_08_bar__plus_01_dot_39 SofaType) + (receptacleType GarbageCan_bar__plus_03_dot_16_bar__plus_00_dot_02_bar__plus_00_dot_89 GarbageCanType) + (receptacleType Drawer_bar__minus_00_dot_17_bar__plus_00_dot_45_bar__minus_02_dot_04 DrawerType) + (receptacleType SideTable_bar__plus_03_dot_16_bar__plus_00_dot_02_bar__minus_00_dot_57 SideTableType) + (receptacleType SideTable_bar__minus_03_dot_30_bar__plus_00_dot_02_bar__minus_00_dot_49 SideTableType) + (receptacleType Drawer_bar__plus_02_dot_99_bar__plus_00_dot_09_bar__plus_01_dot_40 DrawerType) + (receptacleType SideTable_bar__plus_03_dot_16_bar__plus_00_dot_02_bar__plus_00_dot_37 SideTableType) + (receptacleType Drawer_bar__minus_00_dot_16_bar__plus_00_dot_47_bar__plus_00_dot_99 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_16_bar__plus_00_dot_72_bar__plus_00_dot_99 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_16_bar__plus_00_dot_72_bar__plus_01_dot_47 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_16_bar__plus_00_dot_22_bar__plus_01_dot_47 DrawerType) + (receptacleType Drawer_bar__minus_03_dot_13_bar__plus_00_dot_34_bar__minus_00_dot_49 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_16_bar__plus_00_dot_47_bar__plus_01_dot_47 DrawerType) + (receptacleType Drawer_bar__plus_02_dot_99_bar__plus_00_dot_09_bar__plus_00_dot_37 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_16_bar__plus_00_dot_72_bar__plus_02_dot_42 DrawerType) + (receptacleType Drawer_bar__plus_02_dot_99_bar__plus_00_dot_34_bar__minus_00_dot_57 DrawerType) + (receptacleType Dresser_bar__minus_00_dot_02_bar__plus_00_dot_01_bar__plus_01_dot_72 DresserType) + (receptacleType Drawer_bar__plus_02_dot_99_bar__plus_00_dot_34_bar__plus_01_dot_40 DrawerType) + (receptacleType Drawer_bar__minus_03_dot_13_bar__plus_00_dot_09_bar__minus_00_dot_49 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_16_bar__plus_00_dot_22_bar__plus_01_dot_94 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_16_bar__plus_00_dot_47_bar__plus_02_dot_42 DrawerType) + (receptacleType SideTable_bar__minus_00_dot_17_bar__plus_00_dot_01_bar__minus_02_dot_24 SideTableType) + (objectType Painting_bar__plus_03_dot_37_bar__plus_01_dot_79_bar__minus_00_dot_95 PaintingType) 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Box_bar__plus_03_dot_16_bar__plus_00_dot_78_bar__plus_00_dot_30 SideTable_bar__plus_03_dot_16_bar__plus_00_dot_02_bar__plus_00_dot_37) + + + (receptacleAtLocation ArmChair_bar__minus_02_dot_86_bar__plus_00_dot_02_bar__minus_02_dot_04 loc_bar__minus_9_bar__minus_3_bar_2_bar_45) + (receptacleAtLocation Cabinet_bar__plus_00_dot_33_bar__plus_00_dot_51_bar__minus_02_dot_02 loc_bar_0_bar__minus_7_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_02_dot_99_bar__plus_00_dot_09_bar__plus_00_dot_37 loc_bar_9_bar_6_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__plus_02_dot_99_bar__plus_00_dot_09_bar__plus_01_dot_40 loc_bar_11_bar_5_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_02_dot_99_bar__plus_00_dot_09_bar__minus_00_dot_57 loc_bar_9_bar_2_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__plus_02_dot_99_bar__plus_00_dot_34_bar__plus_00_dot_37 loc_bar_10_bar_5_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__plus_02_dot_99_bar__plus_00_dot_34_bar__plus_01_dot_40 loc_bar_11_bar_5_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_02_dot_99_bar__plus_00_dot_34_bar__minus_00_dot_57 loc_bar_10_bar_2_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_16_bar__plus_00_dot_22_bar__plus_00_dot_99 loc_bar__minus_5_bar_2_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__minus_00_dot_16_bar__plus_00_dot_22_bar__plus_01_dot_47 loc_bar__minus_5_bar_8_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__minus_00_dot_16_bar__plus_00_dot_22_bar__plus_01_dot_94 loc_bar__minus_5_bar_6_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__minus_00_dot_16_bar__plus_00_dot_22_bar__plus_02_dot_42 loc_bar__minus_5_bar_8_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__minus_00_dot_16_bar__plus_00_dot_47_bar__plus_00_dot_99 loc_bar__minus_5_bar_2_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_16_bar__plus_00_dot_47_bar__plus_01_dot_47 loc_bar__minus_5_bar_4_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_16_bar__plus_00_dot_47_bar__plus_01_dot_94 loc_bar__minus_5_bar_6_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_16_bar__plus_00_dot_47_bar__plus_02_dot_42 loc_bar__minus_5_bar_8_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_16_bar__plus_00_dot_72_bar__plus_00_dot_99 loc_bar__minus_4_bar_5_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_16_bar__plus_00_dot_72_bar__plus_01_dot_47 loc_bar__minus_4_bar_7_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_16_bar__plus_00_dot_72_bar__plus_01_dot_94 loc_bar__minus_4_bar_9_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_16_bar__plus_00_dot_72_bar__plus_02_dot_42 loc_bar__minus_4_bar_8_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_17_bar__plus_00_dot_45_bar__minus_02_dot_04 loc_bar_0_bar__minus_4_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_03_dot_13_bar__plus_00_dot_09_bar__minus_00_dot_49 loc_bar__minus_10_bar__minus_6_bar_0_bar_60) + (receptacleAtLocation Drawer_bar__minus_03_dot_13_bar__plus_00_dot_34_bar__minus_00_dot_49 loc_bar__minus_10_bar__minus_6_bar_0_bar_60) + (receptacleAtLocation Dresser_bar__minus_00_dot_02_bar__plus_00_dot_01_bar__plus_01_dot_72 loc_bar__minus_3_bar_8_bar_1_bar_60) + (receptacleAtLocation GarbageCan_bar__plus_03_dot_16_bar__plus_00_dot_02_bar__plus_00_dot_89 loc_bar_11_bar_4_bar_1_bar_60) + (receptacleAtLocation SideTable_bar__plus_03_dot_16_bar__plus_00_dot_02_bar__plus_00_dot_37 loc_bar_11_bar__minus_3_bar_0_bar_60) + (receptacleAtLocation SideTable_bar__plus_03_dot_16_bar__plus_00_dot_02_bar__plus_01_dot_40 loc_bar_11_bar_2_bar_0_bar_60) + (receptacleAtLocation SideTable_bar__plus_03_dot_16_bar__plus_00_dot_02_bar__minus_00_dot_57 loc_bar_10_bar__minus_7_bar_0_bar_60) + (receptacleAtLocation SideTable_bar__minus_00_dot_17_bar__plus_00_dot_01_bar__minus_02_dot_24 loc_bar__minus_3_bar__minus_5_bar_2_bar_60) + (receptacleAtLocation SideTable_bar__minus_03_dot_30_bar__plus_00_dot_02_bar__minus_00_dot_49 loc_bar__minus_10_bar_0_bar_3_bar_60) + (receptacleAtLocation Sofa_bar__minus_02_dot_96_bar__plus_00_dot_08_bar__plus_01_dot_39 loc_bar__minus_7_bar_6_bar_3_bar_60) + (objectAtLocation Newspaper_bar__minus_02_dot_89_bar__plus_00_dot_57_bar__plus_01_dot_19 loc_bar__minus_7_bar_6_bar_3_bar_60) + (objectAtLocation CreditCard_bar__minus_02_dot_58_bar__plus_00_dot_36_bar__minus_01_dot_84 loc_bar__minus_9_bar__minus_3_bar_2_bar_45) + (objectAtLocation Box_bar__plus_03_dot_17_bar__plus_00_dot_21_bar__minus_00_dot_05 loc_bar_11_bar_0_bar_1_bar_60) + (objectAtLocation Box_bar__minus_02_dot_81_bar__plus_00_dot_75_bar__plus_00_dot_98 loc_bar__minus_7_bar_6_bar_3_bar_60) + (objectAtLocation Book_bar__plus_00_dot_12_bar__plus_00_dot_90_bar__plus_01_dot_07 loc_bar__minus_3_bar_8_bar_1_bar_60) + (objectAtLocation Chair_bar__plus_01_dot_63_bar__plus_00_dot_02_bar__plus_02_dot_21 loc_bar_7_bar_7_bar_0_bar_60) + (objectAtLocation Box_bar__plus_03_dot_16_bar__plus_00_dot_78_bar__plus_00_dot_30 loc_bar_11_bar__minus_3_bar_0_bar_60) + (objectAtLocation Chair_bar__plus_01_dot_05_bar__plus_00_dot_00_bar__minus_02_dot_31 loc_bar_4_bar__minus_7_bar_2_bar_60) + (objectAtLocation Chair_bar__plus_03_dot_14_bar__plus_00_dot_02_bar__minus_01_dot_63 loc_bar_10_bar__minus_7_bar_1_bar_60) + (objectAtLocation Chair_bar__plus_02_dot_04_bar__plus_00_dot_00_bar__minus_02_dot_35 loc_bar_10_bar__minus_9_bar_3_bar_60) + (objectAtLocation Statue_bar__plus_03_dot_12_bar__plus_00_dot_60_bar__minus_00_dot_57 loc_bar_10_bar__minus_7_bar_0_bar_60) + (objectAtLocation CreditCard_bar__minus_00_dot_30_bar__plus_00_dot_91_bar__plus_01_dot_95 loc_bar__minus_3_bar_8_bar_1_bar_60) + (objectAtLocation Laptop_bar__minus_02_dot_78_bar__plus_00_dot_37_bar__minus_01_dot_87 loc_bar__minus_9_bar__minus_3_bar_2_bar_45) + (objectAtLocation DeskLamp_bar__plus_03_dot_14_bar__plus_00_dot_59_bar__plus_01_dot_47 loc_bar_11_bar_2_bar_0_bar_60) + (objectAtLocation LightSwitch_bar__minus_00_dot_93_bar__plus_01_dot_32_bar__plus_02_dot_85 loc_bar__minus_4_bar_9_bar_0_bar_30) + (objectAtLocation WateringCan_bar__plus_02_dot_89_bar__plus_00_dot_01_bar__minus_01_dot_92 loc_bar_10_bar__minus_8_bar_1_bar_60) + (objectAtLocation Newspaper_bar__plus_00_dot_16_bar__plus_00_dot_92_bar__plus_02_dot_43 loc_bar__minus_3_bar_8_bar_1_bar_60) + (objectAtLocation Vase_bar__minus_02_dot_17_bar__plus_01_dot_20_bar__minus_02_dot_18 loc_bar__minus_10_bar__minus_6_bar_2_bar_30) + (objectAtLocation CellPhone_bar__minus_00_dot_20_bar__plus_00_dot_91_bar__plus_01_dot_70 loc_bar__minus_3_bar_8_bar_1_bar_60) + (objectAtLocation RemoteControl_bar__minus_00_dot_11_bar__plus_00_dot_91_bar__plus_01_dot_22 loc_bar__minus_3_bar_8_bar_1_bar_60) + (objectAtLocation Vase_bar__minus_01_dot_05_bar__plus_01_dot_20_bar__minus_02_dot_15 loc_bar__minus_2_bar__minus_7_bar_3_bar_45) + (objectAtLocation HousePlant_bar__plus_00_dot_49_bar__plus_00_dot_87_bar__minus_01_dot_58 loc_bar_4_bar__minus_6_bar_3_bar_60) + (objectAtLocation Television_bar__plus_00_dot_07_bar__plus_01_dot_39_bar__plus_01_dot_70 loc_bar__minus_3_bar_8_bar_1_bar_60) + (objectAtLocation Pillow_bar__minus_02_dot_81_bar__plus_00_dot_62_bar__plus_01_dot_81 loc_bar__minus_7_bar_6_bar_3_bar_60) + (objectAtLocation KeyChain_bar__minus_00_dot_11_bar__plus_00_dot_91_bar__plus_02_dot_19 loc_bar__minus_3_bar_8_bar_1_bar_60) + (objectAtLocation Painting_bar__minus_01_dot_56_bar__plus_01_dot_41_bar__minus_02_dot_32 loc_bar__minus_6_bar__minus_5_bar_2_bar_15) + (objectAtLocation Painting_bar__plus_03_dot_37_bar__plus_01_dot_79_bar__minus_00_dot_95 loc_bar_11_bar__minus_4_bar_1_bar__minus_15) + (objectAtLocation Painting_bar__minus_03_dot_49_bar__plus_01_dot_39_bar__minus_00_dot_51 loc_bar__minus_11_bar__minus_2_bar_3_bar_15) + (objectAtLocation FloorLamp_bar__plus_03_dot_10_bar__plus_00_dot_02_bar__minus_02_dot_34 loc_bar_10_bar__minus_9_bar_1_bar_60) + (objectAtLocation Window_bar__plus_01_dot_13_bar__plus_01_dot_22_bar__minus_02_dot_74 loc_bar_6_bar__minus_8_bar_2_bar_30) + (objectAtLocation Window_bar__minus_03_dot_37_bar__plus_01_dot_18_bar__minus_01_dot_54 loc_bar__minus_12_bar__minus_5_bar_3_bar_60) + (objectAtLocation Window_bar__plus_02_dot_90_bar__plus_01_dot_22_bar__minus_02_dot_74 loc_bar_10_bar__minus_9_bar_2_bar_45) + (objectAtLocation Window_bar__plus_02_dot_01_bar__plus_01_dot_22_bar__minus_02_dot_74 loc_bar_10_bar__minus_9_bar_3_bar_45) + (objectAtLocation Window_bar__minus_00_dot_19_bar__plus_01_dot_16_bar__minus_02_dot_56 loc_bar__minus_1_bar__minus_7_bar_2_bar_30) + (objectAtLocation Window_bar__minus_02_dot_97_bar__plus_01_dot_16_bar__minus_02_dot_56 loc_bar__minus_12_bar__minus_5_bar_2_bar_15) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (inReceptacle ?o ?r) + (objectType ?o BoxType) + (receptacleType ?r DresserType) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/valid_seen/pick_and_place_simple-Box-None-Dresser-224/trial_T20190907_164104_229696/traj_data.json b/data/alfworld/json_2.1.1/valid_seen/pick_and_place_simple-Box-None-Dresser-224/trial_T20190907_164104_229696/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..cbef1add450ae68b8ebb38c9949c76b6e4cd802e --- /dev/null +++ b/data/alfworld/json_2.1.1/valid_seen/pick_and_place_simple-Box-None-Dresser-224/trial_T20190907_164104_229696/traj_data.json @@ -0,0 +1,3036 @@ +{ + "images": [ + { + "high_idx": 0, + "image_name": "000000000.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000001.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000002.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000003.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000004.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000005.png", + "low_idx": 0 + }, + { + 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"z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 3082673183, + "scene_num": 224 + }, + "task_id": "trial_T20190907_164104_229696", + "task_type": "pick_and_place_simple", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A2A4UAFZ5LW71K_30MVJZJNHPUEH3HBA9ZMU7DEGC39JD", + "high_descs": [ + "turn right, turn right, walk towards the door, turn left to face the couch", + "pick up the box that is on the couch", + "turn around, walk across to the dresser", + "put the box on the dresser" + ], + "task_desc": "move a box from the couch to the dresser", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A38Z99XF4NDNH0_35BLDD71I9E2EPZIVW74AJQ1Q2EVZF", + "high_descs": [ + "Move to the left side of the black leather sofa", + "Pick up the empty box and the newspaper sitting on the sofa", + "Carry the newspaper and the empty box to the TV stand", + "Place the empty box and the newspaper on the left side of the TV stand to the left of the keys" + ], + "task_desc": "Move and empty box and newspaper to the TV stand", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A6U2C66WQ7QQN_3I33IC7ZWIJSGQT8VU7URL2HKIO2AL", + "high_descs": [ + "Turn around, head to the couch", + "Take the box from the couch", + "Turn around, head to the dresser", + "Put the box on the dresser" + ], + "task_desc": "Take the box from the couch, put it on the dresser", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/valid_seen/pick_and_place_simple-CreditCard-None-ArmChair-201/trial_T20190908_124340_258012/game.tw-pddl b/data/alfworld/json_2.1.1/valid_seen/pick_and_place_simple-CreditCard-None-ArmChair-201/trial_T20190908_124340_258012/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..0748010b0c64a62883887ba58d9069136e6405ea --- /dev/null +++ b/data/alfworld/json_2.1.1/valid_seen/pick_and_place_simple-CreditCard-None-ArmChair-201/trial_T20190908_124340_258012/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\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 creditcard 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_124340_258012)\n(:domain alfred)\n(:objects\nagent1 - agent\nCurtains - object\n SprayBottle - object\n Mirror - object\n HousePlant - object\n Watch - object\n TeddyBear - object\n WateringCan - object\n Bathtub - object\n LightSwitch - object\n Vase - object\n Candle - object\n Bread - object\n Statue - object\n HandTowel - object\n StoveKnob - object\n PaperTowelRoll - object\n Pan - object\n PepperShaker - object\n Painting - object\n CellPhone - object\n Plunger - object\n Spoon - object\n SaltShaker - object\n KeyChain - object\n Footstool - object\n Poster - object\n Television - object\n LaundryHamperLid - object\n Glassbottle - object\n AlarmClock - object\n WineBottle - object\n Bowl - object\n Sink - object\n TissueBox - object\n TennisRacket - object\n ToiletPaper - object\n ScrubBrush - object\n CreditCard - object\n Laptop - object\n Cloth - object\n Cup - object\n Chair - object\n BasketBall - object\n Kettle - object\n PaperTowel - object\n ShowerDoor - object\n BaseballBat - object\n Potato - object\n Pillow - object\n Lettuce - object\n RemoteControl - object\n Window - object\n DishSponge - object\n CD - object\n Boots - object\n Blinds - object\n Pen - object\n Newspaper - object\n Plate - object\n Mug - object\n ShowerGlass - object\n ToiletPaperRoll - object\n SoapBar - object\n FloorLamp - object\n SoapBottle - object\n Pot - object\n Pencil - object\n Spatula - object\n Towel - object\n Fork - object\n Ladle - object\n Knife - object\n Apple - object\n Box - object\n Tomato - object\n ButterKnife - object\n Egg - object\n Book - object\n DeskLamp - object\nCurtainsType - otype\n SprayBottleType - otype\n MirrorType - otype\n HousePlantType - otype\n WatchType - otype\n TeddyBearType - otype\n WateringCanType - otype\n BathtubType - otype\n LightSwitchType - otype\n VaseType - otype\n CandleType - otype\n BreadType - otype\n StatueType - otype\n HandTowelType - otype\n StoveKnobType - otype\n PaperTowelRollType - otype\n PanType - otype\n PepperShakerType - otype\n PaintingType - otype\n CellPhoneType - otype\n PlungerType - otype\n SpoonType - otype\n SaltShakerType - otype\n KeyChainType - otype\n FootstoolType - otype\n PosterType - otype\n TelevisionType - otype\n LaundryHamperLidType - otype\n GlassbottleType - otype\n AlarmClockType - otype\n WineBottleType - otype\n BowlType - otype\n SinkType - otype\n TissueBoxType - otype\n TennisRacketType - otype\n ToiletPaperType - otype\n ScrubBrushType - otype\n CreditCardType - otype\n LaptopType - otype\n ClothType - otype\n CupType - otype\n ChairType - otype\n BasketBallType - otype\n KettleType - otype\n PaperTowelType - otype\n ShowerDoorType - otype\n BaseballBatType - otype\n PotatoType - otype\n PillowType - otype\n LettuceType - otype\n RemoteControlType - otype\n WindowType - otype\n DishSpongeType - otype\n CDType - otype\n BootsType - otype\n BlindsType - otype\n PenType - otype\n NewspaperType - otype\n PlateType - otype\n MugType - otype\n ShowerGlassType - otype\n ToiletPaperRollType - otype\n SoapBarType - otype\n FloorLampType - otype\n SoapBottleType - otype\n PotType - otype\n PencilType - otype\n SpatulaType - otype\n TowelType - otype\n ForkType - otype\n LadleType - otype\n KnifeType - otype\n AppleType - otype\n BoxType - otype\n TomatoType - otype\n ButterKnifeType - otype\n EggType - otype\n BookType - otype\n DeskLampType - otype\nCabinetType - rtype\n ShelfType - rtype\n DiningTableType - rtype\n TowelHolderType - rtype\n PaintingHangerType - rtype\n TVStandType - rtype\n LaundryHamperType - rtype\n OttomanType - rtype\n SafeType - rtype\n CoffeeMachineType - rtype\n CounterTopType - rtype\n ToiletType - rtype\n FridgeType - rtype\n CoffeeTableType - rtype\n SinkBasinType - rtype\n GarbageCanType - rtype\n BathtubBasinType - rtype\n SideTableType - rtype\n CartType - rtype\n BedType - rtype\n DeskType - rtype\n SofaType - rtype\n ArmChairType - rtype\n MicrowaveType - rtype\n HandTowelHolderType - rtype\n ToasterType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n DrawerType - rtype\n DresserType - rtype\n\n\n Book_bar__minus_01_dot_87_bar__plus_00_dot_68_bar__plus_01_dot_17 - object\n Bowl_bar__minus_02_dot_24_bar__plus_00_dot_10_bar__plus_04_dot_89 - object\n Box_bar__minus_03_dot_36_bar__plus_00_dot_22_bar__plus_06_dot_43 - object\n Chair_bar__minus_01_dot_42_bar__minus_00_dot_01_bar__plus_01_dot_43 - object\n Chair_bar__minus_01_dot_86_bar_00_dot_00_bar__plus_01_dot_14 - object\n Chair_bar__minus_01_dot_87_bar__minus_00_dot_01_bar__plus_01_dot_75 - object\n Chair_bar__minus_02_dot_48_bar__plus_00_dot_00_bar__plus_01_dot_75 - object\n Chair_bar__minus_02_dot_49_bar__minus_00_dot_01_bar__plus_01_dot_11 - object\n Chair_bar__minus_03_dot_03_bar__minus_00_dot_01_bar__plus_01_dot_40 - object\n CreditCard_bar__minus_01_dot_61_bar__plus_00_dot_48_bar__plus_03_dot_80 - object\n CreditCard_bar__minus_01_dot_99_bar__plus_00_dot_65_bar__minus_00_dot_05 - object\n CreditCard_bar__minus_02_dot_39_bar__plus_00_dot_24_bar__plus_06_dot_05 - object\n Curtains_bar__minus_00_dot_08_bar__plus_02_dot_42_bar__plus_00_dot_97 - object\n FloorLamp_bar__minus_00_dot_57_bar__plus_00_dot_00_bar__plus_00_dot_03 - object\n HousePlant_bar__minus_03_dot_02_bar__plus_00_dot_59_bar__minus_00_dot_02 - object\n KeyChain_bar__minus_00_dot_33_bar__plus_00_dot_62_bar__plus_03_dot_52 - object\n KeyChain_bar__minus_02_dot_14_bar__plus_00_dot_48_bar__plus_03_dot_62 - object\n KeyChain_bar__minus_02_dot_76_bar__plus_00_dot_24_bar__plus_06_dot_05 - object\n Lamp_bar__minus_00_dot_28_bar__plus_00_dot_70_bar__plus_03_dot_61 - object\n Laptop_bar__minus_01_dot_70_bar__plus_00_dot_68_bar__plus_01_dot_66 - object\n Laptop_bar__minus_01_dot_87_bar__plus_00_dot_48_bar__plus_03_dot_62 - object\n Laptop_bar__minus_02_dot_67_bar__plus_00_dot_48_bar__plus_03_dot_71 - object\n LightSwitch_bar__minus_03_dot_31_bar__plus_01_dot_34_bar__minus_00_dot_32 - object\n Newspaper_bar__minus_02_dot_14_bar__plus_00_dot_48_bar__plus_03_dot_35 - object\n Newspaper_bar__minus_02_dot_67_bar__plus_00_dot_48_bar__plus_03_dot_44 - object\n Painting_bar__minus_02_dot_05_bar__plus_01_dot_62_bar__minus_00_dot_30 - object\n Pencil_bar__minus_02_dot_16_bar__plus_00_dot_10_bar__plus_04_dot_73 - object\n Pencil_bar__minus_02_dot_32_bar__plus_00_dot_61_bar__plus_04_dot_89 - object\n Pencil_bar__minus_02_dot_39_bar__plus_00_dot_75_bar__minus_00_dot_20 - object\n Pen_bar__minus_02_dot_16_bar__plus_00_dot_10_bar__plus_05_dot_04 - object\n Pen_bar__minus_02_dot_26_bar__plus_00_dot_24_bar__plus_06_dot_12 - object\n Pen_bar__minus_02_dot_49_bar__plus_00_dot_69_bar__plus_01_dot_18 - object\n Pillow_bar__minus_03_dot_27_bar__plus_00_dot_66_bar__plus_03_dot_44 - object\n Plate_bar__minus_02_dot_71_bar__plus_00_dot_69_bar__plus_01_dot_30 - object\n RemoteControl_bar__minus_02_dot_71_bar__plus_00_dot_69_bar__plus_01_dot_67 - object\n Statue_bar__minus_02_dot_27_bar__plus_00_dot_70_bar__plus_01_dot_18 - object\n Statue_bar__minus_02_dot_27_bar__plus_00_dot_70_bar__plus_01_dot_42 - object\n Statue_bar__minus_02_dot_49_bar__plus_00_dot_70_bar__plus_01_dot_05 - object\n Television_bar__minus_02_dot_36_bar__plus_01_dot_21_bar__plus_06_dot_28 - object\n TissueBox_bar__minus_02_dot_32_bar__plus_00_dot_10_bar__plus_05_dot_04 - object\n TissueBox_bar__minus_02_dot_71_bar__plus_00_dot_69_bar__plus_01_dot_05 - object\n Vase_bar__minus_02_dot_16_bar__plus_00_dot_35_bar__plus_04_dot_89 - object\n Vase_bar__minus_02_dot_47_bar__plus_00_dot_10_bar__plus_04_dot_73 - object\n Vase_bar__minus_02_dot_93_bar__plus_00_dot_69_bar__plus_01_dot_05 - object\n Watch_bar__minus_02_dot_51_bar__plus_00_dot_24_bar__plus_06_dot_08 - object\n Window_bar__minus_00_dot_06_bar__plus_00_dot_93_bar__plus_01_dot_76 - object\n Window_bar__minus_00_dot_06_bar__plus_01_dot_13_bar__plus_04_dot_89 - object\n ArmChair_bar__minus_00_dot_78_bar__plus_00_dot_01_bar__plus_06_dot_08 - receptacle\n ArmChair_bar__minus_04_dot_41_bar__plus_00_dot_01_bar__plus_06_dot_01 - receptacle\n CoffeeTable_bar__minus_02_dot_32_bar__plus_00_dot_00_bar__plus_04_dot_89 - receptacle\n DiningTable_bar__minus_02_dot_27_bar__minus_00_dot_02_bar__plus_01_dot_42 - receptacle\n DiningTable_bar__minus_03_dot_20_bar__plus_00_dot_59_bar__plus_00_dot_21 - receptacle\n Drawer_bar__minus_00_dot_30_bar__plus_00_dot_62_bar__plus_03_dot_37 - receptacle\n Drawer_bar__minus_02_dot_11_bar__plus_00_dot_66_bar__minus_00_dot_07 - receptacle\n GarbageCan_bar__minus_04_dot_87_bar__plus_00_dot_00_bar__plus_00_dot_27 - receptacle\n SideTable_bar__minus_00_dot_24_bar__plus_00_dot_00_bar__plus_03_dot_37 - receptacle\n SideTable_bar__minus_02_dot_11_bar__plus_00_dot_01_bar__minus_00_dot_14 - receptacle\n Sofa_bar__minus_02_dot_40_bar__minus_00_dot_07_bar__plus_03_dot_42 - receptacle\n TVStand_bar__minus_02_dot_39_bar__plus_00_dot_00_bar__plus_06_dot_30 - receptacle\n loc_bar__minus_17_bar_20_bar_0_bar_60 - location\n loc_bar__minus_2_bar_20_bar_1_bar_45 - location\n loc_bar__minus_10_bar_22_bar_0_bar_60 - location\n loc_bar__minus_8_bar_2_bar_2_bar_60 - location\n loc_bar__minus_12_bar_2_bar_1_bar_45 - location\n loc_bar__minus_10_bar_2_bar_0_bar_60 - location\n loc_bar__minus_6_bar_9_bar_2_bar_60 - location\n loc_bar__minus_16_bar_2_bar_1_bar_60 - location\n loc_bar__minus_9_bar_17_bar_2_bar_60 - location\n loc_bar__minus_18_bar_2_bar_3_bar_60 - location\n loc_bar__minus_8_bar_2_bar_2_bar_0 - location\n loc_bar__minus_13_bar_23_bar_0_bar_60 - location\n loc_bar__minus_15_bar_6_bar_1_bar_60 - location\n loc_bar__minus_14_bar_1_bar_2_bar_30 - location\n loc_bar__minus_3_bar_6_bar_3_bar_60 - location\n loc_bar__minus_14_bar_18_bar_1_bar_60 - location\n loc_bar__minus_4_bar_20_bar_0_bar_60 - location\n loc_bar__minus_3_bar_9_bar_0_bar_60 - location\n loc_bar__minus_4_bar_17_bar_2_bar_45 - location\n loc_bar__minus_2_bar_7_bar_1_bar_60 - location\n loc_bar__minus_10_bar_10_bar_2_bar_60 - location\n loc_bar__minus_7_bar_2_bar_0_bar_60 - location\n loc_bar__minus_5_bar_1_bar_1_bar_60 - location\n loc_bar__minus_13_bar_22_bar_0_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType TVStand_bar__minus_02_dot_39_bar__plus_00_dot_00_bar__plus_06_dot_30 TVStandType)\n (receptacleType SideTable_bar__minus_02_dot_11_bar__plus_00_dot_01_bar__minus_00_dot_14 SideTableType)\n (receptacleType Drawer_bar__minus_02_dot_11_bar__plus_00_dot_66_bar__minus_00_dot_07 DrawerType)\n (receptacleType ArmChair_bar__minus_04_dot_41_bar__plus_00_dot_01_bar__plus_06_dot_01 ArmChairType)\n (receptacleType SideTable_bar__minus_00_dot_24_bar__plus_00_dot_00_bar__plus_03_dot_37 SideTableType)\n (receptacleType Drawer_bar__minus_00_dot_30_bar__plus_00_dot_62_bar__plus_03_dot_37 DrawerType)\n (receptacleType DiningTable_bar__minus_02_dot_27_bar__minus_00_dot_02_bar__plus_01_dot_42 DiningTableType)\n (receptacleType DiningTable_bar__minus_03_dot_20_bar__plus_00_dot_59_bar__plus_00_dot_21 DiningTableType)\n (receptacleType Sofa_bar__minus_02_dot_40_bar__minus_00_dot_07_bar__plus_03_dot_42 SofaType)\n (receptacleType ArmChair_bar__minus_00_dot_78_bar__plus_00_dot_01_bar__plus_06_dot_08 ArmChairType)\n (receptacleType CoffeeTable_bar__minus_02_dot_32_bar__plus_00_dot_00_bar__plus_04_dot_89 CoffeeTableType)\n (receptacleType GarbageCan_bar__minus_04_dot_87_bar__plus_00_dot_00_bar__plus_00_dot_27 GarbageCanType)\n (objectType Pen_bar__minus_02_dot_49_bar__plus_00_dot_69_bar__plus_01_dot_18 PenType)\n (objectType Chair_bar__minus_03_dot_03_bar__minus_00_dot_01_bar__plus_01_dot_40 ChairType)\n (objectType Curtains_bar__minus_00_dot_08_bar__plus_02_dot_42_bar__plus_00_dot_97 CurtainsType)\n (objectType CreditCard_bar__minus_02_dot_39_bar__plus_00_dot_24_bar__plus_06_dot_05 CreditCardType)\n (objectType FloorLamp_bar__minus_00_dot_57_bar__plus_00_dot_00_bar__plus_00_dot_03 FloorLampType)\n (objectType Painting_bar__minus_02_dot_05_bar__plus_01_dot_62_bar__minus_00_dot_30 PaintingType)\n (objectType Pillow_bar__minus_03_dot_27_bar__plus_00_dot_66_bar__plus_03_dot_44 PillowType)\n (objectType Box_bar__minus_03_dot_36_bar__plus_00_dot_22_bar__plus_06_dot_43 BoxType)\n (objectType Laptop_bar__minus_02_dot_67_bar__plus_00_dot_48_bar__plus_03_dot_71 LaptopType)\n (objectType Laptop_bar__minus_01_dot_70_bar__plus_00_dot_68_bar__plus_01_dot_66 LaptopType)\n (objectType RemoteControl_bar__minus_02_dot_71_bar__plus_00_dot_69_bar__plus_01_dot_67 RemoteControlType)\n (objectType Chair_bar__minus_01_dot_87_bar__minus_00_dot_01_bar__plus_01_dot_75 ChairType)\n (objectType Chair_bar__minus_01_dot_42_bar__minus_00_dot_01_bar__plus_01_dot_43 ChairType)\n (objectType Chair_bar__minus_01_dot_86_bar_00_dot_00_bar__plus_01_dot_14 ChairType)\n (objectType HousePlant_bar__minus_03_dot_02_bar__plus_00_dot_59_bar__minus_00_dot_02 HousePlantType)\n (objectType Watch_bar__minus_02_dot_51_bar__plus_00_dot_24_bar__plus_06_dot_08 WatchType)\n (objectType Pencil_bar__minus_02_dot_16_bar__plus_00_dot_10_bar__plus_04_dot_73 PencilType)\n (objectType Plate_bar__minus_02_dot_71_bar__plus_00_dot_69_bar__plus_01_dot_30 PlateType)\n (objectType KeyChain_bar__minus_00_dot_33_bar__plus_00_dot_62_bar__plus_03_dot_52 KeyChainType)\n (objectType Vase_bar__minus_02_dot_47_bar__plus_00_dot_10_bar__plus_04_dot_73 VaseType)\n (objectType CreditCard_bar__minus_01_dot_99_bar__plus_00_dot_65_bar__minus_00_dot_05 CreditCardType)\n (objectType Window_bar__minus_00_dot_06_bar__plus_00_dot_93_bar__plus_01_dot_76 WindowType)\n (objectType TissueBox_bar__minus_02_dot_71_bar__plus_00_dot_69_bar__plus_01_dot_05 TissueBoxType)\n (objectType Window_bar__minus_00_dot_06_bar__plus_01_dot_13_bar__plus_04_dot_89 WindowType)\n (objectType Book_bar__minus_01_dot_87_bar__plus_00_dot_68_bar__plus_01_dot_17 BookType)\n (objectType Bowl_bar__minus_02_dot_24_bar__plus_00_dot_10_bar__plus_04_dot_89 BowlType)\n (objectType Pencil_bar__minus_02_dot_39_bar__plus_00_dot_75_bar__minus_00_dot_20 PencilType)\n (objectType KeyChain_bar__minus_02_dot_14_bar__plus_00_dot_48_bar__plus_03_dot_62 KeyChainType)\n (objectType KeyChain_bar__minus_02_dot_76_bar__plus_00_dot_24_bar__plus_06_dot_05 KeyChainType)\n (objectType Newspaper_bar__minus_02_dot_14_bar__plus_00_dot_48_bar__plus_03_dot_35 NewspaperType)\n (objectType Vase_bar__minus_02_dot_16_bar__plus_00_dot_35_bar__plus_04_dot_89 VaseType)\n (objectType Statue_bar__minus_02_dot_27_bar__plus_00_dot_70_bar__plus_01_dot_42 StatueType)\n (objectType Chair_bar__minus_02_dot_49_bar__minus_00_dot_01_bar__plus_01_dot_11 ChairType)\n (objectType Statue_bar__minus_02_dot_49_bar__plus_00_dot_70_bar__plus_01_dot_05 StatueType)\n (objectType Pencil_bar__minus_02_dot_32_bar__plus_00_dot_61_bar__plus_04_dot_89 PencilType)\n (objectType Television_bar__minus_02_dot_36_bar__plus_01_dot_21_bar__plus_06_dot_28 TelevisionType)\n (objectType Vase_bar__minus_02_dot_93_bar__plus_00_dot_69_bar__plus_01_dot_05 VaseType)\n (objectType Pen_bar__minus_02_dot_16_bar__plus_00_dot_10_bar__plus_05_dot_04 PenType)\n (objectType CreditCard_bar__minus_01_dot_61_bar__plus_00_dot_48_bar__plus_03_dot_80 CreditCardType)\n (objectType TissueBox_bar__minus_02_dot_32_bar__plus_00_dot_10_bar__plus_05_dot_04 TissueBoxType)\n (objectType Chair_bar__minus_02_dot_48_bar__plus_00_dot_00_bar__plus_01_dot_75 ChairType)\n (objectType Laptop_bar__minus_01_dot_87_bar__plus_00_dot_48_bar__plus_03_dot_62 LaptopType)\n (objectType LightSwitch_bar__minus_03_dot_31_bar__plus_01_dot_34_bar__minus_00_dot_32 LightSwitchType)\n (objectType Pen_bar__minus_02_dot_26_bar__plus_00_dot_24_bar__plus_06_dot_12 PenType)\n (objectType Statue_bar__minus_02_dot_27_bar__plus_00_dot_70_bar__plus_01_dot_18 StatueType)\n (objectType Newspaper_bar__minus_02_dot_67_bar__plus_00_dot_48_bar__plus_03_dot_44 NewspaperType)\n (canContain TVStandType TissueBoxType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType WatchType)\n (canContain SideTableType RemoteControlType)\n (canContain SideTableType BowlType)\n (canContain SideTableType TissueBoxType)\n (canContain SideTableType PencilType)\n (canContain SideTableType VaseType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType PenType)\n (canContain SideTableType NewspaperType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType StatueType)\n (canContain SideTableType PlateType)\n (canContain SideTableType BoxType)\n (canContain SideTableType BookType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType WatchType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType PencilType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PenType)\n (canContain DrawerType NewspaperType)\n (canContain DrawerType BookType)\n (canContain ArmChairType PillowType)\n (canContain ArmChairType RemoteControlType)\n (canContain ArmChairType KeyChainType)\n (canContain ArmChairType LaptopType)\n (canContain ArmChairType CreditCardType)\n (canContain ArmChairType BoxType)\n (canContain ArmChairType NewspaperType)\n (canContain ArmChairType BookType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType WatchType)\n (canContain SideTableType RemoteControlType)\n (canContain SideTableType BowlType)\n (canContain SideTableType TissueBoxType)\n (canContain SideTableType PencilType)\n (canContain SideTableType VaseType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType PenType)\n (canContain SideTableType NewspaperType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType StatueType)\n (canContain SideTableType PlateType)\n (canContain SideTableType BoxType)\n (canContain SideTableType BookType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType WatchType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType PencilType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PenType)\n (canContain DrawerType NewspaperType)\n (canContain DrawerType BookType)\n (canContain DiningTableType KeyChainType)\n (canContain DiningTableType WatchType)\n (canContain DiningTableType RemoteControlType)\n (canContain DiningTableType BowlType)\n (canContain DiningTableType TissueBoxType)\n (canContain DiningTableType PencilType)\n (canContain DiningTableType VaseType)\n (canContain DiningTableType CreditCardType)\n (canContain DiningTableType PenType)\n (canContain DiningTableType NewspaperType)\n (canContain DiningTableType LaptopType)\n (canContain DiningTableType StatueType)\n (canContain DiningTableType PlateType)\n (canContain DiningTableType BoxType)\n (canContain DiningTableType BookType)\n (canContain DiningTableType KeyChainType)\n (canContain DiningTableType WatchType)\n (canContain DiningTableType RemoteControlType)\n (canContain DiningTableType BowlType)\n (canContain DiningTableType TissueBoxType)\n (canContain DiningTableType PencilType)\n (canContain DiningTableType VaseType)\n (canContain DiningTableType CreditCardType)\n (canContain DiningTableType PenType)\n (canContain DiningTableType NewspaperType)\n (canContain DiningTableType LaptopType)\n (canContain DiningTableType StatueType)\n (canContain DiningTableType PlateType)\n (canContain DiningTableType BoxType)\n (canContain DiningTableType BookType)\n (canContain SofaType PillowType)\n (canContain SofaType RemoteControlType)\n (canContain SofaType KeyChainType)\n (canContain SofaType LaptopType)\n (canContain SofaType CreditCardType)\n (canContain SofaType BoxType)\n (canContain SofaType NewspaperType)\n (canContain SofaType BookType)\n (canContain ArmChairType PillowType)\n (canContain ArmChairType RemoteControlType)\n (canContain ArmChairType KeyChainType)\n (canContain ArmChairType LaptopType)\n (canContain ArmChairType CreditCardType)\n (canContain ArmChairType BoxType)\n (canContain ArmChairType NewspaperType)\n (canContain ArmChairType BookType)\n (canContain CoffeeTableType KeyChainType)\n (canContain 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(pickupable Box_bar__minus_03_dot_36_bar__plus_00_dot_22_bar__plus_06_dot_43)\n (pickupable Laptop_bar__minus_02_dot_67_bar__plus_00_dot_48_bar__plus_03_dot_71)\n (pickupable Laptop_bar__minus_01_dot_70_bar__plus_00_dot_68_bar__plus_01_dot_66)\n (pickupable RemoteControl_bar__minus_02_dot_71_bar__plus_00_dot_69_bar__plus_01_dot_67)\n (pickupable Watch_bar__minus_02_dot_51_bar__plus_00_dot_24_bar__plus_06_dot_08)\n (pickupable Pencil_bar__minus_02_dot_16_bar__plus_00_dot_10_bar__plus_04_dot_73)\n (pickupable Plate_bar__minus_02_dot_71_bar__plus_00_dot_69_bar__plus_01_dot_30)\n (pickupable KeyChain_bar__minus_00_dot_33_bar__plus_00_dot_62_bar__plus_03_dot_52)\n (pickupable Vase_bar__minus_02_dot_47_bar__plus_00_dot_10_bar__plus_04_dot_73)\n (pickupable CreditCard_bar__minus_01_dot_99_bar__plus_00_dot_65_bar__minus_00_dot_05)\n (pickupable TissueBox_bar__minus_02_dot_71_bar__plus_00_dot_69_bar__plus_01_dot_05)\n (pickupable Book_bar__minus_01_dot_87_bar__plus_00_dot_68_bar__plus_01_dot_17)\n (pickupable Bowl_bar__minus_02_dot_24_bar__plus_00_dot_10_bar__plus_04_dot_89)\n (pickupable Pencil_bar__minus_02_dot_39_bar__plus_00_dot_75_bar__minus_00_dot_20)\n (pickupable KeyChain_bar__minus_02_dot_14_bar__plus_00_dot_48_bar__plus_03_dot_62)\n (pickupable KeyChain_bar__minus_02_dot_76_bar__plus_00_dot_24_bar__plus_06_dot_05)\n (pickupable Newspaper_bar__minus_02_dot_14_bar__plus_00_dot_48_bar__plus_03_dot_35)\n (pickupable Vase_bar__minus_02_dot_16_bar__plus_00_dot_35_bar__plus_04_dot_89)\n (pickupable Statue_bar__minus_02_dot_27_bar__plus_00_dot_70_bar__plus_01_dot_42)\n (pickupable Statue_bar__minus_02_dot_49_bar__plus_00_dot_70_bar__plus_01_dot_05)\n (pickupable Pencil_bar__minus_02_dot_32_bar__plus_00_dot_61_bar__plus_04_dot_89)\n (pickupable Vase_bar__minus_02_dot_93_bar__plus_00_dot_69_bar__plus_01_dot_05)\n (pickupable Pen_bar__minus_02_dot_16_bar__plus_00_dot_10_bar__plus_05_dot_04)\n (pickupable CreditCard_bar__minus_01_dot_61_bar__plus_00_dot_48_bar__plus_03_dot_80)\n (pickupable TissueBox_bar__minus_02_dot_32_bar__plus_00_dot_10_bar__plus_05_dot_04)\n (pickupable Laptop_bar__minus_01_dot_87_bar__plus_00_dot_48_bar__plus_03_dot_62)\n (pickupable Pen_bar__minus_02_dot_26_bar__plus_00_dot_24_bar__plus_06_dot_12)\n (pickupable Statue_bar__minus_02_dot_27_bar__plus_00_dot_70_bar__plus_01_dot_18)\n (pickupable Newspaper_bar__minus_02_dot_67_bar__plus_00_dot_48_bar__plus_03_dot_44)\n (isReceptacleObject Box_bar__minus_03_dot_36_bar__plus_00_dot_22_bar__plus_06_dot_43)\n (isReceptacleObject Plate_bar__minus_02_dot_71_bar__plus_00_dot_69_bar__plus_01_dot_30)\n (isReceptacleObject Bowl_bar__minus_02_dot_24_bar__plus_00_dot_10_bar__plus_04_dot_89)\n (openable Drawer_bar__minus_02_dot_11_bar__plus_00_dot_66_bar__minus_00_dot_07)\n (openable Drawer_bar__minus_00_dot_30_bar__plus_00_dot_62_bar__plus_03_dot_37)\n \n (atLocation agent1 loc_bar__minus_13_bar_22_bar_0_bar_30)\n \n (cleanable Plate_bar__minus_02_dot_71_bar__plus_00_dot_69_bar__plus_01_dot_30)\n (cleanable Bowl_bar__minus_02_dot_24_bar__plus_00_dot_10_bar__plus_04_dot_89)\n \n (heatable Plate_bar__minus_02_dot_71_bar__plus_00_dot_69_bar__plus_01_dot_30)\n (coolable Plate_bar__minus_02_dot_71_bar__plus_00_dot_69_bar__plus_01_dot_30)\n (coolable Bowl_bar__minus_02_dot_24_bar__plus_00_dot_10_bar__plus_04_dot_89)\n \n \n (toggleable FloorLamp_bar__minus_00_dot_57_bar__plus_00_dot_00_bar__plus_00_dot_03)\n \n \n \n \n (inReceptacle HousePlant_bar__minus_03_dot_02_bar__plus_00_dot_59_bar__minus_00_dot_02 DiningTable_bar__minus_03_dot_20_bar__plus_00_dot_59_bar__plus_00_dot_21)\n (inReceptacle KeyChain_bar__minus_02_dot_76_bar__plus_00_dot_24_bar__plus_06_dot_05 TVStand_bar__minus_02_dot_39_bar__plus_00_dot_00_bar__plus_06_dot_30)\n (inReceptacle CreditCard_bar__minus_02_dot_39_bar__plus_00_dot_24_bar__plus_06_dot_05 TVStand_bar__minus_02_dot_39_bar__plus_00_dot_00_bar__plus_06_dot_30)\n (inReceptacle Television_bar__minus_02_dot_36_bar__plus_01_dot_21_bar__plus_06_dot_28 TVStand_bar__minus_02_dot_39_bar__plus_00_dot_00_bar__plus_06_dot_30)\n (inReceptacle Pen_bar__minus_02_dot_26_bar__plus_00_dot_24_bar__plus_06_dot_12 TVStand_bar__minus_02_dot_39_bar__plus_00_dot_00_bar__plus_06_dot_30)\n (inReceptacle Watch_bar__minus_02_dot_51_bar__plus_00_dot_24_bar__plus_06_dot_08 TVStand_bar__minus_02_dot_39_bar__plus_00_dot_00_bar__plus_06_dot_30)\n (inReceptacle Pencil_bar__minus_02_dot_16_bar__plus_00_dot_10_bar__plus_04_dot_73 CoffeeTable_bar__minus_02_dot_32_bar__plus_00_dot_00_bar__plus_04_dot_89)\n (inReceptacle Vase_bar__minus_02_dot_16_bar__plus_00_dot_35_bar__plus_04_dot_89 CoffeeTable_bar__minus_02_dot_32_bar__plus_00_dot_00_bar__plus_04_dot_89)\n (inReceptacle Vase_bar__minus_02_dot_47_bar__plus_00_dot_10_bar__plus_04_dot_73 CoffeeTable_bar__minus_02_dot_32_bar__plus_00_dot_00_bar__plus_04_dot_89)\n (inReceptacle Pencil_bar__minus_02_dot_32_bar__plus_00_dot_61_bar__plus_04_dot_89 CoffeeTable_bar__minus_02_dot_32_bar__plus_00_dot_00_bar__plus_04_dot_89)\n (inReceptacle Pen_bar__minus_02_dot_16_bar__plus_00_dot_10_bar__plus_05_dot_04 CoffeeTable_bar__minus_02_dot_32_bar__plus_00_dot_00_bar__plus_04_dot_89)\n (inReceptacle Bowl_bar__minus_02_dot_24_bar__plus_00_dot_10_bar__plus_04_dot_89 CoffeeTable_bar__minus_02_dot_32_bar__plus_00_dot_00_bar__plus_04_dot_89)\n (inReceptacle TissueBox_bar__minus_02_dot_32_bar__plus_00_dot_10_bar__plus_05_dot_04 CoffeeTable_bar__minus_02_dot_32_bar__plus_00_dot_00_bar__plus_04_dot_89)\n (inReceptacle Pencil_bar__minus_02_dot_39_bar__plus_00_dot_75_bar__minus_00_dot_20 SideTable_bar__minus_02_dot_11_bar__plus_00_dot_01_bar__minus_00_dot_14)\n (inReceptacle Curtains_bar__minus_00_dot_08_bar__plus_02_dot_42_bar__plus_00_dot_97 SideTable_bar__minus_00_dot_24_bar__plus_00_dot_00_bar__plus_03_dot_37)\n (inReceptacle CreditCard_bar__minus_01_dot_99_bar__plus_00_dot_65_bar__minus_00_dot_05 Drawer_bar__minus_02_dot_11_bar__plus_00_dot_66_bar__minus_00_dot_07)\n (inReceptacle Newspaper_bar__minus_02_dot_14_bar__plus_00_dot_48_bar__plus_03_dot_35 Sofa_bar__minus_02_dot_40_bar__minus_00_dot_07_bar__plus_03_dot_42)\n (inReceptacle Pillow_bar__minus_03_dot_27_bar__plus_00_dot_66_bar__plus_03_dot_44 Sofa_bar__minus_02_dot_40_bar__minus_00_dot_07_bar__plus_03_dot_42)\n (inReceptacle Laptop_bar__minus_02_dot_67_bar__plus_00_dot_48_bar__plus_03_dot_71 Sofa_bar__minus_02_dot_40_bar__minus_00_dot_07_bar__plus_03_dot_42)\n (inReceptacle Laptop_bar__minus_01_dot_87_bar__plus_00_dot_48_bar__plus_03_dot_62 Sofa_bar__minus_02_dot_40_bar__minus_00_dot_07_bar__plus_03_dot_42)\n (inReceptacle Newspaper_bar__minus_02_dot_67_bar__plus_00_dot_48_bar__plus_03_dot_44 Sofa_bar__minus_02_dot_40_bar__minus_00_dot_07_bar__plus_03_dot_42)\n (inReceptacle CreditCard_bar__minus_01_dot_61_bar__plus_00_dot_48_bar__plus_03_dot_80 Sofa_bar__minus_02_dot_40_bar__minus_00_dot_07_bar__plus_03_dot_42)\n (inReceptacle KeyChain_bar__minus_00_dot_33_bar__plus_00_dot_62_bar__plus_03_dot_52 Drawer_bar__minus_00_dot_30_bar__plus_00_dot_62_bar__plus_03_dot_37)\n (inReceptacle Pen_bar__minus_02_dot_49_bar__plus_00_dot_69_bar__plus_01_dot_18 DiningTable_bar__minus_02_dot_27_bar__minus_00_dot_02_bar__plus_01_dot_42)\n (inReceptacle Plate_bar__minus_02_dot_71_bar__plus_00_dot_69_bar__plus_01_dot_30 DiningTable_bar__minus_02_dot_27_bar__minus_00_dot_02_bar__plus_01_dot_42)\n (inReceptacle Statue_bar__minus_02_dot_27_bar__plus_00_dot_70_bar__plus_01_dot_42 DiningTable_bar__minus_02_dot_27_bar__minus_00_dot_02_bar__plus_01_dot_42)\n (inReceptacle Statue_bar__minus_02_dot_49_bar__plus_00_dot_70_bar__plus_01_dot_05 DiningTable_bar__minus_02_dot_27_bar__minus_00_dot_02_bar__plus_01_dot_42)\n (inReceptacle Laptop_bar__minus_01_dot_70_bar__plus_00_dot_68_bar__plus_01_dot_66 DiningTable_bar__minus_02_dot_27_bar__minus_00_dot_02_bar__plus_01_dot_42)\n (inReceptacle RemoteControl_bar__minus_02_dot_71_bar__plus_00_dot_69_bar__plus_01_dot_67 DiningTable_bar__minus_02_dot_27_bar__minus_00_dot_02_bar__plus_01_dot_42)\n (inReceptacle Vase_bar__minus_02_dot_93_bar__plus_00_dot_69_bar__plus_01_dot_05 DiningTable_bar__minus_02_dot_27_bar__minus_00_dot_02_bar__plus_01_dot_42)\n (inReceptacle Statue_bar__minus_02_dot_27_bar__plus_00_dot_70_bar__plus_01_dot_18 DiningTable_bar__minus_02_dot_27_bar__minus_00_dot_02_bar__plus_01_dot_42)\n (inReceptacle TissueBox_bar__minus_02_dot_71_bar__plus_00_dot_69_bar__plus_01_dot_05 DiningTable_bar__minus_02_dot_27_bar__minus_00_dot_02_bar__plus_01_dot_42)\n (inReceptacle Book_bar__minus_01_dot_87_bar__plus_00_dot_68_bar__plus_01_dot_17 DiningTable_bar__minus_02_dot_27_bar__minus_00_dot_02_bar__plus_01_dot_42)\n \n \n (receptacleAtLocation ArmChair_bar__minus_00_dot_78_bar__plus_00_dot_01_bar__plus_06_dot_08 loc_bar__minus_4_bar_20_bar_0_bar_60)\n (receptacleAtLocation ArmChair_bar__minus_04_dot_41_bar__plus_00_dot_01_bar__plus_06_dot_01 loc_bar__minus_17_bar_20_bar_0_bar_60)\n (receptacleAtLocation CoffeeTable_bar__minus_02_dot_32_bar__plus_00_dot_00_bar__plus_04_dot_89 loc_bar__minus_14_bar_18_bar_1_bar_60)\n (receptacleAtLocation DiningTable_bar__minus_02_dot_27_bar__minus_00_dot_02_bar__plus_01_dot_42 loc_bar__minus_10_bar_10_bar_2_bar_60)\n (receptacleAtLocation DiningTable_bar__minus_03_dot_20_bar__plus_00_dot_59_bar__plus_00_dot_21 loc_bar__minus_16_bar_2_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_30_bar__plus_00_dot_62_bar__plus_03_dot_37 loc_bar__minus_4_bar_17_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_02_dot_11_bar__plus_00_dot_66_bar__minus_00_dot_07 loc_bar__minus_12_bar_2_bar_1_bar_45)\n (receptacleAtLocation GarbageCan_bar__minus_04_dot_87_bar__plus_00_dot_00_bar__plus_00_dot_27 loc_bar__minus_18_bar_2_bar_3_bar_60)\n (receptacleAtLocation SideTable_bar__minus_00_dot_24_bar__plus_00_dot_00_bar__plus_03_dot_37 loc_bar__minus_3_bar_9_bar_0_bar_60)\n (receptacleAtLocation SideTable_bar__minus_02_dot_11_bar__plus_00_dot_01_bar__minus_00_dot_14 loc_bar__minus_8_bar_2_bar_2_bar_60)\n (receptacleAtLocation Sofa_bar__minus_02_dot_40_bar__minus_00_dot_07_bar__plus_03_dot_42 loc_bar__minus_9_bar_17_bar_2_bar_60)\n (receptacleAtLocation TVStand_bar__minus_02_dot_39_bar__plus_00_dot_00_bar__plus_06_dot_30 loc_bar__minus_10_bar_22_bar_0_bar_60)\n (objectAtLocation Newspaper_bar__minus_02_dot_14_bar__plus_00_dot_48_bar__plus_03_dot_35 loc_bar__minus_9_bar_17_bar_2_bar_60)\n (objectAtLocation Pen_bar__minus_02_dot_49_bar__plus_00_dot_69_bar__plus_01_dot_18 loc_bar__minus_10_bar_10_bar_2_bar_60)\n (objectAtLocation Pencil_bar__minus_02_dot_32_bar__plus_00_dot_61_bar__plus_04_dot_89 loc_bar__minus_14_bar_18_bar_1_bar_60)\n (objectAtLocation Vase_bar__minus_02_dot_93_bar__plus_00_dot_69_bar__plus_01_dot_05 loc_bar__minus_10_bar_10_bar_2_bar_60)\n (objectAtLocation KeyChain_bar__minus_02_dot_14_bar__plus_00_dot_48_bar__plus_03_dot_62 loc_bar__minus_9_bar_17_bar_2_bar_60)\n (objectAtLocation CreditCard_bar__minus_01_dot_99_bar__plus_00_dot_65_bar__minus_00_dot_05 loc_bar__minus_12_bar_2_bar_1_bar_45)\n (objectAtLocation TissueBox_bar__minus_02_dot_32_bar__plus_00_dot_10_bar__plus_05_dot_04 loc_bar__minus_14_bar_18_bar_1_bar_60)\n (objectAtLocation Laptop_bar__minus_01_dot_70_bar__plus_00_dot_68_bar__plus_01_dot_66 loc_bar__minus_10_bar_10_bar_2_bar_60)\n (objectAtLocation Statue_bar__minus_02_dot_27_bar__plus_00_dot_70_bar__plus_01_dot_42 loc_bar__minus_10_bar_10_bar_2_bar_60)\n (objectAtLocation Laptop_bar__minus_01_dot_87_bar__plus_00_dot_48_bar__plus_03_dot_62 loc_bar__minus_9_bar_17_bar_2_bar_60)\n (objectAtLocation CreditCard_bar__minus_01_dot_61_bar__plus_00_dot_48_bar__plus_03_dot_80 loc_bar__minus_9_bar_17_bar_2_bar_60)\n (objectAtLocation KeyChain_bar__minus_00_dot_33_bar__plus_00_dot_62_bar__plus_03_dot_52 loc_bar__minus_4_bar_17_bar_2_bar_45)\n (objectAtLocation Pencil_bar__minus_02_dot_39_bar__plus_00_dot_75_bar__minus_00_dot_20 loc_bar__minus_8_bar_2_bar_2_bar_60)\n (objectAtLocation Pen_bar__minus_02_dot_26_bar__plus_00_dot_24_bar__plus_06_dot_12 loc_bar__minus_10_bar_22_bar_0_bar_60)\n (objectAtLocation Vase_bar__minus_02_dot_47_bar__plus_00_dot_10_bar__plus_04_dot_73 loc_bar__minus_14_bar_18_bar_1_bar_60)\n (objectAtLocation Statue_bar__minus_02_dot_49_bar__plus_00_dot_70_bar__plus_01_dot_05 loc_bar__minus_10_bar_10_bar_2_bar_60)\n (objectAtLocation Painting_bar__minus_02_dot_05_bar__plus_01_dot_62_bar__minus_00_dot_30 loc_bar__minus_8_bar_2_bar_2_bar_0)\n (objectAtLocation Chair_bar__minus_01_dot_87_bar__minus_00_dot_01_bar__plus_01_dot_75 loc_bar__minus_6_bar_9_bar_2_bar_60)\n (objectAtLocation Book_bar__minus_01_dot_87_bar__plus_00_dot_68_bar__plus_01_dot_17 loc_bar__minus_10_bar_10_bar_2_bar_60)\n (objectAtLocation Chair_bar__minus_02_dot_48_bar__plus_00_dot_00_bar__plus_01_dot_75 loc_bar__minus_10_bar_10_bar_2_bar_60)\n (objectAtLocation Box_bar__minus_03_dot_36_bar__plus_00_dot_22_bar__plus_06_dot_43 loc_bar__minus_13_bar_23_bar_0_bar_60)\n (objectAtLocation Chair_bar__minus_01_dot_42_bar__minus_00_dot_01_bar__plus_01_dot_43 loc_bar__minus_3_bar_6_bar_3_bar_60)\n (objectAtLocation Chair_bar__minus_03_dot_03_bar__minus_00_dot_01_bar__plus_01_dot_40 loc_bar__minus_15_bar_6_bar_1_bar_60)\n (objectAtLocation Chair_bar__minus_01_dot_86_bar_00_dot_00_bar__plus_01_dot_14 loc_bar__minus_7_bar_2_bar_0_bar_60)\n (objectAtLocation Curtains_bar__minus_00_dot_08_bar__plus_02_dot_42_bar__plus_00_dot_97 loc_bar__minus_3_bar_9_bar_0_bar_60)\n (objectAtLocation Statue_bar__minus_02_dot_27_bar__plus_00_dot_70_bar__plus_01_dot_18 loc_bar__minus_10_bar_10_bar_2_bar_60)\n (objectAtLocation Laptop_bar__minus_02_dot_67_bar__plus_00_dot_48_bar__plus_03_dot_71 loc_bar__minus_9_bar_17_bar_2_bar_60)\n (objectAtLocation Television_bar__minus_02_dot_36_bar__plus_01_dot_21_bar__plus_06_dot_28 loc_bar__minus_10_bar_22_bar_0_bar_60)\n (objectAtLocation HousePlant_bar__minus_03_dot_02_bar__plus_00_dot_59_bar__minus_00_dot_02 loc_bar__minus_16_bar_2_bar_1_bar_60)\n (objectAtLocation TissueBox_bar__minus_02_dot_71_bar__plus_00_dot_69_bar__plus_01_dot_05 loc_bar__minus_10_bar_10_bar_2_bar_60)\n (objectAtLocation CreditCard_bar__minus_02_dot_39_bar__plus_00_dot_24_bar__plus_06_dot_05 loc_bar__minus_10_bar_22_bar_0_bar_60)\n (objectAtLocation Plate_bar__minus_02_dot_71_bar__plus_00_dot_69_bar__plus_01_dot_30 loc_bar__minus_10_bar_10_bar_2_bar_60)\n (objectAtLocation KeyChain_bar__minus_02_dot_76_bar__plus_00_dot_24_bar__plus_06_dot_05 loc_bar__minus_10_bar_22_bar_0_bar_60)\n (objectAtLocation FloorLamp_bar__minus_00_dot_57_bar__plus_00_dot_00_bar__plus_00_dot_03 loc_bar__minus_5_bar_1_bar_1_bar_60)\n (objectAtLocation Vase_bar__minus_02_dot_16_bar__plus_00_dot_35_bar__plus_04_dot_89 loc_bar__minus_14_bar_18_bar_1_bar_60)\n (objectAtLocation Chair_bar__minus_02_dot_49_bar__minus_00_dot_01_bar__plus_01_dot_11 loc_bar__minus_10_bar_2_bar_0_bar_60)\n (objectAtLocation Pencil_bar__minus_02_dot_16_bar__plus_00_dot_10_bar__plus_04_dot_73 loc_bar__minus_14_bar_18_bar_1_bar_60)\n (objectAtLocation Pillow_bar__minus_03_dot_27_bar__plus_00_dot_66_bar__plus_03_dot_44 loc_bar__minus_9_bar_17_bar_2_bar_60)\n (objectAtLocation Bowl_bar__minus_02_dot_24_bar__plus_00_dot_10_bar__plus_04_dot_89 loc_bar__minus_14_bar_18_bar_1_bar_60)\n (objectAtLocation RemoteControl_bar__minus_02_dot_71_bar__plus_00_dot_69_bar__plus_01_dot_67 loc_bar__minus_10_bar_10_bar_2_bar_60)\n (objectAtLocation Watch_bar__minus_02_dot_51_bar__plus_00_dot_24_bar__plus_06_dot_08 loc_bar__minus_10_bar_22_bar_0_bar_60)\n (objectAtLocation Pen_bar__minus_02_dot_16_bar__plus_00_dot_10_bar__plus_05_dot_04 loc_bar__minus_14_bar_18_bar_1_bar_60)\n (objectAtLocation Newspaper_bar__minus_02_dot_67_bar__plus_00_dot_48_bar__plus_03_dot_44 loc_bar__minus_9_bar_17_bar_2_bar_60)\n (objectAtLocation Window_bar__minus_00_dot_06_bar__plus_00_dot_93_bar__plus_01_dot_76 loc_bar__minus_2_bar_7_bar_1_bar_60)\n (objectAtLocation Window_bar__minus_00_dot_06_bar__plus_01_dot_13_bar__plus_04_dot_89 loc_bar__minus_2_bar_20_bar_1_bar_45)\n (objectAtLocation LightSwitch_bar__minus_03_dot_31_bar__plus_01_dot_34_bar__minus_00_dot_32 loc_bar__minus_14_bar_1_bar_2_bar_30)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (inReceptacle ?o ?r)\n (objectType ?o CreditCardType)\n (receptacleType ?r ArmChairType)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to tvstand 1", "take creditcard 1 from tvstand 1", "go to armchair 1", "move creditcard 1 to armchair 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/valid_seen/pick_and_place_simple-CreditCard-None-ArmChair-201/trial_T20190908_124340_258012/initial_state.pddl b/data/alfworld/json_2.1.1/valid_seen/pick_and_place_simple-CreditCard-None-ArmChair-201/trial_T20190908_124340_258012/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..b055df217d4c35f47c5ccf461076d86bebe6f58e --- /dev/null +++ b/data/alfworld/json_2.1.1/valid_seen/pick_and_place_simple-CreditCard-None-ArmChair-201/trial_T20190908_124340_258012/initial_state.pddl @@ -0,0 +1,628 @@ + +(define (problem plan_trial_T20190908_124340_258012) +(:domain alfred) +(:objects +agent1 - agent +Curtains - object + SprayBottle - object + Mirror - object + HousePlant - object + Watch - object + TeddyBear - object + WateringCan - object + Bathtub - object + LightSwitch - object + Vase - object + Candle - object + Bread - object + Statue - object + HandTowel - object + StoveKnob - object + PaperTowelRoll - object + Pan - object + PepperShaker - object + Painting - object + CellPhone - object + Plunger - object + Spoon - object + SaltShaker - object + KeyChain - object + Footstool - object + Poster - object + Television - object + LaundryHamperLid - object + Glassbottle - object + AlarmClock - object + WineBottle - object + Bowl - object + Sink - object + TissueBox - object + TennisRacket - object + ToiletPaper - object + ScrubBrush - object + CreditCard - object + Laptop - object + Cloth - object + Cup - object + Chair - object + BasketBall - object + Kettle - object + PaperTowel - object + ShowerDoor - object + BaseballBat - object + Potato - object + Pillow - object + Lettuce - object + RemoteControl - object + Window - object + DishSponge - object + CD - object + Boots - object + Blinds - object + Pen - object + Newspaper - object + Plate - object + Mug - object + ShowerGlass - object + ToiletPaperRoll - object + SoapBar - object + FloorLamp - object + SoapBottle - object + Pot - object + Pencil - object + Spatula - object + Towel - object + Fork - object + Ladle - object + Knife - object + Apple - object + Box - object + Tomato - object + ButterKnife - object + Egg - object + Book - object + DeskLamp - object +CurtainsType - otype + SprayBottleType - otype + MirrorType - otype + HousePlantType - otype + WatchType - otype + TeddyBearType - otype + WateringCanType - otype + BathtubType - otype + LightSwitchType - otype + VaseType - otype + CandleType - otype + BreadType - otype + StatueType - otype + HandTowelType - otype + StoveKnobType - otype + PaperTowelRollType - otype + PanType - otype + PepperShakerType - otype + PaintingType - otype + CellPhoneType - otype + PlungerType - otype + SpoonType - otype + SaltShakerType - otype + KeyChainType - otype + FootstoolType - otype + PosterType - otype + TelevisionType - otype + LaundryHamperLidType - otype + GlassbottleType - otype + AlarmClockType - otype + WineBottleType - otype + BowlType - otype + SinkType - otype + TissueBoxType - otype + TennisRacketType - otype + ToiletPaperType - otype + ScrubBrushType - otype + CreditCardType - otype + LaptopType - otype + ClothType - otype + CupType - otype + ChairType - otype + BasketBallType - otype + KettleType - otype + PaperTowelType - otype + ShowerDoorType - otype + BaseballBatType - otype + PotatoType - otype + PillowType - otype + LettuceType - otype + RemoteControlType - otype + WindowType - otype + DishSpongeType - otype + CDType - otype + BootsType - otype + BlindsType - otype + PenType - otype + NewspaperType - otype + PlateType - otype + MugType - otype + ShowerGlassType - otype + ToiletPaperRollType - otype + SoapBarType - otype + FloorLampType - otype + SoapBottleType - otype + PotType - otype + PencilType - otype + SpatulaType - otype + TowelType - otype + ForkType - otype + LadleType - otype + KnifeType - otype + AppleType - otype + BoxType - otype + TomatoType - otype + ButterKnifeType - otype + EggType - otype + BookType - otype + DeskLampType - otype +CabinetType - rtype + ShelfType - rtype + DiningTableType - rtype + TowelHolderType - rtype + PaintingHangerType - rtype + TVStandType - rtype + LaundryHamperType - rtype + OttomanType - rtype + SafeType - rtype + CoffeeMachineType - rtype + CounterTopType - rtype + ToiletType - rtype + FridgeType - rtype + CoffeeTableType - rtype + SinkBasinType - rtype + GarbageCanType - rtype + BathtubBasinType - rtype + SideTableType - rtype + CartType - rtype + BedType - rtype + DeskType - rtype + SofaType - rtype + ArmChairType - rtype + MicrowaveType - rtype + HandTowelHolderType - rtype + ToasterType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + DrawerType - rtype + DresserType - rtype + + + Book_bar__minus_01_dot_87_bar__plus_00_dot_68_bar__plus_01_dot_17 - object + Bowl_bar__minus_02_dot_24_bar__plus_00_dot_10_bar__plus_04_dot_89 - object + Box_bar__minus_03_dot_36_bar__plus_00_dot_22_bar__plus_06_dot_43 - object + Chair_bar__minus_01_dot_42_bar__minus_00_dot_01_bar__plus_01_dot_43 - object + Chair_bar__minus_01_dot_86_bar_00_dot_00_bar__plus_01_dot_14 - object + Chair_bar__minus_01_dot_87_bar__minus_00_dot_01_bar__plus_01_dot_75 - object + Chair_bar__minus_02_dot_48_bar__plus_00_dot_00_bar__plus_01_dot_75 - object + Chair_bar__minus_02_dot_49_bar__minus_00_dot_01_bar__plus_01_dot_11 - object + Chair_bar__minus_03_dot_03_bar__minus_00_dot_01_bar__plus_01_dot_40 - object + CreditCard_bar__minus_01_dot_61_bar__plus_00_dot_48_bar__plus_03_dot_80 - object + CreditCard_bar__minus_01_dot_99_bar__plus_00_dot_65_bar__minus_00_dot_05 - object + CreditCard_bar__minus_02_dot_39_bar__plus_00_dot_24_bar__plus_06_dot_05 - object + Curtains_bar__minus_00_dot_08_bar__plus_02_dot_42_bar__plus_00_dot_97 - object + FloorLamp_bar__minus_00_dot_57_bar__plus_00_dot_00_bar__plus_00_dot_03 - object + HousePlant_bar__minus_03_dot_02_bar__plus_00_dot_59_bar__minus_00_dot_02 - object + KeyChain_bar__minus_00_dot_33_bar__plus_00_dot_62_bar__plus_03_dot_52 - object + KeyChain_bar__minus_02_dot_14_bar__plus_00_dot_48_bar__plus_03_dot_62 - object + KeyChain_bar__minus_02_dot_76_bar__plus_00_dot_24_bar__plus_06_dot_05 - object + Lamp_bar__minus_00_dot_28_bar__plus_00_dot_70_bar__plus_03_dot_61 - object + Laptop_bar__minus_01_dot_70_bar__plus_00_dot_68_bar__plus_01_dot_66 - object + Laptop_bar__minus_01_dot_87_bar__plus_00_dot_48_bar__plus_03_dot_62 - object + Laptop_bar__minus_02_dot_67_bar__plus_00_dot_48_bar__plus_03_dot_71 - object + LightSwitch_bar__minus_03_dot_31_bar__plus_01_dot_34_bar__minus_00_dot_32 - object + Newspaper_bar__minus_02_dot_14_bar__plus_00_dot_48_bar__plus_03_dot_35 - object + Newspaper_bar__minus_02_dot_67_bar__plus_00_dot_48_bar__plus_03_dot_44 - object + Painting_bar__minus_02_dot_05_bar__plus_01_dot_62_bar__minus_00_dot_30 - object + Pencil_bar__minus_02_dot_16_bar__plus_00_dot_10_bar__plus_04_dot_73 - object + Pencil_bar__minus_02_dot_32_bar__plus_00_dot_61_bar__plus_04_dot_89 - object + Pencil_bar__minus_02_dot_39_bar__plus_00_dot_75_bar__minus_00_dot_20 - object + Pen_bar__minus_02_dot_16_bar__plus_00_dot_10_bar__plus_05_dot_04 - object + Pen_bar__minus_02_dot_26_bar__plus_00_dot_24_bar__plus_06_dot_12 - object + Pen_bar__minus_02_dot_49_bar__plus_00_dot_69_bar__plus_01_dot_18 - object + Pillow_bar__minus_03_dot_27_bar__plus_00_dot_66_bar__plus_03_dot_44 - object + Plate_bar__minus_02_dot_71_bar__plus_00_dot_69_bar__plus_01_dot_30 - object + RemoteControl_bar__minus_02_dot_71_bar__plus_00_dot_69_bar__plus_01_dot_67 - object + Statue_bar__minus_02_dot_27_bar__plus_00_dot_70_bar__plus_01_dot_18 - object + Statue_bar__minus_02_dot_27_bar__plus_00_dot_70_bar__plus_01_dot_42 - object + Statue_bar__minus_02_dot_49_bar__plus_00_dot_70_bar__plus_01_dot_05 - object + Television_bar__minus_02_dot_36_bar__plus_01_dot_21_bar__plus_06_dot_28 - object + TissueBox_bar__minus_02_dot_32_bar__plus_00_dot_10_bar__plus_05_dot_04 - object + TissueBox_bar__minus_02_dot_71_bar__plus_00_dot_69_bar__plus_01_dot_05 - object + Vase_bar__minus_02_dot_16_bar__plus_00_dot_35_bar__plus_04_dot_89 - object + Vase_bar__minus_02_dot_47_bar__plus_00_dot_10_bar__plus_04_dot_73 - object + Vase_bar__minus_02_dot_93_bar__plus_00_dot_69_bar__plus_01_dot_05 - object + Watch_bar__minus_02_dot_51_bar__plus_00_dot_24_bar__plus_06_dot_08 - object + Window_bar__minus_00_dot_06_bar__plus_00_dot_93_bar__plus_01_dot_76 - object + Window_bar__minus_00_dot_06_bar__plus_01_dot_13_bar__plus_04_dot_89 - object + ArmChair_bar__minus_00_dot_78_bar__plus_00_dot_01_bar__plus_06_dot_08 - receptacle + ArmChair_bar__minus_04_dot_41_bar__plus_00_dot_01_bar__plus_06_dot_01 - receptacle + CoffeeTable_bar__minus_02_dot_32_bar__plus_00_dot_00_bar__plus_04_dot_89 - receptacle + DiningTable_bar__minus_02_dot_27_bar__minus_00_dot_02_bar__plus_01_dot_42 - receptacle + DiningTable_bar__minus_03_dot_20_bar__plus_00_dot_59_bar__plus_00_dot_21 - receptacle + Drawer_bar__minus_00_dot_30_bar__plus_00_dot_62_bar__plus_03_dot_37 - receptacle + Drawer_bar__minus_02_dot_11_bar__plus_00_dot_66_bar__minus_00_dot_07 - receptacle + GarbageCan_bar__minus_04_dot_87_bar__plus_00_dot_00_bar__plus_00_dot_27 - receptacle + SideTable_bar__minus_00_dot_24_bar__plus_00_dot_00_bar__plus_03_dot_37 - receptacle + SideTable_bar__minus_02_dot_11_bar__plus_00_dot_01_bar__minus_00_dot_14 - receptacle + Sofa_bar__minus_02_dot_40_bar__minus_00_dot_07_bar__plus_03_dot_42 - receptacle + TVStand_bar__minus_02_dot_39_bar__plus_00_dot_00_bar__plus_06_dot_30 - receptacle + loc_bar__minus_17_bar_20_bar_0_bar_60 - location + loc_bar__minus_2_bar_20_bar_1_bar_45 - location + loc_bar__minus_10_bar_22_bar_0_bar_60 - location + loc_bar__minus_8_bar_2_bar_2_bar_60 - location + loc_bar__minus_12_bar_2_bar_1_bar_45 - location + loc_bar__minus_10_bar_2_bar_0_bar_60 - location + loc_bar__minus_6_bar_9_bar_2_bar_60 - location + loc_bar__minus_16_bar_2_bar_1_bar_60 - location + loc_bar__minus_9_bar_17_bar_2_bar_60 - location + loc_bar__minus_18_bar_2_bar_3_bar_60 - location + loc_bar__minus_8_bar_2_bar_2_bar_0 - location + loc_bar__minus_13_bar_23_bar_0_bar_60 - location + loc_bar__minus_15_bar_6_bar_1_bar_60 - location + loc_bar__minus_14_bar_1_bar_2_bar_30 - location + loc_bar__minus_3_bar_6_bar_3_bar_60 - location + loc_bar__minus_14_bar_18_bar_1_bar_60 - location + loc_bar__minus_4_bar_20_bar_0_bar_60 - location + loc_bar__minus_3_bar_9_bar_0_bar_60 - location + loc_bar__minus_4_bar_17_bar_2_bar_45 - location + loc_bar__minus_2_bar_7_bar_1_bar_60 - location + loc_bar__minus_10_bar_10_bar_2_bar_60 - location + loc_bar__minus_7_bar_2_bar_0_bar_60 - location + loc_bar__minus_5_bar_1_bar_1_bar_60 - location + loc_bar__minus_13_bar_22_bar_0_bar_30 - location + ) + + +(:init + + + (receptacleType TVStand_bar__minus_02_dot_39_bar__plus_00_dot_00_bar__plus_06_dot_30 TVStandType) + (receptacleType SideTable_bar__minus_02_dot_11_bar__plus_00_dot_01_bar__minus_00_dot_14 SideTableType) + (receptacleType Drawer_bar__minus_02_dot_11_bar__plus_00_dot_66_bar__minus_00_dot_07 DrawerType) + (receptacleType ArmChair_bar__minus_04_dot_41_bar__plus_00_dot_01_bar__plus_06_dot_01 ArmChairType) + (receptacleType SideTable_bar__minus_00_dot_24_bar__plus_00_dot_00_bar__plus_03_dot_37 SideTableType) + (receptacleType Drawer_bar__minus_00_dot_30_bar__plus_00_dot_62_bar__plus_03_dot_37 DrawerType) + (receptacleType DiningTable_bar__minus_02_dot_27_bar__minus_00_dot_02_bar__plus_01_dot_42 DiningTableType) + (receptacleType DiningTable_bar__minus_03_dot_20_bar__plus_00_dot_59_bar__plus_00_dot_21 DiningTableType) + (receptacleType Sofa_bar__minus_02_dot_40_bar__minus_00_dot_07_bar__plus_03_dot_42 SofaType) + (receptacleType ArmChair_bar__minus_00_dot_78_bar__plus_00_dot_01_bar__plus_06_dot_08 ArmChairType) + (receptacleType CoffeeTable_bar__minus_02_dot_32_bar__plus_00_dot_00_bar__plus_04_dot_89 CoffeeTableType) + (receptacleType GarbageCan_bar__minus_04_dot_87_bar__plus_00_dot_00_bar__plus_00_dot_27 GarbageCanType) + (objectType Pen_bar__minus_02_dot_49_bar__plus_00_dot_69_bar__plus_01_dot_18 PenType) + (objectType Chair_bar__minus_03_dot_03_bar__minus_00_dot_01_bar__plus_01_dot_40 ChairType) + (objectType Curtains_bar__minus_00_dot_08_bar__plus_02_dot_42_bar__plus_00_dot_97 CurtainsType) + (objectType CreditCard_bar__minus_02_dot_39_bar__plus_00_dot_24_bar__plus_06_dot_05 CreditCardType) + (objectType FloorLamp_bar__minus_00_dot_57_bar__plus_00_dot_00_bar__plus_00_dot_03 FloorLampType) + (objectType Painting_bar__minus_02_dot_05_bar__plus_01_dot_62_bar__minus_00_dot_30 PaintingType) + (objectType Pillow_bar__minus_03_dot_27_bar__plus_00_dot_66_bar__plus_03_dot_44 PillowType) + (objectType Box_bar__minus_03_dot_36_bar__plus_00_dot_22_bar__plus_06_dot_43 BoxType) + (objectType Laptop_bar__minus_02_dot_67_bar__plus_00_dot_48_bar__plus_03_dot_71 LaptopType) + (objectType Laptop_bar__minus_01_dot_70_bar__plus_00_dot_68_bar__plus_01_dot_66 LaptopType) + (objectType RemoteControl_bar__minus_02_dot_71_bar__plus_00_dot_69_bar__plus_01_dot_67 RemoteControlType) + (objectType Chair_bar__minus_01_dot_87_bar__minus_00_dot_01_bar__plus_01_dot_75 ChairType) + (objectType Chair_bar__minus_01_dot_42_bar__minus_00_dot_01_bar__plus_01_dot_43 ChairType) + (objectType Chair_bar__minus_01_dot_86_bar_00_dot_00_bar__plus_01_dot_14 ChairType) + (objectType HousePlant_bar__minus_03_dot_02_bar__plus_00_dot_59_bar__minus_00_dot_02 HousePlantType) + (objectType Watch_bar__minus_02_dot_51_bar__plus_00_dot_24_bar__plus_06_dot_08 WatchType) + (objectType Pencil_bar__minus_02_dot_16_bar__plus_00_dot_10_bar__plus_04_dot_73 PencilType) + (objectType Plate_bar__minus_02_dot_71_bar__plus_00_dot_69_bar__plus_01_dot_30 PlateType) + (objectType KeyChain_bar__minus_00_dot_33_bar__plus_00_dot_62_bar__plus_03_dot_52 KeyChainType) + (objectType Vase_bar__minus_02_dot_47_bar__plus_00_dot_10_bar__plus_04_dot_73 VaseType) + (objectType CreditCard_bar__minus_01_dot_99_bar__plus_00_dot_65_bar__minus_00_dot_05 CreditCardType) + (objectType Window_bar__minus_00_dot_06_bar__plus_00_dot_93_bar__plus_01_dot_76 WindowType) + (objectType TissueBox_bar__minus_02_dot_71_bar__plus_00_dot_69_bar__plus_01_dot_05 TissueBoxType) + (objectType Window_bar__minus_00_dot_06_bar__plus_01_dot_13_bar__plus_04_dot_89 WindowType) + (objectType Book_bar__minus_01_dot_87_bar__plus_00_dot_68_bar__plus_01_dot_17 BookType) + (objectType Bowl_bar__minus_02_dot_24_bar__plus_00_dot_10_bar__plus_04_dot_89 BowlType) + (objectType Pencil_bar__minus_02_dot_39_bar__plus_00_dot_75_bar__minus_00_dot_20 PencilType) + (objectType KeyChain_bar__minus_02_dot_14_bar__plus_00_dot_48_bar__plus_03_dot_62 KeyChainType) + (objectType KeyChain_bar__minus_02_dot_76_bar__plus_00_dot_24_bar__plus_06_dot_05 KeyChainType) + (objectType Newspaper_bar__minus_02_dot_14_bar__plus_00_dot_48_bar__plus_03_dot_35 NewspaperType) + (objectType Vase_bar__minus_02_dot_16_bar__plus_00_dot_35_bar__plus_04_dot_89 VaseType) + (objectType Statue_bar__minus_02_dot_27_bar__plus_00_dot_70_bar__plus_01_dot_42 StatueType) + (objectType Chair_bar__minus_02_dot_49_bar__minus_00_dot_01_bar__plus_01_dot_11 ChairType) + (objectType Statue_bar__minus_02_dot_49_bar__plus_00_dot_70_bar__plus_01_dot_05 StatueType) + (objectType Pencil_bar__minus_02_dot_32_bar__plus_00_dot_61_bar__plus_04_dot_89 PencilType) + (objectType Television_bar__minus_02_dot_36_bar__plus_01_dot_21_bar__plus_06_dot_28 TelevisionType) + (objectType Vase_bar__minus_02_dot_93_bar__plus_00_dot_69_bar__plus_01_dot_05 VaseType) + (objectType Pen_bar__minus_02_dot_16_bar__plus_00_dot_10_bar__plus_05_dot_04 PenType) + (objectType CreditCard_bar__minus_01_dot_61_bar__plus_00_dot_48_bar__plus_03_dot_80 CreditCardType) + (objectType TissueBox_bar__minus_02_dot_32_bar__plus_00_dot_10_bar__plus_05_dot_04 TissueBoxType) + (objectType Chair_bar__minus_02_dot_48_bar__plus_00_dot_00_bar__plus_01_dot_75 ChairType) + (objectType Laptop_bar__minus_01_dot_87_bar__plus_00_dot_48_bar__plus_03_dot_62 LaptopType) + (objectType LightSwitch_bar__minus_03_dot_31_bar__plus_01_dot_34_bar__minus_00_dot_32 LightSwitchType) + (objectType Pen_bar__minus_02_dot_26_bar__plus_00_dot_24_bar__plus_06_dot_12 PenType) + (objectType Statue_bar__minus_02_dot_27_bar__plus_00_dot_70_bar__plus_01_dot_18 StatueType) + (objectType Newspaper_bar__minus_02_dot_67_bar__plus_00_dot_48_bar__plus_03_dot_44 NewspaperType) + (canContain TVStandType TissueBoxType) + (canContain SideTableType KeyChainType) + (canContain SideTableType WatchType) + (canContain SideTableType RemoteControlType) + (canContain SideTableType BowlType) + (canContain SideTableType TissueBoxType) + (canContain SideTableType PencilType) + (canContain SideTableType VaseType) + (canContain SideTableType CreditCardType) + (canContain SideTableType PenType) + (canContain SideTableType NewspaperType) + (canContain SideTableType LaptopType) + (canContain SideTableType StatueType) + (canContain SideTableType PlateType) + (canContain SideTableType BoxType) + (canContain SideTableType BookType) + (canContain DrawerType KeyChainType) + (canContain DrawerType WatchType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType PencilType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PenType) + (canContain DrawerType NewspaperType) + (canContain DrawerType BookType) + (canContain ArmChairType PillowType) + (canContain ArmChairType RemoteControlType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType CreditCardType) + (canContain ArmChairType BoxType) + (canContain ArmChairType NewspaperType) + (canContain ArmChairType BookType) + (canContain SideTableType KeyChainType) + (canContain SideTableType WatchType) + (canContain SideTableType RemoteControlType) + (canContain SideTableType BowlType) + (canContain SideTableType TissueBoxType) + (canContain SideTableType PencilType) + (canContain SideTableType VaseType) + (canContain SideTableType CreditCardType) + (canContain SideTableType PenType) + (canContain SideTableType NewspaperType) + (canContain SideTableType LaptopType) + (canContain SideTableType StatueType) + (canContain SideTableType PlateType) + (canContain SideTableType BoxType) + (canContain SideTableType BookType) + (canContain DrawerType KeyChainType) + (canContain DrawerType WatchType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType PencilType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PenType) + (canContain DrawerType NewspaperType) + (canContain DrawerType BookType) + (canContain DiningTableType KeyChainType) + (canContain DiningTableType WatchType) + (canContain DiningTableType RemoteControlType) + (canContain DiningTableType BowlType) + (canContain DiningTableType TissueBoxType) + (canContain DiningTableType PencilType) + (canContain DiningTableType VaseType) + (canContain DiningTableType CreditCardType) + (canContain DiningTableType PenType) + (canContain DiningTableType NewspaperType) + (canContain DiningTableType LaptopType) + (canContain DiningTableType StatueType) + (canContain DiningTableType PlateType) + (canContain DiningTableType BoxType) + (canContain DiningTableType BookType) + (canContain DiningTableType KeyChainType) + (canContain DiningTableType WatchType) + (canContain DiningTableType RemoteControlType) + (canContain DiningTableType BowlType) + (canContain DiningTableType TissueBoxType) + (canContain DiningTableType PencilType) + (canContain DiningTableType VaseType) + (canContain DiningTableType CreditCardType) + (canContain DiningTableType PenType) + (canContain DiningTableType NewspaperType) + (canContain DiningTableType LaptopType) + (canContain DiningTableType StatueType) + (canContain DiningTableType PlateType) + (canContain DiningTableType BoxType) + (canContain DiningTableType BookType) + (canContain SofaType PillowType) + (canContain SofaType RemoteControlType) + (canContain SofaType KeyChainType) + (canContain SofaType LaptopType) + (canContain SofaType CreditCardType) + (canContain SofaType BoxType) + (canContain SofaType NewspaperType) + (canContain SofaType BookType) + (canContain ArmChairType PillowType) + (canContain ArmChairType RemoteControlType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType CreditCardType) + (canContain ArmChairType BoxType) + (canContain ArmChairType NewspaperType) + (canContain ArmChairType BookType) + (canContain CoffeeTableType KeyChainType) + (canContain CoffeeTableType WatchType) + (canContain CoffeeTableType RemoteControlType) + (canContain CoffeeTableType BowlType) + (canContain CoffeeTableType TissueBoxType) + (canContain CoffeeTableType PencilType) + (canContain CoffeeTableType VaseType) + (canContain CoffeeTableType CreditCardType) + (canContain CoffeeTableType PenType) + (canContain CoffeeTableType NewspaperType) + (canContain CoffeeTableType LaptopType) + (canContain CoffeeTableType StatueType) + (canContain CoffeeTableType PlateType) + (canContain CoffeeTableType BoxType) + (canContain CoffeeTableType BookType) + (canContain GarbageCanType TissueBoxType) + (canContain GarbageCanType PencilType) + (canContain GarbageCanType PenType) + (canContain GarbageCanType NewspaperType) + (pickupable Pen_bar__minus_02_dot_49_bar__plus_00_dot_69_bar__plus_01_dot_18) + (pickupable CreditCard_bar__minus_02_dot_39_bar__plus_00_dot_24_bar__plus_06_dot_05) + (pickupable Pillow_bar__minus_03_dot_27_bar__plus_00_dot_66_bar__plus_03_dot_44) + (pickupable Box_bar__minus_03_dot_36_bar__plus_00_dot_22_bar__plus_06_dot_43) + (pickupable Laptop_bar__minus_02_dot_67_bar__plus_00_dot_48_bar__plus_03_dot_71) + (pickupable Laptop_bar__minus_01_dot_70_bar__plus_00_dot_68_bar__plus_01_dot_66) + (pickupable RemoteControl_bar__minus_02_dot_71_bar__plus_00_dot_69_bar__plus_01_dot_67) + (pickupable Watch_bar__minus_02_dot_51_bar__plus_00_dot_24_bar__plus_06_dot_08) + (pickupable Pencil_bar__minus_02_dot_16_bar__plus_00_dot_10_bar__plus_04_dot_73) + (pickupable Plate_bar__minus_02_dot_71_bar__plus_00_dot_69_bar__plus_01_dot_30) + (pickupable KeyChain_bar__minus_00_dot_33_bar__plus_00_dot_62_bar__plus_03_dot_52) + (pickupable Vase_bar__minus_02_dot_47_bar__plus_00_dot_10_bar__plus_04_dot_73) + (pickupable CreditCard_bar__minus_01_dot_99_bar__plus_00_dot_65_bar__minus_00_dot_05) + (pickupable TissueBox_bar__minus_02_dot_71_bar__plus_00_dot_69_bar__plus_01_dot_05) + (pickupable Book_bar__minus_01_dot_87_bar__plus_00_dot_68_bar__plus_01_dot_17) + (pickupable Bowl_bar__minus_02_dot_24_bar__plus_00_dot_10_bar__plus_04_dot_89) + (pickupable Pencil_bar__minus_02_dot_39_bar__plus_00_dot_75_bar__minus_00_dot_20) + (pickupable KeyChain_bar__minus_02_dot_14_bar__plus_00_dot_48_bar__plus_03_dot_62) + (pickupable KeyChain_bar__minus_02_dot_76_bar__plus_00_dot_24_bar__plus_06_dot_05) + (pickupable Newspaper_bar__minus_02_dot_14_bar__plus_00_dot_48_bar__plus_03_dot_35) + (pickupable Vase_bar__minus_02_dot_16_bar__plus_00_dot_35_bar__plus_04_dot_89) + (pickupable Statue_bar__minus_02_dot_27_bar__plus_00_dot_70_bar__plus_01_dot_42) + (pickupable Statue_bar__minus_02_dot_49_bar__plus_00_dot_70_bar__plus_01_dot_05) + (pickupable Pencil_bar__minus_02_dot_32_bar__plus_00_dot_61_bar__plus_04_dot_89) + (pickupable Vase_bar__minus_02_dot_93_bar__plus_00_dot_69_bar__plus_01_dot_05) + (pickupable Pen_bar__minus_02_dot_16_bar__plus_00_dot_10_bar__plus_05_dot_04) + (pickupable CreditCard_bar__minus_01_dot_61_bar__plus_00_dot_48_bar__plus_03_dot_80) + (pickupable TissueBox_bar__minus_02_dot_32_bar__plus_00_dot_10_bar__plus_05_dot_04) + (pickupable Laptop_bar__minus_01_dot_87_bar__plus_00_dot_48_bar__plus_03_dot_62) + (pickupable Pen_bar__minus_02_dot_26_bar__plus_00_dot_24_bar__plus_06_dot_12) + (pickupable Statue_bar__minus_02_dot_27_bar__plus_00_dot_70_bar__plus_01_dot_18) + (pickupable Newspaper_bar__minus_02_dot_67_bar__plus_00_dot_48_bar__plus_03_dot_44) + (isReceptacleObject Box_bar__minus_03_dot_36_bar__plus_00_dot_22_bar__plus_06_dot_43) + (isReceptacleObject Plate_bar__minus_02_dot_71_bar__plus_00_dot_69_bar__plus_01_dot_30) + (isReceptacleObject Bowl_bar__minus_02_dot_24_bar__plus_00_dot_10_bar__plus_04_dot_89) + (openable Drawer_bar__minus_02_dot_11_bar__plus_00_dot_66_bar__minus_00_dot_07) + (openable Drawer_bar__minus_00_dot_30_bar__plus_00_dot_62_bar__plus_03_dot_37) + + (atLocation agent1 loc_bar__minus_13_bar_22_bar_0_bar_30) + + (cleanable Plate_bar__minus_02_dot_71_bar__plus_00_dot_69_bar__plus_01_dot_30) + (cleanable Bowl_bar__minus_02_dot_24_bar__plus_00_dot_10_bar__plus_04_dot_89) + + (heatable Plate_bar__minus_02_dot_71_bar__plus_00_dot_69_bar__plus_01_dot_30) + (coolable Plate_bar__minus_02_dot_71_bar__plus_00_dot_69_bar__plus_01_dot_30) + (coolable Bowl_bar__minus_02_dot_24_bar__plus_00_dot_10_bar__plus_04_dot_89) + + + (toggleable FloorLamp_bar__minus_00_dot_57_bar__plus_00_dot_00_bar__plus_00_dot_03) + + + + + (inReceptacle HousePlant_bar__minus_03_dot_02_bar__plus_00_dot_59_bar__minus_00_dot_02 DiningTable_bar__minus_03_dot_20_bar__plus_00_dot_59_bar__plus_00_dot_21) + (inReceptacle KeyChain_bar__minus_02_dot_76_bar__plus_00_dot_24_bar__plus_06_dot_05 TVStand_bar__minus_02_dot_39_bar__plus_00_dot_00_bar__plus_06_dot_30) + (inReceptacle CreditCard_bar__minus_02_dot_39_bar__plus_00_dot_24_bar__plus_06_dot_05 TVStand_bar__minus_02_dot_39_bar__plus_00_dot_00_bar__plus_06_dot_30) + (inReceptacle Television_bar__minus_02_dot_36_bar__plus_01_dot_21_bar__plus_06_dot_28 TVStand_bar__minus_02_dot_39_bar__plus_00_dot_00_bar__plus_06_dot_30) + (inReceptacle Pen_bar__minus_02_dot_26_bar__plus_00_dot_24_bar__plus_06_dot_12 TVStand_bar__minus_02_dot_39_bar__plus_00_dot_00_bar__plus_06_dot_30) + (inReceptacle Watch_bar__minus_02_dot_51_bar__plus_00_dot_24_bar__plus_06_dot_08 TVStand_bar__minus_02_dot_39_bar__plus_00_dot_00_bar__plus_06_dot_30) + (inReceptacle Pencil_bar__minus_02_dot_16_bar__plus_00_dot_10_bar__plus_04_dot_73 CoffeeTable_bar__minus_02_dot_32_bar__plus_00_dot_00_bar__plus_04_dot_89) + (inReceptacle Vase_bar__minus_02_dot_16_bar__plus_00_dot_35_bar__plus_04_dot_89 CoffeeTable_bar__minus_02_dot_32_bar__plus_00_dot_00_bar__plus_04_dot_89) + (inReceptacle Vase_bar__minus_02_dot_47_bar__plus_00_dot_10_bar__plus_04_dot_73 CoffeeTable_bar__minus_02_dot_32_bar__plus_00_dot_00_bar__plus_04_dot_89) + (inReceptacle Pencil_bar__minus_02_dot_32_bar__plus_00_dot_61_bar__plus_04_dot_89 CoffeeTable_bar__minus_02_dot_32_bar__plus_00_dot_00_bar__plus_04_dot_89) + (inReceptacle Pen_bar__minus_02_dot_16_bar__plus_00_dot_10_bar__plus_05_dot_04 CoffeeTable_bar__minus_02_dot_32_bar__plus_00_dot_00_bar__plus_04_dot_89) + (inReceptacle Bowl_bar__minus_02_dot_24_bar__plus_00_dot_10_bar__plus_04_dot_89 CoffeeTable_bar__minus_02_dot_32_bar__plus_00_dot_00_bar__plus_04_dot_89) + (inReceptacle TissueBox_bar__minus_02_dot_32_bar__plus_00_dot_10_bar__plus_05_dot_04 CoffeeTable_bar__minus_02_dot_32_bar__plus_00_dot_00_bar__plus_04_dot_89) + (inReceptacle Pencil_bar__minus_02_dot_39_bar__plus_00_dot_75_bar__minus_00_dot_20 SideTable_bar__minus_02_dot_11_bar__plus_00_dot_01_bar__minus_00_dot_14) + (inReceptacle Curtains_bar__minus_00_dot_08_bar__plus_02_dot_42_bar__plus_00_dot_97 SideTable_bar__minus_00_dot_24_bar__plus_00_dot_00_bar__plus_03_dot_37) + (inReceptacle CreditCard_bar__minus_01_dot_99_bar__plus_00_dot_65_bar__minus_00_dot_05 Drawer_bar__minus_02_dot_11_bar__plus_00_dot_66_bar__minus_00_dot_07) + (inReceptacle Newspaper_bar__minus_02_dot_14_bar__plus_00_dot_48_bar__plus_03_dot_35 Sofa_bar__minus_02_dot_40_bar__minus_00_dot_07_bar__plus_03_dot_42) + (inReceptacle Pillow_bar__minus_03_dot_27_bar__plus_00_dot_66_bar__plus_03_dot_44 Sofa_bar__minus_02_dot_40_bar__minus_00_dot_07_bar__plus_03_dot_42) + (inReceptacle Laptop_bar__minus_02_dot_67_bar__plus_00_dot_48_bar__plus_03_dot_71 Sofa_bar__minus_02_dot_40_bar__minus_00_dot_07_bar__plus_03_dot_42) + (inReceptacle Laptop_bar__minus_01_dot_87_bar__plus_00_dot_48_bar__plus_03_dot_62 Sofa_bar__minus_02_dot_40_bar__minus_00_dot_07_bar__plus_03_dot_42) + (inReceptacle Newspaper_bar__minus_02_dot_67_bar__plus_00_dot_48_bar__plus_03_dot_44 Sofa_bar__minus_02_dot_40_bar__minus_00_dot_07_bar__plus_03_dot_42) + (inReceptacle CreditCard_bar__minus_01_dot_61_bar__plus_00_dot_48_bar__plus_03_dot_80 Sofa_bar__minus_02_dot_40_bar__minus_00_dot_07_bar__plus_03_dot_42) + (inReceptacle KeyChain_bar__minus_00_dot_33_bar__plus_00_dot_62_bar__plus_03_dot_52 Drawer_bar__minus_00_dot_30_bar__plus_00_dot_62_bar__plus_03_dot_37) + (inReceptacle Pen_bar__minus_02_dot_49_bar__plus_00_dot_69_bar__plus_01_dot_18 DiningTable_bar__minus_02_dot_27_bar__minus_00_dot_02_bar__plus_01_dot_42) + (inReceptacle Plate_bar__minus_02_dot_71_bar__plus_00_dot_69_bar__plus_01_dot_30 DiningTable_bar__minus_02_dot_27_bar__minus_00_dot_02_bar__plus_01_dot_42) + (inReceptacle Statue_bar__minus_02_dot_27_bar__plus_00_dot_70_bar__plus_01_dot_42 DiningTable_bar__minus_02_dot_27_bar__minus_00_dot_02_bar__plus_01_dot_42) + (inReceptacle Statue_bar__minus_02_dot_49_bar__plus_00_dot_70_bar__plus_01_dot_05 DiningTable_bar__minus_02_dot_27_bar__minus_00_dot_02_bar__plus_01_dot_42) + (inReceptacle Laptop_bar__minus_01_dot_70_bar__plus_00_dot_68_bar__plus_01_dot_66 DiningTable_bar__minus_02_dot_27_bar__minus_00_dot_02_bar__plus_01_dot_42) + (inReceptacle RemoteControl_bar__minus_02_dot_71_bar__plus_00_dot_69_bar__plus_01_dot_67 DiningTable_bar__minus_02_dot_27_bar__minus_00_dot_02_bar__plus_01_dot_42) + (inReceptacle Vase_bar__minus_02_dot_93_bar__plus_00_dot_69_bar__plus_01_dot_05 DiningTable_bar__minus_02_dot_27_bar__minus_00_dot_02_bar__plus_01_dot_42) + (inReceptacle Statue_bar__minus_02_dot_27_bar__plus_00_dot_70_bar__plus_01_dot_18 DiningTable_bar__minus_02_dot_27_bar__minus_00_dot_02_bar__plus_01_dot_42) + (inReceptacle TissueBox_bar__minus_02_dot_71_bar__plus_00_dot_69_bar__plus_01_dot_05 DiningTable_bar__minus_02_dot_27_bar__minus_00_dot_02_bar__plus_01_dot_42) + (inReceptacle Book_bar__minus_01_dot_87_bar__plus_00_dot_68_bar__plus_01_dot_17 DiningTable_bar__minus_02_dot_27_bar__minus_00_dot_02_bar__plus_01_dot_42) + + + (receptacleAtLocation ArmChair_bar__minus_00_dot_78_bar__plus_00_dot_01_bar__plus_06_dot_08 loc_bar__minus_4_bar_20_bar_0_bar_60) + (receptacleAtLocation ArmChair_bar__minus_04_dot_41_bar__plus_00_dot_01_bar__plus_06_dot_01 loc_bar__minus_17_bar_20_bar_0_bar_60) + (receptacleAtLocation CoffeeTable_bar__minus_02_dot_32_bar__plus_00_dot_00_bar__plus_04_dot_89 loc_bar__minus_14_bar_18_bar_1_bar_60) + (receptacleAtLocation DiningTable_bar__minus_02_dot_27_bar__minus_00_dot_02_bar__plus_01_dot_42 loc_bar__minus_10_bar_10_bar_2_bar_60) + (receptacleAtLocation DiningTable_bar__minus_03_dot_20_bar__plus_00_dot_59_bar__plus_00_dot_21 loc_bar__minus_16_bar_2_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__minus_00_dot_30_bar__plus_00_dot_62_bar__plus_03_dot_37 loc_bar__minus_4_bar_17_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_02_dot_11_bar__plus_00_dot_66_bar__minus_00_dot_07 loc_bar__minus_12_bar_2_bar_1_bar_45) + (receptacleAtLocation GarbageCan_bar__minus_04_dot_87_bar__plus_00_dot_00_bar__plus_00_dot_27 loc_bar__minus_18_bar_2_bar_3_bar_60) + (receptacleAtLocation SideTable_bar__minus_00_dot_24_bar__plus_00_dot_00_bar__plus_03_dot_37 loc_bar__minus_3_bar_9_bar_0_bar_60) + (receptacleAtLocation SideTable_bar__minus_02_dot_11_bar__plus_00_dot_01_bar__minus_00_dot_14 loc_bar__minus_8_bar_2_bar_2_bar_60) + (receptacleAtLocation Sofa_bar__minus_02_dot_40_bar__minus_00_dot_07_bar__plus_03_dot_42 loc_bar__minus_9_bar_17_bar_2_bar_60) + (receptacleAtLocation TVStand_bar__minus_02_dot_39_bar__plus_00_dot_00_bar__plus_06_dot_30 loc_bar__minus_10_bar_22_bar_0_bar_60) + (objectAtLocation Newspaper_bar__minus_02_dot_14_bar__plus_00_dot_48_bar__plus_03_dot_35 loc_bar__minus_9_bar_17_bar_2_bar_60) + (objectAtLocation Pen_bar__minus_02_dot_49_bar__plus_00_dot_69_bar__plus_01_dot_18 loc_bar__minus_10_bar_10_bar_2_bar_60) + (objectAtLocation Pencil_bar__minus_02_dot_32_bar__plus_00_dot_61_bar__plus_04_dot_89 loc_bar__minus_14_bar_18_bar_1_bar_60) + (objectAtLocation Vase_bar__minus_02_dot_93_bar__plus_00_dot_69_bar__plus_01_dot_05 loc_bar__minus_10_bar_10_bar_2_bar_60) + (objectAtLocation KeyChain_bar__minus_02_dot_14_bar__plus_00_dot_48_bar__plus_03_dot_62 loc_bar__minus_9_bar_17_bar_2_bar_60) + (objectAtLocation CreditCard_bar__minus_01_dot_99_bar__plus_00_dot_65_bar__minus_00_dot_05 loc_bar__minus_12_bar_2_bar_1_bar_45) + (objectAtLocation TissueBox_bar__minus_02_dot_32_bar__plus_00_dot_10_bar__plus_05_dot_04 loc_bar__minus_14_bar_18_bar_1_bar_60) + (objectAtLocation Laptop_bar__minus_01_dot_70_bar__plus_00_dot_68_bar__plus_01_dot_66 loc_bar__minus_10_bar_10_bar_2_bar_60) + (objectAtLocation Statue_bar__minus_02_dot_27_bar__plus_00_dot_70_bar__plus_01_dot_42 loc_bar__minus_10_bar_10_bar_2_bar_60) + (objectAtLocation Laptop_bar__minus_01_dot_87_bar__plus_00_dot_48_bar__plus_03_dot_62 loc_bar__minus_9_bar_17_bar_2_bar_60) + (objectAtLocation CreditCard_bar__minus_01_dot_61_bar__plus_00_dot_48_bar__plus_03_dot_80 loc_bar__minus_9_bar_17_bar_2_bar_60) + (objectAtLocation KeyChain_bar__minus_00_dot_33_bar__plus_00_dot_62_bar__plus_03_dot_52 loc_bar__minus_4_bar_17_bar_2_bar_45) + (objectAtLocation Pencil_bar__minus_02_dot_39_bar__plus_00_dot_75_bar__minus_00_dot_20 loc_bar__minus_8_bar_2_bar_2_bar_60) + (objectAtLocation Pen_bar__minus_02_dot_26_bar__plus_00_dot_24_bar__plus_06_dot_12 loc_bar__minus_10_bar_22_bar_0_bar_60) + (objectAtLocation Vase_bar__minus_02_dot_47_bar__plus_00_dot_10_bar__plus_04_dot_73 loc_bar__minus_14_bar_18_bar_1_bar_60) + (objectAtLocation Statue_bar__minus_02_dot_49_bar__plus_00_dot_70_bar__plus_01_dot_05 loc_bar__minus_10_bar_10_bar_2_bar_60) + (objectAtLocation Painting_bar__minus_02_dot_05_bar__plus_01_dot_62_bar__minus_00_dot_30 loc_bar__minus_8_bar_2_bar_2_bar_0) + (objectAtLocation Chair_bar__minus_01_dot_87_bar__minus_00_dot_01_bar__plus_01_dot_75 loc_bar__minus_6_bar_9_bar_2_bar_60) + (objectAtLocation Book_bar__minus_01_dot_87_bar__plus_00_dot_68_bar__plus_01_dot_17 loc_bar__minus_10_bar_10_bar_2_bar_60) + (objectAtLocation Chair_bar__minus_02_dot_48_bar__plus_00_dot_00_bar__plus_01_dot_75 loc_bar__minus_10_bar_10_bar_2_bar_60) + (objectAtLocation Box_bar__minus_03_dot_36_bar__plus_00_dot_22_bar__plus_06_dot_43 loc_bar__minus_13_bar_23_bar_0_bar_60) + (objectAtLocation Chair_bar__minus_01_dot_42_bar__minus_00_dot_01_bar__plus_01_dot_43 loc_bar__minus_3_bar_6_bar_3_bar_60) + (objectAtLocation Chair_bar__minus_03_dot_03_bar__minus_00_dot_01_bar__plus_01_dot_40 loc_bar__minus_15_bar_6_bar_1_bar_60) + (objectAtLocation Chair_bar__minus_01_dot_86_bar_00_dot_00_bar__plus_01_dot_14 loc_bar__minus_7_bar_2_bar_0_bar_60) + (objectAtLocation Curtains_bar__minus_00_dot_08_bar__plus_02_dot_42_bar__plus_00_dot_97 loc_bar__minus_3_bar_9_bar_0_bar_60) + (objectAtLocation Statue_bar__minus_02_dot_27_bar__plus_00_dot_70_bar__plus_01_dot_18 loc_bar__minus_10_bar_10_bar_2_bar_60) + (objectAtLocation Laptop_bar__minus_02_dot_67_bar__plus_00_dot_48_bar__plus_03_dot_71 loc_bar__minus_9_bar_17_bar_2_bar_60) + (objectAtLocation Television_bar__minus_02_dot_36_bar__plus_01_dot_21_bar__plus_06_dot_28 loc_bar__minus_10_bar_22_bar_0_bar_60) + (objectAtLocation HousePlant_bar__minus_03_dot_02_bar__plus_00_dot_59_bar__minus_00_dot_02 loc_bar__minus_16_bar_2_bar_1_bar_60) + (objectAtLocation TissueBox_bar__minus_02_dot_71_bar__plus_00_dot_69_bar__plus_01_dot_05 loc_bar__minus_10_bar_10_bar_2_bar_60) + (objectAtLocation CreditCard_bar__minus_02_dot_39_bar__plus_00_dot_24_bar__plus_06_dot_05 loc_bar__minus_10_bar_22_bar_0_bar_60) + (objectAtLocation Plate_bar__minus_02_dot_71_bar__plus_00_dot_69_bar__plus_01_dot_30 loc_bar__minus_10_bar_10_bar_2_bar_60) + (objectAtLocation KeyChain_bar__minus_02_dot_76_bar__plus_00_dot_24_bar__plus_06_dot_05 loc_bar__minus_10_bar_22_bar_0_bar_60) + (objectAtLocation FloorLamp_bar__minus_00_dot_57_bar__plus_00_dot_00_bar__plus_00_dot_03 loc_bar__minus_5_bar_1_bar_1_bar_60) + (objectAtLocation Vase_bar__minus_02_dot_16_bar__plus_00_dot_35_bar__plus_04_dot_89 loc_bar__minus_14_bar_18_bar_1_bar_60) + (objectAtLocation Chair_bar__minus_02_dot_49_bar__minus_00_dot_01_bar__plus_01_dot_11 loc_bar__minus_10_bar_2_bar_0_bar_60) + (objectAtLocation Pencil_bar__minus_02_dot_16_bar__plus_00_dot_10_bar__plus_04_dot_73 loc_bar__minus_14_bar_18_bar_1_bar_60) + (objectAtLocation Pillow_bar__minus_03_dot_27_bar__plus_00_dot_66_bar__plus_03_dot_44 loc_bar__minus_9_bar_17_bar_2_bar_60) + (objectAtLocation Bowl_bar__minus_02_dot_24_bar__plus_00_dot_10_bar__plus_04_dot_89 loc_bar__minus_14_bar_18_bar_1_bar_60) + (objectAtLocation RemoteControl_bar__minus_02_dot_71_bar__plus_00_dot_69_bar__plus_01_dot_67 loc_bar__minus_10_bar_10_bar_2_bar_60) + (objectAtLocation Watch_bar__minus_02_dot_51_bar__plus_00_dot_24_bar__plus_06_dot_08 loc_bar__minus_10_bar_22_bar_0_bar_60) + (objectAtLocation Pen_bar__minus_02_dot_16_bar__plus_00_dot_10_bar__plus_05_dot_04 loc_bar__minus_14_bar_18_bar_1_bar_60) + (objectAtLocation Newspaper_bar__minus_02_dot_67_bar__plus_00_dot_48_bar__plus_03_dot_44 loc_bar__minus_9_bar_17_bar_2_bar_60) + (objectAtLocation Window_bar__minus_00_dot_06_bar__plus_00_dot_93_bar__plus_01_dot_76 loc_bar__minus_2_bar_7_bar_1_bar_60) + (objectAtLocation Window_bar__minus_00_dot_06_bar__plus_01_dot_13_bar__plus_04_dot_89 loc_bar__minus_2_bar_20_bar_1_bar_45) + (objectAtLocation LightSwitch_bar__minus_03_dot_31_bar__plus_01_dot_34_bar__minus_00_dot_32 loc_bar__minus_14_bar_1_bar_2_bar_30) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (inReceptacle ?o ?r) + (objectType ?o CreditCardType) + (receptacleType ?r ArmChairType) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/valid_seen/pick_and_place_simple-CreditCard-None-ArmChair-201/trial_T20190908_124340_258012/traj_data.json b/data/alfworld/json_2.1.1/valid_seen/pick_and_place_simple-CreditCard-None-ArmChair-201/trial_T20190908_124340_258012/traj_data.json 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chair", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A11LSO6D7BMY99_3ZPPDN2SLYNERCHHSGDCYDKO5VD9ED", + "high_descs": [ + "turn to your right; go the left end of the black couch where the laptop is", + "pick up the credit card that is next to the laptop", + "turn around and go too the chair that is in the corner of the room", + "place the credit card on the cushion of the chair" + ], + "task_desc": "Put a credit card on a chair", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/valid_seen/pick_and_place_simple-HandTowel-None-BathtubBasin-419/trial_T20190908_023400_293044/initial_state.pddl b/data/alfworld/json_2.1.1/valid_seen/pick_and_place_simple-HandTowel-None-BathtubBasin-419/trial_T20190908_023400_293044/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..4377da38656092644b497d5e5360549a9e11c182 --- /dev/null +++ b/data/alfworld/json_2.1.1/valid_seen/pick_and_place_simple-HandTowel-None-BathtubBasin-419/trial_T20190908_023400_293044/initial_state.pddl @@ -0,0 +1,435 @@ + +(define (problem plan_trial_T20190908_023400_293044) +(:domain alfred) +(:objects +agent1 - agent +Curtains - object + SprayBottle - object + Mirror - object + HousePlant - object + Watch - object + TeddyBear - object + WateringCan - object + Bathtub - object + LightSwitch - object + Vase - object + Candle - object + Bread - object + Statue - object + HandTowel - object + StoveKnob - object + PaperTowelRoll - object + Pan - object + PepperShaker - object + Painting - object + CellPhone - object + Plunger - object + Spoon - object + SaltShaker - object + KeyChain - object + Footstool - object + Poster - object + Television - object + LaundryHamperLid - object + Glassbottle - object + AlarmClock - object + WineBottle - object + Bowl - object + Sink - object + TissueBox - object + TennisRacket - object + ToiletPaper - object + ScrubBrush - object + CreditCard - object + Laptop - object + Cloth - object + Cup - object + Chair - object + BasketBall - object + Kettle - object + PaperTowel - object + ShowerDoor - object + BaseballBat - object + Potato - object + Pillow - object + Lettuce - object + RemoteControl - object + Window - object + DishSponge - object + CD - object + Boots - object + Blinds - object + Pen - object + Newspaper - object + Plate - object + Mug - object + ShowerGlass - object + ToiletPaperRoll - object + SoapBar - object + FloorLamp - object + SoapBottle - object + Pot - object + Pencil - object + Spatula - object + Towel - object + Fork - object + Ladle - object + Knife - object + Apple - object + Box - object + Tomato - object + ButterKnife - object + Egg - object + Book - object + DeskLamp - object +CurtainsType - otype + SprayBottleType - otype + MirrorType - otype + HousePlantType - otype + WatchType - otype + TeddyBearType - otype + WateringCanType - otype + BathtubType - otype + LightSwitchType - otype + VaseType - otype + CandleType - otype + BreadType - otype + StatueType - otype + HandTowelType - otype + StoveKnobType - otype + PaperTowelRollType - otype + PanType - otype + PepperShakerType - otype + PaintingType - otype + CellPhoneType - otype + PlungerType - otype + SpoonType - otype + SaltShakerType - otype + KeyChainType - otype + FootstoolType - otype + PosterType - otype + TelevisionType - otype + LaundryHamperLidType - otype + GlassbottleType - otype + AlarmClockType - otype + WineBottleType - otype + BowlType - otype + SinkType - otype + TissueBoxType - otype + TennisRacketType - otype + ToiletPaperType - otype + ScrubBrushType - otype + CreditCardType - otype + LaptopType - otype + ClothType - otype + CupType - otype + ChairType - otype + BasketBallType - otype + KettleType - otype + PaperTowelType - otype + ShowerDoorType - otype + BaseballBatType - otype + PotatoType - otype + PillowType - otype + LettuceType - otype + RemoteControlType - otype + WindowType - otype + DishSpongeType - otype + CDType - otype + BootsType - otype + BlindsType - otype + PenType - otype + NewspaperType - otype + PlateType - otype + MugType - otype + ShowerGlassType - otype + ToiletPaperRollType - otype + SoapBarType - otype + FloorLampType - otype + SoapBottleType - otype + PotType - otype + PencilType - otype + SpatulaType - otype + TowelType - otype + ForkType - otype + LadleType - otype + KnifeType - otype + AppleType - otype + BoxType - otype + TomatoType - otype + ButterKnifeType - otype + EggType - otype + BookType - otype + DeskLampType - otype +CabinetType - rtype + ShelfType - rtype + DiningTableType - rtype + TowelHolderType - rtype + PaintingHangerType - rtype + TVStandType - rtype + LaundryHamperType - rtype + OttomanType - rtype + SafeType - rtype + CoffeeMachineType - rtype + CounterTopType - rtype + ToiletType - rtype + FridgeType - rtype + CoffeeTableType - rtype + SinkBasinType - rtype + GarbageCanType - rtype + BathtubBasinType - rtype + SideTableType - rtype + CartType - rtype + BedType - rtype + DeskType - rtype + SofaType - rtype + ArmChairType - rtype + MicrowaveType - rtype + HandTowelHolderType - rtype + ToasterType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + DrawerType - rtype + DresserType - rtype + + + Bathtub_bar__minus_00_dot_98_bar__minus_00_dot_72_bar__minus_02_dot_93 - object + Candle_bar__minus_00_dot_09_bar__plus_01_dot_05_bar__minus_02_dot_01 - object + Candle_bar__minus_02_dot_11_bar__plus_00_dot_68_bar__minus_01_dot_24 - object + Candle_bar__minus_02_dot_21_bar__plus_00_dot_08_bar__minus_01_dot_43 - object + Cloth_bar__minus_00_dot_45_bar__plus_00_dot_06_bar__minus_03_dot_12 - object + Faucet_bar__minus_00_dot_01_bar__plus_01_dot_72_bar__minus_02_dot_98 - object + Faucet_bar__minus_00_dot_02_bar__plus_00_dot_47_bar__minus_02_dot_97 - object + Faucet_bar__minus_02_dot_35_bar__plus_00_dot_96_bar__minus_02_dot_03 - object + HandTowel_bar__minus_02_dot_37_bar__plus_01_dot_52_bar__minus_01_dot_51 - object + LightSwitch_bar__minus_01_dot_25_bar__plus_01_dot_42_bar__plus_00_dot_00 - object + Mirror_bar__minus_02_dot_45_bar__plus_01_dot_64_bar__minus_02_dot_03 - object + Plunger_bar__minus_00_dot_12_bar__plus_00_dot_00_bar__minus_02_dot_38 - object + ScrubBrush_bar__minus_00_dot_16_bar__plus_00_dot_00_bar__minus_02_dot_16 - object + ShowerCurtain_bar__minus_02_dot_33_bar__plus_01_dot_96_bar__minus_02_dot_46 - object + Sink_bar__minus_02_dot_10_bar_00_dot_00_bar__minus_02_dot_03 - object + SoapBar_bar__minus_01_dot_94_bar__plus_00_dot_06_bar__minus_02_dot_93 - object + SoapBar_bar__minus_02_dot_14_bar__plus_00_dot_80_bar__minus_02_dot_03 - object + SoapBar_bar__minus_02_dot_35_bar__plus_00_dot_98_bar__minus_02_dot_28 - object + SoapBottle_bar__minus_01_dot_46_bar__plus_00_dot_48_bar__minus_02_dot_55 - object + SprayBottle_bar__minus_00_dot_19_bar__plus_01_dot_05_bar__minus_01_dot_75 - object + SprayBottle_bar__minus_00_dot_22_bar__plus_01_dot_05_bar__minus_01_dot_88 - object + SprayBottle_bar__minus_02_dot_11_bar__plus_00_dot_68_bar__minus_01_dot_55 - object + TissueBox_bar__minus_02_dot_29_bar__plus_00_dot_68_bar__minus_01_dot_47 - object + ToiletPaper_bar__minus_00_dot_07_bar__plus_00_dot_99_bar__minus_01_dot_34 - object + ToiletPaper_bar__minus_02_dot_13_bar__plus_00_dot_37_bar__minus_01_dot_20 - object + Towel_bar__minus_00_dot_05_bar__plus_01_dot_85_bar__minus_01_dot_89 - object + Bathtub_bar__minus_00_dot_98_bar__minus_00_dot_72_bar__minus_02_dot_93_bar_BathtubBasin - receptacle + Drawer_bar__minus_02_dot_12_bar__plus_00_dot_17_bar__minus_01_dot_31 - receptacle + Drawer_bar__minus_02_dot_12_bar__plus_00_dot_46_bar__minus_01_dot_31 - receptacle + GarbageCan_bar__minus_00_dot_22_bar__plus_00_dot_00_bar__minus_01_dot_42 - receptacle + HandTowelHolder_bar__minus_02_dot_41_bar__plus_01_dot_63_bar__minus_01_dot_51 - receptacle + SideTable_bar__minus_02_dot_12_bar__plus_00_dot_46_bar__minus_01_dot_31 - receptacle + Sink_bar__minus_02_dot_10_bar_00_dot_00_bar__minus_02_dot_03_bar_SinkBasin - receptacle + ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_99_bar__minus_01_dot_40 - receptacle + Toilet_bar__minus_00_dot_47_bar__plus_00_dot_00_bar__minus_01_dot_88 - receptacle + TowelHolder_bar__plus_00_dot_06_bar__plus_01_dot_83_bar__minus_01_dot_89 - receptacle + loc_bar__minus_6_bar__minus_6_bar_3_bar_0 - location + loc_bar__minus_7_bar__minus_2_bar_2_bar_60 - location + loc_bar__minus_5_bar__minus_9_bar_1_bar_60 - location + loc_bar__minus_5_bar__minus_8_bar_2_bar_60 - location + loc_bar__minus_6_bar__minus_8_bar_3_bar_0 - location + loc_bar__minus_6_bar__minus_7_bar_3_bar_60 - location + loc_bar__minus_5_bar__minus_9_bar_2_bar_60 - location + loc_bar__minus_5_bar__minus_2_bar_0_bar_30 - location + loc_bar__minus_3_bar__minus_5_bar_1_bar_45 - location + loc_bar__minus_7_bar__minus_5_bar_3_bar_60 - location + loc_bar__minus_5_bar__minus_8_bar_1_bar_60 - location + loc_bar__minus_5_bar__minus_8_bar_1_bar__minus_15 - location + loc_bar__minus_2_bar__minus_4_bar_1_bar_60 - location + loc_bar__minus_3_bar__minus_5_bar_1_bar_60 - location + loc_bar__minus_6_bar__minus_8_bar_3_bar_60 - location + loc_bar__minus_7_bar__minus_3_bar_0_bar_30 - location + ) + + +(:init + + + (receptacleType SideTable_bar__minus_02_dot_12_bar__plus_00_dot_46_bar__minus_01_dot_31 SideTableType) + (receptacleType Drawer_bar__minus_02_dot_12_bar__plus_00_dot_46_bar__minus_01_dot_31 DrawerType) + (receptacleType ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_99_bar__minus_01_dot_40 ToiletPaperHangerType) + (receptacleType HandTowelHolder_bar__minus_02_dot_41_bar__plus_01_dot_63_bar__minus_01_dot_51 HandTowelHolderType) + (receptacleType GarbageCan_bar__minus_00_dot_22_bar__plus_00_dot_00_bar__minus_01_dot_42 GarbageCanType) + (receptacleType Bathtub_bar__minus_00_dot_98_bar__minus_00_dot_72_bar__minus_02_dot_93_bar_BathtubBasin BathtubBasinType) + (receptacleType Toilet_bar__minus_00_dot_47_bar__plus_00_dot_00_bar__minus_01_dot_88 ToiletType) + (receptacleType TowelHolder_bar__plus_00_dot_06_bar__plus_01_dot_83_bar__minus_01_dot_89 TowelHolderType) + (receptacleType Sink_bar__minus_02_dot_10_bar_00_dot_00_bar__minus_02_dot_03_bar_SinkBasin SinkBasinType) + (receptacleType Drawer_bar__minus_02_dot_12_bar__plus_00_dot_17_bar__minus_01_dot_31 DrawerType) + (objectType Cloth_bar__minus_00_dot_45_bar__plus_00_dot_06_bar__minus_03_dot_12 ClothType) + (objectType ToiletPaper_bar__minus_02_dot_13_bar__plus_00_dot_37_bar__minus_01_dot_20 ToiletPaperType) + (objectType SoapBar_bar__minus_02_dot_14_bar__plus_00_dot_80_bar__minus_02_dot_03 SoapBarType) + (objectType SoapBar_bar__minus_01_dot_94_bar__plus_00_dot_06_bar__minus_02_dot_93 SoapBarType) + (objectType Mirror_bar__minus_02_dot_45_bar__plus_01_dot_64_bar__minus_02_dot_03 MirrorType) + (objectType Candle_bar__minus_00_dot_09_bar__plus_01_dot_05_bar__minus_02_dot_01 CandleType) + (objectType SoapBottle_bar__minus_01_dot_46_bar__plus_00_dot_48_bar__minus_02_dot_55 SoapBottleType) + (objectType LightSwitch_bar__minus_01_dot_25_bar__plus_01_dot_42_bar__plus_00_dot_00 LightSwitchType) + (objectType ToiletPaper_bar__minus_00_dot_07_bar__plus_00_dot_99_bar__minus_01_dot_34 ToiletPaperType) + (objectType HandTowel_bar__minus_02_dot_37_bar__plus_01_dot_52_bar__minus_01_dot_51 HandTowelType) + (objectType Sink_bar__minus_02_dot_10_bar_00_dot_00_bar__minus_02_dot_03 SinkType) + (objectType Candle_bar__minus_02_dot_21_bar__plus_00_dot_08_bar__minus_01_dot_43 CandleType) + (objectType SprayBottle_bar__minus_02_dot_11_bar__plus_00_dot_68_bar__minus_01_dot_55 SprayBottleType) + (objectType Towel_bar__minus_00_dot_05_bar__plus_01_dot_85_bar__minus_01_dot_89 TowelType) + (objectType Candle_bar__minus_02_dot_11_bar__plus_00_dot_68_bar__minus_01_dot_24 CandleType) + (objectType SprayBottle_bar__minus_00_dot_19_bar__plus_01_dot_05_bar__minus_01_dot_75 SprayBottleType) + (objectType ScrubBrush_bar__minus_00_dot_16_bar__plus_00_dot_00_bar__minus_02_dot_16 ScrubBrushType) + (objectType SoapBar_bar__minus_02_dot_35_bar__plus_00_dot_98_bar__minus_02_dot_28 SoapBarType) + (objectType Plunger_bar__minus_00_dot_12_bar__plus_00_dot_00_bar__minus_02_dot_38 PlungerType) + (objectType SprayBottle_bar__minus_00_dot_22_bar__plus_01_dot_05_bar__minus_01_dot_88 SprayBottleType) + (objectType TissueBox_bar__minus_02_dot_29_bar__plus_00_dot_68_bar__minus_01_dot_47 TissueBoxType) + (objectType Bathtub_bar__minus_00_dot_98_bar__minus_00_dot_72_bar__minus_02_dot_93 BathtubType) + (canContain SideTableType SprayBottleType) + (canContain SideTableType SoapBarType) + (canContain SideTableType SoapBottleType) + (canContain SideTableType TissueBoxType) + (canContain SideTableType ToiletPaperType) + (canContain SideTableType CandleType) + (canContain SideTableType ClothType) + (canContain SideTableType HandTowelType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType CandleType) + (canContain DrawerType ClothType) + (canContain DrawerType HandTowelType) + (canContain ToiletPaperHangerType ToiletPaperType) + (canContain HandTowelHolderType HandTowelType) + (canContain GarbageCanType SprayBottleType) + (canContain GarbageCanType SoapBarType) + (canContain GarbageCanType SoapBottleType) + (canContain GarbageCanType TissueBoxType) + (canContain GarbageCanType ToiletPaperType) + (canContain GarbageCanType ClothType) + (canContain GarbageCanType HandTowelType) + (canContain BathtubBasinType HandTowelType) + (canContain BathtubBasinType SoapBarType) + (canContain BathtubBasinType ClothType) + (canContain ToiletType ClothType) + (canContain ToiletType SoapBarType) + (canContain ToiletType HandTowelType) + (canContain ToiletType ToiletPaperType) + (canContain ToiletType SoapBottleType) + (canContain ToiletType SprayBottleType) + (canContain ToiletType TissueBoxType) + (canContain ToiletType CandleType) + (canContain TowelHolderType TowelType) + (canContain SinkBasinType SoapBarType) + (canContain SinkBasinType ClothType) + (canContain SinkBasinType HandTowelType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType CandleType) + (canContain DrawerType ClothType) + (canContain DrawerType HandTowelType) + (pickupable Cloth_bar__minus_00_dot_45_bar__plus_00_dot_06_bar__minus_03_dot_12) + (pickupable ToiletPaper_bar__minus_02_dot_13_bar__plus_00_dot_37_bar__minus_01_dot_20) + (pickupable SoapBar_bar__minus_02_dot_14_bar__plus_00_dot_80_bar__minus_02_dot_03) + (pickupable SoapBar_bar__minus_01_dot_94_bar__plus_00_dot_06_bar__minus_02_dot_93) + (pickupable Candle_bar__minus_00_dot_09_bar__plus_01_dot_05_bar__minus_02_dot_01) + (pickupable SoapBottle_bar__minus_01_dot_46_bar__plus_00_dot_48_bar__minus_02_dot_55) + (pickupable ToiletPaper_bar__minus_00_dot_07_bar__plus_00_dot_99_bar__minus_01_dot_34) + (pickupable HandTowel_bar__minus_02_dot_37_bar__plus_01_dot_52_bar__minus_01_dot_51) + (pickupable Candle_bar__minus_02_dot_21_bar__plus_00_dot_08_bar__minus_01_dot_43) + (pickupable SprayBottle_bar__minus_02_dot_11_bar__plus_00_dot_68_bar__minus_01_dot_55) + (pickupable Towel_bar__minus_00_dot_05_bar__plus_01_dot_85_bar__minus_01_dot_89) + (pickupable Candle_bar__minus_02_dot_11_bar__plus_00_dot_68_bar__minus_01_dot_24) + (pickupable SprayBottle_bar__minus_00_dot_19_bar__plus_01_dot_05_bar__minus_01_dot_75) + (pickupable ScrubBrush_bar__minus_00_dot_16_bar__plus_00_dot_00_bar__minus_02_dot_16) + (pickupable SoapBar_bar__minus_02_dot_35_bar__plus_00_dot_98_bar__minus_02_dot_28) + (pickupable Plunger_bar__minus_00_dot_12_bar__plus_00_dot_00_bar__minus_02_dot_38) + (pickupable SprayBottle_bar__minus_00_dot_22_bar__plus_01_dot_05_bar__minus_01_dot_88) + (pickupable TissueBox_bar__minus_02_dot_29_bar__plus_00_dot_68_bar__minus_01_dot_47) + + + + (atLocation agent1 loc_bar__minus_7_bar__minus_3_bar_0_bar_30) + + (cleanable Cloth_bar__minus_00_dot_45_bar__plus_00_dot_06_bar__minus_03_dot_12) + (cleanable SoapBar_bar__minus_02_dot_14_bar__plus_00_dot_80_bar__minus_02_dot_03) + (cleanable SoapBar_bar__minus_01_dot_94_bar__plus_00_dot_06_bar__minus_02_dot_93) + (cleanable SoapBar_bar__minus_02_dot_35_bar__plus_00_dot_98_bar__minus_02_dot_28) + + + + + + + + + + + (inReceptacle ToiletPaper_bar__minus_02_dot_13_bar__plus_00_dot_37_bar__minus_01_dot_20 Drawer_bar__minus_02_dot_12_bar__plus_00_dot_46_bar__minus_01_dot_31) + (inReceptacle Candle_bar__minus_02_dot_11_bar__plus_00_dot_68_bar__minus_01_dot_24 SideTable_bar__minus_02_dot_12_bar__plus_00_dot_46_bar__minus_01_dot_31) + (inReceptacle SprayBottle_bar__minus_02_dot_11_bar__plus_00_dot_68_bar__minus_01_dot_55 SideTable_bar__minus_02_dot_12_bar__plus_00_dot_46_bar__minus_01_dot_31) + (inReceptacle TissueBox_bar__minus_02_dot_29_bar__plus_00_dot_68_bar__minus_01_dot_47 SideTable_bar__minus_02_dot_12_bar__plus_00_dot_46_bar__minus_01_dot_31) + (inReceptacle Candle_bar__minus_02_dot_21_bar__plus_00_dot_08_bar__minus_01_dot_43 Drawer_bar__minus_02_dot_12_bar__plus_00_dot_17_bar__minus_01_dot_31) + (inReceptacle Towel_bar__minus_00_dot_05_bar__plus_01_dot_85_bar__minus_01_dot_89 TowelHolder_bar__plus_00_dot_06_bar__plus_01_dot_83_bar__minus_01_dot_89) + (inReceptacle HandTowel_bar__minus_02_dot_37_bar__plus_01_dot_52_bar__minus_01_dot_51 HandTowelHolder_bar__minus_02_dot_41_bar__plus_01_dot_63_bar__minus_01_dot_51) + (inReceptacle Cloth_bar__minus_00_dot_45_bar__plus_00_dot_06_bar__minus_03_dot_12 Bathtub_bar__minus_00_dot_98_bar__minus_00_dot_72_bar__minus_02_dot_93_bar_BathtubBasin) + (inReceptacle SoapBar_bar__minus_01_dot_94_bar__plus_00_dot_06_bar__minus_02_dot_93 Bathtub_bar__minus_00_dot_98_bar__minus_00_dot_72_bar__minus_02_dot_93_bar_BathtubBasin) + (inReceptacle SoapBar_bar__minus_02_dot_14_bar__plus_00_dot_80_bar__minus_02_dot_03 Sink_bar__minus_02_dot_10_bar_00_dot_00_bar__minus_02_dot_03_bar_SinkBasin) + (inReceptacle Candle_bar__minus_00_dot_09_bar__plus_01_dot_05_bar__minus_02_dot_01 Toilet_bar__minus_00_dot_47_bar__plus_00_dot_00_bar__minus_01_dot_88) + (inReceptacle SprayBottle_bar__minus_00_dot_19_bar__plus_01_dot_05_bar__minus_01_dot_75 Toilet_bar__minus_00_dot_47_bar__plus_00_dot_00_bar__minus_01_dot_88) + (inReceptacle SprayBottle_bar__minus_00_dot_22_bar__plus_01_dot_05_bar__minus_01_dot_88 Toilet_bar__minus_00_dot_47_bar__plus_00_dot_00_bar__minus_01_dot_88) + + + (receptacleAtLocation Bathtub_bar__minus_00_dot_98_bar__minus_00_dot_72_bar__minus_02_dot_93_bar_BathtubBasin loc_bar__minus_5_bar__minus_8_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__minus_02_dot_12_bar__plus_00_dot_17_bar__minus_01_dot_31 loc_bar__minus_7_bar__minus_5_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_02_dot_12_bar__plus_00_dot_46_bar__minus_01_dot_31 loc_bar__minus_7_bar__minus_5_bar_3_bar_60) + (receptacleAtLocation GarbageCan_bar__minus_00_dot_22_bar__plus_00_dot_00_bar__minus_01_dot_42 loc_bar__minus_3_bar__minus_5_bar_1_bar_60) + (receptacleAtLocation HandTowelHolder_bar__minus_02_dot_41_bar__plus_01_dot_63_bar__minus_01_dot_51 loc_bar__minus_6_bar__minus_6_bar_3_bar_0) + (receptacleAtLocation SideTable_bar__minus_02_dot_12_bar__plus_00_dot_46_bar__minus_01_dot_31 loc_bar__minus_7_bar__minus_2_bar_2_bar_60) + (receptacleAtLocation Sink_bar__minus_02_dot_10_bar_00_dot_00_bar__minus_02_dot_03_bar_SinkBasin loc_bar__minus_6_bar__minus_7_bar_3_bar_60) + (receptacleAtLocation ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_99_bar__minus_01_dot_40 loc_bar__minus_3_bar__minus_5_bar_1_bar_45) + (receptacleAtLocation Toilet_bar__minus_00_dot_47_bar__plus_00_dot_00_bar__minus_01_dot_88 loc_bar__minus_5_bar__minus_8_bar_1_bar_60) + (receptacleAtLocation TowelHolder_bar__plus_00_dot_06_bar__plus_01_dot_83_bar__minus_01_dot_89 loc_bar__minus_5_bar__minus_8_bar_1_bar__minus_15) + (objectAtLocation Candle_bar__minus_02_dot_21_bar__plus_00_dot_08_bar__minus_01_dot_43 loc_bar__minus_7_bar__minus_5_bar_3_bar_60) + (objectAtLocation SprayBottle_bar__minus_00_dot_22_bar__plus_01_dot_05_bar__minus_01_dot_88 loc_bar__minus_5_bar__minus_8_bar_1_bar_60) + (objectAtLocation SoapBar_bar__minus_01_dot_94_bar__plus_00_dot_06_bar__minus_02_dot_93 loc_bar__minus_5_bar__minus_8_bar_2_bar_60) + (objectAtLocation SoapBar_bar__minus_02_dot_35_bar__plus_00_dot_98_bar__minus_02_dot_28 loc_bar__minus_6_bar__minus_7_bar_3_bar_60) + (objectAtLocation SprayBottle_bar__minus_00_dot_19_bar__plus_01_dot_05_bar__minus_01_dot_75 loc_bar__minus_5_bar__minus_8_bar_1_bar_60) + (objectAtLocation Candle_bar__minus_02_dot_11_bar__plus_00_dot_68_bar__minus_01_dot_24 loc_bar__minus_7_bar__minus_2_bar_2_bar_60) + (objectAtLocation Bathtub_bar__minus_00_dot_98_bar__minus_00_dot_72_bar__minus_02_dot_93 loc_bar__minus_5_bar__minus_9_bar_2_bar_60) + (objectAtLocation Sink_bar__minus_02_dot_10_bar_00_dot_00_bar__minus_02_dot_03 loc_bar__minus_6_bar__minus_8_bar_3_bar_60) + (objectAtLocation Mirror_bar__minus_02_dot_45_bar__plus_01_dot_64_bar__minus_02_dot_03 loc_bar__minus_6_bar__minus_8_bar_3_bar_0) + (objectAtLocation HandTowel_bar__minus_02_dot_37_bar__plus_01_dot_52_bar__minus_01_dot_51 loc_bar__minus_6_bar__minus_6_bar_3_bar_0) + (objectAtLocation SoapBar_bar__minus_02_dot_14_bar__plus_00_dot_80_bar__minus_02_dot_03 loc_bar__minus_6_bar__minus_7_bar_3_bar_60) + (objectAtLocation ToiletPaper_bar__minus_02_dot_13_bar__plus_00_dot_37_bar__minus_01_dot_20 loc_bar__minus_7_bar__minus_5_bar_3_bar_60) + (objectAtLocation TissueBox_bar__minus_02_dot_29_bar__plus_00_dot_68_bar__minus_01_dot_47 loc_bar__minus_7_bar__minus_2_bar_2_bar_60) + (objectAtLocation ToiletPaper_bar__minus_00_dot_07_bar__plus_00_dot_99_bar__minus_01_dot_34 loc_bar__minus_2_bar__minus_4_bar_1_bar_60) + (objectAtLocation LightSwitch_bar__minus_01_dot_25_bar__plus_01_dot_42_bar__plus_00_dot_00 loc_bar__minus_5_bar__minus_2_bar_0_bar_30) + (objectAtLocation Cloth_bar__minus_00_dot_45_bar__plus_00_dot_06_bar__minus_03_dot_12 loc_bar__minus_5_bar__minus_8_bar_2_bar_60) + (objectAtLocation Towel_bar__minus_00_dot_05_bar__plus_01_dot_85_bar__minus_01_dot_89 loc_bar__minus_5_bar__minus_8_bar_1_bar__minus_15) + (objectAtLocation SoapBottle_bar__minus_01_dot_46_bar__plus_00_dot_48_bar__minus_02_dot_55 loc_bar__minus_5_bar__minus_8_bar_2_bar_60) + (objectAtLocation SprayBottle_bar__minus_02_dot_11_bar__plus_00_dot_68_bar__minus_01_dot_55 loc_bar__minus_7_bar__minus_2_bar_2_bar_60) + (objectAtLocation ScrubBrush_bar__minus_00_dot_16_bar__plus_00_dot_00_bar__minus_02_dot_16 loc_bar__minus_5_bar__minus_9_bar_1_bar_60) + (objectAtLocation Plunger_bar__minus_00_dot_12_bar__plus_00_dot_00_bar__minus_02_dot_38 loc_bar__minus_5_bar__minus_9_bar_1_bar_60) + (objectAtLocation Candle_bar__minus_00_dot_09_bar__plus_01_dot_05_bar__minus_02_dot_01 loc_bar__minus_5_bar__minus_8_bar_1_bar_60) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (inReceptacle ?o ?r) + (objectType ?o HandTowelType) + (receptacleType ?r BathtubBasinType) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/valid_seen/pick_and_place_simple-HandTowel-None-BathtubBasin-419/trial_T20190908_023400_293044/traj_data.json 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"Place a towel in the bath tub.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A38Z99XF4NDNH0_3TS1AR6UQTVUYI7MCMAH1DUGSPG7FY", + "high_descs": [ + "Move across the room to the towel holder on the wall to the right of the mirror", + "Pick up the hand towel on top of the towel ring", + "Carry the towel to the bath tub", + "Place the hand towel in the middle of the tub" + ], + "task_desc": "Move a hand towel to the tub", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AJQGWGESKQT4Y_3TU5ZICBRGIVPL2E07DHRCUPABDQ8G", + "high_descs": [ + "Move to the left and face the white towel hanging to the right of the mirror.", + "Take the towel down from the towel ring.", + "Turn to the left and face the tub.", + "Put the towel in the tub." + ], + "task_desc": "Put a towel in a tub.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/valid_seen/pick_and_place_simple-Plunger-None-Cabinet-406/trial_T20190906_200341_074379/initial_state.pddl b/data/alfworld/json_2.1.1/valid_seen/pick_and_place_simple-Plunger-None-Cabinet-406/trial_T20190906_200341_074379/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..0022343194cc4a3e6fa8ce1649d4ca6c5953068c --- /dev/null +++ b/data/alfworld/json_2.1.1/valid_seen/pick_and_place_simple-Plunger-None-Cabinet-406/trial_T20190906_200341_074379/initial_state.pddl @@ -0,0 +1,433 @@ + +(define (problem plan_trial_T20190906_200341_074379) +(:domain alfred) +(:objects +agent1 - agent +Curtains - object + SprayBottle - object + Mirror - object + HousePlant - object + Watch - object + TeddyBear - object + WateringCan - object + Bathtub - object + LightSwitch - object + Vase - object + Candle - object + Bread - object + Statue - object + HandTowel - object + StoveKnob - object + PaperTowelRoll - object + Pan - object + PepperShaker - object + Painting - object + CellPhone - object + Plunger - object + Spoon - object + SaltShaker - object + KeyChain - object + Footstool - object + Poster - object + Television - object + LaundryHamperLid - object + Glassbottle - object + AlarmClock - object + WineBottle - object + Bowl - object + Sink - object + TissueBox - object + TennisRacket - object + ToiletPaper - object + ScrubBrush - object + CreditCard - object + Laptop - object + Cloth - object + Cup - object + Chair - object + BasketBall - object + Kettle - object + PaperTowel - object + ShowerDoor - object + BaseballBat - object + Potato - object + Pillow - object + Lettuce - object + RemoteControl - object + Window - object + DishSponge - object + CD - object + Boots - object + Blinds - object + Pen - object + Newspaper - object + Plate - object + Mug - object + ShowerGlass - object + ToiletPaperRoll - object + SoapBar - object + FloorLamp - object + SoapBottle - object + Pot - object + Pencil - object + Spatula - object + Towel - object + Fork - object + Ladle - object + Knife - object + Apple - object + Box - object + Tomato - object + ButterKnife - object + Egg - object + Book - object + DeskLamp - object +CurtainsType - otype + SprayBottleType - otype + MirrorType - otype + HousePlantType - otype + WatchType - otype + TeddyBearType - otype + WateringCanType - otype + BathtubType - otype + LightSwitchType - otype + VaseType - otype + CandleType - otype + BreadType - otype + StatueType - otype + HandTowelType - otype + StoveKnobType - otype + PaperTowelRollType - otype + PanType - otype + PepperShakerType - otype + PaintingType - otype + CellPhoneType - otype + PlungerType - otype + SpoonType - otype + SaltShakerType - otype + KeyChainType - otype + FootstoolType - otype + PosterType - otype + TelevisionType - otype + LaundryHamperLidType - otype + GlassbottleType - otype + AlarmClockType - otype + WineBottleType - otype + BowlType - otype + SinkType - otype + TissueBoxType - otype + TennisRacketType - otype + ToiletPaperType - otype + ScrubBrushType - otype + CreditCardType - otype + LaptopType - otype + ClothType - otype + CupType - otype + ChairType - otype + BasketBallType - otype + KettleType - otype + PaperTowelType - otype + ShowerDoorType - otype + BaseballBatType - otype + PotatoType - otype + PillowType - otype + LettuceType - otype + RemoteControlType - otype + WindowType - otype + DishSpongeType - otype + CDType - otype + BootsType - otype + BlindsType - otype + PenType - otype + NewspaperType - otype + PlateType - otype + MugType - otype + ShowerGlassType - otype + ToiletPaperRollType - otype + SoapBarType - otype + FloorLampType - otype + SoapBottleType - otype + PotType - otype + PencilType - otype + SpatulaType - otype + TowelType - otype + ForkType - otype + LadleType - otype + KnifeType - otype + AppleType - otype + BoxType - otype + TomatoType - otype + ButterKnifeType - otype + EggType - otype + BookType - otype + DeskLampType - otype +CabinetType - rtype + ShelfType - rtype + DiningTableType - rtype + TowelHolderType - rtype + PaintingHangerType - rtype + TVStandType - rtype + LaundryHamperType - rtype + OttomanType - rtype + SafeType - rtype + CoffeeMachineType - rtype + CounterTopType - rtype + ToiletType - rtype + FridgeType - rtype + CoffeeTableType - rtype + SinkBasinType - rtype + GarbageCanType - rtype + BathtubBasinType - rtype + SideTableType - rtype + CartType - rtype + BedType - rtype + DeskType - rtype + SofaType - rtype + ArmChairType - rtype + MicrowaveType - rtype + HandTowelHolderType - rtype + ToasterType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + DrawerType - rtype + DresserType - rtype + + + Bathtub_bar__minus_01_dot_04_bar__plus_00_dot_16_bar__plus_00_dot_56 - object + Candle_bar__plus_00_dot_23_bar__plus_00_dot_11_bar__plus_02_dot_45 - object + Candle_bar__plus_00_dot_59_bar__plus_00_dot_11_bar__plus_03_dot_56 - object + Cloth_bar__minus_00_dot_50_bar__plus_00_dot_16_bar__plus_00_dot_47 - object + Faucet_bar__plus_00_dot_66_bar__plus_01_dot_04_bar__plus_02_dot_52 - object + Faucet_bar__plus_00_dot_66_bar__plus_01_dot_04_bar__plus_03_dot_37 - object + Faucet_bar__minus_00_dot_21_bar__plus_00_dot_69_bar__plus_00_dot_55 - object + HandTowel_bar__plus_00_dot_40_bar__plus_01_dot_66_bar__plus_02_dot_04 - object + LightSwitch_bar__minus_01_dot_12_bar__plus_01_dot_33_bar__plus_05_dot_00 - object + Mirror_bar__plus_00_dot_86_bar__plus_01_dot_86_bar__plus_02_dot_97 - object + Plunger_bar__plus_00_dot_48_bar__plus_00_dot_00_bar__plus_04_dot_79 - object + ScrubBrush_bar__plus_00_dot_69_bar__plus_00_dot_00_bar__plus_04_dot_87 - object + Sink_bar__plus_00_dot_43_bar__plus_01_dot_04_bar__plus_02_dot_95 - object + SoapBar_bar__plus_00_dot_67_bar__plus_01_dot_05_bar__plus_04_dot_61 - object + SoapBar_bar__minus_01_dot_87_bar__plus_00_dot_70_bar__plus_01_dot_10 - object + SoapBar_bar__minus_02_dot_16_bar__plus_00_dot_70_bar__plus_00_dot_14 - object + SoapBottle_bar__minus_00_dot_64_bar__plus_00_dot_71_bar__plus_01_dot_10 - object + SoapBottle_bar__minus_02_dot_08_bar__plus_00_dot_71_bar__plus_00_dot_72 - object + SoapBottle_bar__minus_02_dot_24_bar__plus_00_dot_71_bar__plus_00_dot_57 - object + SprayBottle_bar__plus_00_dot_70_bar__plus_01_dot_05_bar__plus_04_dot_28 - object + SprayBottle_bar__plus_00_dot_73_bar__plus_01_dot_05_bar__plus_04_dot_54 - object + ToiletPaper_bar__minus_00_dot_05_bar__plus_00_dot_97_bar__plus_04_dot_91 - object + ToiletPaper_bar__minus_00_dot_12_bar__plus_00_dot_15_bar__plus_01_dot_32 - object + ToiletPaper_bar__minus_00_dot_15_bar__plus_00_dot_15_bar__plus_01_dot_45 - object + Towel_bar__minus_02_dot_39_bar__plus_01_dot_48_bar__plus_00_dot_58 - object + Window_bar__minus_02_dot_55_bar__plus_01_dot_67_bar__plus_02_dot_41 - object + Bathtub_bar__minus_01_dot_04_bar__plus_00_dot_16_bar__plus_00_dot_56_bar_BathtubBasin - receptacle + Cabinet_bar__plus_00_dot_07_bar__plus_00_dot_37_bar__plus_03_dot_77 - receptacle + Cabinet_bar__plus_00_dot_07_bar__plus_00_dot_38_bar__plus_02_dot_05 - receptacle + CounterTop_bar__plus_00_dot_49_bar__plus_01_dot_02_bar__plus_03_dot_09 - receptacle + GarbageCan_bar__minus_00_dot_15_bar__plus_00_dot_00_bar__plus_01_dot_38 - receptacle + HandTowelHolder_bar__plus_00_dot_40_bar__plus_01_dot_76_bar__plus_02_dot_00 - receptacle + Sink_bar__plus_00_dot_43_bar__plus_01_dot_04_bar__plus_02_dot_95_bar_SinkBasin - receptacle + ToiletPaperHanger_bar__minus_00_dot_08_bar__plus_00_dot_97_bar__plus_05_dot_00 - receptacle + Toilet_bar__plus_00_dot_38_bar__plus_00_dot_00_bar__plus_04_dot_47 - receptacle + TowelHolder_bar__minus_02_dot_50_bar__plus_01_dot_46_bar__plus_00_dot_58 - receptacle + loc_bar__minus_4_bar_18_bar_0_bar_30 - location + loc_bar__minus_4_bar_6_bar_2_bar_60 - location + loc_bar__minus_8_bar_6_bar_2_bar_15 - location + loc_bar__minus_4_bar_15_bar_1_bar_45 - location + loc_bar__minus_3_bar_10_bar_2_bar_60 - location + loc_bar__minus_8_bar_10_bar_3_bar_0 - location + loc_bar__minus_1_bar_15_bar_1_bar_45 - location + loc_bar__minus_2_bar_18_bar_1_bar_60 - location + loc_bar__minus_2_bar_8_bar_1_bar_0 - location + loc_bar__minus_2_bar_18_bar_0_bar_60 - location + loc_bar__minus_2_bar_16_bar_1_bar_60 - location + loc_bar__minus_1_bar_12_bar_1_bar__minus_15 - location + loc_bar__minus_1_bar_12_bar_1_bar_45 - location + loc_bar__minus_4_bar_8_bar_1_bar_45 - location + loc_bar__minus_6_bar_6_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType TowelHolder_bar__minus_02_dot_50_bar__plus_01_dot_46_bar__plus_00_dot_58 TowelHolderType) + (receptacleType GarbageCan_bar__minus_00_dot_15_bar__plus_00_dot_00_bar__plus_01_dot_38 GarbageCanType) + (receptacleType Sink_bar__plus_00_dot_43_bar__plus_01_dot_04_bar__plus_02_dot_95_bar_SinkBasin SinkBasinType) + (receptacleType Cabinet_bar__plus_00_dot_07_bar__plus_00_dot_37_bar__plus_03_dot_77 CabinetType) + (receptacleType Toilet_bar__plus_00_dot_38_bar__plus_00_dot_00_bar__plus_04_dot_47 ToiletType) + (receptacleType HandTowelHolder_bar__plus_00_dot_40_bar__plus_01_dot_76_bar__plus_02_dot_00 HandTowelHolderType) + (receptacleType Cabinet_bar__plus_00_dot_07_bar__plus_00_dot_38_bar__plus_02_dot_05 CabinetType) + (receptacleType CounterTop_bar__plus_00_dot_49_bar__plus_01_dot_02_bar__plus_03_dot_09 CounterTopType) + (receptacleType ToiletPaperHanger_bar__minus_00_dot_08_bar__plus_00_dot_97_bar__plus_05_dot_00 ToiletPaperHangerType) + (receptacleType Bathtub_bar__minus_01_dot_04_bar__plus_00_dot_16_bar__plus_00_dot_56_bar_BathtubBasin BathtubBasinType) + (objectType SoapBottle_bar__minus_02_dot_08_bar__plus_00_dot_71_bar__plus_00_dot_72 SoapBottleType) + (objectType Towel_bar__minus_02_dot_39_bar__plus_01_dot_48_bar__plus_00_dot_58 TowelType) + (objectType Cloth_bar__minus_00_dot_50_bar__plus_00_dot_16_bar__plus_00_dot_47 ClothType) + (objectType Mirror_bar__plus_00_dot_86_bar__plus_01_dot_86_bar__plus_02_dot_97 MirrorType) + (objectType Plunger_bar__plus_00_dot_48_bar__plus_00_dot_00_bar__plus_04_dot_79 PlungerType) + (objectType Window_bar__minus_02_dot_55_bar__plus_01_dot_67_bar__plus_02_dot_41 WindowType) + (objectType ToiletPaper_bar__minus_00_dot_15_bar__plus_00_dot_15_bar__plus_01_dot_45 ToiletPaperType) + (objectType Sink_bar__plus_00_dot_43_bar__plus_01_dot_04_bar__plus_02_dot_95 SinkType) + (objectType Bathtub_bar__minus_01_dot_04_bar__plus_00_dot_16_bar__plus_00_dot_56 BathtubType) + (objectType SoapBottle_bar__minus_00_dot_64_bar__plus_00_dot_71_bar__plus_01_dot_10 SoapBottleType) + (objectType ScrubBrush_bar__plus_00_dot_69_bar__plus_00_dot_00_bar__plus_04_dot_87 ScrubBrushType) + (objectType SoapBar_bar__minus_02_dot_16_bar__plus_00_dot_70_bar__plus_00_dot_14 SoapBarType) + (objectType ToiletPaper_bar__minus_00_dot_12_bar__plus_00_dot_15_bar__plus_01_dot_32 ToiletPaperType) + (objectType SoapBottle_bar__minus_02_dot_24_bar__plus_00_dot_71_bar__plus_00_dot_57 SoapBottleType) + (objectType ToiletPaper_bar__minus_00_dot_05_bar__plus_00_dot_97_bar__plus_04_dot_91 ToiletPaperType) + (objectType LightSwitch_bar__minus_01_dot_12_bar__plus_01_dot_33_bar__plus_05_dot_00 LightSwitchType) + (objectType SoapBar_bar__plus_00_dot_67_bar__plus_01_dot_05_bar__plus_04_dot_61 SoapBarType) + (objectType SprayBottle_bar__plus_00_dot_73_bar__plus_01_dot_05_bar__plus_04_dot_54 SprayBottleType) + (objectType Candle_bar__plus_00_dot_23_bar__plus_00_dot_11_bar__plus_02_dot_45 CandleType) + (objectType HandTowel_bar__plus_00_dot_40_bar__plus_01_dot_66_bar__plus_02_dot_04 HandTowelType) + (objectType SprayBottle_bar__plus_00_dot_70_bar__plus_01_dot_05_bar__plus_04_dot_28 SprayBottleType) + (objectType SoapBar_bar__minus_01_dot_87_bar__plus_00_dot_70_bar__plus_01_dot_10 SoapBarType) + (objectType Candle_bar__plus_00_dot_59_bar__plus_00_dot_11_bar__plus_03_dot_56 CandleType) + (canContain TowelHolderType TowelType) + (canContain GarbageCanType SprayBottleType) + (canContain GarbageCanType SoapBarType) + (canContain GarbageCanType SoapBottleType) + (canContain GarbageCanType ToiletPaperType) + (canContain GarbageCanType ClothType) + (canContain GarbageCanType HandTowelType) + (canContain SinkBasinType SoapBarType) + (canContain SinkBasinType ClothType) + (canContain SinkBasinType HandTowelType) + (canContain CabinetType PlungerType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType SoapBarType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType ToiletPaperType) + (canContain CabinetType CandleType) + (canContain CabinetType ClothType) + (canContain CabinetType HandTowelType) + (canContain ToiletType ClothType) + (canContain ToiletType SoapBarType) + (canContain ToiletType HandTowelType) + (canContain ToiletType ToiletPaperType) + (canContain ToiletType SoapBottleType) + (canContain ToiletType SprayBottleType) + (canContain ToiletType CandleType) + (canContain HandTowelHolderType HandTowelType) + (canContain CabinetType PlungerType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType SoapBarType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType ToiletPaperType) + (canContain CabinetType CandleType) + (canContain CabinetType ClothType) + (canContain CabinetType HandTowelType) + (canContain CounterTopType SprayBottleType) + (canContain CounterTopType SoapBarType) + (canContain CounterTopType SoapBottleType) + (canContain CounterTopType ToiletPaperType) + (canContain CounterTopType CandleType) + (canContain CounterTopType ClothType) + (canContain CounterTopType HandTowelType) + (canContain ToiletPaperHangerType ToiletPaperType) + (canContain BathtubBasinType HandTowelType) + (canContain BathtubBasinType SoapBarType) + (canContain BathtubBasinType ClothType) + (pickupable SoapBottle_bar__minus_02_dot_08_bar__plus_00_dot_71_bar__plus_00_dot_72) + (pickupable Towel_bar__minus_02_dot_39_bar__plus_01_dot_48_bar__plus_00_dot_58) + (pickupable Cloth_bar__minus_00_dot_50_bar__plus_00_dot_16_bar__plus_00_dot_47) + (pickupable Plunger_bar__plus_00_dot_48_bar__plus_00_dot_00_bar__plus_04_dot_79) + (pickupable ToiletPaper_bar__minus_00_dot_15_bar__plus_00_dot_15_bar__plus_01_dot_45) + (pickupable SoapBottle_bar__minus_00_dot_64_bar__plus_00_dot_71_bar__plus_01_dot_10) + (pickupable ScrubBrush_bar__plus_00_dot_69_bar__plus_00_dot_00_bar__plus_04_dot_87) + (pickupable SoapBar_bar__minus_02_dot_16_bar__plus_00_dot_70_bar__plus_00_dot_14) + (pickupable ToiletPaper_bar__minus_00_dot_12_bar__plus_00_dot_15_bar__plus_01_dot_32) + (pickupable SoapBottle_bar__minus_02_dot_24_bar__plus_00_dot_71_bar__plus_00_dot_57) + (pickupable ToiletPaper_bar__minus_00_dot_05_bar__plus_00_dot_97_bar__plus_04_dot_91) + (pickupable SoapBar_bar__plus_00_dot_67_bar__plus_01_dot_05_bar__plus_04_dot_61) + (pickupable SprayBottle_bar__plus_00_dot_73_bar__plus_01_dot_05_bar__plus_04_dot_54) + (pickupable Candle_bar__plus_00_dot_23_bar__plus_00_dot_11_bar__plus_02_dot_45) + (pickupable HandTowel_bar__plus_00_dot_40_bar__plus_01_dot_66_bar__plus_02_dot_04) + (pickupable SprayBottle_bar__plus_00_dot_70_bar__plus_01_dot_05_bar__plus_04_dot_28) + (pickupable SoapBar_bar__minus_01_dot_87_bar__plus_00_dot_70_bar__plus_01_dot_10) + (pickupable Candle_bar__plus_00_dot_59_bar__plus_00_dot_11_bar__plus_03_dot_56) + + (openable Cabinet_bar__plus_00_dot_07_bar__plus_00_dot_37_bar__plus_03_dot_77) + (openable Cabinet_bar__plus_00_dot_07_bar__plus_00_dot_38_bar__plus_02_dot_05) + + (atLocation agent1 loc_bar__minus_6_bar_6_bar_3_bar_30) + + (cleanable Cloth_bar__minus_00_dot_50_bar__plus_00_dot_16_bar__plus_00_dot_47) + (cleanable SoapBar_bar__minus_02_dot_16_bar__plus_00_dot_70_bar__plus_00_dot_14) + (cleanable SoapBar_bar__plus_00_dot_67_bar__plus_01_dot_05_bar__plus_04_dot_61) + (cleanable SoapBar_bar__minus_01_dot_87_bar__plus_00_dot_70_bar__plus_01_dot_10) + + + + + + + + + + + (inReceptacle Candle_bar__plus_00_dot_59_bar__plus_00_dot_11_bar__plus_03_dot_56 Cabinet_bar__plus_00_dot_07_bar__plus_00_dot_37_bar__plus_03_dot_77) + (inReceptacle Sink_bar__plus_00_dot_43_bar__plus_01_dot_04_bar__plus_02_dot_95 CounterTop_bar__plus_00_dot_49_bar__plus_01_dot_02_bar__plus_03_dot_09) + (inReceptacle Candle_bar__plus_00_dot_23_bar__plus_00_dot_11_bar__plus_02_dot_45 Cabinet_bar__plus_00_dot_07_bar__plus_00_dot_38_bar__plus_02_dot_05) + (inReceptacle Towel_bar__minus_02_dot_39_bar__plus_01_dot_48_bar__plus_00_dot_58 TowelHolder_bar__minus_02_dot_50_bar__plus_01_dot_46_bar__plus_00_dot_58) + (inReceptacle ToiletPaper_bar__minus_00_dot_05_bar__plus_00_dot_97_bar__plus_04_dot_91 ToiletPaperHanger_bar__minus_00_dot_08_bar__plus_00_dot_97_bar__plus_05_dot_00) + (inReceptacle ToiletPaper_bar__minus_00_dot_12_bar__plus_00_dot_15_bar__plus_01_dot_32 GarbageCan_bar__minus_00_dot_15_bar__plus_00_dot_00_bar__plus_01_dot_38) + (inReceptacle ToiletPaper_bar__minus_00_dot_15_bar__plus_00_dot_15_bar__plus_01_dot_45 GarbageCan_bar__minus_00_dot_15_bar__plus_00_dot_00_bar__plus_01_dot_38) + (inReceptacle Cloth_bar__minus_00_dot_50_bar__plus_00_dot_16_bar__plus_00_dot_47 Bathtub_bar__minus_01_dot_04_bar__plus_00_dot_16_bar__plus_00_dot_56_bar_BathtubBasin) + (inReceptacle HandTowel_bar__plus_00_dot_40_bar__plus_01_dot_66_bar__plus_02_dot_04 HandTowelHolder_bar__plus_00_dot_40_bar__plus_01_dot_76_bar__plus_02_dot_00) + (inReceptacle SprayBottle_bar__plus_00_dot_73_bar__plus_01_dot_05_bar__plus_04_dot_54 Toilet_bar__plus_00_dot_38_bar__plus_00_dot_00_bar__plus_04_dot_47) + (inReceptacle SoapBar_bar__plus_00_dot_67_bar__plus_01_dot_05_bar__plus_04_dot_61 Toilet_bar__plus_00_dot_38_bar__plus_00_dot_00_bar__plus_04_dot_47) + (inReceptacle SprayBottle_bar__plus_00_dot_70_bar__plus_01_dot_05_bar__plus_04_dot_28 Toilet_bar__plus_00_dot_38_bar__plus_00_dot_00_bar__plus_04_dot_47) + + + (receptacleAtLocation Bathtub_bar__minus_01_dot_04_bar__plus_00_dot_16_bar__plus_00_dot_56_bar_BathtubBasin loc_bar__minus_4_bar_6_bar_2_bar_60) + (receptacleAtLocation Cabinet_bar__plus_00_dot_07_bar__plus_00_dot_37_bar__plus_03_dot_77 loc_bar__minus_4_bar_15_bar_1_bar_45) + (receptacleAtLocation Cabinet_bar__plus_00_dot_07_bar__plus_00_dot_38_bar__plus_02_dot_05 loc_bar__minus_4_bar_8_bar_1_bar_45) + (receptacleAtLocation CounterTop_bar__plus_00_dot_49_bar__plus_01_dot_02_bar__plus_03_dot_09 loc_bar__minus_1_bar_15_bar_1_bar_45) + (receptacleAtLocation GarbageCan_bar__minus_00_dot_15_bar__plus_00_dot_00_bar__plus_01_dot_38 loc_bar__minus_3_bar_10_bar_2_bar_60) + (receptacleAtLocation HandTowelHolder_bar__plus_00_dot_40_bar__plus_01_dot_76_bar__plus_02_dot_00 loc_bar__minus_2_bar_8_bar_1_bar_0) + (receptacleAtLocation Sink_bar__plus_00_dot_43_bar__plus_01_dot_04_bar__plus_02_dot_95_bar_SinkBasin loc_bar__minus_1_bar_12_bar_1_bar_45) + (receptacleAtLocation ToiletPaperHanger_bar__minus_00_dot_08_bar__plus_00_dot_97_bar__plus_05_dot_00 loc_bar__minus_2_bar_18_bar_0_bar_60) + (receptacleAtLocation Toilet_bar__plus_00_dot_38_bar__plus_00_dot_00_bar__plus_04_dot_47 loc_bar__minus_2_bar_16_bar_1_bar_60) + (receptacleAtLocation TowelHolder_bar__minus_02_dot_50_bar__plus_01_dot_46_bar__plus_00_dot_58 loc_bar__minus_8_bar_6_bar_2_bar_15) + (objectAtLocation SprayBottle_bar__plus_00_dot_70_bar__plus_01_dot_05_bar__plus_04_dot_28 loc_bar__minus_2_bar_16_bar_1_bar_60) + (objectAtLocation SoapBottle_bar__minus_00_dot_64_bar__plus_00_dot_71_bar__plus_01_dot_10 loc_bar__minus_4_bar_6_bar_2_bar_60) + (objectAtLocation ToiletPaper_bar__minus_00_dot_05_bar__plus_00_dot_97_bar__plus_04_dot_91 loc_bar__minus_2_bar_18_bar_0_bar_60) + (objectAtLocation SoapBar_bar__minus_02_dot_16_bar__plus_00_dot_70_bar__plus_00_dot_14 loc_bar__minus_4_bar_6_bar_2_bar_60) + (objectAtLocation Candle_bar__plus_00_dot_23_bar__plus_00_dot_11_bar__plus_02_dot_45 loc_bar__minus_4_bar_8_bar_1_bar_45) + (objectAtLocation SoapBottle_bar__minus_02_dot_24_bar__plus_00_dot_71_bar__plus_00_dot_57 loc_bar__minus_4_bar_6_bar_2_bar_60) + (objectAtLocation SoapBar_bar__plus_00_dot_67_bar__plus_01_dot_05_bar__plus_04_dot_61 loc_bar__minus_2_bar_16_bar_1_bar_60) + (objectAtLocation Sink_bar__plus_00_dot_43_bar__plus_01_dot_04_bar__plus_02_dot_95 loc_bar__minus_1_bar_15_bar_1_bar_45) + (objectAtLocation Window_bar__minus_02_dot_55_bar__plus_01_dot_67_bar__plus_02_dot_41 loc_bar__minus_8_bar_10_bar_3_bar_0) + (objectAtLocation Bathtub_bar__minus_01_dot_04_bar__plus_00_dot_16_bar__plus_00_dot_56 loc_bar__minus_4_bar_6_bar_2_bar_60) + (objectAtLocation Towel_bar__minus_02_dot_39_bar__plus_01_dot_48_bar__plus_00_dot_58 loc_bar__minus_8_bar_6_bar_2_bar_15) + (objectAtLocation Mirror_bar__plus_00_dot_86_bar__plus_01_dot_86_bar__plus_02_dot_97 loc_bar__minus_1_bar_12_bar_1_bar__minus_15) + (objectAtLocation Candle_bar__plus_00_dot_59_bar__plus_00_dot_11_bar__plus_03_dot_56 loc_bar__minus_4_bar_15_bar_1_bar_45) + (objectAtLocation Cloth_bar__minus_00_dot_50_bar__plus_00_dot_16_bar__plus_00_dot_47 loc_bar__minus_4_bar_6_bar_2_bar_60) + (objectAtLocation HandTowel_bar__plus_00_dot_40_bar__plus_01_dot_66_bar__plus_02_dot_04 loc_bar__minus_2_bar_8_bar_1_bar_0) + (objectAtLocation Plunger_bar__plus_00_dot_48_bar__plus_00_dot_00_bar__plus_04_dot_79 loc_bar__minus_2_bar_18_bar_1_bar_60) + (objectAtLocation SoapBar_bar__minus_01_dot_87_bar__plus_00_dot_70_bar__plus_01_dot_10 loc_bar__minus_4_bar_6_bar_2_bar_60) + (objectAtLocation ToiletPaper_bar__minus_00_dot_15_bar__plus_00_dot_15_bar__plus_01_dot_45 loc_bar__minus_3_bar_10_bar_2_bar_60) + (objectAtLocation LightSwitch_bar__minus_01_dot_12_bar__plus_01_dot_33_bar__plus_05_dot_00 loc_bar__minus_4_bar_18_bar_0_bar_30) + (objectAtLocation ToiletPaper_bar__minus_00_dot_12_bar__plus_00_dot_15_bar__plus_01_dot_32 loc_bar__minus_3_bar_10_bar_2_bar_60) + (objectAtLocation SoapBottle_bar__minus_02_dot_08_bar__plus_00_dot_71_bar__plus_00_dot_72 loc_bar__minus_4_bar_6_bar_2_bar_60) + (objectAtLocation SprayBottle_bar__plus_00_dot_73_bar__plus_01_dot_05_bar__plus_04_dot_54 loc_bar__minus_2_bar_16_bar_1_bar_60) + (objectAtLocation ScrubBrush_bar__plus_00_dot_69_bar__plus_00_dot_00_bar__plus_04_dot_87 loc_bar__minus_2_bar_18_bar_1_bar_60) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (inReceptacle ?o ?r) + (objectType ?o PlungerType) + (receptacleType ?r CabinetType) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/valid_seen/pick_and_place_simple-Plunger-None-Cabinet-406/trial_T20190906_200341_074379/traj_data.json b/data/alfworld/json_2.1.1/valid_seen/pick_and_place_simple-Plunger-None-Cabinet-406/trial_T20190906_200341_074379/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..23282f615512c23f683203cd2c0a4ec91ac39c9e --- /dev/null +++ b/data/alfworld/json_2.1.1/valid_seen/pick_and_place_simple-Plunger-None-Cabinet-406/trial_T20190906_200341_074379/traj_data.json @@ -0,0 +1,3726 @@ +{ + "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": 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+ "rotation": 270, + "x": -1.5, + "y": 0.9034263, + "z": 1.5 + }, + "object_poses": [ + { + "objectName": "SoapBar_08941289", + "position": { + "x": -1.86931872, + "y": 0.7040696, + "z": 1.09956563 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SoapBar_08941289", + "position": { + "x": 0.6686772, + "y": 1.04719448, + "z": 4.60501528 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + }, + { + "objectName": "Candle_c517ba65", + "position": { + "x": 0.5940388, + "y": 0.106767476, + "z": 3.55826259 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SprayBottle_7f3ac960", + "position": { + "x": 0.7299439, + "y": 1.04852891, + "z": 4.539443 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + }, + { + "objectName": "SoapBottle_c8765e1c", + "position": { + "x": -2.08441448, + "y": 0.707965136, + "z": 0.717653036 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + 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+ "rotation": { + "x": 0.0, + "y": 179.999908, + "z": 0.0 + } + }, + { + "objectName": "Plunger_b4dc4216", + "position": { + "x": 0.480519533, + "y": 0.00242729113, + "z": 4.79384375 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SoapBar_08941289", + "position": { + "x": -2.16392612, + "y": 0.7040696, + "z": 0.135375381 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "ToiletPaper_9fdbe671", + "position": { + "x": -0.04710005, + "y": 0.971, + "z": 4.9116 + }, + "rotation": { + "x": 1.83199961e-12, + "y": 180.0, + "z": 90.0000458 + } + }, + { + "objectName": "ToiletPaper_a62a9019", + "position": { + "x": -0.122813649, + "y": 0.148638919, + "z": 1.31541061 + }, + "rotation": { + "x": 0.0, + "y": 89.99987, + "z": 0.0 + } + }, + { + "objectName": "SoapBottle_c8765e1c", + "position": { + "x": -0.6362633, + "y": 0.707965136, + "z": 1.09956563 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SprayBottle_7f3ac960", + "position": { + "x": 0.6993097, + "y": 1.04852891, + "z": 4.2771554 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + }, + { + "objectName": "ScrubBrush_524edc77", + "position": { + "x": 0.688, + "y": 0.00242729113, + "z": 4.867 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 1175846924, + "scene_num": 406 + }, + "task_id": "trial_T20190906_200341_074379", + "task_type": "pick_and_place_simple", + "turk_annotations": { + "anns": [ + { + "assignment_id": "AKW57KYG90X61_32KTQ2V7RGW4IBNWD6CEAZ5VJ2X9M7", + "high_descs": [ + "turn right towards the door and then right towards the water closet", + "pick up the plunger by the water closet ", + "turn right towards the cupboard under the wash", + "put the plunger inside the cupboard " + ], + "task_desc": "put the plunger inside the cupboard", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A320QA9HJFUOZO_3RXCAC0YIU64CW80XB85XYQN3CQ8G0", + "high_descs": [ + "Turn around and walk over to the toilet", + "Pick up the plunger from the left side of the toilet", + "Turn right and walk up to the left side of the bathroom counter", + "Open the bottom left cabinet and put the plunger in it" + ], + "task_desc": "Put the plunger into the bathroom cabinet", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AM2KK02JXXW48_3TXMY6UCAH5X1OSRHJTMTYQ8ZPZQCW", + "high_descs": [ + "Move over to the toilet.", + "Pick up the plunger next to the toilet. ", + "Bring the plunger over to the cabinet under the sink.", + "Put the plunger in the cabinet. " + ], + "task_desc": "Put the plunger in the cabinet. ", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/valid_seen/pick_and_place_simple-SoapBar-None-Cart-401/trial_T20190907_054906_608944/game.tw-pddl b/data/alfworld/json_2.1.1/valid_seen/pick_and_place_simple-SoapBar-None-Cart-401/trial_T20190907_054906_608944/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..82cd352809608e45a0fc8a4840af2ef045e7a1d7 --- /dev/null +++ b/data/alfworld/json_2.1.1/valid_seen/pick_and_place_simple-SoapBar-None-Cart-401/trial_T20190907_054906_608944/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\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 soapbar in cart.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using 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_054906_608944)\n(:domain alfred)\n(:objects\nagent1 - agent\nCurtains - object\n SprayBottle - object\n Mirror - object\n HousePlant - object\n Watch - object\n TeddyBear - object\n WateringCan - object\n Bathtub - object\n LightSwitch - object\n Vase - object\n Candle - object\n Bread - object\n Statue - object\n HandTowel - object\n StoveKnob - object\n PaperTowelRoll - object\n Pan - object\n PepperShaker - object\n Painting - object\n CellPhone - object\n Plunger - object\n Spoon - object\n SaltShaker - object\n KeyChain - object\n Footstool - object\n Poster - object\n Television - object\n LaundryHamperLid - object\n Glassbottle - object\n AlarmClock - object\n WineBottle - object\n Bowl - object\n Sink - object\n TissueBox - object\n TennisRacket - object\n ToiletPaper - object\n ScrubBrush - object\n CreditCard - object\n Laptop - object\n Cloth - object\n Cup - object\n Chair - object\n BasketBall - object\n Kettle - object\n PaperTowel - object\n ShowerDoor - object\n BaseballBat - object\n Potato - object\n Pillow - object\n Lettuce - object\n RemoteControl - object\n Window - object\n DishSponge - object\n CD - object\n Boots - object\n Blinds - object\n Pen - object\n Newspaper - object\n Plate - object\n Mug - object\n ShowerGlass - object\n ToiletPaperRoll - object\n SoapBar - object\n FloorLamp - object\n SoapBottle - object\n Pot - object\n Pencil - object\n Spatula - object\n Towel - object\n Fork - object\n Ladle - object\n Knife - object\n Apple - object\n Box - object\n Tomato - object\n ButterKnife - object\n Egg - object\n Book - object\n DeskLamp - object\nCurtainsType - otype\n SprayBottleType - otype\n MirrorType - otype\n HousePlantType - otype\n WatchType - otype\n TeddyBearType - otype\n WateringCanType - otype\n BathtubType - otype\n LightSwitchType - otype\n VaseType - otype\n CandleType - otype\n BreadType - otype\n StatueType - otype\n HandTowelType - otype\n StoveKnobType - otype\n PaperTowelRollType - otype\n PanType - otype\n PepperShakerType - otype\n PaintingType - otype\n CellPhoneType - otype\n PlungerType - otype\n SpoonType - otype\n SaltShakerType - otype\n KeyChainType - otype\n FootstoolType - otype\n PosterType - otype\n TelevisionType - otype\n LaundryHamperLidType - otype\n GlassbottleType - otype\n AlarmClockType - otype\n WineBottleType - otype\n BowlType - otype\n SinkType - otype\n TissueBoxType - otype\n TennisRacketType - otype\n ToiletPaperType - otype\n ScrubBrushType - otype\n CreditCardType - otype\n LaptopType - otype\n ClothType - otype\n CupType - otype\n ChairType - otype\n BasketBallType - otype\n KettleType - otype\n PaperTowelType - otype\n ShowerDoorType - otype\n BaseballBatType - otype\n PotatoType - otype\n PillowType - otype\n LettuceType - otype\n RemoteControlType - otype\n WindowType - otype\n DishSpongeType - otype\n CDType - otype\n BootsType - otype\n BlindsType - otype\n PenType - otype\n NewspaperType - otype\n PlateType - otype\n MugType - otype\n ShowerGlassType - otype\n ToiletPaperRollType - otype\n SoapBarType - otype\n FloorLampType - otype\n SoapBottleType - otype\n PotType - otype\n PencilType - otype\n SpatulaType - otype\n TowelType - otype\n ForkType - otype\n LadleType - otype\n KnifeType - otype\n AppleType - otype\n BoxType - otype\n TomatoType - otype\n ButterKnifeType - otype\n EggType - otype\n BookType - otype\n DeskLampType - otype\nCabinetType - rtype\n ShelfType - rtype\n DiningTableType - rtype\n TowelHolderType - rtype\n PaintingHangerType - rtype\n TVStandType - rtype\n LaundryHamperType - rtype\n OttomanType - rtype\n SafeType - rtype\n CoffeeMachineType - rtype\n CounterTopType - rtype\n ToiletType - rtype\n FridgeType - rtype\n CoffeeTableType - rtype\n SinkBasinType - rtype\n GarbageCanType - rtype\n BathtubBasinType - rtype\n SideTableType - rtype\n CartType - rtype\n BedType - rtype\n DeskType - rtype\n SofaType - rtype\n ArmChairType - rtype\n MicrowaveType - rtype\n HandTowelHolderType - rtype\n ToasterType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n DrawerType - rtype\n DresserType - rtype\n\n\n Bathtub_bar__minus_00_dot_21_bar__plus_00_dot_36_bar__plus_00_dot_92 - object\n Candle_bar__plus_00_dot_32_bar__plus_01_dot_05_bar__plus_03_dot_03 - object\n Cloth_bar__minus_00_dot_14_bar__plus_00_dot_05_bar__plus_01_dot_35 - object\n Cloth_bar__minus_00_dot_23_bar__plus_00_dot_05_bar__plus_01_dot_58 - object\n DishSponge_bar__minus_00_dot_91_bar__plus_00_dot_04_bar__plus_03_dot_86 - object\n DishSponge_bar__minus_03_dot_01_bar__plus_00_dot_86_bar__plus_01_dot_57 - object\n DishSponge_bar__minus_03_dot_09_bar__plus_00_dot_23_bar__plus_00_dot_08 - object\n Faucet_bar__minus_00_dot_14_bar__plus_00_dot_52_bar__minus_00_dot_21 - object\n Faucet_bar__minus_03_dot_40_bar__plus_01_dot_02_bar__plus_01_dot_53 - object\n HandTowel_bar__minus_03_dot_42_bar__plus_01_dot_34_bar__plus_02_dot_10 - object\n HandTowel_bar__minus_03_dot_42_bar__plus_01_dot_36_bar__plus_00_dot_82 - object\n LightSwitch_bar__minus_03_dot_46_bar__plus_01_dot_44_bar__plus_02_dot_50 - object\n Mirror_bar__minus_03_dot_45_bar__plus_01_dot_58_bar__plus_01_dot_52 - object\n PaperTowelRoll_bar__minus_00_dot_72_bar__plus_00_dot_15_bar__plus_03_dot_91 - object\n Plunger_bar__plus_00_dot_36_bar__plus_00_dot_00_bar__plus_02_dot_47 - object\n ScrubBrush_bar__plus_00_dot_40_bar__plus_00_dot_00_bar__plus_02_dot_69 - object\n ShowerCurtain_bar__minus_00_dot_89_bar__plus_02_dot_20_bar__minus_00_dot_17 - object\n ShowerHead_bar__minus_00_dot_13_bar__plus_01_dot_45_bar__plus_02_dot_05 - object\n Sink_bar__minus_03_dot_12_bar__minus_00_dot_01_bar__plus_01_dot_53 - object\n SoapBar_bar__minus_02_dot_39_bar__plus_01_dot_30_bar__plus_03_dot_92 - object\n SoapBottle_bar__plus_00_dot_45_bar__plus_01_dot_05_bar__plus_02_dot_97 - object\n SoapBottle_bar__minus_02_dot_57_bar__plus_01_dot_55_bar__plus_03_dot_85 - object\n SprayBottle_bar__plus_00_dot_29_bar__plus_01_dot_05_bar__plus_03_dot_23 - object\n SprayBottle_bar__plus_00_dot_39_bar__plus_01_dot_05_bar__plus_03_dot_17 - object\n SprayBottle_bar__minus_03_dot_32_bar__plus_00_dot_24_bar__plus_00_dot_08 - object\n ToiletPaper_bar__minus_00_dot_74_bar__plus_00_dot_63_bar__plus_01_dot_54 - object\n ToiletPaper_bar__minus_03_dot_38_bar__plus_00_dot_23_bar__plus_00_dot_23 - object\n Towel_bar__minus_01_dot_30_bar__plus_01_dot_06_bar__minus_00_dot_18 - object\n Window_bar__minus_01_dot_51_bar__plus_01_dot_32_bar__minus_00_dot_36 - object\n Bathtub_bar__minus_00_dot_21_bar__plus_00_dot_36_bar__plus_00_dot_92_bar_BathtubBasin - receptacle\n Cart_bar__minus_03_dot_21_bar__plus_00_dot_00_bar__plus_00_dot_15 - receptacle\n GarbageCan_bar__minus_00_dot_87_bar__plus_00_dot_00_bar__plus_03_dot_86 - receptacle\n HandTowelHolder_bar__minus_03_dot_46_bar__plus_01_dot_46_bar__plus_00_dot_82 - receptacle\n HandTowelHolder_bar__minus_03_dot_46_bar__plus_01_dot_46_bar__plus_02_dot_10 - receptacle\n Shelf_bar__minus_02_dot_59_bar__plus_00_dot_78_bar__plus_03_dot_91 - receptacle\n Shelf_bar__minus_02_dot_59_bar__plus_01_dot_03_bar__plus_03_dot_94 - receptacle\n Shelf_bar__minus_02_dot_59_bar__plus_01_dot_29_bar__plus_03_dot_94 - receptacle\n Shelf_bar__minus_02_dot_59_bar__plus_01_dot_53_bar__plus_03_dot_91 - receptacle\n Sink_bar__minus_03_dot_12_bar__minus_00_dot_01_bar__plus_01_dot_53_bar_SinkBasin - receptacle\n ToiletPaperHanger_bar__minus_00_dot_43_bar__plus_00_dot_78_bar__plus_02_dot_28 - receptacle\n Toilet_bar__plus_00_dot_06_bar__plus_00_dot_00_bar__plus_03_dot_10 - receptacle\n TowelHolder_bar__minus_01_dot_30_bar__plus_01_dot_05_bar__minus_00_dot_29 - receptacle\n TowelHolder_bar__minus_02_dot_05_bar__plus_01_dot_05_bar__minus_00_dot_29 - receptacle\n loc_bar__minus_10_bar_1_bar_3_bar_60 - location\n loc_bar__minus_10_bar_13_bar_0_bar_60 - location\n loc_bar__minus_10_bar_6_bar_3_bar_0 - location\n loc_bar__minus_11_bar_9_bar_3_bar_15 - location\n loc_bar__minus_11_bar_3_bar_3_bar_15 - location\n loc_bar__minus_3_bar_11_bar_2_bar_60 - location\n loc_bar__minus_6_bar_1_bar_2_bar_45 - location\n loc_bar__minus_8_bar_1_bar_2_bar_45 - location\n loc_bar__minus_8_bar_13_bar_1_bar_60 - location\n loc_bar__minus_12_bar_10_bar_3_bar_30 - location\n loc_bar__minus_10_bar_13_bar_0_bar_30 - location\n loc_bar__minus_5_bar_4_bar_1_bar_45 - location\n loc_bar__minus_10_bar_13_bar_0_bar_45 - location\n loc_bar__minus_6_bar_1_bar_2_bar_30 - location\n loc_bar__minus_10_bar_6_bar_3_bar_60 - location\n loc_bar__minus_10_bar_5_bar_3_bar_45 - location\n loc_bar__minus_3_bar_12_bar_1_bar_60 - location\n loc_bar__minus_3_bar_11_bar_1_bar_60 - location\n loc_bar__minus_10_bar_13_bar_0_bar_15 - location\n loc_bar__minus_5_bar_4_bar_1_bar_60 - location\n loc_bar__minus_9_bar_7_bar_2_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Shelf_bar__minus_02_dot_59_bar__plus_01_dot_29_bar__plus_03_dot_94 ShelfType)\n (receptacleType Shelf_bar__minus_02_dot_59_bar__plus_01_dot_03_bar__plus_03_dot_94 ShelfType)\n (receptacleType Shelf_bar__minus_02_dot_59_bar__plus_01_dot_53_bar__plus_03_dot_91 ShelfType)\n (receptacleType Sink_bar__minus_03_dot_12_bar__minus_00_dot_01_bar__plus_01_dot_53_bar_SinkBasin SinkBasinType)\n (receptacleType TowelHolder_bar__minus_01_dot_30_bar__plus_01_dot_05_bar__minus_00_dot_29 TowelHolderType)\n (receptacleType HandTowelHolder_bar__minus_03_dot_46_bar__plus_01_dot_46_bar__plus_02_dot_10 HandTowelHolderType)\n (receptacleType TowelHolder_bar__minus_02_dot_05_bar__plus_01_dot_05_bar__minus_00_dot_29 TowelHolderType)\n (receptacleType GarbageCan_bar__minus_00_dot_87_bar__plus_00_dot_00_bar__plus_03_dot_86 GarbageCanType)\n (receptacleType Shelf_bar__minus_02_dot_59_bar__plus_00_dot_78_bar__plus_03_dot_91 ShelfType)\n (receptacleType HandTowelHolder_bar__minus_03_dot_46_bar__plus_01_dot_46_bar__plus_00_dot_82 HandTowelHolderType)\n (receptacleType ToiletPaperHanger_bar__minus_00_dot_43_bar__plus_00_dot_78_bar__plus_02_dot_28 ToiletPaperHangerType)\n (receptacleType Bathtub_bar__minus_00_dot_21_bar__plus_00_dot_36_bar__plus_00_dot_92_bar_BathtubBasin BathtubBasinType)\n (receptacleType Toilet_bar__plus_00_dot_06_bar__plus_00_dot_00_bar__plus_03_dot_10 ToiletType)\n (receptacleType Cart_bar__minus_03_dot_21_bar__plus_00_dot_00_bar__plus_00_dot_15 CartType)\n (objectType SprayBottle_bar__plus_00_dot_29_bar__plus_01_dot_05_bar__plus_03_dot_23 SprayBottleType)\n (objectType DishSponge_bar__minus_03_dot_01_bar__plus_00_dot_86_bar__plus_01_dot_57 DishSpongeType)\n (objectType Mirror_bar__minus_03_dot_45_bar__plus_01_dot_58_bar__plus_01_dot_52 MirrorType)\n (objectType Cloth_bar__minus_00_dot_14_bar__plus_00_dot_05_bar__plus_01_dot_35 ClothType)\n (objectType PaperTowelRoll_bar__minus_00_dot_72_bar__plus_00_dot_15_bar__plus_03_dot_91 PaperTowelRollType)\n (objectType Candle_bar__plus_00_dot_32_bar__plus_01_dot_05_bar__plus_03_dot_03 CandleType)\n (objectType HandTowel_bar__minus_03_dot_42_bar__plus_01_dot_34_bar__plus_02_dot_10 HandTowelType)\n (objectType SoapBottle_bar__minus_02_dot_57_bar__plus_01_dot_55_bar__plus_03_dot_85 SoapBottleType)\n (objectType Cloth_bar__minus_00_dot_23_bar__plus_00_dot_05_bar__plus_01_dot_58 ClothType)\n (objectType SprayBottle_bar__minus_03_dot_32_bar__plus_00_dot_24_bar__plus_00_dot_08 SprayBottleType)\n (objectType Sink_bar__minus_03_dot_12_bar__minus_00_dot_01_bar__plus_01_dot_53 SinkType)\n (objectType DishSponge_bar__minus_00_dot_91_bar__plus_00_dot_04_bar__plus_03_dot_86 DishSpongeType)\n (objectType DishSponge_bar__minus_03_dot_09_bar__plus_00_dot_23_bar__plus_00_dot_08 DishSpongeType)\n (objectType ToiletPaper_bar__minus_00_dot_74_bar__plus_00_dot_63_bar__plus_01_dot_54 ToiletPaperType)\n (objectType LightSwitch_bar__minus_03_dot_46_bar__plus_01_dot_44_bar__plus_02_dot_50 LightSwitchType)\n (objectType ScrubBrush_bar__plus_00_dot_40_bar__plus_00_dot_00_bar__plus_02_dot_69 ScrubBrushType)\n (objectType SprayBottle_bar__plus_00_dot_39_bar__plus_01_dot_05_bar__plus_03_dot_17 SprayBottleType)\n (objectType ToiletPaper_bar__minus_03_dot_38_bar__plus_00_dot_23_bar__plus_00_dot_23 ToiletPaperType)\n (objectType HandTowel_bar__minus_03_dot_42_bar__plus_01_dot_36_bar__plus_00_dot_82 HandTowelType)\n (objectType Plunger_bar__plus_00_dot_36_bar__plus_00_dot_00_bar__plus_02_dot_47 PlungerType)\n (objectType Window_bar__minus_01_dot_51_bar__plus_01_dot_32_bar__minus_00_dot_36 WindowType)\n (objectType Towel_bar__minus_01_dot_30_bar__plus_01_dot_06_bar__minus_00_dot_18 TowelType)\n (objectType SoapBar_bar__minus_02_dot_39_bar__plus_01_dot_30_bar__plus_03_dot_92 SoapBarType)\n (objectType SoapBottle_bar__plus_00_dot_45_bar__plus_01_dot_05_bar__plus_02_dot_97 SoapBottleType)\n (objectType Bathtub_bar__minus_00_dot_21_bar__plus_00_dot_36_bar__plus_00_dot_92 BathtubType)\n (canContain ShelfType SprayBottleType)\n (canContain ShelfType SoapBarType)\n (canContain ShelfType SoapBottleType)\n (canContain ShelfType DishSpongeType)\n (canContain ShelfType ToiletPaperType)\n (canContain ShelfType CandleType)\n (canContain ShelfType ClothType)\n (canContain ShelfType HandTowelType)\n (canContain ShelfType SprayBottleType)\n (canContain ShelfType SoapBarType)\n (canContain ShelfType SoapBottleType)\n (canContain ShelfType DishSpongeType)\n (canContain ShelfType ToiletPaperType)\n (canContain ShelfType CandleType)\n (canContain ShelfType ClothType)\n (canContain ShelfType HandTowelType)\n (canContain ShelfType SprayBottleType)\n (canContain ShelfType SoapBarType)\n (canContain ShelfType SoapBottleType)\n (canContain ShelfType DishSpongeType)\n (canContain ShelfType ToiletPaperType)\n (canContain ShelfType CandleType)\n (canContain ShelfType ClothType)\n (canContain ShelfType HandTowelType)\n (canContain SinkBasinType SoapBarType)\n (canContain SinkBasinType DishSpongeType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType HandTowelType)\n (canContain TowelHolderType TowelType)\n (canContain HandTowelHolderType HandTowelType)\n (canContain TowelHolderType TowelType)\n (canContain GarbageCanType SprayBottleType)\n (canContain GarbageCanType SoapBarType)\n (canContain GarbageCanType SoapBottleType)\n (canContain GarbageCanType DishSpongeType)\n (canContain GarbageCanType ToiletPaperType)\n (canContain GarbageCanType ClothType)\n (canContain GarbageCanType HandTowelType)\n (canContain ShelfType SprayBottleType)\n (canContain ShelfType SoapBarType)\n (canContain ShelfType SoapBottleType)\n (canContain ShelfType DishSpongeType)\n (canContain ShelfType ToiletPaperType)\n (canContain ShelfType CandleType)\n (canContain ShelfType ClothType)\n (canContain ShelfType HandTowelType)\n (canContain HandTowelHolderType HandTowelType)\n (canContain ToiletPaperHangerType ToiletPaperType)\n (canContain BathtubBasinType HandTowelType)\n (canContain BathtubBasinType SoapBarType)\n (canContain BathtubBasinType ClothType)\n (canContain BathtubBasinType DishSpongeType)\n (canContain ToiletType ClothType)\n (canContain ToiletType SoapBarType)\n (canContain ToiletType HandTowelType)\n (canContain ToiletType ToiletPaperType)\n (canContain ToiletType SoapBottleType)\n (canContain ToiletType DishSpongeType)\n (canContain ToiletType SprayBottleType)\n (canContain ToiletType CandleType)\n (canContain CartType ClothType)\n (canContain CartType PlungerType)\n (canContain CartType SoapBarType)\n (canContain CartType HandTowelType)\n (canContain CartType ToiletPaperType)\n (canContain CartType SoapBottleType)\n (canContain CartType DishSpongeType)\n (canContain CartType SprayBottleType)\n (canContain CartType CandleType)\n (pickupable SprayBottle_bar__plus_00_dot_29_bar__plus_01_dot_05_bar__plus_03_dot_23)\n (pickupable DishSponge_bar__minus_03_dot_01_bar__plus_00_dot_86_bar__plus_01_dot_57)\n (pickupable Cloth_bar__minus_00_dot_14_bar__plus_00_dot_05_bar__plus_01_dot_35)\n (pickupable PaperTowelRoll_bar__minus_00_dot_72_bar__plus_00_dot_15_bar__plus_03_dot_91)\n (pickupable Candle_bar__plus_00_dot_32_bar__plus_01_dot_05_bar__plus_03_dot_03)\n (pickupable HandTowel_bar__minus_03_dot_42_bar__plus_01_dot_34_bar__plus_02_dot_10)\n (pickupable SoapBottle_bar__minus_02_dot_57_bar__plus_01_dot_55_bar__plus_03_dot_85)\n (pickupable Cloth_bar__minus_00_dot_23_bar__plus_00_dot_05_bar__plus_01_dot_58)\n (pickupable SprayBottle_bar__minus_03_dot_32_bar__plus_00_dot_24_bar__plus_00_dot_08)\n (pickupable DishSponge_bar__minus_00_dot_91_bar__plus_00_dot_04_bar__plus_03_dot_86)\n (pickupable DishSponge_bar__minus_03_dot_09_bar__plus_00_dot_23_bar__plus_00_dot_08)\n (pickupable ToiletPaper_bar__minus_00_dot_74_bar__plus_00_dot_63_bar__plus_01_dot_54)\n (pickupable ScrubBrush_bar__plus_00_dot_40_bar__plus_00_dot_00_bar__plus_02_dot_69)\n (pickupable SprayBottle_bar__plus_00_dot_39_bar__plus_01_dot_05_bar__plus_03_dot_17)\n (pickupable ToiletPaper_bar__minus_03_dot_38_bar__plus_00_dot_23_bar__plus_00_dot_23)\n (pickupable HandTowel_bar__minus_03_dot_42_bar__plus_01_dot_36_bar__plus_00_dot_82)\n (pickupable Plunger_bar__plus_00_dot_36_bar__plus_00_dot_00_bar__plus_02_dot_47)\n (pickupable Towel_bar__minus_01_dot_30_bar__plus_01_dot_06_bar__minus_00_dot_18)\n (pickupable SoapBar_bar__minus_02_dot_39_bar__plus_01_dot_30_bar__plus_03_dot_92)\n (pickupable SoapBottle_bar__plus_00_dot_45_bar__plus_01_dot_05_bar__plus_02_dot_97)\n \n \n \n (atLocation agent1 loc_bar__minus_9_bar_7_bar_2_bar_30)\n \n (cleanable DishSponge_bar__minus_03_dot_01_bar__plus_00_dot_86_bar__plus_01_dot_57)\n (cleanable Cloth_bar__minus_00_dot_14_bar__plus_00_dot_05_bar__plus_01_dot_35)\n (cleanable Cloth_bar__minus_00_dot_23_bar__plus_00_dot_05_bar__plus_01_dot_58)\n (cleanable DishSponge_bar__minus_00_dot_91_bar__plus_00_dot_04_bar__plus_03_dot_86)\n (cleanable DishSponge_bar__minus_03_dot_09_bar__plus_00_dot_23_bar__plus_00_dot_08)\n (cleanable SoapBar_bar__minus_02_dot_39_bar__plus_01_dot_30_bar__plus_03_dot_92)\n \n \n \n \n \n \n \n \n \n \n (inReceptacle DishSponge_bar__minus_03_dot_01_bar__plus_00_dot_86_bar__plus_01_dot_57 Sink_bar__minus_03_dot_12_bar__minus_00_dot_01_bar__plus_01_dot_53_bar_SinkBasin)\n (inReceptacle Cloth_bar__minus_00_dot_14_bar__plus_00_dot_05_bar__plus_01_dot_35 Bathtub_bar__minus_00_dot_21_bar__plus_00_dot_36_bar__plus_00_dot_92_bar_BathtubBasin)\n (inReceptacle Cloth_bar__minus_00_dot_23_bar__plus_00_dot_05_bar__plus_01_dot_58 Bathtub_bar__minus_00_dot_21_bar__plus_00_dot_36_bar__plus_00_dot_92_bar_BathtubBasin)\n (inReceptacle Towel_bar__minus_01_dot_30_bar__plus_01_dot_06_bar__minus_00_dot_18 TowelHolder_bar__minus_01_dot_30_bar__plus_01_dot_05_bar__minus_00_dot_29)\n (inReceptacle PaperTowelRoll_bar__minus_00_dot_72_bar__plus_00_dot_15_bar__plus_03_dot_91 GarbageCan_bar__minus_00_dot_87_bar__plus_00_dot_00_bar__plus_03_dot_86)\n (inReceptacle DishSponge_bar__minus_00_dot_91_bar__plus_00_dot_04_bar__plus_03_dot_86 GarbageCan_bar__minus_00_dot_87_bar__plus_00_dot_00_bar__plus_03_dot_86)\n (inReceptacle SoapBar_bar__minus_02_dot_39_bar__plus_01_dot_30_bar__plus_03_dot_92 Shelf_bar__minus_02_dot_59_bar__plus_01_dot_29_bar__plus_03_dot_94)\n (inReceptacle SoapBottle_bar__minus_02_dot_57_bar__plus_01_dot_55_bar__plus_03_dot_85 Shelf_bar__minus_02_dot_59_bar__plus_01_dot_53_bar__plus_03_dot_91)\n (inReceptacle HandTowel_bar__minus_03_dot_42_bar__plus_01_dot_34_bar__plus_02_dot_10 HandTowelHolder_bar__minus_03_dot_46_bar__plus_01_dot_46_bar__plus_02_dot_10)\n (inReceptacle HandTowel_bar__minus_03_dot_42_bar__plus_01_dot_36_bar__plus_00_dot_82 HandTowelHolder_bar__minus_03_dot_46_bar__plus_01_dot_46_bar__plus_00_dot_82)\n (inReceptacle ToiletPaper_bar__minus_03_dot_38_bar__plus_00_dot_23_bar__plus_00_dot_23 Cart_bar__minus_03_dot_21_bar__plus_00_dot_00_bar__plus_00_dot_15)\n (inReceptacle DishSponge_bar__minus_03_dot_09_bar__plus_00_dot_23_bar__plus_00_dot_08 Cart_bar__minus_03_dot_21_bar__plus_00_dot_00_bar__plus_00_dot_15)\n (inReceptacle SprayBottle_bar__minus_03_dot_32_bar__plus_00_dot_24_bar__plus_00_dot_08 Cart_bar__minus_03_dot_21_bar__plus_00_dot_00_bar__plus_00_dot_15)\n (inReceptacle Candle_bar__plus_00_dot_32_bar__plus_01_dot_05_bar__plus_03_dot_03 Toilet_bar__plus_00_dot_06_bar__plus_00_dot_00_bar__plus_03_dot_10)\n (inReceptacle SprayBottle_bar__plus_00_dot_39_bar__plus_01_dot_05_bar__plus_03_dot_17 Toilet_bar__plus_00_dot_06_bar__plus_00_dot_00_bar__plus_03_dot_10)\n (inReceptacle SoapBottle_bar__plus_00_dot_45_bar__plus_01_dot_05_bar__plus_02_dot_97 Toilet_bar__plus_00_dot_06_bar__plus_00_dot_00_bar__plus_03_dot_10)\n (inReceptacle SprayBottle_bar__plus_00_dot_29_bar__plus_01_dot_05_bar__plus_03_dot_23 Toilet_bar__plus_00_dot_06_bar__plus_00_dot_00_bar__plus_03_dot_10)\n \n \n (receptacleAtLocation Bathtub_bar__minus_00_dot_21_bar__plus_00_dot_36_bar__plus_00_dot_92_bar_BathtubBasin loc_bar__minus_5_bar_4_bar_1_bar_60)\n (receptacleAtLocation Cart_bar__minus_03_dot_21_bar__plus_00_dot_00_bar__plus_00_dot_15 loc_bar__minus_10_bar_1_bar_3_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_00_dot_87_bar__plus_00_dot_00_bar__plus_03_dot_86 loc_bar__minus_8_bar_13_bar_1_bar_60)\n (receptacleAtLocation HandTowelHolder_bar__minus_03_dot_46_bar__plus_01_dot_46_bar__plus_00_dot_82 loc_bar__minus_11_bar_3_bar_3_bar_15)\n (receptacleAtLocation HandTowelHolder_bar__minus_03_dot_46_bar__plus_01_dot_46_bar__plus_02_dot_10 loc_bar__minus_11_bar_9_bar_3_bar_15)\n (receptacleAtLocation Shelf_bar__minus_02_dot_59_bar__plus_00_dot_78_bar__plus_03_dot_91 loc_bar__minus_10_bar_13_bar_0_bar_60)\n (receptacleAtLocation Shelf_bar__minus_02_dot_59_bar__plus_01_dot_03_bar__plus_03_dot_94 loc_bar__minus_10_bar_13_bar_0_bar_45)\n (receptacleAtLocation Shelf_bar__minus_02_dot_59_bar__plus_01_dot_29_bar__plus_03_dot_94 loc_bar__minus_10_bar_13_bar_0_bar_30)\n (receptacleAtLocation Shelf_bar__minus_02_dot_59_bar__plus_01_dot_53_bar__plus_03_dot_91 loc_bar__minus_10_bar_13_bar_0_bar_15)\n (receptacleAtLocation Sink_bar__minus_03_dot_12_bar__minus_00_dot_01_bar__plus_01_dot_53_bar_SinkBasin loc_bar__minus_10_bar_5_bar_3_bar_45)\n (receptacleAtLocation ToiletPaperHanger_bar__minus_00_dot_43_bar__plus_00_dot_78_bar__plus_02_dot_28 loc_bar__minus_3_bar_11_bar_2_bar_60)\n (receptacleAtLocation Toilet_bar__plus_00_dot_06_bar__plus_00_dot_00_bar__plus_03_dot_10 loc_bar__minus_3_bar_12_bar_1_bar_60)\n (receptacleAtLocation TowelHolder_bar__minus_01_dot_30_bar__plus_01_dot_05_bar__minus_00_dot_29 loc_bar__minus_6_bar_1_bar_2_bar_45)\n (receptacleAtLocation TowelHolder_bar__minus_02_dot_05_bar__plus_01_dot_05_bar__minus_00_dot_29 loc_bar__minus_8_bar_1_bar_2_bar_45)\n (objectAtLocation DishSponge_bar__minus_03_dot_01_bar__plus_00_dot_86_bar__plus_01_dot_57 loc_bar__minus_10_bar_5_bar_3_bar_45)\n (objectAtLocation SprayBottle_bar__plus_00_dot_29_bar__plus_01_dot_05_bar__plus_03_dot_23 loc_bar__minus_3_bar_12_bar_1_bar_60)\n (objectAtLocation Cloth_bar__minus_00_dot_23_bar__plus_00_dot_05_bar__plus_01_dot_58 loc_bar__minus_5_bar_4_bar_1_bar_60)\n (objectAtLocation SoapBottle_bar__plus_00_dot_45_bar__plus_01_dot_05_bar__plus_02_dot_97 loc_bar__minus_3_bar_12_bar_1_bar_60)\n (objectAtLocation HandTowel_bar__minus_03_dot_42_bar__plus_01_dot_34_bar__plus_02_dot_10 loc_bar__minus_11_bar_9_bar_3_bar_15)\n (objectAtLocation DishSponge_bar__minus_00_dot_91_bar__plus_00_dot_04_bar__plus_03_dot_86 loc_bar__minus_8_bar_13_bar_1_bar_60)\n (objectAtLocation SprayBottle_bar__minus_03_dot_32_bar__plus_00_dot_24_bar__plus_00_dot_08 loc_bar__minus_10_bar_1_bar_3_bar_60)\n (objectAtLocation Window_bar__minus_01_dot_51_bar__plus_01_dot_32_bar__minus_00_dot_36 loc_bar__minus_6_bar_1_bar_2_bar_30)\n (objectAtLocation Bathtub_bar__minus_00_dot_21_bar__plus_00_dot_36_bar__plus_00_dot_92 loc_bar__minus_5_bar_4_bar_1_bar_45)\n (objectAtLocation Sink_bar__minus_03_dot_12_bar__minus_00_dot_01_bar__plus_01_dot_53 loc_bar__minus_10_bar_6_bar_3_bar_60)\n (objectAtLocation Mirror_bar__minus_03_dot_45_bar__plus_01_dot_58_bar__plus_01_dot_52 loc_bar__minus_10_bar_6_bar_3_bar_0)\n (objectAtLocation Towel_bar__minus_01_dot_30_bar__plus_01_dot_06_bar__minus_00_dot_18 loc_bar__minus_6_bar_1_bar_2_bar_45)\n (objectAtLocation HandTowel_bar__minus_03_dot_42_bar__plus_01_dot_36_bar__plus_00_dot_82 loc_bar__minus_11_bar_3_bar_3_bar_15)\n (objectAtLocation Plunger_bar__plus_00_dot_36_bar__plus_00_dot_00_bar__plus_02_dot_47 loc_bar__minus_3_bar_11_bar_1_bar_60)\n (objectAtLocation SoapBar_bar__minus_02_dot_39_bar__plus_01_dot_30_bar__plus_03_dot_92 loc_bar__minus_10_bar_13_bar_0_bar_30)\n (objectAtLocation ToiletPaper_bar__minus_00_dot_74_bar__plus_00_dot_63_bar__plus_01_dot_54 loc_bar__minus_5_bar_4_bar_1_bar_60)\n (objectAtLocation SoapBottle_bar__minus_02_dot_57_bar__plus_01_dot_55_bar__plus_03_dot_85 loc_bar__minus_10_bar_13_bar_0_bar_15)\n (objectAtLocation ToiletPaper_bar__minus_03_dot_38_bar__plus_00_dot_23_bar__plus_00_dot_23 loc_bar__minus_10_bar_1_bar_3_bar_60)\n (objectAtLocation Cloth_bar__minus_00_dot_14_bar__plus_00_dot_05_bar__plus_01_dot_35 loc_bar__minus_5_bar_4_bar_1_bar_60)\n (objectAtLocation PaperTowelRoll_bar__minus_00_dot_72_bar__plus_00_dot_15_bar__plus_03_dot_91 loc_bar__minus_8_bar_13_bar_1_bar_60)\n (objectAtLocation Candle_bar__plus_00_dot_32_bar__plus_01_dot_05_bar__plus_03_dot_03 loc_bar__minus_3_bar_12_bar_1_bar_60)\n (objectAtLocation SprayBottle_bar__plus_00_dot_39_bar__plus_01_dot_05_bar__plus_03_dot_17 loc_bar__minus_3_bar_12_bar_1_bar_60)\n (objectAtLocation ScrubBrush_bar__plus_00_dot_40_bar__plus_00_dot_00_bar__plus_02_dot_69 loc_bar__minus_3_bar_11_bar_1_bar_60)\n (objectAtLocation DishSponge_bar__minus_03_dot_09_bar__plus_00_dot_23_bar__plus_00_dot_08 loc_bar__minus_10_bar_1_bar_3_bar_60)\n (objectAtLocation LightSwitch_bar__minus_03_dot_46_bar__plus_01_dot_44_bar__plus_02_dot_50 loc_bar__minus_12_bar_10_bar_3_bar_30)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (inReceptacle ?o ?r)\n (objectType ?o SoapBarType)\n (receptacleType ?r CartType)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to shelf 2", "take soapbar 1 from shelf 2", "go to cart 1", "move soapbar 1 to cart 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/valid_seen/pick_and_place_simple-SoapBar-None-Cart-401/trial_T20190907_054906_608944/initial_state.pddl b/data/alfworld/json_2.1.1/valid_seen/pick_and_place_simple-SoapBar-None-Cart-401/trial_T20190907_054906_608944/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..f6ed92c4bbb67fa3c86f71007d57c5a783fff69c --- /dev/null +++ b/data/alfworld/json_2.1.1/valid_seen/pick_and_place_simple-SoapBar-None-Cart-401/trial_T20190907_054906_608944/initial_state.pddl @@ -0,0 +1,490 @@ + +(define (problem plan_trial_T20190907_054906_608944) +(:domain alfred) +(:objects +agent1 - agent +Curtains - object + SprayBottle - object + Mirror - object + HousePlant - object + Watch - object + TeddyBear - object + WateringCan - object + Bathtub - object + LightSwitch - object + Vase - object + Candle - object + Bread - object + Statue - object + HandTowel - object + StoveKnob - object + PaperTowelRoll - object + Pan - object + PepperShaker - object + Painting - object + CellPhone - object + Plunger - object + Spoon - object + SaltShaker - object + KeyChain - object + Footstool - object + Poster - object + Television - object + LaundryHamperLid - object + Glassbottle - object + AlarmClock - object + WineBottle - object + Bowl - object + Sink - object + TissueBox - object + TennisRacket - object + ToiletPaper - object + ScrubBrush - object + CreditCard - object + Laptop - object + Cloth - object + Cup - object + Chair - object + BasketBall - object + Kettle - object + PaperTowel - object + ShowerDoor - object + BaseballBat - object + Potato - object + Pillow - object + Lettuce - object + RemoteControl - object + Window - object + DishSponge - object + CD - object + Boots - object + Blinds - object + Pen - object + Newspaper - object + Plate - object + Mug - object + ShowerGlass - object + ToiletPaperRoll - object + SoapBar - object + FloorLamp - object + SoapBottle - object + Pot - object + Pencil - object + Spatula - object + Towel - object + Fork - object + Ladle - object + Knife - object + Apple - object + Box - object + Tomato - object + ButterKnife - object + Egg - object + Book - object + DeskLamp - object +CurtainsType - otype + SprayBottleType - otype + MirrorType - otype + HousePlantType - otype + WatchType - otype + TeddyBearType - otype + WateringCanType - otype + BathtubType - otype + LightSwitchType - otype + VaseType - otype + CandleType - otype + BreadType - otype + StatueType - otype + HandTowelType - otype + StoveKnobType - otype + PaperTowelRollType - otype + PanType - otype + PepperShakerType - otype + PaintingType - otype + CellPhoneType - otype + PlungerType - otype + SpoonType - otype + SaltShakerType - otype + KeyChainType - otype + FootstoolType - otype + PosterType - otype + TelevisionType - otype + LaundryHamperLidType - otype + GlassbottleType - otype + AlarmClockType - otype + WineBottleType - otype + BowlType - otype + SinkType - otype + TissueBoxType - otype + TennisRacketType - otype + ToiletPaperType - otype + ScrubBrushType - otype + CreditCardType - otype + LaptopType - otype + ClothType - otype + CupType - otype + ChairType - otype + BasketBallType - otype + KettleType - otype + PaperTowelType - otype + ShowerDoorType - otype + BaseballBatType - otype + PotatoType - otype + PillowType - otype + LettuceType - otype + RemoteControlType - otype + WindowType - otype + DishSpongeType - otype + CDType - otype + BootsType - otype + BlindsType - otype + PenType - otype + NewspaperType - otype + PlateType - otype + MugType - otype + ShowerGlassType - otype + ToiletPaperRollType - otype + SoapBarType - otype + FloorLampType - otype + SoapBottleType - otype + PotType - otype + PencilType - otype + SpatulaType - otype + TowelType - otype + ForkType - otype + LadleType - otype + KnifeType - otype + AppleType - otype + BoxType - otype + TomatoType - otype + ButterKnifeType - otype + EggType - otype + BookType - otype + DeskLampType - otype +CabinetType - rtype + ShelfType - rtype + DiningTableType - rtype + TowelHolderType - rtype + PaintingHangerType - rtype + TVStandType - rtype + LaundryHamperType - rtype + OttomanType - rtype + SafeType - rtype + CoffeeMachineType - rtype + CounterTopType - rtype + ToiletType - rtype + FridgeType - rtype + CoffeeTableType - rtype + SinkBasinType - rtype + GarbageCanType - rtype + BathtubBasinType - rtype + SideTableType - rtype + CartType - rtype + BedType - rtype + DeskType - rtype + SofaType - rtype + ArmChairType - rtype + MicrowaveType - rtype + HandTowelHolderType - rtype + ToasterType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + DrawerType - rtype + DresserType - rtype + + + Bathtub_bar__minus_00_dot_21_bar__plus_00_dot_36_bar__plus_00_dot_92 - object + Candle_bar__plus_00_dot_32_bar__plus_01_dot_05_bar__plus_03_dot_03 - object + Cloth_bar__minus_00_dot_14_bar__plus_00_dot_05_bar__plus_01_dot_35 - object + Cloth_bar__minus_00_dot_23_bar__plus_00_dot_05_bar__plus_01_dot_58 - object + DishSponge_bar__minus_00_dot_91_bar__plus_00_dot_04_bar__plus_03_dot_86 - object + DishSponge_bar__minus_03_dot_01_bar__plus_00_dot_86_bar__plus_01_dot_57 - object + DishSponge_bar__minus_03_dot_09_bar__plus_00_dot_23_bar__plus_00_dot_08 - object + Faucet_bar__minus_00_dot_14_bar__plus_00_dot_52_bar__minus_00_dot_21 - object + Faucet_bar__minus_03_dot_40_bar__plus_01_dot_02_bar__plus_01_dot_53 - object + HandTowel_bar__minus_03_dot_42_bar__plus_01_dot_34_bar__plus_02_dot_10 - object + HandTowel_bar__minus_03_dot_42_bar__plus_01_dot_36_bar__plus_00_dot_82 - object + LightSwitch_bar__minus_03_dot_46_bar__plus_01_dot_44_bar__plus_02_dot_50 - object + Mirror_bar__minus_03_dot_45_bar__plus_01_dot_58_bar__plus_01_dot_52 - object + PaperTowelRoll_bar__minus_00_dot_72_bar__plus_00_dot_15_bar__plus_03_dot_91 - object + Plunger_bar__plus_00_dot_36_bar__plus_00_dot_00_bar__plus_02_dot_47 - object + ScrubBrush_bar__plus_00_dot_40_bar__plus_00_dot_00_bar__plus_02_dot_69 - object + ShowerCurtain_bar__minus_00_dot_89_bar__plus_02_dot_20_bar__minus_00_dot_17 - object + ShowerHead_bar__minus_00_dot_13_bar__plus_01_dot_45_bar__plus_02_dot_05 - object + Sink_bar__minus_03_dot_12_bar__minus_00_dot_01_bar__plus_01_dot_53 - object + SoapBar_bar__minus_02_dot_39_bar__plus_01_dot_30_bar__plus_03_dot_92 - object + SoapBottle_bar__plus_00_dot_45_bar__plus_01_dot_05_bar__plus_02_dot_97 - object + SoapBottle_bar__minus_02_dot_57_bar__plus_01_dot_55_bar__plus_03_dot_85 - object + SprayBottle_bar__plus_00_dot_29_bar__plus_01_dot_05_bar__plus_03_dot_23 - object + SprayBottle_bar__plus_00_dot_39_bar__plus_01_dot_05_bar__plus_03_dot_17 - object + SprayBottle_bar__minus_03_dot_32_bar__plus_00_dot_24_bar__plus_00_dot_08 - object + ToiletPaper_bar__minus_00_dot_74_bar__plus_00_dot_63_bar__plus_01_dot_54 - object + ToiletPaper_bar__minus_03_dot_38_bar__plus_00_dot_23_bar__plus_00_dot_23 - object + Towel_bar__minus_01_dot_30_bar__plus_01_dot_06_bar__minus_00_dot_18 - object + Window_bar__minus_01_dot_51_bar__plus_01_dot_32_bar__minus_00_dot_36 - object + Bathtub_bar__minus_00_dot_21_bar__plus_00_dot_36_bar__plus_00_dot_92_bar_BathtubBasin - receptacle + Cart_bar__minus_03_dot_21_bar__plus_00_dot_00_bar__plus_00_dot_15 - receptacle + GarbageCan_bar__minus_00_dot_87_bar__plus_00_dot_00_bar__plus_03_dot_86 - receptacle + HandTowelHolder_bar__minus_03_dot_46_bar__plus_01_dot_46_bar__plus_00_dot_82 - receptacle + HandTowelHolder_bar__minus_03_dot_46_bar__plus_01_dot_46_bar__plus_02_dot_10 - receptacle + Shelf_bar__minus_02_dot_59_bar__plus_00_dot_78_bar__plus_03_dot_91 - receptacle + Shelf_bar__minus_02_dot_59_bar__plus_01_dot_03_bar__plus_03_dot_94 - receptacle + Shelf_bar__minus_02_dot_59_bar__plus_01_dot_29_bar__plus_03_dot_94 - receptacle + Shelf_bar__minus_02_dot_59_bar__plus_01_dot_53_bar__plus_03_dot_91 - receptacle + Sink_bar__minus_03_dot_12_bar__minus_00_dot_01_bar__plus_01_dot_53_bar_SinkBasin - receptacle + ToiletPaperHanger_bar__minus_00_dot_43_bar__plus_00_dot_78_bar__plus_02_dot_28 - receptacle + Toilet_bar__plus_00_dot_06_bar__plus_00_dot_00_bar__plus_03_dot_10 - receptacle + TowelHolder_bar__minus_01_dot_30_bar__plus_01_dot_05_bar__minus_00_dot_29 - receptacle + TowelHolder_bar__minus_02_dot_05_bar__plus_01_dot_05_bar__minus_00_dot_29 - receptacle + loc_bar__minus_10_bar_1_bar_3_bar_60 - location + loc_bar__minus_10_bar_13_bar_0_bar_60 - location + loc_bar__minus_10_bar_6_bar_3_bar_0 - location + loc_bar__minus_11_bar_9_bar_3_bar_15 - location + loc_bar__minus_11_bar_3_bar_3_bar_15 - location + loc_bar__minus_3_bar_11_bar_2_bar_60 - location + loc_bar__minus_6_bar_1_bar_2_bar_45 - location + loc_bar__minus_8_bar_1_bar_2_bar_45 - location + loc_bar__minus_8_bar_13_bar_1_bar_60 - location + loc_bar__minus_12_bar_10_bar_3_bar_30 - location + loc_bar__minus_10_bar_13_bar_0_bar_30 - location + loc_bar__minus_5_bar_4_bar_1_bar_45 - location + loc_bar__minus_10_bar_13_bar_0_bar_45 - location + loc_bar__minus_6_bar_1_bar_2_bar_30 - location + loc_bar__minus_10_bar_6_bar_3_bar_60 - location + loc_bar__minus_10_bar_5_bar_3_bar_45 - location + loc_bar__minus_3_bar_12_bar_1_bar_60 - location + loc_bar__minus_3_bar_11_bar_1_bar_60 - location + loc_bar__minus_10_bar_13_bar_0_bar_15 - location + loc_bar__minus_5_bar_4_bar_1_bar_60 - location + loc_bar__minus_9_bar_7_bar_2_bar_30 - location + ) + + +(:init + + + (receptacleType Shelf_bar__minus_02_dot_59_bar__plus_01_dot_29_bar__plus_03_dot_94 ShelfType) + (receptacleType Shelf_bar__minus_02_dot_59_bar__plus_01_dot_03_bar__plus_03_dot_94 ShelfType) + (receptacleType Shelf_bar__minus_02_dot_59_bar__plus_01_dot_53_bar__plus_03_dot_91 ShelfType) + (receptacleType Sink_bar__minus_03_dot_12_bar__minus_00_dot_01_bar__plus_01_dot_53_bar_SinkBasin SinkBasinType) + (receptacleType TowelHolder_bar__minus_01_dot_30_bar__plus_01_dot_05_bar__minus_00_dot_29 TowelHolderType) + (receptacleType HandTowelHolder_bar__minus_03_dot_46_bar__plus_01_dot_46_bar__plus_02_dot_10 HandTowelHolderType) + (receptacleType TowelHolder_bar__minus_02_dot_05_bar__plus_01_dot_05_bar__minus_00_dot_29 TowelHolderType) + (receptacleType GarbageCan_bar__minus_00_dot_87_bar__plus_00_dot_00_bar__plus_03_dot_86 GarbageCanType) + (receptacleType Shelf_bar__minus_02_dot_59_bar__plus_00_dot_78_bar__plus_03_dot_91 ShelfType) + (receptacleType HandTowelHolder_bar__minus_03_dot_46_bar__plus_01_dot_46_bar__plus_00_dot_82 HandTowelHolderType) + (receptacleType ToiletPaperHanger_bar__minus_00_dot_43_bar__plus_00_dot_78_bar__plus_02_dot_28 ToiletPaperHangerType) + (receptacleType Bathtub_bar__minus_00_dot_21_bar__plus_00_dot_36_bar__plus_00_dot_92_bar_BathtubBasin BathtubBasinType) + (receptacleType Toilet_bar__plus_00_dot_06_bar__plus_00_dot_00_bar__plus_03_dot_10 ToiletType) + (receptacleType Cart_bar__minus_03_dot_21_bar__plus_00_dot_00_bar__plus_00_dot_15 CartType) + (objectType SprayBottle_bar__plus_00_dot_29_bar__plus_01_dot_05_bar__plus_03_dot_23 SprayBottleType) + (objectType DishSponge_bar__minus_03_dot_01_bar__plus_00_dot_86_bar__plus_01_dot_57 DishSpongeType) + (objectType Mirror_bar__minus_03_dot_45_bar__plus_01_dot_58_bar__plus_01_dot_52 MirrorType) + (objectType Cloth_bar__minus_00_dot_14_bar__plus_00_dot_05_bar__plus_01_dot_35 ClothType) + (objectType PaperTowelRoll_bar__minus_00_dot_72_bar__plus_00_dot_15_bar__plus_03_dot_91 PaperTowelRollType) + (objectType Candle_bar__plus_00_dot_32_bar__plus_01_dot_05_bar__plus_03_dot_03 CandleType) + (objectType HandTowel_bar__minus_03_dot_42_bar__plus_01_dot_34_bar__plus_02_dot_10 HandTowelType) + (objectType SoapBottle_bar__minus_02_dot_57_bar__plus_01_dot_55_bar__plus_03_dot_85 SoapBottleType) + (objectType Cloth_bar__minus_00_dot_23_bar__plus_00_dot_05_bar__plus_01_dot_58 ClothType) + (objectType SprayBottle_bar__minus_03_dot_32_bar__plus_00_dot_24_bar__plus_00_dot_08 SprayBottleType) + (objectType Sink_bar__minus_03_dot_12_bar__minus_00_dot_01_bar__plus_01_dot_53 SinkType) + (objectType DishSponge_bar__minus_00_dot_91_bar__plus_00_dot_04_bar__plus_03_dot_86 DishSpongeType) + (objectType DishSponge_bar__minus_03_dot_09_bar__plus_00_dot_23_bar__plus_00_dot_08 DishSpongeType) + (objectType ToiletPaper_bar__minus_00_dot_74_bar__plus_00_dot_63_bar__plus_01_dot_54 ToiletPaperType) + (objectType LightSwitch_bar__minus_03_dot_46_bar__plus_01_dot_44_bar__plus_02_dot_50 LightSwitchType) + (objectType ScrubBrush_bar__plus_00_dot_40_bar__plus_00_dot_00_bar__plus_02_dot_69 ScrubBrushType) + (objectType SprayBottle_bar__plus_00_dot_39_bar__plus_01_dot_05_bar__plus_03_dot_17 SprayBottleType) + (objectType ToiletPaper_bar__minus_03_dot_38_bar__plus_00_dot_23_bar__plus_00_dot_23 ToiletPaperType) + (objectType HandTowel_bar__minus_03_dot_42_bar__plus_01_dot_36_bar__plus_00_dot_82 HandTowelType) + (objectType Plunger_bar__plus_00_dot_36_bar__plus_00_dot_00_bar__plus_02_dot_47 PlungerType) + (objectType Window_bar__minus_01_dot_51_bar__plus_01_dot_32_bar__minus_00_dot_36 WindowType) + (objectType Towel_bar__minus_01_dot_30_bar__plus_01_dot_06_bar__minus_00_dot_18 TowelType) + (objectType SoapBar_bar__minus_02_dot_39_bar__plus_01_dot_30_bar__plus_03_dot_92 SoapBarType) + (objectType SoapBottle_bar__plus_00_dot_45_bar__plus_01_dot_05_bar__plus_02_dot_97 SoapBottleType) + (objectType Bathtub_bar__minus_00_dot_21_bar__plus_00_dot_36_bar__plus_00_dot_92 BathtubType) + (canContain ShelfType SprayBottleType) + (canContain ShelfType SoapBarType) + (canContain ShelfType SoapBottleType) + (canContain ShelfType DishSpongeType) + (canContain ShelfType ToiletPaperType) + (canContain ShelfType CandleType) + (canContain ShelfType ClothType) + (canContain ShelfType HandTowelType) + (canContain ShelfType SprayBottleType) + (canContain ShelfType SoapBarType) + (canContain ShelfType SoapBottleType) + (canContain ShelfType DishSpongeType) + (canContain ShelfType ToiletPaperType) + (canContain ShelfType CandleType) + (canContain ShelfType ClothType) + (canContain ShelfType HandTowelType) + (canContain ShelfType SprayBottleType) + (canContain ShelfType SoapBarType) + (canContain ShelfType SoapBottleType) + (canContain ShelfType DishSpongeType) + (canContain ShelfType ToiletPaperType) + (canContain ShelfType CandleType) + (canContain ShelfType ClothType) + (canContain ShelfType HandTowelType) + (canContain SinkBasinType SoapBarType) + (canContain SinkBasinType DishSpongeType) + (canContain SinkBasinType ClothType) + (canContain SinkBasinType HandTowelType) + (canContain TowelHolderType TowelType) + (canContain HandTowelHolderType HandTowelType) + (canContain TowelHolderType TowelType) + (canContain GarbageCanType SprayBottleType) + (canContain GarbageCanType SoapBarType) + (canContain GarbageCanType SoapBottleType) + (canContain GarbageCanType DishSpongeType) + (canContain GarbageCanType ToiletPaperType) + (canContain GarbageCanType ClothType) + (canContain GarbageCanType HandTowelType) + (canContain ShelfType SprayBottleType) + (canContain ShelfType SoapBarType) + (canContain ShelfType SoapBottleType) + (canContain ShelfType DishSpongeType) + (canContain ShelfType ToiletPaperType) + (canContain ShelfType CandleType) + (canContain ShelfType ClothType) + (canContain ShelfType HandTowelType) + (canContain HandTowelHolderType HandTowelType) + (canContain ToiletPaperHangerType ToiletPaperType) + (canContain BathtubBasinType HandTowelType) + (canContain BathtubBasinType SoapBarType) + (canContain BathtubBasinType ClothType) + (canContain BathtubBasinType DishSpongeType) + (canContain ToiletType ClothType) + (canContain ToiletType SoapBarType) + (canContain ToiletType HandTowelType) + (canContain ToiletType ToiletPaperType) + (canContain ToiletType SoapBottleType) + (canContain ToiletType DishSpongeType) + (canContain ToiletType SprayBottleType) + (canContain ToiletType CandleType) + (canContain CartType ClothType) + (canContain CartType PlungerType) + (canContain CartType SoapBarType) + (canContain CartType HandTowelType) + (canContain CartType ToiletPaperType) + (canContain CartType SoapBottleType) + (canContain CartType DishSpongeType) + (canContain CartType SprayBottleType) + (canContain CartType CandleType) + (pickupable SprayBottle_bar__plus_00_dot_29_bar__plus_01_dot_05_bar__plus_03_dot_23) + (pickupable DishSponge_bar__minus_03_dot_01_bar__plus_00_dot_86_bar__plus_01_dot_57) + (pickupable Cloth_bar__minus_00_dot_14_bar__plus_00_dot_05_bar__plus_01_dot_35) + (pickupable PaperTowelRoll_bar__minus_00_dot_72_bar__plus_00_dot_15_bar__plus_03_dot_91) + (pickupable Candle_bar__plus_00_dot_32_bar__plus_01_dot_05_bar__plus_03_dot_03) + (pickupable HandTowel_bar__minus_03_dot_42_bar__plus_01_dot_34_bar__plus_02_dot_10) + (pickupable SoapBottle_bar__minus_02_dot_57_bar__plus_01_dot_55_bar__plus_03_dot_85) + (pickupable Cloth_bar__minus_00_dot_23_bar__plus_00_dot_05_bar__plus_01_dot_58) + (pickupable SprayBottle_bar__minus_03_dot_32_bar__plus_00_dot_24_bar__plus_00_dot_08) + (pickupable DishSponge_bar__minus_00_dot_91_bar__plus_00_dot_04_bar__plus_03_dot_86) + (pickupable DishSponge_bar__minus_03_dot_09_bar__plus_00_dot_23_bar__plus_00_dot_08) + (pickupable ToiletPaper_bar__minus_00_dot_74_bar__plus_00_dot_63_bar__plus_01_dot_54) + (pickupable ScrubBrush_bar__plus_00_dot_40_bar__plus_00_dot_00_bar__plus_02_dot_69) + (pickupable SprayBottle_bar__plus_00_dot_39_bar__plus_01_dot_05_bar__plus_03_dot_17) + (pickupable ToiletPaper_bar__minus_03_dot_38_bar__plus_00_dot_23_bar__plus_00_dot_23) + (pickupable HandTowel_bar__minus_03_dot_42_bar__plus_01_dot_36_bar__plus_00_dot_82) + (pickupable Plunger_bar__plus_00_dot_36_bar__plus_00_dot_00_bar__plus_02_dot_47) + (pickupable Towel_bar__minus_01_dot_30_bar__plus_01_dot_06_bar__minus_00_dot_18) + (pickupable SoapBar_bar__minus_02_dot_39_bar__plus_01_dot_30_bar__plus_03_dot_92) + (pickupable SoapBottle_bar__plus_00_dot_45_bar__plus_01_dot_05_bar__plus_02_dot_97) + + + + (atLocation agent1 loc_bar__minus_9_bar_7_bar_2_bar_30) + + (cleanable DishSponge_bar__minus_03_dot_01_bar__plus_00_dot_86_bar__plus_01_dot_57) + (cleanable Cloth_bar__minus_00_dot_14_bar__plus_00_dot_05_bar__plus_01_dot_35) + (cleanable Cloth_bar__minus_00_dot_23_bar__plus_00_dot_05_bar__plus_01_dot_58) + (cleanable DishSponge_bar__minus_00_dot_91_bar__plus_00_dot_04_bar__plus_03_dot_86) + (cleanable DishSponge_bar__minus_03_dot_09_bar__plus_00_dot_23_bar__plus_00_dot_08) + (cleanable SoapBar_bar__minus_02_dot_39_bar__plus_01_dot_30_bar__plus_03_dot_92) + + + + + + + + + + + (inReceptacle DishSponge_bar__minus_03_dot_01_bar__plus_00_dot_86_bar__plus_01_dot_57 Sink_bar__minus_03_dot_12_bar__minus_00_dot_01_bar__plus_01_dot_53_bar_SinkBasin) + (inReceptacle Cloth_bar__minus_00_dot_14_bar__plus_00_dot_05_bar__plus_01_dot_35 Bathtub_bar__minus_00_dot_21_bar__plus_00_dot_36_bar__plus_00_dot_92_bar_BathtubBasin) + (inReceptacle Cloth_bar__minus_00_dot_23_bar__plus_00_dot_05_bar__plus_01_dot_58 Bathtub_bar__minus_00_dot_21_bar__plus_00_dot_36_bar__plus_00_dot_92_bar_BathtubBasin) + (inReceptacle Towel_bar__minus_01_dot_30_bar__plus_01_dot_06_bar__minus_00_dot_18 TowelHolder_bar__minus_01_dot_30_bar__plus_01_dot_05_bar__minus_00_dot_29) + (inReceptacle PaperTowelRoll_bar__minus_00_dot_72_bar__plus_00_dot_15_bar__plus_03_dot_91 GarbageCan_bar__minus_00_dot_87_bar__plus_00_dot_00_bar__plus_03_dot_86) + (inReceptacle DishSponge_bar__minus_00_dot_91_bar__plus_00_dot_04_bar__plus_03_dot_86 GarbageCan_bar__minus_00_dot_87_bar__plus_00_dot_00_bar__plus_03_dot_86) + (inReceptacle SoapBar_bar__minus_02_dot_39_bar__plus_01_dot_30_bar__plus_03_dot_92 Shelf_bar__minus_02_dot_59_bar__plus_01_dot_29_bar__plus_03_dot_94) + (inReceptacle SoapBottle_bar__minus_02_dot_57_bar__plus_01_dot_55_bar__plus_03_dot_85 Shelf_bar__minus_02_dot_59_bar__plus_01_dot_53_bar__plus_03_dot_91) + (inReceptacle HandTowel_bar__minus_03_dot_42_bar__plus_01_dot_34_bar__plus_02_dot_10 HandTowelHolder_bar__minus_03_dot_46_bar__plus_01_dot_46_bar__plus_02_dot_10) + (inReceptacle HandTowel_bar__minus_03_dot_42_bar__plus_01_dot_36_bar__plus_00_dot_82 HandTowelHolder_bar__minus_03_dot_46_bar__plus_01_dot_46_bar__plus_00_dot_82) + (inReceptacle ToiletPaper_bar__minus_03_dot_38_bar__plus_00_dot_23_bar__plus_00_dot_23 Cart_bar__minus_03_dot_21_bar__plus_00_dot_00_bar__plus_00_dot_15) + (inReceptacle DishSponge_bar__minus_03_dot_09_bar__plus_00_dot_23_bar__plus_00_dot_08 Cart_bar__minus_03_dot_21_bar__plus_00_dot_00_bar__plus_00_dot_15) + (inReceptacle SprayBottle_bar__minus_03_dot_32_bar__plus_00_dot_24_bar__plus_00_dot_08 Cart_bar__minus_03_dot_21_bar__plus_00_dot_00_bar__plus_00_dot_15) + (inReceptacle Candle_bar__plus_00_dot_32_bar__plus_01_dot_05_bar__plus_03_dot_03 Toilet_bar__plus_00_dot_06_bar__plus_00_dot_00_bar__plus_03_dot_10) + (inReceptacle SprayBottle_bar__plus_00_dot_39_bar__plus_01_dot_05_bar__plus_03_dot_17 Toilet_bar__plus_00_dot_06_bar__plus_00_dot_00_bar__plus_03_dot_10) + (inReceptacle SoapBottle_bar__plus_00_dot_45_bar__plus_01_dot_05_bar__plus_02_dot_97 Toilet_bar__plus_00_dot_06_bar__plus_00_dot_00_bar__plus_03_dot_10) + (inReceptacle SprayBottle_bar__plus_00_dot_29_bar__plus_01_dot_05_bar__plus_03_dot_23 Toilet_bar__plus_00_dot_06_bar__plus_00_dot_00_bar__plus_03_dot_10) + + + (receptacleAtLocation Bathtub_bar__minus_00_dot_21_bar__plus_00_dot_36_bar__plus_00_dot_92_bar_BathtubBasin loc_bar__minus_5_bar_4_bar_1_bar_60) + (receptacleAtLocation Cart_bar__minus_03_dot_21_bar__plus_00_dot_00_bar__plus_00_dot_15 loc_bar__minus_10_bar_1_bar_3_bar_60) + (receptacleAtLocation GarbageCan_bar__minus_00_dot_87_bar__plus_00_dot_00_bar__plus_03_dot_86 loc_bar__minus_8_bar_13_bar_1_bar_60) + (receptacleAtLocation HandTowelHolder_bar__minus_03_dot_46_bar__plus_01_dot_46_bar__plus_00_dot_82 loc_bar__minus_11_bar_3_bar_3_bar_15) + (receptacleAtLocation HandTowelHolder_bar__minus_03_dot_46_bar__plus_01_dot_46_bar__plus_02_dot_10 loc_bar__minus_11_bar_9_bar_3_bar_15) + (receptacleAtLocation Shelf_bar__minus_02_dot_59_bar__plus_00_dot_78_bar__plus_03_dot_91 loc_bar__minus_10_bar_13_bar_0_bar_60) + (receptacleAtLocation Shelf_bar__minus_02_dot_59_bar__plus_01_dot_03_bar__plus_03_dot_94 loc_bar__minus_10_bar_13_bar_0_bar_45) + (receptacleAtLocation Shelf_bar__minus_02_dot_59_bar__plus_01_dot_29_bar__plus_03_dot_94 loc_bar__minus_10_bar_13_bar_0_bar_30) + (receptacleAtLocation Shelf_bar__minus_02_dot_59_bar__plus_01_dot_53_bar__plus_03_dot_91 loc_bar__minus_10_bar_13_bar_0_bar_15) + (receptacleAtLocation Sink_bar__minus_03_dot_12_bar__minus_00_dot_01_bar__plus_01_dot_53_bar_SinkBasin loc_bar__minus_10_bar_5_bar_3_bar_45) + (receptacleAtLocation ToiletPaperHanger_bar__minus_00_dot_43_bar__plus_00_dot_78_bar__plus_02_dot_28 loc_bar__minus_3_bar_11_bar_2_bar_60) + (receptacleAtLocation Toilet_bar__plus_00_dot_06_bar__plus_00_dot_00_bar__plus_03_dot_10 loc_bar__minus_3_bar_12_bar_1_bar_60) + (receptacleAtLocation TowelHolder_bar__minus_01_dot_30_bar__plus_01_dot_05_bar__minus_00_dot_29 loc_bar__minus_6_bar_1_bar_2_bar_45) + (receptacleAtLocation TowelHolder_bar__minus_02_dot_05_bar__plus_01_dot_05_bar__minus_00_dot_29 loc_bar__minus_8_bar_1_bar_2_bar_45) + (objectAtLocation DishSponge_bar__minus_03_dot_01_bar__plus_00_dot_86_bar__plus_01_dot_57 loc_bar__minus_10_bar_5_bar_3_bar_45) + (objectAtLocation SprayBottle_bar__plus_00_dot_29_bar__plus_01_dot_05_bar__plus_03_dot_23 loc_bar__minus_3_bar_12_bar_1_bar_60) + (objectAtLocation Cloth_bar__minus_00_dot_23_bar__plus_00_dot_05_bar__plus_01_dot_58 loc_bar__minus_5_bar_4_bar_1_bar_60) + (objectAtLocation SoapBottle_bar__plus_00_dot_45_bar__plus_01_dot_05_bar__plus_02_dot_97 loc_bar__minus_3_bar_12_bar_1_bar_60) + (objectAtLocation HandTowel_bar__minus_03_dot_42_bar__plus_01_dot_34_bar__plus_02_dot_10 loc_bar__minus_11_bar_9_bar_3_bar_15) + (objectAtLocation DishSponge_bar__minus_00_dot_91_bar__plus_00_dot_04_bar__plus_03_dot_86 loc_bar__minus_8_bar_13_bar_1_bar_60) + (objectAtLocation SprayBottle_bar__minus_03_dot_32_bar__plus_00_dot_24_bar__plus_00_dot_08 loc_bar__minus_10_bar_1_bar_3_bar_60) + (objectAtLocation Window_bar__minus_01_dot_51_bar__plus_01_dot_32_bar__minus_00_dot_36 loc_bar__minus_6_bar_1_bar_2_bar_30) + (objectAtLocation Bathtub_bar__minus_00_dot_21_bar__plus_00_dot_36_bar__plus_00_dot_92 loc_bar__minus_5_bar_4_bar_1_bar_45) + (objectAtLocation Sink_bar__minus_03_dot_12_bar__minus_00_dot_01_bar__plus_01_dot_53 loc_bar__minus_10_bar_6_bar_3_bar_60) + (objectAtLocation Mirror_bar__minus_03_dot_45_bar__plus_01_dot_58_bar__plus_01_dot_52 loc_bar__minus_10_bar_6_bar_3_bar_0) + (objectAtLocation Towel_bar__minus_01_dot_30_bar__plus_01_dot_06_bar__minus_00_dot_18 loc_bar__minus_6_bar_1_bar_2_bar_45) + (objectAtLocation HandTowel_bar__minus_03_dot_42_bar__plus_01_dot_36_bar__plus_00_dot_82 loc_bar__minus_11_bar_3_bar_3_bar_15) + (objectAtLocation Plunger_bar__plus_00_dot_36_bar__plus_00_dot_00_bar__plus_02_dot_47 loc_bar__minus_3_bar_11_bar_1_bar_60) + (objectAtLocation SoapBar_bar__minus_02_dot_39_bar__plus_01_dot_30_bar__plus_03_dot_92 loc_bar__minus_10_bar_13_bar_0_bar_30) + (objectAtLocation ToiletPaper_bar__minus_00_dot_74_bar__plus_00_dot_63_bar__plus_01_dot_54 loc_bar__minus_5_bar_4_bar_1_bar_60) + (objectAtLocation SoapBottle_bar__minus_02_dot_57_bar__plus_01_dot_55_bar__plus_03_dot_85 loc_bar__minus_10_bar_13_bar_0_bar_15) + (objectAtLocation ToiletPaper_bar__minus_03_dot_38_bar__plus_00_dot_23_bar__plus_00_dot_23 loc_bar__minus_10_bar_1_bar_3_bar_60) + (objectAtLocation Cloth_bar__minus_00_dot_14_bar__plus_00_dot_05_bar__plus_01_dot_35 loc_bar__minus_5_bar_4_bar_1_bar_60) + (objectAtLocation PaperTowelRoll_bar__minus_00_dot_72_bar__plus_00_dot_15_bar__plus_03_dot_91 loc_bar__minus_8_bar_13_bar_1_bar_60) + (objectAtLocation Candle_bar__plus_00_dot_32_bar__plus_01_dot_05_bar__plus_03_dot_03 loc_bar__minus_3_bar_12_bar_1_bar_60) + (objectAtLocation SprayBottle_bar__plus_00_dot_39_bar__plus_01_dot_05_bar__plus_03_dot_17 loc_bar__minus_3_bar_12_bar_1_bar_60) + (objectAtLocation ScrubBrush_bar__plus_00_dot_40_bar__plus_00_dot_00_bar__plus_02_dot_69 loc_bar__minus_3_bar_11_bar_1_bar_60) + (objectAtLocation DishSponge_bar__minus_03_dot_09_bar__plus_00_dot_23_bar__plus_00_dot_08 loc_bar__minus_10_bar_1_bar_3_bar_60) + (objectAtLocation LightSwitch_bar__minus_03_dot_46_bar__plus_01_dot_44_bar__plus_02_dot_50 loc_bar__minus_12_bar_10_bar_3_bar_30) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (inReceptacle ?o ?r) + (objectType ?o SoapBarType) + (receptacleType ?r CartType) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/valid_seen/pick_and_place_simple-SoapBar-None-Cart-401/trial_T20190907_054906_608944/traj_data.json b/data/alfworld/json_2.1.1/valid_seen/pick_and_place_simple-SoapBar-None-Cart-401/trial_T20190907_054906_608944/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..f0d8cc244cf0907c240bdcdf97bc0750fa28cc5a --- /dev/null +++ b/data/alfworld/json_2.1.1/valid_seen/pick_and_place_simple-SoapBar-None-Cart-401/trial_T20190907_054906_608944/traj_data.json @@ -0,0 +1,5292 @@ +{ + "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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"Cloth_92b40c2d", + "position": { + "x": -0.227213725, + "y": 0.05370891, + "z": 1.57542443 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "PaperTowelRoll_c7fc6224", + "position": { + "x": -0.723474562, + "y": 0.149079591, + "z": 3.91455078 + }, + "rotation": { + "x": 0.0, + "y": -1.70754731e-06, + "z": 0.0 + } + }, + { + "objectName": "Candle_65c4a30b", + "position": { + "x": 0.324733019, + "y": 1.04831386, + "z": 3.03487039 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + }, + { + "objectName": "SprayBottle_fd021280", + "position": { + "x": 0.2941002, + "y": 1.04810143, + "z": 3.23158622 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + }, + { + "objectName": "ScrubBrush_e883c95a", + "position": { + "x": 0.397, + "y": 0.000617262, + "z": 2.694 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_932adbed", + "position": { + "x": -3.00765419, + "y": 0.856881559, + "z": 1.57197452 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 3233969244, + "scene_num": 401 + }, + "task_id": "trial_T20190907_054906_608944", + "task_type": "pick_and_place_simple", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A1NWXL4QO30M8U_33IZTU6J84IXH2IZ0JEE2BQJJLESXC", + "high_descs": [ + "Turn around and walk across the room to the shelves. ", + "Take the soap off the third shelf from the bottom.", + "Turn around and walk across the room, then turn right to face the rack. ", + "Place the soap on the middle rack." + ], + "task_desc": "To place the soap on the rack.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AOWW3URQNRJ6U_3M0BCWMB8YDJBGW7FSWXA32C6VLBW0", + "high_descs": [ + "Turn and walk to the shelves next to the door.", + "Pick up the bar of soap.", + "Turn and walk to the metal rack next to the sink.", + "Place the bar of soap on the middle rack." + ], + "task_desc": "Move the bar of soap from the shelves to the metal rack. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1MKCTVKE7J0ZP_3OWEPKL08CT6MAK3AATU9I3PUTUN73", + "high_descs": [ + "Turn right, then turn right again, and go straight to the shelves in front of you.", + "Take the bar of soap from the shelf.", + "Turn around, go straight, then turn right at the metal shelf.", + "Place the bar of soap on the metal shelf." + ], + "task_desc": "Put a bar of soap on a shelf. ", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/valid_seen/pick_and_place_simple-SprayBottle-None-Toilet-415/trial_T20190909_075955_678702/game.tw-pddl b/data/alfworld/json_2.1.1/valid_seen/pick_and_place_simple-SprayBottle-None-Toilet-415/trial_T20190909_075955_678702/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..1668d98e5fac754db32b71ecdd1bfb2bf75b041a --- /dev/null +++ b/data/alfworld/json_2.1.1/valid_seen/pick_and_place_simple-SprayBottle-None-Toilet-415/trial_T20190909_075955_678702/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\n\\n#task#\"\n }\n ],\n\n \"notImplemented\": [\n {\n \"rhs\": \"TODO\"\n }\n ],\n\n \"task\": [\n {\n \"rhs\": \"Your task is to: put some spraybottle on toilet.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190909_075955_678702)\n(:domain alfred)\n(:objects\nagent1 - agent\nCurtains - object\n SprayBottle - object\n Mirror - object\n HousePlant - object\n Watch - object\n TeddyBear - object\n WateringCan - object\n Bathtub - object\n LightSwitch - object\n Vase - object\n Candle - object\n Bread - object\n Statue - object\n HandTowel - object\n StoveKnob - object\n PaperTowelRoll - object\n Pan - object\n PepperShaker - object\n Painting - object\n CellPhone - object\n Plunger - object\n Spoon - object\n SaltShaker - object\n KeyChain - object\n Footstool - object\n Poster - object\n Television - object\n LaundryHamperLid - object\n Glassbottle - object\n AlarmClock - object\n WineBottle - object\n Bowl - object\n Sink - object\n TissueBox - object\n TennisRacket - object\n ToiletPaper - object\n ScrubBrush - object\n CreditCard - object\n Laptop - object\n Cloth - object\n Cup - object\n Chair - object\n BasketBall - object\n Kettle - object\n PaperTowel - object\n ShowerDoor - object\n BaseballBat - object\n Potato - object\n Pillow - object\n Lettuce - object\n RemoteControl - object\n Window - object\n DishSponge - object\n CD - object\n Boots - object\n Blinds - object\n Pen - object\n Newspaper - object\n Plate - object\n Mug - object\n ShowerGlass - object\n ToiletPaperRoll - object\n SoapBar - object\n FloorLamp - object\n SoapBottle - object\n Pot - object\n Pencil - object\n Spatula - object\n Towel - object\n Fork - object\n Ladle - object\n Knife - object\n Apple - object\n Box - object\n Tomato - object\n ButterKnife - object\n Egg - object\n Book - object\n DeskLamp - object\nCurtainsType - otype\n SprayBottleType - otype\n MirrorType - otype\n HousePlantType - otype\n WatchType - otype\n TeddyBearType - otype\n WateringCanType - otype\n BathtubType - otype\n LightSwitchType - otype\n VaseType - otype\n CandleType - otype\n BreadType - otype\n StatueType - otype\n HandTowelType - otype\n StoveKnobType - otype\n PaperTowelRollType - otype\n PanType - otype\n PepperShakerType - otype\n PaintingType - otype\n CellPhoneType - otype\n PlungerType - otype\n SpoonType - otype\n SaltShakerType - otype\n KeyChainType - otype\n FootstoolType - otype\n PosterType - otype\n TelevisionType - otype\n LaundryHamperLidType - otype\n GlassbottleType - otype\n AlarmClockType - otype\n WineBottleType - otype\n BowlType - otype\n SinkType - otype\n TissueBoxType - otype\n TennisRacketType - otype\n ToiletPaperType - otype\n ScrubBrushType - otype\n CreditCardType - otype\n LaptopType - otype\n ClothType - otype\n CupType - otype\n ChairType - otype\n BasketBallType - otype\n KettleType - otype\n PaperTowelType - otype\n ShowerDoorType - otype\n BaseballBatType - otype\n PotatoType - otype\n PillowType - otype\n LettuceType - otype\n RemoteControlType - otype\n WindowType - otype\n DishSpongeType - otype\n CDType - otype\n BootsType - otype\n BlindsType - otype\n PenType - otype\n NewspaperType - otype\n PlateType - otype\n MugType - otype\n ShowerGlassType - otype\n ToiletPaperRollType - otype\n SoapBarType - otype\n FloorLampType - otype\n SoapBottleType - otype\n PotType - otype\n PencilType - otype\n SpatulaType - otype\n TowelType - otype\n ForkType - otype\n LadleType - otype\n KnifeType - otype\n AppleType - otype\n BoxType - otype\n TomatoType - otype\n ButterKnifeType - otype\n EggType - otype\n BookType - otype\n DeskLampType - otype\nCabinetType - rtype\n ShelfType - rtype\n DiningTableType - rtype\n TowelHolderType - rtype\n PaintingHangerType - rtype\n TVStandType - rtype\n LaundryHamperType - rtype\n OttomanType - rtype\n SafeType - rtype\n CoffeeMachineType - rtype\n CounterTopType - rtype\n ToiletType - rtype\n FridgeType - rtype\n CoffeeTableType - rtype\n SinkBasinType - rtype\n GarbageCanType - rtype\n BathtubBasinType - rtype\n SideTableType - rtype\n CartType - rtype\n BedType - rtype\n DeskType - rtype\n SofaType - rtype\n ArmChairType - rtype\n MicrowaveType - rtype\n HandTowelHolderType - rtype\n ToasterType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n DrawerType - rtype\n DresserType - rtype\n\n\n Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83 - object\n Candle_bar__minus_00_dot_09_bar__plus_00_dot_62_bar__minus_03_dot_62 - object\n Candle_bar__minus_00_dot_12_bar__plus_01_dot_16_bar__minus_03_dot_40 - object\n Candle_bar__minus_00_dot_15_bar__plus_01_dot_04_bar__minus_00_dot_48 - object\n Cloth_bar__minus_02_dot_52_bar__plus_00_dot_09_bar__minus_00_dot_39 - object\n Cloth_bar__minus_02_dot_59_bar__plus_00_dot_09_bar__minus_00_dot_68 - object\n Cloth_bar__minus_02_dot_65_bar__plus_00_dot_09_bar__minus_01_dot_25 - object\n Faucet_bar__minus_00_dot_04_bar__plus_01_dot_02_bar__minus_02_dot_08 - object\n HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_48_bar__minus_01_dot_55 - object\n HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_48_bar__minus_02_dot_66 - object\n LightSwitch_bar__minus_00_dot_36_bar__plus_01_dot_33_bar__minus_04_dot_00 - object\n Mirror_bar__minus_02_dot_98_bar__plus_01_dot_57_bar__minus_02_dot_90 - object\n Plunger_bar__minus_00_dot_37_bar_00_dot_00_bar__minus_00_dot_10 - object\n ScrubBrush_bar__minus_00_dot_14_bar_00_dot_00_bar__minus_00_dot_11 - object\n ShowerCurtain_bar__minus_02_dot_19_bar__plus_01_dot_92_bar__minus_01_dot_56 - object\n ShowerHead_bar__minus_02_dot_58_bar__plus_01_dot_20_bar__minus_00_dot_06 - object\n Sink_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_02_dot_08 - object\n SoapBar_bar__minus_00_dot_31_bar__plus_00_dot_87_bar__minus_02_dot_14 - object\n SoapBar_bar__minus_02_dot_69_bar__plus_00_dot_99_bar__minus_02_dot_66 - object\n SoapBottle_bar__minus_00_dot_12_bar__plus_01_dot_16_bar__minus_03_dot_10 - object\n SoapBottle_bar__minus_00_dot_12_bar__plus_01_dot_16_bar__minus_03_dot_60 - object\n SoapBottle_bar__minus_02_dot_51_bar__plus_00_dot_10_bar__minus_02_dot_71 - object\n SprayBottle_bar__minus_00_dot_15_bar__plus_01_dot_16_bar__minus_03_dot_50 - object\n SprayBottle_bar__minus_00_dot_25_bar__plus_00_dot_05_bar__minus_02_dot_77 - object\n SprayBottle_bar__minus_02_dot_54_bar__plus_00_dot_36_bar__minus_02_dot_51 - object\n SprayBottle_bar__minus_02_dot_62_bar__plus_00_dot_99_bar__minus_03_dot_45 - object\n ToiletPaper_bar__minus_00_dot_10_bar__plus_01_dot_04_bar__minus_00_dot_39 - object\n ToiletPaper_bar__minus_00_dot_15_bar__plus_01_dot_04_bar__minus_00_dot_74 - object\n Towel_bar__minus_01_dot_34_bar__plus_01_dot_19_bar__minus_00_dot_11 - object\n Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83_bar_BathtubBasin - receptacle\n CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92 - receptacle\n Drawer_bar__minus_00_dot_19_bar__plus_00_dot_16_bar__minus_03_dot_40 - receptacle\n Drawer_bar__minus_00_dot_19_bar__plus_00_dot_42_bar__minus_03_dot_40 - receptacle\n Drawer_bar__minus_00_dot_19_bar__plus_00_dot_68_bar__minus_03_dot_40 - receptacle\n Drawer_bar__minus_00_dot_19_bar__plus_00_dot_94_bar__minus_03_dot_40 - receptacle\n Dresser_bar__minus_00_dot_21_bar__plus_00_dot_81_bar__minus_03_dot_40 - receptacle\n GarbageCan_bar__minus_00_dot_23_bar_00_dot_00_bar__minus_02_dot_80 - receptacle\n HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_01_dot_55 - receptacle\n HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_02_dot_66 - receptacle\n Shelf_bar__minus_02_dot_54_bar__plus_00_dot_13_bar__minus_02_dot_92 - receptacle\n Shelf_bar__minus_02_dot_58_bar__plus_00_dot_40_bar__minus_02_dot_92 - receptacle\n Sink_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_02_dot_08_bar_SinkBasin - receptacle\n ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_87_bar__minus_00_dot_97 - receptacle\n Toilet_bar__minus_00_dot_41_bar_00_dot_00_bar__minus_00_dot_55 - receptacle\n TowelHolder_bar__minus_01_dot_34_bar__plus_01_dot_18_bar__plus_00_dot_00 - receptacle\n loc_bar__minus_5_bar__minus_12_bar_1_bar_45 - location\n loc_bar__minus_3_bar__minus_11_bar_1_bar_0 - location\n loc_bar__minus_3_bar__minus_6_bar_2_bar_60 - location\n loc_bar__minus_2_bar__minus_4_bar_0_bar_60 - location\n loc_bar__minus_2_bar__minus_13_bar_2_bar_30 - location\n loc_bar__minus_2_bar__minus_5_bar_0_bar_60 - location\n loc_bar__minus_8_bar__minus_12_bar_3_bar_60 - location\n loc_bar__minus_6_bar__minus_11_bar_1_bar_45 - location\n loc_bar__minus_5_bar__minus_11_bar_1_bar_60 - location\n loc_bar__minus_3_bar__minus_13_bar_1_bar_60 - location\n loc_bar__minus_6_bar__minus_2_bar_3_bar_60 - location\n loc_bar__minus_2_bar__minus_4_bar_1_bar_60 - location\n loc_bar__minus_4_bar__minus_8_bar_1_bar_60 - location\n loc_bar__minus_3_bar__minus_6_bar_1_bar_0 - location\n loc_bar__minus_5_bar__minus_11_bar_3_bar_45 - location\n loc_bar__minus_5_bar__minus_9_bar_1_bar_60 - location\n loc_bar__minus_8_bar__minus_11_bar_3_bar_45 - location\n loc_bar__minus_5_bar__minus_2_bar_0_bar_45 - location\n loc_bar__minus_4_bar__minus_13_bar_1_bar_45 - location\n loc_bar__minus_7_bar__minus_3_bar_3_bar_60 - location\n loc_bar__minus_6_bar__minus_9_bar_3_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Drawer_bar__minus_00_dot_19_bar__plus_00_dot_94_bar__minus_03_dot_40 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_19_bar__plus_00_dot_16_bar__minus_03_dot_40 DrawerType)\n (receptacleType TowelHolder_bar__minus_01_dot_34_bar__plus_01_dot_18_bar__plus_00_dot_00 TowelHolderType)\n (receptacleType GarbageCan_bar__minus_00_dot_23_bar_00_dot_00_bar__minus_02_dot_80 GarbageCanType)\n (receptacleType Shelf_bar__minus_02_dot_58_bar__plus_00_dot_40_bar__minus_02_dot_92 ShelfType)\n (receptacleType HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_01_dot_55 HandTowelHolderType)\n (receptacleType CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92 CounterTopType)\n (receptacleType Sink_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_02_dot_08_bar_SinkBasin SinkBasinType)\n (receptacleType Toilet_bar__minus_00_dot_41_bar_00_dot_00_bar__minus_00_dot_55 ToiletType)\n (receptacleType Shelf_bar__minus_02_dot_54_bar__plus_00_dot_13_bar__minus_02_dot_92 ShelfType)\n (receptacleType Dresser_bar__minus_00_dot_21_bar__plus_00_dot_81_bar__minus_03_dot_40 DresserType)\n (receptacleType Drawer_bar__minus_00_dot_19_bar__plus_00_dot_68_bar__minus_03_dot_40 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_19_bar__plus_00_dot_42_bar__minus_03_dot_40 DrawerType)\n (receptacleType ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_87_bar__minus_00_dot_97 ToiletPaperHangerType)\n (receptacleType Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83_bar_BathtubBasin BathtubBasinType)\n (receptacleType HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_02_dot_66 HandTowelHolderType)\n (objectType HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_48_bar__minus_02_dot_66 HandTowelType)\n (objectType ToiletPaper_bar__minus_00_dot_15_bar__plus_01_dot_04_bar__minus_00_dot_74 ToiletPaperType)\n (objectType SprayBottle_bar__minus_02_dot_62_bar__plus_00_dot_99_bar__minus_03_dot_45 SprayBottleType)\n (objectType LightSwitch_bar__minus_00_dot_36_bar__plus_01_dot_33_bar__minus_04_dot_00 LightSwitchType)\n (objectType Candle_bar__minus_00_dot_12_bar__plus_01_dot_16_bar__minus_03_dot_40 CandleType)\n (objectType Cloth_bar__minus_02_dot_65_bar__plus_00_dot_09_bar__minus_01_dot_25 ClothType)\n (objectType SoapBottle_bar__minus_00_dot_12_bar__plus_01_dot_16_bar__minus_03_dot_60 SoapBottleType)\n (objectType SoapBar_bar__minus_02_dot_69_bar__plus_00_dot_99_bar__minus_02_dot_66 SoapBarType)\n (objectType Candle_bar__minus_00_dot_09_bar__plus_00_dot_62_bar__minus_03_dot_62 CandleType)\n (objectType SprayBottle_bar__minus_02_dot_54_bar__plus_00_dot_36_bar__minus_02_dot_51 SprayBottleType)\n (objectType SoapBottle_bar__minus_02_dot_51_bar__plus_00_dot_10_bar__minus_02_dot_71 SoapBottleType)\n (objectType Candle_bar__minus_00_dot_15_bar__plus_01_dot_04_bar__minus_00_dot_48 CandleType)\n (objectType Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83 BathtubType)\n (objectType Mirror_bar__minus_02_dot_98_bar__plus_01_dot_57_bar__minus_02_dot_90 MirrorType)\n (objectType SprayBottle_bar__minus_00_dot_25_bar__plus_00_dot_05_bar__minus_02_dot_77 SprayBottleType)\n (objectType SprayBottle_bar__minus_00_dot_15_bar__plus_01_dot_16_bar__minus_03_dot_50 SprayBottleType)\n (objectType Sink_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_02_dot_08 SinkType)\n (objectType HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_48_bar__minus_01_dot_55 HandTowelType)\n (objectType ScrubBrush_bar__minus_00_dot_14_bar_00_dot_00_bar__minus_00_dot_11 ScrubBrushType)\n (objectType Cloth_bar__minus_02_dot_59_bar__plus_00_dot_09_bar__minus_00_dot_68 ClothType)\n (objectType ToiletPaper_bar__minus_00_dot_10_bar__plus_01_dot_04_bar__minus_00_dot_39 ToiletPaperType)\n (objectType Plunger_bar__minus_00_dot_37_bar_00_dot_00_bar__minus_00_dot_10 PlungerType)\n (objectType Cloth_bar__minus_02_dot_52_bar__plus_00_dot_09_bar__minus_00_dot_39 ClothType)\n (objectType SoapBar_bar__minus_00_dot_31_bar__plus_00_dot_87_bar__minus_02_dot_14 SoapBarType)\n (objectType Towel_bar__minus_01_dot_34_bar__plus_01_dot_19_bar__minus_00_dot_11 TowelType)\n (objectType SoapBottle_bar__minus_00_dot_12_bar__plus_01_dot_16_bar__minus_03_dot_10 SoapBottleType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType CandleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType HandTowelType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType CandleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType HandTowelType)\n (canContain TowelHolderType TowelType)\n (canContain GarbageCanType SprayBottleType)\n (canContain GarbageCanType SoapBarType)\n (canContain GarbageCanType SoapBottleType)\n (canContain GarbageCanType ToiletPaperType)\n (canContain GarbageCanType ClothType)\n (canContain GarbageCanType HandTowelType)\n (canContain ShelfType SprayBottleType)\n (canContain ShelfType SoapBarType)\n (canContain ShelfType SoapBottleType)\n (canContain ShelfType ToiletPaperType)\n (canContain ShelfType CandleType)\n (canContain ShelfType ClothType)\n (canContain ShelfType HandTowelType)\n (canContain HandTowelHolderType HandTowelType)\n (canContain CounterTopType SprayBottleType)\n (canContain CounterTopType SoapBarType)\n (canContain CounterTopType SoapBottleType)\n (canContain CounterTopType ToiletPaperType)\n (canContain CounterTopType CandleType)\n (canContain CounterTopType ClothType)\n (canContain CounterTopType HandTowelType)\n (canContain SinkBasinType SoapBarType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType HandTowelType)\n (canContain ToiletType ClothType)\n (canContain ToiletType SoapBarType)\n (canContain ToiletType HandTowelType)\n (canContain ToiletType ToiletPaperType)\n (canContain ToiletType SoapBottleType)\n (canContain ToiletType SprayBottleType)\n (canContain ToiletType CandleType)\n (canContain ShelfType SprayBottleType)\n (canContain ShelfType SoapBarType)\n (canContain ShelfType SoapBottleType)\n (canContain ShelfType ToiletPaperType)\n (canContain ShelfType CandleType)\n (canContain ShelfType ClothType)\n (canContain ShelfType HandTowelType)\n (canContain DresserType SprayBottleType)\n (canContain DresserType ToiletPaperType)\n (canContain DresserType CandleType)\n (canContain DresserType ClothType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType CandleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType HandTowelType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType CandleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType HandTowelType)\n (canContain ToiletPaperHangerType ToiletPaperType)\n (canContain BathtubBasinType HandTowelType)\n (canContain BathtubBasinType SoapBarType)\n (canContain BathtubBasinType ClothType)\n (canContain HandTowelHolderType HandTowelType)\n (pickupable HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_48_bar__minus_02_dot_66)\n (pickupable ToiletPaper_bar__minus_00_dot_15_bar__plus_01_dot_04_bar__minus_00_dot_74)\n (pickupable SprayBottle_bar__minus_02_dot_62_bar__plus_00_dot_99_bar__minus_03_dot_45)\n (pickupable Candle_bar__minus_00_dot_12_bar__plus_01_dot_16_bar__minus_03_dot_40)\n (pickupable Cloth_bar__minus_02_dot_65_bar__plus_00_dot_09_bar__minus_01_dot_25)\n (pickupable SoapBottle_bar__minus_00_dot_12_bar__plus_01_dot_16_bar__minus_03_dot_60)\n (pickupable SoapBar_bar__minus_02_dot_69_bar__plus_00_dot_99_bar__minus_02_dot_66)\n (pickupable Candle_bar__minus_00_dot_09_bar__plus_00_dot_62_bar__minus_03_dot_62)\n (pickupable SprayBottle_bar__minus_02_dot_54_bar__plus_00_dot_36_bar__minus_02_dot_51)\n (pickupable SoapBottle_bar__minus_02_dot_51_bar__plus_00_dot_10_bar__minus_02_dot_71)\n (pickupable Candle_bar__minus_00_dot_15_bar__plus_01_dot_04_bar__minus_00_dot_48)\n (pickupable SprayBottle_bar__minus_00_dot_25_bar__plus_00_dot_05_bar__minus_02_dot_77)\n (pickupable SprayBottle_bar__minus_00_dot_15_bar__plus_01_dot_16_bar__minus_03_dot_50)\n (pickupable HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_48_bar__minus_01_dot_55)\n (pickupable ScrubBrush_bar__minus_00_dot_14_bar_00_dot_00_bar__minus_00_dot_11)\n (pickupable Cloth_bar__minus_02_dot_59_bar__plus_00_dot_09_bar__minus_00_dot_68)\n (pickupable ToiletPaper_bar__minus_00_dot_10_bar__plus_01_dot_04_bar__minus_00_dot_39)\n (pickupable Plunger_bar__minus_00_dot_37_bar_00_dot_00_bar__minus_00_dot_10)\n (pickupable Cloth_bar__minus_02_dot_52_bar__plus_00_dot_09_bar__minus_00_dot_39)\n (pickupable SoapBar_bar__minus_00_dot_31_bar__plus_00_dot_87_bar__minus_02_dot_14)\n (pickupable Towel_bar__minus_01_dot_34_bar__plus_01_dot_19_bar__minus_00_dot_11)\n (pickupable SoapBottle_bar__minus_00_dot_12_bar__plus_01_dot_16_bar__minus_03_dot_10)\n \n (openable Drawer_bar__minus_00_dot_19_bar__plus_00_dot_94_bar__minus_03_dot_40)\n (openable Drawer_bar__minus_00_dot_19_bar__plus_00_dot_16_bar__minus_03_dot_40)\n (openable Drawer_bar__minus_00_dot_19_bar__plus_00_dot_68_bar__minus_03_dot_40)\n (openable Drawer_bar__minus_00_dot_19_bar__plus_00_dot_42_bar__minus_03_dot_40)\n \n (atLocation agent1 loc_bar__minus_6_bar__minus_9_bar_3_bar_30)\n \n (cleanable Cloth_bar__minus_02_dot_65_bar__plus_00_dot_09_bar__minus_01_dot_25)\n (cleanable SoapBar_bar__minus_02_dot_69_bar__plus_00_dot_99_bar__minus_02_dot_66)\n (cleanable Cloth_bar__minus_02_dot_59_bar__plus_00_dot_09_bar__minus_00_dot_68)\n (cleanable Cloth_bar__minus_02_dot_52_bar__plus_00_dot_09_bar__minus_00_dot_39)\n (cleanable SoapBar_bar__minus_00_dot_31_bar__plus_00_dot_87_bar__minus_02_dot_14)\n \n \n \n \n \n \n \n \n \n \n (inReceptacle SprayBottle_bar__minus_00_dot_15_bar__plus_01_dot_16_bar__minus_03_dot_50 Dresser_bar__minus_00_dot_21_bar__plus_00_dot_81_bar__minus_03_dot_40)\n (inReceptacle SoapBottle_bar__minus_00_dot_12_bar__plus_01_dot_16_bar__minus_03_dot_60 Dresser_bar__minus_00_dot_21_bar__plus_00_dot_81_bar__minus_03_dot_40)\n (inReceptacle Candle_bar__minus_00_dot_12_bar__plus_01_dot_16_bar__minus_03_dot_40 Dresser_bar__minus_00_dot_21_bar__plus_00_dot_81_bar__minus_03_dot_40)\n (inReceptacle SoapBottle_bar__minus_00_dot_12_bar__plus_01_dot_16_bar__minus_03_dot_10 Dresser_bar__minus_00_dot_21_bar__plus_00_dot_81_bar__minus_03_dot_40)\n (inReceptacle Candle_bar__minus_00_dot_09_bar__plus_00_dot_62_bar__minus_03_dot_62 Drawer_bar__minus_00_dot_19_bar__plus_00_dot_68_bar__minus_03_dot_40)\n (inReceptacle SprayBottle_bar__minus_02_dot_54_bar__plus_00_dot_36_bar__minus_02_dot_51 Shelf_bar__minus_02_dot_58_bar__plus_00_dot_40_bar__minus_02_dot_92)\n (inReceptacle SoapBottle_bar__minus_02_dot_51_bar__plus_00_dot_10_bar__minus_02_dot_71 Shelf_bar__minus_02_dot_54_bar__plus_00_dot_13_bar__minus_02_dot_92)\n (inReceptacle SoapBar_bar__minus_02_dot_69_bar__plus_00_dot_99_bar__minus_02_dot_66 CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92)\n (inReceptacle Mirror_bar__minus_02_dot_98_bar__plus_01_dot_57_bar__minus_02_dot_90 CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92)\n (inReceptacle SprayBottle_bar__minus_02_dot_62_bar__plus_00_dot_99_bar__minus_03_dot_45 CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92)\n (inReceptacle Towel_bar__minus_01_dot_34_bar__plus_01_dot_19_bar__minus_00_dot_11 TowelHolder_bar__minus_01_dot_34_bar__plus_01_dot_18_bar__plus_00_dot_00)\n (inReceptacle SprayBottle_bar__minus_00_dot_25_bar__plus_00_dot_05_bar__minus_02_dot_77 GarbageCan_bar__minus_00_dot_23_bar_00_dot_00_bar__minus_02_dot_80)\n (inReceptacle HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_48_bar__minus_02_dot_66 HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_02_dot_66)\n (inReceptacle HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_48_bar__minus_01_dot_55 HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_01_dot_55)\n (inReceptacle SoapBar_bar__minus_00_dot_31_bar__plus_00_dot_87_bar__minus_02_dot_14 Sink_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_02_dot_08_bar_SinkBasin)\n (inReceptacle Cloth_bar__minus_02_dot_52_bar__plus_00_dot_09_bar__minus_00_dot_39 Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83_bar_BathtubBasin)\n (inReceptacle Cloth_bar__minus_02_dot_59_bar__plus_00_dot_09_bar__minus_00_dot_68 Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83_bar_BathtubBasin)\n (inReceptacle Cloth_bar__minus_02_dot_65_bar__plus_00_dot_09_bar__minus_01_dot_25 Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83_bar_BathtubBasin)\n (inReceptacle ToiletPaper_bar__minus_00_dot_15_bar__plus_01_dot_04_bar__minus_00_dot_74 Toilet_bar__minus_00_dot_41_bar_00_dot_00_bar__minus_00_dot_55)\n (inReceptacle ToiletPaper_bar__minus_00_dot_10_bar__plus_01_dot_04_bar__minus_00_dot_39 Toilet_bar__minus_00_dot_41_bar_00_dot_00_bar__minus_00_dot_55)\n (inReceptacle Candle_bar__minus_00_dot_15_bar__plus_01_dot_04_bar__minus_00_dot_48 Toilet_bar__minus_00_dot_41_bar_00_dot_00_bar__minus_00_dot_55)\n \n \n (receptacleAtLocation Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83_bar_BathtubBasin loc_bar__minus_6_bar__minus_2_bar_3_bar_60)\n (receptacleAtLocation CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92 loc_bar__minus_8_bar__minus_11_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_19_bar__plus_00_dot_16_bar__minus_03_dot_40 loc_bar__minus_5_bar__minus_11_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_19_bar__plus_00_dot_42_bar__minus_03_dot_40 loc_bar__minus_6_bar__minus_11_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_19_bar__plus_00_dot_68_bar__minus_03_dot_40 loc_bar__minus_5_bar__minus_12_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_19_bar__plus_00_dot_94_bar__minus_03_dot_40 loc_bar__minus_4_bar__minus_13_bar_1_bar_45)\n (receptacleAtLocation Dresser_bar__minus_00_dot_21_bar__plus_00_dot_81_bar__minus_03_dot_40 loc_bar__minus_3_bar__minus_13_bar_1_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_00_dot_23_bar_00_dot_00_bar__minus_02_dot_80 loc_bar__minus_5_bar__minus_9_bar_1_bar_60)\n (receptacleAtLocation HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_01_dot_55 loc_bar__minus_3_bar__minus_6_bar_1_bar_0)\n (receptacleAtLocation HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_02_dot_66 loc_bar__minus_3_bar__minus_11_bar_1_bar_0)\n (receptacleAtLocation Shelf_bar__minus_02_dot_54_bar__plus_00_dot_13_bar__minus_02_dot_92 loc_bar__minus_8_bar__minus_12_bar_3_bar_60)\n (receptacleAtLocation Shelf_bar__minus_02_dot_58_bar__plus_00_dot_40_bar__minus_02_dot_92 loc_bar__minus_5_bar__minus_11_bar_3_bar_45)\n (receptacleAtLocation Sink_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_02_dot_08_bar_SinkBasin loc_bar__minus_3_bar__minus_6_bar_2_bar_60)\n (receptacleAtLocation ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_87_bar__minus_00_dot_97 loc_bar__minus_2_bar__minus_4_bar_1_bar_60)\n (receptacleAtLocation Toilet_bar__minus_00_dot_41_bar_00_dot_00_bar__minus_00_dot_55 loc_bar__minus_2_bar__minus_5_bar_0_bar_60)\n (receptacleAtLocation TowelHolder_bar__minus_01_dot_34_bar__plus_01_dot_18_bar__plus_00_dot_00 loc_bar__minus_5_bar__minus_2_bar_0_bar_45)\n (objectAtLocation SprayBottle_bar__minus_02_dot_54_bar__plus_00_dot_36_bar__minus_02_dot_51 loc_bar__minus_5_bar__minus_11_bar_3_bar_45)\n (objectAtLocation Candle_bar__minus_00_dot_09_bar__plus_00_dot_62_bar__minus_03_dot_62 loc_bar__minus_5_bar__minus_12_bar_1_bar_45)\n (objectAtLocation Cloth_bar__minus_02_dot_52_bar__plus_00_dot_09_bar__minus_00_dot_39 loc_bar__minus_6_bar__minus_2_bar_3_bar_60)\n (objectAtLocation SoapBottle_bar__minus_00_dot_12_bar__plus_01_dot_16_bar__minus_03_dot_60 loc_bar__minus_3_bar__minus_13_bar_1_bar_60)\n (objectAtLocation SoapBar_bar__minus_02_dot_69_bar__plus_00_dot_99_bar__minus_02_dot_66 loc_bar__minus_8_bar__minus_11_bar_3_bar_45)\n (objectAtLocation HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_48_bar__minus_01_dot_55 loc_bar__minus_3_bar__minus_6_bar_1_bar_0)\n (objectAtLocation SoapBottle_bar__minus_00_dot_12_bar__plus_01_dot_16_bar__minus_03_dot_10 loc_bar__minus_3_bar__minus_13_bar_1_bar_60)\n (objectAtLocation SprayBottle_bar__minus_02_dot_62_bar__plus_00_dot_99_bar__minus_03_dot_45 loc_bar__minus_8_bar__minus_11_bar_3_bar_45)\n (objectAtLocation SprayBottle_bar__minus_00_dot_15_bar__plus_01_dot_16_bar__minus_03_dot_50 loc_bar__minus_3_bar__minus_13_bar_1_bar_60)\n (objectAtLocation Candle_bar__minus_00_dot_12_bar__plus_01_dot_16_bar__minus_03_dot_40 loc_bar__minus_3_bar__minus_13_bar_1_bar_60)\n (objectAtLocation Cloth_bar__minus_02_dot_59_bar__plus_00_dot_09_bar__minus_00_dot_68 loc_bar__minus_6_bar__minus_2_bar_3_bar_60)\n (objectAtLocation Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83 loc_bar__minus_7_bar__minus_3_bar_3_bar_60)\n (objectAtLocation Sink_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_02_dot_08 loc_bar__minus_4_bar__minus_8_bar_1_bar_60)\n (objectAtLocation Mirror_bar__minus_02_dot_98_bar__plus_01_dot_57_bar__minus_02_dot_90 loc_bar__minus_8_bar__minus_11_bar_3_bar_45)\n (objectAtLocation HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_48_bar__minus_02_dot_66 loc_bar__minus_3_bar__minus_11_bar_1_bar_0)\n (objectAtLocation SoapBar_bar__minus_00_dot_31_bar__plus_00_dot_87_bar__minus_02_dot_14 loc_bar__minus_3_bar__minus_6_bar_2_bar_60)\n (objectAtLocation ToiletPaper_bar__minus_00_dot_10_bar__plus_01_dot_04_bar__minus_00_dot_39 loc_bar__minus_2_bar__minus_5_bar_0_bar_60)\n (objectAtLocation LightSwitch_bar__minus_00_dot_36_bar__plus_01_dot_33_bar__minus_04_dot_00 loc_bar__minus_2_bar__minus_13_bar_2_bar_30)\n (objectAtLocation ToiletPaper_bar__minus_00_dot_15_bar__plus_01_dot_04_bar__minus_00_dot_74 loc_bar__minus_2_bar__minus_5_bar_0_bar_60)\n (objectAtLocation Towel_bar__minus_01_dot_34_bar__plus_01_dot_19_bar__minus_00_dot_11 loc_bar__minus_5_bar__minus_2_bar_0_bar_45)\n (objectAtLocation SoapBottle_bar__minus_02_dot_51_bar__plus_00_dot_10_bar__minus_02_dot_71 loc_bar__minus_8_bar__minus_12_bar_3_bar_60)\n (objectAtLocation ScrubBrush_bar__minus_00_dot_14_bar_00_dot_00_bar__minus_00_dot_11 loc_bar__minus_2_bar__minus_4_bar_0_bar_60)\n (objectAtLocation Cloth_bar__minus_02_dot_65_bar__plus_00_dot_09_bar__minus_01_dot_25 loc_bar__minus_6_bar__minus_2_bar_3_bar_60)\n (objectAtLocation Plunger_bar__minus_00_dot_37_bar_00_dot_00_bar__minus_00_dot_10 loc_bar__minus_2_bar__minus_4_bar_0_bar_60)\n (objectAtLocation Candle_bar__minus_00_dot_15_bar__plus_01_dot_04_bar__minus_00_dot_48 loc_bar__minus_2_bar__minus_5_bar_0_bar_60)\n (objectAtLocation SprayBottle_bar__minus_00_dot_25_bar__plus_00_dot_05_bar__minus_02_dot_77 loc_bar__minus_5_bar__minus_9_bar_1_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (inReceptacle ?o ?r)\n (objectType ?o SprayBottleType)\n (receptacleType ?r ToiletType)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to dresser 1", "take spraybottle 4 from dresser 1", "go to toilet 1", "move spraybottle 4 to toilet 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/valid_seen/pick_and_place_simple-SprayBottle-None-Toilet-415/trial_T20190909_075955_678702/initial_state.pddl b/data/alfworld/json_2.1.1/valid_seen/pick_and_place_simple-SprayBottle-None-Toilet-415/trial_T20190909_075955_678702/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..8e1acc1546718ef1b90bf1384b1a3514abe24f36 --- /dev/null +++ b/data/alfworld/json_2.1.1/valid_seen/pick_and_place_simple-SprayBottle-None-Toilet-415/trial_T20190909_075955_678702/initial_state.pddl @@ -0,0 +1,513 @@ + +(define (problem plan_trial_T20190909_075955_678702) +(:domain alfred) +(:objects +agent1 - agent +Curtains - object + SprayBottle - object + Mirror - object + HousePlant - object + Watch - object + TeddyBear - object + WateringCan - object + Bathtub - object + LightSwitch - object + Vase - object + Candle - object + Bread - object + Statue - object + HandTowel - object + StoveKnob - object + PaperTowelRoll - object + Pan - object + PepperShaker - object + Painting - object + CellPhone - object + Plunger - object + Spoon - object + SaltShaker - object + KeyChain - object + Footstool - object + Poster - object + Television - object + LaundryHamperLid - object + Glassbottle - object + AlarmClock - object + WineBottle - object + Bowl - object + Sink - object + TissueBox - object + TennisRacket - object + ToiletPaper - object + ScrubBrush - object + CreditCard - object + Laptop - object + Cloth - object + Cup - object + Chair - object + BasketBall - object + Kettle - object + PaperTowel - object + ShowerDoor - object + BaseballBat - object + Potato - object + Pillow - object + Lettuce - object + RemoteControl - object + Window - object + DishSponge - object + CD - object + Boots - object + Blinds - object + Pen - object + Newspaper - object + Plate - object + Mug - object + ShowerGlass - object + ToiletPaperRoll - object + SoapBar - object + FloorLamp - object + SoapBottle - object + Pot - object + Pencil - object + Spatula - object + Towel - object + Fork - object + Ladle - object + Knife - object + Apple - object + Box - object + Tomato - object + ButterKnife - object + Egg - object + Book - object + DeskLamp - object +CurtainsType - otype + SprayBottleType - otype + MirrorType - otype + HousePlantType - otype + WatchType - otype + TeddyBearType - otype + WateringCanType - otype + BathtubType - otype + LightSwitchType - otype + VaseType - otype + CandleType - otype + BreadType - otype + StatueType - otype + HandTowelType - otype + StoveKnobType - otype + PaperTowelRollType - otype + PanType - otype + PepperShakerType - otype + PaintingType - otype + CellPhoneType - otype + PlungerType - otype + SpoonType - otype + SaltShakerType - otype + KeyChainType - otype + FootstoolType - otype + PosterType - otype + TelevisionType - otype + LaundryHamperLidType - otype + GlassbottleType - otype + AlarmClockType - otype + WineBottleType - otype + BowlType - otype + SinkType - otype + TissueBoxType - otype + TennisRacketType - otype + ToiletPaperType - otype + ScrubBrushType - otype + CreditCardType - otype + LaptopType - otype + ClothType - otype + CupType - otype + ChairType - otype + BasketBallType - otype + KettleType - otype + PaperTowelType - otype + ShowerDoorType - otype + BaseballBatType - otype + PotatoType - otype + PillowType - otype + LettuceType - otype + RemoteControlType - otype + WindowType - otype + DishSpongeType - otype + CDType - otype + BootsType - otype + BlindsType - otype + PenType - otype + NewspaperType - otype + PlateType - otype + MugType - otype + ShowerGlassType - otype + ToiletPaperRollType - otype + SoapBarType - otype + FloorLampType - otype + SoapBottleType - otype + PotType - otype + PencilType - otype + SpatulaType - otype + TowelType - otype + ForkType - otype + LadleType - otype + KnifeType - otype + AppleType - otype + BoxType - otype + TomatoType - otype + ButterKnifeType - otype + EggType - otype + BookType - otype + DeskLampType - otype +CabinetType - rtype + ShelfType - rtype + DiningTableType - rtype + TowelHolderType - rtype + PaintingHangerType - rtype + TVStandType - rtype + LaundryHamperType - rtype + OttomanType - rtype + SafeType - rtype + CoffeeMachineType - rtype + CounterTopType - rtype + ToiletType - rtype + FridgeType - rtype + CoffeeTableType - rtype + SinkBasinType - rtype + GarbageCanType - rtype + BathtubBasinType - rtype + SideTableType - rtype + CartType - rtype + BedType - rtype + DeskType - rtype + SofaType - rtype + ArmChairType - rtype + MicrowaveType - rtype + HandTowelHolderType - rtype + ToasterType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + DrawerType - rtype + DresserType - rtype + + + Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83 - object + Candle_bar__minus_00_dot_09_bar__plus_00_dot_62_bar__minus_03_dot_62 - object + Candle_bar__minus_00_dot_12_bar__plus_01_dot_16_bar__minus_03_dot_40 - object + Candle_bar__minus_00_dot_15_bar__plus_01_dot_04_bar__minus_00_dot_48 - object + Cloth_bar__minus_02_dot_52_bar__plus_00_dot_09_bar__minus_00_dot_39 - object + Cloth_bar__minus_02_dot_59_bar__plus_00_dot_09_bar__minus_00_dot_68 - object + Cloth_bar__minus_02_dot_65_bar__plus_00_dot_09_bar__minus_01_dot_25 - object + Faucet_bar__minus_00_dot_04_bar__plus_01_dot_02_bar__minus_02_dot_08 - object + HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_48_bar__minus_01_dot_55 - object + HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_48_bar__minus_02_dot_66 - object + LightSwitch_bar__minus_00_dot_36_bar__plus_01_dot_33_bar__minus_04_dot_00 - object + Mirror_bar__minus_02_dot_98_bar__plus_01_dot_57_bar__minus_02_dot_90 - object + Plunger_bar__minus_00_dot_37_bar_00_dot_00_bar__minus_00_dot_10 - object + ScrubBrush_bar__minus_00_dot_14_bar_00_dot_00_bar__minus_00_dot_11 - object + ShowerCurtain_bar__minus_02_dot_19_bar__plus_01_dot_92_bar__minus_01_dot_56 - object + ShowerHead_bar__minus_02_dot_58_bar__plus_01_dot_20_bar__minus_00_dot_06 - object + Sink_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_02_dot_08 - object + SoapBar_bar__minus_00_dot_31_bar__plus_00_dot_87_bar__minus_02_dot_14 - object + SoapBar_bar__minus_02_dot_69_bar__plus_00_dot_99_bar__minus_02_dot_66 - object + SoapBottle_bar__minus_00_dot_12_bar__plus_01_dot_16_bar__minus_03_dot_10 - object + SoapBottle_bar__minus_00_dot_12_bar__plus_01_dot_16_bar__minus_03_dot_60 - object + SoapBottle_bar__minus_02_dot_51_bar__plus_00_dot_10_bar__minus_02_dot_71 - object + SprayBottle_bar__minus_00_dot_15_bar__plus_01_dot_16_bar__minus_03_dot_50 - object + SprayBottle_bar__minus_00_dot_25_bar__plus_00_dot_05_bar__minus_02_dot_77 - object + SprayBottle_bar__minus_02_dot_54_bar__plus_00_dot_36_bar__minus_02_dot_51 - object + SprayBottle_bar__minus_02_dot_62_bar__plus_00_dot_99_bar__minus_03_dot_45 - object + ToiletPaper_bar__minus_00_dot_10_bar__plus_01_dot_04_bar__minus_00_dot_39 - object + ToiletPaper_bar__minus_00_dot_15_bar__plus_01_dot_04_bar__minus_00_dot_74 - object + Towel_bar__minus_01_dot_34_bar__plus_01_dot_19_bar__minus_00_dot_11 - object + Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83_bar_BathtubBasin - receptacle + CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92 - receptacle + Drawer_bar__minus_00_dot_19_bar__plus_00_dot_16_bar__minus_03_dot_40 - receptacle + Drawer_bar__minus_00_dot_19_bar__plus_00_dot_42_bar__minus_03_dot_40 - receptacle + Drawer_bar__minus_00_dot_19_bar__plus_00_dot_68_bar__minus_03_dot_40 - receptacle + Drawer_bar__minus_00_dot_19_bar__plus_00_dot_94_bar__minus_03_dot_40 - receptacle + Dresser_bar__minus_00_dot_21_bar__plus_00_dot_81_bar__minus_03_dot_40 - receptacle + GarbageCan_bar__minus_00_dot_23_bar_00_dot_00_bar__minus_02_dot_80 - receptacle + HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_01_dot_55 - receptacle + HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_02_dot_66 - receptacle + Shelf_bar__minus_02_dot_54_bar__plus_00_dot_13_bar__minus_02_dot_92 - receptacle + Shelf_bar__minus_02_dot_58_bar__plus_00_dot_40_bar__minus_02_dot_92 - receptacle + Sink_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_02_dot_08_bar_SinkBasin - receptacle + ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_87_bar__minus_00_dot_97 - receptacle + Toilet_bar__minus_00_dot_41_bar_00_dot_00_bar__minus_00_dot_55 - receptacle + TowelHolder_bar__minus_01_dot_34_bar__plus_01_dot_18_bar__plus_00_dot_00 - receptacle + loc_bar__minus_5_bar__minus_12_bar_1_bar_45 - location + loc_bar__minus_3_bar__minus_11_bar_1_bar_0 - location + loc_bar__minus_3_bar__minus_6_bar_2_bar_60 - location + loc_bar__minus_2_bar__minus_4_bar_0_bar_60 - location + loc_bar__minus_2_bar__minus_13_bar_2_bar_30 - location + loc_bar__minus_2_bar__minus_5_bar_0_bar_60 - location + loc_bar__minus_8_bar__minus_12_bar_3_bar_60 - location + loc_bar__minus_6_bar__minus_11_bar_1_bar_45 - location + loc_bar__minus_5_bar__minus_11_bar_1_bar_60 - location + loc_bar__minus_3_bar__minus_13_bar_1_bar_60 - location + loc_bar__minus_6_bar__minus_2_bar_3_bar_60 - location + loc_bar__minus_2_bar__minus_4_bar_1_bar_60 - location + loc_bar__minus_4_bar__minus_8_bar_1_bar_60 - location + loc_bar__minus_3_bar__minus_6_bar_1_bar_0 - location + loc_bar__minus_5_bar__minus_11_bar_3_bar_45 - location + loc_bar__minus_5_bar__minus_9_bar_1_bar_60 - location + loc_bar__minus_8_bar__minus_11_bar_3_bar_45 - location + loc_bar__minus_5_bar__minus_2_bar_0_bar_45 - location + loc_bar__minus_4_bar__minus_13_bar_1_bar_45 - location + loc_bar__minus_7_bar__minus_3_bar_3_bar_60 - location + loc_bar__minus_6_bar__minus_9_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType Drawer_bar__minus_00_dot_19_bar__plus_00_dot_94_bar__minus_03_dot_40 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_19_bar__plus_00_dot_16_bar__minus_03_dot_40 DrawerType) + (receptacleType TowelHolder_bar__minus_01_dot_34_bar__plus_01_dot_18_bar__plus_00_dot_00 TowelHolderType) + (receptacleType GarbageCan_bar__minus_00_dot_23_bar_00_dot_00_bar__minus_02_dot_80 GarbageCanType) + (receptacleType Shelf_bar__minus_02_dot_58_bar__plus_00_dot_40_bar__minus_02_dot_92 ShelfType) + (receptacleType HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_01_dot_55 HandTowelHolderType) + (receptacleType CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92 CounterTopType) + (receptacleType Sink_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_02_dot_08_bar_SinkBasin SinkBasinType) + (receptacleType Toilet_bar__minus_00_dot_41_bar_00_dot_00_bar__minus_00_dot_55 ToiletType) + (receptacleType Shelf_bar__minus_02_dot_54_bar__plus_00_dot_13_bar__minus_02_dot_92 ShelfType) + (receptacleType Dresser_bar__minus_00_dot_21_bar__plus_00_dot_81_bar__minus_03_dot_40 DresserType) + (receptacleType Drawer_bar__minus_00_dot_19_bar__plus_00_dot_68_bar__minus_03_dot_40 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_19_bar__plus_00_dot_42_bar__minus_03_dot_40 DrawerType) + (receptacleType ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_87_bar__minus_00_dot_97 ToiletPaperHangerType) + (receptacleType Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83_bar_BathtubBasin BathtubBasinType) + (receptacleType HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_02_dot_66 HandTowelHolderType) + (objectType HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_48_bar__minus_02_dot_66 HandTowelType) + (objectType ToiletPaper_bar__minus_00_dot_15_bar__plus_01_dot_04_bar__minus_00_dot_74 ToiletPaperType) + (objectType SprayBottle_bar__minus_02_dot_62_bar__plus_00_dot_99_bar__minus_03_dot_45 SprayBottleType) + (objectType LightSwitch_bar__minus_00_dot_36_bar__plus_01_dot_33_bar__minus_04_dot_00 LightSwitchType) + (objectType Candle_bar__minus_00_dot_12_bar__plus_01_dot_16_bar__minus_03_dot_40 CandleType) + (objectType Cloth_bar__minus_02_dot_65_bar__plus_00_dot_09_bar__minus_01_dot_25 ClothType) + (objectType SoapBottle_bar__minus_00_dot_12_bar__plus_01_dot_16_bar__minus_03_dot_60 SoapBottleType) + (objectType SoapBar_bar__minus_02_dot_69_bar__plus_00_dot_99_bar__minus_02_dot_66 SoapBarType) + (objectType Candle_bar__minus_00_dot_09_bar__plus_00_dot_62_bar__minus_03_dot_62 CandleType) + (objectType SprayBottle_bar__minus_02_dot_54_bar__plus_00_dot_36_bar__minus_02_dot_51 SprayBottleType) + (objectType SoapBottle_bar__minus_02_dot_51_bar__plus_00_dot_10_bar__minus_02_dot_71 SoapBottleType) + (objectType Candle_bar__minus_00_dot_15_bar__plus_01_dot_04_bar__minus_00_dot_48 CandleType) + (objectType Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83 BathtubType) + (objectType Mirror_bar__minus_02_dot_98_bar__plus_01_dot_57_bar__minus_02_dot_90 MirrorType) + (objectType SprayBottle_bar__minus_00_dot_25_bar__plus_00_dot_05_bar__minus_02_dot_77 SprayBottleType) + (objectType SprayBottle_bar__minus_00_dot_15_bar__plus_01_dot_16_bar__minus_03_dot_50 SprayBottleType) + (objectType Sink_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_02_dot_08 SinkType) + (objectType HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_48_bar__minus_01_dot_55 HandTowelType) + (objectType ScrubBrush_bar__minus_00_dot_14_bar_00_dot_00_bar__minus_00_dot_11 ScrubBrushType) + (objectType Cloth_bar__minus_02_dot_59_bar__plus_00_dot_09_bar__minus_00_dot_68 ClothType) + (objectType ToiletPaper_bar__minus_00_dot_10_bar__plus_01_dot_04_bar__minus_00_dot_39 ToiletPaperType) + (objectType Plunger_bar__minus_00_dot_37_bar_00_dot_00_bar__minus_00_dot_10 PlungerType) + (objectType Cloth_bar__minus_02_dot_52_bar__plus_00_dot_09_bar__minus_00_dot_39 ClothType) + (objectType SoapBar_bar__minus_00_dot_31_bar__plus_00_dot_87_bar__minus_02_dot_14 SoapBarType) + (objectType Towel_bar__minus_01_dot_34_bar__plus_01_dot_19_bar__minus_00_dot_11 TowelType) + (objectType SoapBottle_bar__minus_00_dot_12_bar__plus_01_dot_16_bar__minus_03_dot_10 SoapBottleType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType CandleType) + (canContain DrawerType ClothType) + (canContain DrawerType HandTowelType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType CandleType) + (canContain DrawerType ClothType) + (canContain DrawerType HandTowelType) + (canContain TowelHolderType TowelType) + (canContain GarbageCanType SprayBottleType) + (canContain GarbageCanType SoapBarType) + (canContain GarbageCanType SoapBottleType) + (canContain GarbageCanType ToiletPaperType) + (canContain GarbageCanType ClothType) + (canContain GarbageCanType HandTowelType) + (canContain ShelfType SprayBottleType) + (canContain ShelfType SoapBarType) + (canContain ShelfType SoapBottleType) + (canContain ShelfType ToiletPaperType) + (canContain ShelfType CandleType) + (canContain ShelfType ClothType) + (canContain ShelfType HandTowelType) + (canContain HandTowelHolderType HandTowelType) + (canContain CounterTopType SprayBottleType) + (canContain CounterTopType SoapBarType) + (canContain CounterTopType SoapBottleType) + (canContain CounterTopType ToiletPaperType) + (canContain CounterTopType CandleType) + (canContain CounterTopType ClothType) + (canContain CounterTopType HandTowelType) + (canContain SinkBasinType SoapBarType) + (canContain SinkBasinType ClothType) + (canContain SinkBasinType HandTowelType) + (canContain ToiletType ClothType) + (canContain ToiletType SoapBarType) + (canContain ToiletType HandTowelType) + (canContain ToiletType ToiletPaperType) + (canContain ToiletType SoapBottleType) + (canContain ToiletType SprayBottleType) + (canContain ToiletType CandleType) + (canContain ShelfType SprayBottleType) + (canContain ShelfType SoapBarType) + (canContain ShelfType SoapBottleType) + (canContain ShelfType ToiletPaperType) + (canContain ShelfType CandleType) + (canContain ShelfType ClothType) + (canContain ShelfType HandTowelType) + (canContain DresserType SprayBottleType) + (canContain DresserType ToiletPaperType) + (canContain DresserType CandleType) + (canContain DresserType ClothType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType CandleType) + (canContain DrawerType ClothType) + (canContain DrawerType HandTowelType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType CandleType) + (canContain DrawerType ClothType) + (canContain DrawerType HandTowelType) + (canContain ToiletPaperHangerType ToiletPaperType) + (canContain BathtubBasinType HandTowelType) + (canContain BathtubBasinType SoapBarType) + (canContain BathtubBasinType ClothType) + (canContain HandTowelHolderType HandTowelType) + (pickupable HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_48_bar__minus_02_dot_66) + (pickupable ToiletPaper_bar__minus_00_dot_15_bar__plus_01_dot_04_bar__minus_00_dot_74) + (pickupable SprayBottle_bar__minus_02_dot_62_bar__plus_00_dot_99_bar__minus_03_dot_45) + (pickupable Candle_bar__minus_00_dot_12_bar__plus_01_dot_16_bar__minus_03_dot_40) + (pickupable Cloth_bar__minus_02_dot_65_bar__plus_00_dot_09_bar__minus_01_dot_25) + (pickupable SoapBottle_bar__minus_00_dot_12_bar__plus_01_dot_16_bar__minus_03_dot_60) + (pickupable SoapBar_bar__minus_02_dot_69_bar__plus_00_dot_99_bar__minus_02_dot_66) + (pickupable Candle_bar__minus_00_dot_09_bar__plus_00_dot_62_bar__minus_03_dot_62) + (pickupable SprayBottle_bar__minus_02_dot_54_bar__plus_00_dot_36_bar__minus_02_dot_51) + (pickupable SoapBottle_bar__minus_02_dot_51_bar__plus_00_dot_10_bar__minus_02_dot_71) + (pickupable Candle_bar__minus_00_dot_15_bar__plus_01_dot_04_bar__minus_00_dot_48) + (pickupable SprayBottle_bar__minus_00_dot_25_bar__plus_00_dot_05_bar__minus_02_dot_77) + (pickupable SprayBottle_bar__minus_00_dot_15_bar__plus_01_dot_16_bar__minus_03_dot_50) + (pickupable HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_48_bar__minus_01_dot_55) + (pickupable ScrubBrush_bar__minus_00_dot_14_bar_00_dot_00_bar__minus_00_dot_11) + (pickupable Cloth_bar__minus_02_dot_59_bar__plus_00_dot_09_bar__minus_00_dot_68) + (pickupable ToiletPaper_bar__minus_00_dot_10_bar__plus_01_dot_04_bar__minus_00_dot_39) + (pickupable Plunger_bar__minus_00_dot_37_bar_00_dot_00_bar__minus_00_dot_10) + (pickupable Cloth_bar__minus_02_dot_52_bar__plus_00_dot_09_bar__minus_00_dot_39) + (pickupable SoapBar_bar__minus_00_dot_31_bar__plus_00_dot_87_bar__minus_02_dot_14) + (pickupable Towel_bar__minus_01_dot_34_bar__plus_01_dot_19_bar__minus_00_dot_11) + (pickupable SoapBottle_bar__minus_00_dot_12_bar__plus_01_dot_16_bar__minus_03_dot_10) + + (openable Drawer_bar__minus_00_dot_19_bar__plus_00_dot_94_bar__minus_03_dot_40) + (openable Drawer_bar__minus_00_dot_19_bar__plus_00_dot_16_bar__minus_03_dot_40) + (openable Drawer_bar__minus_00_dot_19_bar__plus_00_dot_68_bar__minus_03_dot_40) + (openable Drawer_bar__minus_00_dot_19_bar__plus_00_dot_42_bar__minus_03_dot_40) + + (atLocation agent1 loc_bar__minus_6_bar__minus_9_bar_3_bar_30) + + (cleanable Cloth_bar__minus_02_dot_65_bar__plus_00_dot_09_bar__minus_01_dot_25) + (cleanable SoapBar_bar__minus_02_dot_69_bar__plus_00_dot_99_bar__minus_02_dot_66) + (cleanable Cloth_bar__minus_02_dot_59_bar__plus_00_dot_09_bar__minus_00_dot_68) + (cleanable Cloth_bar__minus_02_dot_52_bar__plus_00_dot_09_bar__minus_00_dot_39) + (cleanable SoapBar_bar__minus_00_dot_31_bar__plus_00_dot_87_bar__minus_02_dot_14) + + + + + + + + + + + (inReceptacle SprayBottle_bar__minus_00_dot_15_bar__plus_01_dot_16_bar__minus_03_dot_50 Dresser_bar__minus_00_dot_21_bar__plus_00_dot_81_bar__minus_03_dot_40) + (inReceptacle SoapBottle_bar__minus_00_dot_12_bar__plus_01_dot_16_bar__minus_03_dot_60 Dresser_bar__minus_00_dot_21_bar__plus_00_dot_81_bar__minus_03_dot_40) + (inReceptacle Candle_bar__minus_00_dot_12_bar__plus_01_dot_16_bar__minus_03_dot_40 Dresser_bar__minus_00_dot_21_bar__plus_00_dot_81_bar__minus_03_dot_40) + (inReceptacle SoapBottle_bar__minus_00_dot_12_bar__plus_01_dot_16_bar__minus_03_dot_10 Dresser_bar__minus_00_dot_21_bar__plus_00_dot_81_bar__minus_03_dot_40) + (inReceptacle Candle_bar__minus_00_dot_09_bar__plus_00_dot_62_bar__minus_03_dot_62 Drawer_bar__minus_00_dot_19_bar__plus_00_dot_68_bar__minus_03_dot_40) + (inReceptacle SprayBottle_bar__minus_02_dot_54_bar__plus_00_dot_36_bar__minus_02_dot_51 Shelf_bar__minus_02_dot_58_bar__plus_00_dot_40_bar__minus_02_dot_92) + (inReceptacle SoapBottle_bar__minus_02_dot_51_bar__plus_00_dot_10_bar__minus_02_dot_71 Shelf_bar__minus_02_dot_54_bar__plus_00_dot_13_bar__minus_02_dot_92) + (inReceptacle SoapBar_bar__minus_02_dot_69_bar__plus_00_dot_99_bar__minus_02_dot_66 CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92) + (inReceptacle Mirror_bar__minus_02_dot_98_bar__plus_01_dot_57_bar__minus_02_dot_90 CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92) + (inReceptacle SprayBottle_bar__minus_02_dot_62_bar__plus_00_dot_99_bar__minus_03_dot_45 CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92) + (inReceptacle Towel_bar__minus_01_dot_34_bar__plus_01_dot_19_bar__minus_00_dot_11 TowelHolder_bar__minus_01_dot_34_bar__plus_01_dot_18_bar__plus_00_dot_00) + (inReceptacle SprayBottle_bar__minus_00_dot_25_bar__plus_00_dot_05_bar__minus_02_dot_77 GarbageCan_bar__minus_00_dot_23_bar_00_dot_00_bar__minus_02_dot_80) + (inReceptacle HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_48_bar__minus_02_dot_66 HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_02_dot_66) + (inReceptacle HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_48_bar__minus_01_dot_55 HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_01_dot_55) + (inReceptacle SoapBar_bar__minus_00_dot_31_bar__plus_00_dot_87_bar__minus_02_dot_14 Sink_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_02_dot_08_bar_SinkBasin) + (inReceptacle Cloth_bar__minus_02_dot_52_bar__plus_00_dot_09_bar__minus_00_dot_39 Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83_bar_BathtubBasin) + (inReceptacle Cloth_bar__minus_02_dot_59_bar__plus_00_dot_09_bar__minus_00_dot_68 Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83_bar_BathtubBasin) + (inReceptacle Cloth_bar__minus_02_dot_65_bar__plus_00_dot_09_bar__minus_01_dot_25 Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83_bar_BathtubBasin) + (inReceptacle ToiletPaper_bar__minus_00_dot_15_bar__plus_01_dot_04_bar__minus_00_dot_74 Toilet_bar__minus_00_dot_41_bar_00_dot_00_bar__minus_00_dot_55) + (inReceptacle ToiletPaper_bar__minus_00_dot_10_bar__plus_01_dot_04_bar__minus_00_dot_39 Toilet_bar__minus_00_dot_41_bar_00_dot_00_bar__minus_00_dot_55) + (inReceptacle Candle_bar__minus_00_dot_15_bar__plus_01_dot_04_bar__minus_00_dot_48 Toilet_bar__minus_00_dot_41_bar_00_dot_00_bar__minus_00_dot_55) + + + (receptacleAtLocation Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83_bar_BathtubBasin loc_bar__minus_6_bar__minus_2_bar_3_bar_60) + (receptacleAtLocation CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92 loc_bar__minus_8_bar__minus_11_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_19_bar__plus_00_dot_16_bar__minus_03_dot_40 loc_bar__minus_5_bar__minus_11_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__minus_00_dot_19_bar__plus_00_dot_42_bar__minus_03_dot_40 loc_bar__minus_6_bar__minus_11_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_19_bar__plus_00_dot_68_bar__minus_03_dot_40 loc_bar__minus_5_bar__minus_12_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_19_bar__plus_00_dot_94_bar__minus_03_dot_40 loc_bar__minus_4_bar__minus_13_bar_1_bar_45) + (receptacleAtLocation Dresser_bar__minus_00_dot_21_bar__plus_00_dot_81_bar__minus_03_dot_40 loc_bar__minus_3_bar__minus_13_bar_1_bar_60) + (receptacleAtLocation GarbageCan_bar__minus_00_dot_23_bar_00_dot_00_bar__minus_02_dot_80 loc_bar__minus_5_bar__minus_9_bar_1_bar_60) + (receptacleAtLocation HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_01_dot_55 loc_bar__minus_3_bar__minus_6_bar_1_bar_0) + (receptacleAtLocation HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_02_dot_66 loc_bar__minus_3_bar__minus_11_bar_1_bar_0) + (receptacleAtLocation Shelf_bar__minus_02_dot_54_bar__plus_00_dot_13_bar__minus_02_dot_92 loc_bar__minus_8_bar__minus_12_bar_3_bar_60) + (receptacleAtLocation Shelf_bar__minus_02_dot_58_bar__plus_00_dot_40_bar__minus_02_dot_92 loc_bar__minus_5_bar__minus_11_bar_3_bar_45) + (receptacleAtLocation Sink_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_02_dot_08_bar_SinkBasin loc_bar__minus_3_bar__minus_6_bar_2_bar_60) + (receptacleAtLocation ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_87_bar__minus_00_dot_97 loc_bar__minus_2_bar__minus_4_bar_1_bar_60) + (receptacleAtLocation Toilet_bar__minus_00_dot_41_bar_00_dot_00_bar__minus_00_dot_55 loc_bar__minus_2_bar__minus_5_bar_0_bar_60) + (receptacleAtLocation TowelHolder_bar__minus_01_dot_34_bar__plus_01_dot_18_bar__plus_00_dot_00 loc_bar__minus_5_bar__minus_2_bar_0_bar_45) + (objectAtLocation SprayBottle_bar__minus_02_dot_54_bar__plus_00_dot_36_bar__minus_02_dot_51 loc_bar__minus_5_bar__minus_11_bar_3_bar_45) + (objectAtLocation Candle_bar__minus_00_dot_09_bar__plus_00_dot_62_bar__minus_03_dot_62 loc_bar__minus_5_bar__minus_12_bar_1_bar_45) + (objectAtLocation Cloth_bar__minus_02_dot_52_bar__plus_00_dot_09_bar__minus_00_dot_39 loc_bar__minus_6_bar__minus_2_bar_3_bar_60) + (objectAtLocation SoapBottle_bar__minus_00_dot_12_bar__plus_01_dot_16_bar__minus_03_dot_60 loc_bar__minus_3_bar__minus_13_bar_1_bar_60) + (objectAtLocation SoapBar_bar__minus_02_dot_69_bar__plus_00_dot_99_bar__minus_02_dot_66 loc_bar__minus_8_bar__minus_11_bar_3_bar_45) + (objectAtLocation HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_48_bar__minus_01_dot_55 loc_bar__minus_3_bar__minus_6_bar_1_bar_0) + (objectAtLocation SoapBottle_bar__minus_00_dot_12_bar__plus_01_dot_16_bar__minus_03_dot_10 loc_bar__minus_3_bar__minus_13_bar_1_bar_60) + (objectAtLocation SprayBottle_bar__minus_02_dot_62_bar__plus_00_dot_99_bar__minus_03_dot_45 loc_bar__minus_8_bar__minus_11_bar_3_bar_45) + (objectAtLocation SprayBottle_bar__minus_00_dot_15_bar__plus_01_dot_16_bar__minus_03_dot_50 loc_bar__minus_3_bar__minus_13_bar_1_bar_60) + (objectAtLocation Candle_bar__minus_00_dot_12_bar__plus_01_dot_16_bar__minus_03_dot_40 loc_bar__minus_3_bar__minus_13_bar_1_bar_60) + (objectAtLocation Cloth_bar__minus_02_dot_59_bar__plus_00_dot_09_bar__minus_00_dot_68 loc_bar__minus_6_bar__minus_2_bar_3_bar_60) + (objectAtLocation Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83 loc_bar__minus_7_bar__minus_3_bar_3_bar_60) + (objectAtLocation Sink_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_02_dot_08 loc_bar__minus_4_bar__minus_8_bar_1_bar_60) + (objectAtLocation Mirror_bar__minus_02_dot_98_bar__plus_01_dot_57_bar__minus_02_dot_90 loc_bar__minus_8_bar__minus_11_bar_3_bar_45) + (objectAtLocation HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_48_bar__minus_02_dot_66 loc_bar__minus_3_bar__minus_11_bar_1_bar_0) + (objectAtLocation SoapBar_bar__minus_00_dot_31_bar__plus_00_dot_87_bar__minus_02_dot_14 loc_bar__minus_3_bar__minus_6_bar_2_bar_60) + (objectAtLocation ToiletPaper_bar__minus_00_dot_10_bar__plus_01_dot_04_bar__minus_00_dot_39 loc_bar__minus_2_bar__minus_5_bar_0_bar_60) + (objectAtLocation LightSwitch_bar__minus_00_dot_36_bar__plus_01_dot_33_bar__minus_04_dot_00 loc_bar__minus_2_bar__minus_13_bar_2_bar_30) + (objectAtLocation ToiletPaper_bar__minus_00_dot_15_bar__plus_01_dot_04_bar__minus_00_dot_74 loc_bar__minus_2_bar__minus_5_bar_0_bar_60) + (objectAtLocation Towel_bar__minus_01_dot_34_bar__plus_01_dot_19_bar__minus_00_dot_11 loc_bar__minus_5_bar__minus_2_bar_0_bar_45) + (objectAtLocation SoapBottle_bar__minus_02_dot_51_bar__plus_00_dot_10_bar__minus_02_dot_71 loc_bar__minus_8_bar__minus_12_bar_3_bar_60) + (objectAtLocation ScrubBrush_bar__minus_00_dot_14_bar_00_dot_00_bar__minus_00_dot_11 loc_bar__minus_2_bar__minus_4_bar_0_bar_60) + (objectAtLocation Cloth_bar__minus_02_dot_65_bar__plus_00_dot_09_bar__minus_01_dot_25 loc_bar__minus_6_bar__minus_2_bar_3_bar_60) + (objectAtLocation Plunger_bar__minus_00_dot_37_bar_00_dot_00_bar__minus_00_dot_10 loc_bar__minus_2_bar__minus_4_bar_0_bar_60) + (objectAtLocation Candle_bar__minus_00_dot_15_bar__plus_01_dot_04_bar__minus_00_dot_48 loc_bar__minus_2_bar__minus_5_bar_0_bar_60) + (objectAtLocation SprayBottle_bar__minus_00_dot_25_bar__plus_00_dot_05_bar__minus_02_dot_77 loc_bar__minus_5_bar__minus_9_bar_1_bar_60) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (inReceptacle ?o ?r) + (objectType ?o SprayBottleType) + (receptacleType ?r ToiletType) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git 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0.0 + } + }, + { + "objectName": "Cloth_925ae57e", + "position": { + "x": -2.52481, + "y": 0.08588481, + "z": -0.391591638 + }, + "rotation": { + "x": 1.51660667e-21, + "y": 90.0, + "z": 1.40334191e-14 + } + }, + { + "objectName": "Plunger_cb0776d8", + "position": { + "x": -0.370999247, + "y": -0.000738665462, + "z": -0.09700089 + }, + "rotation": { + "x": -0.00118371623, + "y": 0.0004447984, + "z": 0.000782377669 + } + }, + { + "objectName": "Candle_7c60a913", + "position": { + "x": -0.0910055339, + "y": 0.616641164, + "z": -3.616008 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "SprayBottle_c604c576", + "position": { + "x": -2.544428, + "y": 0.358904064, + "z": -2.50559664 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 3200776006, + "scene_num": 415 + }, + "task_id": "trial_T20190909_075955_678702", + "task_type": "pick_and_place_simple", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A3OYZK65C2G39N_3H0W84IWBNTKVCD3MXDYPYKIBPORE3", + "high_descs": [ + " pick up the spray bottle that is on the cabinet ", + " turn to face the toilet", + " walk to the toilet", + " set the spray bottle down on the back of the toilet" + ], + "task_desc": " put the spray bottle on the back of the toilet", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A98E8M4QLI9RS_3K9FOBBF2KADMKV3ACJLT95SJPXNLV", + "high_descs": [ + "move to the left of the counter to face the gray spray bottle", + "pick up the gray spray bottle off of the counter", + "turn to the right and move to the toilet at the end of the bathroom on the right", + "put the spray bottle on to the back of the toilet next to the empty toilet paper roll, so close that it knocks the toilet paper roll off the back of the toilet" + ], + "task_desc": "knock an empty toilet paper roll off of the back of the toilet while placing a spray bottle next to it", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A2871R3LEPWMMK_3VBEN272MNQUG5977H3RFBAQA7JSG6", + "high_descs": [ + "Head left to the wall and walk to the white counter on the right.", + "Pick up the black spray bottle from the counter.", + "Turn around, hang a left at the white dresser, turn right at the sink and face the toilet to the left.", + "Put the spray bottle on the right side of the toilet tank to the left of the empty toilet paper roll." + ], + "task_desc": "Place a spray bottle on a toilet tank.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/valid_seen/pick_and_place_simple-ToiletPaper-None-ToiletPaperHanger-415/trial_T20190908_050518_595510/game.tw-pddl b/data/alfworld/json_2.1.1/valid_seen/pick_and_place_simple-ToiletPaper-None-ToiletPaperHanger-415/trial_T20190908_050518_595510/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..3c3e48c6ac1422c653d945d0b1634f9cf3fb0349 --- /dev/null +++ b/data/alfworld/json_2.1.1/valid_seen/pick_and_place_simple-ToiletPaper-None-ToiletPaperHanger-415/trial_T20190908_050518_595510/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\n\\n#task#\"\n }\n ],\n\n \"notImplemented\": [\n {\n \"rhs\": \"TODO\"\n }\n ],\n\n \"task\": [\n {\n \"rhs\": \"Your task is to: put a toiletpaper in toiletpaperhanger.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190908_050518_595510)\n(:domain alfred)\n(:objects\nagent1 - agent\nCurtains - object\n SprayBottle - object\n Mirror - object\n HousePlant - object\n Watch - object\n TeddyBear - object\n WateringCan - object\n Bathtub - object\n LightSwitch - object\n Vase - object\n Candle - object\n Bread - object\n Statue - object\n HandTowel - object\n StoveKnob - object\n PaperTowelRoll - object\n Pan - object\n PepperShaker - object\n Painting - object\n CellPhone - object\n Plunger - object\n Spoon - object\n SaltShaker - object\n KeyChain - object\n Footstool - object\n Poster - object\n Television - object\n LaundryHamperLid - object\n Glassbottle - object\n AlarmClock - object\n WineBottle - object\n Bowl - object\n Sink - object\n TissueBox - object\n TennisRacket - object\n ToiletPaper - object\n ScrubBrush - object\n CreditCard - object\n Laptop - object\n Cloth - object\n Cup - object\n Chair - object\n BasketBall - object\n Kettle - object\n PaperTowel - object\n ShowerDoor - object\n BaseballBat - object\n Potato - object\n Pillow - object\n Lettuce - object\n RemoteControl - object\n Window - object\n DishSponge - object\n CD - object\n Boots - object\n Blinds - object\n Pen - object\n Newspaper - object\n Plate - object\n Mug - object\n ShowerGlass - object\n ToiletPaperRoll - object\n SoapBar - object\n FloorLamp - object\n SoapBottle - object\n Pot - object\n Pencil - object\n Spatula - object\n Towel - object\n Fork - object\n Ladle - object\n Knife - object\n Apple - object\n Box - object\n Tomato - object\n ButterKnife - object\n Egg - object\n Book - object\n DeskLamp - object\nCurtainsType - otype\n SprayBottleType - otype\n MirrorType - otype\n HousePlantType - otype\n WatchType - otype\n TeddyBearType - otype\n WateringCanType - otype\n BathtubType - otype\n LightSwitchType - otype\n VaseType - otype\n CandleType - otype\n BreadType - otype\n StatueType - otype\n HandTowelType - otype\n StoveKnobType - otype\n PaperTowelRollType - otype\n PanType - otype\n PepperShakerType - otype\n PaintingType - otype\n CellPhoneType - otype\n PlungerType - otype\n SpoonType - otype\n SaltShakerType - otype\n KeyChainType - otype\n FootstoolType - otype\n PosterType - otype\n TelevisionType - otype\n LaundryHamperLidType - otype\n GlassbottleType - otype\n AlarmClockType - otype\n WineBottleType - otype\n BowlType - otype\n SinkType - otype\n TissueBoxType - otype\n TennisRacketType - otype\n ToiletPaperType - otype\n ScrubBrushType - otype\n CreditCardType - otype\n LaptopType - otype\n ClothType - otype\n CupType - otype\n ChairType - otype\n BasketBallType - otype\n KettleType - otype\n PaperTowelType - otype\n ShowerDoorType - otype\n BaseballBatType - otype\n PotatoType - otype\n PillowType - otype\n LettuceType - otype\n RemoteControlType - otype\n WindowType - otype\n DishSpongeType - otype\n CDType - otype\n BootsType - otype\n BlindsType - otype\n PenType - otype\n NewspaperType - otype\n PlateType - otype\n MugType - otype\n ShowerGlassType - otype\n ToiletPaperRollType - otype\n SoapBarType - otype\n FloorLampType - otype\n SoapBottleType - otype\n PotType - otype\n PencilType - otype\n SpatulaType - otype\n TowelType - otype\n ForkType - otype\n LadleType - otype\n KnifeType - otype\n AppleType - otype\n BoxType - otype\n TomatoType - otype\n ButterKnifeType - otype\n EggType - otype\n BookType - otype\n DeskLampType - otype\nCabinetType - rtype\n ShelfType - rtype\n DiningTableType - rtype\n TowelHolderType - rtype\n PaintingHangerType - rtype\n TVStandType - rtype\n LaundryHamperType - rtype\n OttomanType - rtype\n SafeType - rtype\n CoffeeMachineType - rtype\n CounterTopType - rtype\n ToiletType - rtype\n FridgeType - rtype\n CoffeeTableType - rtype\n SinkBasinType - rtype\n GarbageCanType - rtype\n BathtubBasinType - rtype\n SideTableType - rtype\n CartType - rtype\n BedType - rtype\n DeskType - rtype\n SofaType - rtype\n ArmChairType - rtype\n MicrowaveType - rtype\n HandTowelHolderType - rtype\n ToasterType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n DrawerType - rtype\n DresserType - rtype\n\n\n Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83 - object\n Candle_bar__minus_00_dot_03_bar__plus_01_dot_04_bar__minus_00_dot_41 - object\n Candle_bar__minus_00_dot_16_bar__plus_00_dot_62_bar__minus_03_dot_18 - object\n Candle_bar__minus_02_dot_61_bar__plus_00_dot_36_bar__minus_02_dot_92 - object\n Cloth_bar__minus_02_dot_58_bar__plus_00_dot_36_bar__minus_03_dot_13 - object\n Cloth_bar__minus_02_dot_59_bar__plus_00_dot_09_bar__minus_00_dot_39 - object\n Cloth_bar__minus_02_dot_69_bar__plus_01_dot_00_bar__minus_03_dot_19 - object\n Faucet_bar__minus_00_dot_04_bar__plus_01_dot_02_bar__minus_02_dot_08 - object\n HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_48_bar__minus_01_dot_55 - object\n HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_48_bar__minus_02_dot_66 - object\n LightSwitch_bar__minus_00_dot_36_bar__plus_01_dot_33_bar__minus_04_dot_00 - object\n Mirror_bar__minus_02_dot_98_bar__plus_01_dot_57_bar__minus_02_dot_90 - object\n Plunger_bar__minus_00_dot_37_bar_00_dot_00_bar__minus_00_dot_10 - object\n ScrubBrush_bar__minus_00_dot_14_bar_00_dot_00_bar__minus_00_dot_11 - object\n ShowerCurtain_bar__minus_02_dot_19_bar__plus_01_dot_92_bar__minus_01_dot_56 - object\n ShowerHead_bar__minus_02_dot_58_bar__plus_01_dot_20_bar__minus_00_dot_06 - object\n Sink_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_02_dot_08 - object\n SoapBar_bar__minus_00_dot_14_bar__plus_00_dot_88_bar__minus_03_dot_47 - object\n SoapBottle_bar__minus_00_dot_16_bar__plus_00_dot_62_bar__minus_03_dot_47 - object\n SprayBottle_bar__minus_00_dot_12_bar__plus_01_dot_16_bar__minus_03_dot_10 - object\n SprayBottle_bar__minus_02_dot_92_bar__plus_00_dot_99_bar__minus_03_dot_45 - object\n ToiletPaper_bar__minus_00_dot_10_bar__plus_01_dot_04_bar__minus_00_dot_39 - object\n ToiletPaper_bar__minus_00_dot_14_bar__plus_00_dot_35_bar__minus_03_dot_40 - object\n Towel_bar__minus_01_dot_34_bar__plus_01_dot_19_bar__minus_00_dot_11 - object\n Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83_bar_BathtubBasin - receptacle\n CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92 - receptacle\n Drawer_bar__minus_00_dot_19_bar__plus_00_dot_16_bar__minus_03_dot_40 - receptacle\n Drawer_bar__minus_00_dot_19_bar__plus_00_dot_42_bar__minus_03_dot_40 - receptacle\n Drawer_bar__minus_00_dot_19_bar__plus_00_dot_68_bar__minus_03_dot_40 - receptacle\n Drawer_bar__minus_00_dot_19_bar__plus_00_dot_94_bar__minus_03_dot_40 - receptacle\n Dresser_bar__minus_00_dot_21_bar__plus_00_dot_81_bar__minus_03_dot_40 - receptacle\n GarbageCan_bar__minus_00_dot_23_bar_00_dot_00_bar__minus_02_dot_80 - receptacle\n HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_01_dot_55 - receptacle\n HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_02_dot_66 - receptacle\n Shelf_bar__minus_02_dot_54_bar__plus_00_dot_13_bar__minus_02_dot_92 - receptacle\n Shelf_bar__minus_02_dot_58_bar__plus_00_dot_40_bar__minus_02_dot_92 - receptacle\n Sink_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_02_dot_08_bar_SinkBasin - receptacle\n ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_87_bar__minus_00_dot_97 - receptacle\n Toilet_bar__minus_00_dot_41_bar_00_dot_00_bar__minus_00_dot_55 - receptacle\n TowelHolder_bar__minus_01_dot_34_bar__plus_01_dot_18_bar__plus_00_dot_00 - receptacle\n loc_bar__minus_5_bar__minus_12_bar_1_bar_45 - location\n loc_bar__minus_3_bar__minus_11_bar_1_bar_0 - location\n loc_bar__minus_3_bar__minus_6_bar_2_bar_60 - location\n loc_bar__minus_2_bar__minus_4_bar_0_bar_60 - location\n loc_bar__minus_2_bar__minus_13_bar_2_bar_30 - location\n loc_bar__minus_2_bar__minus_5_bar_0_bar_60 - location\n loc_bar__minus_8_bar__minus_12_bar_3_bar_60 - location\n loc_bar__minus_6_bar__minus_11_bar_1_bar_45 - location\n loc_bar__minus_5_bar__minus_11_bar_1_bar_60 - location\n loc_bar__minus_3_bar__minus_13_bar_1_bar_60 - location\n loc_bar__minus_6_bar__minus_2_bar_3_bar_60 - location\n loc_bar__minus_2_bar__minus_4_bar_1_bar_60 - location\n loc_bar__minus_4_bar__minus_8_bar_1_bar_60 - location\n loc_bar__minus_3_bar__minus_6_bar_1_bar_0 - location\n loc_bar__minus_5_bar__minus_11_bar_3_bar_45 - location\n loc_bar__minus_5_bar__minus_9_bar_1_bar_60 - location\n loc_bar__minus_8_bar__minus_11_bar_3_bar_45 - location\n loc_bar__minus_5_bar__minus_2_bar_0_bar_45 - location\n loc_bar__minus_4_bar__minus_13_bar_1_bar_45 - location\n loc_bar__minus_7_bar__minus_3_bar_3_bar_60 - location\n loc_bar__minus_6_bar__minus_2_bar_3_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Drawer_bar__minus_00_dot_19_bar__plus_00_dot_94_bar__minus_03_dot_40 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_19_bar__plus_00_dot_16_bar__minus_03_dot_40 DrawerType)\n (receptacleType TowelHolder_bar__minus_01_dot_34_bar__plus_01_dot_18_bar__plus_00_dot_00 TowelHolderType)\n (receptacleType GarbageCan_bar__minus_00_dot_23_bar_00_dot_00_bar__minus_02_dot_80 GarbageCanType)\n (receptacleType Shelf_bar__minus_02_dot_58_bar__plus_00_dot_40_bar__minus_02_dot_92 ShelfType)\n (receptacleType HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_01_dot_55 HandTowelHolderType)\n (receptacleType CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92 CounterTopType)\n (receptacleType Sink_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_02_dot_08_bar_SinkBasin SinkBasinType)\n (receptacleType Toilet_bar__minus_00_dot_41_bar_00_dot_00_bar__minus_00_dot_55 ToiletType)\n (receptacleType Shelf_bar__minus_02_dot_54_bar__plus_00_dot_13_bar__minus_02_dot_92 ShelfType)\n (receptacleType Dresser_bar__minus_00_dot_21_bar__plus_00_dot_81_bar__minus_03_dot_40 DresserType)\n (receptacleType Drawer_bar__minus_00_dot_19_bar__plus_00_dot_68_bar__minus_03_dot_40 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_19_bar__plus_00_dot_42_bar__minus_03_dot_40 DrawerType)\n (receptacleType ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_87_bar__minus_00_dot_97 ToiletPaperHangerType)\n (receptacleType Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83_bar_BathtubBasin BathtubBasinType)\n (receptacleType HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_02_dot_66 HandTowelHolderType)\n (objectType SoapBar_bar__minus_00_dot_14_bar__plus_00_dot_88_bar__minus_03_dot_47 SoapBarType)\n (objectType Candle_bar__minus_02_dot_61_bar__plus_00_dot_36_bar__minus_02_dot_92 CandleType)\n (objectType Candle_bar__minus_00_dot_16_bar__plus_00_dot_62_bar__minus_03_dot_18 CandleType)\n (objectType HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_48_bar__minus_02_dot_66 HandTowelType)\n (objectType LightSwitch_bar__minus_00_dot_36_bar__plus_01_dot_33_bar__minus_04_dot_00 LightSwitchType)\n (objectType Cloth_bar__minus_02_dot_59_bar__plus_00_dot_09_bar__minus_00_dot_39 ClothType)\n (objectType SprayBottle_bar__minus_02_dot_92_bar__plus_00_dot_99_bar__minus_03_dot_45 SprayBottleType)\n (objectType SprayBottle_bar__minus_00_dot_12_bar__plus_01_dot_16_bar__minus_03_dot_10 SprayBottleType)\n (objectType Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83 BathtubType)\n (objectType Candle_bar__minus_00_dot_03_bar__plus_01_dot_04_bar__minus_00_dot_41 CandleType)\n (objectType Mirror_bar__minus_02_dot_98_bar__plus_01_dot_57_bar__minus_02_dot_90 MirrorType)\n (objectType Cloth_bar__minus_02_dot_58_bar__plus_00_dot_36_bar__minus_03_dot_13 ClothType)\n (objectType Sink_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_02_dot_08 SinkType)\n (objectType HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_48_bar__minus_01_dot_55 HandTowelType)\n (objectType ScrubBrush_bar__minus_00_dot_14_bar_00_dot_00_bar__minus_00_dot_11 ScrubBrushType)\n (objectType SoapBottle_bar__minus_00_dot_16_bar__plus_00_dot_62_bar__minus_03_dot_47 SoapBottleType)\n (objectType ToiletPaper_bar__minus_00_dot_10_bar__plus_01_dot_04_bar__minus_00_dot_39 ToiletPaperType)\n (objectType Plunger_bar__minus_00_dot_37_bar_00_dot_00_bar__minus_00_dot_10 PlungerType)\n (objectType Cloth_bar__minus_02_dot_69_bar__plus_01_dot_00_bar__minus_03_dot_19 ClothType)\n (objectType ToiletPaper_bar__minus_00_dot_14_bar__plus_00_dot_35_bar__minus_03_dot_40 ToiletPaperType)\n (objectType Towel_bar__minus_01_dot_34_bar__plus_01_dot_19_bar__minus_00_dot_11 TowelType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType CandleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType HandTowelType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType CandleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType HandTowelType)\n (canContain TowelHolderType TowelType)\n (canContain GarbageCanType SprayBottleType)\n (canContain GarbageCanType SoapBarType)\n (canContain GarbageCanType SoapBottleType)\n (canContain GarbageCanType ToiletPaperType)\n (canContain GarbageCanType ClothType)\n (canContain GarbageCanType HandTowelType)\n (canContain ShelfType SprayBottleType)\n (canContain ShelfType SoapBarType)\n (canContain ShelfType SoapBottleType)\n (canContain ShelfType ToiletPaperType)\n (canContain ShelfType CandleType)\n (canContain ShelfType ClothType)\n (canContain ShelfType HandTowelType)\n (canContain HandTowelHolderType HandTowelType)\n (canContain CounterTopType SprayBottleType)\n (canContain CounterTopType SoapBarType)\n (canContain CounterTopType SoapBottleType)\n (canContain CounterTopType ToiletPaperType)\n (canContain CounterTopType CandleType)\n (canContain CounterTopType ClothType)\n (canContain CounterTopType HandTowelType)\n (canContain SinkBasinType SoapBarType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType HandTowelType)\n (canContain ToiletType ClothType)\n (canContain ToiletType SoapBarType)\n (canContain ToiletType HandTowelType)\n (canContain ToiletType ToiletPaperType)\n (canContain ToiletType SoapBottleType)\n (canContain ToiletType SprayBottleType)\n (canContain ToiletType CandleType)\n (canContain ShelfType SprayBottleType)\n (canContain ShelfType SoapBarType)\n (canContain ShelfType SoapBottleType)\n (canContain ShelfType ToiletPaperType)\n (canContain ShelfType CandleType)\n (canContain ShelfType ClothType)\n (canContain ShelfType HandTowelType)\n (canContain DresserType SprayBottleType)\n (canContain DresserType ToiletPaperType)\n (canContain DresserType CandleType)\n (canContain DresserType ClothType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType CandleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType HandTowelType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType CandleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType HandTowelType)\n (canContain ToiletPaperHangerType ToiletPaperType)\n (canContain BathtubBasinType HandTowelType)\n (canContain BathtubBasinType SoapBarType)\n (canContain BathtubBasinType ClothType)\n (canContain HandTowelHolderType HandTowelType)\n (pickupable SoapBar_bar__minus_00_dot_14_bar__plus_00_dot_88_bar__minus_03_dot_47)\n (pickupable Candle_bar__minus_02_dot_61_bar__plus_00_dot_36_bar__minus_02_dot_92)\n (pickupable Candle_bar__minus_00_dot_16_bar__plus_00_dot_62_bar__minus_03_dot_18)\n (pickupable HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_48_bar__minus_02_dot_66)\n (pickupable Cloth_bar__minus_02_dot_59_bar__plus_00_dot_09_bar__minus_00_dot_39)\n (pickupable SprayBottle_bar__minus_02_dot_92_bar__plus_00_dot_99_bar__minus_03_dot_45)\n (pickupable SprayBottle_bar__minus_00_dot_12_bar__plus_01_dot_16_bar__minus_03_dot_10)\n (pickupable Candle_bar__minus_00_dot_03_bar__plus_01_dot_04_bar__minus_00_dot_41)\n (pickupable Cloth_bar__minus_02_dot_58_bar__plus_00_dot_36_bar__minus_03_dot_13)\n (pickupable HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_48_bar__minus_01_dot_55)\n (pickupable ScrubBrush_bar__minus_00_dot_14_bar_00_dot_00_bar__minus_00_dot_11)\n (pickupable SoapBottle_bar__minus_00_dot_16_bar__plus_00_dot_62_bar__minus_03_dot_47)\n (pickupable ToiletPaper_bar__minus_00_dot_10_bar__plus_01_dot_04_bar__minus_00_dot_39)\n (pickupable Plunger_bar__minus_00_dot_37_bar_00_dot_00_bar__minus_00_dot_10)\n (pickupable Cloth_bar__minus_02_dot_69_bar__plus_01_dot_00_bar__minus_03_dot_19)\n (pickupable ToiletPaper_bar__minus_00_dot_14_bar__plus_00_dot_35_bar__minus_03_dot_40)\n (pickupable Towel_bar__minus_01_dot_34_bar__plus_01_dot_19_bar__minus_00_dot_11)\n \n (openable Drawer_bar__minus_00_dot_19_bar__plus_00_dot_94_bar__minus_03_dot_40)\n (openable Drawer_bar__minus_00_dot_19_bar__plus_00_dot_16_bar__minus_03_dot_40)\n (openable Drawer_bar__minus_00_dot_19_bar__plus_00_dot_68_bar__minus_03_dot_40)\n (openable Drawer_bar__minus_00_dot_19_bar__plus_00_dot_42_bar__minus_03_dot_40)\n \n (atLocation agent1 loc_bar__minus_6_bar__minus_2_bar_3_bar_30)\n \n (cleanable SoapBar_bar__minus_00_dot_14_bar__plus_00_dot_88_bar__minus_03_dot_47)\n (cleanable Cloth_bar__minus_02_dot_59_bar__plus_00_dot_09_bar__minus_00_dot_39)\n (cleanable Cloth_bar__minus_02_dot_58_bar__plus_00_dot_36_bar__minus_03_dot_13)\n (cleanable Cloth_bar__minus_02_dot_69_bar__plus_01_dot_00_bar__minus_03_dot_19)\n \n \n \n \n \n \n \n \n \n \n (inReceptacle SoapBar_bar__minus_00_dot_14_bar__plus_00_dot_88_bar__minus_03_dot_47 Drawer_bar__minus_00_dot_19_bar__plus_00_dot_94_bar__minus_03_dot_40)\n (inReceptacle SprayBottle_bar__minus_00_dot_12_bar__plus_01_dot_16_bar__minus_03_dot_10 Dresser_bar__minus_00_dot_21_bar__plus_00_dot_81_bar__minus_03_dot_40)\n (inReceptacle SoapBottle_bar__minus_00_dot_16_bar__plus_00_dot_62_bar__minus_03_dot_47 Drawer_bar__minus_00_dot_19_bar__plus_00_dot_68_bar__minus_03_dot_40)\n (inReceptacle Candle_bar__minus_00_dot_16_bar__plus_00_dot_62_bar__minus_03_dot_18 Drawer_bar__minus_00_dot_19_bar__plus_00_dot_68_bar__minus_03_dot_40)\n (inReceptacle ToiletPaper_bar__minus_00_dot_14_bar__plus_00_dot_35_bar__minus_03_dot_40 Drawer_bar__minus_00_dot_19_bar__plus_00_dot_42_bar__minus_03_dot_40)\n (inReceptacle Candle_bar__minus_02_dot_61_bar__plus_00_dot_36_bar__minus_02_dot_92 Shelf_bar__minus_02_dot_58_bar__plus_00_dot_40_bar__minus_02_dot_92)\n (inReceptacle Cloth_bar__minus_02_dot_58_bar__plus_00_dot_36_bar__minus_03_dot_13 Shelf_bar__minus_02_dot_58_bar__plus_00_dot_40_bar__minus_02_dot_92)\n (inReceptacle Mirror_bar__minus_02_dot_98_bar__plus_01_dot_57_bar__minus_02_dot_90 CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92)\n (inReceptacle Cloth_bar__minus_02_dot_69_bar__plus_01_dot_00_bar__minus_03_dot_19 CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92)\n (inReceptacle SprayBottle_bar__minus_02_dot_92_bar__plus_00_dot_99_bar__minus_03_dot_45 CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92)\n (inReceptacle Towel_bar__minus_01_dot_34_bar__plus_01_dot_19_bar__minus_00_dot_11 TowelHolder_bar__minus_01_dot_34_bar__plus_01_dot_18_bar__plus_00_dot_00)\n (inReceptacle HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_48_bar__minus_02_dot_66 HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_02_dot_66)\n (inReceptacle HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_48_bar__minus_01_dot_55 HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_01_dot_55)\n (inReceptacle Cloth_bar__minus_02_dot_59_bar__plus_00_dot_09_bar__minus_00_dot_39 Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83_bar_BathtubBasin)\n (inReceptacle Candle_bar__minus_00_dot_03_bar__plus_01_dot_04_bar__minus_00_dot_41 Toilet_bar__minus_00_dot_41_bar_00_dot_00_bar__minus_00_dot_55)\n (inReceptacle ToiletPaper_bar__minus_00_dot_10_bar__plus_01_dot_04_bar__minus_00_dot_39 Toilet_bar__minus_00_dot_41_bar_00_dot_00_bar__minus_00_dot_55)\n \n \n (receptacleAtLocation Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83_bar_BathtubBasin loc_bar__minus_6_bar__minus_2_bar_3_bar_60)\n (receptacleAtLocation CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92 loc_bar__minus_8_bar__minus_11_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_19_bar__plus_00_dot_16_bar__minus_03_dot_40 loc_bar__minus_5_bar__minus_11_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_19_bar__plus_00_dot_42_bar__minus_03_dot_40 loc_bar__minus_6_bar__minus_11_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_19_bar__plus_00_dot_68_bar__minus_03_dot_40 loc_bar__minus_5_bar__minus_12_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_19_bar__plus_00_dot_94_bar__minus_03_dot_40 loc_bar__minus_4_bar__minus_13_bar_1_bar_45)\n (receptacleAtLocation Dresser_bar__minus_00_dot_21_bar__plus_00_dot_81_bar__minus_03_dot_40 loc_bar__minus_3_bar__minus_13_bar_1_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_00_dot_23_bar_00_dot_00_bar__minus_02_dot_80 loc_bar__minus_5_bar__minus_9_bar_1_bar_60)\n (receptacleAtLocation HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_01_dot_55 loc_bar__minus_3_bar__minus_6_bar_1_bar_0)\n (receptacleAtLocation HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_02_dot_66 loc_bar__minus_3_bar__minus_11_bar_1_bar_0)\n (receptacleAtLocation Shelf_bar__minus_02_dot_54_bar__plus_00_dot_13_bar__minus_02_dot_92 loc_bar__minus_8_bar__minus_12_bar_3_bar_60)\n (receptacleAtLocation Shelf_bar__minus_02_dot_58_bar__plus_00_dot_40_bar__minus_02_dot_92 loc_bar__minus_5_bar__minus_11_bar_3_bar_45)\n (receptacleAtLocation Sink_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_02_dot_08_bar_SinkBasin loc_bar__minus_3_bar__minus_6_bar_2_bar_60)\n (receptacleAtLocation ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_87_bar__minus_00_dot_97 loc_bar__minus_2_bar__minus_4_bar_1_bar_60)\n (receptacleAtLocation Toilet_bar__minus_00_dot_41_bar_00_dot_00_bar__minus_00_dot_55 loc_bar__minus_2_bar__minus_5_bar_0_bar_60)\n (receptacleAtLocation TowelHolder_bar__minus_01_dot_34_bar__plus_01_dot_18_bar__plus_00_dot_00 loc_bar__minus_5_bar__minus_2_bar_0_bar_45)\n (objectAtLocation SprayBottle_bar__minus_02_dot_92_bar__plus_00_dot_99_bar__minus_03_dot_45 loc_bar__minus_8_bar__minus_11_bar_3_bar_45)\n (objectAtLocation Candle_bar__minus_02_dot_61_bar__plus_00_dot_36_bar__minus_02_dot_92 loc_bar__minus_5_bar__minus_11_bar_3_bar_45)\n (objectAtLocation Cloth_bar__minus_02_dot_59_bar__plus_00_dot_09_bar__minus_00_dot_39 loc_bar__minus_6_bar__minus_2_bar_3_bar_60)\n (objectAtLocation HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_48_bar__minus_02_dot_66 loc_bar__minus_3_bar__minus_11_bar_1_bar_0)\n (objectAtLocation Candle_bar__minus_00_dot_03_bar__plus_01_dot_04_bar__minus_00_dot_41 loc_bar__minus_2_bar__minus_5_bar_0_bar_60)\n (objectAtLocation Cloth_bar__minus_02_dot_58_bar__plus_00_dot_36_bar__minus_03_dot_13 loc_bar__minus_5_bar__minus_11_bar_3_bar_45)\n (objectAtLocation Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83 loc_bar__minus_7_bar__minus_3_bar_3_bar_60)\n (objectAtLocation Sink_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_02_dot_08 loc_bar__minus_4_bar__minus_8_bar_1_bar_60)\n (objectAtLocation Mirror_bar__minus_02_dot_98_bar__plus_01_dot_57_bar__minus_02_dot_90 loc_bar__minus_8_bar__minus_11_bar_3_bar_45)\n (objectAtLocation HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_48_bar__minus_01_dot_55 loc_bar__minus_3_bar__minus_6_bar_1_bar_0)\n (objectAtLocation SoapBar_bar__minus_00_dot_14_bar__plus_00_dot_88_bar__minus_03_dot_47 loc_bar__minus_4_bar__minus_13_bar_1_bar_45)\n (objectAtLocation ToiletPaper_bar__minus_00_dot_10_bar__plus_01_dot_04_bar__minus_00_dot_39 loc_bar__minus_2_bar__minus_5_bar_0_bar_60)\n (objectAtLocation LightSwitch_bar__minus_00_dot_36_bar__plus_01_dot_33_bar__minus_04_dot_00 loc_bar__minus_2_bar__minus_13_bar_2_bar_30)\n (objectAtLocation ToiletPaper_bar__minus_00_dot_14_bar__plus_00_dot_35_bar__minus_03_dot_40 loc_bar__minus_6_bar__minus_11_bar_1_bar_45)\n (objectAtLocation Towel_bar__minus_01_dot_34_bar__plus_01_dot_19_bar__minus_00_dot_11 loc_bar__minus_5_bar__minus_2_bar_0_bar_45)\n (objectAtLocation SoapBottle_bar__minus_00_dot_16_bar__plus_00_dot_62_bar__minus_03_dot_47 loc_bar__minus_5_bar__minus_12_bar_1_bar_45)\n (objectAtLocation ScrubBrush_bar__minus_00_dot_14_bar_00_dot_00_bar__minus_00_dot_11 loc_bar__minus_2_bar__minus_4_bar_0_bar_60)\n (objectAtLocation Cloth_bar__minus_02_dot_69_bar__plus_01_dot_00_bar__minus_03_dot_19 loc_bar__minus_8_bar__minus_11_bar_3_bar_45)\n (objectAtLocation Plunger_bar__minus_00_dot_37_bar_00_dot_00_bar__minus_00_dot_10 loc_bar__minus_2_bar__minus_4_bar_0_bar_60)\n (objectAtLocation Candle_bar__minus_00_dot_16_bar__plus_00_dot_62_bar__minus_03_dot_18 loc_bar__minus_5_bar__minus_12_bar_1_bar_45)\n (objectAtLocation SprayBottle_bar__minus_00_dot_12_bar__plus_01_dot_16_bar__minus_03_dot_10 loc_bar__minus_3_bar__minus_13_bar_1_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (inReceptacle ?o ?r)\n (objectType ?o ToiletPaperType)\n (receptacleType ?r ToiletPaperHangerType)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to toilet 1", "take toiletpaper 2 from toilet 1", "go to toiletpaperhanger 1", "move toiletpaper 2 to toiletpaperhanger 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/valid_seen/pick_and_place_simple-ToiletPaper-None-ToiletPaperHanger-415/trial_T20190908_050518_595510/initial_state.pddl b/data/alfworld/json_2.1.1/valid_seen/pick_and_place_simple-ToiletPaper-None-ToiletPaperHanger-415/trial_T20190908_050518_595510/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..ea3e6822811cf492fdd59c6f998f613df478b4f5 --- /dev/null +++ b/data/alfworld/json_2.1.1/valid_seen/pick_and_place_simple-ToiletPaper-None-ToiletPaperHanger-415/trial_T20190908_050518_595510/initial_state.pddl @@ -0,0 +1,487 @@ + +(define (problem plan_trial_T20190908_050518_595510) +(:domain alfred) +(:objects +agent1 - agent +Curtains - object + SprayBottle - object + Mirror - object + HousePlant - object + Watch - object + TeddyBear - object + WateringCan - object + Bathtub - object + LightSwitch - object + Vase - object + Candle - object + Bread - object + Statue - object + HandTowel - object + StoveKnob - object + PaperTowelRoll - object + Pan - object + PepperShaker - object + Painting - object + CellPhone - object + Plunger - object + Spoon - object + SaltShaker - object + KeyChain - object + Footstool - object + Poster - object + Television - object + LaundryHamperLid - object + Glassbottle - object + AlarmClock - object + WineBottle - object + Bowl - object + Sink - object + TissueBox - object + TennisRacket - object + ToiletPaper - object + ScrubBrush - object + CreditCard - object + Laptop - object + Cloth - object + Cup - object + Chair - object + BasketBall - object + Kettle - object + PaperTowel - object + ShowerDoor - object + BaseballBat - object + Potato - object + Pillow - object + Lettuce - object + RemoteControl - object + Window - object + DishSponge - object + CD - object + Boots - object + Blinds - object + Pen - object + Newspaper - object + Plate - object + Mug - object + ShowerGlass - object + ToiletPaperRoll - object + SoapBar - object + FloorLamp - object + SoapBottle - object + Pot - object + Pencil - object + Spatula - object + Towel - object + Fork - object + Ladle - object + Knife - object + Apple - object + Box - object + Tomato - object + ButterKnife - object + Egg - object + Book - object + DeskLamp - object +CurtainsType - otype + SprayBottleType - otype + MirrorType - otype + HousePlantType - otype + WatchType - otype + TeddyBearType - otype + WateringCanType - otype + BathtubType - otype + LightSwitchType - otype + VaseType - otype + CandleType - otype + BreadType - otype + StatueType - otype + HandTowelType - otype + StoveKnobType - otype + PaperTowelRollType - otype + PanType - otype + PepperShakerType - otype + PaintingType - otype + CellPhoneType - otype + PlungerType - otype + SpoonType - otype + SaltShakerType - otype + KeyChainType - otype + FootstoolType - otype + PosterType - otype + TelevisionType - otype + LaundryHamperLidType - otype + GlassbottleType - otype + AlarmClockType - otype + WineBottleType - otype + BowlType - otype + SinkType - otype + TissueBoxType - otype + TennisRacketType - otype + ToiletPaperType - otype + ScrubBrushType - otype + CreditCardType - otype + LaptopType - otype + ClothType - otype + CupType - otype + ChairType - otype + BasketBallType - otype + KettleType - otype + PaperTowelType - otype + ShowerDoorType - otype + BaseballBatType - otype + PotatoType - otype + PillowType - otype + LettuceType - otype + RemoteControlType - otype + WindowType - otype + DishSpongeType - otype + CDType - otype + BootsType - otype + BlindsType - otype + PenType - otype + NewspaperType - otype + PlateType - otype + MugType - otype + ShowerGlassType - otype + ToiletPaperRollType - otype + SoapBarType - otype + FloorLampType - otype + SoapBottleType - otype + PotType - otype + PencilType - otype + SpatulaType - otype + TowelType - otype + ForkType - otype + LadleType - otype + KnifeType - otype + AppleType - otype + BoxType - otype + TomatoType - otype + ButterKnifeType - otype + EggType - otype + BookType - otype + DeskLampType - otype +CabinetType - rtype + ShelfType - rtype + DiningTableType - rtype + TowelHolderType - rtype + PaintingHangerType - rtype + TVStandType - rtype + LaundryHamperType - rtype + OttomanType - rtype + SafeType - rtype + CoffeeMachineType - rtype + CounterTopType - rtype + ToiletType - rtype + FridgeType - rtype + CoffeeTableType - rtype + SinkBasinType - rtype + GarbageCanType - rtype + BathtubBasinType - rtype + SideTableType - rtype + CartType - rtype + BedType - rtype + DeskType - rtype + SofaType - rtype + ArmChairType - rtype + MicrowaveType - rtype + HandTowelHolderType - rtype + ToasterType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + DrawerType - rtype + DresserType - rtype + + + Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83 - object + Candle_bar__minus_00_dot_03_bar__plus_01_dot_04_bar__minus_00_dot_41 - object + Candle_bar__minus_00_dot_16_bar__plus_00_dot_62_bar__minus_03_dot_18 - object + Candle_bar__minus_02_dot_61_bar__plus_00_dot_36_bar__minus_02_dot_92 - object + Cloth_bar__minus_02_dot_58_bar__plus_00_dot_36_bar__minus_03_dot_13 - object + Cloth_bar__minus_02_dot_59_bar__plus_00_dot_09_bar__minus_00_dot_39 - object + Cloth_bar__minus_02_dot_69_bar__plus_01_dot_00_bar__minus_03_dot_19 - object + Faucet_bar__minus_00_dot_04_bar__plus_01_dot_02_bar__minus_02_dot_08 - object + HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_48_bar__minus_01_dot_55 - object + HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_48_bar__minus_02_dot_66 - object + LightSwitch_bar__minus_00_dot_36_bar__plus_01_dot_33_bar__minus_04_dot_00 - object + Mirror_bar__minus_02_dot_98_bar__plus_01_dot_57_bar__minus_02_dot_90 - object + Plunger_bar__minus_00_dot_37_bar_00_dot_00_bar__minus_00_dot_10 - object + ScrubBrush_bar__minus_00_dot_14_bar_00_dot_00_bar__minus_00_dot_11 - object + ShowerCurtain_bar__minus_02_dot_19_bar__plus_01_dot_92_bar__minus_01_dot_56 - object + ShowerHead_bar__minus_02_dot_58_bar__plus_01_dot_20_bar__minus_00_dot_06 - object + Sink_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_02_dot_08 - object + SoapBar_bar__minus_00_dot_14_bar__plus_00_dot_88_bar__minus_03_dot_47 - object + SoapBottle_bar__minus_00_dot_16_bar__plus_00_dot_62_bar__minus_03_dot_47 - object + SprayBottle_bar__minus_00_dot_12_bar__plus_01_dot_16_bar__minus_03_dot_10 - object + SprayBottle_bar__minus_02_dot_92_bar__plus_00_dot_99_bar__minus_03_dot_45 - object + ToiletPaper_bar__minus_00_dot_10_bar__plus_01_dot_04_bar__minus_00_dot_39 - object + ToiletPaper_bar__minus_00_dot_14_bar__plus_00_dot_35_bar__minus_03_dot_40 - object + Towel_bar__minus_01_dot_34_bar__plus_01_dot_19_bar__minus_00_dot_11 - object + Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83_bar_BathtubBasin - receptacle + CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92 - receptacle + Drawer_bar__minus_00_dot_19_bar__plus_00_dot_16_bar__minus_03_dot_40 - receptacle + Drawer_bar__minus_00_dot_19_bar__plus_00_dot_42_bar__minus_03_dot_40 - receptacle + Drawer_bar__minus_00_dot_19_bar__plus_00_dot_68_bar__minus_03_dot_40 - receptacle + Drawer_bar__minus_00_dot_19_bar__plus_00_dot_94_bar__minus_03_dot_40 - receptacle + Dresser_bar__minus_00_dot_21_bar__plus_00_dot_81_bar__minus_03_dot_40 - receptacle + GarbageCan_bar__minus_00_dot_23_bar_00_dot_00_bar__minus_02_dot_80 - receptacle + HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_01_dot_55 - receptacle + HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_02_dot_66 - receptacle + Shelf_bar__minus_02_dot_54_bar__plus_00_dot_13_bar__minus_02_dot_92 - receptacle + Shelf_bar__minus_02_dot_58_bar__plus_00_dot_40_bar__minus_02_dot_92 - receptacle + Sink_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_02_dot_08_bar_SinkBasin - receptacle + ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_87_bar__minus_00_dot_97 - receptacle + Toilet_bar__minus_00_dot_41_bar_00_dot_00_bar__minus_00_dot_55 - receptacle + TowelHolder_bar__minus_01_dot_34_bar__plus_01_dot_18_bar__plus_00_dot_00 - receptacle + loc_bar__minus_5_bar__minus_12_bar_1_bar_45 - location + loc_bar__minus_3_bar__minus_11_bar_1_bar_0 - location + loc_bar__minus_3_bar__minus_6_bar_2_bar_60 - location + loc_bar__minus_2_bar__minus_4_bar_0_bar_60 - location + loc_bar__minus_2_bar__minus_13_bar_2_bar_30 - location + loc_bar__minus_2_bar__minus_5_bar_0_bar_60 - location + loc_bar__minus_8_bar__minus_12_bar_3_bar_60 - location + loc_bar__minus_6_bar__minus_11_bar_1_bar_45 - location + loc_bar__minus_5_bar__minus_11_bar_1_bar_60 - location + loc_bar__minus_3_bar__minus_13_bar_1_bar_60 - location + loc_bar__minus_6_bar__minus_2_bar_3_bar_60 - location + loc_bar__minus_2_bar__minus_4_bar_1_bar_60 - location + loc_bar__minus_4_bar__minus_8_bar_1_bar_60 - location + loc_bar__minus_3_bar__minus_6_bar_1_bar_0 - location + loc_bar__minus_5_bar__minus_11_bar_3_bar_45 - location + loc_bar__minus_5_bar__minus_9_bar_1_bar_60 - location + loc_bar__minus_8_bar__minus_11_bar_3_bar_45 - location + loc_bar__minus_5_bar__minus_2_bar_0_bar_45 - location + loc_bar__minus_4_bar__minus_13_bar_1_bar_45 - location + loc_bar__minus_7_bar__minus_3_bar_3_bar_60 - location + loc_bar__minus_6_bar__minus_2_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType Drawer_bar__minus_00_dot_19_bar__plus_00_dot_94_bar__minus_03_dot_40 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_19_bar__plus_00_dot_16_bar__minus_03_dot_40 DrawerType) + (receptacleType TowelHolder_bar__minus_01_dot_34_bar__plus_01_dot_18_bar__plus_00_dot_00 TowelHolderType) + (receptacleType GarbageCan_bar__minus_00_dot_23_bar_00_dot_00_bar__minus_02_dot_80 GarbageCanType) + (receptacleType Shelf_bar__minus_02_dot_58_bar__plus_00_dot_40_bar__minus_02_dot_92 ShelfType) + (receptacleType HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_01_dot_55 HandTowelHolderType) + (receptacleType CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92 CounterTopType) + (receptacleType Sink_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_02_dot_08_bar_SinkBasin SinkBasinType) + (receptacleType Toilet_bar__minus_00_dot_41_bar_00_dot_00_bar__minus_00_dot_55 ToiletType) + (receptacleType Shelf_bar__minus_02_dot_54_bar__plus_00_dot_13_bar__minus_02_dot_92 ShelfType) + (receptacleType Dresser_bar__minus_00_dot_21_bar__plus_00_dot_81_bar__minus_03_dot_40 DresserType) + (receptacleType Drawer_bar__minus_00_dot_19_bar__plus_00_dot_68_bar__minus_03_dot_40 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_19_bar__plus_00_dot_42_bar__minus_03_dot_40 DrawerType) + (receptacleType ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_87_bar__minus_00_dot_97 ToiletPaperHangerType) + (receptacleType Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83_bar_BathtubBasin BathtubBasinType) + (receptacleType HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_02_dot_66 HandTowelHolderType) + (objectType SoapBar_bar__minus_00_dot_14_bar__plus_00_dot_88_bar__minus_03_dot_47 SoapBarType) + (objectType Candle_bar__minus_02_dot_61_bar__plus_00_dot_36_bar__minus_02_dot_92 CandleType) + (objectType Candle_bar__minus_00_dot_16_bar__plus_00_dot_62_bar__minus_03_dot_18 CandleType) + (objectType HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_48_bar__minus_02_dot_66 HandTowelType) + (objectType LightSwitch_bar__minus_00_dot_36_bar__plus_01_dot_33_bar__minus_04_dot_00 LightSwitchType) + (objectType Cloth_bar__minus_02_dot_59_bar__plus_00_dot_09_bar__minus_00_dot_39 ClothType) + (objectType SprayBottle_bar__minus_02_dot_92_bar__plus_00_dot_99_bar__minus_03_dot_45 SprayBottleType) + (objectType SprayBottle_bar__minus_00_dot_12_bar__plus_01_dot_16_bar__minus_03_dot_10 SprayBottleType) + (objectType Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83 BathtubType) + (objectType Candle_bar__minus_00_dot_03_bar__plus_01_dot_04_bar__minus_00_dot_41 CandleType) + (objectType Mirror_bar__minus_02_dot_98_bar__plus_01_dot_57_bar__minus_02_dot_90 MirrorType) + (objectType Cloth_bar__minus_02_dot_58_bar__plus_00_dot_36_bar__minus_03_dot_13 ClothType) + (objectType Sink_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_02_dot_08 SinkType) + (objectType HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_48_bar__minus_01_dot_55 HandTowelType) + (objectType ScrubBrush_bar__minus_00_dot_14_bar_00_dot_00_bar__minus_00_dot_11 ScrubBrushType) + (objectType SoapBottle_bar__minus_00_dot_16_bar__plus_00_dot_62_bar__minus_03_dot_47 SoapBottleType) + (objectType ToiletPaper_bar__minus_00_dot_10_bar__plus_01_dot_04_bar__minus_00_dot_39 ToiletPaperType) + (objectType Plunger_bar__minus_00_dot_37_bar_00_dot_00_bar__minus_00_dot_10 PlungerType) + (objectType Cloth_bar__minus_02_dot_69_bar__plus_01_dot_00_bar__minus_03_dot_19 ClothType) + (objectType ToiletPaper_bar__minus_00_dot_14_bar__plus_00_dot_35_bar__minus_03_dot_40 ToiletPaperType) + (objectType Towel_bar__minus_01_dot_34_bar__plus_01_dot_19_bar__minus_00_dot_11 TowelType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType CandleType) + (canContain DrawerType ClothType) + (canContain DrawerType HandTowelType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType CandleType) + (canContain DrawerType ClothType) + (canContain DrawerType HandTowelType) + (canContain TowelHolderType TowelType) + (canContain GarbageCanType SprayBottleType) + (canContain GarbageCanType SoapBarType) + (canContain GarbageCanType SoapBottleType) + (canContain GarbageCanType ToiletPaperType) + (canContain GarbageCanType ClothType) + (canContain GarbageCanType HandTowelType) + (canContain ShelfType SprayBottleType) + (canContain ShelfType SoapBarType) + (canContain ShelfType SoapBottleType) + (canContain ShelfType ToiletPaperType) + (canContain ShelfType CandleType) + (canContain ShelfType ClothType) + (canContain ShelfType HandTowelType) + (canContain HandTowelHolderType HandTowelType) + (canContain CounterTopType SprayBottleType) + (canContain CounterTopType SoapBarType) + (canContain CounterTopType SoapBottleType) + (canContain CounterTopType ToiletPaperType) + (canContain CounterTopType CandleType) + (canContain CounterTopType ClothType) + (canContain CounterTopType HandTowelType) + (canContain SinkBasinType SoapBarType) + (canContain SinkBasinType ClothType) + (canContain SinkBasinType HandTowelType) + (canContain ToiletType ClothType) + (canContain ToiletType SoapBarType) + (canContain ToiletType HandTowelType) + (canContain ToiletType ToiletPaperType) + (canContain ToiletType SoapBottleType) + (canContain ToiletType SprayBottleType) + (canContain ToiletType CandleType) + (canContain ShelfType SprayBottleType) + (canContain ShelfType SoapBarType) + (canContain ShelfType SoapBottleType) + (canContain ShelfType ToiletPaperType) + (canContain ShelfType CandleType) + (canContain ShelfType ClothType) + (canContain ShelfType HandTowelType) + (canContain DresserType SprayBottleType) + (canContain DresserType ToiletPaperType) + (canContain DresserType CandleType) + (canContain DresserType ClothType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType CandleType) + (canContain DrawerType ClothType) + (canContain DrawerType HandTowelType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType CandleType) + (canContain DrawerType ClothType) + (canContain DrawerType HandTowelType) + (canContain ToiletPaperHangerType ToiletPaperType) + (canContain BathtubBasinType HandTowelType) + (canContain BathtubBasinType SoapBarType) + (canContain BathtubBasinType ClothType) + (canContain HandTowelHolderType HandTowelType) + (pickupable SoapBar_bar__minus_00_dot_14_bar__plus_00_dot_88_bar__minus_03_dot_47) + (pickupable Candle_bar__minus_02_dot_61_bar__plus_00_dot_36_bar__minus_02_dot_92) + (pickupable Candle_bar__minus_00_dot_16_bar__plus_00_dot_62_bar__minus_03_dot_18) + (pickupable HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_48_bar__minus_02_dot_66) + (pickupable Cloth_bar__minus_02_dot_59_bar__plus_00_dot_09_bar__minus_00_dot_39) + (pickupable SprayBottle_bar__minus_02_dot_92_bar__plus_00_dot_99_bar__minus_03_dot_45) + (pickupable SprayBottle_bar__minus_00_dot_12_bar__plus_01_dot_16_bar__minus_03_dot_10) + (pickupable Candle_bar__minus_00_dot_03_bar__plus_01_dot_04_bar__minus_00_dot_41) + (pickupable Cloth_bar__minus_02_dot_58_bar__plus_00_dot_36_bar__minus_03_dot_13) + (pickupable HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_48_bar__minus_01_dot_55) + (pickupable ScrubBrush_bar__minus_00_dot_14_bar_00_dot_00_bar__minus_00_dot_11) + (pickupable SoapBottle_bar__minus_00_dot_16_bar__plus_00_dot_62_bar__minus_03_dot_47) + (pickupable ToiletPaper_bar__minus_00_dot_10_bar__plus_01_dot_04_bar__minus_00_dot_39) + (pickupable Plunger_bar__minus_00_dot_37_bar_00_dot_00_bar__minus_00_dot_10) + (pickupable Cloth_bar__minus_02_dot_69_bar__plus_01_dot_00_bar__minus_03_dot_19) + (pickupable ToiletPaper_bar__minus_00_dot_14_bar__plus_00_dot_35_bar__minus_03_dot_40) + (pickupable Towel_bar__minus_01_dot_34_bar__plus_01_dot_19_bar__minus_00_dot_11) + + (openable Drawer_bar__minus_00_dot_19_bar__plus_00_dot_94_bar__minus_03_dot_40) + (openable Drawer_bar__minus_00_dot_19_bar__plus_00_dot_16_bar__minus_03_dot_40) + (openable Drawer_bar__minus_00_dot_19_bar__plus_00_dot_68_bar__minus_03_dot_40) + (openable Drawer_bar__minus_00_dot_19_bar__plus_00_dot_42_bar__minus_03_dot_40) + + (atLocation agent1 loc_bar__minus_6_bar__minus_2_bar_3_bar_30) + + (cleanable SoapBar_bar__minus_00_dot_14_bar__plus_00_dot_88_bar__minus_03_dot_47) + (cleanable Cloth_bar__minus_02_dot_59_bar__plus_00_dot_09_bar__minus_00_dot_39) + (cleanable Cloth_bar__minus_02_dot_58_bar__plus_00_dot_36_bar__minus_03_dot_13) + (cleanable Cloth_bar__minus_02_dot_69_bar__plus_01_dot_00_bar__minus_03_dot_19) + + + + + + + + + + + (inReceptacle SoapBar_bar__minus_00_dot_14_bar__plus_00_dot_88_bar__minus_03_dot_47 Drawer_bar__minus_00_dot_19_bar__plus_00_dot_94_bar__minus_03_dot_40) + (inReceptacle SprayBottle_bar__minus_00_dot_12_bar__plus_01_dot_16_bar__minus_03_dot_10 Dresser_bar__minus_00_dot_21_bar__plus_00_dot_81_bar__minus_03_dot_40) + (inReceptacle SoapBottle_bar__minus_00_dot_16_bar__plus_00_dot_62_bar__minus_03_dot_47 Drawer_bar__minus_00_dot_19_bar__plus_00_dot_68_bar__minus_03_dot_40) + (inReceptacle Candle_bar__minus_00_dot_16_bar__plus_00_dot_62_bar__minus_03_dot_18 Drawer_bar__minus_00_dot_19_bar__plus_00_dot_68_bar__minus_03_dot_40) + (inReceptacle ToiletPaper_bar__minus_00_dot_14_bar__plus_00_dot_35_bar__minus_03_dot_40 Drawer_bar__minus_00_dot_19_bar__plus_00_dot_42_bar__minus_03_dot_40) + (inReceptacle Candle_bar__minus_02_dot_61_bar__plus_00_dot_36_bar__minus_02_dot_92 Shelf_bar__minus_02_dot_58_bar__plus_00_dot_40_bar__minus_02_dot_92) + (inReceptacle Cloth_bar__minus_02_dot_58_bar__plus_00_dot_36_bar__minus_03_dot_13 Shelf_bar__minus_02_dot_58_bar__plus_00_dot_40_bar__minus_02_dot_92) + (inReceptacle Mirror_bar__minus_02_dot_98_bar__plus_01_dot_57_bar__minus_02_dot_90 CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92) + (inReceptacle Cloth_bar__minus_02_dot_69_bar__plus_01_dot_00_bar__minus_03_dot_19 CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92) + (inReceptacle SprayBottle_bar__minus_02_dot_92_bar__plus_00_dot_99_bar__minus_03_dot_45 CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92) + (inReceptacle Towel_bar__minus_01_dot_34_bar__plus_01_dot_19_bar__minus_00_dot_11 TowelHolder_bar__minus_01_dot_34_bar__plus_01_dot_18_bar__plus_00_dot_00) + (inReceptacle HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_48_bar__minus_02_dot_66 HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_02_dot_66) + (inReceptacle HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_48_bar__minus_01_dot_55 HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_01_dot_55) + (inReceptacle Cloth_bar__minus_02_dot_59_bar__plus_00_dot_09_bar__minus_00_dot_39 Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83_bar_BathtubBasin) + (inReceptacle Candle_bar__minus_00_dot_03_bar__plus_01_dot_04_bar__minus_00_dot_41 Toilet_bar__minus_00_dot_41_bar_00_dot_00_bar__minus_00_dot_55) + (inReceptacle ToiletPaper_bar__minus_00_dot_10_bar__plus_01_dot_04_bar__minus_00_dot_39 Toilet_bar__minus_00_dot_41_bar_00_dot_00_bar__minus_00_dot_55) + + + (receptacleAtLocation Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83_bar_BathtubBasin loc_bar__minus_6_bar__minus_2_bar_3_bar_60) + (receptacleAtLocation CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92 loc_bar__minus_8_bar__minus_11_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_19_bar__plus_00_dot_16_bar__minus_03_dot_40 loc_bar__minus_5_bar__minus_11_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__minus_00_dot_19_bar__plus_00_dot_42_bar__minus_03_dot_40 loc_bar__minus_6_bar__minus_11_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_19_bar__plus_00_dot_68_bar__minus_03_dot_40 loc_bar__minus_5_bar__minus_12_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_19_bar__plus_00_dot_94_bar__minus_03_dot_40 loc_bar__minus_4_bar__minus_13_bar_1_bar_45) + (receptacleAtLocation Dresser_bar__minus_00_dot_21_bar__plus_00_dot_81_bar__minus_03_dot_40 loc_bar__minus_3_bar__minus_13_bar_1_bar_60) + (receptacleAtLocation GarbageCan_bar__minus_00_dot_23_bar_00_dot_00_bar__minus_02_dot_80 loc_bar__minus_5_bar__minus_9_bar_1_bar_60) + (receptacleAtLocation HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_01_dot_55 loc_bar__minus_3_bar__minus_6_bar_1_bar_0) + (receptacleAtLocation HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_02_dot_66 loc_bar__minus_3_bar__minus_11_bar_1_bar_0) + (receptacleAtLocation Shelf_bar__minus_02_dot_54_bar__plus_00_dot_13_bar__minus_02_dot_92 loc_bar__minus_8_bar__minus_12_bar_3_bar_60) + (receptacleAtLocation Shelf_bar__minus_02_dot_58_bar__plus_00_dot_40_bar__minus_02_dot_92 loc_bar__minus_5_bar__minus_11_bar_3_bar_45) + (receptacleAtLocation Sink_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_02_dot_08_bar_SinkBasin loc_bar__minus_3_bar__minus_6_bar_2_bar_60) + (receptacleAtLocation ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_87_bar__minus_00_dot_97 loc_bar__minus_2_bar__minus_4_bar_1_bar_60) + (receptacleAtLocation Toilet_bar__minus_00_dot_41_bar_00_dot_00_bar__minus_00_dot_55 loc_bar__minus_2_bar__minus_5_bar_0_bar_60) + (receptacleAtLocation TowelHolder_bar__minus_01_dot_34_bar__plus_01_dot_18_bar__plus_00_dot_00 loc_bar__minus_5_bar__minus_2_bar_0_bar_45) + (objectAtLocation SprayBottle_bar__minus_02_dot_92_bar__plus_00_dot_99_bar__minus_03_dot_45 loc_bar__minus_8_bar__minus_11_bar_3_bar_45) + (objectAtLocation Candle_bar__minus_02_dot_61_bar__plus_00_dot_36_bar__minus_02_dot_92 loc_bar__minus_5_bar__minus_11_bar_3_bar_45) + (objectAtLocation Cloth_bar__minus_02_dot_59_bar__plus_00_dot_09_bar__minus_00_dot_39 loc_bar__minus_6_bar__minus_2_bar_3_bar_60) + (objectAtLocation HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_48_bar__minus_02_dot_66 loc_bar__minus_3_bar__minus_11_bar_1_bar_0) + (objectAtLocation Candle_bar__minus_00_dot_03_bar__plus_01_dot_04_bar__minus_00_dot_41 loc_bar__minus_2_bar__minus_5_bar_0_bar_60) + (objectAtLocation Cloth_bar__minus_02_dot_58_bar__plus_00_dot_36_bar__minus_03_dot_13 loc_bar__minus_5_bar__minus_11_bar_3_bar_45) + (objectAtLocation Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83 loc_bar__minus_7_bar__minus_3_bar_3_bar_60) + (objectAtLocation Sink_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_02_dot_08 loc_bar__minus_4_bar__minus_8_bar_1_bar_60) + (objectAtLocation Mirror_bar__minus_02_dot_98_bar__plus_01_dot_57_bar__minus_02_dot_90 loc_bar__minus_8_bar__minus_11_bar_3_bar_45) + (objectAtLocation HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_48_bar__minus_01_dot_55 loc_bar__minus_3_bar__minus_6_bar_1_bar_0) + (objectAtLocation SoapBar_bar__minus_00_dot_14_bar__plus_00_dot_88_bar__minus_03_dot_47 loc_bar__minus_4_bar__minus_13_bar_1_bar_45) + (objectAtLocation ToiletPaper_bar__minus_00_dot_10_bar__plus_01_dot_04_bar__minus_00_dot_39 loc_bar__minus_2_bar__minus_5_bar_0_bar_60) + (objectAtLocation LightSwitch_bar__minus_00_dot_36_bar__plus_01_dot_33_bar__minus_04_dot_00 loc_bar__minus_2_bar__minus_13_bar_2_bar_30) + (objectAtLocation ToiletPaper_bar__minus_00_dot_14_bar__plus_00_dot_35_bar__minus_03_dot_40 loc_bar__minus_6_bar__minus_11_bar_1_bar_45) + (objectAtLocation Towel_bar__minus_01_dot_34_bar__plus_01_dot_19_bar__minus_00_dot_11 loc_bar__minus_5_bar__minus_2_bar_0_bar_45) + (objectAtLocation SoapBottle_bar__minus_00_dot_16_bar__plus_00_dot_62_bar__minus_03_dot_47 loc_bar__minus_5_bar__minus_12_bar_1_bar_45) + (objectAtLocation ScrubBrush_bar__minus_00_dot_14_bar_00_dot_00_bar__minus_00_dot_11 loc_bar__minus_2_bar__minus_4_bar_0_bar_60) + (objectAtLocation Cloth_bar__minus_02_dot_69_bar__plus_01_dot_00_bar__minus_03_dot_19 loc_bar__minus_8_bar__minus_11_bar_3_bar_45) + (objectAtLocation Plunger_bar__minus_00_dot_37_bar_00_dot_00_bar__minus_00_dot_10 loc_bar__minus_2_bar__minus_4_bar_0_bar_60) + (objectAtLocation Candle_bar__minus_00_dot_16_bar__plus_00_dot_62_bar__minus_03_dot_18 loc_bar__minus_5_bar__minus_12_bar_1_bar_45) + (objectAtLocation SprayBottle_bar__minus_00_dot_12_bar__plus_01_dot_16_bar__minus_03_dot_10 loc_bar__minus_3_bar__minus_13_bar_1_bar_60) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (inReceptacle ?o ?r) + (objectType ?o ToiletPaperType) + (receptacleType ?r ToiletPaperHangerType) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/valid_seen/pick_and_place_simple-ToiletPaper-None-ToiletPaperHanger-415/trial_T20190908_050518_595510/traj_data.json b/data/alfworld/json_2.1.1/valid_seen/pick_and_place_simple-ToiletPaper-None-ToiletPaperHanger-415/trial_T20190908_050518_595510/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..8a55621b411975ef642d38320acb96afbbb4f7ef --- /dev/null +++ b/data/alfworld/json_2.1.1/valid_seen/pick_and_place_simple-ToiletPaper-None-ToiletPaperHanger-415/trial_T20190908_050518_595510/traj_data.json @@ -0,0 +1,1929 @@ +{ + "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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}, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SprayBottle_c604c576", + "position": { + "x": -2.91538239, + "y": 0.993904054, + "z": -3.45472 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 888187815, + "scene_num": 415 + }, + "task_id": "trial_T20190908_050518_595510", + "task_type": "pick_and_place_simple", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A3A0VPWPASCO9J_31LM9EDVOO9Z65L5BJIRC88YLJGNJM", + "high_descs": [ + "Turn and go to the right side of the toilet.", + "Pick up the toilet paper on the back of the toilet.", + "Look down to the toilet paper holder.", + "Put the toilet paper on the holder." + ], + "task_desc": "Put a roll of toilet paper on the toilet paper holder.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1SX8IVV82M0LW_3FFJ6VRIL450QY9SSVVTPVXL0AM0IG", + "high_descs": [ + "Walk to the toilet on its right side.", + "Grab the toilet paper off the toilet.", + "Locate the toilet paper holder next to the toilet.", + "Put the paper in the holder." + ], + "task_desc": "Place toilet paper in a holder.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A3MLUEOP3CCLXL_3WLEIWSYHRY7QD1M10HM87PLXWB2HV", + "high_descs": [ + "Turn around and head to the toilet paper holder that is hanging on the wall to the right of the toilet, then turn left to face the side of the toilet", + "Pick up the roll of toilet paper that is sitting on the back of the toilet", + "Continue to stand facing the side of the toilet but focus your line of view back on the toilet paper holder", + "Place the roll of toilet paper on the toilet paper holder" + ], + "task_desc": "Place a roll of toilet paper on a toilet paper holder.", + "votes": [ + 1, + 0, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/valid_seen/pick_and_place_simple-Tomato-None-Microwave-13/trial_T20190908_124829_632660/game.tw-pddl b/data/alfworld/json_2.1.1/valid_seen/pick_and_place_simple-Tomato-None-Microwave-13/trial_T20190908_124829_632660/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..d453445cc36652f1a51a8b31913b35c0fca31955 --- /dev/null +++ b/data/alfworld/json_2.1.1/valid_seen/pick_and_place_simple-Tomato-None-Microwave-13/trial_T20190908_124829_632660/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\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 tomato on microwave.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190908_124829_632660)\n(:domain alfred)\n(:objects\nagent1 - agent\nCurtains - object\n SprayBottle - object\n Mirror - object\n HousePlant - object\n Watch - object\n TeddyBear - object\n WateringCan - object\n Bathtub - object\n LightSwitch - object\n Vase - object\n Candle - object\n Bread - object\n Statue - object\n HandTowel - object\n StoveKnob - object\n PaperTowelRoll - object\n Pan - object\n PepperShaker - object\n Painting - object\n CellPhone - object\n Plunger - object\n Spoon - object\n SaltShaker - object\n KeyChain - object\n Footstool - object\n Poster - object\n Television - object\n LaundryHamperLid - object\n Glassbottle - object\n AlarmClock - object\n WineBottle - object\n Bowl - object\n Sink - object\n TissueBox - object\n TennisRacket - object\n ToiletPaper - object\n ScrubBrush - object\n CreditCard - object\n Laptop - object\n Cloth - object\n Cup - object\n Chair - object\n BasketBall - object\n Kettle - object\n PaperTowel - object\n ShowerDoor - object\n BaseballBat - object\n Potato - object\n Pillow - object\n Lettuce - object\n RemoteControl - object\n Window - object\n DishSponge - object\n CD - object\n Boots - object\n Blinds - object\n Pen - object\n Newspaper - object\n Plate - object\n Mug - object\n ShowerGlass - object\n ToiletPaperRoll - object\n SoapBar - object\n FloorLamp - object\n SoapBottle - object\n Pot - object\n Pencil - object\n Spatula - object\n Towel - object\n Fork - object\n Ladle - object\n Knife - object\n Apple - object\n Box - object\n Tomato - object\n ButterKnife - object\n Egg - object\n Book - object\n DeskLamp - object\nCurtainsType - otype\n SprayBottleType - otype\n MirrorType - otype\n HousePlantType - otype\n WatchType - otype\n TeddyBearType - otype\n WateringCanType - otype\n BathtubType - otype\n LightSwitchType - otype\n VaseType - otype\n CandleType - otype\n BreadType - otype\n StatueType - otype\n HandTowelType - otype\n StoveKnobType - otype\n PaperTowelRollType - otype\n PanType - otype\n PepperShakerType - otype\n PaintingType - otype\n CellPhoneType - otype\n PlungerType - otype\n SpoonType - otype\n SaltShakerType - otype\n KeyChainType - otype\n FootstoolType - otype\n PosterType - otype\n TelevisionType - otype\n LaundryHamperLidType - otype\n GlassbottleType - otype\n AlarmClockType - otype\n WineBottleType - otype\n BowlType - otype\n SinkType - otype\n TissueBoxType - otype\n TennisRacketType - otype\n ToiletPaperType - otype\n ScrubBrushType - otype\n CreditCardType - otype\n LaptopType - otype\n ClothType - otype\n CupType - otype\n ChairType - otype\n BasketBallType - otype\n KettleType - otype\n PaperTowelType - otype\n ShowerDoorType - otype\n BaseballBatType - otype\n PotatoType - otype\n PillowType - otype\n LettuceType - otype\n RemoteControlType - otype\n WindowType - otype\n DishSpongeType - otype\n CDType - otype\n BootsType - otype\n BlindsType - otype\n PenType - otype\n NewspaperType - otype\n PlateType - otype\n MugType - otype\n ShowerGlassType - otype\n ToiletPaperRollType - otype\n SoapBarType - otype\n FloorLampType - otype\n SoapBottleType - otype\n PotType - otype\n PencilType - otype\n SpatulaType - otype\n TowelType - otype\n ForkType - otype\n LadleType - otype\n KnifeType - otype\n AppleType - otype\n BoxType - otype\n TomatoType - otype\n ButterKnifeType - otype\n EggType - otype\n BookType - otype\n DeskLampType - otype\nCabinetType - rtype\n ShelfType - rtype\n DiningTableType - rtype\n TowelHolderType - rtype\n PaintingHangerType - rtype\n TVStandType - rtype\n LaundryHamperType - rtype\n OttomanType - rtype\n SafeType - rtype\n CoffeeMachineType - rtype\n CounterTopType - rtype\n ToiletType - rtype\n FridgeType - rtype\n CoffeeTableType - rtype\n SinkBasinType - rtype\n GarbageCanType - rtype\n BathtubBasinType - rtype\n SideTableType - rtype\n CartType - rtype\n BedType - rtype\n DeskType - rtype\n SofaType - rtype\n ArmChairType - rtype\n MicrowaveType - rtype\n HandTowelHolderType - rtype\n ToasterType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n DrawerType - rtype\n DresserType - rtype\n\n\n Apple_bar__minus_00_dot_24_bar__plus_01_dot_12_bar__plus_03_dot_73 - object\n Apple_bar__minus_03_dot_71_bar__plus_00_dot_12_bar__plus_06_dot_38 - object\n Apple_bar__minus_04_dot_16_bar__plus_00_dot_84_bar__plus_03_dot_35 - object\n Bowl_bar__minus_00_dot_26_bar__plus_00_dot_92_bar__plus_04_dot_62 - object\n Bowl_bar__minus_00_dot_26_bar__plus_00_dot_92_bar__plus_05_dot_60 - object\n Bowl_bar__minus_00_dot_35_bar__plus_01_dot_07_bar__plus_03_dot_48 - object\n Bread_bar__minus_00_dot_30_bar__plus_01_dot_77_bar__plus_03_dot_92 - object\n Bread_bar__minus_01_dot_78_bar__plus_01_dot_00_bar__plus_01_dot_65 - object\n Bread_bar__minus_03_dot_73_bar__plus_01_dot_00_bar__plus_05_dot_26 - object\n ButterKnife_bar__minus_00_dot_49_bar__plus_00_dot_93_bar__plus_05_dot_60 - object\n Cup_bar__minus_00_dot_30_bar__plus_01_dot_33_bar__plus_03_dot_23 - object\n Cup_bar__minus_00_dot_38_bar__plus_01_dot_33_bar__plus_03_dot_60 - object\n Cup_bar__minus_02_dot_09_bar__plus_00_dot_08_bar__plus_01_dot_93 - object\n Curtains_bar__minus_04_dot_52_bar__plus_02_dot_25_bar__plus_03_dot_39 - object\n DishSponge_bar__minus_04_dot_34_bar__plus_00_dot_92_bar__plus_04_dot_38 - object\n Egg_bar__minus_03_dot_86_bar__plus_00_dot_96_bar__plus_02_dot_03 - object\n Faucet_bar__minus_04_dot_44_bar__plus_00_dot_91_bar__plus_03_dot_29 - object\n Fork_bar__minus_00_dot_33_bar__plus_00_dot_93_bar__plus_04_dot_94 - object\n Fork_bar__minus_04_dot_24_bar__plus_00_dot_92_bar__plus_02_dot_88 - object\n Knife_bar__minus_04_dot_03_bar__plus_00_dot_95_bar__plus_01_dot_95 - object\n Lettuce_bar__minus_01_dot_94_bar__plus_01_dot_02_bar__plus_01_dot_95 - object\n Lettuce_bar__minus_04_dot_26_bar__plus_01_dot_02_bar__plus_03_dot_86 - object\n LightSwitch_bar__minus_01_dot_59_bar__plus_01_dot_17_bar__plus_01_dot_51 - object\n Mug_bar__minus_04_dot_12_bar__plus_00_dot_79_bar__plus_03_dot_47 - object\n Pan_bar__minus_02_dot_92_bar__plus_00_dot_93_bar__plus_02_dot_01 - object\n PaperTowelRoll_bar__minus_00_dot_57_bar__plus_01_dot_03_bar__plus_04_dot_94 - object\n Pencil_bar__minus_00_dot_18_bar__plus_00_dot_93_bar__plus_05_dot_60 - object\n Pencil_bar__minus_03_dot_47_bar__plus_00_dot_75_bar__plus_01_dot_93 - object\n PepperShaker_bar__minus_03_dot_37_bar__plus_00_dot_92_bar__plus_05_dot_41 - object\n Plate_bar__minus_03_dot_42_bar__plus_00_dot_08_bar__plus_01_dot_93 - object\n Potato_bar__minus_02_dot_53_bar__plus_01_dot_58_bar__plus_01_dot_67 - object\n Pot_bar__minus_00_dot_40_bar__plus_00_dot_91_bar__plus_05_dot_93 - object\n SaltShaker_bar__minus_00_dot_44_bar__plus_00_dot_74_bar__plus_05_dot_76 - object\n SaltShaker_bar__minus_03_dot_45_bar__plus_00_dot_74_bar__plus_05_dot_22 - object\n SaltShaker_bar__minus_03_dot_83_bar__plus_00_dot_74_bar__plus_05_dot_13 - object\n Sink_bar__minus_04_dot_19_bar__plus_00_dot_92_bar__plus_03_dot_28 - object\n SoapBottle_bar__minus_00_dot_18_bar__plus_00_dot_92_bar__plus_05_dot_27 - object\n SoapBottle_bar__minus_03_dot_71_bar__plus_00_dot_07_bar__plus_06_dot_29 - object\n SoapBottle_bar__minus_04_dot_00_bar__plus_00_dot_08_bar__plus_02_dot_99 - object\n Spatula_bar__minus_02_dot_03_bar__plus_00_dot_94_bar__plus_01_dot_88 - object\n Spatula_bar__minus_03_dot_14_bar__plus_00_dot_94_bar__plus_05_dot_18 - object\n Spatula_bar__minus_04_dot_20_bar__plus_00_dot_94_bar__plus_02_dot_03 - object\n Spoon_bar__minus_03_dot_49_bar__plus_00_dot_92_bar__plus_05_dot_18 - object\n Spoon_bar__minus_04_dot_13_bar__plus_00_dot_76_bar__plus_02_dot_50 - object\n StoveKnob_bar__minus_02_dot_35_bar__plus_01_dot_10_bar__plus_01_dot_56 - object\n StoveKnob_bar__minus_02_dot_51_bar__plus_01_dot_10_bar__plus_01_dot_56 - object\n StoveKnob_bar__minus_02_dot_79_bar__plus_01_dot_10_bar__plus_01_dot_56 - object\n StoveKnob_bar__minus_02_dot_97_bar__plus_01_dot_10_bar__plus_01_dot_56 - object\n Tomato_bar__minus_00_dot_34_bar__plus_01_dot_64_bar__plus_03_dot_47 - object\n Tomato_bar__minus_00_dot_40_bar__plus_01_dot_13_bar__plus_03_dot_73 - object\n Tomato_bar__minus_04_dot_12_bar__plus_00_dot_85_bar__plus_03_dot_22 - object\n Tomato_bar__minus_04_dot_27_bar__plus_00_dot_85_bar__plus_03_dot_16 - object\n Window_bar__minus_04_dot_87_bar__plus_01_dot_63_bar__plus_03_dot_31 - object\n WineBottle_bar__minus_01_dot_94_bar__plus_00_dot_92_bar__plus_01_dot_65 - object\n Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_03_dot_01 - receptacle\n Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_04_dot_21 - receptacle\n Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_04_dot_31 - receptacle\n Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_05_dot_51 - receptacle\n Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_05_dot_61 - receptacle\n Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_06_dot_81 - receptacle\n Cabinet_bar__minus_00_dot_64_bar__plus_00_dot_39_bar__plus_04_dot_30 - receptacle\n Cabinet_bar__minus_00_dot_64_bar__plus_00_dot_39_bar__plus_05_dot_58 - receptacle\n Cabinet_bar__minus_00_dot_64_bar__plus_00_dot_39_bar__plus_05_dot_60 - receptacle\n Cabinet_bar__minus_00_dot_64_bar__plus_00_dot_39_bar__plus_06_dot_88 - receptacle\n Cabinet_bar__minus_01_dot_54_bar__plus_00_dot_39_bar__plus_02_dot_09 - receptacle\n Cabinet_bar__minus_01_dot_58_bar__plus_01_dot_93_bar__plus_01_dot_78 - receptacle\n Cabinet_bar__minus_03_dot_04_bar__plus_00_dot_39_bar__plus_05_dot_03 - receptacle\n Cabinet_bar__minus_03_dot_04_bar__plus_01_dot_94_bar__plus_05_dot_32 - receptacle\n Cabinet_bar__minus_03_dot_19_bar__plus_00_dot_39_bar__plus_02_dot_09 - receptacle\n Cabinet_bar__minus_03_dot_20_bar__plus_01_dot_93_bar__plus_01_dot_78 - receptacle\n Cabinet_bar__minus_03_dot_64_bar__plus_00_dot_39_bar__plus_05_dot_03 - receptacle\n Cabinet_bar__minus_03_dot_67_bar__plus_00_dot_39_bar__plus_05_dot_03 - receptacle\n Cabinet_bar__minus_03_dot_92_bar__plus_00_dot_40_bar__plus_02_dot_09 - receptacle\n Cabinet_bar__minus_03_dot_96_bar__plus_00_dot_39_bar__plus_02_dot_12 - receptacle\n Cabinet_bar__minus_03_dot_96_bar__plus_00_dot_39_bar__plus_02_dot_88 - receptacle\n Cabinet_bar__minus_03_dot_96_bar__plus_00_dot_39_bar__plus_04_dot_34 - receptacle\n Cabinet_bar__minus_03_dot_97_bar__plus_00_dot_39_bar__plus_02_dot_89 - receptacle\n Cabinet_bar__minus_03_dot_97_bar__plus_00_dot_39_bar__plus_03_dot_66 - receptacle\n Cabinet_bar__minus_04_dot_11_bar__plus_01_dot_94_bar__plus_05_dot_32 - receptacle\n Cabinet_bar__minus_04_dot_28_bar__plus_01_dot_93_bar__plus_02_dot_23 - receptacle\n CoffeeMachine_bar__minus_00_dot_28_bar__plus_00_dot_91_bar__plus_06_dot_56 - receptacle\n CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__plus_05_dot_60 - receptacle\n CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_96_bar__plus_01_dot_80 - receptacle\n CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94 - receptacle\n Drawer_bar__minus_00_dot_51_bar__plus_00_dot_78_bar__plus_04_dot_62 - receptacle\n Drawer_bar__minus_00_dot_51_bar__plus_00_dot_78_bar__plus_05_dot_27 - receptacle\n Drawer_bar__minus_00_dot_51_bar__plus_00_dot_78_bar__plus_05_dot_92 - receptacle\n Drawer_bar__minus_00_dot_51_bar__plus_00_dot_78_bar__plus_06_dot_57 - receptacle\n Drawer_bar__minus_01_dot_86_bar__plus_00_dot_78_bar__plus_01_dot_96 - receptacle\n Drawer_bar__minus_03_dot_19_bar__plus_00_dot_78_bar__plus_05_dot_16 - receptacle\n Drawer_bar__minus_03_dot_42_bar__plus_00_dot_78_bar__plus_01_dot_96 - receptacle\n Drawer_bar__minus_03_dot_51_bar__plus_00_dot_78_bar__plus_05_dot_16 - receptacle\n Drawer_bar__minus_03_dot_80_bar__plus_00_dot_78_bar__plus_01_dot_96 - receptacle\n Drawer_bar__minus_03_dot_80_bar__plus_00_dot_78_bar__plus_05_dot_16 - receptacle\n Drawer_bar__minus_04_dot_09_bar__plus_00_dot_78_bar__plus_04_dot_66 - receptacle\n Drawer_bar__minus_04_dot_13_bar__plus_00_dot_80_bar__plus_02_dot_50 - receptacle\n Fridge_bar__minus_00_dot_32_bar_00_dot_00_bar__plus_03_dot_60 - receptacle\n GarbageCan_bar__minus_03_dot_71_bar_00_dot_00_bar__plus_06_dot_38 - receptacle\n Microwave_bar__minus_02_dot_69_bar__plus_01_dot_43_bar__plus_01_dot_69 - receptacle\n Sink_bar__minus_04_dot_19_bar__plus_00_dot_92_bar__plus_03_dot_28_bar_SinkBasin - receptacle\n StoveBurner_bar__minus_02_dot_47_bar__plus_00_dot_92_bar__plus_01_dot_71 - receptacle\n StoveBurner_bar__minus_02_dot_47_bar__plus_00_dot_92_bar__plus_02_dot_01 - receptacle\n StoveBurner_bar__minus_02_dot_92_bar__plus_00_dot_92_bar__plus_01_dot_71 - receptacle\n StoveBurner_bar__minus_02_dot_92_bar__plus_00_dot_92_bar__plus_02_dot_01 - receptacle\n Toaster_bar__minus_03_dot_58_bar__plus_00_dot_91_bar__plus_01_dot_76 - receptacle\n loc_bar__minus_4_bar_25_bar_1_bar__minus_30 - location\n loc_bar__minus_13_bar_10_bar_2_bar__minus_15 - location\n loc_bar__minus_6_bar_20_bar_1_bar_60 - location\n loc_bar__minus_6_bar_17_bar_1_bar_60 - location\n loc_bar__minus_4_bar_23_bar_0_bar_45 - location\n loc_bar__minus_15_bar_14_bar_3_bar_60 - location\n loc_bar__minus_5_bar_15_bar_1_bar_60 - location\n loc_bar__minus_12_bar_12_bar_2_bar_60 - location\n loc_bar__minus_12_bar_10_bar_2_bar_30 - location\n loc_bar__minus_4_bar_21_bar_2_bar_60 - location\n loc_bar__minus_2_bar_10_bar_0_bar__minus_30 - location\n loc_bar__minus_15_bar_13_bar_3_bar_0 - location\n loc_bar__minus_13_bar_11_bar_3_bar_45 - location\n loc_bar__minus_12_bar_13_bar_3_bar_45 - location\n loc_bar__minus_13_bar_16_bar_0_bar_45 - location\n loc_bar__minus_15_bar_14_bar_3_bar__minus_30 - location\n loc_bar__minus_14_bar_10_bar_3_bar__minus_15 - location\n loc_bar__minus_15_bar_19_bar_0_bar__minus_30 - location\n loc_bar__minus_4_bar_20_bar_1_bar_45 - location\n loc_bar__minus_11_bar_10_bar_2_bar_30 - location\n loc_bar__minus_14_bar_10_bar_2_bar_60 - location\n loc_bar__minus_4_bar_21_bar_0_bar_60 - location\n loc_bar__minus_10_bar_10_bar_2_bar_45 - location\n loc_bar__minus_12_bar_13_bar_3_bar_60 - location\n loc_bar__minus_8_bar_10_bar_2_bar_45 - location\n loc_bar__minus_12_bar_10_bar_3_bar_60 - location\n loc_bar__minus_10_bar_25_bar_3_bar_60 - location\n loc_bar__minus_6_bar_25_bar_1_bar_60 - location\n loc_bar__minus_13_bar_19_bar_0_bar__minus_30 - location\n loc_bar__minus_13_bar_12_bar_2_bar_60 - location\n loc_bar__minus_4_bar_6_bar_3_bar_45 - location\n loc_bar__minus_12_bar_17_bar_0_bar_60 - location\n loc_bar__minus_5_bar_9_bar_3_bar_60 - location\n loc_bar__minus_11_bar_10_bar_2_bar_15 - location\n loc_bar__minus_4_bar_7_bar_3_bar__minus_30 - location\n loc_bar__minus_12_bar_10_bar_2_bar_45 - location\n loc_bar__minus_15_bar_19_bar_0_bar_60 - location\n loc_bar__minus_11_bar_17_bar_0_bar_60 - location\n loc_bar__minus_4_bar_25_bar_1_bar_45 - location\n loc_bar__minus_5_bar_17_bar_1_bar__minus_30 - location\n loc_bar__minus_4_bar_18_bar_1_bar__minus_30 - location\n loc_bar__minus_10_bar_10_bar_2_bar_30 - location\n loc_bar__minus_12_bar_12_bar_3_bar_45 - location\n loc_bar__minus_15_bar_19_bar_3_bar_60 - location\n loc_bar__minus_6_bar_22_bar_1_bar_60 - location\n loc_bar__minus_15_bar_14_bar_0_bar_30 - location\n loc_bar__minus_10_bar_10_bar_2_bar_60 - location\n loc_bar__minus_4_bar_22_bar_1_bar__minus_30 - location\n loc_bar__minus_12_bar_17_bar_3_bar_60 - location\n loc_bar__minus_4_bar_22_bar_1_bar_45 - location\n loc_bar__minus_14_bar_19_bar_0_bar_60 - location\n loc_bar__minus_4_bar_24_bar_2_bar_45 - location\n loc_bar__minus_14_bar_10_bar_2_bar_45 - location\n loc_bar__minus_9_bar_10_bar_2_bar_30 - location\n loc_bar__minus_15_bar_13_bar_3_bar_60 - location\n loc_bar__minus_9_bar_12_bar_2_bar_60 - location\n loc_bar__minus_15_bar_19_bar_1_bar_60 - location\n loc_bar__minus_12_bar_10_bar_2_bar_60 - location\n loc_bar__minus_7_bar_14_bar_2_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_06_dot_81 CabinetType)\n (receptacleType CoffeeMachine_bar__minus_00_dot_28_bar__plus_00_dot_91_bar__plus_06_dot_56 CoffeeMachineType)\n (receptacleType 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Potato_bar__minus_02_dot_53_bar__plus_01_dot_58_bar__plus_01_dot_67)\n (heatable Tomato_bar__minus_00_dot_34_bar__plus_01_dot_64_bar__plus_03_dot_47)\n (heatable Bread_bar__minus_01_dot_78_bar__plus_01_dot_00_bar__plus_01_dot_65)\n (coolable Plate_bar__minus_03_dot_42_bar__plus_00_dot_08_bar__plus_01_dot_93)\n (coolable Cup_bar__minus_00_dot_38_bar__plus_01_dot_33_bar__plus_03_dot_60)\n (coolable Apple_bar__minus_00_dot_24_bar__plus_01_dot_12_bar__plus_03_dot_73)\n (coolable Cup_bar__minus_02_dot_09_bar__plus_00_dot_08_bar__plus_01_dot_93)\n (coolable Bowl_bar__minus_00_dot_26_bar__plus_00_dot_92_bar__plus_05_dot_60)\n (coolable Bread_bar__minus_03_dot_73_bar__plus_01_dot_00_bar__plus_05_dot_26)\n (coolable Bowl_bar__minus_00_dot_26_bar__plus_00_dot_92_bar__plus_04_dot_62)\n (coolable Lettuce_bar__minus_04_dot_26_bar__plus_01_dot_02_bar__plus_03_dot_86)\n (coolable Cup_bar__minus_00_dot_30_bar__plus_01_dot_33_bar__plus_03_dot_23)\n (coolable Bread_bar__minus_00_dot_30_bar__plus_01_dot_77_bar__plus_03_dot_92)\n (coolable Pan_bar__minus_02_dot_92_bar__plus_00_dot_93_bar__plus_02_dot_01)\n (coolable Tomato_bar__minus_04_dot_12_bar__plus_00_dot_85_bar__plus_03_dot_22)\n (coolable Egg_bar__minus_03_dot_86_bar__plus_00_dot_96_bar__plus_02_dot_03)\n (coolable Mug_bar__minus_04_dot_12_bar__plus_00_dot_79_bar__plus_03_dot_47)\n (coolable Bowl_bar__minus_00_dot_35_bar__plus_01_dot_07_bar__plus_03_dot_48)\n (coolable Tomato_bar__minus_04_dot_27_bar__plus_00_dot_85_bar__plus_03_dot_16)\n (coolable Lettuce_bar__minus_01_dot_94_bar__plus_01_dot_02_bar__plus_01_dot_95)\n (coolable Tomato_bar__minus_00_dot_40_bar__plus_01_dot_13_bar__plus_03_dot_73)\n (coolable Apple_bar__minus_04_dot_16_bar__plus_00_dot_84_bar__plus_03_dot_35)\n (coolable Apple_bar__minus_03_dot_71_bar__plus_00_dot_12_bar__plus_06_dot_38)\n (coolable Potato_bar__minus_02_dot_53_bar__plus_01_dot_58_bar__plus_01_dot_67)\n (coolable WineBottle_bar__minus_01_dot_94_bar__plus_00_dot_92_bar__plus_01_dot_65)\n (coolable Pot_bar__minus_00_dot_40_bar__plus_00_dot_91_bar__plus_05_dot_93)\n (coolable Tomato_bar__minus_00_dot_34_bar__plus_01_dot_64_bar__plus_03_dot_47)\n (coolable Bread_bar__minus_01_dot_78_bar__plus_01_dot_00_bar__plus_01_dot_65)\n \n (isCool Tomato_bar__minus_00_dot_40_bar__plus_01_dot_13_bar__plus_03_dot_73)\n (isCool Tomato_bar__minus_00_dot_34_bar__plus_01_dot_64_bar__plus_03_dot_47)\n \n \n \n (sliceable Apple_bar__minus_00_dot_24_bar__plus_01_dot_12_bar__plus_03_dot_73)\n (sliceable Bread_bar__minus_03_dot_73_bar__plus_01_dot_00_bar__plus_05_dot_26)\n (sliceable Lettuce_bar__minus_04_dot_26_bar__plus_01_dot_02_bar__plus_03_dot_86)\n (sliceable Bread_bar__minus_00_dot_30_bar__plus_01_dot_77_bar__plus_03_dot_92)\n (sliceable Tomato_bar__minus_04_dot_12_bar__plus_00_dot_85_bar__plus_03_dot_22)\n (sliceable Egg_bar__minus_03_dot_86_bar__plus_00_dot_96_bar__plus_02_dot_03)\n (sliceable Tomato_bar__minus_04_dot_27_bar__plus_00_dot_85_bar__plus_03_dot_16)\n (sliceable Lettuce_bar__minus_01_dot_94_bar__plus_01_dot_02_bar__plus_01_dot_95)\n (sliceable Tomato_bar__minus_00_dot_40_bar__plus_01_dot_13_bar__plus_03_dot_73)\n (sliceable Apple_bar__minus_04_dot_16_bar__plus_00_dot_84_bar__plus_03_dot_35)\n (sliceable Apple_bar__minus_03_dot_71_bar__plus_00_dot_12_bar__plus_06_dot_38)\n (sliceable Potato_bar__minus_02_dot_53_bar__plus_01_dot_58_bar__plus_01_dot_67)\n (sliceable Tomato_bar__minus_00_dot_34_bar__plus_01_dot_64_bar__plus_03_dot_47)\n (sliceable Bread_bar__minus_01_dot_78_bar__plus_01_dot_00_bar__plus_01_dot_65)\n \n (inReceptacle Plate_bar__minus_03_dot_42_bar__plus_00_dot_08_bar__plus_01_dot_93 Cabinet_bar__minus_03_dot_19_bar__plus_00_dot_39_bar__plus_02_dot_09)\n (inReceptacle Spoon_bar__minus_04_dot_13_bar__plus_00_dot_76_bar__plus_02_dot_50 Drawer_bar__minus_04_dot_13_bar__plus_00_dot_80_bar__plus_02_dot_50)\n (inReceptacle WineBottle_bar__minus_01_dot_94_bar__plus_00_dot_92_bar__plus_01_dot_65 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_96_bar__plus_01_dot_80)\n (inReceptacle Lettuce_bar__minus_01_dot_94_bar__plus_01_dot_02_bar__plus_01_dot_95 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_96_bar__plus_01_dot_80)\n (inReceptacle Bread_bar__minus_01_dot_78_bar__plus_01_dot_00_bar__plus_01_dot_65 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_96_bar__plus_01_dot_80)\n (inReceptacle Spatula_bar__minus_02_dot_03_bar__plus_00_dot_94_bar__plus_01_dot_88 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_96_bar__plus_01_dot_80)\n (inReceptacle Pan_bar__minus_02_dot_92_bar__plus_00_dot_93_bar__plus_02_dot_01 StoveBurner_bar__minus_02_dot_92_bar__plus_00_dot_92_bar__plus_02_dot_01)\n (inReceptacle Pencil_bar__minus_00_dot_18_bar__plus_00_dot_93_bar__plus_05_dot_60 CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__plus_05_dot_60)\n (inReceptacle Bowl_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)\n (inReceptacle ButterKnife_bar__minus_00_dot_49_bar__plus_00_dot_93_bar__plus_05_dot_60 CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__plus_05_dot_60)\n (inReceptacle Bowl_bar__minus_00_dot_26_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)\n (inReceptacle Fork_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)\n (inReceptacle Pot_bar__minus_00_dot_40_bar__plus_00_dot_91_bar__plus_05_dot_93 CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__plus_05_dot_60)\n (inReceptacle PaperTowelRoll_bar__minus_00_dot_57_bar__plus_01_dot_03_bar__plus_04_dot_94 CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__plus_05_dot_60)\n (inReceptacle SoapBottle_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)\n (inReceptacle SaltShaker_bar__minus_03_dot_45_bar__plus_00_dot_74_bar__plus_05_dot_22 Drawer_bar__minus_03_dot_51_bar__plus_00_dot_78_bar__plus_05_dot_16)\n (inReceptacle Pan_bar__minus_02_dot_92_bar__plus_00_dot_93_bar__plus_02_dot_01 StoveBurner_bar__minus_02_dot_92_bar__plus_00_dot_92_bar__plus_01_dot_71)\n (inReceptacle Spatula_bar__minus_03_dot_14_bar__plus_00_dot_94_bar__plus_05_dot_18 CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94)\n (inReceptacle Egg_bar__minus_03_dot_86_bar__plus_00_dot_96_bar__plus_02_dot_03 CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94)\n (inReceptacle Bread_bar__minus_03_dot_73_bar__plus_01_dot_00_bar__plus_05_dot_26 CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94)\n (inReceptacle Spatula_bar__minus_04_dot_20_bar__plus_00_dot_94_bar__plus_02_dot_03 CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94)\n (inReceptacle PepperShaker_bar__minus_03_dot_37_bar__plus_00_dot_92_bar__plus_05_dot_41 CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94)\n (inReceptacle Spoon_bar__minus_03_dot_49_bar__plus_00_dot_92_bar__plus_05_dot_18 CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94)\n (inReceptacle Fork_bar__minus_04_dot_24_bar__plus_00_dot_92_bar__plus_02_dot_88 CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94)\n (inReceptacle Lettuce_bar__minus_04_dot_26_bar__plus_01_dot_02_bar__plus_03_dot_86 CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94)\n (inReceptacle DishSponge_bar__minus_04_dot_34_bar__plus_00_dot_92_bar__plus_04_dot_38 CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94)\n (inReceptacle Knife_bar__minus_04_dot_03_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)\n (inReceptacle SaltShaker_bar__minus_03_dot_83_bar__plus_00_dot_74_bar__plus_05_dot_13 Drawer_bar__minus_03_dot_80_bar__plus_00_dot_78_bar__plus_05_dot_16)\n (inReceptacle Pencil_bar__minus_03_dot_47_bar__plus_00_dot_75_bar__plus_01_dot_93 Drawer_bar__minus_03_dot_42_bar__plus_00_dot_78_bar__plus_01_dot_96)\n (inReceptacle SaltShaker_bar__minus_00_dot_44_bar__plus_00_dot_74_bar__plus_05_dot_76 Drawer_bar__minus_00_dot_51_bar__plus_00_dot_78_bar__plus_05_dot_92)\n (inReceptacle SoapBottle_bar__minus_04_dot_00_bar__plus_00_dot_08_bar__plus_02_dot_99 Cabinet_bar__minus_03_dot_97_bar__plus_00_dot_39_bar__plus_02_dot_89)\n (inReceptacle Cup_bar__minus_02_dot_09_bar__plus_00_dot_08_bar__plus_01_dot_93 Cabinet_bar__minus_01_dot_54_bar__plus_00_dot_39_bar__plus_02_dot_09)\n (inReceptacle Apple_bar__minus_03_dot_71_bar__plus_00_dot_12_bar__plus_06_dot_38 GarbageCan_bar__minus_03_dot_71_bar_00_dot_00_bar__plus_06_dot_38)\n (inReceptacle SoapBottle_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)\n (inReceptacleObject Pencil_bar__minus_00_dot_18_bar__plus_00_dot_93_bar__plus_05_dot_60 Bowl_bar__minus_00_dot_26_bar__plus_00_dot_92_bar__plus_05_dot_60)\n (inReceptacle Potato_bar__minus_02_dot_53_bar__plus_01_dot_58_bar__plus_01_dot_67 Microwave_bar__minus_02_dot_69_bar__plus_01_dot_43_bar__plus_01_dot_69)\n (inReceptacle Apple_bar__minus_04_dot_16_bar__plus_00_dot_84_bar__plus_03_dot_35 Sink_bar__minus_04_dot_19_bar__plus_00_dot_92_bar__plus_03_dot_28_bar_SinkBasin)\n (inReceptacle Mug_bar__minus_04_dot_12_bar__plus_00_dot_79_bar__plus_03_dot_47 Sink_bar__minus_04_dot_19_bar__plus_00_dot_92_bar__plus_03_dot_28_bar_SinkBasin)\n (inReceptacle Tomato_bar__minus_04_dot_12_bar__plus_00_dot_85_bar__plus_03_dot_22 Sink_bar__minus_04_dot_19_bar__plus_00_dot_92_bar__plus_03_dot_28_bar_SinkBasin)\n (inReceptacle Tomato_bar__minus_04_dot_27_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)\n (inReceptacle Cup_bar__minus_00_dot_38_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)\n (inReceptacle Apple_bar__minus_00_dot_24_bar__plus_01_dot_12_bar__plus_03_dot_73 Fridge_bar__minus_00_dot_32_bar_00_dot_00_bar__plus_03_dot_60)\n (inReceptacle Tomato_bar__minus_00_dot_40_bar__plus_01_dot_13_bar__plus_03_dot_73 Fridge_bar__minus_00_dot_32_bar_00_dot_00_bar__plus_03_dot_60)\n (inReceptacle Bowl_bar__minus_00_dot_35_bar__plus_01_dot_07_bar__plus_03_dot_48 Fridge_bar__minus_00_dot_32_bar_00_dot_00_bar__plus_03_dot_60)\n (inReceptacle Tomato_bar__minus_00_dot_34_bar__plus_01_dot_64_bar__plus_03_dot_47 Fridge_bar__minus_00_dot_32_bar_00_dot_00_bar__plus_03_dot_60)\n (inReceptacle Cup_bar__minus_00_dot_30_bar__plus_01_dot_33_bar__plus_03_dot_23 Fridge_bar__minus_00_dot_32_bar_00_dot_00_bar__plus_03_dot_60)\n (inReceptacle Bread_bar__minus_00_dot_30_bar__plus_01_dot_77_bar__plus_03_dot_92 Fridge_bar__minus_00_dot_32_bar_00_dot_00_bar__plus_03_dot_60)\n \n \n (receptacleAtLocation Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_03_dot_01 loc_bar__minus_2_bar_10_bar_0_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_04_dot_21 loc_bar__minus_5_bar_17_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_04_dot_31 loc_bar__minus_4_bar_18_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_05_dot_51 loc_bar__minus_4_bar_22_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_05_dot_61 loc_bar__minus_4_bar_22_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_06_dot_81 loc_bar__minus_4_bar_25_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_64_bar__plus_00_dot_39_bar__plus_04_dot_30 loc_bar__minus_6_bar_17_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_64_bar__plus_00_dot_39_bar__plus_05_dot_58 loc_bar__minus_6_bar_20_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_64_bar__plus_00_dot_39_bar__plus_05_dot_60 loc_bar__minus_6_bar_22_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_64_bar__plus_00_dot_39_bar__plus_06_dot_88 loc_bar__minus_6_bar_25_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_54_bar__plus_00_dot_39_bar__plus_02_dot_09 loc_bar__minus_9_bar_12_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_58_bar__plus_01_dot_93_bar__plus_01_dot_78 loc_bar__minus_4_bar_7_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_03_dot_04_bar__plus_00_dot_39_bar__plus_05_dot_03 loc_bar__minus_11_bar_17_bar_0_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_03_dot_04_bar__plus_01_dot_94_bar__plus_05_dot_32 loc_bar__minus_13_bar_19_bar_0_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_03_dot_19_bar__plus_00_dot_39_bar__plus_02_dot_09 loc_bar__minus_12_bar_12_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_03_dot_20_bar__plus_01_dot_93_bar__plus_01_dot_78 loc_bar__minus_13_bar_10_bar_2_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_03_dot_64_bar__plus_00_dot_39_bar__plus_05_dot_03 loc_bar__minus_12_bar_17_bar_0_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_03_dot_67_bar__plus_00_dot_39_bar__plus_05_dot_03 loc_bar__minus_13_bar_16_bar_0_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_03_dot_92_bar__plus_00_dot_40_bar__plus_02_dot_09 loc_bar__minus_13_bar_12_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_03_dot_96_bar__plus_00_dot_39_bar__plus_02_dot_12 loc_bar__minus_12_bar_10_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_03_dot_96_bar__plus_00_dot_39_bar__plus_02_dot_88 loc_bar__minus_12_bar_13_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_03_dot_96_bar__plus_00_dot_39_bar__plus_04_dot_34 loc_bar__minus_12_bar_17_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_03_dot_97_bar__plus_00_dot_39_bar__plus_02_dot_89 loc_bar__minus_12_bar_13_bar_3_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_03_dot_97_bar__plus_00_dot_39_bar__plus_03_dot_66 loc_bar__minus_12_bar_12_bar_3_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_04_dot_11_bar__plus_01_dot_94_bar__plus_05_dot_32 loc_bar__minus_15_bar_19_bar_0_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_04_dot_28_bar__plus_01_dot_93_bar__plus_02_dot_23 loc_bar__minus_14_bar_10_bar_3_bar__minus_15)\n (receptacleAtLocation CoffeeMachine_bar__minus_00_dot_28_bar__plus_00_dot_91_bar__plus_06_dot_56 loc_bar__minus_4_bar_25_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__plus_05_dot_60 loc_bar__minus_4_bar_20_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_96_bar__plus_01_dot_80 loc_bar__minus_8_bar_10_bar_2_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94 loc_bar__minus_15_bar_19_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_51_bar__plus_00_dot_78_bar__plus_04_dot_62 loc_bar__minus_4_bar_21_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_51_bar__plus_00_dot_78_bar__plus_05_dot_27 loc_bar__minus_4_bar_24_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_51_bar__plus_00_dot_78_bar__plus_05_dot_92 loc_bar__minus_4_bar_21_bar_0_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_51_bar__plus_00_dot_78_bar__plus_06_dot_57 loc_bar__minus_4_bar_23_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_86_bar__plus_00_dot_78_bar__plus_01_dot_96 loc_bar__minus_5_bar_9_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_03_dot_19_bar__plus_00_dot_78_bar__plus_05_dot_16 loc_bar__minus_15_bar_19_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__minus_03_dot_42_bar__plus_00_dot_78_bar__plus_01_dot_96 loc_bar__minus_14_bar_10_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_03_dot_51_bar__plus_00_dot_78_bar__plus_05_dot_16 loc_bar__minus_14_bar_19_bar_0_bar_60)\n (receptacleAtLocation Drawer_bar__minus_03_dot_80_bar__plus_00_dot_78_bar__plus_01_dot_96 loc_bar__minus_14_bar_10_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_03_dot_80_bar__plus_00_dot_78_bar__plus_05_dot_16 loc_bar__minus_15_bar_19_bar_0_bar_60)\n (receptacleAtLocation Drawer_bar__minus_04_dot_09_bar__plus_00_dot_78_bar__plus_04_dot_66 loc_bar__minus_15_bar_14_bar_0_bar_30)\n (receptacleAtLocation Drawer_bar__minus_04_dot_13_bar__plus_00_dot_80_bar__plus_02_dot_50 loc_bar__minus_13_bar_11_bar_3_bar_45)\n (receptacleAtLocation Fridge_bar__minus_00_dot_32_bar_00_dot_00_bar__plus_03_dot_60 loc_bar__minus_5_bar_15_bar_1_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_03_dot_71_bar_00_dot_00_bar__plus_06_dot_38 loc_bar__minus_10_bar_25_bar_3_bar_60)\n (receptacleAtLocation Microwave_bar__minus_02_dot_69_bar__plus_01_dot_43_bar__plus_01_dot_69 loc_bar__minus_11_bar_10_bar_2_bar_15)\n (receptacleAtLocation Sink_bar__minus_04_dot_19_bar__plus_00_dot_92_bar__plus_03_dot_28_bar_SinkBasin loc_bar__minus_15_bar_14_bar_3_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_02_dot_47_bar__plus_00_dot_92_bar__plus_01_dot_71 loc_bar__minus_10_bar_10_bar_2_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_02_dot_47_bar__plus_00_dot_92_bar__plus_02_dot_01 loc_bar__minus_10_bar_10_bar_2_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_02_dot_92_bar__plus_00_dot_92_bar__plus_01_dot_71 loc_bar__minus_12_bar_10_bar_2_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_02_dot_92_bar__plus_00_dot_92_bar__plus_02_dot_01 loc_bar__minus_12_bar_10_bar_2_bar_60)\n (receptacleAtLocation Toaster_bar__minus_03_dot_58_bar__plus_00_dot_91_bar__plus_01_dot_76 loc_bar__minus_14_bar_10_bar_2_bar_45)\n (objectAtLocation Spoon_bar__minus_04_dot_13_bar__plus_00_dot_76_bar__plus_02_dot_50 loc_bar__minus_13_bar_11_bar_3_bar_45)\n (objectAtLocation SoapBottle_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)\n (objectAtLocation SaltShaker_bar__minus_03_dot_45_bar__plus_00_dot_74_bar__plus_05_dot_22 loc_bar__minus_14_bar_19_bar_0_bar_60)\n (objectAtLocation Pencil_bar__minus_03_dot_47_bar__plus_00_dot_75_bar__plus_01_dot_93 loc_bar__minus_14_bar_10_bar_2_bar_60)\n (objectAtLocation Cup_bar__minus_00_dot_38_bar__plus_01_dot_33_bar__plus_03_dot_60 loc_bar__minus_5_bar_15_bar_1_bar_60)\n (objectAtLocation Spatula_bar__minus_02_dot_03_bar__plus_00_dot_94_bar__plus_01_dot_88 loc_bar__minus_8_bar_10_bar_2_bar_45)\n (objectAtLocation Tomato_bar__minus_00_dot_40_bar__plus_01_dot_13_bar__plus_03_dot_73 loc_bar__minus_5_bar_15_bar_1_bar_60)\n (objectAtLocation Bread_bar__minus_00_dot_30_bar__plus_01_dot_77_bar__plus_03_dot_92 loc_bar__minus_5_bar_15_bar_1_bar_60)\n (objectAtLocation Lettuce_bar__minus_01_dot_94_bar__plus_01_dot_02_bar__plus_01_dot_95 loc_bar__minus_8_bar_10_bar_2_bar_45)\n (objectAtLocation Bowl_bar__minus_00_dot_35_bar__plus_01_dot_07_bar__plus_03_dot_48 loc_bar__minus_5_bar_15_bar_1_bar_60)\n (objectAtLocation Fork_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)\n (objectAtLocation Apple_bar__minus_00_dot_24_bar__plus_01_dot_12_bar__plus_03_dot_73 loc_bar__minus_5_bar_15_bar_1_bar_60)\n (objectAtLocation Apple_bar__minus_04_dot_16_bar__plus_00_dot_84_bar__plus_03_dot_35 loc_bar__minus_15_bar_14_bar_3_bar_60)\n (objectAtLocation Bread_bar__minus_01_dot_78_bar__plus_01_dot_00_bar__plus_01_dot_65 loc_bar__minus_8_bar_10_bar_2_bar_45)\n (objectAtLocation SaltShaker_bar__minus_03_dot_83_bar__plus_00_dot_74_bar__plus_05_dot_13 loc_bar__minus_15_bar_19_bar_0_bar_60)\n (objectAtLocation Bowl_bar__minus_00_dot_26_bar__plus_00_dot_92_bar__plus_04_dot_62 loc_bar__minus_4_bar_20_bar_1_bar_45)\n (objectAtLocation Tomato_bar__minus_04_dot_27_bar__plus_00_dot_85_bar__plus_03_dot_16 loc_bar__minus_15_bar_14_bar_3_bar_60)\n (objectAtLocation Tomato_bar__minus_00_dot_34_bar__plus_01_dot_64_bar__plus_03_dot_47 loc_bar__minus_5_bar_15_bar_1_bar_60)\n (objectAtLocation SoapBottle_bar__minus_03_dot_71_bar__plus_00_dot_07_bar__plus_06_dot_29 loc_bar__minus_10_bar_25_bar_3_bar_60)\n (objectAtLocation Cup_bar__minus_02_dot_09_bar__plus_00_dot_08_bar__plus_01_dot_93 loc_bar__minus_9_bar_12_bar_2_bar_60)\n (objectAtLocation Spatula_bar__minus_03_dot_14_bar__plus_00_dot_94_bar__plus_05_dot_18 loc_bar__minus_15_bar_19_bar_3_bar_60)\n (objectAtLocation Sink_bar__minus_04_dot_19_bar__plus_00_dot_92_bar__plus_03_dot_28 loc_bar__minus_15_bar_13_bar_3_bar_60)\n (objectAtLocation Egg_bar__minus_03_dot_86_bar__plus_00_dot_96_bar__plus_02_dot_03 loc_bar__minus_15_bar_19_bar_3_bar_60)\n (objectAtLocation Apple_bar__minus_03_dot_71_bar__plus_00_dot_12_bar__plus_06_dot_38 loc_bar__minus_10_bar_25_bar_3_bar_60)\n (objectAtLocation Knife_bar__minus_04_dot_03_bar__plus_00_dot_95_bar__plus_01_dot_95 loc_bar__minus_15_bar_19_bar_3_bar_60)\n (objectAtLocation Potato_bar__minus_02_dot_53_bar__plus_01_dot_58_bar__plus_01_dot_67 loc_bar__minus_11_bar_10_bar_2_bar_15)\n (objectAtLocation StoveKnob_bar__minus_02_dot_35_bar__plus_01_dot_10_bar__plus_01_dot_56 loc_bar__minus_9_bar_10_bar_2_bar_30)\n (objectAtLocation StoveKnob_bar__minus_02_dot_79_bar__plus_01_dot_10_bar__plus_01_dot_56 loc_bar__minus_11_bar_10_bar_2_bar_30)\n (objectAtLocation StoveKnob_bar__minus_02_dot_97_bar__plus_01_dot_10_bar__plus_01_dot_56 loc_bar__minus_12_bar_10_bar_2_bar_30)\n (objectAtLocation StoveKnob_bar__minus_02_dot_51_bar__plus_01_dot_10_bar__plus_01_dot_56 loc_bar__minus_10_bar_10_bar_2_bar_30)\n (objectAtLocation Fork_bar__minus_04_dot_24_bar__plus_00_dot_92_bar__plus_02_dot_88 loc_bar__minus_15_bar_19_bar_3_bar_60)\n (objectAtLocation Bowl_bar__minus_00_dot_26_bar__plus_00_dot_92_bar__plus_05_dot_60 loc_bar__minus_4_bar_20_bar_1_bar_45)\n (objectAtLocation Plate_bar__minus_03_dot_42_bar__plus_00_dot_08_bar__plus_01_dot_93 loc_bar__minus_12_bar_12_bar_2_bar_60)\n (objectAtLocation Lettuce_bar__minus_04_dot_26_bar__plus_01_dot_02_bar__plus_03_dot_86 loc_bar__minus_15_bar_19_bar_3_bar_60)\n (objectAtLocation Bread_bar__minus_03_dot_73_bar__plus_01_dot_00_bar__plus_05_dot_26 loc_bar__minus_15_bar_19_bar_3_bar_60)\n (objectAtLocation Tomato_bar__minus_04_dot_12_bar__plus_00_dot_85_bar__plus_03_dot_22 loc_bar__minus_15_bar_14_bar_3_bar_60)\n (objectAtLocation Curtains_bar__minus_04_dot_52_bar__plus_02_dot_25_bar__plus_03_dot_39 loc_bar__minus_15_bar_14_bar_3_bar__minus_30)\n (objectAtLocation Window_bar__minus_04_dot_87_bar__plus_01_dot_63_bar__plus_03_dot_31 loc_bar__minus_15_bar_13_bar_3_bar_0)\n (objectAtLocation WineBottle_bar__minus_01_dot_94_bar__plus_00_dot_92_bar__plus_01_dot_65 loc_bar__minus_8_bar_10_bar_2_bar_45)\n (objectAtLocation Spatula_bar__minus_04_dot_20_bar__plus_00_dot_94_bar__plus_02_dot_03 loc_bar__minus_15_bar_19_bar_3_bar_60)\n (objectAtLocation PaperTowelRoll_bar__minus_00_dot_57_bar__plus_01_dot_03_bar__plus_04_dot_94 loc_bar__minus_4_bar_20_bar_1_bar_45)\n (objectAtLocation Cup_bar__minus_00_dot_30_bar__plus_01_dot_33_bar__plus_03_dot_23 loc_bar__minus_5_bar_15_bar_1_bar_60)\n (objectAtLocation Pencil_bar__minus_00_dot_18_bar__plus_00_dot_93_bar__plus_05_dot_60 loc_bar__minus_4_bar_22_bar_1_bar_45)\n (objectAtLocation Pan_bar__minus_02_dot_92_bar__plus_00_dot_93_bar__plus_02_dot_01 loc_bar__minus_12_bar_10_bar_2_bar_45)\n (objectAtLocation Pot_bar__minus_00_dot_40_bar__plus_00_dot_91_bar__plus_05_dot_93 loc_bar__minus_4_bar_20_bar_1_bar_45)\n (objectAtLocation LightSwitch_bar__minus_01_dot_59_bar__plus_01_dot_17_bar__plus_01_dot_51 loc_bar__minus_4_bar_6_bar_3_bar_45)\n (objectAtLocation SaltShaker_bar__minus_00_dot_44_bar__plus_00_dot_74_bar__plus_05_dot_76 loc_bar__minus_4_bar_21_bar_0_bar_60)\n (objectAtLocation SoapBottle_bar__minus_04_dot_00_bar__plus_00_dot_08_bar__plus_02_dot_99 loc_bar__minus_12_bar_13_bar_3_bar_45)\n (objectAtLocation PepperShaker_bar__minus_03_dot_37_bar__plus_00_dot_92_bar__plus_05_dot_41 loc_bar__minus_15_bar_19_bar_3_bar_60)\n (objectAtLocation ButterKnife_bar__minus_00_dot_49_bar__plus_00_dot_93_bar__plus_05_dot_60 loc_bar__minus_4_bar_20_bar_1_bar_45)\n (objectAtLocation DishSponge_bar__minus_04_dot_34_bar__plus_00_dot_92_bar__plus_04_dot_38 loc_bar__minus_15_bar_19_bar_3_bar_60)\n (objectAtLocation Spoon_bar__minus_03_dot_49_bar__plus_00_dot_92_bar__plus_05_dot_18 loc_bar__minus_15_bar_19_bar_3_bar_60)\n (objectAtLocation Mug_bar__minus_04_dot_12_bar__plus_00_dot_79_bar__plus_03_dot_47 loc_bar__minus_15_bar_14_bar_3_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (inReceptacle ?o ?r)\n (objectType ?o TomatoType)\n (receptacleType ?r MicrowaveType)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to sinkbasin 1", "take tomato 2 from sinkbasin 1", "go to microwave 1", "open microwave 1", "move tomato 2 to microwave 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/valid_seen/pick_and_place_simple-Tomato-None-Microwave-13/trial_T20190908_124829_632660/initial_state.pddl b/data/alfworld/json_2.1.1/valid_seen/pick_and_place_simple-Tomato-None-Microwave-13/trial_T20190908_124829_632660/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..14596ce021a181814a2fc686e8e7f9b29fa7fe1a --- /dev/null +++ b/data/alfworld/json_2.1.1/valid_seen/pick_and_place_simple-Tomato-None-Microwave-13/trial_T20190908_124829_632660/initial_state.pddl @@ -0,0 +1,1353 @@ + +(define (problem plan_trial_T20190908_124829_632660) +(:domain alfred) +(:objects +agent1 - agent +Curtains - object + SprayBottle - object + Mirror - object + HousePlant - object + Watch - object + TeddyBear - object + WateringCan - object + Bathtub - object + LightSwitch - object + Vase - object + Candle - object + Bread - object + Statue - object + HandTowel - object + StoveKnob - object + PaperTowelRoll - object + Pan - object + PepperShaker - object + Painting - object + CellPhone - object + Plunger - object + Spoon - object + SaltShaker - object + KeyChain - object + Footstool - object + Poster - object + Television - object + LaundryHamperLid - object + Glassbottle - object + AlarmClock - object + WineBottle - object + Bowl - object + Sink - object + TissueBox - object + TennisRacket - object + ToiletPaper - object + ScrubBrush - object + CreditCard - object + Laptop - object + Cloth - object + Cup - object + Chair - object + BasketBall - object + Kettle - object + PaperTowel - object + ShowerDoor - object + BaseballBat - object + Potato - object + Pillow - object + Lettuce - object + RemoteControl - object + Window - object + DishSponge - object + CD - object + Boots - object + Blinds - object + Pen - object + Newspaper - object + Plate - object + Mug - object + ShowerGlass - object + ToiletPaperRoll - object + SoapBar - object + FloorLamp - object + SoapBottle - object + Pot - object + Pencil - object + Spatula - object + Towel - object + Fork - object + Ladle - object + Knife - object + Apple - object + Box - object + Tomato - object + ButterKnife - object + Egg - object + Book - object + DeskLamp - object +CurtainsType - otype + SprayBottleType - otype + MirrorType - otype + HousePlantType - otype + WatchType - otype + TeddyBearType - otype + WateringCanType - otype + BathtubType - otype + LightSwitchType - otype + VaseType - otype + CandleType - otype + BreadType - otype + StatueType - otype + HandTowelType - otype + StoveKnobType - otype + PaperTowelRollType - otype + PanType - otype + PepperShakerType - otype + PaintingType - otype + CellPhoneType - otype + PlungerType - otype + SpoonType - otype + SaltShakerType - otype + KeyChainType - otype + FootstoolType - otype + PosterType - otype + TelevisionType - otype + LaundryHamperLidType - otype + GlassbottleType - otype + AlarmClockType - otype + WineBottleType - otype + BowlType - otype + SinkType - otype + TissueBoxType - otype + TennisRacketType - otype + ToiletPaperType - otype + ScrubBrushType - otype + CreditCardType - otype + LaptopType - otype + ClothType - otype + CupType - otype + ChairType - otype + BasketBallType - otype + KettleType - otype + PaperTowelType - otype + ShowerDoorType - otype + BaseballBatType - otype + PotatoType - otype + PillowType - otype + LettuceType - otype + RemoteControlType - otype + WindowType - otype + DishSpongeType - otype + CDType - otype + BootsType - otype + BlindsType - otype + PenType - otype + NewspaperType - otype + PlateType - otype + MugType - otype + ShowerGlassType - otype + ToiletPaperRollType - otype + SoapBarType - otype + FloorLampType - otype + SoapBottleType - otype + PotType - otype + PencilType - otype + SpatulaType - otype + TowelType - otype + ForkType - otype + LadleType - otype + KnifeType - otype + AppleType - otype + BoxType - otype + TomatoType - otype + ButterKnifeType - otype + EggType - otype + BookType - otype + DeskLampType - otype +CabinetType - rtype + ShelfType - rtype + DiningTableType - rtype + TowelHolderType - rtype + PaintingHangerType - rtype + TVStandType - rtype + LaundryHamperType - rtype + OttomanType - rtype + SafeType - rtype + CoffeeMachineType - rtype + CounterTopType - rtype + ToiletType - rtype + FridgeType - rtype + CoffeeTableType - rtype + SinkBasinType - rtype + GarbageCanType - rtype + BathtubBasinType - rtype + SideTableType - rtype + CartType - rtype + BedType - rtype + DeskType - rtype + SofaType - rtype + ArmChairType - rtype + MicrowaveType - rtype + HandTowelHolderType - rtype + ToasterType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + DrawerType - rtype + DresserType - rtype + + + Apple_bar__minus_00_dot_24_bar__plus_01_dot_12_bar__plus_03_dot_73 - object + Apple_bar__minus_03_dot_71_bar__plus_00_dot_12_bar__plus_06_dot_38 - object + Apple_bar__minus_04_dot_16_bar__plus_00_dot_84_bar__plus_03_dot_35 - object + Bowl_bar__minus_00_dot_26_bar__plus_00_dot_92_bar__plus_04_dot_62 - object + Bowl_bar__minus_00_dot_26_bar__plus_00_dot_92_bar__plus_05_dot_60 - object + Bowl_bar__minus_00_dot_35_bar__plus_01_dot_07_bar__plus_03_dot_48 - object + Bread_bar__minus_00_dot_30_bar__plus_01_dot_77_bar__plus_03_dot_92 - object + Bread_bar__minus_01_dot_78_bar__plus_01_dot_00_bar__plus_01_dot_65 - object + Bread_bar__minus_03_dot_73_bar__plus_01_dot_00_bar__plus_05_dot_26 - object + ButterKnife_bar__minus_00_dot_49_bar__plus_00_dot_93_bar__plus_05_dot_60 - object + Cup_bar__minus_00_dot_30_bar__plus_01_dot_33_bar__plus_03_dot_23 - object + Cup_bar__minus_00_dot_38_bar__plus_01_dot_33_bar__plus_03_dot_60 - object + Cup_bar__minus_02_dot_09_bar__plus_00_dot_08_bar__plus_01_dot_93 - object + Curtains_bar__minus_04_dot_52_bar__plus_02_dot_25_bar__plus_03_dot_39 - object + DishSponge_bar__minus_04_dot_34_bar__plus_00_dot_92_bar__plus_04_dot_38 - object + Egg_bar__minus_03_dot_86_bar__plus_00_dot_96_bar__plus_02_dot_03 - object + Faucet_bar__minus_04_dot_44_bar__plus_00_dot_91_bar__plus_03_dot_29 - object + Fork_bar__minus_00_dot_33_bar__plus_00_dot_93_bar__plus_04_dot_94 - object + Fork_bar__minus_04_dot_24_bar__plus_00_dot_92_bar__plus_02_dot_88 - object + 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Pot_bar__minus_00_dot_40_bar__plus_00_dot_91_bar__plus_05_dot_93 - object + SaltShaker_bar__minus_00_dot_44_bar__plus_00_dot_74_bar__plus_05_dot_76 - object + SaltShaker_bar__minus_03_dot_45_bar__plus_00_dot_74_bar__plus_05_dot_22 - object + SaltShaker_bar__minus_03_dot_83_bar__plus_00_dot_74_bar__plus_05_dot_13 - object + Sink_bar__minus_04_dot_19_bar__plus_00_dot_92_bar__plus_03_dot_28 - object + SoapBottle_bar__minus_00_dot_18_bar__plus_00_dot_92_bar__plus_05_dot_27 - object + SoapBottle_bar__minus_03_dot_71_bar__plus_00_dot_07_bar__plus_06_dot_29 - object + SoapBottle_bar__minus_04_dot_00_bar__plus_00_dot_08_bar__plus_02_dot_99 - object + Spatula_bar__minus_02_dot_03_bar__plus_00_dot_94_bar__plus_01_dot_88 - object + Spatula_bar__minus_03_dot_14_bar__plus_00_dot_94_bar__plus_05_dot_18 - object + Spatula_bar__minus_04_dot_20_bar__plus_00_dot_94_bar__plus_02_dot_03 - object + Spoon_bar__minus_03_dot_49_bar__plus_00_dot_92_bar__plus_05_dot_18 - object + 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Cup_bar__minus_00_dot_38_bar__plus_01_dot_33_bar__plus_03_dot_60) + (cleanable Apple_bar__minus_00_dot_24_bar__plus_01_dot_12_bar__plus_03_dot_73) + (cleanable Cup_bar__minus_02_dot_09_bar__plus_00_dot_08_bar__plus_01_dot_93) + (cleanable Spatula_bar__minus_03_dot_14_bar__plus_00_dot_94_bar__plus_05_dot_18) + (cleanable Bowl_bar__minus_00_dot_26_bar__plus_00_dot_92_bar__plus_05_dot_60) + (cleanable Spatula_bar__minus_04_dot_20_bar__plus_00_dot_94_bar__plus_02_dot_03) + (cleanable ButterKnife_bar__minus_00_dot_49_bar__plus_00_dot_93_bar__plus_05_dot_60) + (cleanable Bowl_bar__minus_00_dot_26_bar__plus_00_dot_92_bar__plus_04_dot_62) + (cleanable Lettuce_bar__minus_04_dot_26_bar__plus_01_dot_02_bar__plus_03_dot_86) + (cleanable Cup_bar__minus_00_dot_30_bar__plus_01_dot_33_bar__plus_03_dot_23) + (cleanable Pan_bar__minus_02_dot_92_bar__plus_00_dot_93_bar__plus_02_dot_01) + (cleanable Fork_bar__minus_04_dot_24_bar__plus_00_dot_92_bar__plus_02_dot_88) + (cleanable Tomato_bar__minus_04_dot_12_bar__plus_00_dot_85_bar__plus_03_dot_22) + (cleanable DishSponge_bar__minus_04_dot_34_bar__plus_00_dot_92_bar__plus_04_dot_38) + (cleanable Egg_bar__minus_03_dot_86_bar__plus_00_dot_96_bar__plus_02_dot_03) + (cleanable Mug_bar__minus_04_dot_12_bar__plus_00_dot_79_bar__plus_03_dot_47) + (cleanable Spoon_bar__minus_04_dot_13_bar__plus_00_dot_76_bar__plus_02_dot_50) + (cleanable Spoon_bar__minus_03_dot_49_bar__plus_00_dot_92_bar__plus_05_dot_18) + (cleanable Bowl_bar__minus_00_dot_35_bar__plus_01_dot_07_bar__plus_03_dot_48) + (cleanable Spatula_bar__minus_02_dot_03_bar__plus_00_dot_94_bar__plus_01_dot_88) + (cleanable Tomato_bar__minus_04_dot_27_bar__plus_00_dot_85_bar__plus_03_dot_16) + (cleanable Knife_bar__minus_04_dot_03_bar__plus_00_dot_95_bar__plus_01_dot_95) + (cleanable Lettuce_bar__minus_01_dot_94_bar__plus_01_dot_02_bar__plus_01_dot_95) + (cleanable Tomato_bar__minus_00_dot_40_bar__plus_01_dot_13_bar__plus_03_dot_73) + (cleanable 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Bowl_bar__minus_00_dot_26_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_04_dot_94 CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__plus_05_dot_60) + (inReceptacle Pot_bar__minus_00_dot_40_bar__plus_00_dot_91_bar__plus_05_dot_93 CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__plus_05_dot_60) + (inReceptacle PaperTowelRoll_bar__minus_00_dot_57_bar__plus_01_dot_03_bar__plus_04_dot_94 CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__plus_05_dot_60) + (inReceptacle SoapBottle_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 SaltShaker_bar__minus_03_dot_45_bar__plus_00_dot_74_bar__plus_05_dot_22 Drawer_bar__minus_03_dot_51_bar__plus_00_dot_78_bar__plus_05_dot_16) + (inReceptacle Pan_bar__minus_02_dot_92_bar__plus_00_dot_93_bar__plus_02_dot_01 StoveBurner_bar__minus_02_dot_92_bar__plus_00_dot_92_bar__plus_01_dot_71) + (inReceptacle Spatula_bar__minus_03_dot_14_bar__plus_00_dot_94_bar__plus_05_dot_18 CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94) + (inReceptacle Egg_bar__minus_03_dot_86_bar__plus_00_dot_96_bar__plus_02_dot_03 CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94) + (inReceptacle Bread_bar__minus_03_dot_73_bar__plus_01_dot_00_bar__plus_05_dot_26 CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94) + (inReceptacle Spatula_bar__minus_04_dot_20_bar__plus_00_dot_94_bar__plus_02_dot_03 CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94) + (inReceptacle PepperShaker_bar__minus_03_dot_37_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 Spoon_bar__minus_03_dot_49_bar__plus_00_dot_92_bar__plus_05_dot_18 CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94) + (inReceptacle Fork_bar__minus_04_dot_24_bar__plus_00_dot_92_bar__plus_02_dot_88 CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94) + (inReceptacle Lettuce_bar__minus_04_dot_26_bar__plus_01_dot_02_bar__plus_03_dot_86 CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94) + (inReceptacle DishSponge_bar__minus_04_dot_34_bar__plus_00_dot_92_bar__plus_04_dot_38 CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94) + (inReceptacle Knife_bar__minus_04_dot_03_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 SaltShaker_bar__minus_03_dot_83_bar__plus_00_dot_74_bar__plus_05_dot_13 Drawer_bar__minus_03_dot_80_bar__plus_00_dot_78_bar__plus_05_dot_16) + (inReceptacle Pencil_bar__minus_03_dot_47_bar__plus_00_dot_75_bar__plus_01_dot_93 Drawer_bar__minus_03_dot_42_bar__plus_00_dot_78_bar__plus_01_dot_96) + (inReceptacle SaltShaker_bar__minus_00_dot_44_bar__plus_00_dot_74_bar__plus_05_dot_76 Drawer_bar__minus_00_dot_51_bar__plus_00_dot_78_bar__plus_05_dot_92) + (inReceptacle SoapBottle_bar__minus_04_dot_00_bar__plus_00_dot_08_bar__plus_02_dot_99 Cabinet_bar__minus_03_dot_97_bar__plus_00_dot_39_bar__plus_02_dot_89) + (inReceptacle Cup_bar__minus_02_dot_09_bar__plus_00_dot_08_bar__plus_01_dot_93 Cabinet_bar__minus_01_dot_54_bar__plus_00_dot_39_bar__plus_02_dot_09) + (inReceptacle Apple_bar__minus_03_dot_71_bar__plus_00_dot_12_bar__plus_06_dot_38 GarbageCan_bar__minus_03_dot_71_bar_00_dot_00_bar__plus_06_dot_38) + (inReceptacle SoapBottle_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) + (inReceptacleObject Pencil_bar__minus_00_dot_18_bar__plus_00_dot_93_bar__plus_05_dot_60 Bowl_bar__minus_00_dot_26_bar__plus_00_dot_92_bar__plus_05_dot_60) + (inReceptacle Potato_bar__minus_02_dot_53_bar__plus_01_dot_58_bar__plus_01_dot_67 Microwave_bar__minus_02_dot_69_bar__plus_01_dot_43_bar__plus_01_dot_69) + (inReceptacle Apple_bar__minus_04_dot_16_bar__plus_00_dot_84_bar__plus_03_dot_35 Sink_bar__minus_04_dot_19_bar__plus_00_dot_92_bar__plus_03_dot_28_bar_SinkBasin) + (inReceptacle Mug_bar__minus_04_dot_12_bar__plus_00_dot_79_bar__plus_03_dot_47 Sink_bar__minus_04_dot_19_bar__plus_00_dot_92_bar__plus_03_dot_28_bar_SinkBasin) + (inReceptacle Tomato_bar__minus_04_dot_12_bar__plus_00_dot_85_bar__plus_03_dot_22 Sink_bar__minus_04_dot_19_bar__plus_00_dot_92_bar__plus_03_dot_28_bar_SinkBasin) + (inReceptacle Tomato_bar__minus_04_dot_27_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 Cup_bar__minus_00_dot_38_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 Apple_bar__minus_00_dot_24_bar__plus_01_dot_12_bar__plus_03_dot_73 Fridge_bar__minus_00_dot_32_bar_00_dot_00_bar__plus_03_dot_60) + (inReceptacle Tomato_bar__minus_00_dot_40_bar__plus_01_dot_13_bar__plus_03_dot_73 Fridge_bar__minus_00_dot_32_bar_00_dot_00_bar__plus_03_dot_60) + (inReceptacle Bowl_bar__minus_00_dot_35_bar__plus_01_dot_07_bar__plus_03_dot_48 Fridge_bar__minus_00_dot_32_bar_00_dot_00_bar__plus_03_dot_60) + (inReceptacle Tomato_bar__minus_00_dot_34_bar__plus_01_dot_64_bar__plus_03_dot_47 Fridge_bar__minus_00_dot_32_bar_00_dot_00_bar__plus_03_dot_60) + (inReceptacle Cup_bar__minus_00_dot_30_bar__plus_01_dot_33_bar__plus_03_dot_23 Fridge_bar__minus_00_dot_32_bar_00_dot_00_bar__plus_03_dot_60) + (inReceptacle Bread_bar__minus_00_dot_30_bar__plus_01_dot_77_bar__plus_03_dot_92 Fridge_bar__minus_00_dot_32_bar_00_dot_00_bar__plus_03_dot_60) + + + (receptacleAtLocation Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_03_dot_01 loc_bar__minus_2_bar_10_bar_0_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_04_dot_21 loc_bar__minus_5_bar_17_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_04_dot_31 loc_bar__minus_4_bar_18_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_05_dot_51 loc_bar__minus_4_bar_22_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_05_dot_61 loc_bar__minus_4_bar_22_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_06_dot_81 loc_bar__minus_4_bar_25_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_64_bar__plus_00_dot_39_bar__plus_04_dot_30 loc_bar__minus_6_bar_17_bar_1_bar_60) + (receptacleAtLocation 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", + "Open the microwave and place the tomato inside. Shut the door." + ], + "task_desc": "Place a tomato in the microwave.", + "votes": [ + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A2871R3LEPWMMK_3C8HJ7UOPALR9RR7DCVUO9RQTD9MZ1", + "high_descs": [ + "Turn right and walk to the sink.", + "Pick up the back left tomato inside the sink.", + "Turn around and walk to the white stove on the right.", + "Put the tomato inside the microwave above the stove and close the door." + ], + "task_desc": "Place a tomato in a microwave.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/valid_seen/pick_and_place_simple-Watch-None-SideTable-222/trial_T20190909_051800_233558/initial_state.pddl b/data/alfworld/json_2.1.1/valid_seen/pick_and_place_simple-Watch-None-SideTable-222/trial_T20190909_051800_233558/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..daf9bab77f15ce70c945249d22bc2c98a3d2f684 --- /dev/null +++ b/data/alfworld/json_2.1.1/valid_seen/pick_and_place_simple-Watch-None-SideTable-222/trial_T20190909_051800_233558/initial_state.pddl @@ -0,0 +1,520 @@ + +(define (problem plan_trial_T20190909_051800_233558) +(:domain alfred) +(:objects +agent1 - agent +Curtains - object + SprayBottle - object + Mirror - object + HousePlant - object + Watch - object + TeddyBear - object + WateringCan - object + Bathtub - object + LightSwitch - object + Vase - object + Candle - object + Bread - object + Statue - object + HandTowel - object + StoveKnob - object + PaperTowelRoll - object + Pan - object + PepperShaker - object + Painting - object + CellPhone - object + Plunger - object + Spoon - object + SaltShaker - object + KeyChain - object + Footstool - object + Poster - object + Television - object + LaundryHamperLid - object + Glassbottle - object + AlarmClock - object + WineBottle - object + Bowl - object + Sink - object + TissueBox - object + TennisRacket - object + ToiletPaper - object + ScrubBrush - object + CreditCard - object + Laptop - object + Cloth - object + Cup - object + Chair - object + BasketBall - object + Kettle - object + PaperTowel - object + ShowerDoor - object + BaseballBat - object + Potato - object + Pillow - object + Lettuce - object + RemoteControl - object + Window - object + DishSponge - object + CD - object + Boots - object + Blinds - object + Pen - object + Newspaper - object + Plate - object + Mug - object + ShowerGlass - object + ToiletPaperRoll - object + SoapBar - object + FloorLamp - object + SoapBottle - object + Pot - object + Pencil - object + Spatula - object + Towel - object + Fork - object + Ladle - object + Knife - object + Apple - object + Box - object + Tomato - object + ButterKnife - object + Egg - object + Book - object + DeskLamp - object +CurtainsType - otype + SprayBottleType - otype + MirrorType - otype + HousePlantType - otype + WatchType - otype + TeddyBearType - otype + WateringCanType - otype + BathtubType - otype + LightSwitchType - otype + VaseType - otype + CandleType - otype + BreadType - otype + StatueType - otype + HandTowelType - otype + StoveKnobType - otype + PaperTowelRollType - otype + PanType - otype + PepperShakerType - otype + PaintingType - otype + CellPhoneType - otype + PlungerType - otype + SpoonType - otype + SaltShakerType - otype + KeyChainType - otype + FootstoolType - otype + PosterType - otype + TelevisionType - otype + LaundryHamperLidType - otype + GlassbottleType - otype + AlarmClockType - otype + WineBottleType - otype + BowlType - otype + SinkType - otype + TissueBoxType - otype + TennisRacketType - otype + ToiletPaperType - otype + ScrubBrushType - otype + CreditCardType - otype + LaptopType - otype + ClothType - otype + CupType - otype + ChairType - otype + BasketBallType - otype + KettleType - otype + PaperTowelType - otype + ShowerDoorType - otype + BaseballBatType - otype + PotatoType - otype + PillowType - otype + LettuceType - otype + RemoteControlType - otype + WindowType - otype + DishSpongeType - otype + CDType - otype + BootsType - otype + BlindsType - otype + PenType - otype + NewspaperType - otype + PlateType - otype + MugType - otype + ShowerGlassType - otype + ToiletPaperRollType - otype + SoapBarType - otype + FloorLampType - otype + SoapBottleType - otype + PotType - otype + PencilType - otype + SpatulaType - otype + TowelType - otype + ForkType - otype + LadleType - otype + KnifeType - otype + AppleType - otype + BoxType - otype + TomatoType - otype + ButterKnifeType - otype + EggType - otype + BookType - otype + DeskLampType - otype +CabinetType - rtype + ShelfType - rtype + DiningTableType - rtype + TowelHolderType - rtype + PaintingHangerType - rtype + TVStandType - rtype + LaundryHamperType - rtype + OttomanType - rtype + SafeType - rtype + CoffeeMachineType - rtype + CounterTopType - rtype + ToiletType - rtype + FridgeType - rtype + CoffeeTableType - rtype + SinkBasinType - rtype + GarbageCanType - rtype + BathtubBasinType - rtype + SideTableType - rtype + CartType - rtype + BedType - rtype + DeskType - rtype + SofaType - rtype + ArmChairType - rtype + MicrowaveType - rtype + HandTowelHolderType - rtype + ToasterType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + DrawerType - rtype + DresserType - rtype + + + Box_bar__minus_00_dot_64_bar__plus_00_dot_78_bar__minus_01_dot_47 - object + CreditCard_bar__plus_00_dot_09_bar__plus_00_dot_14_bar__minus_00_dot_33 - object + CreditCard_bar__plus_01_dot_30_bar__plus_00_dot_41_bar__plus_01_dot_79 - object + CreditCard_bar__plus_02_dot_00_bar__plus_00_dot_87_bar__plus_01_dot_66 - object + Curtains_bar__plus_01_dot_20_bar__plus_00_dot_00_bar__minus_02_dot_44 - object + FloorLamp_bar__minus_01_dot_16_bar__plus_00_dot_00_bar__plus_01_dot_04 - object + HousePlant_bar__plus_01_dot_92_bar__plus_01_dot_72_bar__minus_02_dot_19 - object + KeyChain_bar__plus_00_dot_22_bar__plus_00_dot_48_bar__minus_01_dot_58 - object + KeyChain_bar__plus_00_dot_23_bar__plus_00_dot_37_bar__plus_00_dot_13 - object + KeyChain_bar__plus_02_dot_84_bar__plus_00_dot_60_bar__plus_01_dot_39 - object + Laptop_bar__plus_00_dot_23_bar__plus_00_dot_36_bar__minus_00_dot_31 - object + Laptop_bar__plus_02_dot_74_bar__plus_00_dot_47_bar__plus_00_dot_25 - object + LightSwitch_bar__minus_01_dot_01_bar__plus_01_dot_29_bar__plus_01_dot_95 - object + Newspaper_bar__plus_00_dot_22_bar__plus_00_dot_52_bar__minus_01_dot_57 - object + Painting_bar__plus_03_dot_42_bar__plus_01_dot_71_bar__minus_00_dot_16 - object + Painting_bar__minus_01_dot_45_bar__plus_01_dot_79_bar__minus_00_dot_34 - object + Pillow_bar__minus_00_dot_88_bar__plus_00_dot_58_bar__minus_00_dot_80 - object + RemoteControl_bar__plus_01_dot_77_bar__plus_00_dot_87_bar__plus_01_dot_79 - object + RemoteControl_bar__plus_02_dot_07_bar__plus_00_dot_87_bar__plus_01_dot_70 - object + RemoteControl_bar__plus_02_dot_74_bar__plus_00_dot_46_bar__plus_00_dot_65 - object + Statue_bar__plus_00_dot_52_bar__plus_00_dot_42_bar__plus_01_dot_47 - object + Statue_bar__plus_02_dot_94_bar__plus_00_dot_60_bar__plus_01_dot_57 - object + Television_bar__plus_00_dot_86_bar__plus_00_dot_90_bar__plus_01_dot_73 - object + Watch_bar__plus_00_dot_37_bar__plus_00_dot_41_bar__plus_01_dot_40 - object + Watch_bar__plus_00_dot_37_bar__plus_00_dot_41_bar__plus_01_dot_66 - object + Watch_bar__plus_01_dot_30_bar__plus_00_dot_41_bar__plus_01_dot_60 - object + Window_bar__plus_00_dot_65_bar__plus_01_dot_55_bar__minus_02_dot_47 - object + ArmChair_bar__plus_00_dot_22_bar__plus_00_dot_01_bar__minus_01_dot_73 - receptacle + CoffeeTable_bar__plus_00_dot_23_bar__plus_00_dot_01_bar__minus_00_dot_17 - receptacle + Drawer_bar__plus_00_dot_10_bar__plus_00_dot_05_bar__minus_00_dot_17 - receptacle + Drawer_bar__plus_00_dot_10_bar__plus_00_dot_15_bar__minus_00_dot_17 - receptacle + Drawer_bar__plus_00_dot_10_bar__plus_00_dot_26_bar__minus_00_dot_17 - receptacle + Drawer_bar__plus_00_dot_35_bar__plus_00_dot_05_bar__minus_00_dot_17 - receptacle + Drawer_bar__plus_00_dot_35_bar__plus_00_dot_15_bar__minus_00_dot_17 - receptacle + Drawer_bar__plus_00_dot_35_bar__plus_00_dot_26_bar__minus_00_dot_17 - receptacle + Drawer_bar__plus_02_dot_00_bar__plus_00_dot_77_bar__plus_01_dot_70 - receptacle + GarbageCan_bar__plus_01_dot_30_bar__plus_00_dot_00_bar__minus_02_dot_19 - receptacle + SideTable_bar__plus_02_dot_00_bar__plus_00_dot_00_bar__plus_01_dot_75 - receptacle + SideTable_bar__plus_02_dot_96_bar__plus_00_dot_00_bar__plus_01_dot_57 - receptacle + SideTable_bar__minus_00_dot_68_bar__plus_00_dot_00_bar__minus_01_dot_60 - receptacle + Sofa_bar__plus_02_dot_87_bar_00_dot_00_bar__plus_00_dot_25 - receptacle + Sofa_bar__minus_01_dot_07_bar_00_dot_00_bar__minus_00_dot_20 - receptacle + TVStand_bar__plus_00_dot_84_bar_00_dot_00_bar__plus_01_dot_58 - receptacle + loc_bar__minus_2_bar_4_bar_2_bar_60 - location + loc_bar_6_bar_2_bar_0_bar_30 - location + loc_bar__minus_1_bar__minus_3_bar_2_bar_60 - location + loc_bar__minus_2_bar_6_bar_3_bar_30 - location + loc_bar_1_bar__minus_4_bar_2_bar_60 - location + loc_bar_6_bar__minus_3_bar_3_bar_45 - location + loc_bar_5_bar__minus_7_bar_2_bar_60 - location + loc_bar_3_bar_4_bar_2_bar_60 - location + loc_bar_4_bar__minus_7_bar_2_bar_15 - location + loc_bar__minus_1_bar_0_bar_3_bar_60 - location + loc_bar_8_bar_5_bar_1_bar_60 - location + loc_bar__minus_2_bar_4_bar_3_bar_60 - location + loc_bar_7_bar_1_bar_1_bar_60 - location + loc_bar_9_bar__minus_1_bar_1_bar_0 - location + loc_bar_3_bar_2_bar_0_bar_60 - location + loc_bar_7_bar_4_bar_0_bar_60 - location + loc_bar__minus_1_bar__minus_1_bar_3_bar_0 - location + loc_bar_6_bar__minus_3_bar_3_bar_60 - location + loc_bar__minus_2_bar_4_bar_2_bar_45 - location + loc_bar_6_bar__minus_7_bar_2_bar__minus_15 - location + loc_bar_6_bar_4_bar_0_bar_30 - location + ) + + +(:init + + + (receptacleType TVStand_bar__plus_00_dot_84_bar_00_dot_00_bar__plus_01_dot_58 TVStandType) + (receptacleType SideTable_bar__minus_00_dot_68_bar__plus_00_dot_00_bar__minus_01_dot_60 SideTableType) + (receptacleType Drawer_bar__plus_00_dot_35_bar__plus_00_dot_15_bar__minus_00_dot_17 DrawerType) + (receptacleType Sofa_bar__minus_01_dot_07_bar_00_dot_00_bar__minus_00_dot_20 SofaType) + (receptacleType CoffeeTable_bar__plus_00_dot_23_bar__plus_00_dot_01_bar__minus_00_dot_17 CoffeeTableType) + (receptacleType Drawer_bar__plus_02_dot_00_bar__plus_00_dot_77_bar__plus_01_dot_70 DrawerType) + (receptacleType Drawer_bar__plus_00_dot_10_bar__plus_00_dot_26_bar__minus_00_dot_17 DrawerType) + (receptacleType Drawer_bar__plus_00_dot_35_bar__plus_00_dot_26_bar__minus_00_dot_17 DrawerType) + (receptacleType Drawer_bar__plus_00_dot_10_bar__plus_00_dot_05_bar__minus_00_dot_17 DrawerType) + (receptacleType Drawer_bar__plus_00_dot_35_bar__plus_00_dot_05_bar__minus_00_dot_17 DrawerType) + (receptacleType ArmChair_bar__plus_00_dot_22_bar__plus_00_dot_01_bar__minus_01_dot_73 ArmChairType) + (receptacleType SideTable_bar__plus_02_dot_00_bar__plus_00_dot_00_bar__plus_01_dot_75 SideTableType) + (receptacleType GarbageCan_bar__plus_01_dot_30_bar__plus_00_dot_00_bar__minus_02_dot_19 GarbageCanType) + (receptacleType Drawer_bar__plus_00_dot_10_bar__plus_00_dot_15_bar__minus_00_dot_17 DrawerType) + (receptacleType Sofa_bar__plus_02_dot_87_bar_00_dot_00_bar__plus_00_dot_25 SofaType) + (receptacleType SideTable_bar__plus_02_dot_96_bar__plus_00_dot_00_bar__plus_01_dot_57 SideTableType) + (objectType Pillow_bar__minus_00_dot_88_bar__plus_00_dot_58_bar__minus_00_dot_80 PillowType) + (objectType KeyChain_bar__plus_02_dot_84_bar__plus_00_dot_60_bar__plus_01_dot_39 KeyChainType) + (objectType Television_bar__plus_00_dot_86_bar__plus_00_dot_90_bar__plus_01_dot_73 TelevisionType) + (objectType RemoteControl_bar__plus_02_dot_74_bar__plus_00_dot_46_bar__plus_00_dot_65 RemoteControlType) + (objectType RemoteControl_bar__plus_01_dot_77_bar__plus_00_dot_87_bar__plus_01_dot_79 RemoteControlType) + (objectType Laptop_bar__plus_02_dot_74_bar__plus_00_dot_47_bar__plus_00_dot_25 LaptopType) + (objectType CreditCard_bar__plus_01_dot_30_bar__plus_00_dot_41_bar__plus_01_dot_79 CreditCardType) + (objectType Laptop_bar__plus_00_dot_23_bar__plus_00_dot_36_bar__minus_00_dot_31 LaptopType) + (objectType Window_bar__plus_00_dot_65_bar__plus_01_dot_55_bar__minus_02_dot_47 WindowType) + (objectType Box_bar__minus_00_dot_64_bar__plus_00_dot_78_bar__minus_01_dot_47 BoxType) + (objectType Painting_bar__plus_03_dot_42_bar__plus_01_dot_71_bar__minus_00_dot_16 PaintingType) + (objectType FloorLamp_bar__minus_01_dot_16_bar__plus_00_dot_00_bar__plus_01_dot_04 FloorLampType) + (objectType Watch_bar__plus_00_dot_37_bar__plus_00_dot_41_bar__plus_01_dot_66 WatchType) + (objectType CreditCard_bar__plus_02_dot_00_bar__plus_00_dot_87_bar__plus_01_dot_66 CreditCardType) + (objectType HousePlant_bar__plus_01_dot_92_bar__plus_01_dot_72_bar__minus_02_dot_19 HousePlantType) + (objectType Watch_bar__plus_01_dot_30_bar__plus_00_dot_41_bar__plus_01_dot_60 WatchType) + (objectType CreditCard_bar__plus_00_dot_09_bar__plus_00_dot_14_bar__minus_00_dot_33 CreditCardType) + (objectType Statue_bar__plus_02_dot_94_bar__plus_00_dot_60_bar__plus_01_dot_57 StatueType) + (objectType KeyChain_bar__plus_00_dot_22_bar__plus_00_dot_48_bar__minus_01_dot_58 KeyChainType) + (objectType RemoteControl_bar__plus_02_dot_07_bar__plus_00_dot_87_bar__plus_01_dot_70 RemoteControlType) + (objectType KeyChain_bar__plus_00_dot_23_bar__plus_00_dot_37_bar__plus_00_dot_13 KeyChainType) + (objectType Newspaper_bar__plus_00_dot_22_bar__plus_00_dot_52_bar__minus_01_dot_57 NewspaperType) + (objectType Statue_bar__plus_00_dot_52_bar__plus_00_dot_42_bar__plus_01_dot_47 StatueType) + (objectType LightSwitch_bar__minus_01_dot_01_bar__plus_01_dot_29_bar__plus_01_dot_95 LightSwitchType) + (objectType Curtains_bar__plus_01_dot_20_bar__plus_00_dot_00_bar__minus_02_dot_44 CurtainsType) + (objectType Painting_bar__minus_01_dot_45_bar__plus_01_dot_79_bar__minus_00_dot_34 PaintingType) + (objectType Watch_bar__plus_00_dot_37_bar__plus_00_dot_41_bar__plus_01_dot_40 WatchType) + (canContain SideTableType KeyChainType) + (canContain SideTableType WatchType) + (canContain SideTableType RemoteControlType) + (canContain SideTableType CreditCardType) + (canContain SideTableType NewspaperType) + (canContain SideTableType LaptopType) + (canContain SideTableType StatueType) + (canContain SideTableType BoxType) + (canContain DrawerType KeyChainType) + (canContain DrawerType WatchType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType CreditCardType) + (canContain DrawerType NewspaperType) + (canContain SofaType PillowType) + (canContain SofaType RemoteControlType) + (canContain SofaType KeyChainType) + (canContain SofaType LaptopType) + (canContain SofaType CreditCardType) + (canContain SofaType BoxType) + (canContain SofaType NewspaperType) + (canContain CoffeeTableType KeyChainType) + (canContain CoffeeTableType WatchType) + (canContain CoffeeTableType RemoteControlType) + (canContain CoffeeTableType CreditCardType) + (canContain CoffeeTableType NewspaperType) + (canContain CoffeeTableType LaptopType) + (canContain CoffeeTableType StatueType) + (canContain CoffeeTableType BoxType) + (canContain DrawerType KeyChainType) + (canContain DrawerType WatchType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType CreditCardType) + (canContain DrawerType NewspaperType) + (canContain DrawerType KeyChainType) + (canContain DrawerType WatchType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType CreditCardType) + (canContain DrawerType NewspaperType) + (canContain DrawerType KeyChainType) + (canContain DrawerType WatchType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType CreditCardType) + (canContain DrawerType NewspaperType) + (canContain DrawerType KeyChainType) + (canContain DrawerType WatchType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType CreditCardType) + (canContain DrawerType NewspaperType) + (canContain DrawerType KeyChainType) + (canContain DrawerType WatchType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType CreditCardType) + (canContain DrawerType NewspaperType) + (canContain ArmChairType PillowType) + (canContain ArmChairType RemoteControlType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType CreditCardType) + (canContain ArmChairType BoxType) + (canContain ArmChairType NewspaperType) + (canContain SideTableType KeyChainType) + (canContain SideTableType WatchType) + (canContain SideTableType RemoteControlType) + (canContain SideTableType CreditCardType) + (canContain SideTableType NewspaperType) + (canContain SideTableType LaptopType) + (canContain SideTableType StatueType) + (canContain SideTableType BoxType) + (canContain GarbageCanType NewspaperType) + (canContain DrawerType KeyChainType) + (canContain DrawerType WatchType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType CreditCardType) + (canContain DrawerType NewspaperType) + (canContain SofaType PillowType) + (canContain SofaType RemoteControlType) + (canContain SofaType KeyChainType) + (canContain SofaType LaptopType) + (canContain SofaType CreditCardType) + (canContain SofaType BoxType) + (canContain SofaType NewspaperType) + (canContain SideTableType KeyChainType) + (canContain SideTableType WatchType) + (canContain SideTableType RemoteControlType) + (canContain SideTableType CreditCardType) + (canContain SideTableType NewspaperType) + (canContain SideTableType LaptopType) + (canContain SideTableType StatueType) + (canContain SideTableType BoxType) + (pickupable Pillow_bar__minus_00_dot_88_bar__plus_00_dot_58_bar__minus_00_dot_80) + (pickupable KeyChain_bar__plus_02_dot_84_bar__plus_00_dot_60_bar__plus_01_dot_39) + (pickupable RemoteControl_bar__plus_02_dot_74_bar__plus_00_dot_46_bar__plus_00_dot_65) + (pickupable RemoteControl_bar__plus_01_dot_77_bar__plus_00_dot_87_bar__plus_01_dot_79) + (pickupable Laptop_bar__plus_02_dot_74_bar__plus_00_dot_47_bar__plus_00_dot_25) + (pickupable CreditCard_bar__plus_01_dot_30_bar__plus_00_dot_41_bar__plus_01_dot_79) + (pickupable Laptop_bar__plus_00_dot_23_bar__plus_00_dot_36_bar__minus_00_dot_31) + (pickupable Box_bar__minus_00_dot_64_bar__plus_00_dot_78_bar__minus_01_dot_47) + (pickupable Watch_bar__plus_00_dot_37_bar__plus_00_dot_41_bar__plus_01_dot_66) + (pickupable CreditCard_bar__plus_02_dot_00_bar__plus_00_dot_87_bar__plus_01_dot_66) + (pickupable Watch_bar__plus_01_dot_30_bar__plus_00_dot_41_bar__plus_01_dot_60) + (pickupable CreditCard_bar__plus_00_dot_09_bar__plus_00_dot_14_bar__minus_00_dot_33) + (pickupable Statue_bar__plus_02_dot_94_bar__plus_00_dot_60_bar__plus_01_dot_57) + (pickupable KeyChain_bar__plus_00_dot_22_bar__plus_00_dot_48_bar__minus_01_dot_58) + (pickupable RemoteControl_bar__plus_02_dot_07_bar__plus_00_dot_87_bar__plus_01_dot_70) + (pickupable KeyChain_bar__plus_00_dot_23_bar__plus_00_dot_37_bar__plus_00_dot_13) + (pickupable Newspaper_bar__plus_00_dot_22_bar__plus_00_dot_52_bar__minus_01_dot_57) + (pickupable Statue_bar__plus_00_dot_52_bar__plus_00_dot_42_bar__plus_01_dot_47) + (pickupable Watch_bar__plus_00_dot_37_bar__plus_00_dot_41_bar__plus_01_dot_40) + (isReceptacleObject Box_bar__minus_00_dot_64_bar__plus_00_dot_78_bar__minus_01_dot_47) + (openable Drawer_bar__plus_00_dot_35_bar__plus_00_dot_15_bar__minus_00_dot_17) + (openable Drawer_bar__plus_02_dot_00_bar__plus_00_dot_77_bar__plus_01_dot_70) + (openable Drawer_bar__plus_00_dot_10_bar__plus_00_dot_26_bar__minus_00_dot_17) + (openable Drawer_bar__plus_00_dot_35_bar__plus_00_dot_26_bar__minus_00_dot_17) + (openable Drawer_bar__plus_00_dot_10_bar__plus_00_dot_05_bar__minus_00_dot_17) + (openable Drawer_bar__plus_00_dot_35_bar__plus_00_dot_05_bar__minus_00_dot_17) + (openable Drawer_bar__plus_00_dot_10_bar__plus_00_dot_15_bar__minus_00_dot_17) + + (atLocation agent1 loc_bar_6_bar_4_bar_0_bar_30) + + + + + + + + (toggleable FloorLamp_bar__minus_01_dot_16_bar__plus_00_dot_00_bar__plus_01_dot_04) + + + + + (inReceptacle RemoteControl_bar__plus_02_dot_07_bar__plus_00_dot_87_bar__plus_01_dot_70 SideTable_bar__plus_02_dot_00_bar__plus_00_dot_00_bar__plus_01_dot_75) + (inReceptacle CreditCard_bar__plus_02_dot_00_bar__plus_00_dot_87_bar__plus_01_dot_66 SideTable_bar__plus_02_dot_00_bar__plus_00_dot_00_bar__plus_01_dot_75) + (inReceptacle RemoteControl_bar__plus_01_dot_77_bar__plus_00_dot_87_bar__plus_01_dot_79 SideTable_bar__plus_02_dot_00_bar__plus_00_dot_00_bar__plus_01_dot_75) + (inReceptacle Laptop_bar__plus_00_dot_23_bar__plus_00_dot_36_bar__minus_00_dot_31 CoffeeTable_bar__plus_00_dot_23_bar__plus_00_dot_01_bar__minus_00_dot_17) + (inReceptacle KeyChain_bar__plus_00_dot_23_bar__plus_00_dot_37_bar__plus_00_dot_13 CoffeeTable_bar__plus_00_dot_23_bar__plus_00_dot_01_bar__minus_00_dot_17) + (inReceptacle CreditCard_bar__plus_00_dot_09_bar__plus_00_dot_14_bar__minus_00_dot_33 Drawer_bar__plus_00_dot_10_bar__plus_00_dot_15_bar__minus_00_dot_17) + (inReceptacle Pillow_bar__minus_00_dot_88_bar__plus_00_dot_58_bar__minus_00_dot_80 Sofa_bar__minus_01_dot_07_bar_00_dot_00_bar__minus_00_dot_20) + (inReceptacle Statue_bar__plus_02_dot_94_bar__plus_00_dot_60_bar__plus_01_dot_57 SideTable_bar__plus_02_dot_96_bar__plus_00_dot_00_bar__plus_01_dot_57) + (inReceptacle KeyChain_bar__plus_02_dot_84_bar__plus_00_dot_60_bar__plus_01_dot_39 SideTable_bar__plus_02_dot_96_bar__plus_00_dot_00_bar__plus_01_dot_57) + (inReceptacle Box_bar__minus_00_dot_64_bar__plus_00_dot_78_bar__minus_01_dot_47 SideTable_bar__minus_00_dot_68_bar__plus_00_dot_00_bar__minus_01_dot_60) + (inReceptacle Newspaper_bar__plus_00_dot_22_bar__plus_00_dot_52_bar__minus_01_dot_57 ArmChair_bar__plus_00_dot_22_bar__plus_00_dot_01_bar__minus_01_dot_73) + (inReceptacle Watch_bar__plus_01_dot_30_bar__plus_00_dot_41_bar__plus_01_dot_60 TVStand_bar__plus_00_dot_84_bar_00_dot_00_bar__plus_01_dot_58) + (inReceptacle Television_bar__plus_00_dot_86_bar__plus_00_dot_90_bar__plus_01_dot_73 TVStand_bar__plus_00_dot_84_bar_00_dot_00_bar__plus_01_dot_58) + (inReceptacle Statue_bar__plus_00_dot_52_bar__plus_00_dot_42_bar__plus_01_dot_47 TVStand_bar__plus_00_dot_84_bar_00_dot_00_bar__plus_01_dot_58) + (inReceptacle CreditCard_bar__plus_01_dot_30_bar__plus_00_dot_41_bar__plus_01_dot_79 TVStand_bar__plus_00_dot_84_bar_00_dot_00_bar__plus_01_dot_58) + (inReceptacle Watch_bar__plus_00_dot_37_bar__plus_00_dot_41_bar__plus_01_dot_66 TVStand_bar__plus_00_dot_84_bar_00_dot_00_bar__plus_01_dot_58) + (inReceptacle Watch_bar__plus_00_dot_37_bar__plus_00_dot_41_bar__plus_01_dot_40 TVStand_bar__plus_00_dot_84_bar_00_dot_00_bar__plus_01_dot_58) + (inReceptacle RemoteControl_bar__plus_02_dot_74_bar__plus_00_dot_46_bar__plus_00_dot_65 Sofa_bar__plus_02_dot_87_bar_00_dot_00_bar__plus_00_dot_25) + (inReceptacle Laptop_bar__plus_02_dot_74_bar__plus_00_dot_47_bar__plus_00_dot_25 Sofa_bar__plus_02_dot_87_bar_00_dot_00_bar__plus_00_dot_25) + + + (receptacleAtLocation ArmChair_bar__plus_00_dot_22_bar__plus_00_dot_01_bar__minus_01_dot_73 loc_bar_1_bar__minus_4_bar_2_bar_60) + (receptacleAtLocation CoffeeTable_bar__plus_00_dot_23_bar__plus_00_dot_01_bar__minus_00_dot_17 loc_bar_3_bar_4_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__plus_00_dot_10_bar__plus_00_dot_05_bar__minus_00_dot_17 loc_bar__minus_2_bar_4_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__plus_00_dot_10_bar__plus_00_dot_15_bar__minus_00_dot_17 loc_bar__minus_2_bar_4_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__plus_00_dot_10_bar__plus_00_dot_26_bar__minus_00_dot_17 loc_bar__minus_2_bar_4_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__plus_00_dot_35_bar__plus_00_dot_05_bar__minus_00_dot_17 loc_bar_6_bar__minus_3_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__plus_00_dot_35_bar__plus_00_dot_15_bar__minus_00_dot_17 loc_bar_6_bar__minus_3_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__plus_00_dot_35_bar__plus_00_dot_26_bar__minus_00_dot_17 loc_bar_6_bar__minus_3_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__plus_02_dot_00_bar__plus_00_dot_77_bar__plus_01_dot_70 loc_bar_6_bar_2_bar_0_bar_30) + (receptacleAtLocation GarbageCan_bar__plus_01_dot_30_bar__plus_00_dot_00_bar__minus_02_dot_19 loc_bar_5_bar__minus_7_bar_2_bar_60) + (receptacleAtLocation SideTable_bar__plus_02_dot_00_bar__plus_00_dot_00_bar__plus_01_dot_75 loc_bar_7_bar_4_bar_0_bar_60) + (receptacleAtLocation SideTable_bar__plus_02_dot_96_bar__plus_00_dot_00_bar__plus_01_dot_57 loc_bar_8_bar_5_bar_1_bar_60) + (receptacleAtLocation SideTable_bar__minus_00_dot_68_bar__plus_00_dot_00_bar__minus_01_dot_60 loc_bar__minus_1_bar__minus_3_bar_2_bar_60) + (receptacleAtLocation Sofa_bar__plus_02_dot_87_bar_00_dot_00_bar__plus_00_dot_25 loc_bar_7_bar_1_bar_1_bar_60) + (receptacleAtLocation Sofa_bar__minus_01_dot_07_bar_00_dot_00_bar__minus_00_dot_20 loc_bar__minus_1_bar_0_bar_3_bar_60) + (receptacleAtLocation TVStand_bar__plus_00_dot_84_bar_00_dot_00_bar__plus_01_dot_58 loc_bar_3_bar_2_bar_0_bar_60) + (objectAtLocation Statue_bar__plus_02_dot_94_bar__plus_00_dot_60_bar__plus_01_dot_57 loc_bar_8_bar_5_bar_1_bar_60) + (objectAtLocation Watch_bar__plus_00_dot_37_bar__plus_00_dot_41_bar__plus_01_dot_66 loc_bar_3_bar_2_bar_0_bar_60) + (objectAtLocation KeyChain_bar__plus_00_dot_23_bar__plus_00_dot_37_bar__plus_00_dot_13 loc_bar_3_bar_4_bar_2_bar_60) + (objectAtLocation RemoteControl_bar__plus_02_dot_74_bar__plus_00_dot_46_bar__plus_00_dot_65 loc_bar_7_bar_1_bar_1_bar_60) + (objectAtLocation CreditCard_bar__plus_02_dot_00_bar__plus_00_dot_87_bar__plus_01_dot_66 loc_bar_7_bar_4_bar_0_bar_60) + (objectAtLocation Laptop_bar__plus_00_dot_23_bar__plus_00_dot_36_bar__minus_00_dot_31 loc_bar_3_bar_4_bar_2_bar_60) + (objectAtLocation RemoteControl_bar__plus_01_dot_77_bar__plus_00_dot_87_bar__plus_01_dot_79 loc_bar_7_bar_4_bar_0_bar_60) + (objectAtLocation CreditCard_bar__plus_01_dot_30_bar__plus_00_dot_41_bar__plus_01_dot_79 loc_bar_3_bar_2_bar_0_bar_60) + (objectAtLocation KeyChain_bar__plus_00_dot_22_bar__plus_00_dot_48_bar__minus_01_dot_58 loc_bar_1_bar__minus_4_bar_2_bar_60) + (objectAtLocation Watch_bar__plus_00_dot_37_bar__plus_00_dot_41_bar__plus_01_dot_40 loc_bar_3_bar_2_bar_0_bar_60) + (objectAtLocation Curtains_bar__plus_01_dot_20_bar__plus_00_dot_00_bar__minus_02_dot_44 loc_bar_5_bar__minus_7_bar_2_bar_60) + (objectAtLocation Box_bar__minus_00_dot_64_bar__plus_00_dot_78_bar__minus_01_dot_47 loc_bar__minus_1_bar__minus_3_bar_2_bar_60) + (objectAtLocation Laptop_bar__plus_02_dot_74_bar__plus_00_dot_47_bar__plus_00_dot_25 loc_bar_7_bar_1_bar_1_bar_60) + (objectAtLocation CreditCard_bar__plus_00_dot_09_bar__plus_00_dot_14_bar__minus_00_dot_33 loc_bar__minus_2_bar_4_bar_2_bar_45) + (objectAtLocation Newspaper_bar__plus_00_dot_22_bar__plus_00_dot_52_bar__minus_01_dot_57 loc_bar_1_bar__minus_4_bar_2_bar_60) + (objectAtLocation HousePlant_bar__plus_01_dot_92_bar__plus_01_dot_72_bar__minus_02_dot_19 loc_bar_6_bar__minus_7_bar_2_bar__minus_15) + (objectAtLocation FloorLamp_bar__minus_01_dot_16_bar__plus_00_dot_00_bar__plus_01_dot_04 loc_bar__minus_2_bar_4_bar_3_bar_60) + (objectAtLocation LightSwitch_bar__minus_01_dot_01_bar__plus_01_dot_29_bar__plus_01_dot_95 loc_bar__minus_2_bar_6_bar_3_bar_30) + (objectAtLocation RemoteControl_bar__plus_02_dot_07_bar__plus_00_dot_87_bar__plus_01_dot_70 loc_bar_7_bar_4_bar_0_bar_60) + (objectAtLocation Television_bar__plus_00_dot_86_bar__plus_00_dot_90_bar__plus_01_dot_73 loc_bar_3_bar_2_bar_0_bar_60) + (objectAtLocation Painting_bar__plus_03_dot_42_bar__plus_01_dot_71_bar__minus_00_dot_16 loc_bar_9_bar__minus_1_bar_1_bar_0) + (objectAtLocation Pillow_bar__minus_00_dot_88_bar__plus_00_dot_58_bar__minus_00_dot_80 loc_bar__minus_1_bar_0_bar_3_bar_60) + (objectAtLocation KeyChain_bar__plus_02_dot_84_bar__plus_00_dot_60_bar__plus_01_dot_39 loc_bar_8_bar_5_bar_1_bar_60) + (objectAtLocation Painting_bar__minus_01_dot_45_bar__plus_01_dot_79_bar__minus_00_dot_34 loc_bar__minus_1_bar__minus_1_bar_3_bar_0) + (objectAtLocation Watch_bar__plus_01_dot_30_bar__plus_00_dot_41_bar__plus_01_dot_60 loc_bar_3_bar_2_bar_0_bar_60) + (objectAtLocation Window_bar__plus_00_dot_65_bar__plus_01_dot_55_bar__minus_02_dot_47 loc_bar_4_bar__minus_7_bar_2_bar_15) + (objectAtLocation Statue_bar__plus_00_dot_52_bar__plus_00_dot_42_bar__plus_01_dot_47 loc_bar_3_bar_2_bar_0_bar_60) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (inReceptacle ?o ?r) + (objectType ?o WatchType) + (receptacleType ?r SideTableType) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/valid_seen/pick_and_place_simple-Watch-None-SideTable-222/trial_T20190909_051800_233558/traj_data.json b/data/alfworld/json_2.1.1/valid_seen/pick_and_place_simple-Watch-None-SideTable-222/trial_T20190909_051800_233558/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..05606c32360351400737312695bf76c3558a54b5 --- /dev/null +++ b/data/alfworld/json_2.1.1/valid_seen/pick_and_place_simple-Watch-None-SideTable-222/trial_T20190909_051800_233558/traj_data.json @@ -0,0 +1,2739 @@ +{ + "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", + 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"Put a watch on a table.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AFPMG8TLP1TND_3PPTZCWALTBIU6PZ552B5IBV39CQZO", + "high_descs": [ + "turn left then turn right towards the tv and look down", + "pick up the watch on the tv stand", + "turn right and walk straight towards the couch then turn left towards the table", + "put the watch down on top of the credit card on the table" + ], + "task_desc": "put the watch on the table from the tv", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A272X64FOZFYLB_3S4AW7T80E9R0CLXS74PU0ZSS8HL4D", + "high_descs": [ + "Walk very slightly to the left then turn right towards the watch on the TV stand.", + "Pick up the watch on the TV stand which is to the right of the television.", + "Turn right and walk to the small side table to the right of the television that contains two remote controls.", + "Put the watch on top of the credit card on the table." + ], + "task_desc": "Move a watch from a television stand to a small side table.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/valid_seen/pick_and_place_simple-Watch-None-SideTable-222/trial_T20190909_051813_197569/game.tw-pddl b/data/alfworld/json_2.1.1/valid_seen/pick_and_place_simple-Watch-None-SideTable-222/trial_T20190909_051813_197569/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..13af84ca95ee11001212099d2595c39c9777fe04 --- /dev/null +++ b/data/alfworld/json_2.1.1/valid_seen/pick_and_place_simple-Watch-None-SideTable-222/trial_T20190909_051813_197569/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\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 watch on sidetable.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190909_051813_197569)\n(:domain alfred)\n(:objects\nagent1 - agent\nCurtains - object\n SprayBottle - object\n Mirror - object\n HousePlant - object\n Watch - object\n TeddyBear - object\n WateringCan - object\n Bathtub - object\n LightSwitch - object\n Vase - object\n Candle - object\n Bread - object\n Statue - object\n HandTowel - object\n StoveKnob - object\n PaperTowelRoll - object\n Pan - object\n PepperShaker - object\n Painting - object\n CellPhone - object\n Plunger - object\n Spoon - object\n SaltShaker - object\n KeyChain - object\n Footstool - object\n Poster - object\n Television - object\n LaundryHamperLid - object\n Glassbottle - object\n AlarmClock - object\n WineBottle - object\n Bowl - object\n Sink - object\n TissueBox - object\n TennisRacket - object\n ToiletPaper - object\n ScrubBrush - object\n CreditCard - object\n Laptop - object\n Cloth - object\n Cup - object\n Chair - object\n BasketBall - object\n Kettle - object\n PaperTowel - object\n ShowerDoor - object\n BaseballBat - object\n Potato - object\n Pillow - object\n Lettuce - object\n RemoteControl - object\n Window - object\n DishSponge - object\n CD - object\n Boots - object\n Blinds - object\n Pen - object\n Newspaper - object\n Plate - object\n Mug - object\n ShowerGlass - object\n ToiletPaperRoll - object\n SoapBar - object\n FloorLamp - object\n SoapBottle - object\n Pot - object\n Pencil - object\n Spatula - object\n Towel - object\n Fork - object\n Ladle - object\n Knife - object\n Apple - object\n Box - object\n Tomato - object\n ButterKnife - object\n Egg - object\n Book - object\n DeskLamp - object\nCurtainsType - otype\n SprayBottleType - otype\n MirrorType - otype\n HousePlantType - otype\n WatchType - otype\n TeddyBearType - otype\n WateringCanType - otype\n BathtubType - otype\n LightSwitchType - otype\n VaseType - otype\n CandleType - otype\n BreadType - otype\n StatueType - otype\n HandTowelType - otype\n StoveKnobType - otype\n PaperTowelRollType - otype\n PanType - otype\n PepperShakerType - otype\n PaintingType - otype\n CellPhoneType - otype\n PlungerType - otype\n SpoonType - otype\n SaltShakerType - otype\n KeyChainType - otype\n FootstoolType - otype\n PosterType - otype\n TelevisionType - otype\n LaundryHamperLidType - otype\n GlassbottleType - otype\n AlarmClockType - otype\n WineBottleType - otype\n BowlType - otype\n SinkType - otype\n TissueBoxType - otype\n TennisRacketType - otype\n ToiletPaperType - otype\n ScrubBrushType - otype\n CreditCardType - otype\n LaptopType - otype\n ClothType - otype\n CupType - otype\n ChairType - otype\n BasketBallType - otype\n KettleType - otype\n PaperTowelType - otype\n ShowerDoorType - otype\n BaseballBatType - otype\n PotatoType - otype\n PillowType - otype\n LettuceType - otype\n RemoteControlType - otype\n WindowType - otype\n DishSpongeType - otype\n CDType - otype\n BootsType - otype\n BlindsType - otype\n PenType - otype\n NewspaperType - otype\n PlateType - otype\n MugType - otype\n ShowerGlassType - otype\n ToiletPaperRollType - otype\n SoapBarType - otype\n FloorLampType - otype\n SoapBottleType - otype\n PotType - otype\n PencilType - otype\n SpatulaType - otype\n TowelType - otype\n ForkType - otype\n LadleType - otype\n KnifeType - otype\n AppleType - otype\n BoxType - otype\n TomatoType - otype\n ButterKnifeType - otype\n EggType - otype\n BookType - otype\n DeskLampType - otype\nCabinetType - rtype\n ShelfType - rtype\n DiningTableType - rtype\n TowelHolderType - rtype\n PaintingHangerType - rtype\n TVStandType - rtype\n LaundryHamperType - rtype\n OttomanType - rtype\n SafeType - rtype\n CoffeeMachineType - rtype\n CounterTopType - rtype\n ToiletType - rtype\n FridgeType - rtype\n CoffeeTableType - rtype\n SinkBasinType - rtype\n GarbageCanType - rtype\n BathtubBasinType - rtype\n SideTableType - rtype\n CartType - rtype\n BedType - rtype\n DeskType - rtype\n SofaType - rtype\n ArmChairType - rtype\n MicrowaveType - rtype\n HandTowelHolderType - rtype\n ToasterType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n DrawerType - rtype\n DresserType - rtype\n\n\n Box_bar__plus_02_dot_74_bar__plus_00_dot_64_bar__minus_00_dot_15 - object\n CreditCard_bar__plus_00_dot_50_bar__plus_00_dot_48_bar__minus_01_dot_74 - object\n CreditCard_bar__plus_02_dot_23_bar__plus_00_dot_87_bar__plus_01_dot_79 - object\n CreditCard_bar__minus_00_dot_86_bar__plus_00_dot_60_bar__minus_01_dot_48 - object\n Curtains_bar__plus_01_dot_20_bar__plus_00_dot_00_bar__minus_02_dot_44 - object\n FloorLamp_bar__minus_01_dot_16_bar__plus_00_dot_00_bar__plus_01_dot_04 - object\n HousePlant_bar__plus_01_dot_92_bar__plus_01_dot_72_bar__minus_02_dot_19 - object\n KeyChain_bar__plus_02_dot_66_bar__plus_00_dot_46_bar__plus_00_dot_45 - object\n Laptop_bar__plus_00_dot_23_bar__plus_00_dot_36_bar__minus_00_dot_31 - object\n LightSwitch_bar__minus_01_dot_01_bar__plus_01_dot_29_bar__plus_01_dot_95 - object\n Newspaper_bar__plus_00_dot_22_bar__plus_00_dot_52_bar__minus_01_dot_57 - object\n Newspaper_bar__plus_02_dot_96_bar__plus_00_dot_61_bar__plus_01_dot_63 - object\n Painting_bar__plus_03_dot_42_bar__plus_01_dot_71_bar__minus_00_dot_16 - object\n Painting_bar__minus_01_dot_45_bar__plus_01_dot_79_bar__minus_00_dot_34 - object\n Pillow_bar__minus_00_dot_88_bar__plus_00_dot_58_bar__minus_00_dot_80 - object\n RemoteControl_bar__plus_01_dot_30_bar__plus_00_dot_41_bar__plus_01_dot_53 - object\n RemoteControl_bar__plus_01_dot_92_bar__plus_00_dot_87_bar__plus_01_dot_75 - object\n RemoteControl_bar__plus_02_dot_89_bar__plus_00_dot_45_bar__plus_00_dot_85 - object\n Statue_bar__plus_00_dot_68_bar__plus_00_dot_42_bar__plus_01_dot_47 - object\n Statue_bar__plus_01_dot_15_bar__plus_00_dot_42_bar__plus_01_dot_47 - object\n Television_bar__plus_00_dot_86_bar__plus_00_dot_90_bar__plus_01_dot_73 - object\n Watch_bar__plus_00_dot_11_bar__plus_00_dot_37_bar__plus_00_dot_13 - object\n Watch_bar__plus_00_dot_23_bar__plus_00_dot_37_bar__plus_00_dot_13 - object\n Window_bar__plus_00_dot_65_bar__plus_01_dot_55_bar__minus_02_dot_47 - object\n ArmChair_bar__plus_00_dot_22_bar__plus_00_dot_01_bar__minus_01_dot_73 - receptacle\n CoffeeTable_bar__plus_00_dot_23_bar__plus_00_dot_01_bar__minus_00_dot_17 - receptacle\n Drawer_bar__plus_00_dot_10_bar__plus_00_dot_05_bar__minus_00_dot_17 - receptacle\n Drawer_bar__plus_00_dot_10_bar__plus_00_dot_15_bar__minus_00_dot_17 - receptacle\n Drawer_bar__plus_00_dot_10_bar__plus_00_dot_26_bar__minus_00_dot_17 - receptacle\n Drawer_bar__plus_00_dot_35_bar__plus_00_dot_05_bar__minus_00_dot_17 - receptacle\n Drawer_bar__plus_00_dot_35_bar__plus_00_dot_15_bar__minus_00_dot_17 - receptacle\n Drawer_bar__plus_00_dot_35_bar__plus_00_dot_26_bar__minus_00_dot_17 - receptacle\n Drawer_bar__plus_02_dot_00_bar__plus_00_dot_77_bar__plus_01_dot_70 - receptacle\n GarbageCan_bar__plus_01_dot_30_bar__plus_00_dot_00_bar__minus_02_dot_19 - receptacle\n SideTable_bar__plus_02_dot_00_bar__plus_00_dot_00_bar__plus_01_dot_75 - receptacle\n SideTable_bar__plus_02_dot_96_bar__plus_00_dot_00_bar__plus_01_dot_57 - receptacle\n SideTable_bar__minus_00_dot_68_bar__plus_00_dot_00_bar__minus_01_dot_60 - receptacle\n Sofa_bar__plus_02_dot_87_bar_00_dot_00_bar__plus_00_dot_25 - receptacle\n Sofa_bar__minus_01_dot_07_bar_00_dot_00_bar__minus_00_dot_20 - receptacle\n TVStand_bar__plus_00_dot_84_bar_00_dot_00_bar__plus_01_dot_58 - receptacle\n loc_bar__minus_2_bar_4_bar_2_bar_60 - location\n loc_bar_6_bar_2_bar_0_bar_30 - location\n loc_bar__minus_1_bar__minus_3_bar_2_bar_60 - location\n loc_bar__minus_2_bar_6_bar_3_bar_30 - location\n loc_bar_1_bar__minus_4_bar_2_bar_60 - location\n loc_bar_6_bar__minus_3_bar_3_bar_45 - location\n loc_bar_5_bar__minus_7_bar_2_bar_60 - location\n loc_bar_3_bar_4_bar_2_bar_60 - location\n loc_bar_4_bar__minus_7_bar_2_bar_15 - location\n loc_bar__minus_1_bar_0_bar_3_bar_60 - location\n loc_bar_8_bar_5_bar_1_bar_60 - location\n loc_bar__minus_2_bar_4_bar_3_bar_60 - location\n loc_bar_7_bar_1_bar_1_bar_60 - location\n loc_bar_9_bar__minus_1_bar_1_bar_0 - location\n loc_bar_3_bar_2_bar_0_bar_60 - location\n loc_bar_7_bar_4_bar_0_bar_60 - location\n loc_bar__minus_1_bar__minus_1_bar_3_bar_0 - location\n loc_bar_6_bar__minus_3_bar_3_bar_60 - location\n loc_bar__minus_2_bar_4_bar_2_bar_45 - location\n loc_bar_6_bar__minus_7_bar_2_bar__minus_15 - location\n loc_bar__minus_2_bar_6_bar_0_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType TVStand_bar__plus_00_dot_84_bar_00_dot_00_bar__plus_01_dot_58 TVStandType)\n (receptacleType SideTable_bar__minus_00_dot_68_bar__plus_00_dot_00_bar__minus_01_dot_60 SideTableType)\n (receptacleType Drawer_bar__plus_00_dot_35_bar__plus_00_dot_15_bar__minus_00_dot_17 DrawerType)\n (receptacleType Sofa_bar__minus_01_dot_07_bar_00_dot_00_bar__minus_00_dot_20 SofaType)\n (receptacleType CoffeeTable_bar__plus_00_dot_23_bar__plus_00_dot_01_bar__minus_00_dot_17 CoffeeTableType)\n (receptacleType Drawer_bar__plus_02_dot_00_bar__plus_00_dot_77_bar__plus_01_dot_70 DrawerType)\n (receptacleType Drawer_bar__plus_00_dot_10_bar__plus_00_dot_26_bar__minus_00_dot_17 DrawerType)\n (receptacleType Drawer_bar__plus_00_dot_35_bar__plus_00_dot_26_bar__minus_00_dot_17 DrawerType)\n (receptacleType Drawer_bar__plus_00_dot_10_bar__plus_00_dot_05_bar__minus_00_dot_17 DrawerType)\n (receptacleType Drawer_bar__plus_00_dot_35_bar__plus_00_dot_05_bar__minus_00_dot_17 DrawerType)\n (receptacleType ArmChair_bar__plus_00_dot_22_bar__plus_00_dot_01_bar__minus_01_dot_73 ArmChairType)\n (receptacleType SideTable_bar__plus_02_dot_00_bar__plus_00_dot_00_bar__plus_01_dot_75 SideTableType)\n (receptacleType GarbageCan_bar__plus_01_dot_30_bar__plus_00_dot_00_bar__minus_02_dot_19 GarbageCanType)\n (receptacleType Drawer_bar__plus_00_dot_10_bar__plus_00_dot_15_bar__minus_00_dot_17 DrawerType)\n (receptacleType Sofa_bar__plus_02_dot_87_bar_00_dot_00_bar__plus_00_dot_25 SofaType)\n (receptacleType SideTable_bar__plus_02_dot_96_bar__plus_00_dot_00_bar__plus_01_dot_57 SideTableType)\n (objectType Pillow_bar__minus_00_dot_88_bar__plus_00_dot_58_bar__minus_00_dot_80 PillowType)\n (objectType Television_bar__plus_00_dot_86_bar__plus_00_dot_90_bar__plus_01_dot_73 TelevisionType)\n (objectType KeyChain_bar__plus_02_dot_66_bar__plus_00_dot_46_bar__plus_00_dot_45 KeyChainType)\n (objectType CreditCard_bar__minus_00_dot_86_bar__plus_00_dot_60_bar__minus_01_dot_48 CreditCardType)\n (objectType Laptop_bar__plus_00_dot_23_bar__plus_00_dot_36_bar__minus_00_dot_31 LaptopType)\n (objectType Window_bar__plus_00_dot_65_bar__plus_01_dot_55_bar__minus_02_dot_47 WindowType)\n (objectType Statue_bar__plus_00_dot_68_bar__plus_00_dot_42_bar__plus_01_dot_47 StatueType)\n (objectType Painting_bar__plus_03_dot_42_bar__plus_01_dot_71_bar__minus_00_dot_16 PaintingType)\n (objectType FloorLamp_bar__minus_01_dot_16_bar__plus_00_dot_00_bar__plus_01_dot_04 FloorLampType)\n (objectType Box_bar__plus_02_dot_74_bar__plus_00_dot_64_bar__minus_00_dot_15 BoxType)\n (objectType RemoteControl_bar__plus_02_dot_89_bar__plus_00_dot_45_bar__plus_00_dot_85 RemoteControlType)\n (objectType Newspaper_bar__plus_02_dot_96_bar__plus_00_dot_61_bar__plus_01_dot_63 NewspaperType)\n (objectType HousePlant_bar__plus_01_dot_92_bar__plus_01_dot_72_bar__minus_02_dot_19 HousePlantType)\n (objectType Watch_bar__plus_00_dot_11_bar__plus_00_dot_37_bar__plus_00_dot_13 WatchType)\n (objectType CreditCard_bar__plus_00_dot_50_bar__plus_00_dot_48_bar__minus_01_dot_74 CreditCardType)\n (objectType Watch_bar__plus_00_dot_23_bar__plus_00_dot_37_bar__plus_00_dot_13 WatchType)\n (objectType RemoteControl_bar__plus_01_dot_30_bar__plus_00_dot_41_bar__plus_01_dot_53 RemoteControlType)\n (objectType RemoteControl_bar__plus_01_dot_92_bar__plus_00_dot_87_bar__plus_01_dot_75 RemoteControlType)\n (objectType Newspaper_bar__plus_00_dot_22_bar__plus_00_dot_52_bar__minus_01_dot_57 NewspaperType)\n (objectType LightSwitch_bar__minus_01_dot_01_bar__plus_01_dot_29_bar__plus_01_dot_95 LightSwitchType)\n (objectType Curtains_bar__plus_01_dot_20_bar__plus_00_dot_00_bar__minus_02_dot_44 CurtainsType)\n (objectType Statue_bar__plus_01_dot_15_bar__plus_00_dot_42_bar__plus_01_dot_47 StatueType)\n (objectType CreditCard_bar__plus_02_dot_23_bar__plus_00_dot_87_bar__plus_01_dot_79 CreditCardType)\n (objectType Painting_bar__minus_01_dot_45_bar__plus_01_dot_79_bar__minus_00_dot_34 PaintingType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType WatchType)\n (canContain SideTableType RemoteControlType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType NewspaperType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType StatueType)\n (canContain SideTableType BoxType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType WatchType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType NewspaperType)\n (canContain SofaType PillowType)\n (canContain SofaType RemoteControlType)\n (canContain SofaType KeyChainType)\n (canContain SofaType LaptopType)\n (canContain SofaType CreditCardType)\n (canContain SofaType BoxType)\n (canContain SofaType NewspaperType)\n (canContain CoffeeTableType KeyChainType)\n (canContain CoffeeTableType WatchType)\n (canContain CoffeeTableType RemoteControlType)\n (canContain CoffeeTableType CreditCardType)\n (canContain CoffeeTableType NewspaperType)\n (canContain CoffeeTableType LaptopType)\n (canContain CoffeeTableType StatueType)\n (canContain CoffeeTableType BoxType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType WatchType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType NewspaperType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType WatchType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType NewspaperType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType WatchType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType NewspaperType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType WatchType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType NewspaperType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType WatchType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType NewspaperType)\n (canContain ArmChairType PillowType)\n (canContain ArmChairType RemoteControlType)\n (canContain ArmChairType KeyChainType)\n (canContain ArmChairType LaptopType)\n (canContain ArmChairType CreditCardType)\n (canContain ArmChairType BoxType)\n (canContain ArmChairType NewspaperType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType WatchType)\n (canContain SideTableType RemoteControlType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType NewspaperType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType StatueType)\n (canContain SideTableType BoxType)\n (canContain GarbageCanType NewspaperType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType WatchType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType NewspaperType)\n (canContain SofaType PillowType)\n (canContain SofaType RemoteControlType)\n (canContain SofaType KeyChainType)\n (canContain SofaType LaptopType)\n (canContain SofaType CreditCardType)\n (canContain SofaType BoxType)\n (canContain SofaType NewspaperType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType WatchType)\n (canContain SideTableType RemoteControlType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType NewspaperType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType StatueType)\n (canContain SideTableType BoxType)\n (pickupable Pillow_bar__minus_00_dot_88_bar__plus_00_dot_58_bar__minus_00_dot_80)\n (pickupable KeyChain_bar__plus_02_dot_66_bar__plus_00_dot_46_bar__plus_00_dot_45)\n (pickupable CreditCard_bar__minus_00_dot_86_bar__plus_00_dot_60_bar__minus_01_dot_48)\n (pickupable Laptop_bar__plus_00_dot_23_bar__plus_00_dot_36_bar__minus_00_dot_31)\n (pickupable Statue_bar__plus_00_dot_68_bar__plus_00_dot_42_bar__plus_01_dot_47)\n (pickupable Box_bar__plus_02_dot_74_bar__plus_00_dot_64_bar__minus_00_dot_15)\n (pickupable RemoteControl_bar__plus_02_dot_89_bar__plus_00_dot_45_bar__plus_00_dot_85)\n (pickupable Newspaper_bar__plus_02_dot_96_bar__plus_00_dot_61_bar__plus_01_dot_63)\n (pickupable Watch_bar__plus_00_dot_11_bar__plus_00_dot_37_bar__plus_00_dot_13)\n (pickupable CreditCard_bar__plus_00_dot_50_bar__plus_00_dot_48_bar__minus_01_dot_74)\n (pickupable Watch_bar__plus_00_dot_23_bar__plus_00_dot_37_bar__plus_00_dot_13)\n (pickupable RemoteControl_bar__plus_01_dot_30_bar__plus_00_dot_41_bar__plus_01_dot_53)\n (pickupable RemoteControl_bar__plus_01_dot_92_bar__plus_00_dot_87_bar__plus_01_dot_75)\n (pickupable Newspaper_bar__plus_00_dot_22_bar__plus_00_dot_52_bar__minus_01_dot_57)\n (pickupable Statue_bar__plus_01_dot_15_bar__plus_00_dot_42_bar__plus_01_dot_47)\n (pickupable CreditCard_bar__plus_02_dot_23_bar__plus_00_dot_87_bar__plus_01_dot_79)\n (isReceptacleObject Box_bar__plus_02_dot_74_bar__plus_00_dot_64_bar__minus_00_dot_15)\n (openable Drawer_bar__plus_00_dot_35_bar__plus_00_dot_15_bar__minus_00_dot_17)\n (openable Drawer_bar__plus_02_dot_00_bar__plus_00_dot_77_bar__plus_01_dot_70)\n (openable Drawer_bar__plus_00_dot_10_bar__plus_00_dot_26_bar__minus_00_dot_17)\n (openable Drawer_bar__plus_00_dot_35_bar__plus_00_dot_26_bar__minus_00_dot_17)\n (openable Drawer_bar__plus_00_dot_10_bar__plus_00_dot_05_bar__minus_00_dot_17)\n (openable Drawer_bar__plus_00_dot_35_bar__plus_00_dot_05_bar__minus_00_dot_17)\n (openable Drawer_bar__plus_00_dot_10_bar__plus_00_dot_15_bar__minus_00_dot_17)\n \n (atLocation agent1 loc_bar__minus_2_bar_6_bar_0_bar_30)\n \n \n \n \n \n \n \n (toggleable FloorLamp_bar__minus_01_dot_16_bar__plus_00_dot_00_bar__plus_01_dot_04)\n \n \n \n \n (inReceptacle CreditCard_bar__plus_02_dot_23_bar__plus_00_dot_87_bar__plus_01_dot_79 SideTable_bar__plus_02_dot_00_bar__plus_00_dot_00_bar__plus_01_dot_75)\n (inReceptacle RemoteControl_bar__plus_01_dot_92_bar__plus_00_dot_87_bar__plus_01_dot_75 SideTable_bar__plus_02_dot_00_bar__plus_00_dot_00_bar__plus_01_dot_75)\n (inReceptacle Laptop_bar__plus_00_dot_23_bar__plus_00_dot_36_bar__minus_00_dot_31 CoffeeTable_bar__plus_00_dot_23_bar__plus_00_dot_01_bar__minus_00_dot_17)\n (inReceptacle Watch_bar__plus_00_dot_11_bar__plus_00_dot_37_bar__plus_00_dot_13 CoffeeTable_bar__plus_00_dot_23_bar__plus_00_dot_01_bar__minus_00_dot_17)\n (inReceptacle Watch_bar__plus_00_dot_23_bar__plus_00_dot_37_bar__plus_00_dot_13 CoffeeTable_bar__plus_00_dot_23_bar__plus_00_dot_01_bar__minus_00_dot_17)\n (inReceptacle Pillow_bar__minus_00_dot_88_bar__plus_00_dot_58_bar__minus_00_dot_80 Sofa_bar__minus_01_dot_07_bar_00_dot_00_bar__minus_00_dot_20)\n (inReceptacle Newspaper_bar__plus_02_dot_96_bar__plus_00_dot_61_bar__plus_01_dot_63 SideTable_bar__plus_02_dot_96_bar__plus_00_dot_00_bar__plus_01_dot_57)\n (inReceptacle CreditCard_bar__minus_00_dot_86_bar__plus_00_dot_60_bar__minus_01_dot_48 SideTable_bar__minus_00_dot_68_bar__plus_00_dot_00_bar__minus_01_dot_60)\n (inReceptacle CreditCard_bar__plus_00_dot_50_bar__plus_00_dot_48_bar__minus_01_dot_74 ArmChair_bar__plus_00_dot_22_bar__plus_00_dot_01_bar__minus_01_dot_73)\n (inReceptacle Newspaper_bar__plus_00_dot_22_bar__plus_00_dot_52_bar__minus_01_dot_57 ArmChair_bar__plus_00_dot_22_bar__plus_00_dot_01_bar__minus_01_dot_73)\n (inReceptacle RemoteControl_bar__plus_01_dot_30_bar__plus_00_dot_41_bar__plus_01_dot_53 TVStand_bar__plus_00_dot_84_bar_00_dot_00_bar__plus_01_dot_58)\n (inReceptacle Statue_bar__plus_01_dot_15_bar__plus_00_dot_42_bar__plus_01_dot_47 TVStand_bar__plus_00_dot_84_bar_00_dot_00_bar__plus_01_dot_58)\n (inReceptacle Television_bar__plus_00_dot_86_bar__plus_00_dot_90_bar__plus_01_dot_73 TVStand_bar__plus_00_dot_84_bar_00_dot_00_bar__plus_01_dot_58)\n (inReceptacle Statue_bar__plus_00_dot_68_bar__plus_00_dot_42_bar__plus_01_dot_47 TVStand_bar__plus_00_dot_84_bar_00_dot_00_bar__plus_01_dot_58)\n (inReceptacle RemoteControl_bar__plus_02_dot_89_bar__plus_00_dot_45_bar__plus_00_dot_85 Sofa_bar__plus_02_dot_87_bar_00_dot_00_bar__plus_00_dot_25)\n (inReceptacle KeyChain_bar__plus_02_dot_66_bar__plus_00_dot_46_bar__plus_00_dot_45 Sofa_bar__plus_02_dot_87_bar_00_dot_00_bar__plus_00_dot_25)\n (inReceptacle Box_bar__plus_02_dot_74_bar__plus_00_dot_64_bar__minus_00_dot_15 Sofa_bar__plus_02_dot_87_bar_00_dot_00_bar__plus_00_dot_25)\n \n \n (receptacleAtLocation ArmChair_bar__plus_00_dot_22_bar__plus_00_dot_01_bar__minus_01_dot_73 loc_bar_1_bar__minus_4_bar_2_bar_60)\n (receptacleAtLocation CoffeeTable_bar__plus_00_dot_23_bar__plus_00_dot_01_bar__minus_00_dot_17 loc_bar_3_bar_4_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__plus_00_dot_10_bar__plus_00_dot_05_bar__minus_00_dot_17 loc_bar__minus_2_bar_4_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__plus_00_dot_10_bar__plus_00_dot_15_bar__minus_00_dot_17 loc_bar__minus_2_bar_4_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_10_bar__plus_00_dot_26_bar__minus_00_dot_17 loc_bar__minus_2_bar_4_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_35_bar__plus_00_dot_05_bar__minus_00_dot_17 loc_bar_6_bar__minus_3_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__plus_00_dot_35_bar__plus_00_dot_15_bar__minus_00_dot_17 loc_bar_6_bar__minus_3_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__plus_00_dot_35_bar__plus_00_dot_26_bar__minus_00_dot_17 loc_bar_6_bar__minus_3_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__plus_02_dot_00_bar__plus_00_dot_77_bar__plus_01_dot_70 loc_bar_6_bar_2_bar_0_bar_30)\n (receptacleAtLocation GarbageCan_bar__plus_01_dot_30_bar__plus_00_dot_00_bar__minus_02_dot_19 loc_bar_5_bar__minus_7_bar_2_bar_60)\n (receptacleAtLocation SideTable_bar__plus_02_dot_00_bar__plus_00_dot_00_bar__plus_01_dot_75 loc_bar_7_bar_4_bar_0_bar_60)\n (receptacleAtLocation SideTable_bar__plus_02_dot_96_bar__plus_00_dot_00_bar__plus_01_dot_57 loc_bar_8_bar_5_bar_1_bar_60)\n (receptacleAtLocation SideTable_bar__minus_00_dot_68_bar__plus_00_dot_00_bar__minus_01_dot_60 loc_bar__minus_1_bar__minus_3_bar_2_bar_60)\n (receptacleAtLocation Sofa_bar__plus_02_dot_87_bar_00_dot_00_bar__plus_00_dot_25 loc_bar_7_bar_1_bar_1_bar_60)\n (receptacleAtLocation Sofa_bar__minus_01_dot_07_bar_00_dot_00_bar__minus_00_dot_20 loc_bar__minus_1_bar_0_bar_3_bar_60)\n (receptacleAtLocation TVStand_bar__plus_00_dot_84_bar_00_dot_00_bar__plus_01_dot_58 loc_bar_3_bar_2_bar_0_bar_60)\n (objectAtLocation Statue_bar__plus_00_dot_68_bar__plus_00_dot_42_bar__plus_01_dot_47 loc_bar_3_bar_2_bar_0_bar_60)\n (objectAtLocation Watch_bar__plus_00_dot_11_bar__plus_00_dot_37_bar__plus_00_dot_13 loc_bar_3_bar_4_bar_2_bar_60)\n (objectAtLocation RemoteControl_bar__plus_01_dot_30_bar__plus_00_dot_41_bar__plus_01_dot_53 loc_bar_3_bar_2_bar_0_bar_60)\n (objectAtLocation Newspaper_bar__plus_00_dot_22_bar__plus_00_dot_52_bar__minus_01_dot_57 loc_bar_1_bar__minus_4_bar_2_bar_60)\n (objectAtLocation CreditCard_bar__plus_02_dot_23_bar__plus_00_dot_87_bar__plus_01_dot_79 loc_bar_7_bar_4_bar_0_bar_60)\n (objectAtLocation RemoteControl_bar__plus_01_dot_92_bar__plus_00_dot_87_bar__plus_01_dot_75 loc_bar_7_bar_4_bar_0_bar_60)\n (objectAtLocation CreditCard_bar__minus_00_dot_86_bar__plus_00_dot_60_bar__minus_01_dot_48 loc_bar__minus_1_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Curtains_bar__plus_01_dot_20_bar__plus_00_dot_00_bar__minus_02_dot_44 loc_bar_5_bar__minus_7_bar_2_bar_60)\n (objectAtLocation Box_bar__plus_02_dot_74_bar__plus_00_dot_64_bar__minus_00_dot_15 loc_bar_7_bar_1_bar_1_bar_60)\n (objectAtLocation Laptop_bar__plus_00_dot_23_bar__plus_00_dot_36_bar__minus_00_dot_31 loc_bar_3_bar_4_bar_2_bar_60)\n (objectAtLocation CreditCard_bar__plus_00_dot_50_bar__plus_00_dot_48_bar__minus_01_dot_74 loc_bar_1_bar__minus_4_bar_2_bar_60)\n (objectAtLocation Newspaper_bar__plus_02_dot_96_bar__plus_00_dot_61_bar__plus_01_dot_63 loc_bar_8_bar_5_bar_1_bar_60)\n (objectAtLocation HousePlant_bar__plus_01_dot_92_bar__plus_01_dot_72_bar__minus_02_dot_19 loc_bar_6_bar__minus_7_bar_2_bar__minus_15)\n (objectAtLocation FloorLamp_bar__minus_01_dot_16_bar__plus_00_dot_00_bar__plus_01_dot_04 loc_bar__minus_2_bar_4_bar_3_bar_60)\n (objectAtLocation LightSwitch_bar__minus_01_dot_01_bar__plus_01_dot_29_bar__plus_01_dot_95 loc_bar__minus_2_bar_6_bar_3_bar_30)\n (objectAtLocation RemoteControl_bar__plus_02_dot_89_bar__plus_00_dot_45_bar__plus_00_dot_85 loc_bar_7_bar_1_bar_1_bar_60)\n (objectAtLocation Television_bar__plus_00_dot_86_bar__plus_00_dot_90_bar__plus_01_dot_73 loc_bar_3_bar_2_bar_0_bar_60)\n (objectAtLocation Painting_bar__plus_03_dot_42_bar__plus_01_dot_71_bar__minus_00_dot_16 loc_bar_9_bar__minus_1_bar_1_bar_0)\n (objectAtLocation Pillow_bar__minus_00_dot_88_bar__plus_00_dot_58_bar__minus_00_dot_80 loc_bar__minus_1_bar_0_bar_3_bar_60)\n (objectAtLocation KeyChain_bar__plus_02_dot_66_bar__plus_00_dot_46_bar__plus_00_dot_45 loc_bar_7_bar_1_bar_1_bar_60)\n (objectAtLocation Painting_bar__minus_01_dot_45_bar__plus_01_dot_79_bar__minus_00_dot_34 loc_bar__minus_1_bar__minus_1_bar_3_bar_0)\n (objectAtLocation Watch_bar__plus_00_dot_23_bar__plus_00_dot_37_bar__plus_00_dot_13 loc_bar_3_bar_4_bar_2_bar_60)\n (objectAtLocation Window_bar__plus_00_dot_65_bar__plus_01_dot_55_bar__minus_02_dot_47 loc_bar_4_bar__minus_7_bar_2_bar_15)\n (objectAtLocation Statue_bar__plus_01_dot_15_bar__plus_00_dot_42_bar__plus_01_dot_47 loc_bar_3_bar_2_bar_0_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (inReceptacle ?o ?r)\n (objectType ?o WatchType)\n (receptacleType ?r SideTableType)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to coffeetable 1", "take watch 2 from coffeetable 1", "go to sidetable 2", "move watch 2 to sidetable 2"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/valid_seen/pick_and_place_simple-Watch-None-SideTable-222/trial_T20190909_051813_197569/initial_state.pddl b/data/alfworld/json_2.1.1/valid_seen/pick_and_place_simple-Watch-None-SideTable-222/trial_T20190909_051813_197569/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..1ab58a5c8b0174a228b76bb7f9a0f38d10761f74 --- /dev/null +++ b/data/alfworld/json_2.1.1/valid_seen/pick_and_place_simple-Watch-None-SideTable-222/trial_T20190909_051813_197569/initial_state.pddl @@ -0,0 +1,506 @@ + +(define (problem plan_trial_T20190909_051813_197569) +(:domain alfred) +(:objects +agent1 - agent +Curtains - object + SprayBottle - object + Mirror - object + HousePlant - object + Watch - object + TeddyBear - object + WateringCan - object + Bathtub - object + LightSwitch - object + Vase - object + Candle - object + Bread - object + Statue - object + HandTowel - object + StoveKnob - object + PaperTowelRoll - object + Pan - object + PepperShaker - object + Painting - object + CellPhone - object + Plunger - object + Spoon - object + SaltShaker - object + KeyChain - object + Footstool - object + Poster - object + Television - object + LaundryHamperLid - object + Glassbottle - object + AlarmClock - object + WineBottle - object + Bowl - object + Sink - object + TissueBox - object + TennisRacket - object + ToiletPaper - object + ScrubBrush - object + CreditCard - object + Laptop - object + Cloth - object + Cup - object + Chair - object + BasketBall - object + Kettle - object + PaperTowel - object + ShowerDoor - object + BaseballBat - object + Potato - object + Pillow - object + Lettuce - object + RemoteControl - object + Window - object + DishSponge - object + CD - object + Boots - object + Blinds - object + Pen - object + Newspaper - object + Plate - object + Mug - object + ShowerGlass - object + ToiletPaperRoll - object + SoapBar - object + FloorLamp - object + SoapBottle - object + Pot - object + Pencil - object + Spatula - object + Towel - object + Fork - object + Ladle - object + Knife - object + Apple - object + Box - object + Tomato - object + ButterKnife - object + Egg - object + Book - object + DeskLamp - object +CurtainsType - otype + SprayBottleType - otype + MirrorType - otype + HousePlantType - otype + WatchType - otype + TeddyBearType - otype + WateringCanType - otype + BathtubType - otype + LightSwitchType - otype + VaseType - otype + CandleType - otype + BreadType - otype + StatueType - otype + HandTowelType - otype + StoveKnobType - otype + PaperTowelRollType - otype + PanType - otype + PepperShakerType - otype + PaintingType - otype + CellPhoneType - otype + PlungerType - otype + SpoonType - otype + SaltShakerType - otype + KeyChainType - otype + FootstoolType - otype + PosterType - otype + TelevisionType - otype + LaundryHamperLidType - otype + GlassbottleType - otype + AlarmClockType - otype + WineBottleType - otype + BowlType - otype + SinkType - otype + TissueBoxType - otype + TennisRacketType - otype + ToiletPaperType - otype + ScrubBrushType - otype + CreditCardType - otype + LaptopType - otype + ClothType - otype + CupType - otype + ChairType - otype + BasketBallType - otype + KettleType - otype + PaperTowelType - otype + ShowerDoorType - otype + BaseballBatType - otype + PotatoType - otype + PillowType - otype + LettuceType - otype + RemoteControlType - otype + WindowType - otype + DishSpongeType - otype + CDType - otype + BootsType - otype + BlindsType - otype + PenType - otype + NewspaperType - otype + PlateType - otype + MugType - otype + ShowerGlassType - otype + ToiletPaperRollType - otype + SoapBarType - otype + FloorLampType - otype + SoapBottleType - otype + PotType - otype + PencilType - otype + SpatulaType - otype + TowelType - otype + ForkType - otype + LadleType - otype + KnifeType - otype + AppleType - otype + BoxType - otype + TomatoType - otype + ButterKnifeType - otype + EggType - otype + BookType - otype + DeskLampType - otype +CabinetType - rtype + ShelfType - rtype + DiningTableType - rtype + TowelHolderType - rtype + PaintingHangerType - rtype + TVStandType - rtype + LaundryHamperType - rtype + OttomanType - rtype + SafeType - rtype + CoffeeMachineType - rtype + CounterTopType - rtype + ToiletType - rtype + FridgeType - rtype + CoffeeTableType - rtype + SinkBasinType - rtype + GarbageCanType - rtype + BathtubBasinType - rtype + SideTableType - rtype + CartType - rtype + BedType - rtype + DeskType - rtype + SofaType - rtype + ArmChairType - rtype + MicrowaveType - rtype + HandTowelHolderType - rtype + ToasterType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + DrawerType - rtype + DresserType - rtype + + + Box_bar__plus_02_dot_74_bar__plus_00_dot_64_bar__minus_00_dot_15 - object + CreditCard_bar__plus_00_dot_50_bar__plus_00_dot_48_bar__minus_01_dot_74 - object + CreditCard_bar__plus_02_dot_23_bar__plus_00_dot_87_bar__plus_01_dot_79 - object + CreditCard_bar__minus_00_dot_86_bar__plus_00_dot_60_bar__minus_01_dot_48 - object + Curtains_bar__plus_01_dot_20_bar__plus_00_dot_00_bar__minus_02_dot_44 - object + FloorLamp_bar__minus_01_dot_16_bar__plus_00_dot_00_bar__plus_01_dot_04 - object + HousePlant_bar__plus_01_dot_92_bar__plus_01_dot_72_bar__minus_02_dot_19 - object + KeyChain_bar__plus_02_dot_66_bar__plus_00_dot_46_bar__plus_00_dot_45 - object + Laptop_bar__plus_00_dot_23_bar__plus_00_dot_36_bar__minus_00_dot_31 - object + LightSwitch_bar__minus_01_dot_01_bar__plus_01_dot_29_bar__plus_01_dot_95 - object + Newspaper_bar__plus_00_dot_22_bar__plus_00_dot_52_bar__minus_01_dot_57 - object + Newspaper_bar__plus_02_dot_96_bar__plus_00_dot_61_bar__plus_01_dot_63 - object + Painting_bar__plus_03_dot_42_bar__plus_01_dot_71_bar__minus_00_dot_16 - object + Painting_bar__minus_01_dot_45_bar__plus_01_dot_79_bar__minus_00_dot_34 - object + Pillow_bar__minus_00_dot_88_bar__plus_00_dot_58_bar__minus_00_dot_80 - object + RemoteControl_bar__plus_01_dot_30_bar__plus_00_dot_41_bar__plus_01_dot_53 - object + RemoteControl_bar__plus_01_dot_92_bar__plus_00_dot_87_bar__plus_01_dot_75 - object + RemoteControl_bar__plus_02_dot_89_bar__plus_00_dot_45_bar__plus_00_dot_85 - object + Statue_bar__plus_00_dot_68_bar__plus_00_dot_42_bar__plus_01_dot_47 - object + Statue_bar__plus_01_dot_15_bar__plus_00_dot_42_bar__plus_01_dot_47 - object + Television_bar__plus_00_dot_86_bar__plus_00_dot_90_bar__plus_01_dot_73 - object + Watch_bar__plus_00_dot_11_bar__plus_00_dot_37_bar__plus_00_dot_13 - object + Watch_bar__plus_00_dot_23_bar__plus_00_dot_37_bar__plus_00_dot_13 - object + Window_bar__plus_00_dot_65_bar__plus_01_dot_55_bar__minus_02_dot_47 - object + ArmChair_bar__plus_00_dot_22_bar__plus_00_dot_01_bar__minus_01_dot_73 - receptacle + CoffeeTable_bar__plus_00_dot_23_bar__plus_00_dot_01_bar__minus_00_dot_17 - receptacle + Drawer_bar__plus_00_dot_10_bar__plus_00_dot_05_bar__minus_00_dot_17 - receptacle + Drawer_bar__plus_00_dot_10_bar__plus_00_dot_15_bar__minus_00_dot_17 - receptacle + Drawer_bar__plus_00_dot_10_bar__plus_00_dot_26_bar__minus_00_dot_17 - receptacle + Drawer_bar__plus_00_dot_35_bar__plus_00_dot_05_bar__minus_00_dot_17 - receptacle + Drawer_bar__plus_00_dot_35_bar__plus_00_dot_15_bar__minus_00_dot_17 - receptacle + Drawer_bar__plus_00_dot_35_bar__plus_00_dot_26_bar__minus_00_dot_17 - receptacle + Drawer_bar__plus_02_dot_00_bar__plus_00_dot_77_bar__plus_01_dot_70 - receptacle + GarbageCan_bar__plus_01_dot_30_bar__plus_00_dot_00_bar__minus_02_dot_19 - receptacle + SideTable_bar__plus_02_dot_00_bar__plus_00_dot_00_bar__plus_01_dot_75 - receptacle + SideTable_bar__plus_02_dot_96_bar__plus_00_dot_00_bar__plus_01_dot_57 - receptacle + SideTable_bar__minus_00_dot_68_bar__plus_00_dot_00_bar__minus_01_dot_60 - receptacle + Sofa_bar__plus_02_dot_87_bar_00_dot_00_bar__plus_00_dot_25 - receptacle + Sofa_bar__minus_01_dot_07_bar_00_dot_00_bar__minus_00_dot_20 - receptacle + TVStand_bar__plus_00_dot_84_bar_00_dot_00_bar__plus_01_dot_58 - receptacle + loc_bar__minus_2_bar_4_bar_2_bar_60 - location + loc_bar_6_bar_2_bar_0_bar_30 - location + loc_bar__minus_1_bar__minus_3_bar_2_bar_60 - location + loc_bar__minus_2_bar_6_bar_3_bar_30 - location + loc_bar_1_bar__minus_4_bar_2_bar_60 - location + loc_bar_6_bar__minus_3_bar_3_bar_45 - location + loc_bar_5_bar__minus_7_bar_2_bar_60 - location + loc_bar_3_bar_4_bar_2_bar_60 - location + loc_bar_4_bar__minus_7_bar_2_bar_15 - location + loc_bar__minus_1_bar_0_bar_3_bar_60 - location + loc_bar_8_bar_5_bar_1_bar_60 - location + loc_bar__minus_2_bar_4_bar_3_bar_60 - location + loc_bar_7_bar_1_bar_1_bar_60 - location + loc_bar_9_bar__minus_1_bar_1_bar_0 - location + loc_bar_3_bar_2_bar_0_bar_60 - location + loc_bar_7_bar_4_bar_0_bar_60 - location + loc_bar__minus_1_bar__minus_1_bar_3_bar_0 - location + loc_bar_6_bar__minus_3_bar_3_bar_60 - location + loc_bar__minus_2_bar_4_bar_2_bar_45 - location + loc_bar_6_bar__minus_7_bar_2_bar__minus_15 - location + loc_bar__minus_2_bar_6_bar_0_bar_30 - location + ) + + +(:init + + + (receptacleType TVStand_bar__plus_00_dot_84_bar_00_dot_00_bar__plus_01_dot_58 TVStandType) + (receptacleType SideTable_bar__minus_00_dot_68_bar__plus_00_dot_00_bar__minus_01_dot_60 SideTableType) + (receptacleType Drawer_bar__plus_00_dot_35_bar__plus_00_dot_15_bar__minus_00_dot_17 DrawerType) + (receptacleType Sofa_bar__minus_01_dot_07_bar_00_dot_00_bar__minus_00_dot_20 SofaType) + (receptacleType CoffeeTable_bar__plus_00_dot_23_bar__plus_00_dot_01_bar__minus_00_dot_17 CoffeeTableType) + (receptacleType Drawer_bar__plus_02_dot_00_bar__plus_00_dot_77_bar__plus_01_dot_70 DrawerType) + (receptacleType Drawer_bar__plus_00_dot_10_bar__plus_00_dot_26_bar__minus_00_dot_17 DrawerType) + (receptacleType Drawer_bar__plus_00_dot_35_bar__plus_00_dot_26_bar__minus_00_dot_17 DrawerType) + (receptacleType Drawer_bar__plus_00_dot_10_bar__plus_00_dot_05_bar__minus_00_dot_17 DrawerType) + (receptacleType Drawer_bar__plus_00_dot_35_bar__plus_00_dot_05_bar__minus_00_dot_17 DrawerType) + (receptacleType ArmChair_bar__plus_00_dot_22_bar__plus_00_dot_01_bar__minus_01_dot_73 ArmChairType) + (receptacleType SideTable_bar__plus_02_dot_00_bar__plus_00_dot_00_bar__plus_01_dot_75 SideTableType) + (receptacleType GarbageCan_bar__plus_01_dot_30_bar__plus_00_dot_00_bar__minus_02_dot_19 GarbageCanType) + (receptacleType Drawer_bar__plus_00_dot_10_bar__plus_00_dot_15_bar__minus_00_dot_17 DrawerType) + (receptacleType Sofa_bar__plus_02_dot_87_bar_00_dot_00_bar__plus_00_dot_25 SofaType) + (receptacleType SideTable_bar__plus_02_dot_96_bar__plus_00_dot_00_bar__plus_01_dot_57 SideTableType) + (objectType Pillow_bar__minus_00_dot_88_bar__plus_00_dot_58_bar__minus_00_dot_80 PillowType) + (objectType Television_bar__plus_00_dot_86_bar__plus_00_dot_90_bar__plus_01_dot_73 TelevisionType) + (objectType KeyChain_bar__plus_02_dot_66_bar__plus_00_dot_46_bar__plus_00_dot_45 KeyChainType) + (objectType CreditCard_bar__minus_00_dot_86_bar__plus_00_dot_60_bar__minus_01_dot_48 CreditCardType) + (objectType Laptop_bar__plus_00_dot_23_bar__plus_00_dot_36_bar__minus_00_dot_31 LaptopType) + (objectType Window_bar__plus_00_dot_65_bar__plus_01_dot_55_bar__minus_02_dot_47 WindowType) + (objectType Statue_bar__plus_00_dot_68_bar__plus_00_dot_42_bar__plus_01_dot_47 StatueType) + (objectType Painting_bar__plus_03_dot_42_bar__plus_01_dot_71_bar__minus_00_dot_16 PaintingType) + (objectType FloorLamp_bar__minus_01_dot_16_bar__plus_00_dot_00_bar__plus_01_dot_04 FloorLampType) + (objectType Box_bar__plus_02_dot_74_bar__plus_00_dot_64_bar__minus_00_dot_15 BoxType) + (objectType RemoteControl_bar__plus_02_dot_89_bar__plus_00_dot_45_bar__plus_00_dot_85 RemoteControlType) + (objectType Newspaper_bar__plus_02_dot_96_bar__plus_00_dot_61_bar__plus_01_dot_63 NewspaperType) + (objectType HousePlant_bar__plus_01_dot_92_bar__plus_01_dot_72_bar__minus_02_dot_19 HousePlantType) + (objectType Watch_bar__plus_00_dot_11_bar__plus_00_dot_37_bar__plus_00_dot_13 WatchType) + (objectType CreditCard_bar__plus_00_dot_50_bar__plus_00_dot_48_bar__minus_01_dot_74 CreditCardType) + (objectType Watch_bar__plus_00_dot_23_bar__plus_00_dot_37_bar__plus_00_dot_13 WatchType) + (objectType RemoteControl_bar__plus_01_dot_30_bar__plus_00_dot_41_bar__plus_01_dot_53 RemoteControlType) + (objectType RemoteControl_bar__plus_01_dot_92_bar__plus_00_dot_87_bar__plus_01_dot_75 RemoteControlType) + (objectType Newspaper_bar__plus_00_dot_22_bar__plus_00_dot_52_bar__minus_01_dot_57 NewspaperType) + (objectType LightSwitch_bar__minus_01_dot_01_bar__plus_01_dot_29_bar__plus_01_dot_95 LightSwitchType) + (objectType Curtains_bar__plus_01_dot_20_bar__plus_00_dot_00_bar__minus_02_dot_44 CurtainsType) + (objectType Statue_bar__plus_01_dot_15_bar__plus_00_dot_42_bar__plus_01_dot_47 StatueType) + (objectType CreditCard_bar__plus_02_dot_23_bar__plus_00_dot_87_bar__plus_01_dot_79 CreditCardType) + (objectType Painting_bar__minus_01_dot_45_bar__plus_01_dot_79_bar__minus_00_dot_34 PaintingType) + (canContain SideTableType KeyChainType) + (canContain SideTableType WatchType) + (canContain SideTableType RemoteControlType) + (canContain SideTableType CreditCardType) + (canContain SideTableType NewspaperType) + (canContain SideTableType LaptopType) + (canContain SideTableType StatueType) + (canContain SideTableType BoxType) + (canContain DrawerType KeyChainType) + (canContain DrawerType WatchType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType CreditCardType) + (canContain DrawerType NewspaperType) + (canContain SofaType PillowType) + (canContain SofaType RemoteControlType) + (canContain SofaType KeyChainType) + (canContain SofaType LaptopType) + (canContain SofaType CreditCardType) + (canContain SofaType BoxType) + (canContain SofaType NewspaperType) + (canContain CoffeeTableType KeyChainType) + (canContain CoffeeTableType WatchType) + (canContain CoffeeTableType RemoteControlType) + (canContain CoffeeTableType CreditCardType) + (canContain CoffeeTableType NewspaperType) + (canContain CoffeeTableType LaptopType) + (canContain CoffeeTableType StatueType) + (canContain CoffeeTableType BoxType) + (canContain DrawerType KeyChainType) + (canContain DrawerType WatchType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType CreditCardType) + (canContain DrawerType NewspaperType) + (canContain DrawerType KeyChainType) + (canContain DrawerType WatchType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType CreditCardType) + (canContain DrawerType NewspaperType) + (canContain DrawerType KeyChainType) + (canContain DrawerType WatchType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType CreditCardType) + (canContain DrawerType NewspaperType) + (canContain DrawerType KeyChainType) + (canContain DrawerType WatchType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType CreditCardType) + (canContain DrawerType NewspaperType) + (canContain DrawerType KeyChainType) + (canContain DrawerType WatchType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType CreditCardType) + (canContain DrawerType NewspaperType) + (canContain ArmChairType PillowType) + (canContain ArmChairType RemoteControlType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType CreditCardType) + (canContain ArmChairType BoxType) + (canContain ArmChairType NewspaperType) + (canContain SideTableType KeyChainType) + (canContain SideTableType WatchType) + (canContain SideTableType RemoteControlType) + (canContain SideTableType CreditCardType) + (canContain SideTableType NewspaperType) + (canContain SideTableType LaptopType) + (canContain SideTableType StatueType) + (canContain SideTableType BoxType) + (canContain GarbageCanType NewspaperType) + (canContain DrawerType KeyChainType) + (canContain DrawerType WatchType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType CreditCardType) + (canContain DrawerType NewspaperType) + (canContain SofaType PillowType) + (canContain SofaType RemoteControlType) + (canContain SofaType KeyChainType) + (canContain SofaType LaptopType) + (canContain SofaType CreditCardType) + (canContain SofaType BoxType) + (canContain SofaType NewspaperType) + (canContain SideTableType KeyChainType) + (canContain SideTableType WatchType) + (canContain SideTableType RemoteControlType) + (canContain SideTableType CreditCardType) + (canContain SideTableType NewspaperType) + (canContain SideTableType LaptopType) + (canContain SideTableType StatueType) + (canContain SideTableType BoxType) + (pickupable Pillow_bar__minus_00_dot_88_bar__plus_00_dot_58_bar__minus_00_dot_80) + (pickupable KeyChain_bar__plus_02_dot_66_bar__plus_00_dot_46_bar__plus_00_dot_45) + (pickupable CreditCard_bar__minus_00_dot_86_bar__plus_00_dot_60_bar__minus_01_dot_48) + (pickupable Laptop_bar__plus_00_dot_23_bar__plus_00_dot_36_bar__minus_00_dot_31) + (pickupable Statue_bar__plus_00_dot_68_bar__plus_00_dot_42_bar__plus_01_dot_47) + (pickupable Box_bar__plus_02_dot_74_bar__plus_00_dot_64_bar__minus_00_dot_15) + (pickupable RemoteControl_bar__plus_02_dot_89_bar__plus_00_dot_45_bar__plus_00_dot_85) + (pickupable Newspaper_bar__plus_02_dot_96_bar__plus_00_dot_61_bar__plus_01_dot_63) + (pickupable Watch_bar__plus_00_dot_11_bar__plus_00_dot_37_bar__plus_00_dot_13) + (pickupable CreditCard_bar__plus_00_dot_50_bar__plus_00_dot_48_bar__minus_01_dot_74) + (pickupable Watch_bar__plus_00_dot_23_bar__plus_00_dot_37_bar__plus_00_dot_13) + (pickupable RemoteControl_bar__plus_01_dot_30_bar__plus_00_dot_41_bar__plus_01_dot_53) + (pickupable RemoteControl_bar__plus_01_dot_92_bar__plus_00_dot_87_bar__plus_01_dot_75) + (pickupable Newspaper_bar__plus_00_dot_22_bar__plus_00_dot_52_bar__minus_01_dot_57) + (pickupable Statue_bar__plus_01_dot_15_bar__plus_00_dot_42_bar__plus_01_dot_47) + (pickupable CreditCard_bar__plus_02_dot_23_bar__plus_00_dot_87_bar__plus_01_dot_79) + (isReceptacleObject Box_bar__plus_02_dot_74_bar__plus_00_dot_64_bar__minus_00_dot_15) + (openable Drawer_bar__plus_00_dot_35_bar__plus_00_dot_15_bar__minus_00_dot_17) + (openable Drawer_bar__plus_02_dot_00_bar__plus_00_dot_77_bar__plus_01_dot_70) + (openable Drawer_bar__plus_00_dot_10_bar__plus_00_dot_26_bar__minus_00_dot_17) + (openable Drawer_bar__plus_00_dot_35_bar__plus_00_dot_26_bar__minus_00_dot_17) + (openable Drawer_bar__plus_00_dot_10_bar__plus_00_dot_05_bar__minus_00_dot_17) + (openable Drawer_bar__plus_00_dot_35_bar__plus_00_dot_05_bar__minus_00_dot_17) + (openable Drawer_bar__plus_00_dot_10_bar__plus_00_dot_15_bar__minus_00_dot_17) + + (atLocation agent1 loc_bar__minus_2_bar_6_bar_0_bar_30) + + + + + + + + (toggleable FloorLamp_bar__minus_01_dot_16_bar__plus_00_dot_00_bar__plus_01_dot_04) + + + + + (inReceptacle CreditCard_bar__plus_02_dot_23_bar__plus_00_dot_87_bar__plus_01_dot_79 SideTable_bar__plus_02_dot_00_bar__plus_00_dot_00_bar__plus_01_dot_75) + (inReceptacle RemoteControl_bar__plus_01_dot_92_bar__plus_00_dot_87_bar__plus_01_dot_75 SideTable_bar__plus_02_dot_00_bar__plus_00_dot_00_bar__plus_01_dot_75) + (inReceptacle Laptop_bar__plus_00_dot_23_bar__plus_00_dot_36_bar__minus_00_dot_31 CoffeeTable_bar__plus_00_dot_23_bar__plus_00_dot_01_bar__minus_00_dot_17) + (inReceptacle Watch_bar__plus_00_dot_11_bar__plus_00_dot_37_bar__plus_00_dot_13 CoffeeTable_bar__plus_00_dot_23_bar__plus_00_dot_01_bar__minus_00_dot_17) + (inReceptacle Watch_bar__plus_00_dot_23_bar__plus_00_dot_37_bar__plus_00_dot_13 CoffeeTable_bar__plus_00_dot_23_bar__plus_00_dot_01_bar__minus_00_dot_17) + (inReceptacle Pillow_bar__minus_00_dot_88_bar__plus_00_dot_58_bar__minus_00_dot_80 Sofa_bar__minus_01_dot_07_bar_00_dot_00_bar__minus_00_dot_20) + (inReceptacle Newspaper_bar__plus_02_dot_96_bar__plus_00_dot_61_bar__plus_01_dot_63 SideTable_bar__plus_02_dot_96_bar__plus_00_dot_00_bar__plus_01_dot_57) + (inReceptacle CreditCard_bar__minus_00_dot_86_bar__plus_00_dot_60_bar__minus_01_dot_48 SideTable_bar__minus_00_dot_68_bar__plus_00_dot_00_bar__minus_01_dot_60) + (inReceptacle CreditCard_bar__plus_00_dot_50_bar__plus_00_dot_48_bar__minus_01_dot_74 ArmChair_bar__plus_00_dot_22_bar__plus_00_dot_01_bar__minus_01_dot_73) + (inReceptacle Newspaper_bar__plus_00_dot_22_bar__plus_00_dot_52_bar__minus_01_dot_57 ArmChair_bar__plus_00_dot_22_bar__plus_00_dot_01_bar__minus_01_dot_73) + (inReceptacle RemoteControl_bar__plus_01_dot_30_bar__plus_00_dot_41_bar__plus_01_dot_53 TVStand_bar__plus_00_dot_84_bar_00_dot_00_bar__plus_01_dot_58) + (inReceptacle Statue_bar__plus_01_dot_15_bar__plus_00_dot_42_bar__plus_01_dot_47 TVStand_bar__plus_00_dot_84_bar_00_dot_00_bar__plus_01_dot_58) + (inReceptacle Television_bar__plus_00_dot_86_bar__plus_00_dot_90_bar__plus_01_dot_73 TVStand_bar__plus_00_dot_84_bar_00_dot_00_bar__plus_01_dot_58) + (inReceptacle Statue_bar__plus_00_dot_68_bar__plus_00_dot_42_bar__plus_01_dot_47 TVStand_bar__plus_00_dot_84_bar_00_dot_00_bar__plus_01_dot_58) + (inReceptacle RemoteControl_bar__plus_02_dot_89_bar__plus_00_dot_45_bar__plus_00_dot_85 Sofa_bar__plus_02_dot_87_bar_00_dot_00_bar__plus_00_dot_25) + (inReceptacle KeyChain_bar__plus_02_dot_66_bar__plus_00_dot_46_bar__plus_00_dot_45 Sofa_bar__plus_02_dot_87_bar_00_dot_00_bar__plus_00_dot_25) + (inReceptacle Box_bar__plus_02_dot_74_bar__plus_00_dot_64_bar__minus_00_dot_15 Sofa_bar__plus_02_dot_87_bar_00_dot_00_bar__plus_00_dot_25) + + + (receptacleAtLocation ArmChair_bar__plus_00_dot_22_bar__plus_00_dot_01_bar__minus_01_dot_73 loc_bar_1_bar__minus_4_bar_2_bar_60) + (receptacleAtLocation CoffeeTable_bar__plus_00_dot_23_bar__plus_00_dot_01_bar__minus_00_dot_17 loc_bar_3_bar_4_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__plus_00_dot_10_bar__plus_00_dot_05_bar__minus_00_dot_17 loc_bar__minus_2_bar_4_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__plus_00_dot_10_bar__plus_00_dot_15_bar__minus_00_dot_17 loc_bar__minus_2_bar_4_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__plus_00_dot_10_bar__plus_00_dot_26_bar__minus_00_dot_17 loc_bar__minus_2_bar_4_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__plus_00_dot_35_bar__plus_00_dot_05_bar__minus_00_dot_17 loc_bar_6_bar__minus_3_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__plus_00_dot_35_bar__plus_00_dot_15_bar__minus_00_dot_17 loc_bar_6_bar__minus_3_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__plus_00_dot_35_bar__plus_00_dot_26_bar__minus_00_dot_17 loc_bar_6_bar__minus_3_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__plus_02_dot_00_bar__plus_00_dot_77_bar__plus_01_dot_70 loc_bar_6_bar_2_bar_0_bar_30) + (receptacleAtLocation GarbageCan_bar__plus_01_dot_30_bar__plus_00_dot_00_bar__minus_02_dot_19 loc_bar_5_bar__minus_7_bar_2_bar_60) + (receptacleAtLocation SideTable_bar__plus_02_dot_00_bar__plus_00_dot_00_bar__plus_01_dot_75 loc_bar_7_bar_4_bar_0_bar_60) + (receptacleAtLocation SideTable_bar__plus_02_dot_96_bar__plus_00_dot_00_bar__plus_01_dot_57 loc_bar_8_bar_5_bar_1_bar_60) + (receptacleAtLocation SideTable_bar__minus_00_dot_68_bar__plus_00_dot_00_bar__minus_01_dot_60 loc_bar__minus_1_bar__minus_3_bar_2_bar_60) + (receptacleAtLocation Sofa_bar__plus_02_dot_87_bar_00_dot_00_bar__plus_00_dot_25 loc_bar_7_bar_1_bar_1_bar_60) + (receptacleAtLocation Sofa_bar__minus_01_dot_07_bar_00_dot_00_bar__minus_00_dot_20 loc_bar__minus_1_bar_0_bar_3_bar_60) + (receptacleAtLocation TVStand_bar__plus_00_dot_84_bar_00_dot_00_bar__plus_01_dot_58 loc_bar_3_bar_2_bar_0_bar_60) + (objectAtLocation Statue_bar__plus_00_dot_68_bar__plus_00_dot_42_bar__plus_01_dot_47 loc_bar_3_bar_2_bar_0_bar_60) + (objectAtLocation Watch_bar__plus_00_dot_11_bar__plus_00_dot_37_bar__plus_00_dot_13 loc_bar_3_bar_4_bar_2_bar_60) + (objectAtLocation RemoteControl_bar__plus_01_dot_30_bar__plus_00_dot_41_bar__plus_01_dot_53 loc_bar_3_bar_2_bar_0_bar_60) + (objectAtLocation Newspaper_bar__plus_00_dot_22_bar__plus_00_dot_52_bar__minus_01_dot_57 loc_bar_1_bar__minus_4_bar_2_bar_60) + (objectAtLocation CreditCard_bar__plus_02_dot_23_bar__plus_00_dot_87_bar__plus_01_dot_79 loc_bar_7_bar_4_bar_0_bar_60) + (objectAtLocation RemoteControl_bar__plus_01_dot_92_bar__plus_00_dot_87_bar__plus_01_dot_75 loc_bar_7_bar_4_bar_0_bar_60) + (objectAtLocation CreditCard_bar__minus_00_dot_86_bar__plus_00_dot_60_bar__minus_01_dot_48 loc_bar__minus_1_bar__minus_3_bar_2_bar_60) + (objectAtLocation Curtains_bar__plus_01_dot_20_bar__plus_00_dot_00_bar__minus_02_dot_44 loc_bar_5_bar__minus_7_bar_2_bar_60) + (objectAtLocation Box_bar__plus_02_dot_74_bar__plus_00_dot_64_bar__minus_00_dot_15 loc_bar_7_bar_1_bar_1_bar_60) + (objectAtLocation Laptop_bar__plus_00_dot_23_bar__plus_00_dot_36_bar__minus_00_dot_31 loc_bar_3_bar_4_bar_2_bar_60) + (objectAtLocation CreditCard_bar__plus_00_dot_50_bar__plus_00_dot_48_bar__minus_01_dot_74 loc_bar_1_bar__minus_4_bar_2_bar_60) + (objectAtLocation Newspaper_bar__plus_02_dot_96_bar__plus_00_dot_61_bar__plus_01_dot_63 loc_bar_8_bar_5_bar_1_bar_60) + (objectAtLocation HousePlant_bar__plus_01_dot_92_bar__plus_01_dot_72_bar__minus_02_dot_19 loc_bar_6_bar__minus_7_bar_2_bar__minus_15) + (objectAtLocation FloorLamp_bar__minus_01_dot_16_bar__plus_00_dot_00_bar__plus_01_dot_04 loc_bar__minus_2_bar_4_bar_3_bar_60) + (objectAtLocation LightSwitch_bar__minus_01_dot_01_bar__plus_01_dot_29_bar__plus_01_dot_95 loc_bar__minus_2_bar_6_bar_3_bar_30) + (objectAtLocation RemoteControl_bar__plus_02_dot_89_bar__plus_00_dot_45_bar__plus_00_dot_85 loc_bar_7_bar_1_bar_1_bar_60) + (objectAtLocation Television_bar__plus_00_dot_86_bar__plus_00_dot_90_bar__plus_01_dot_73 loc_bar_3_bar_2_bar_0_bar_60) + (objectAtLocation Painting_bar__plus_03_dot_42_bar__plus_01_dot_71_bar__minus_00_dot_16 loc_bar_9_bar__minus_1_bar_1_bar_0) + (objectAtLocation Pillow_bar__minus_00_dot_88_bar__plus_00_dot_58_bar__minus_00_dot_80 loc_bar__minus_1_bar_0_bar_3_bar_60) + (objectAtLocation KeyChain_bar__plus_02_dot_66_bar__plus_00_dot_46_bar__plus_00_dot_45 loc_bar_7_bar_1_bar_1_bar_60) + (objectAtLocation Painting_bar__minus_01_dot_45_bar__plus_01_dot_79_bar__minus_00_dot_34 loc_bar__minus_1_bar__minus_1_bar_3_bar_0) + (objectAtLocation Watch_bar__plus_00_dot_23_bar__plus_00_dot_37_bar__plus_00_dot_13 loc_bar_3_bar_4_bar_2_bar_60) + (objectAtLocation Window_bar__plus_00_dot_65_bar__plus_01_dot_55_bar__minus_02_dot_47 loc_bar_4_bar__minus_7_bar_2_bar_15) + (objectAtLocation Statue_bar__plus_01_dot_15_bar__plus_00_dot_42_bar__plus_01_dot_47 loc_bar_3_bar_2_bar_0_bar_60) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (inReceptacle ?o ?r) + (objectType ?o WatchType) + (receptacleType ?r SideTableType) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/valid_seen/pick_and_place_simple-Watch-None-SideTable-222/trial_T20190909_051813_197569/traj_data.json b/data/alfworld/json_2.1.1/valid_seen/pick_and_place_simple-Watch-None-SideTable-222/trial_T20190909_051813_197569/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..f94848480c9f89644bb720daa8e36378ea56bbb5 --- /dev/null +++ b/data/alfworld/json_2.1.1/valid_seen/pick_and_place_simple-Watch-None-SideTable-222/trial_T20190909_051813_197569/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, + 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", + "Pick up the watch on the front, right corner of the table. ", + "Go around the coffee table, through the couch to your right, to the end table across from you, between the couch and the chair. ", + "Place the watch on the front, left corner of the end table. " + ], + "task_desc": "Put one watch on the end tale. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A22ON3MIIG0IJA_3OS46CRSLIQ8B415PZZAE7H8FXDV6F", + "high_descs": [ + "Turn around and walk to the coffee table, then turn left to face the other side of the room.", + "Pick up the closest watch from the table.", + "Turn right and walk to the small table in the corner between the chair and the couch.", + "Put the watch on the left near corner of the table." + ], + "task_desc": "Put a watch on the corner table.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "ABR580YP0ST7X_3W92K5RLWX8CS01RKGP5M138J2C5VJ", + "high_descs": [ + "Turn around, walk to table, turn left, ", + "Pick up watch off of table", + "Turn right, walk to end of table", + "Place watch on end table beside chair" + ], + "task_desc": "Move the watch from table to end table", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/valid_seen/pick_and_place_with_movable_recep-Pencil-Bowl-Dresser-311/trial_T20190909_002301_857761/initial_state.pddl b/data/alfworld/json_2.1.1/valid_seen/pick_and_place_with_movable_recep-Pencil-Bowl-Dresser-311/trial_T20190909_002301_857761/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..f7cd49f6736d1cb52458fa1a7342c5c174d08d52 --- /dev/null +++ b/data/alfworld/json_2.1.1/valid_seen/pick_and_place_with_movable_recep-Pencil-Bowl-Dresser-311/trial_T20190909_002301_857761/initial_state.pddl @@ -0,0 +1,552 @@ + +(define (problem plan_trial_T20190909_002301_857761) +(:domain alfred) +(:objects +agent1 - agent +Curtains - object + SprayBottle - object + Mirror - object + HousePlant - object + Watch - object + TeddyBear - object + WateringCan - object + Bathtub - object + LightSwitch - object + Vase - object + Candle - object + Bread - object + Statue - object + HandTowel - object + StoveKnob - object + PaperTowelRoll - object + Pan - object + PepperShaker - object + Painting - object + CellPhone - object + Plunger - object + Spoon - object + SaltShaker - object + KeyChain - object + Footstool - object + Poster - object + Television - object + LaundryHamperLid - object + Glassbottle - object + AlarmClock - object + WineBottle - object + Bowl - object + Sink - object + TissueBox - object + TennisRacket - object + ToiletPaper - object + ScrubBrush - object + CreditCard - object + Laptop - object + Cloth - object + Cup - object + Chair - object + BasketBall - object + Kettle - object + PaperTowel - object + ShowerDoor - object + BaseballBat - object + Potato - object + Pillow - object + Lettuce - object + RemoteControl - object + Window - object + DishSponge - object + CD - object + Boots - object + Blinds - object + Pen - object + Newspaper - object + Plate - object + Mug - object + ShowerGlass - object + ToiletPaperRoll - object + SoapBar - object + FloorLamp - object + SoapBottle - object + Pot - object + Pencil - object + Spatula - object + Towel - object + Fork - object + Ladle - object + Knife - object + Apple - object + Box - object + Tomato - object + ButterKnife - object + Egg - object + Book - object + DeskLamp - object +CurtainsType - otype + SprayBottleType - otype + MirrorType - otype + HousePlantType - otype + WatchType - otype + TeddyBearType - otype + WateringCanType - otype + BathtubType - otype + LightSwitchType - otype + VaseType - otype + CandleType - otype + BreadType - otype + StatueType - otype + HandTowelType - otype + StoveKnobType - otype + PaperTowelRollType - otype + PanType - otype + PepperShakerType - otype + PaintingType - otype + CellPhoneType - otype + PlungerType - otype + SpoonType - otype + SaltShakerType - otype + KeyChainType - otype + FootstoolType - otype + PosterType - otype + TelevisionType - otype + LaundryHamperLidType - otype + GlassbottleType - otype + AlarmClockType - otype + WineBottleType - otype + BowlType - otype + SinkType - otype + TissueBoxType - otype + TennisRacketType - otype + ToiletPaperType - otype + ScrubBrushType - otype + CreditCardType - otype + LaptopType - otype + ClothType - otype + CupType - otype + ChairType - otype + BasketBallType - otype + KettleType - otype + PaperTowelType - otype + ShowerDoorType - otype + BaseballBatType - otype + PotatoType - otype + PillowType - otype + LettuceType - otype + RemoteControlType - otype + WindowType - otype + DishSpongeType - otype + CDType - otype + BootsType - otype + BlindsType - otype + PenType - otype + NewspaperType - otype + PlateType - otype + MugType - otype + ShowerGlassType - otype + ToiletPaperRollType - otype + SoapBarType - otype + FloorLampType - otype + SoapBottleType - otype + PotType - otype + PencilType - otype + SpatulaType - otype + TowelType - otype + ForkType - otype + LadleType - otype + KnifeType - otype + AppleType - otype + BoxType - otype + TomatoType - otype + ButterKnifeType - otype + EggType - otype + BookType - otype + DeskLampType - otype +CabinetType - rtype + ShelfType - rtype + DiningTableType - rtype + TowelHolderType - rtype + PaintingHangerType - rtype + TVStandType - rtype + LaundryHamperType - rtype + OttomanType - rtype + SafeType - rtype + CoffeeMachineType - rtype + CounterTopType - rtype + ToiletType - rtype + FridgeType - rtype + CoffeeTableType - rtype + SinkBasinType - rtype + GarbageCanType - rtype + BathtubBasinType - rtype + SideTableType - rtype + CartType - rtype + BedType - rtype + DeskType - rtype + SofaType - rtype + ArmChairType - rtype + MicrowaveType - rtype + HandTowelHolderType - rtype + ToasterType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + DrawerType - rtype + DresserType - rtype + + + AlarmClock_bar__plus_02_dot_47_bar__plus_00_dot_82_bar__plus_03_dot_27 - object + AlarmClock_bar__plus_02_dot_64_bar__plus_00_dot_75_bar__minus_01_dot_73 - object + Blinds_bar__minus_00_dot_50_bar__plus_02_dot_17_bar__minus_01_dot_96 - object + Book_bar__plus_02_dot_26_bar__plus_00_dot_81_bar__plus_03_dot_05 - object + Book_bar__plus_02_dot_68_bar__plus_00_dot_81_bar__plus_03_dot_72 - object + Book_bar__minus_00_dot_75_bar__plus_00_dot_91_bar__plus_03_dot_98 - object + Bowl_bar__plus_02_dot_40_bar__plus_00_dot_75_bar__minus_01_dot_47 - object + Bowl_bar__minus_00_dot_75_bar__plus_00_dot_92_bar__plus_04_dot_53 - object + CD_bar__minus_00_dot_75_bar__plus_00_dot_91_bar__plus_04_dot_90 - object + CellPhone_bar__plus_02_dot_62_bar__plus_00_dot_46_bar__plus_00_dot_53 - object + Chair_bar__plus_02_dot_28_bar__minus_00_dot_01_bar__plus_03_dot_49 - object + Chair_bar__plus_02_dot_32_bar__minus_00_dot_01_bar__plus_02_dot_62 - object + Chair_bar__plus_02_dot_59_bar__minus_00_dot_01_bar__plus_02_dot_14 - object + CreditCard_bar__plus_02_dot_19_bar__plus_00_dot_40_bar__minus_00_dot_59 - object + CreditCard_bar__plus_02_dot_58_bar__plus_00_dot_46_bar__plus_00_dot_43 - object + CreditCard_bar__minus_01_dot_01_bar__plus_00_dot_91_bar__plus_04_dot_35 - object + KeyChain_bar__minus_00_dot_88_bar__plus_00_dot_91_bar__plus_04_dot_17 - object + Lamp_bar__plus_02_dot_62_bar__plus_00_dot_74_bar__minus_01_dot_47 - object + Lamp_bar__plus_02_dot_69_bar__plus_00_dot_80_bar__plus_03_dot_08 - object + Laptop_bar__minus_01_dot_07_bar__plus_00_dot_71_bar__plus_02_dot_82 - object + LaundryHamperLid_bar__plus_03_dot_53_bar__plus_00_dot_76_bar__plus_04_dot_43 - object + LightSwitch_bar__plus_00_dot_80_bar__plus_01_dot_37_bar__plus_05_dot_25 - object + Mirror_bar__minus_01_dot_18_bar__plus_01_dot_60_bar__plus_04_dot_35 - object + Mug_bar__plus_02_dot_47_bar__plus_00_dot_81_bar__plus_03_dot_49 - object + Mug_bar__plus_02_dot_78_bar__plus_00_dot_81_bar__plus_03_dot_27 - object + Painting_bar__plus_02_dot_99_bar__plus_01_dot_53_bar__plus_02_dot_55 - object + Painting_bar__plus_02_dot_99_bar__plus_01_dot_53_bar__plus_03_dot_42 - object + Pencil_bar__plus_02_dot_50_bar__plus_00_dot_75_bar__minus_01_dot_66 - object + Pencil_bar__plus_02_dot_61_bar__plus_00_dot_75_bar__minus_01_dot_62 - object + Pencil_bar__plus_02_dot_89_bar__plus_00_dot_81_bar__plus_02_dot_61 - object + Pen_bar__plus_02_dot_78_bar__plus_00_dot_81_bar__plus_02_dot_39 - object + Pillow_bar__plus_00_dot_12_bar__plus_00_dot_79_bar__plus_01_dot_97 - object + Pillow_bar__minus_00_dot_83_bar__plus_00_dot_79_bar__plus_02_dot_26 - object + RemoteControl_bar__plus_02_dot_26_bar__plus_00_dot_81_bar__plus_03_dot_27 - object + RemoteControl_bar__plus_02_dot_89_bar__plus_00_dot_81_bar__plus_03_dot_49 - object + Television_bar__plus_02_dot_75_bar__plus_01_dot_32_bar__plus_00_dot_62 - object + Window_bar__minus_00_dot_45_bar__plus_01_dot_45_bar__minus_02_dot_06 - object + ArmChair_bar__plus_02_dot_43_bar__plus_00_dot_00_bar__minus_00_dot_57 - receptacle + ArmChair_bar__minus_01_dot_28_bar__plus_00_dot_00_bar__minus_01_dot_17 - receptacle + Bed_bar__minus_00_dot_59_bar__plus_00_dot_00_bar__plus_02_dot_30 - receptacle + CounterTop_bar__minus_00_dot_89_bar__plus_00_dot_95_bar__plus_04_dot_35 - receptacle + DiningTable_bar__plus_02_dot_58_bar__plus_00_dot_00_bar__plus_03_dot_05 - receptacle + Drawer_bar__plus_02_dot_55_bar__plus_00_dot_21_bar__plus_00_dot_62 - receptacle + Drawer_bar__plus_02_dot_55_bar__plus_00_dot_57_bar__plus_00_dot_62 - receptacle + Dresser_bar__plus_02_dot_55_bar__plus_00_dot_57_bar__plus_00_dot_62 - receptacle + GarbageCan_bar__minus_00_dot_63_bar__plus_00_dot_01_bar__plus_03_dot_74 - receptacle + LaundryHamper_bar__plus_03_dot_53_bar__plus_00_dot_01_bar__plus_04_dot_43 - receptacle + SideTable_bar__plus_02_dot_57_bar__plus_00_dot_01_bar__minus_01_dot_54 - receptacle + loc_bar_7_bar_13_bar_1_bar_60 - location + loc_bar_7_bar_10_bar_1_bar_0 - location + loc_bar__minus_1_bar_18_bar_3_bar_45 - location + loc_bar_6_bar_3_bar_1_bar_45 - location + loc_bar_5_bar__minus_3_bar_1_bar_60 - location + loc_bar__minus_1_bar_17_bar_3_bar_45 - location + loc_bar__minus_2_bar__minus_6_bar_2_bar_15 - location + loc_bar_7_bar_10_bar_1_bar_60 - location + loc_bar_10_bar_17_bar_2_bar_15 - location + loc_bar_8_bar_3_bar_1_bar_60 - location + loc_bar_8_bar_8_bar_1_bar_60 - location + loc_bar__minus_2_bar__minus_6_bar_2_bar__minus_30 - location + loc_bar_10_bar_18_bar_1_bar_60 - location + loc_bar__minus_1_bar__minus_5_bar_3_bar_60 - location + loc_bar_5_bar_0_bar_1_bar_45 - location + loc_bar_6_bar_21_bar_3_bar_15 - location + loc_bar__minus_1_bar_17_bar_2_bar_60 - location + loc_bar__minus_2_bar_2_bar_0_bar_45 - location + loc_bar__minus_1_bar_18_bar_3_bar_60 - location + loc_bar_7_bar__minus_6_bar_1_bar_60 - location + loc_bar_10_bar_18_bar_1_bar_45 - location + loc_bar__minus_2_bar__minus_4_bar_1_bar_30 - location + ) + + +(:init + + + (receptacleType Drawer_bar__plus_02_dot_55_bar__plus_00_dot_21_bar__plus_00_dot_62 DrawerType) + (receptacleType DiningTable_bar__plus_02_dot_58_bar__plus_00_dot_00_bar__plus_03_dot_05 DiningTableType) + (receptacleType CounterTop_bar__minus_00_dot_89_bar__plus_00_dot_95_bar__plus_04_dot_35 CounterTopType) + (receptacleType ArmChair_bar__plus_02_dot_43_bar__plus_00_dot_00_bar__minus_00_dot_57 ArmChairType) + (receptacleType Bed_bar__minus_00_dot_59_bar__plus_00_dot_00_bar__plus_02_dot_30 BedType) + (receptacleType Drawer_bar__plus_02_dot_55_bar__plus_00_dot_57_bar__plus_00_dot_62 DrawerType) + (receptacleType LaundryHamper_bar__plus_03_dot_53_bar__plus_00_dot_01_bar__plus_04_dot_43 LaundryHamperType) + (receptacleType GarbageCan_bar__minus_00_dot_63_bar__plus_00_dot_01_bar__plus_03_dot_74 GarbageCanType) + (receptacleType Dresser_bar__plus_02_dot_55_bar__plus_00_dot_57_bar__plus_00_dot_62 DresserType) + (receptacleType ArmChair_bar__minus_01_dot_28_bar__plus_00_dot_00_bar__minus_01_dot_17 ArmChairType) + (receptacleType SideTable_bar__plus_02_dot_57_bar__plus_00_dot_01_bar__minus_01_dot_54 SideTableType) + (objectType AlarmClock_bar__plus_02_dot_64_bar__plus_00_dot_75_bar__minus_01_dot_73 AlarmClockType) + (objectType Laptop_bar__minus_01_dot_07_bar__plus_00_dot_71_bar__plus_02_dot_82 LaptopType) + (objectType LightSwitch_bar__plus_00_dot_80_bar__plus_01_dot_37_bar__plus_05_dot_25 LightSwitchType) + (objectType AlarmClock_bar__plus_02_dot_47_bar__plus_00_dot_82_bar__plus_03_dot_27 AlarmClockType) + (objectType Chair_bar__plus_02_dot_28_bar__minus_00_dot_01_bar__plus_03_dot_49 ChairType) + (objectType Painting_bar__plus_02_dot_99_bar__plus_01_dot_53_bar__plus_02_dot_55 PaintingType) + (objectType Chair_bar__plus_02_dot_59_bar__minus_00_dot_01_bar__plus_02_dot_14 ChairType) + (objectType Pillow_bar__plus_00_dot_12_bar__plus_00_dot_79_bar__plus_01_dot_97 PillowType) + (objectType RemoteControl_bar__plus_02_dot_26_bar__plus_00_dot_81_bar__plus_03_dot_27 RemoteControlType) + (objectType Mug_bar__plus_02_dot_47_bar__plus_00_dot_81_bar__plus_03_dot_49 MugType) + (objectType KeyChain_bar__minus_00_dot_88_bar__plus_00_dot_91_bar__plus_04_dot_17 KeyChainType) + (objectType RemoteControl_bar__plus_02_dot_89_bar__plus_00_dot_81_bar__plus_03_dot_49 RemoteControlType) + (objectType Pencil_bar__plus_02_dot_50_bar__plus_00_dot_75_bar__minus_01_dot_66 PencilType) + (objectType Painting_bar__plus_02_dot_99_bar__plus_01_dot_53_bar__plus_03_dot_42 PaintingType) + (objectType Television_bar__plus_02_dot_75_bar__plus_01_dot_32_bar__plus_00_dot_62 TelevisionType) + (objectType Bowl_bar__minus_00_dot_75_bar__plus_00_dot_92_bar__plus_04_dot_53 BowlType) + (objectType LaundryHamperLid_bar__plus_03_dot_53_bar__plus_00_dot_76_bar__plus_04_dot_43 LaundryHamperLidType) + (objectType Pencil_bar__plus_02_dot_61_bar__plus_00_dot_75_bar__minus_01_dot_62 PencilType) + (objectType Pencil_bar__plus_02_dot_89_bar__plus_00_dot_81_bar__plus_02_dot_61 PencilType) + (objectType Mug_bar__plus_02_dot_78_bar__plus_00_dot_81_bar__plus_03_dot_27 MugType) + (objectType Book_bar__plus_02_dot_26_bar__plus_00_dot_81_bar__plus_03_dot_05 BookType) + (objectType Chair_bar__plus_02_dot_32_bar__minus_00_dot_01_bar__plus_02_dot_62 ChairType) + (objectType Pen_bar__plus_02_dot_78_bar__plus_00_dot_81_bar__plus_02_dot_39 PenType) + (objectType Blinds_bar__minus_00_dot_50_bar__plus_02_dot_17_bar__minus_01_dot_96 BlindsType) + (objectType CreditCard_bar__plus_02_dot_19_bar__plus_00_dot_40_bar__minus_00_dot_59 CreditCardType) + (objectType CellPhone_bar__plus_02_dot_62_bar__plus_00_dot_46_bar__plus_00_dot_53 CellPhoneType) + (objectType CreditCard_bar__minus_01_dot_01_bar__plus_00_dot_91_bar__plus_04_dot_35 CreditCardType) + (objectType Book_bar__plus_02_dot_68_bar__plus_00_dot_81_bar__plus_03_dot_72 BookType) + (objectType CD_bar__minus_00_dot_75_bar__plus_00_dot_91_bar__plus_04_dot_90 CDType) + (objectType CreditCard_bar__plus_02_dot_58_bar__plus_00_dot_46_bar__plus_00_dot_43 CreditCardType) + (objectType Pillow_bar__minus_00_dot_83_bar__plus_00_dot_79_bar__plus_02_dot_26 PillowType) + (objectType Mirror_bar__minus_01_dot_18_bar__plus_01_dot_60_bar__plus_04_dot_35 MirrorType) + (objectType Window_bar__minus_00_dot_45_bar__plus_01_dot_45_bar__minus_02_dot_06 WindowType) + (objectType Bowl_bar__plus_02_dot_40_bar__plus_00_dot_75_bar__minus_01_dot_47 BowlType) + (objectType Book_bar__minus_00_dot_75_bar__plus_00_dot_91_bar__plus_03_dot_98 BookType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType CDType) + (canContain DrawerType PencilType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DiningTableType CellPhoneType) + (canContain DiningTableType KeyChainType) + (canContain DiningTableType AlarmClockType) + (canContain DiningTableType RemoteControlType) + (canContain DiningTableType BowlType) + (canContain DiningTableType CDType) + (canContain DiningTableType PencilType) + (canContain DiningTableType CreditCardType) + (canContain DiningTableType PenType) + (canContain DiningTableType LaptopType) + (canContain DiningTableType MugType) + (canContain DiningTableType BookType) + (canContain CounterTopType CellPhoneType) + (canContain CounterTopType KeyChainType) + (canContain CounterTopType AlarmClockType) + (canContain CounterTopType RemoteControlType) + (canContain CounterTopType BowlType) + (canContain CounterTopType CDType) + (canContain CounterTopType PencilType) + (canContain CounterTopType CreditCardType) + (canContain CounterTopType PenType) + (canContain CounterTopType LaptopType) + (canContain CounterTopType MugType) + (canContain CounterTopType BookType) + (canContain ArmChairType CellPhoneType) + (canContain ArmChairType PillowType) + (canContain ArmChairType RemoteControlType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType CreditCardType) + (canContain ArmChairType BookType) + (canContain BedType CellPhoneType) + (canContain BedType BookType) + (canContain BedType PillowType) + (canContain BedType LaptopType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType CDType) + (canContain DrawerType PencilType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain GarbageCanType CDType) + (canContain GarbageCanType PencilType) + (canContain GarbageCanType PenType) + (canContain DresserType CellPhoneType) + (canContain DresserType KeyChainType) + (canContain DresserType AlarmClockType) + (canContain DresserType RemoteControlType) + (canContain DresserType BowlType) + (canContain DresserType CDType) + (canContain DresserType PencilType) + (canContain DresserType CreditCardType) + (canContain DresserType PenType) + (canContain DresserType LaptopType) + (canContain DresserType MugType) + (canContain DresserType BookType) + (canContain ArmChairType CellPhoneType) + (canContain ArmChairType PillowType) + (canContain ArmChairType RemoteControlType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType CreditCardType) + (canContain ArmChairType BookType) + (canContain SideTableType CellPhoneType) + (canContain SideTableType KeyChainType) + (canContain SideTableType AlarmClockType) + (canContain SideTableType RemoteControlType) + (canContain SideTableType BowlType) + (canContain SideTableType CDType) + (canContain SideTableType PencilType) + (canContain SideTableType CreditCardType) + (canContain SideTableType PenType) + (canContain SideTableType LaptopType) + (canContain SideTableType MugType) + (canContain SideTableType BookType) + (pickupable AlarmClock_bar__plus_02_dot_64_bar__plus_00_dot_75_bar__minus_01_dot_73) + (pickupable 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(isReceptacleObject Bowl_bar__minus_00_dot_75_bar__plus_00_dot_92_bar__plus_04_dot_53) + (isReceptacleObject Mug_bar__plus_02_dot_78_bar__plus_00_dot_81_bar__plus_03_dot_27) + (isReceptacleObject Bowl_bar__plus_02_dot_40_bar__plus_00_dot_75_bar__minus_01_dot_47) + (openable Drawer_bar__plus_02_dot_55_bar__plus_00_dot_21_bar__plus_00_dot_62) + (openable Drawer_bar__plus_02_dot_55_bar__plus_00_dot_57_bar__plus_00_dot_62) + + (atLocation agent1 loc_bar__minus_2_bar__minus_4_bar_1_bar_30) + + (cleanable Mug_bar__plus_02_dot_47_bar__plus_00_dot_81_bar__plus_03_dot_49) + (cleanable Bowl_bar__minus_00_dot_75_bar__plus_00_dot_92_bar__plus_04_dot_53) + (cleanable Mug_bar__plus_02_dot_78_bar__plus_00_dot_81_bar__plus_03_dot_27) + (cleanable Bowl_bar__plus_02_dot_40_bar__plus_00_dot_75_bar__minus_01_dot_47) + + (heatable Mug_bar__plus_02_dot_47_bar__plus_00_dot_81_bar__plus_03_dot_49) + (heatable Mug_bar__plus_02_dot_78_bar__plus_00_dot_81_bar__plus_03_dot_27) + (coolable Mug_bar__plus_02_dot_47_bar__plus_00_dot_81_bar__plus_03_dot_49) + (coolable Bowl_bar__minus_00_dot_75_bar__plus_00_dot_92_bar__plus_04_dot_53) + (coolable Mug_bar__plus_02_dot_78_bar__plus_00_dot_81_bar__plus_03_dot_27) + (coolable Bowl_bar__plus_02_dot_40_bar__plus_00_dot_75_bar__minus_01_dot_47) + + + + + + + + (inReceptacle Pillow_bar__minus_00_dot_83_bar__plus_00_dot_79_bar__plus_02_dot_26 Bed_bar__minus_00_dot_59_bar__plus_00_dot_00_bar__plus_02_dot_30) + (inReceptacle Pillow_bar__plus_00_dot_12_bar__plus_00_dot_79_bar__plus_01_dot_97 Bed_bar__minus_00_dot_59_bar__plus_00_dot_00_bar__plus_02_dot_30) + (inReceptacle Laptop_bar__minus_01_dot_07_bar__plus_00_dot_71_bar__plus_02_dot_82 Bed_bar__minus_00_dot_59_bar__plus_00_dot_00_bar__plus_02_dot_30) + (inReceptacle CreditCard_bar__plus_02_dot_19_bar__plus_00_dot_40_bar__minus_00_dot_59 ArmChair_bar__plus_02_dot_43_bar__plus_00_dot_00_bar__minus_00_dot_57) + (inReceptacle Television_bar__plus_02_dot_75_bar__plus_01_dot_32_bar__plus_00_dot_62 Dresser_bar__plus_02_dot_55_bar__plus_00_dot_57_bar__plus_00_dot_62) + (inReceptacle CellPhone_bar__plus_02_dot_62_bar__plus_00_dot_46_bar__plus_00_dot_53 Drawer_bar__plus_02_dot_55_bar__plus_00_dot_57_bar__plus_00_dot_62) + (inReceptacle CreditCard_bar__plus_02_dot_58_bar__plus_00_dot_46_bar__plus_00_dot_43 Drawer_bar__plus_02_dot_55_bar__plus_00_dot_57_bar__plus_00_dot_62) + (inReceptacle Pencil_bar__plus_02_dot_89_bar__plus_00_dot_81_bar__plus_02_dot_61 DiningTable_bar__plus_02_dot_58_bar__plus_00_dot_00_bar__plus_03_dot_05) + (inReceptacle Mug_bar__plus_02_dot_78_bar__plus_00_dot_81_bar__plus_03_dot_27 DiningTable_bar__plus_02_dot_58_bar__plus_00_dot_00_bar__plus_03_dot_05) + (inReceptacle Book_bar__plus_02_dot_26_bar__plus_00_dot_81_bar__plus_03_dot_05 DiningTable_bar__plus_02_dot_58_bar__plus_00_dot_00_bar__plus_03_dot_05) + (inReceptacle Mug_bar__plus_02_dot_47_bar__plus_00_dot_81_bar__plus_03_dot_49 DiningTable_bar__plus_02_dot_58_bar__plus_00_dot_00_bar__plus_03_dot_05) + (inReceptacle AlarmClock_bar__plus_02_dot_47_bar__plus_00_dot_82_bar__plus_03_dot_27 DiningTable_bar__plus_02_dot_58_bar__plus_00_dot_00_bar__plus_03_dot_05) + (inReceptacle RemoteControl_bar__plus_02_dot_26_bar__plus_00_dot_81_bar__plus_03_dot_27 DiningTable_bar__plus_02_dot_58_bar__plus_00_dot_00_bar__plus_03_dot_05) + (inReceptacle RemoteControl_bar__plus_02_dot_89_bar__plus_00_dot_81_bar__plus_03_dot_49 DiningTable_bar__plus_02_dot_58_bar__plus_00_dot_00_bar__plus_03_dot_05) + (inReceptacle Pen_bar__plus_02_dot_78_bar__plus_00_dot_81_bar__plus_02_dot_39 DiningTable_bar__plus_02_dot_58_bar__plus_00_dot_00_bar__plus_03_dot_05) + (inReceptacle Book_bar__plus_02_dot_68_bar__plus_00_dot_81_bar__plus_03_dot_72 DiningTable_bar__plus_02_dot_58_bar__plus_00_dot_00_bar__plus_03_dot_05) + (inReceptacle Pencil_bar__plus_02_dot_50_bar__plus_00_dot_75_bar__minus_01_dot_66 SideTable_bar__plus_02_dot_57_bar__plus_00_dot_01_bar__minus_01_dot_54) + (inReceptacle AlarmClock_bar__plus_02_dot_64_bar__plus_00_dot_75_bar__minus_01_dot_73 SideTable_bar__plus_02_dot_57_bar__plus_00_dot_01_bar__minus_01_dot_54) + (inReceptacle Pencil_bar__plus_02_dot_61_bar__plus_00_dot_75_bar__minus_01_dot_62 SideTable_bar__plus_02_dot_57_bar__plus_00_dot_01_bar__minus_01_dot_54) + (inReceptacle Bowl_bar__plus_02_dot_40_bar__plus_00_dot_75_bar__minus_01_dot_47 SideTable_bar__plus_02_dot_57_bar__plus_00_dot_01_bar__minus_01_dot_54) + (inReceptacle Bowl_bar__minus_00_dot_75_bar__plus_00_dot_92_bar__plus_04_dot_53 CounterTop_bar__minus_00_dot_89_bar__plus_00_dot_95_bar__plus_04_dot_35) + (inReceptacle CreditCard_bar__minus_01_dot_01_bar__plus_00_dot_91_bar__plus_04_dot_35 CounterTop_bar__minus_00_dot_89_bar__plus_00_dot_95_bar__plus_04_dot_35) + (inReceptacle Mirror_bar__minus_01_dot_18_bar__plus_01_dot_60_bar__plus_04_dot_35 CounterTop_bar__minus_00_dot_89_bar__plus_00_dot_95_bar__plus_04_dot_35) + (inReceptacle Book_bar__minus_00_dot_75_bar__plus_00_dot_91_bar__plus_03_dot_98 CounterTop_bar__minus_00_dot_89_bar__plus_00_dot_95_bar__plus_04_dot_35) + + + (receptacleAtLocation ArmChair_bar__plus_02_dot_43_bar__plus_00_dot_00_bar__minus_00_dot_57 loc_bar_5_bar__minus_3_bar_1_bar_60) + (receptacleAtLocation ArmChair_bar__minus_01_dot_28_bar__plus_00_dot_00_bar__minus_01_dot_17 loc_bar__minus_1_bar__minus_5_bar_3_bar_60) + (receptacleAtLocation Bed_bar__minus_00_dot_59_bar__plus_00_dot_00_bar__plus_02_dot_30 loc_bar__minus_2_bar_2_bar_0_bar_45) + (receptacleAtLocation CounterTop_bar__minus_00_dot_89_bar__plus_00_dot_95_bar__plus_04_dot_35 loc_bar__minus_1_bar_18_bar_3_bar_45) + (receptacleAtLocation DiningTable_bar__plus_02_dot_58_bar__plus_00_dot_00_bar__plus_03_dot_05 loc_bar_7_bar_13_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_02_dot_55_bar__plus_00_dot_21_bar__plus_00_dot_62 loc_bar_5_bar_0_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_02_dot_55_bar__plus_00_dot_57_bar__plus_00_dot_62 loc_bar_6_bar_3_bar_1_bar_45) + (receptacleAtLocation Dresser_bar__plus_02_dot_55_bar__plus_00_dot_57_bar__plus_00_dot_62 loc_bar_8_bar_3_bar_1_bar_60) + (receptacleAtLocation GarbageCan_bar__minus_00_dot_63_bar__plus_00_dot_01_bar__plus_03_dot_74 loc_bar__minus_1_bar_17_bar_2_bar_60) + (receptacleAtLocation LaundryHamper_bar__plus_03_dot_53_bar__plus_00_dot_01_bar__plus_04_dot_43 loc_bar_10_bar_18_bar_1_bar_60) + (receptacleAtLocation SideTable_bar__plus_02_dot_57_bar__plus_00_dot_01_bar__minus_01_dot_54 loc_bar_7_bar__minus_6_bar_1_bar_60) + (objectAtLocation Mug_bar__plus_02_dot_47_bar__plus_00_dot_81_bar__plus_03_dot_49 loc_bar_7_bar_13_bar_1_bar_60) + (objectAtLocation Pencil_bar__plus_02_dot_61_bar__plus_00_dot_75_bar__minus_01_dot_62 loc_bar_7_bar__minus_6_bar_1_bar_60) + (objectAtLocation RemoteControl_bar__plus_02_dot_89_bar__plus_00_dot_81_bar__plus_03_dot_49 loc_bar_7_bar_13_bar_1_bar_60) + (objectAtLocation CreditCard_bar__minus_01_dot_01_bar__plus_00_dot_91_bar__plus_04_dot_35 loc_bar__minus_1_bar_18_bar_3_bar_45) + (objectAtLocation Bowl_bar__plus_02_dot_40_bar__plus_00_dot_75_bar__minus_01_dot_47 loc_bar_7_bar__minus_6_bar_1_bar_60) + (objectAtLocation AlarmClock_bar__plus_02_dot_47_bar__plus_00_dot_82_bar__plus_03_dot_27 loc_bar_7_bar_13_bar_1_bar_60) + (objectAtLocation Book_bar__minus_00_dot_75_bar__plus_00_dot_91_bar__plus_03_dot_98 loc_bar__minus_1_bar_18_bar_3_bar_45) + (objectAtLocation Book_bar__plus_02_dot_68_bar__plus_00_dot_81_bar__plus_03_dot_72 loc_bar_7_bar_13_bar_1_bar_60) + (objectAtLocation CreditCard_bar__plus_02_dot_58_bar__plus_00_dot_46_bar__plus_00_dot_43 loc_bar_6_bar_3_bar_1_bar_45) + (objectAtLocation Pencil_bar__plus_02_dot_89_bar__plus_00_dot_81_bar__plus_02_dot_61 loc_bar_7_bar_13_bar_1_bar_60) + (objectAtLocation Chair_bar__plus_02_dot_32_bar__minus_00_dot_01_bar__plus_02_dot_62 loc_bar_7_bar_10_bar_1_bar_60) + (objectAtLocation Book_bar__plus_02_dot_26_bar__plus_00_dot_81_bar__plus_03_dot_05 loc_bar_7_bar_13_bar_1_bar_60) + (objectAtLocation Chair_bar__plus_02_dot_59_bar__minus_00_dot_01_bar__plus_02_dot_14 loc_bar_8_bar_8_bar_1_bar_60) + (objectAtLocation LaundryHamperLid_bar__plus_03_dot_53_bar__plus_00_dot_76_bar__plus_04_dot_43 loc_bar_10_bar_18_bar_1_bar_45) + (objectAtLocation Chair_bar__plus_02_dot_28_bar__minus_00_dot_01_bar__plus_03_dot_49 loc_bar_7_bar_13_bar_1_bar_60) + (objectAtLocation Mirror_bar__minus_01_dot_18_bar__plus_01_dot_60_bar__plus_04_dot_35 loc_bar__minus_1_bar_18_bar_3_bar_45) + (objectAtLocation AlarmClock_bar__plus_02_dot_64_bar__plus_00_dot_75_bar__minus_01_dot_73 loc_bar_7_bar__minus_6_bar_1_bar_60) + (objectAtLocation Television_bar__plus_02_dot_75_bar__plus_01_dot_32_bar__plus_00_dot_62 loc_bar_8_bar_3_bar_1_bar_60) + (objectAtLocation CellPhone_bar__plus_02_dot_62_bar__plus_00_dot_46_bar__plus_00_dot_53 loc_bar_6_bar_3_bar_1_bar_45) + (objectAtLocation Bowl_bar__minus_00_dot_75_bar__plus_00_dot_92_bar__plus_04_dot_53 loc_bar__minus_1_bar_18_bar_3_bar_45) + (objectAtLocation CreditCard_bar__plus_02_dot_19_bar__plus_00_dot_40_bar__minus_00_dot_59 loc_bar_5_bar__minus_3_bar_1_bar_60) + (objectAtLocation KeyChain_bar__minus_00_dot_88_bar__plus_00_dot_91_bar__plus_04_dot_17 loc_bar__minus_1_bar_17_bar_3_bar_45) + (objectAtLocation RemoteControl_bar__plus_02_dot_26_bar__plus_00_dot_81_bar__plus_03_dot_27 loc_bar_7_bar_13_bar_1_bar_60) + (objectAtLocation LightSwitch_bar__plus_00_dot_80_bar__plus_01_dot_37_bar__plus_05_dot_25 loc_bar_6_bar_21_bar_3_bar_15) + (objectAtLocation Laptop_bar__minus_01_dot_07_bar__plus_00_dot_71_bar__plus_02_dot_82 loc_bar__minus_2_bar_2_bar_0_bar_45) + (objectAtLocation Pencil_bar__plus_02_dot_50_bar__plus_00_dot_75_bar__minus_01_dot_66 loc_bar_7_bar__minus_6_bar_1_bar_60) + (objectAtLocation Painting_bar__plus_02_dot_99_bar__plus_01_dot_53_bar__plus_03_dot_42 loc_bar_10_bar_17_bar_2_bar_15) + (objectAtLocation Painting_bar__plus_02_dot_99_bar__plus_01_dot_53_bar__plus_02_dot_55 loc_bar_7_bar_10_bar_1_bar_0) + (objectAtLocation Pillow_bar__plus_00_dot_12_bar__plus_00_dot_79_bar__plus_01_dot_97 loc_bar__minus_2_bar_2_bar_0_bar_45) + (objectAtLocation Pillow_bar__minus_00_dot_83_bar__plus_00_dot_79_bar__plus_02_dot_26 loc_bar__minus_2_bar_2_bar_0_bar_45) + (objectAtLocation CD_bar__minus_00_dot_75_bar__plus_00_dot_91_bar__plus_04_dot_90 loc_bar__minus_1_bar_18_bar_3_bar_60) + (objectAtLocation Pen_bar__plus_02_dot_78_bar__plus_00_dot_81_bar__plus_02_dot_39 loc_bar_7_bar_13_bar_1_bar_60) + (objectAtLocation Window_bar__minus_00_dot_45_bar__plus_01_dot_45_bar__minus_02_dot_06 loc_bar__minus_2_bar__minus_6_bar_2_bar_15) + (objectAtLocation Mug_bar__plus_02_dot_78_bar__plus_00_dot_81_bar__plus_03_dot_27 loc_bar_7_bar_13_bar_1_bar_60) + (objectAtLocation Blinds_bar__minus_00_dot_50_bar__plus_02_dot_17_bar__minus_01_dot_96 loc_bar__minus_2_bar__minus_6_bar_2_bar__minus_30) + ) + + + (:goal + (and + (exists (?r - receptacle) + (and + (receptacleType ?r DresserType) + (exists (?o - object) + (and + (objectType ?o PencilType) + (exists (?mo - object) + (and + (objectType ?mo BowlType) + (isReceptacleObject ?mo) + (inReceptacleObject ?o ?mo) + (inReceptacle ?mo ?r) + ) + ) + ) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/valid_seen/pick_and_place_with_movable_recep-Pencil-Bowl-Dresser-311/trial_T20190909_002301_857761/traj_data.json b/data/alfworld/json_2.1.1/valid_seen/pick_and_place_with_movable_recep-Pencil-Bowl-Dresser-311/trial_T20190909_002301_857761/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..1172253ff7bd711afdabe180656688db27f5cfda --- /dev/null +++ b/data/alfworld/json_2.1.1/valid_seen/pick_and_place_with_movable_recep-Pencil-Bowl-Dresser-311/trial_T20190909_002301_857761/traj_data.json @@ -0,0 +1,3862 @@ +{ + "images": [ + { + "high_idx": 0, + "image_name": "000000000.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000001.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000002.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000003.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000004.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000005.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000006.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000007.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000008.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000009.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000010.png", + "low_idx": 0 + }, + { + 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"z": 0.0 + } + }, + { + "objectName": "Pillow_1f84c627", + "position": { + "x": 0.123219371, + "y": 0.785215139, + "z": 1.973788 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pillow_e745bb37", + "position": { + "x": -0.833904862, + "y": 0.785215139, + "z": 2.25661373 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "CD_fbb244a0", + "position": { + "x": -0.749808, + "y": 0.913105667, + "z": 4.90099144 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pen_2d1adb92", + "position": { + "x": 2.78479528, + "y": 0.813980162, + "z": 2.39272165 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_34663f02", + "position": { + "x": 2.47171044, + "y": 0.8053905, + "z": 3.49469376 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 1602589711, + "scene_num": 311 + }, + "task_id": "trial_T20190909_002301_857761", + "task_type": "pick_and_place_with_movable_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A2TUUIV61CR0C7_31N2WW6R9UHKIOSX6IW8PI22H8B3F9", + "high_descs": [ + "Turn right, walk to the wall, turn left and walk to the small round end table. ", + "Pick up the pencil lying horizontally between the lamp and the alarm clock. ", + "Put the pencil inside the glass bowl sitting in front of the lamp. ", + "Pick up the glass bowl with the pencil inside it. ", + "Turn completely around, take a step, turn right and walk until you are in front of the small white TV stand. Turn right and face the TV stand. ", + "Put the glass bowl with the pencil inside on the front left corner of the TV stand. " + ], + "task_desc": "Move the bowl and a pencil to the TV stand. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A2A028LRDJB7ZB_3AMYWKA6YEDDLKS8ONDWJFN0J1K6OM", + "high_descs": [ + "Turn right then walk straight going to the side table in front of you", + "Pick up the pencil on the table close to the lamp", + "Put the pencil in the bowl ", + "Pick up the bowl with pencil on the side table ", + "Turn left walk straight on the front of the tv stand", + "Put the bowl with pencil on left side edge of the tv stand" + ], + "task_desc": "Put the bowl with pencil on the tv stand", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "ACSS93E03ZUGX_3L4PIM1GQW7I1HUUMYPSW1CYTXIYR6", + "high_descs": [ + "Go straight and to the right to face the black end table.", + "Pick the green pencil up from off of the black end table.", + "Place the pencil inside of the glass bowl.", + "Pick the glass bowl up off of the black end table.", + "Turn around and move to the left to face the white TV stand.", + "Place glass bowl on the white tv stand." + ], + "task_desc": "Place the glass bowl with the pencil inside of it on the white tv stand.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/valid_seen/pick_and_place_with_movable_recep-RemoteControl-Box-Shelf-214/trial_T20190907_160619_888539/initial_state.pddl b/data/alfworld/json_2.1.1/valid_seen/pick_and_place_with_movable_recep-RemoteControl-Box-Shelf-214/trial_T20190907_160619_888539/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..cb5932f44c5873175d5fab9910d616b15be1c3ef --- /dev/null +++ b/data/alfworld/json_2.1.1/valid_seen/pick_and_place_with_movable_recep-RemoteControl-Box-Shelf-214/trial_T20190907_160619_888539/initial_state.pddl @@ -0,0 +1,480 @@ + +(define (problem plan_trial_T20190907_160619_888539) +(:domain alfred) +(:objects +agent1 - agent +Curtains - object + SprayBottle - object + Mirror - object + HousePlant - object + Watch - object + TeddyBear - object + WateringCan - object + Bathtub - object + LightSwitch - object + Vase - object + Candle - object + Bread - object + Statue - object + HandTowel - object + StoveKnob - object + PaperTowelRoll - object + Pan - object + PepperShaker - object + Painting - object + CellPhone - object + Plunger - object + Spoon - object + SaltShaker - object + KeyChain - object + Footstool - object + Poster - object + Television - object + LaundryHamperLid - object + Glassbottle - object + AlarmClock - object + WineBottle - object + Bowl - object + Sink - object + TissueBox - object + TennisRacket - object + ToiletPaper - object + ScrubBrush - object + CreditCard - object + Laptop - object + Cloth - object + Cup - object + Chair - object + BasketBall - object + Kettle - object + PaperTowel - object + ShowerDoor - object + BaseballBat - object + Potato - object + Pillow - object + Lettuce - object + RemoteControl - object + Window - object + DishSponge - object + CD - object + Boots - object + Blinds - object + Pen - object + Newspaper - object + Plate - object + Mug - object + ShowerGlass - object + ToiletPaperRoll - object + SoapBar - object + FloorLamp - object + SoapBottle - object + Pot - object + Pencil - object + Spatula - object + Towel - object + Fork - object + Ladle - object + Knife - object + Apple - object + Box - object + Tomato - object + ButterKnife - object + Egg - object + Book - object + DeskLamp - object +CurtainsType - otype + SprayBottleType - otype + MirrorType - otype + HousePlantType - otype + WatchType - otype + TeddyBearType - otype + WateringCanType - otype + BathtubType - otype + LightSwitchType - otype + VaseType - otype + CandleType - otype + BreadType - otype + StatueType - otype + HandTowelType - otype + StoveKnobType - otype + PaperTowelRollType - otype + PanType - otype + PepperShakerType - otype + PaintingType - otype + CellPhoneType - otype + PlungerType - otype + SpoonType - otype + SaltShakerType - otype + KeyChainType - otype + FootstoolType - otype + PosterType - otype + TelevisionType - otype + LaundryHamperLidType - otype + GlassbottleType - otype + AlarmClockType - otype + WineBottleType - otype + BowlType - otype + SinkType - otype + TissueBoxType - otype + TennisRacketType - otype + ToiletPaperType - otype + ScrubBrushType - otype + CreditCardType - otype + LaptopType - otype + ClothType - otype + CupType - otype + ChairType - otype + BasketBallType - otype + KettleType - otype + PaperTowelType - otype + ShowerDoorType - otype + BaseballBatType - otype + PotatoType - otype + PillowType - otype + LettuceType - otype + RemoteControlType - otype + WindowType - otype + DishSpongeType - otype + CDType - otype + BootsType - otype + BlindsType - otype + PenType - otype + NewspaperType - otype + PlateType - otype + MugType - otype + ShowerGlassType - otype + ToiletPaperRollType - otype + SoapBarType - otype + FloorLampType - otype + SoapBottleType - otype + PotType - otype + PencilType - otype + SpatulaType - otype + TowelType - otype + ForkType - otype + LadleType - otype + KnifeType - otype + AppleType - otype + BoxType - otype + TomatoType - otype + ButterKnifeType - otype + EggType - otype + BookType - otype + DeskLampType - otype +CabinetType - rtype + ShelfType - rtype + DiningTableType - rtype + TowelHolderType - rtype + PaintingHangerType - rtype + TVStandType - rtype + LaundryHamperType - rtype + OttomanType - rtype + SafeType - rtype + CoffeeMachineType - rtype + CounterTopType - rtype + ToiletType - rtype + FridgeType - rtype + CoffeeTableType - rtype + SinkBasinType - rtype + GarbageCanType - rtype + BathtubBasinType - rtype + SideTableType - rtype + CartType - rtype + BedType - rtype + DeskType - rtype + SofaType - rtype + ArmChairType - rtype + MicrowaveType - rtype + HandTowelHolderType - rtype + ToasterType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + DrawerType - rtype + DresserType - rtype + + + Box_bar__minus_02_dot_40_bar__plus_00_dot_57_bar__plus_04_dot_50 - object + CreditCard_bar__minus_00_dot_67_bar__plus_00_dot_62_bar__plus_00_dot_69 - object + CreditCard_bar__minus_02_dot_40_bar__plus_00_dot_45_bar__plus_04_dot_28 - object + Curtains_bar__minus_00_dot_05_bar__plus_02_dot_48_bar__plus_02_dot_63 - object + Curtains_bar__minus_02_dot_19_bar__plus_02_dot_47_bar__plus_00_dot_04 - object + Curtains_bar__minus_02_dot_83_bar__plus_02_dot_47_bar__plus_00_dot_04 - object + FloorLamp_bar__minus_04_dot_51_bar__plus_00_dot_02_bar__plus_00_dot_66 - object + HousePlant_bar__minus_02_dot_66_bar__plus_00_dot_44_bar__plus_04_dot_17 - object + KeyChain_bar__minus_03_dot_02_bar__plus_00_dot_45_bar__plus_04_dot_72 - object + KeyChain_bar__minus_04_dot_31_bar__plus_00_dot_47_bar__plus_06_dot_26 - object + Lamp_bar__minus_00_dot_45_bar__plus_00_dot_61_bar__plus_00_dot_69 - object + Laptop_bar__minus_04_dot_28_bar__plus_00_dot_54_bar__plus_02_dot_93 - object + LightSwitch_bar__minus_05_dot_00_bar__plus_01_dot_25_bar__plus_05_dot_86 - object + Newspaper_bar__minus_02_dot_49_bar__plus_00_dot_55_bar__plus_00_dot_79 - object + Newspaper_bar__minus_03_dot_02_bar__plus_00_dot_46_bar__plus_04_dot_06 - object + Painting_bar__minus_02_dot_67_bar__plus_01_dot_57_bar__plus_07_dot_00 - object + Pillow_bar__minus_01_dot_58_bar__plus_00_dot_61_bar__plus_00_dot_67 - object + Plate_bar__minus_02_dot_89_bar__plus_00_dot_45_bar__plus_04_dot_50 - object + RemoteControl_bar__minus_00_dot_75_bar__plus_00_dot_62_bar__plus_00_dot_76 - object + RemoteControl_bar__minus_02_dot_65_bar__plus_00_dot_45_bar__plus_04_dot_28 - object + RemoteControl_bar__minus_02_dot_89_bar__plus_00_dot_45_bar__plus_04_dot_06 - object + Statue_bar__minus_00_dot_53_bar__plus_01_dot_45_bar__plus_05_dot_35 - object + Statue_bar__minus_00_dot_60_bar__plus_01_dot_45_bar__plus_06_dot_79 - object + Statue_bar__minus_02_dot_89_bar__plus_00_dot_45_bar__plus_03_dot_39 - object + Television_bar__minus_00_dot_75_bar__plus_01_dot_66_bar__plus_03_dot_94 - object + Vase_bar__minus_00_dot_59_bar__plus_01_dot_45_bar__plus_06_dot_43 - object + Vase_bar__minus_02_dot_77_bar__plus_00_dot_45_bar__plus_04_dot_72 - object + WateringCan_bar__minus_03_dot_02_bar__plus_00_dot_45_bar__plus_03_dot_61 - object + Window_bar__minus_00_dot_01_bar__plus_01_dot_57_bar__plus_01_dot_50 - object + Window_bar__minus_01_dot_37_bar__plus_01_dot_57_bar__plus_00_dot_01 - object + Window_bar__minus_03_dot_73_bar__plus_01_dot_57_bar__plus_00_dot_01 - object + ArmChair_bar__minus_04_dot_45_bar__plus_00_dot_00_bar__plus_06_dot_45 - receptacle + CoffeeTable_bar__minus_02_dot_65_bar__plus_00_dot_02_bar__plus_04_dot_06 - receptacle + GarbageCan_bar__minus_00_dot_52_bar__plus_00_dot_02_bar__plus_02_dot_82 - receptacle + Shelf_bar__minus_00_dot_39_bar__plus_01_dot_45_bar__plus_05_dot_95 - receptacle + Shelf_bar__minus_00_dot_40_bar__plus_00_dot_27_bar__plus_05_dot_96 - receptacle + SideTable_bar__minus_00_dot_59_bar__plus_00_dot_02_bar__plus_00_dot_84 - receptacle + Sofa_bar__minus_02_dot_49_bar__plus_00_dot_03_bar__plus_00_dot_73 - receptacle + Sofa_bar__minus_04_dot_36_bar__plus_00_dot_03_bar__plus_02_dot_93 - receptacle + loc_bar__minus_14_bar_6_bar_2_bar_0 - location + loc_bar__minus_6_bar_17_bar_3_bar_60 - location + loc_bar__minus_5_bar_24_bar_1_bar_15 - location + loc_bar__minus_5_bar_10_bar_1_bar_60 - location + loc_bar__minus_11_bar_26_bar_0_bar_15 - location + loc_bar__minus_12_bar_10_bar_3_bar_45 - location + loc_bar__minus_11_bar_8_bar_2_bar_45 - location + loc_bar__minus_6_bar_16_bar_1_bar_0 - location + loc_bar__minus_4_bar_11_bar_1_bar__minus_30 - location + loc_bar__minus_13_bar_25_bar_3_bar_60 - location + loc_bar__minus_18_bar_23_bar_3_bar_45 - location + loc_bar__minus_3_bar_6_bar_1_bar_15 - location + loc_bar__minus_14_bar_6_bar_3_bar_60 - location + loc_bar__minus_4_bar_8_bar_2_bar_60 - location + loc_bar__minus_5_bar_6_bar_2_bar_0 - location + loc_bar__minus_9_bar_6_bar_2_bar__minus_30 - location + loc_bar__minus_6_bar_24_bar_1_bar_45 - location + loc_bar__minus_11_bar_6_bar_2_bar__minus_30 - location + loc_bar__minus_14_bar_12_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType Sofa_bar__minus_02_dot_49_bar__plus_00_dot_03_bar__plus_00_dot_73 SofaType) + (receptacleType Shelf_bar__minus_00_dot_39_bar__plus_01_dot_45_bar__plus_05_dot_95 ShelfType) + (receptacleType GarbageCan_bar__minus_00_dot_52_bar__plus_00_dot_02_bar__plus_02_dot_82 GarbageCanType) + (receptacleType CoffeeTable_bar__minus_02_dot_65_bar__plus_00_dot_02_bar__plus_04_dot_06 CoffeeTableType) + (receptacleType ArmChair_bar__minus_04_dot_45_bar__plus_00_dot_00_bar__plus_06_dot_45 ArmChairType) + (receptacleType Shelf_bar__minus_00_dot_40_bar__plus_00_dot_27_bar__plus_05_dot_96 ShelfType) + (receptacleType Sofa_bar__minus_04_dot_36_bar__plus_00_dot_03_bar__plus_02_dot_93 SofaType) + (receptacleType SideTable_bar__minus_00_dot_59_bar__plus_00_dot_02_bar__plus_00_dot_84 SideTableType) + (objectType Curtains_bar__minus_00_dot_05_bar__plus_02_dot_48_bar__plus_02_dot_63 CurtainsType) + (objectType CreditCard_bar__minus_00_dot_67_bar__plus_00_dot_62_bar__plus_00_dot_69 CreditCardType) + (objectType Laptop_bar__minus_04_dot_28_bar__plus_00_dot_54_bar__plus_02_dot_93 LaptopType) + (objectType Plate_bar__minus_02_dot_89_bar__plus_00_dot_45_bar__plus_04_dot_50 PlateType) + (objectType Statue_bar__minus_02_dot_89_bar__plus_00_dot_45_bar__plus_03_dot_39 StatueType) + (objectType FloorLamp_bar__minus_04_dot_51_bar__plus_00_dot_02_bar__plus_00_dot_66 FloorLampType) + (objectType RemoteControl_bar__minus_00_dot_75_bar__plus_00_dot_62_bar__plus_00_dot_76 RemoteControlType) + (objectType Vase_bar__minus_02_dot_77_bar__plus_00_dot_45_bar__plus_04_dot_72 VaseType) + (objectType KeyChain_bar__minus_04_dot_31_bar__plus_00_dot_47_bar__plus_06_dot_26 KeyChainType) + (objectType Curtains_bar__minus_02_dot_19_bar__plus_02_dot_47_bar__plus_00_dot_04 CurtainsType) + (objectType Box_bar__minus_02_dot_40_bar__plus_00_dot_57_bar__plus_04_dot_50 BoxType) + (objectType Window_bar__minus_01_dot_37_bar__plus_01_dot_57_bar__plus_00_dot_01 WindowType) + (objectType Statue_bar__minus_00_dot_53_bar__plus_01_dot_45_bar__plus_05_dot_35 StatueType) + (objectType Newspaper_bar__minus_02_dot_49_bar__plus_00_dot_55_bar__plus_00_dot_79 NewspaperType) + (objectType HousePlant_bar__minus_02_dot_66_bar__plus_00_dot_44_bar__plus_04_dot_17 HousePlantType) + (objectType Pillow_bar__minus_01_dot_58_bar__plus_00_dot_61_bar__plus_00_dot_67 PillowType) + (objectType CreditCard_bar__minus_02_dot_40_bar__plus_00_dot_45_bar__plus_04_dot_28 CreditCardType) + (objectType RemoteControl_bar__minus_02_dot_89_bar__plus_00_dot_45_bar__plus_04_dot_06 RemoteControlType) + (objectType Curtains_bar__minus_02_dot_83_bar__plus_02_dot_47_bar__plus_00_dot_04 CurtainsType) + (objectType RemoteControl_bar__minus_02_dot_65_bar__plus_00_dot_45_bar__plus_04_dot_28 RemoteControlType) + (objectType Window_bar__minus_03_dot_73_bar__plus_01_dot_57_bar__plus_00_dot_01 WindowType) + (objectType LightSwitch_bar__minus_05_dot_00_bar__plus_01_dot_25_bar__plus_05_dot_86 LightSwitchType) + (objectType Window_bar__minus_00_dot_01_bar__plus_01_dot_57_bar__plus_01_dot_50 WindowType) + (objectType KeyChain_bar__minus_03_dot_02_bar__plus_00_dot_45_bar__plus_04_dot_72 KeyChainType) + (objectType Newspaper_bar__minus_03_dot_02_bar__plus_00_dot_46_bar__plus_04_dot_06 NewspaperType) + (objectType Television_bar__minus_00_dot_75_bar__plus_01_dot_66_bar__plus_03_dot_94 TelevisionType) + (objectType Statue_bar__minus_00_dot_60_bar__plus_01_dot_45_bar__plus_06_dot_79 StatueType) + (objectType WateringCan_bar__minus_03_dot_02_bar__plus_00_dot_45_bar__plus_03_dot_61 WateringCanType) + (objectType Vase_bar__minus_00_dot_59_bar__plus_01_dot_45_bar__plus_06_dot_43 VaseType) + (objectType Painting_bar__minus_02_dot_67_bar__plus_01_dot_57_bar__plus_07_dot_00 PaintingType) + (canContain SofaType PillowType) + (canContain SofaType RemoteControlType) + (canContain SofaType KeyChainType) + (canContain SofaType LaptopType) + (canContain SofaType CreditCardType) + (canContain SofaType BoxType) + (canContain SofaType NewspaperType) + (canContain ShelfType KeyChainType) + (canContain ShelfType RemoteControlType) + (canContain ShelfType WateringCanType) + (canContain ShelfType VaseType) + (canContain ShelfType CreditCardType) + (canContain ShelfType NewspaperType) + (canContain ShelfType StatueType) + (canContain ShelfType PlateType) + (canContain ShelfType BoxType) + (canContain GarbageCanType NewspaperType) + (canContain CoffeeTableType KeyChainType) + (canContain CoffeeTableType RemoteControlType) + (canContain CoffeeTableType WateringCanType) + (canContain CoffeeTableType VaseType) + (canContain CoffeeTableType CreditCardType) + (canContain CoffeeTableType NewspaperType) + (canContain CoffeeTableType LaptopType) + (canContain CoffeeTableType StatueType) + (canContain CoffeeTableType PlateType) + (canContain CoffeeTableType BoxType) + (canContain ArmChairType PillowType) + (canContain ArmChairType RemoteControlType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType CreditCardType) + (canContain ArmChairType BoxType) + (canContain ArmChairType NewspaperType) + (canContain ShelfType KeyChainType) + (canContain ShelfType RemoteControlType) + (canContain ShelfType WateringCanType) + (canContain ShelfType VaseType) + (canContain ShelfType CreditCardType) + (canContain ShelfType NewspaperType) + (canContain ShelfType StatueType) + (canContain ShelfType PlateType) + (canContain ShelfType BoxType) + (canContain SofaType PillowType) + (canContain SofaType RemoteControlType) + (canContain SofaType KeyChainType) + (canContain SofaType LaptopType) + (canContain SofaType CreditCardType) + (canContain SofaType BoxType) + (canContain SofaType NewspaperType) + (canContain SideTableType KeyChainType) + (canContain SideTableType RemoteControlType) + (canContain SideTableType WateringCanType) + (canContain SideTableType VaseType) + (canContain SideTableType CreditCardType) + (canContain SideTableType NewspaperType) + (canContain SideTableType LaptopType) + (canContain SideTableType StatueType) + (canContain SideTableType PlateType) + (canContain SideTableType BoxType) + (pickupable CreditCard_bar__minus_00_dot_67_bar__plus_00_dot_62_bar__plus_00_dot_69) + (pickupable Laptop_bar__minus_04_dot_28_bar__plus_00_dot_54_bar__plus_02_dot_93) + (pickupable Plate_bar__minus_02_dot_89_bar__plus_00_dot_45_bar__plus_04_dot_50) + (pickupable Statue_bar__minus_02_dot_89_bar__plus_00_dot_45_bar__plus_03_dot_39) + (pickupable RemoteControl_bar__minus_00_dot_75_bar__plus_00_dot_62_bar__plus_00_dot_76) + (pickupable Vase_bar__minus_02_dot_77_bar__plus_00_dot_45_bar__plus_04_dot_72) + (pickupable KeyChain_bar__minus_04_dot_31_bar__plus_00_dot_47_bar__plus_06_dot_26) + (pickupable Box_bar__minus_02_dot_40_bar__plus_00_dot_57_bar__plus_04_dot_50) + (pickupable Statue_bar__minus_00_dot_53_bar__plus_01_dot_45_bar__plus_05_dot_35) + (pickupable Newspaper_bar__minus_02_dot_49_bar__plus_00_dot_55_bar__plus_00_dot_79) + (pickupable Pillow_bar__minus_01_dot_58_bar__plus_00_dot_61_bar__plus_00_dot_67) + (pickupable CreditCard_bar__minus_02_dot_40_bar__plus_00_dot_45_bar__plus_04_dot_28) + (pickupable RemoteControl_bar__minus_02_dot_89_bar__plus_00_dot_45_bar__plus_04_dot_06) + (pickupable RemoteControl_bar__minus_02_dot_65_bar__plus_00_dot_45_bar__plus_04_dot_28) + (pickupable KeyChain_bar__minus_03_dot_02_bar__plus_00_dot_45_bar__plus_04_dot_72) + (pickupable Newspaper_bar__minus_03_dot_02_bar__plus_00_dot_46_bar__plus_04_dot_06) + (pickupable Statue_bar__minus_00_dot_60_bar__plus_01_dot_45_bar__plus_06_dot_79) + (pickupable WateringCan_bar__minus_03_dot_02_bar__plus_00_dot_45_bar__plus_03_dot_61) + (pickupable Vase_bar__minus_00_dot_59_bar__plus_01_dot_45_bar__plus_06_dot_43) + (isReceptacleObject Plate_bar__minus_02_dot_89_bar__plus_00_dot_45_bar__plus_04_dot_50) + (isReceptacleObject Box_bar__minus_02_dot_40_bar__plus_00_dot_57_bar__plus_04_dot_50) + + + (atLocation agent1 loc_bar__minus_14_bar_12_bar_3_bar_30) + + (cleanable Plate_bar__minus_02_dot_89_bar__plus_00_dot_45_bar__plus_04_dot_50) + + (heatable Plate_bar__minus_02_dot_89_bar__plus_00_dot_45_bar__plus_04_dot_50) + (coolable Plate_bar__minus_02_dot_89_bar__plus_00_dot_45_bar__plus_04_dot_50) + + + (toggleable FloorLamp_bar__minus_04_dot_51_bar__plus_00_dot_02_bar__plus_00_dot_66) + + + + + (inReceptacle KeyChain_bar__minus_04_dot_31_bar__plus_00_dot_47_bar__plus_06_dot_26 ArmChair_bar__minus_04_dot_45_bar__plus_00_dot_00_bar__plus_06_dot_45) + (inReceptacle RemoteControl_bar__minus_00_dot_75_bar__plus_00_dot_62_bar__plus_00_dot_76 SideTable_bar__minus_00_dot_59_bar__plus_00_dot_02_bar__plus_00_dot_84) + (inReceptacle CreditCard_bar__minus_00_dot_67_bar__plus_00_dot_62_bar__plus_00_dot_69 SideTable_bar__minus_00_dot_59_bar__plus_00_dot_02_bar__plus_00_dot_84) + (inReceptacle HousePlant_bar__minus_02_dot_66_bar__plus_00_dot_44_bar__plus_04_dot_17 CoffeeTable_bar__minus_02_dot_65_bar__plus_00_dot_02_bar__plus_04_dot_06) + (inReceptacle CreditCard_bar__minus_02_dot_40_bar__plus_00_dot_45_bar__plus_04_dot_28 CoffeeTable_bar__minus_02_dot_65_bar__plus_00_dot_02_bar__plus_04_dot_06) + (inReceptacle Vase_bar__minus_02_dot_77_bar__plus_00_dot_45_bar__plus_04_dot_72 CoffeeTable_bar__minus_02_dot_65_bar__plus_00_dot_02_bar__plus_04_dot_06) + (inReceptacle WateringCan_bar__minus_03_dot_02_bar__plus_00_dot_45_bar__plus_03_dot_61 CoffeeTable_bar__minus_02_dot_65_bar__plus_00_dot_02_bar__plus_04_dot_06) + (inReceptacle RemoteControl_bar__minus_02_dot_89_bar__plus_00_dot_45_bar__plus_04_dot_06 CoffeeTable_bar__minus_02_dot_65_bar__plus_00_dot_02_bar__plus_04_dot_06) + (inReceptacle RemoteControl_bar__minus_02_dot_65_bar__plus_00_dot_45_bar__plus_04_dot_28 CoffeeTable_bar__minus_02_dot_65_bar__plus_00_dot_02_bar__plus_04_dot_06) + (inReceptacle Plate_bar__minus_02_dot_89_bar__plus_00_dot_45_bar__plus_04_dot_50 CoffeeTable_bar__minus_02_dot_65_bar__plus_00_dot_02_bar__plus_04_dot_06) + (inReceptacle Box_bar__minus_02_dot_40_bar__plus_00_dot_57_bar__plus_04_dot_50 CoffeeTable_bar__minus_02_dot_65_bar__plus_00_dot_02_bar__plus_04_dot_06) + (inReceptacle KeyChain_bar__minus_03_dot_02_bar__plus_00_dot_45_bar__plus_04_dot_72 CoffeeTable_bar__minus_02_dot_65_bar__plus_00_dot_02_bar__plus_04_dot_06) + (inReceptacle Statue_bar__minus_02_dot_89_bar__plus_00_dot_45_bar__plus_03_dot_39 CoffeeTable_bar__minus_02_dot_65_bar__plus_00_dot_02_bar__plus_04_dot_06) + (inReceptacle Newspaper_bar__minus_03_dot_02_bar__plus_00_dot_46_bar__plus_04_dot_06 CoffeeTable_bar__minus_02_dot_65_bar__plus_00_dot_02_bar__plus_04_dot_06) + (inReceptacle Pillow_bar__minus_01_dot_58_bar__plus_00_dot_61_bar__plus_00_dot_67 Sofa_bar__minus_02_dot_49_bar__plus_00_dot_03_bar__plus_00_dot_73) + (inReceptacle Newspaper_bar__minus_02_dot_49_bar__plus_00_dot_55_bar__plus_00_dot_79 Sofa_bar__minus_02_dot_49_bar__plus_00_dot_03_bar__plus_00_dot_73) + (inReceptacle Laptop_bar__minus_04_dot_28_bar__plus_00_dot_54_bar__plus_02_dot_93 Sofa_bar__minus_04_dot_36_bar__plus_00_dot_03_bar__plus_02_dot_93) + (inReceptacle Statue_bar__minus_00_dot_60_bar__plus_01_dot_45_bar__plus_06_dot_79 Shelf_bar__minus_00_dot_39_bar__plus_01_dot_45_bar__plus_05_dot_95) + (inReceptacle Vase_bar__minus_00_dot_59_bar__plus_01_dot_45_bar__plus_06_dot_43 Shelf_bar__minus_00_dot_39_bar__plus_01_dot_45_bar__plus_05_dot_95) + (inReceptacle Statue_bar__minus_00_dot_53_bar__plus_01_dot_45_bar__plus_05_dot_35 Shelf_bar__minus_00_dot_39_bar__plus_01_dot_45_bar__plus_05_dot_95) + + + (receptacleAtLocation ArmChair_bar__minus_04_dot_45_bar__plus_00_dot_00_bar__plus_06_dot_45 loc_bar__minus_13_bar_25_bar_3_bar_60) + (receptacleAtLocation CoffeeTable_bar__minus_02_dot_65_bar__plus_00_dot_02_bar__plus_04_dot_06 loc_bar__minus_6_bar_17_bar_3_bar_60) + (receptacleAtLocation GarbageCan_bar__minus_00_dot_52_bar__plus_00_dot_02_bar__plus_02_dot_82 loc_bar__minus_5_bar_10_bar_1_bar_60) + (receptacleAtLocation Shelf_bar__minus_00_dot_39_bar__plus_01_dot_45_bar__plus_05_dot_95 loc_bar__minus_5_bar_24_bar_1_bar_15) + (receptacleAtLocation Shelf_bar__minus_00_dot_40_bar__plus_00_dot_27_bar__plus_05_dot_96 loc_bar__minus_6_bar_24_bar_1_bar_45) + (receptacleAtLocation SideTable_bar__minus_00_dot_59_bar__plus_00_dot_02_bar__plus_00_dot_84 loc_bar__minus_4_bar_8_bar_2_bar_60) + (receptacleAtLocation Sofa_bar__minus_02_dot_49_bar__plus_00_dot_03_bar__plus_00_dot_73 loc_bar__minus_11_bar_8_bar_2_bar_45) + (receptacleAtLocation Sofa_bar__minus_04_dot_36_bar__plus_00_dot_03_bar__plus_02_dot_93 loc_bar__minus_12_bar_10_bar_3_bar_45) + (objectAtLocation CreditCard_bar__minus_00_dot_67_bar__plus_00_dot_62_bar__plus_00_dot_69 loc_bar__minus_4_bar_8_bar_2_bar_60) + (objectAtLocation RemoteControl_bar__minus_00_dot_75_bar__plus_00_dot_62_bar__plus_00_dot_76 loc_bar__minus_4_bar_8_bar_2_bar_60) + (objectAtLocation KeyChain_bar__minus_04_dot_31_bar__plus_00_dot_47_bar__plus_06_dot_26 loc_bar__minus_13_bar_25_bar_3_bar_60) + (objectAtLocation Newspaper_bar__minus_03_dot_02_bar__plus_00_dot_46_bar__plus_04_dot_06 loc_bar__minus_6_bar_17_bar_3_bar_60) + (objectAtLocation RemoteControl_bar__minus_02_dot_65_bar__plus_00_dot_45_bar__plus_04_dot_28 loc_bar__minus_6_bar_17_bar_3_bar_60) + (objectAtLocation Box_bar__minus_02_dot_40_bar__plus_00_dot_57_bar__plus_04_dot_50 loc_bar__minus_6_bar_17_bar_3_bar_60) + (objectAtLocation Curtains_bar__minus_02_dot_83_bar__plus_02_dot_47_bar__plus_00_dot_04 loc_bar__minus_11_bar_6_bar_2_bar__minus_30) + (objectAtLocation Curtains_bar__minus_02_dot_19_bar__plus_02_dot_47_bar__plus_00_dot_04 loc_bar__minus_9_bar_6_bar_2_bar__minus_30) + (objectAtLocation Curtains_bar__minus_00_dot_05_bar__plus_02_dot_48_bar__plus_02_dot_63 loc_bar__minus_4_bar_11_bar_1_bar__minus_30) + (objectAtLocation Plate_bar__minus_02_dot_89_bar__plus_00_dot_45_bar__plus_04_dot_50 loc_bar__minus_6_bar_17_bar_3_bar_60) + (objectAtLocation Vase_bar__minus_02_dot_77_bar__plus_00_dot_45_bar__plus_04_dot_72 loc_bar__minus_6_bar_17_bar_3_bar_60) + (objectAtLocation WateringCan_bar__minus_03_dot_02_bar__plus_00_dot_45_bar__plus_03_dot_61 loc_bar__minus_6_bar_17_bar_3_bar_60) + (objectAtLocation Newspaper_bar__minus_02_dot_49_bar__plus_00_dot_55_bar__plus_00_dot_79 loc_bar__minus_11_bar_8_bar_2_bar_45) + (objectAtLocation Vase_bar__minus_00_dot_59_bar__plus_01_dot_45_bar__plus_06_dot_43 loc_bar__minus_5_bar_24_bar_1_bar_15) + (objectAtLocation KeyChain_bar__minus_03_dot_02_bar__plus_00_dot_45_bar__plus_04_dot_72 loc_bar__minus_6_bar_17_bar_3_bar_60) + (objectAtLocation Pillow_bar__minus_01_dot_58_bar__plus_00_dot_61_bar__plus_00_dot_67 loc_bar__minus_11_bar_8_bar_2_bar_45) + (objectAtLocation Television_bar__minus_00_dot_75_bar__plus_01_dot_66_bar__plus_03_dot_94 loc_bar__minus_6_bar_16_bar_1_bar_0) + (objectAtLocation Statue_bar__minus_02_dot_89_bar__plus_00_dot_45_bar__plus_03_dot_39 loc_bar__minus_6_bar_17_bar_3_bar_60) + (objectAtLocation RemoteControl_bar__minus_02_dot_89_bar__plus_00_dot_45_bar__plus_04_dot_06 loc_bar__minus_6_bar_17_bar_3_bar_60) + (objectAtLocation Painting_bar__minus_02_dot_67_bar__plus_01_dot_57_bar__plus_07_dot_00 loc_bar__minus_11_bar_26_bar_0_bar_15) + (objectAtLocation CreditCard_bar__minus_02_dot_40_bar__plus_00_dot_45_bar__plus_04_dot_28 loc_bar__minus_6_bar_17_bar_3_bar_60) + (objectAtLocation Statue_bar__minus_00_dot_53_bar__plus_01_dot_45_bar__plus_05_dot_35 loc_bar__minus_5_bar_24_bar_1_bar_15) + (objectAtLocation LightSwitch_bar__minus_05_dot_00_bar__plus_01_dot_25_bar__plus_05_dot_86 loc_bar__minus_18_bar_23_bar_3_bar_45) + (objectAtLocation Laptop_bar__minus_04_dot_28_bar__plus_00_dot_54_bar__plus_02_dot_93 loc_bar__minus_12_bar_10_bar_3_bar_45) + (objectAtLocation Window_bar__minus_01_dot_37_bar__plus_01_dot_57_bar__plus_00_dot_01 loc_bar__minus_5_bar_6_bar_2_bar_0) + (objectAtLocation Window_bar__minus_00_dot_01_bar__plus_01_dot_57_bar__plus_01_dot_50 loc_bar__minus_3_bar_6_bar_1_bar_15) + (objectAtLocation Window_bar__minus_03_dot_73_bar__plus_01_dot_57_bar__plus_00_dot_01 loc_bar__minus_14_bar_6_bar_2_bar_0) + (objectAtLocation FloorLamp_bar__minus_04_dot_51_bar__plus_00_dot_02_bar__plus_00_dot_66 loc_bar__minus_14_bar_6_bar_3_bar_60) + (objectAtLocation HousePlant_bar__minus_02_dot_66_bar__plus_00_dot_44_bar__plus_04_dot_17 loc_bar__minus_6_bar_17_bar_3_bar_60) + (objectAtLocation Statue_bar__minus_00_dot_60_bar__plus_01_dot_45_bar__plus_06_dot_79 loc_bar__minus_5_bar_24_bar_1_bar_15) + ) + + + (:goal + (and + (exists (?r - receptacle) + (and + (receptacleType ?r ShelfType) + (exists (?o - object) + (and + (objectType ?o RemoteControlType) + (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/valid_seen/pick_and_place_with_movable_recep-RemoteControl-Box-Shelf-214/trial_T20190907_160619_888539/traj_data.json b/data/alfworld/json_2.1.1/valid_seen/pick_and_place_with_movable_recep-RemoteControl-Box-Shelf-214/trial_T20190907_160619_888539/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..0ca6d5d7a423111bff515d45f254ee6f08d716f3 --- /dev/null +++ b/data/alfworld/json_2.1.1/valid_seen/pick_and_place_with_movable_recep-RemoteControl-Box-Shelf-214/trial_T20190907_160619_888539/traj_data.json @@ -0,0 +1,3904 @@ +{ + "images": [ + { + "high_idx": 0, + "image_name": "000000000.png", + "low_idx": 0 + }, + { + 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0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Statue_bc12b2bf", + "position": { + "x": -2.89331269, + "y": 0.45298785, + "z": 3.39347219 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "RemoteControl_cc96a597", + "position": { + "x": -0.750611544, + "y": 0.6179635, + "z": 0.7641171 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "CreditCard_218e2a13", + "position": { + "x": -0.672305763, + "y": 0.616596, + "z": 0.6862343 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Statue_02c88406", + "position": { + "x": -0.525, + "y": 1.45307183, + "z": 5.351 + }, + "rotation": { + "x": 0.0, + "y": 294.738617, + "z": 0.0 + } + }, + { + "objectName": "Laptop_317e1aa8", + "position": { + "x": -4.27913952, + "y": 0.538360357, + "z": 2.92980051 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + }, + { + "objectName": "Statue_f608fdaf", + "position": { + "x": -0.5987849, + "y": 1.45268, + "z": 6.794378 + }, + "rotation": { + "x": 0.0, + "y": 284.797, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 2421486272, + "scene_num": 214 + }, + "task_id": "trial_T20190907_160619_888539", + "task_type": "pick_and_place_with_movable_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A1WJU1IQ3UTRC6_30ZX6P7VFBC3HJWCP0K7KK50A89J2F", + "high_descs": [ + "Turn around and walk to the end table in the corner.", + "Pick up the remote off of the end table.", + "Turn around and go to the coffee table.", + "Put the remote in the box on the coffee table.", + "Pick up the remote and box.", + "Turn right and right again and go to the bench.", + "Set the box with the remote on top of the bench." + ], + "task_desc": "Put away the remote in the box on the bench.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "ACSS93E03ZUGX_37WLF8U1WS7MA4LVUNWMBCMP51CK6V", + "high_descs": [ + "Turn around, walk across the room and turn right to face the black end table.", + "Pick up the remote from off of the end table. ", + "Turn around and move to the left to face the coffee table.", + "Place the remote in the box on the coffee table.", + "Pick up the box from off of the coffee table.\nPick the box up from off of the coffee table. ", + "Turn around and face the brown bench.", + "Place the box on the bench. " + ], + "task_desc": "Place the remote in the box on the brown bench.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A36DK84J5YJ942_3PQ8K71NH01HLTOC8909X3LFW9EAA4", + "high_descs": [ + "Move to the end table to the left of the couch under the window", + "Pick up a remote from the table", + "Move to the coffee table behind you", + "put the remote in a box on the table", + "Pick up box from the coffee table", + "Move to display shelf behind you", + "Put box on shelf" + ], + "task_desc": "Put a box with a remote on the display table.", + "votes": [ + 1, + 1, + 0 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/valid_seen/pick_and_place_with_movable_recep-Spatula-Bowl-SideTable-28/trial_T20190906_195919_700947/initial_state.pddl b/data/alfworld/json_2.1.1/valid_seen/pick_and_place_with_movable_recep-Spatula-Bowl-SideTable-28/trial_T20190906_195919_700947/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..8fd06ffdf98d2d7a81aefd9b8a4103824e05bebc --- /dev/null +++ b/data/alfworld/json_2.1.1/valid_seen/pick_and_place_with_movable_recep-Spatula-Bowl-SideTable-28/trial_T20190906_195919_700947/initial_state.pddl @@ -0,0 +1,1011 @@ + +(define (problem plan_trial_T20190906_195919_700947) +(:domain alfred) +(:objects +agent1 - agent +Curtains - object + SprayBottle - object + Mirror - object + HousePlant - object + Watch - object + TeddyBear - object + WateringCan - object + Bathtub - object + LightSwitch - object + Vase - object + Candle - object + Bread - object + Statue - object + HandTowel - object + StoveKnob - object + PaperTowelRoll - object + Pan - object + PepperShaker - object + Painting - object + CellPhone - object + Plunger - object + Spoon - object + SaltShaker - object + KeyChain - object + Footstool - object + Poster - object + Television - object + LaundryHamperLid - object + Glassbottle - object + AlarmClock - object + WineBottle - object + Bowl - object + Sink - object + TissueBox - object + TennisRacket - object + ToiletPaper - object + ScrubBrush - object + CreditCard - object + Laptop - object + Cloth - object + Cup - object + Chair - object + BasketBall - object + Kettle - object + PaperTowel - object + ShowerDoor - object + BaseballBat - object + Potato - object + Pillow - object + Lettuce - object + RemoteControl - object + Window - object + DishSponge - object + CD - object + Boots - object + Blinds - object + Pen - object + Newspaper - object + Plate - object + Mug - object + ShowerGlass - object + ToiletPaperRoll - object + SoapBar - object + FloorLamp - object + SoapBottle - object + Pot - object + Pencil - object + Spatula - object + Towel - object + Fork - object + Ladle - object + Knife - object + Apple - object + Box - object + Tomato - object + ButterKnife - object + Egg - object + Book - object + DeskLamp - object +CurtainsType - otype + SprayBottleType - otype + MirrorType - otype + HousePlantType - otype + WatchType - otype + TeddyBearType - otype + WateringCanType - otype + BathtubType - otype + LightSwitchType - otype + VaseType - otype + CandleType - otype + BreadType - otype + StatueType - otype + HandTowelType - otype + StoveKnobType - otype + PaperTowelRollType - otype + PanType - otype + PepperShakerType - otype + PaintingType - otype + CellPhoneType - otype + PlungerType - otype + SpoonType - otype + SaltShakerType - otype + KeyChainType - otype + FootstoolType - otype + PosterType - otype + TelevisionType - otype + LaundryHamperLidType - otype + GlassbottleType - otype + AlarmClockType - otype + WineBottleType - otype + BowlType - otype + SinkType - otype + TissueBoxType - otype + TennisRacketType - otype + ToiletPaperType - otype + ScrubBrushType - otype + CreditCardType - otype + LaptopType - otype + ClothType - otype + CupType - otype + ChairType - otype + BasketBallType - otype + KettleType - otype + PaperTowelType - otype + ShowerDoorType - otype + BaseballBatType - otype + PotatoType - otype + PillowType - otype + LettuceType - otype + RemoteControlType - otype + WindowType - otype + DishSpongeType - otype + CDType - otype + BootsType - otype + BlindsType - otype + PenType - otype + NewspaperType - otype + PlateType - otype + MugType - otype + ShowerGlassType - otype + ToiletPaperRollType - otype + SoapBarType - otype + FloorLampType - otype + SoapBottleType - otype + PotType - otype + PencilType - otype + SpatulaType - otype + TowelType - otype + ForkType - otype + LadleType - otype + KnifeType - otype + AppleType - otype + BoxType - otype + TomatoType - otype + ButterKnifeType - otype + EggType - otype + BookType - otype + DeskLampType - otype +CabinetType - rtype + ShelfType - rtype + DiningTableType - rtype + TowelHolderType - rtype + PaintingHangerType - rtype + TVStandType - rtype + LaundryHamperType - rtype + OttomanType - rtype + SafeType - rtype + CoffeeMachineType - rtype + CounterTopType - rtype + ToiletType - rtype + 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Bread_bar__minus_03_dot_36_bar__plus_00_dot_98_bar__minus_00_dot_38 - object + Bread_bar__minus_04_dot_00_bar__plus_00_dot_77_bar__minus_00_dot_25 - object + ButterKnife_bar__minus_03_dot_16_bar__plus_00_dot_89_bar__minus_00_dot_29 - object + Cup_bar__minus_00_dot_33_bar__plus_01_dot_29_bar__minus_00_dot_41 - object + Cup_bar__minus_00_dot_47_bar__plus_00_dot_08_bar__minus_02_dot_68 - object + Cup_bar__minus_03_dot_31_bar__plus_00_dot_76_bar__minus_03_dot_68 - object + DishSponge_bar__minus_00_dot_51_bar__plus_00_dot_75_bar__minus_02_dot_85 - object + Egg_bar__minus_00_dot_36_bar__plus_01_dot_53_bar__minus_00_dot_53 - object + Egg_bar__minus_00_dot_40_bar__plus_01_dot_53_bar__minus_00_dot_88 - object + Egg_bar__minus_00_dot_49_bar__plus_00_dot_85_bar__minus_03_dot_26 - object + Faucet_bar__minus_00_dot_39_bar__plus_00_dot_93_bar__minus_03_dot_61 - object + Fork_bar__minus_00_dot_41_bar__plus_00_dot_75_bar__minus_01_dot_41 - object + Fork_bar__minus_02_dot_96_bar__plus_00_dot_90_bar__minus_00_dot_46 - object + Knife_bar__minus_02_dot_36_bar__plus_00_dot_92_bar__minus_00_dot_38 - object + Knife_bar__minus_03_dot_36_bar__plus_00_dot_92_bar__minus_00_dot_12 - object + Knife_bar__minus_04_dot_06_bar__plus_00_dot_72_bar__minus_00_dot_31 - object + Lettuce_bar__minus_01_dot_69_bar__plus_01_dot_03_bar__minus_03_dot_60 - object + LightSwitch_bar__minus_04_dot_37_bar__plus_01_dot_49_bar__minus_01_dot_03 - object + Mug_bar__minus_00_dot_36_bar__plus_01_dot_48_bar__minus_00_dot_99 - object + Pan_bar__minus_00_dot_22_bar__plus_00_dot_96_bar__minus_02_dot_24 - object + Pan_bar__minus_02_dot_56_bar__plus_00_dot_89_bar__minus_00_dot_20 - object + PepperShaker_bar__minus_03_dot_83_bar__plus_00_dot_76_bar__minus_03_dot_74 - object + Plate_bar__minus_00_dot_74_bar__plus_00_dot_09_bar__minus_03_dot_35 - object + Plate_bar__minus_03_dot_95_bar__plus_00_dot_77_bar__minus_03_dot_34 - object + Potato_bar__minus_00_dot_25_bar__plus_01_dot_52_bar__minus_00_dot_99 - object + Potato_bar__minus_01_dot_47_bar__plus_00_dot_97_bar__minus_03_dot_91 - object + Pot_bar__minus_00_dot_44_bar__plus_00_dot_96_bar__minus_01_dot_85 - object + SaltShaker_bar__minus_01_dot_22_bar__plus_00_dot_08_bar__minus_03_dot_49 - object + Sink_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_03_dot_39 - object + SoapBottle_bar__minus_00_dot_06_bar__plus_01_dot_50_bar__minus_02_dot_79 - object + SoapBottle_bar__minus_02_dot_49_bar__plus_00_dot_10_bar__minus_03_dot_51 - object + SoapBottle_bar__minus_03_dot_94_bar__plus_00_dot_69_bar__minus_00_dot_49 - object + Spatula_bar__minus_00_dot_08_bar__plus_00_dot_96_bar__minus_01_dot_54 - object + Spatula_bar__minus_00_dot_24_bar__plus_00_dot_96_bar__minus_02_dot_73 - object + Spoon_bar__minus_00_dot_32_bar__plus_00_dot_94_bar__minus_01_dot_45 - object + Spoon_bar__minus_01_dot_12_bar__plus_00_dot_75_bar__minus_03_dot_51 - object + Spoon_bar__minus_03_dot_76_bar__plus_00_dot_76_bar__minus_03_dot_04 - object + StoveKnob_bar__minus_00_dot_62_bar__plus_00_dot_90_bar__minus_01_dot_83 - object + StoveKnob_bar__minus_00_dot_62_bar__plus_00_dot_90_bar__minus_01_dot_98 - object + StoveKnob_bar__minus_00_dot_62_bar__plus_00_dot_90_bar__minus_02_dot_13 - object + StoveKnob_bar__minus_00_dot_62_bar__plus_00_dot_90_bar__minus_02_dot_29 - object + Tomato_bar__minus_00_dot_47_bar__plus_00_dot_99_bar__minus_01_dot_41 - object + Tomato_bar__minus_03_dot_67_bar__plus_00_dot_81_bar__minus_03_dot_21 - object + Window_bar__minus_01_dot_39_bar__plus_01_dot_61_bar__minus_04_dot_11 - object + Cabinet_bar__minus_00_dot_33_bar__plus_01_dot_89_bar__minus_02_dot_51 - receptacle + Cabinet_bar__minus_00_dot_34_bar__plus_01_dot_89_bar__minus_01_dot_29 - receptacle + Cabinet_bar__minus_00_dot_34_bar__plus_02_dot_11_bar__minus_00_dot_39 - receptacle + Cabinet_bar__minus_00_dot_34_bar__plus_02_dot_11_bar__minus_01_dot_27 - receptacle + 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DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32 - receptacle + Drawer_bar__minus_00_dot_48_bar__plus_00_dot_78_bar__minus_02_dot_74 - receptacle + Drawer_bar__minus_00_dot_50_bar__plus_00_dot_78_bar__minus_01_dot_45 - receptacle + Drawer_bar__minus_01_dot_15_bar__plus_00_dot_78_bar__minus_03_dot_50 - receptacle + Fridge_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_00_dot_65 - receptacle + GarbageCan_bar__minus_02_dot_42_bar__plus_00_dot_00_bar__minus_03_dot_54 - receptacle + Microwave_bar__minus_00_dot_22_bar__plus_01_dot_47_bar__minus_02_dot_06 - receptacle + SideTable_bar__minus_04_dot_07_bar__plus_00_dot_73_bar__minus_00_dot_31 - receptacle + Sink_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_03_dot_39_bar_SinkBasin - receptacle + StoveBurner_bar__minus_00_dot_22_bar__plus_00_dot_92_bar__minus_01_dot_85 - receptacle + StoveBurner_bar__minus_00_dot_22_bar__plus_00_dot_92_bar__minus_02_dot_24 - receptacle + 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location + loc_bar__minus_5_bar__minus_10_bar_1_bar_45 - location + loc_bar__minus_14_bar__minus_9_bar_2_bar_45 - location + loc_bar__minus_4_bar__minus_6_bar_1_bar__minus_15 - location + loc_bar__minus_6_bar__minus_6_bar_1_bar__minus_15 - location + loc_bar__minus_4_bar__minus_9_bar_1_bar_45 - location + loc_bar__minus_4_bar__minus_7_bar_1_bar_60 - location + loc_bar__minus_4_bar__minus_10_bar_1_bar__minus_30 - location + loc_bar__minus_15_bar__minus_4_bar_3_bar_15 - location + loc_bar__minus_8_bar__minus_12_bar_2_bar_45 - location + loc_bar__minus_10_bar__minus_12_bar_2_bar_45 - location + loc_bar__minus_7_bar__minus_11_bar_1_bar_45 - location + loc_bar__minus_4_bar__minus_8_bar_1_bar_60 - location + loc_bar__minus_4_bar__minus_9_bar_2_bar__minus_15 - location + loc_bar__minus_4_bar__minus_7_bar_1_bar__minus_30 - location + loc_bar__minus_15_bar__minus_5_bar_0_bar_45 - location + loc_bar__minus_4_bar__minus_12_bar_1_bar_60 - location + loc_bar__minus_10_bar__minus_12_bar_2_bar_60 - location + loc_bar__minus_4_bar__minus_12_bar_1_bar__minus_15 - location + loc_bar__minus_4_bar__minus_6_bar_1_bar_60 - location + loc_bar__minus_4_bar__minus_9_bar_1_bar_60 - location + loc_bar__minus_6_bar__minus_6_bar_1_bar_60 - location + loc_bar__minus_16_bar__minus_10_bar_1_bar_30 - location + ) + + +(:init + + + (receptacleType Fridge_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_00_dot_65 FridgeType) + (receptacleType Toaster_bar__minus_01_dot_97_bar__plus_00_dot_93_bar__minus_03_dot_76 ToasterType) + (receptacleType GarbageCan_bar__minus_02_dot_42_bar__plus_00_dot_00_bar__minus_03_dot_54 GarbageCanType) + (receptacleType Cabinet_bar__minus_00_dot_34_bar__plus_02_dot_11_bar__minus_01_dot_27 CabinetType) + (receptacleType CounterTop_bar__minus_00_dot_33_bar__plus_00_dot_98_bar__minus_01_dot_45 CounterTopType) + (receptacleType Drawer_bar__minus_00_dot_48_bar__plus_00_dot_78_bar__minus_02_dot_74 DrawerType) + (receptacleType 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Cabinet_bar__minus_01_dot_01_bar__plus_00_dot_39_bar__minus_03_dot_37) + (inReceptacle SoapBottle_bar__minus_00_dot_06_bar__plus_01_dot_50_bar__minus_02_dot_79 Cabinet_bar__minus_00_dot_33_bar__plus_01_dot_89_bar__minus_02_dot_51) + (inReceptacle SoapBottle_bar__minus_03_dot_94_bar__plus_00_dot_69_bar__minus_00_dot_49 SideTable_bar__minus_04_dot_07_bar__plus_00_dot_73_bar__minus_00_dot_31) + (inReceptacle Knife_bar__minus_04_dot_06_bar__plus_00_dot_72_bar__minus_00_dot_31 SideTable_bar__minus_04_dot_07_bar__plus_00_dot_73_bar__minus_00_dot_31) + (inReceptacle Bread_bar__minus_04_dot_00_bar__plus_00_dot_77_bar__minus_00_dot_25 SideTable_bar__minus_04_dot_07_bar__plus_00_dot_73_bar__minus_00_dot_31) + (inReceptacle Tomato_bar__minus_00_dot_47_bar__plus_00_dot_99_bar__minus_01_dot_41 CounterTop_bar__minus_00_dot_33_bar__plus_00_dot_98_bar__minus_01_dot_45) + (inReceptacle Spoon_bar__minus_00_dot_32_bar__plus_00_dot_94_bar__minus_01_dot_45 CounterTop_bar__minus_00_dot_33_bar__plus_00_dot_98_bar__minus_01_dot_45) + (inReceptacle Spatula_bar__minus_00_dot_08_bar__plus_00_dot_96_bar__minus_01_dot_54 CounterTop_bar__minus_00_dot_33_bar__plus_00_dot_98_bar__minus_01_dot_45) + (inReceptacle Pan_bar__minus_00_dot_22_bar__plus_00_dot_96_bar__minus_02_dot_24 StoveBurner_bar__minus_00_dot_22_bar__plus_00_dot_92_bar__minus_02_dot_24) + (inReceptacle Apple_bar__minus_02_dot_45_bar__plus_00_dot_16_bar__minus_03_dot_60 GarbageCan_bar__minus_02_dot_42_bar__plus_00_dot_00_bar__minus_03_dot_54) + (inReceptacle SoapBottle_bar__minus_02_dot_49_bar__plus_00_dot_10_bar__minus_03_dot_51 GarbageCan_bar__minus_02_dot_42_bar__plus_00_dot_00_bar__minus_03_dot_54) + (inReceptacle Egg_bar__minus_00_dot_49_bar__plus_00_dot_85_bar__minus_03_dot_26 Sink_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_03_dot_39_bar_SinkBasin) + (inReceptacle Egg_bar__minus_00_dot_40_bar__plus_01_dot_53_bar__minus_00_dot_88 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Potato_bar__minus_01_dot_47_bar__plus_00_dot_97_bar__minus_03_dot_91 loc_bar__minus_6_bar__minus_12_bar_2_bar_45) + (objectAtLocation Egg_bar__minus_00_dot_49_bar__plus_00_dot_85_bar__minus_03_dot_26 loc_bar__minus_8_bar__minus_11_bar_1_bar_30) + (objectAtLocation Spoon_bar__minus_01_dot_12_bar__plus_00_dot_75_bar__minus_03_dot_51 loc_bar__minus_4_bar__minus_12_bar_2_bar_60) + (objectAtLocation Lettuce_bar__minus_01_dot_69_bar__plus_01_dot_03_bar__minus_03_dot_60 loc_bar__minus_6_bar__minus_12_bar_2_bar_45) + (objectAtLocation Mug_bar__minus_00_dot_36_bar__plus_01_dot_48_bar__minus_00_dot_99 loc_bar__minus_5_bar__minus_3_bar_1_bar_60) + (objectAtLocation Blinds_bar__minus_01_dot_37_bar__plus_02_dot_21_bar__minus_03_dot_96 loc_bar__minus_6_bar__minus_12_bar_2_bar__minus_30) + (objectAtLocation Bowl_bar__minus_03_dot_41_bar__plus_00_dot_76_bar__minus_02_dot_90 loc_bar__minus_14_bar__minus_9_bar_2_bar_45) + ) + + + (:goal + (and + (exists (?r - receptacle) + (and + (receptacleType ?r 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spatual", + "Go to black table on right", + "Place container on black table" + ], + "task_desc": "Put away spatula in the container on black table", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1ELPYAFO7MANS_34PGFRQONRSPTZUJ3K9E8RLPDD1JWP", + "high_descs": [ + "Go forward and a bit right to the counter to the left of the stove.", + "Pick up the spatula behind the tomato.", + "Turn around and veer right to the white table.", + "Place the spatula in the container on the left back corner of the table.", + "Pick up the container off the table.", + "Take a step left.", + "Place the container on the front left corner of the table." + ], + "task_desc": "Place a container with a spatula in it on a table.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A10LHOXLUO2WBA_3JPSL1DZ5VGO5CI1HD5EJ95FUFYAN6", + "high_descs": [ + "looks down at the floor moves left and moves right and moves forward close to the shelves", + "picks up the spatula close to the tomatoes\n", + "heads back and turns around towards the door and turns right to the table", + "puts the spatula on the bowl", + "picks the bowl up with the spatula", + "turns 360 degrees at same spot", + "it drops the bowl and spatula on the black table" + ], + "task_desc": "it picks up the spatula from and takes it to the edge of the kitchen table", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/valid_seen/pick_and_place_with_movable_recep-Watch-Bowl-Shelf-326/trial_T20190909_031836_927615/initial_state.pddl b/data/alfworld/json_2.1.1/valid_seen/pick_and_place_with_movable_recep-Watch-Bowl-Shelf-326/trial_T20190909_031836_927615/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..73b46754d78d4ee25fa4a8b09118aa1b3c699e87 --- /dev/null +++ b/data/alfworld/json_2.1.1/valid_seen/pick_and_place_with_movable_recep-Watch-Bowl-Shelf-326/trial_T20190909_031836_927615/initial_state.pddl @@ -0,0 +1,773 @@ + +(define (problem plan_trial_T20190909_031836_927615) +(:domain alfred) +(:objects +agent1 - agent +Curtains - object + SprayBottle - object + Mirror - object + HousePlant - object + Watch - object + TeddyBear - object + WateringCan - object + Bathtub - object + LightSwitch - object + Vase - object + Candle - object + Bread - object + Statue - object + HandTowel - object + StoveKnob - object + PaperTowelRoll - object + Pan - object + PepperShaker - object + Painting - object + CellPhone - object + Plunger - object + Spoon - object + SaltShaker - object + KeyChain - object + Footstool - object + Poster - object + Television - object + LaundryHamperLid - object + Glassbottle - object + AlarmClock - object + WineBottle - object + Bowl - object + Sink - object + TissueBox - object + TennisRacket - object + ToiletPaper - object + ScrubBrush - object + CreditCard - object + Laptop - object + Cloth - object + Cup - object + Chair - object + BasketBall - object + Kettle - object + PaperTowel - object + ShowerDoor - object + BaseballBat - object + Potato - object + Pillow - object + Lettuce - object + RemoteControl - object + Window - object + DishSponge - object + CD - object + Boots - object + Blinds - object + Pen - object + Newspaper - object + Plate - object + Mug - object + ShowerGlass - object + ToiletPaperRoll - object + SoapBar - object + FloorLamp - object + SoapBottle - object + Pot - object + Pencil - object + Spatula - object + Towel - object + Fork - object + Ladle - object + Knife - object + Apple - object + Box - object + Tomato - object + ButterKnife - object + Egg - object + Book - object + DeskLamp - object +CurtainsType - otype + SprayBottleType - otype + MirrorType - otype + HousePlantType - otype + WatchType - otype + TeddyBearType - otype + WateringCanType - otype + BathtubType - otype + LightSwitchType - otype + VaseType - otype + CandleType - otype + BreadType - otype + StatueType - otype + HandTowelType - otype + StoveKnobType - otype + PaperTowelRollType - otype + PanType - otype + PepperShakerType - otype + PaintingType - otype + CellPhoneType - otype + PlungerType - otype + SpoonType - otype + SaltShakerType - otype + KeyChainType - otype + FootstoolType - otype + PosterType - otype + TelevisionType - otype + LaundryHamperLidType - otype + GlassbottleType - otype + AlarmClockType - otype + WineBottleType - otype + BowlType - otype + SinkType - otype + TissueBoxType - otype + TennisRacketType - otype + ToiletPaperType - otype + ScrubBrushType - otype + CreditCardType - otype + LaptopType - otype + ClothType - otype + CupType - otype + ChairType - otype + BasketBallType - otype + KettleType - otype + PaperTowelType - otype + ShowerDoorType - otype + BaseballBatType - otype + PotatoType - otype + PillowType - otype + LettuceType - otype + RemoteControlType - otype + WindowType - otype + DishSpongeType - otype + CDType - otype + BootsType - otype + BlindsType - otype + PenType - otype + NewspaperType - otype + PlateType - otype + MugType - otype + ShowerGlassType - otype + ToiletPaperRollType - otype + SoapBarType - otype + FloorLampType - otype + SoapBottleType - otype + PotType - otype + PencilType - otype + SpatulaType - otype + TowelType - otype + ForkType - otype + LadleType - otype + KnifeType - otype + AppleType - otype + BoxType - otype + TomatoType - otype + ButterKnifeType - otype + EggType - otype + BookType - otype + DeskLampType - otype +CabinetType - rtype + ShelfType - rtype + DiningTableType - rtype + TowelHolderType - rtype + PaintingHangerType - rtype + TVStandType - rtype + LaundryHamperType - rtype + OttomanType - rtype + SafeType - rtype + CoffeeMachineType - rtype + CounterTopType - rtype + ToiletType - rtype + FridgeType - rtype + CoffeeTableType - rtype + SinkBasinType - rtype + GarbageCanType - rtype + BathtubBasinType - rtype + SideTableType - rtype + CartType - rtype + BedType - rtype + DeskType - rtype + SofaType - rtype + ArmChairType - rtype + MicrowaveType - rtype + HandTowelHolderType - rtype + ToasterType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + DrawerType - rtype + DresserType - rtype + + + AlarmClock_bar__plus_00_dot_89_bar__plus_01_dot_41_bar__minus_02_dot_59 - object + AlarmClock_bar__minus_01_dot_59_bar__plus_00_dot_62_bar__plus_00_dot_50 - object + AlarmClock_bar__minus_02_dot_98_bar__plus_01_dot_14_bar__minus_01_dot_50 - object + BaseballBat_bar__minus_02_dot_98_bar__plus_00_dot_02_bar__minus_02_dot_70 - object + BasketBall_bar__minus_02_dot_72_bar__plus_00_dot_12_bar__minus_01_dot_93 - object + Blinds_bar__plus_02_dot_29_bar__plus_02_dot_07_bar__minus_03_dot_18 - object + Blinds_bar__minus_01_dot_00_bar__plus_02_dot_07_bar__minus_03_dot_18 - object + Book_bar__minus_02_dot_92_bar__plus_00_dot_60_bar__minus_00_dot_88 - object + Book_bar__minus_02_dot_92_bar__plus_00_dot_60_bar__minus_01_dot_44 - object + Bowl_bar__plus_03_dot_02_bar__plus_00_dot_79_bar__minus_00_dot_56 - object + CD_bar__plus_03_dot_09_bar__plus_00_dot_79_bar__minus_01_dot_12 - object + CD_bar__minus_01_dot_52_bar__plus_00_dot_07_bar__plus_00_dot_39 - object + CD_bar__minus_01_dot_73_bar__plus_00_dot_61_bar__plus_00_dot_50 - object + CellPhone_bar__plus_03_dot_15_bar__plus_00_dot_79_bar__minus_01_dot_97 - object + CellPhone_bar__minus_01_dot_45_bar__plus_00_dot_61_bar__plus_00_dot_46 - object + Chair_bar__plus_02_dot_73_bar__plus_00_dot_00_bar__minus_01_dot_21 - object + Chair_bar__plus_02_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_16 - object + Cloth_bar__plus_00_dot_71_bar_00_dot_00_bar__minus_02_dot_75 - object + Cloth_bar__plus_00_dot_91_bar__plus_00_dot_03_bar__minus_02_dot_70 - object + Cloth_bar__plus_00_dot_97_bar_00_dot_00_bar__minus_02_dot_40 - object + CreditCard_bar__plus_03_dot_15_bar__plus_00_dot_79_bar__minus_01_dot_69 - object + CreditCard_bar__plus_03_dot_33_bar__plus_00_dot_79_bar__minus_01_dot_12 - object + KeyChain_bar__minus_01_dot_52_bar__plus_00_dot_34_bar__plus_00_dot_39 - object + Lamp_bar__plus_03_dot_24_bar__plus_00_dot_79_bar__minus_00_dot_65 - object + Laptop_bar__plus_03_dot_15_bar__plus_00_dot_79_bar__minus_02_dot_27 - object + Laptop_bar__minus_00_dot_94_bar__plus_00_dot_61_bar__minus_01_dot_16 - object + LightSwitch_bar__minus_00_dot_14_bar__plus_01_dot_33_bar__plus_00_dot_60 - object + Mirror_bar__plus_00_dot_45_bar__plus_01_dot_49_bar__plus_00_dot_62 - object + Mug_bar__plus_03_dot_33_bar__plus_00_dot_79_bar__minus_01_dot_69 - object + Pencil_bar__plus_00_dot_92_bar__plus_01_dot_42_bar__minus_01_dot_73 - object + Pencil_bar__plus_03_dot_27_bar__plus_00_dot_80_bar__minus_01_dot_40 - object + Pencil_bar__minus_02_dot_95_bar__plus_01_dot_15_bar__minus_02_dot_68 - object + Pen_bar__plus_00_dot_83_bar__plus_01_dot_15_bar__minus_02_dot_03 - object + Pillow_bar__minus_00_dot_63_bar__plus_00_dot_65_bar__plus_00_dot_13 - object + Pillow_bar__minus_02_dot_47_bar__plus_00_dot_66_bar__plus_00_dot_11 - object + Poster_bar__plus_03_dot_40_bar__plus_01_dot_70_bar__minus_00_dot_79 - object + Poster_bar__plus_03_dot_40_bar__plus_01_dot_86_bar__minus_01_dot_98 - object + TeddyBear_bar__minus_02_dot_65_bar__plus_00_dot_62_bar__minus_00_dot_40 - object + TennisRacket_bar__minus_03_dot_02_bar__plus_00_dot_30_bar__minus_02_dot_20 - object + Watch_bar__minus_01_dot_38_bar__plus_00_dot_61_bar__plus_00_dot_42 - object + Watch_bar__minus_02_dot_98_bar__plus_01_dot_14_bar__minus_02_dot_07 - object + Window_bar__plus_02_dot_28_bar__plus_00_dot_93_bar__minus_03_dot_18 - object + Window_bar__minus_01_dot_02_bar__plus_00_dot_93_bar__minus_03_dot_19 - object + Bed_bar__minus_00_dot_63_bar__plus_00_dot_00_bar__minus_00_dot_55 - receptacle + Bed_bar__minus_02_dot_46_bar__plus_00_dot_01_bar__minus_00_dot_55 - receptacle + DiningTable_bar__plus_03_dot_16_bar__minus_00_dot_01_bar__minus_01_dot_42 - receptacle + Drawer_bar__minus_01_dot_52_bar__plus_00_dot_15_bar__plus_00_dot_36 - receptacle + Drawer_bar__minus_01_dot_52_bar__plus_00_dot_42_bar__plus_00_dot_36 - receptacle + GarbageCan_bar__plus_01_dot_69_bar_00_dot_00_bar__minus_02_dot_79 - receptacle + Shelf_bar__plus_00_dot_92_bar__plus_01_dot_13_bar__minus_01_dot_62 - receptacle + Shelf_bar__plus_00_dot_92_bar__plus_01_dot_13_bar__minus_02_dot_16 - receptacle + Shelf_bar__plus_00_dot_92_bar__plus_01_dot_13_bar__minus_02_dot_73 - receptacle + Shelf_bar__plus_00_dot_92_bar__plus_01_dot_41_bar__minus_01_dot_62 - receptacle + Shelf_bar__plus_00_dot_92_bar__plus_01_dot_41_bar__minus_02_dot_16 - receptacle + Shelf_bar__plus_00_dot_92_bar__plus_01_dot_41_bar__minus_02_dot_73 - receptacle + Shelf_bar__plus_03_dot_04_bar__plus_00_dot_53_bar__minus_00_dot_56 - receptacle + Shelf_bar__plus_03_dot_04_bar__plus_00_dot_53_bar__minus_02_dot_26 - receptacle + Shelf_bar__minus_02_dot_95_bar__plus_01_dot_13_bar__minus_01_dot_62 - receptacle + Shelf_bar__minus_02_dot_95_bar__plus_01_dot_13_bar__minus_02_dot_19 - receptacle + Shelf_bar__minus_02_dot_95_bar__plus_01_dot_13_bar__minus_02_dot_74 - receptacle + Shelf_bar__minus_02_dot_95_bar__plus_01_dot_41_bar__minus_01_dot_62 - receptacle + Shelf_bar__minus_02_dot_95_bar__plus_01_dot_41_bar__minus_02_dot_19 - receptacle + Shelf_bar__minus_02_dot_95_bar__plus_01_dot_41_bar__minus_02_dot_74 - receptacle + SideTable_bar__minus_01_dot_52_bar__plus_00_dot_42_bar__plus_00_dot_36 - receptacle + loc_bar_1_bar__minus_10_bar_1_bar_15 - location + loc_bar__minus_9_bar__minus_8_bar_3_bar_15 - location + loc_bar__minus_9_bar__minus_10_bar_3_bar_30 - location + loc_bar__minus_9_bar__minus_10_bar_0_bar_45 - location + loc_bar_3_bar__minus_3_bar_3_bar_45 - location + loc_bar_1_bar_0_bar_0_bar_30 - location + loc_bar_9_bar__minus_11_bar_2_bar_60 - location + loc_bar_9_bar__minus_11_bar_2_bar__minus_30 - location + loc_bar_1_bar__minus_10_bar_1_bar_30 - location + loc_bar_2_bar_0_bar_0_bar_15 - location + loc_bar_9_bar__minus_1_bar_1_bar_60 - location + loc_bar_1_bar__minus_6_bar_1_bar_30 - location + loc_bar_1_bar__minus_9_bar_1_bar_15 - location + loc_bar__minus_4_bar__minus_11_bar_2_bar__minus_30 - location + loc_bar_9_bar__minus_8_bar_1_bar_60 - location + loc_bar_10_bar__minus_2_bar_1_bar_0 - location + loc_bar__minus_6_bar__minus_3_bar_0_bar_60 - location + loc_bar_10_bar__minus_7_bar_0_bar_60 - location + loc_bar__minus_6_bar__minus_2_bar_0_bar_60 - location + loc_bar__minus_6_bar__minus_1_bar_0_bar_60 - location + loc_bar__minus_9_bar__minus_10_bar_3_bar_60 - location + loc_bar__minus_8_bar__minus_8_bar_3_bar_30 - location + loc_bar_9_bar__minus_11_bar_3_bar_60 - location + loc_bar__minus_9_bar__minus_8_bar_3_bar_60 - location + loc_bar__minus_9_bar__minus_9_bar_3_bar_60 - location + loc_bar_1_bar__minus_10_bar_1_bar_60 - location + loc_bar__minus_9_bar__minus_10_bar_3_bar_15 - location + loc_bar__minus_9_bar__minus_9_bar_3_bar_30 - location + loc_bar_1_bar__minus_6_bar_1_bar_15 - location + loc_bar_10_bar__minus_8_bar_1_bar__minus_15 - location + loc_bar_1_bar__minus_9_bar_1_bar_30 - location + loc_bar_8_bar__minus_5_bar_1_bar_60 - location + loc_bar__minus_4_bar__minus_11_bar_2_bar_60 - location + loc_bar__minus_9_bar__minus_9_bar_3_bar_15 - location + loc_bar_9_bar_0_bar_1_bar_60 - location + loc_bar__minus_10_bar__minus_10_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType Shelf_bar__plus_03_dot_04_bar__plus_00_dot_53_bar__minus_02_dot_26 ShelfType) + (receptacleType Shelf_bar__minus_02_dot_95_bar__plus_01_dot_13_bar__minus_01_dot_62 ShelfType) + (receptacleType Shelf_bar__plus_00_dot_92_bar__plus_01_dot_13_bar__minus_02_dot_73 ShelfType) + (receptacleType Shelf_bar__plus_03_dot_04_bar__plus_00_dot_53_bar__minus_00_dot_56 ShelfType) + (receptacleType Drawer_bar__minus_01_dot_52_bar__plus_00_dot_15_bar__plus_00_dot_36 DrawerType) + (receptacleType Shelf_bar__minus_02_dot_95_bar__plus_01_dot_41_bar__minus_02_dot_74 ShelfType) + (receptacleType Drawer_bar__minus_01_dot_52_bar__plus_00_dot_42_bar__plus_00_dot_36 DrawerType) + (receptacleType SideTable_bar__minus_01_dot_52_bar__plus_00_dot_42_bar__plus_00_dot_36 SideTableType) + (receptacleType Shelf_bar__plus_00_dot_92_bar__plus_01_dot_41_bar__minus_01_dot_62 ShelfType) + (receptacleType Shelf_bar__plus_00_dot_92_bar__plus_01_dot_41_bar__minus_02_dot_73 ShelfType) + (receptacleType Shelf_bar__plus_00_dot_92_bar__plus_01_dot_13_bar__minus_01_dot_62 ShelfType) + (receptacleType Shelf_bar__plus_00_dot_92_bar__plus_01_dot_13_bar__minus_02_dot_16 ShelfType) + (receptacleType Bed_bar__minus_02_dot_46_bar__plus_00_dot_01_bar__minus_00_dot_55 BedType) + (receptacleType Shelf_bar__plus_00_dot_92_bar__plus_01_dot_41_bar__minus_02_dot_16 ShelfType) + (receptacleType Shelf_bar__minus_02_dot_95_bar__plus_01_dot_13_bar__minus_02_dot_74 ShelfType) + (receptacleType DiningTable_bar__plus_03_dot_16_bar__minus_00_dot_01_bar__minus_01_dot_42 DiningTableType) + (receptacleType GarbageCan_bar__plus_01_dot_69_bar_00_dot_00_bar__minus_02_dot_79 GarbageCanType) + (receptacleType Shelf_bar__minus_02_dot_95_bar__plus_01_dot_41_bar__minus_02_dot_19 ShelfType) + (receptacleType Shelf_bar__minus_02_dot_95_bar__plus_01_dot_41_bar__minus_01_dot_62 ShelfType) + (receptacleType Bed_bar__minus_00_dot_63_bar__plus_00_dot_00_bar__minus_00_dot_55 BedType) + (receptacleType Shelf_bar__minus_02_dot_95_bar__plus_01_dot_13_bar__minus_02_dot_19 ShelfType) + (objectType LightSwitch_bar__minus_00_dot_14_bar__plus_01_dot_33_bar__plus_00_dot_60 LightSwitchType) + (objectType CellPhone_bar__minus_01_dot_45_bar__plus_00_dot_61_bar__plus_00_dot_46 CellPhoneType) + (objectType CellPhone_bar__plus_03_dot_15_bar__plus_00_dot_79_bar__minus_01_dot_97 CellPhoneType) + (objectType Poster_bar__plus_03_dot_40_bar__plus_01_dot_70_bar__minus_00_dot_79 PosterType) + (objectType Pillow_bar__minus_02_dot_47_bar__plus_00_dot_66_bar__plus_00_dot_11 PillowType) + (objectType CD_bar__minus_01_dot_52_bar__plus_00_dot_07_bar__plus_00_dot_39 CDType) + (objectType Chair_bar__plus_02_dot_73_bar__plus_00_dot_00_bar__minus_01_dot_21 ChairType) + (objectType TeddyBear_bar__minus_02_dot_65_bar__plus_00_dot_62_bar__minus_00_dot_40 TeddyBearType) + (objectType AlarmClock_bar__minus_02_dot_98_bar__plus_01_dot_14_bar__minus_01_dot_50 AlarmClockType) + (objectType AlarmClock_bar__plus_00_dot_89_bar__plus_01_dot_41_bar__minus_02_dot_59 AlarmClockType) + (objectType CreditCard_bar__plus_03_dot_33_bar__plus_00_dot_79_bar__minus_01_dot_12 CreditCardType) + (objectType BasketBall_bar__minus_02_dot_72_bar__plus_00_dot_12_bar__minus_01_dot_93 BasketBallType) + (objectType CD_bar__plus_03_dot_09_bar__plus_00_dot_79_bar__minus_01_dot_12 CDType) + (objectType Pen_bar__plus_00_dot_83_bar__plus_01_dot_15_bar__minus_02_dot_03 PenType) + (objectType Cloth_bar__plus_00_dot_91_bar__plus_00_dot_03_bar__minus_02_dot_70 ClothType) + (objectType Watch_bar__minus_02_dot_98_bar__plus_01_dot_14_bar__minus_02_dot_07 WatchType) + (objectType AlarmClock_bar__minus_01_dot_59_bar__plus_00_dot_62_bar__plus_00_dot_50 AlarmClockType) + (objectType Pencil_bar__minus_02_dot_95_bar__plus_01_dot_15_bar__minus_02_dot_68 PencilType) + (objectType Book_bar__minus_02_dot_92_bar__plus_00_dot_60_bar__minus_01_dot_44 BookType) + (objectType Pencil_bar__plus_03_dot_27_bar__plus_00_dot_80_bar__minus_01_dot_40 PencilType) + (objectType KeyChain_bar__minus_01_dot_52_bar__plus_00_dot_34_bar__plus_00_dot_39 KeyChainType) + (objectType CD_bar__minus_01_dot_73_bar__plus_00_dot_61_bar__plus_00_dot_50 CDType) + (objectType CreditCard_bar__plus_03_dot_15_bar__plus_00_dot_79_bar__minus_01_dot_69 CreditCardType) + (objectType Poster_bar__plus_03_dot_40_bar__plus_01_dot_86_bar__minus_01_dot_98 PosterType) + (objectType 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BlindsType) + (objectType Bowl_bar__plus_03_dot_02_bar__plus_00_dot_79_bar__minus_00_dot_56 BowlType) + (objectType TennisRacket_bar__minus_03_dot_02_bar__plus_00_dot_30_bar__minus_02_dot_20 TennisRacketType) + (objectType Laptop_bar__minus_00_dot_94_bar__plus_00_dot_61_bar__minus_01_dot_16 LaptopType) + (objectType Laptop_bar__plus_03_dot_15_bar__plus_00_dot_79_bar__minus_02_dot_27 LaptopType) + (objectType Pillow_bar__minus_00_dot_63_bar__plus_00_dot_65_bar__plus_00_dot_13 PillowType) + (objectType Watch_bar__minus_01_dot_38_bar__plus_00_dot_61_bar__plus_00_dot_42 WatchType) + (objectType Mirror_bar__plus_00_dot_45_bar__plus_01_dot_49_bar__plus_00_dot_62 MirrorType) + (canContain ShelfType CellPhoneType) + (canContain ShelfType KeyChainType) + (canContain ShelfType WatchType) + (canContain ShelfType AlarmClockType) + (canContain ShelfType BowlType) + (canContain ShelfType CDType) + (canContain ShelfType PencilType) + (canContain ShelfType CreditCardType) + (canContain ShelfType 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loc_bar_9_bar__minus_1_bar_1_bar_60) + (receptacleAtLocation Shelf_bar__plus_03_dot_04_bar__plus_00_dot_53_bar__minus_02_dot_26 loc_bar_9_bar__minus_8_bar_1_bar_60) + (receptacleAtLocation Shelf_bar__minus_02_dot_95_bar__plus_01_dot_13_bar__minus_01_dot_62 loc_bar__minus_8_bar__minus_8_bar_3_bar_30) + (receptacleAtLocation Shelf_bar__minus_02_dot_95_bar__plus_01_dot_13_bar__minus_02_dot_19 loc_bar__minus_9_bar__minus_9_bar_3_bar_30) + (receptacleAtLocation Shelf_bar__minus_02_dot_95_bar__plus_01_dot_13_bar__minus_02_dot_74 loc_bar__minus_9_bar__minus_10_bar_3_bar_30) + (receptacleAtLocation Shelf_bar__minus_02_dot_95_bar__plus_01_dot_41_bar__minus_01_dot_62 loc_bar__minus_9_bar__minus_8_bar_3_bar_15) + (receptacleAtLocation Shelf_bar__minus_02_dot_95_bar__plus_01_dot_41_bar__minus_02_dot_19 loc_bar__minus_9_bar__minus_9_bar_3_bar_15) + (receptacleAtLocation Shelf_bar__minus_02_dot_95_bar__plus_01_dot_41_bar__minus_02_dot_74 loc_bar__minus_9_bar__minus_10_bar_3_bar_15) + (receptacleAtLocation SideTable_bar__minus_01_dot_52_bar__plus_00_dot_42_bar__plus_00_dot_36 loc_bar__minus_6_bar__minus_1_bar_0_bar_60) + (objectAtLocation CD_bar__minus_01_dot_73_bar__plus_00_dot_61_bar__plus_00_dot_50 loc_bar__minus_6_bar__minus_1_bar_0_bar_60) + (objectAtLocation CellPhone_bar__minus_01_dot_45_bar__plus_00_dot_61_bar__plus_00_dot_46 loc_bar__minus_6_bar__minus_1_bar_0_bar_60) + (objectAtLocation Watch_bar__minus_02_dot_98_bar__plus_01_dot_14_bar__minus_02_dot_07 loc_bar__minus_9_bar__minus_9_bar_3_bar_30) + (objectAtLocation AlarmClock_bar__plus_00_dot_89_bar__plus_01_dot_41_bar__minus_02_dot_59 loc_bar_1_bar__minus_10_bar_1_bar_15) + (objectAtLocation CreditCard_bar__plus_03_dot_15_bar__plus_00_dot_79_bar__minus_01_dot_69 loc_bar_8_bar__minus_5_bar_1_bar_60) + (objectAtLocation Pencil_bar__minus_02_dot_95_bar__plus_01_dot_15_bar__minus_02_dot_68 loc_bar__minus_9_bar__minus_10_bar_3_bar_30) + (objectAtLocation 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(objectAtLocation Laptop_bar__minus_00_dot_94_bar__plus_00_dot_61_bar__minus_01_dot_16 loc_bar_3_bar__minus_3_bar_3_bar_45) + (objectAtLocation KeyChain_bar__minus_01_dot_52_bar__plus_00_dot_34_bar__plus_00_dot_39 loc_bar__minus_6_bar__minus_2_bar_0_bar_60) + (objectAtLocation Cloth_bar__plus_00_dot_97_bar_00_dot_00_bar__minus_02_dot_40 loc_bar_1_bar__minus_10_bar_1_bar_60) + (objectAtLocation BaseballBat_bar__minus_02_dot_98_bar__plus_00_dot_02_bar__minus_02_dot_70 loc_bar__minus_9_bar__minus_10_bar_3_bar_60) + (objectAtLocation BasketBall_bar__minus_02_dot_72_bar__plus_00_dot_12_bar__minus_01_dot_93 loc_bar__minus_9_bar__minus_8_bar_3_bar_60) + (objectAtLocation Pillow_bar__minus_02_dot_47_bar__plus_00_dot_66_bar__plus_00_dot_11 loc_bar__minus_9_bar__minus_10_bar_0_bar_45) + (objectAtLocation Pillow_bar__minus_00_dot_63_bar__plus_00_dot_65_bar__plus_00_dot_13 loc_bar_3_bar__minus_3_bar_3_bar_45) + (objectAtLocation 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loc_bar_10_bar__minus_2_bar_1_bar_0) + (objectAtLocation Pen_bar__plus_00_dot_83_bar__plus_01_dot_15_bar__minus_02_dot_03 loc_bar_1_bar__minus_9_bar_1_bar_30) + (objectAtLocation Cloth_bar__plus_00_dot_71_bar_00_dot_00_bar__minus_02_dot_75 loc_bar_1_bar__minus_10_bar_1_bar_60) + (objectAtLocation AlarmClock_bar__minus_02_dot_98_bar__plus_01_dot_14_bar__minus_01_dot_50 loc_bar__minus_8_bar__minus_8_bar_3_bar_30) + (objectAtLocation Watch_bar__minus_01_dot_38_bar__plus_00_dot_61_bar__plus_00_dot_42 loc_bar__minus_6_bar__minus_1_bar_0_bar_60) + (objectAtLocation Mirror_bar__plus_00_dot_45_bar__plus_01_dot_49_bar__plus_00_dot_62 loc_bar_2_bar_0_bar_0_bar_15) + (objectAtLocation CellPhone_bar__plus_03_dot_15_bar__plus_00_dot_79_bar__minus_01_dot_97 loc_bar_8_bar__minus_5_bar_1_bar_60) + (objectAtLocation CD_bar__minus_01_dot_52_bar__plus_00_dot_07_bar__plus_00_dot_39 loc_bar__minus_6_bar__minus_3_bar_0_bar_60) + (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/valid_seen/pick_and_place_with_movable_recep-Watch-Bowl-Shelf-326/trial_T20190909_031836_927615/traj_data.json b/data/alfworld/json_2.1.1/valid_seen/pick_and_place_with_movable_recep-Watch-Bowl-Shelf-326/trial_T20190909_031836_927615/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..b34ecee6f58e5d62857b4ea27ae39d77b033276e --- /dev/null +++ b/data/alfworld/json_2.1.1/valid_seen/pick_and_place_with_movable_recep-Watch-Bowl-Shelf-326/trial_T20190909_031836_927615/traj_data.json @@ -0,0 +1,4156 @@ +{ + "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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"x": 0.0, + "y": 180.000381, + "z": 0.0 + } + }, + { + "objectName": "CD_f52f155c", + "position": { + "x": -1.73189247, + "y": 0.6135067, + "z": 0.5032396 + }, + "rotation": { + "x": 0.0, + "y": 180.000381, + "z": 0.0 + } + }, + { + "objectName": "Mug_0fbdf42c", + "position": { + "x": 3.33278346, + "y": 0.789648, + "z": -1.68600345 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Bowl_8c269f0e", + "position": { + "x": 3.02449465, + "y": 0.7912685, + "z": -0.5566274 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 569614244, + "scene_num": 326 + }, + "task_id": "trial_T20190909_031836_927615", + "task_type": "pick_and_place_with_movable_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A2871R3LEPWMMK_34T446B1C35HYK9QWTOOFEJSHNQ0CZ", + "high_descs": [ + "Turn around, hang a left at the wooden shelves, head right at the door and walk to the wooden desk.", + "Pick up the gray bowl in front of the small lamp on the desk.", + "Turn around, hang a left at the bed, take a right at the wall and walk to the wooden shelves on the wall.", + "Put the gray bowl on the bottom middle shelf to the left of the watch.", + "Pick up the watch to the right of the gray bowl on the shelf.", + "Put the watch inside the gray bowl on the shelf." + ], + "task_desc": "Place a bowl with a watch on a shelf.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1MKCTVKE7J0ZP_3AWETUDC95J5D81GSXX2WGK9CZJIZ1", + "high_descs": [ + "Turn around and go toward the shelves, then turn left and move forward, then turn right to go to the desk with the lamp on it.", + "Pick up the bowl from the desk.", + "Turn around and go forward to the bed, then turn left and go to the wall, then turn right to go to the shelves ahead.", + "Put the bowl on the bottom shelf.", + "Pick up the watch on the bottom shelf.", + "Put the watch in the bowl." + ], + "task_desc": "Put a bowl with the watch in it on the shelf.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1RLO9LNUJIW5S_3HWRJOOET8TWWRDG1MD3F8PEXROESV", + "high_descs": [ + "Turn around and walk to the wall then turn left and walk three steps then turn right and walk to the desk between the two black chairs.", + "Pick up the bowl that's in front of you under the light.", + "Turnaround and walk to the bed then turn left and walk to the wall then turn left and walk to the shelves.", + "Put the bowl on the shelf to the left of the watch.", + "Pick up the watch.", + "Put the watch in the bowl." + ], + "task_desc": "Put a watch in a bowl on the shelf.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/valid_seen/pick_clean_then_place_in_recep-ButterKnife-None-DiningTable-16/trial_T20190909_114508_617301/game.tw-pddl b/data/alfworld/json_2.1.1/valid_seen/pick_clean_then_place_in_recep-ButterKnife-None-DiningTable-16/trial_T20190909_114508_617301/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..c27c3db0e31d85cf3bfe3bf32a1388af2ff60ba6 --- /dev/null +++ b/data/alfworld/json_2.1.1/valid_seen/pick_clean_then_place_in_recep-ButterKnife-None-DiningTable-16/trial_T20190909_114508_617301/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\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_T20190909_114508_617301)\n(:domain alfred)\n(:objects\nagent1 - agent\nCurtains - object\n SprayBottle - object\n Mirror - object\n HousePlant - object\n Watch - object\n TeddyBear - object\n WateringCan - object\n Bathtub - object\n LightSwitch - object\n Vase - object\n Candle - object\n Bread - object\n Statue - object\n HandTowel - object\n StoveKnob - object\n PaperTowelRoll - object\n Pan - object\n PepperShaker - object\n Painting - object\n CellPhone - object\n Plunger - object\n Spoon - object\n SaltShaker - object\n KeyChain - object\n Footstool - object\n Poster - object\n Television - object\n LaundryHamperLid - object\n Glassbottle - object\n AlarmClock - object\n WineBottle - object\n Bowl - object\n Sink - object\n TissueBox - object\n TennisRacket - object\n ToiletPaper - object\n ScrubBrush - object\n CreditCard - object\n Laptop - object\n Cloth - object\n Cup - object\n Chair - object\n BasketBall - object\n Kettle - object\n PaperTowel - object\n ShowerDoor - object\n BaseballBat - object\n Potato - object\n Pillow - object\n Lettuce - object\n RemoteControl - object\n Window - object\n DishSponge - object\n CD - object\n Boots - object\n Blinds - object\n Pen - object\n Newspaper - object\n Plate - object\n Mug - object\n ShowerGlass - object\n ToiletPaperRoll - object\n SoapBar - object\n FloorLamp - object\n SoapBottle - object\n Pot - object\n Pencil - object\n Spatula - object\n Towel - object\n Fork - object\n Ladle - object\n Knife - object\n Apple - object\n Box - object\n Tomato - object\n ButterKnife - object\n Egg - object\n Book - object\n DeskLamp - object\nCurtainsType - otype\n SprayBottleType - otype\n MirrorType - otype\n HousePlantType - otype\n WatchType - otype\n TeddyBearType - otype\n WateringCanType - otype\n BathtubType - otype\n LightSwitchType - otype\n VaseType - otype\n CandleType - otype\n BreadType - otype\n StatueType - otype\n HandTowelType - otype\n StoveKnobType - otype\n PaperTowelRollType - otype\n PanType - otype\n PepperShakerType - otype\n PaintingType - otype\n CellPhoneType - otype\n PlungerType - otype\n SpoonType - otype\n SaltShakerType - otype\n KeyChainType - otype\n FootstoolType - otype\n PosterType - otype\n TelevisionType - otype\n LaundryHamperLidType - otype\n GlassbottleType - otype\n AlarmClockType - otype\n WineBottleType - otype\n BowlType - otype\n SinkType - otype\n TissueBoxType - otype\n TennisRacketType - otype\n ToiletPaperType - otype\n ScrubBrushType - otype\n CreditCardType - otype\n LaptopType - otype\n ClothType - otype\n CupType - otype\n ChairType - otype\n BasketBallType - otype\n KettleType - otype\n PaperTowelType - otype\n ShowerDoorType - otype\n BaseballBatType - otype\n PotatoType - otype\n PillowType - otype\n LettuceType - otype\n RemoteControlType - otype\n WindowType - otype\n DishSpongeType - otype\n CDType - otype\n BootsType - otype\n BlindsType - otype\n PenType - otype\n NewspaperType - otype\n PlateType - otype\n MugType - otype\n ShowerGlassType - otype\n ToiletPaperRollType - otype\n SoapBarType - otype\n FloorLampType - otype\n SoapBottleType - otype\n PotType - otype\n PencilType - otype\n SpatulaType - otype\n TowelType - otype\n ForkType - otype\n LadleType - otype\n KnifeType - otype\n AppleType - otype\n BoxType - otype\n TomatoType - otype\n ButterKnifeType - otype\n EggType - otype\n BookType - otype\n DeskLampType - otype\nCabinetType - rtype\n ShelfType - rtype\n DiningTableType - rtype\n TowelHolderType - rtype\n PaintingHangerType - rtype\n TVStandType - rtype\n LaundryHamperType - rtype\n OttomanType - rtype\n SafeType - rtype\n CoffeeMachineType - rtype\n CounterTopType - rtype\n ToiletType - rtype\n FridgeType - rtype\n CoffeeTableType - rtype\n SinkBasinType - rtype\n GarbageCanType - rtype\n BathtubBasinType - rtype\n SideTableType - rtype\n CartType - rtype\n BedType - rtype\n DeskType - rtype\n SofaType - rtype\n ArmChairType - rtype\n MicrowaveType - rtype\n HandTowelHolderType - rtype\n ToasterType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n DrawerType - rtype\n DresserType - rtype\n\n\n Apple_bar__minus_00_dot_65_bar__plus_00_dot_87_bar__plus_01_dot_49 - object\n Apple_bar__minus_00_dot_78_bar__plus_00_dot_87_bar__plus_01_dot_18 - object\n Apple_bar__minus_01_dot_04_bar__plus_00_dot_13_bar__plus_02_dot_75 - object\n 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ButterKnife_bar__minus_00_dot_67_bar__plus_01_dot_03_bar__plus_02_dot_43)\n (cleanable Egg_bar__plus_02_dot_11_bar__plus_01_dot_91_bar__minus_01_dot_91)\n (cleanable Ladle_bar__plus_01_dot_23_bar__plus_01_dot_07_bar__minus_01_dot_99)\n (cleanable Cup_bar__minus_00_dot_85_bar__plus_00_dot_82_bar__plus_01_dot_41)\n (cleanable Plate_bar__plus_02_dot_53_bar__plus_00_dot_76_bar__plus_04_dot_50)\n (cleanable Lettuce_bar__plus_02_dot_98_bar__plus_00_dot_82_bar__plus_03_dot_97)\n (cleanable Apple_bar__minus_00_dot_65_bar__plus_00_dot_87_bar__plus_01_dot_49)\n (cleanable Pot_bar__plus_01_dot_76_bar__plus_01_dot_03_bar__minus_01_dot_60)\n (cleanable ButterKnife_bar__plus_02_dot_82_bar__plus_00_dot_76_bar__plus_04_dot_12)\n (cleanable ButterKnife_bar__minus_00_dot_59_bar__plus_00_dot_80_bar__plus_00_dot_54)\n (cleanable Pan_bar__plus_02_dot_04_bar__plus_01_dot_02_bar__plus_01_dot_78)\n (cleanable Pan_bar__plus_02_dot_12_bar__plus_01_dot_03_bar__minus_01_dot_84)\n (cleanable Ladle_bar__plus_02_dot_28_bar__plus_00_dot_80_bar__plus_03_dot_90)\n (cleanable Bowl_bar__plus_02_dot_30_bar__plus_00_dot_76_bar__plus_04_dot_32)\n (cleanable Pot_bar__plus_02_dot_18_bar__plus_01_dot_03_bar__minus_01_dot_60)\n (cleanable Spatula_bar__minus_00_dot_92_bar__plus_01_dot_04_bar__plus_01_dot_82)\n (cleanable Cup_bar__plus_02_dot_49_bar__plus_01_dot_78_bar__minus_01_dot_83)\n (cleanable Bowl_bar__plus_02_dot_53_bar__plus_00_dot_76_bar__plus_03_dot_62)\n (cleanable Potato_bar__minus_01_dot_07_bar__plus_01_dot_07_bar__plus_01_dot_24)\n (cleanable Bowl_bar__minus_00_dot_85_bar__plus_02_dot_29_bar__minus_00_dot_49)\n \n (heatable Potato_bar__plus_02_dot_72_bar__plus_01_dot_07_bar__plus_01_dot_60)\n (heatable Plate_bar__plus_02_dot_99_bar__plus_00_dot_03_bar__minus_01_dot_07)\n (heatable Plate_bar__minus_00_dot_42_bar__plus_01_dot_03_bar__plus_00_dot_60)\n (heatable Tomato_bar__plus_02_dot_60_bar__plus_00_dot_82_bar__plus_03_dot_45)\n (heatable Mug_bar__plus_02_dot_79_bar__plus_00_dot_76_bar__plus_03_dot_53)\n (heatable Apple_bar__minus_00_dot_78_bar__plus_00_dot_87_bar__plus_01_dot_18)\n (heatable Potato_bar__plus_01_dot_78_bar__plus_01_dot_07_bar__plus_01_dot_56)\n (heatable Cup_bar__minus_00_dot_97_bar__plus_01_dot_44_bar__minus_00_dot_52)\n (heatable Apple_bar__minus_01_dot_04_bar__plus_00_dot_13_bar__plus_02_dot_75)\n (heatable Egg_bar__plus_02_dot_11_bar__plus_01_dot_91_bar__minus_01_dot_91)\n (heatable Cup_bar__minus_00_dot_85_bar__plus_00_dot_82_bar__plus_01_dot_41)\n (heatable Plate_bar__plus_02_dot_53_bar__plus_00_dot_76_bar__plus_04_dot_50)\n (heatable Apple_bar__minus_00_dot_65_bar__plus_00_dot_87_bar__plus_01_dot_49)\n (heatable Cup_bar__plus_02_dot_49_bar__plus_01_dot_78_bar__minus_01_dot_83)\n (heatable Bread_bar__plus_02_dot_05_bar__plus_00_dot_83_bar__plus_04_dot_37)\n (heatable Potato_bar__minus_01_dot_07_bar__plus_01_dot_07_bar__plus_01_dot_24)\n (coolable Potato_bar__plus_02_dot_72_bar__plus_01_dot_07_bar__plus_01_dot_60)\n (coolable Plate_bar__plus_02_dot_99_bar__plus_00_dot_03_bar__minus_01_dot_07)\n (coolable Plate_bar__minus_00_dot_42_bar__plus_01_dot_03_bar__plus_00_dot_60)\n (coolable Tomato_bar__plus_02_dot_60_bar__plus_00_dot_82_bar__plus_03_dot_45)\n (coolable Lettuce_bar__minus_00_dot_95_bar__plus_00_dot_84_bar__minus_00_dot_18)\n (coolable Mug_bar__plus_02_dot_79_bar__plus_00_dot_76_bar__plus_03_dot_53)\n (coolable Apple_bar__minus_00_dot_78_bar__plus_00_dot_87_bar__plus_01_dot_18)\n (coolable Lettuce_bar__plus_02_dot_28_bar__plus_00_dot_82_bar__plus_03_dot_75)\n (coolable Potato_bar__plus_01_dot_78_bar__plus_01_dot_07_bar__plus_01_dot_56)\n (coolable Cup_bar__minus_00_dot_97_bar__plus_01_dot_44_bar__minus_00_dot_52)\n (coolable Apple_bar__minus_01_dot_04_bar__plus_00_dot_13_bar__plus_02_dot_75)\n (coolable Egg_bar__plus_02_dot_11_bar__plus_01_dot_91_bar__minus_01_dot_91)\n (coolable WineBottle_bar__minus_00_dot_36_bar__plus_01_dot_03_bar__plus_01_dot_36)\n (coolable Cup_bar__minus_00_dot_85_bar__plus_00_dot_82_bar__plus_01_dot_41)\n (coolable Plate_bar__plus_02_dot_53_bar__plus_00_dot_76_bar__plus_04_dot_50)\n (coolable Lettuce_bar__plus_02_dot_98_bar__plus_00_dot_82_bar__plus_03_dot_97)\n (coolable WineBottle_bar__plus_02_dot_45_bar__plus_00_dot_77_bar__plus_03_dot_97)\n (coolable Apple_bar__minus_00_dot_65_bar__plus_00_dot_87_bar__plus_01_dot_49)\n (coolable Pot_bar__plus_01_dot_76_bar__plus_01_dot_03_bar__minus_01_dot_60)\n (coolable Pan_bar__plus_02_dot_04_bar__plus_01_dot_02_bar__plus_01_dot_78)\n (coolable Pan_bar__plus_02_dot_12_bar__plus_01_dot_03_bar__minus_01_dot_84)\n (coolable Bowl_bar__plus_02_dot_30_bar__plus_00_dot_76_bar__plus_04_dot_32)\n (coolable Pot_bar__plus_02_dot_18_bar__plus_01_dot_03_bar__minus_01_dot_60)\n (coolable Cup_bar__plus_02_dot_49_bar__plus_01_dot_78_bar__minus_01_dot_83)\n (coolable Bowl_bar__plus_02_dot_53_bar__plus_00_dot_76_bar__plus_03_dot_62)\n (coolable Bread_bar__plus_02_dot_05_bar__plus_00_dot_83_bar__plus_04_dot_37)\n (coolable Potato_bar__minus_01_dot_07_bar__plus_01_dot_07_bar__plus_01_dot_24)\n (coolable Bowl_bar__minus_00_dot_85_bar__plus_02_dot_29_bar__minus_00_dot_49)\n (coolable WineBottle_bar__plus_02_dot_63_bar__plus_00_dot_77_bar__plus_03_dot_97)\n \n \n \n \n \n (sliceable Potato_bar__plus_02_dot_72_bar__plus_01_dot_07_bar__plus_01_dot_60)\n (sliceable Tomato_bar__plus_02_dot_60_bar__plus_00_dot_82_bar__plus_03_dot_45)\n (sliceable Lettuce_bar__minus_00_dot_95_bar__plus_00_dot_84_bar__minus_00_dot_18)\n (sliceable Apple_bar__minus_00_dot_78_bar__plus_00_dot_87_bar__plus_01_dot_18)\n (sliceable Lettuce_bar__plus_02_dot_28_bar__plus_00_dot_82_bar__plus_03_dot_75)\n (sliceable Potato_bar__plus_01_dot_78_bar__plus_01_dot_07_bar__plus_01_dot_56)\n (sliceable Apple_bar__minus_01_dot_04_bar__plus_00_dot_13_bar__plus_02_dot_75)\n (sliceable Egg_bar__plus_02_dot_11_bar__plus_01_dot_91_bar__minus_01_dot_91)\n (sliceable Lettuce_bar__plus_02_dot_98_bar__plus_00_dot_82_bar__plus_03_dot_97)\n (sliceable Apple_bar__minus_00_dot_65_bar__plus_00_dot_87_bar__plus_01_dot_49)\n (sliceable Bread_bar__plus_02_dot_05_bar__plus_00_dot_83_bar__plus_04_dot_37)\n (sliceable Potato_bar__minus_01_dot_07_bar__plus_01_dot_07_bar__plus_01_dot_24)\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 Ladle_bar__plus_01_dot_23_bar__plus_01_dot_07_bar__minus_01_dot_99 CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68)\n (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)\n (inReceptacle SoapBottle_bar__plus_02_dot_43_bar__plus_01_dot_03_bar__minus_01_dot_45 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 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 PepperShaker_bar__plus_02_dot_71_bar__plus_01_dot_02_bar__minus_00_dot_24 CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68)\n (inReceptacle Potato_bar__plus_02_dot_72_bar__plus_01_dot_07_bar__plus_01_dot_60 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 ButterKnife_bar__plus_02_dot_34_bar__plus_01_dot_03_bar__plus_01_dot_80 CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68)\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 SaltShaker_bar__plus_01_dot_35_bar__plus_01_dot_02_bar__minus_01_dot_88 CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68)\n (inReceptacle Pot_bar__plus_01_dot_76_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 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 PaperTowelRoll_bar__plus_02_dot_45_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)\n (inReceptacle Ladle_bar__plus_02_dot_28_bar__plus_00_dot_80_bar__plus_03_dot_90 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98)\n (inReceptacle Plate_bar__plus_02_dot_53_bar__plus_00_dot_76_bar__plus_04_dot_50 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98)\n (inReceptacle Bowl_bar__plus_02_dot_30_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 Bowl_bar__plus_02_dot_53_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 PepperShaker_bar__plus_02_dot_80_bar__plus_00_dot_76_bar__plus_03_dot_75 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98)\n (inReceptacle Lettuce_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 DishSponge_bar__plus_02_dot_10_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)\n (inReceptacle Mug_bar__plus_02_dot_79_bar__plus_00_dot_76_bar__plus_03_dot_53 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98)\n (inReceptacle Lettuce_bar__plus_02_dot_28_bar__plus_00_dot_82_bar__plus_03_dot_75 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98)\n (inReceptacle Bread_bar__plus_02_dot_05_bar__plus_00_dot_83_bar__plus_04_dot_37 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98)\n (inReceptacle WineBottle_bar__plus_02_dot_45_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 ButterKnife_bar__plus_02_dot_82_bar__plus_00_dot_76_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_60_bar__plus_00_dot_82_bar__plus_03_dot_45 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98)\n (inReceptacle Glassbottle_bar__plus_02_dot_11_bar__plus_00_dot_77_bar__plus_03_dot_53 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98)\n (inReceptacle WineBottle_bar__plus_02_dot_63_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 ButterKnife_bar__minus_00_dot_59_bar__plus_00_dot_80_bar__plus_00_dot_54 Drawer_bar__minus_00_dot_64_bar__plus_00_dot_83_bar__plus_00_dot_62)\n (inReceptacle Spatula_bar__minus_00_dot_54_bar__plus_01_dot_04_bar__plus_00_dot_51 CounterTop_bar__minus_00_dot_81_bar__plus_01_dot_06_bar__plus_02_dot_19)\n (inReceptacle Spatula_bar__minus_00_dot_42_bar__plus_01_dot_04_bar__plus_01_dot_82 CounterTop_bar__minus_00_dot_81_bar__plus_01_dot_06_bar__plus_02_dot_19)\n (inReceptacle Glassbottle_bar__minus_00_dot_67_bar__plus_01_dot_03_bar__plus_02_dot_19 CounterTop_bar__minus_00_dot_81_bar__plus_01_dot_06_bar__plus_02_dot_19)\n (inReceptacle Plate_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)\n (inReceptacle Spatula_bar__minus_00_dot_92_bar__plus_01_dot_04_bar__plus_01_dot_82 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_43 CounterTop_bar__minus_00_dot_81_bar__plus_01_dot_06_bar__plus_02_dot_19)\n (inReceptacle WineBottle_bar__minus_00_dot_36_bar__plus_01_dot_03_bar__plus_01_dot_36 CounterTop_bar__minus_00_dot_81_bar__plus_01_dot_06_bar__plus_02_dot_19)\n (inReceptacle Potato_bar__minus_01_dot_07_bar__plus_01_dot_07_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 SaltShaker_bar__minus_00_dot_66_bar__plus_00_dot_80_bar__plus_01_dot_84 Drawer_bar__minus_00_dot_64_bar__plus_00_dot_83_bar__plus_01_dot_95)\n (inReceptacle SaltShaker_bar__plus_01_dot_20_bar__plus_00_dot_79_bar__minus_01_dot_42 Drawer_bar__plus_01_dot_35_bar__plus_00_dot_84_bar__minus_01_dot_54)\n (inReceptacle Fork_bar__plus_02_dot_76_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)\n (inReceptacle Knife_bar__plus_02_dot_66_bar__plus_00_dot_83_bar__plus_00_dot_79 Drawer_bar__plus_02_dot_52_bar__plus_00_dot_83_bar__plus_00_dot_72)\n (inReceptacle Bowl_bar__minus_00_dot_85_bar__plus_02_dot_29_bar__minus_00_dot_49 Cabinet_bar__minus_00_dot_66_bar__plus_02_dot_50_bar__minus_00_dot_87)\n (inReceptacle Cup_bar__plus_02_dot_49_bar__plus_01_dot_78_bar__minus_01_dot_83 Cabinet_bar__plus_02_dot_73_bar__plus_02_dot_23_bar__minus_01_dot_71)\n (inReceptacle Plate_bar__plus_02_dot_99_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 Pot_bar__plus_01_dot_76_bar__plus_01_dot_03_bar__minus_01_dot_60 StoveBurner_bar__plus_01_dot_76_bar__plus_01_dot_02_bar__minus_01_dot_60)\n (inReceptacle Lettuce_bar__minus_00_dot_95_bar__plus_00_dot_84_bar__minus_00_dot_18 Fridge_bar__minus_00_dot_91_bar__plus_00_dot_00_bar__minus_00_dot_41)\n (inReceptacle Cup_bar__minus_00_dot_97_bar__plus_01_dot_44_bar__minus_00_dot_52 Fridge_bar__minus_00_dot_91_bar__plus_00_dot_00_bar__minus_00_dot_41)\n (inReceptacle Egg_bar__plus_02_dot_11_bar__plus_01_dot_91_bar__minus_01_dot_91 Microwave_bar__plus_01_dot_94_bar__plus_01_dot_75_bar__minus_01_dot_83)\n (inReceptacle Apple_bar__minus_01_dot_04_bar__plus_00_dot_13_bar__plus_02_dot_75 GarbageCan_bar__minus_00_dot_95_bar_00_dot_00_bar__plus_02_dot_83)\n (inReceptacle Glassbottle_bar__minus_00_dot_92_bar__plus_00_dot_08_bar__plus_02_dot_78 GarbageCan_bar__minus_00_dot_95_bar_00_dot_00_bar__plus_02_dot_83)\n (inReceptacle Cup_bar__minus_00_dot_85_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 Spoon_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 (inReceptacle Knife_bar__minus_00_dot_71_bar__plus_00_dot_84_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 Apple_bar__minus_00_dot_78_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_65_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 \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 Bowl_bar__plus_02_dot_30_bar__plus_00_dot_76_bar__plus_04_dot_32 loc_bar_10_bar_12_bar_0_bar_45)\n (objectAtLocation Cup_bar__minus_00_dot_97_bar__plus_01_dot_44_bar__minus_00_dot_52 loc_bar_0_bar__minus_1_bar_3_bar_60)\n (objectAtLocation ButterKnife_bar__minus_00_dot_59_bar__plus_00_dot_80_bar__plus_00_dot_54 loc_bar_2_bar_2_bar_3_bar_30)\n (objectAtLocation PepperShaker_bar__plus_02_dot_71_bar__plus_01_dot_02_bar__minus_00_dot_24 loc_bar_9_bar__minus_2_bar_0_bar_30)\n (objectAtLocation SaltShaker_bar__plus_01_dot_20_bar__plus_00_dot_79_bar__minus_01_dot_42 loc_bar_3_bar__minus_4_bar_1_bar_60)\n (objectAtLocation Apple_bar__minus_01_dot_04_bar__plus_00_dot_13_bar__plus_02_dot_75 loc_bar__minus_2_bar_12_bar_3_bar_60)\n (objectAtLocation Lettuce_bar__plus_02_dot_28_bar__plus_00_dot_82_bar__plus_03_dot_75 loc_bar_10_bar_12_bar_0_bar_45)\n (objectAtLocation Spatula_bar__minus_00_dot_42_bar__plus_01_dot_04_bar__plus_01_dot_82 loc_bar_0_bar_9_bar_3_bar_30)\n (objectAtLocation Plate_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 WineBottle_bar__plus_02_dot_63_bar__plus_00_dot_77_bar__plus_03_dot_97 loc_bar_10_bar_12_bar_0_bar_45)\n (objectAtLocation Pot_bar__plus_01_dot_76_bar__plus_01_dot_03_bar__minus_01_dot_60 loc_bar_8_bar__minus_4_bar_2_bar_45)\n (objectAtLocation Ladle_bar__plus_02_dot_28_bar__plus_00_dot_80_bar__plus_03_dot_90 loc_bar_10_bar_12_bar_0_bar_45)\n (objectAtLocation Potato_bar__minus_01_dot_07_bar__plus_01_dot_07_bar__plus_01_dot_24 loc_bar_0_bar_9_bar_3_bar_30)\n (objectAtLocation Knife_bar__minus_00_dot_71_bar__plus_00_dot_84_bar__plus_01_dot_10 loc_bar_0_bar_6_bar_3_bar_45)\n (objectAtLocation Glassbottle_bar__plus_02_dot_11_bar__plus_00_dot_77_bar__plus_03_dot_53 loc_bar_10_bar_12_bar_0_bar_45)\n (objectAtLocation Pan_bar__plus_02_dot_04_bar__plus_01_dot_02_bar__plus_01_dot_78 loc_bar_9_bar__minus_2_bar_0_bar_30)\n (objectAtLocation Apple_bar__minus_00_dot_65_bar__plus_00_dot_87_bar__plus_01_dot_49 loc_bar_0_bar_6_bar_3_bar_45)\n (objectAtLocation Lettuce_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 SaltShaker_bar__plus_01_dot_35_bar__plus_01_dot_02_bar__minus_01_dot_88 loc_bar_9_bar__minus_2_bar_0_bar_30)\n (objectAtLocation Bowl_bar__plus_02_dot_53_bar__plus_00_dot_76_bar__plus_03_dot_62 loc_bar_10_bar_12_bar_0_bar_45)\n (objectAtLocation Plate_bar__minus_00_dot_42_bar__plus_01_dot_03_bar__plus_00_dot_60 loc_bar_0_bar_9_bar_3_bar_30)\n (objectAtLocation Cup_bar__plus_02_dot_49_bar__plus_01_dot_78_bar__minus_01_dot_83 loc_bar_9_bar__minus_4_bar_2_bar__minus_30)\n (objectAtLocation Spatula_bar__minus_00_dot_54_bar__plus_01_dot_04_bar__plus_00_dot_51 loc_bar_0_bar_9_bar_3_bar_30)\n (objectAtLocation Glassbottle_bar__minus_00_dot_92_bar__plus_00_dot_08_bar__plus_02_dot_78 loc_bar__minus_2_bar_12_bar_3_bar_60)\n (objectAtLocation WineBottle_bar__minus_00_dot_36_bar__plus_01_dot_03_bar__plus_01_dot_36 loc_bar_0_bar_9_bar_3_bar_30)\n (objectAtLocation ButterKnife_bar__plus_02_dot_82_bar__plus_00_dot_76_bar__plus_04_dot_12 loc_bar_10_bar_12_bar_0_bar_45)\n (objectAtLocation ButterKnife_bar__plus_02_dot_34_bar__plus_01_dot_03_bar__plus_01_dot_80 loc_bar_9_bar__minus_2_bar_0_bar_30)\n (objectAtLocation Potato_bar__plus_02_dot_72_bar__plus_01_dot_07_bar__plus_01_dot_60 loc_bar_9_bar__minus_2_bar_0_bar_30)\n (objectAtLocation Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33 loc_bar_0_bar_5_bar_3_bar_45)\n (objectAtLocation Pan_bar__plus_02_dot_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_00_dot_67_bar__plus_01_dot_03_bar__plus_02_dot_19 loc_bar_0_bar_9_bar_3_bar_30)\n (objectAtLocation Knife_bar__plus_02_dot_66_bar__plus_00_dot_83_bar__plus_00_dot_79 loc_bar_8_bar__minus_1_bar_0_bar_45)\n (objectAtLocation SoapBottle_bar__plus_02_dot_43_bar__plus_01_dot_03_bar__minus_01_dot_45 loc_bar_9_bar__minus_2_bar_0_bar_30)\n (objectAtLocation HousePlant_bar__plus_02_dot_52_bar__plus_01_dot_02_bar__plus_01_dot_82 loc_bar_9_bar__minus_2_bar_0_bar_30)\n (objectAtLocation Egg_bar__plus_02_dot_11_bar__plus_01_dot_91_bar__minus_01_dot_91 loc_bar_8_bar__minus_4_bar_2_bar_0)\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_76_bar__plus_00_dot_80_bar__minus_00_dot_70 loc_bar_7_bar__minus_3_bar_1_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_99 loc_bar_9_bar__minus_2_bar_0_bar_30)\n (objectAtLocation Tomato_bar__plus_02_dot_60_bar__plus_00_dot_82_bar__plus_03_dot_45 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__plus_02_dot_45_bar__plus_00_dot_77_bar__plus_03_dot_97 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_99_bar__plus_00_dot_03_bar__minus_01_dot_07 loc_bar_6_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Spatula_bar__minus_00_dot_92_bar__plus_01_dot_04_bar__plus_01_dot_82 loc_bar_0_bar_9_bar_3_bar_30)\n (objectAtLocation PaperTowelRoll_bar__plus_02_dot_45_bar__plus_00_dot_87_bar__plus_03_dot_75 loc_bar_10_bar_12_bar_0_bar_45)\n (objectAtLocation LightSwitch_bar__minus_00_dot_10_bar__plus_01_dot_41_bar__minus_02_dot_07 loc_bar_0_bar__minus_6_bar_2_bar_30)\n (objectAtLocation Lettuce_bar__minus_00_dot_95_bar__plus_00_dot_84_bar__minus_00_dot_18 loc_bar_0_bar__minus_1_bar_3_bar_60)\n (objectAtLocation Apple_bar__minus_00_dot_78_bar__plus_00_dot_87_bar__plus_01_dot_18 loc_bar_0_bar_6_bar_3_bar_45)\n (objectAtLocation SaltShaker_bar__minus_00_dot_66_bar__plus_00_dot_80_bar__plus_01_dot_84 loc_bar_2_bar_9_bar_3_bar_30)\n (objectAtLocation PepperShaker_bar__plus_02_dot_80_bar__plus_00_dot_76_bar__plus_03_dot_75 loc_bar_10_bar_12_bar_0_bar_45)\n (objectAtLocation ButterKnife_bar__minus_00_dot_67_bar__plus_01_dot_03_bar__plus_02_dot_43 loc_bar_0_bar_9_bar_3_bar_30)\n (objectAtLocation Bread_bar__plus_02_dot_05_bar__plus_00_dot_83_bar__plus_04_dot_37 loc_bar_10_bar_12_bar_0_bar_45)\n (objectAtLocation Cup_bar__minus_00_dot_85_bar__plus_00_dot_82_bar__plus_01_dot_41 loc_bar_0_bar_6_bar_3_bar_45)\n (objectAtLocation DishSponge_bar__plus_02_dot_10_bar__plus_00_dot_76_bar__plus_04_dot_19 loc_bar_10_bar_12_bar_0_bar_45)\n (objectAtLocation Bowl_bar__minus_00_dot_85_bar__plus_02_dot_29_bar__minus_00_dot_49 loc_bar__minus_3_bar__minus_6_bar_0_bar__minus_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_65_bar__plus_00_dot_82_bar__plus_01_dot_18 loc_bar_0_bar_6_bar_3_bar_45)\n (objectAtLocation Mug_bar__plus_02_dot_79_bar__plus_00_dot_76_bar__plus_03_dot_53 loc_bar_10_bar_12_bar_0_bar_45)\n )\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 2", "take butterknife 3 from countertop 2", "go to sinkbasin 1", "clean butterknife 3 with sinkbasin 1", "go to diningtable 1", "move butterknife 3 to diningtable 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/valid_seen/pick_clean_then_place_in_recep-ButterKnife-None-DiningTable-16/trial_T20190909_114508_617301/initial_state.pddl b/data/alfworld/json_2.1.1/valid_seen/pick_clean_then_place_in_recep-ButterKnife-None-DiningTable-16/trial_T20190909_114508_617301/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..8d31b324bb1460dee0ffe59574d7f6c80c157416 --- /dev/null +++ b/data/alfworld/json_2.1.1/valid_seen/pick_clean_then_place_in_recep-ButterKnife-None-DiningTable-16/trial_T20190909_114508_617301/initial_state.pddl @@ -0,0 +1,1490 @@ + +(define (problem plan_trial_T20190909_114508_617301) +(:domain alfred) +(:objects +agent1 - agent +Curtains - object + SprayBottle - object + Mirror - object + HousePlant - object + Watch - object + TeddyBear - object + WateringCan - object + Bathtub - object + LightSwitch - object + Vase - object + Candle - object + Bread - object + Statue - object + HandTowel - object + StoveKnob - object + PaperTowelRoll - object + Pan - object + PepperShaker - object + Painting - object + CellPhone - object + Plunger - object + Spoon - object + SaltShaker - object + KeyChain - object + Footstool - object + Poster - object + Television - object + LaundryHamperLid - object + Glassbottle - object + AlarmClock - object + WineBottle - object + Bowl - object + Sink - object + TissueBox - object + TennisRacket - object + ToiletPaper - object + ScrubBrush - object + CreditCard - object + Laptop - object + Cloth - object + Cup - object + Chair - object + BasketBall - object + Kettle - object + PaperTowel - object + ShowerDoor - object + BaseballBat - object + Potato - object + Pillow - object + Lettuce - object + RemoteControl - object + Window - object + DishSponge - object + CD - object + Boots - object + Blinds - object + Pen - object + Newspaper - object + Plate - object + Mug - object + ShowerGlass - object + ToiletPaperRoll - object + SoapBar - object + FloorLamp - object + SoapBottle - object + Pot - object + Pencil - object + Spatula - object + Towel - object + Fork - object + Ladle - object + Knife - object + Apple - object + Box - object + Tomato - object + ButterKnife - object + Egg - object + Book - object + DeskLamp - object +CurtainsType - otype + SprayBottleType - otype + MirrorType - otype + HousePlantType - otype + WatchType - otype + TeddyBearType - otype + WateringCanType - otype + BathtubType - otype + LightSwitchType - otype + VaseType - otype + CandleType - otype + BreadType - otype + StatueType - otype + HandTowelType - otype + StoveKnobType - otype + PaperTowelRollType - otype + PanType - otype + PepperShakerType - otype + PaintingType - otype + CellPhoneType - otype + PlungerType - otype + SpoonType - otype + SaltShakerType - otype + KeyChainType - otype + FootstoolType - otype + PosterType - otype + TelevisionType - otype + LaundryHamperLidType - otype + GlassbottleType - otype + AlarmClockType - otype + WineBottleType - otype + BowlType - otype + SinkType - otype + TissueBoxType - otype + TennisRacketType - otype + ToiletPaperType - otype + ScrubBrushType - otype + CreditCardType - otype + LaptopType - otype + ClothType - otype + CupType - otype + ChairType - otype + BasketBallType - otype + KettleType - otype + PaperTowelType - otype + ShowerDoorType - otype + BaseballBatType - otype + PotatoType - otype + PillowType - otype + LettuceType - otype + RemoteControlType - otype + WindowType - otype + DishSpongeType - otype + CDType - otype + BootsType - otype + BlindsType - otype + PenType - otype + NewspaperType - otype + PlateType - otype + MugType - otype + ShowerGlassType - otype + ToiletPaperRollType - otype + SoapBarType - otype + FloorLampType - otype + SoapBottleType - otype + PotType - otype + PencilType - otype + SpatulaType - otype + TowelType - otype + ForkType - otype + LadleType - otype + KnifeType - otype + AppleType - otype + BoxType - otype + TomatoType - otype + ButterKnifeType - otype + EggType - otype + BookType - otype + DeskLampType - otype +CabinetType - rtype + ShelfType - rtype + DiningTableType - rtype + TowelHolderType - rtype + PaintingHangerType - rtype + TVStandType - rtype + LaundryHamperType - rtype + OttomanType - rtype + SafeType - rtype + CoffeeMachineType - rtype + CounterTopType - rtype + ToiletType - rtype + FridgeType - rtype + CoffeeTableType - rtype + SinkBasinType - rtype + GarbageCanType - rtype + BathtubBasinType - rtype + SideTableType - rtype + CartType - rtype + BedType - rtype + DeskType - rtype + SofaType - rtype + ArmChairType - rtype + MicrowaveType - rtype + HandTowelHolderType - rtype + ToasterType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + DrawerType - rtype + DresserType - rtype + + + Apple_bar__minus_00_dot_65_bar__plus_00_dot_87_bar__plus_01_dot_49 - object + Apple_bar__minus_00_dot_78_bar__plus_00_dot_87_bar__plus_01_dot_18 - object + Apple_bar__minus_01_dot_04_bar__plus_00_dot_13_bar__plus_02_dot_75 - object + Bowl_bar__plus_02_dot_30_bar__plus_00_dot_76_bar__plus_04_dot_32 - object + Bowl_bar__plus_02_dot_53_bar__plus_00_dot_76_bar__plus_03_dot_62 - object + Bowl_bar__minus_00_dot_85_bar__plus_02_dot_29_bar__minus_00_dot_49 - object + Bread_bar__plus_02_dot_05_bar__plus_00_dot_83_bar__plus_04_dot_37 - object + ButterKnife_bar__plus_02_dot_34_bar__plus_01_dot_03_bar__plus_01_dot_80 - object + ButterKnife_bar__plus_02_dot_82_bar__plus_00_dot_76_bar__plus_04_dot_12 - object + ButterKnife_bar__minus_00_dot_59_bar__plus_00_dot_80_bar__plus_00_dot_54 - object + ButterKnife_bar__minus_00_dot_67_bar__plus_01_dot_03_bar__plus_02_dot_43 - object + Chair_bar__plus_01_dot_70_bar__plus_00_dot_00_bar__plus_04_dot_35 - object + Cup_bar__plus_02_dot_49_bar__plus_01_dot_78_bar__minus_01_dot_83 - object + Cup_bar__minus_00_dot_85_bar__plus_00_dot_82_bar__plus_01_dot_41 - object + Cup_bar__minus_00_dot_97_bar__plus_01_dot_44_bar__minus_00_dot_52 - object + DishSponge_bar__plus_02_dot_10_bar__plus_00_dot_76_bar__plus_04_dot_19 - object + Egg_bar__plus_02_dot_11_bar__plus_01_dot_91_bar__minus_01_dot_91 - object + Faucet_bar__minus_01_dot_12_bar__plus_01_dot_01_bar__plus_01_dot_33 - object + Fork_bar__plus_02_dot_76_bar__plus_00_dot_80_bar__minus_00_dot_70 - object + Glassbottle_bar__plus_02_dot_11_bar__plus_00_dot_77_bar__plus_03_dot_53 - object + Glassbottle_bar__minus_00_dot_67_bar__plus_01_dot_03_bar__plus_02_dot_19 - object + Glassbottle_bar__minus_00_dot_92_bar__plus_00_dot_08_bar__plus_02_dot_78 - 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_66_bar__plus_00_dot_83_bar__plus_00_dot_79 - object + Knife_bar__minus_00_dot_71_bar__plus_00_dot_84_bar__plus_01_dot_10 - object + Ladle_bar__plus_01_dot_23_bar__plus_01_dot_07_bar__minus_01_dot_99 - object + Ladle_bar__plus_02_dot_28_bar__plus_00_dot_80_bar__plus_03_dot_90 - object + Lettuce_bar__plus_02_dot_28_bar__plus_00_dot_82_bar__plus_03_dot_75 - object + Lettuce_bar__plus_02_dot_98_bar__plus_00_dot_82_bar__plus_03_dot_97 - object + Lettuce_bar__minus_00_dot_95_bar__plus_00_dot_84_bar__minus_00_dot_18 - object + LightSwitch_bar__minus_00_dot_10_bar__plus_01_dot_41_bar__minus_02_dot_07 - object + Mug_bar__plus_02_dot_79_bar__plus_00_dot_76_bar__plus_03_dot_53 - object + Pan_bar__plus_02_dot_04_bar__plus_01_dot_02_bar__plus_01_dot_78 - object + Pan_bar__plus_02_dot_12_bar__plus_01_dot_03_bar__minus_01_dot_84 - object + PaperTowelRoll_bar__plus_02_dot_45_bar__plus_00_dot_87_bar__plus_03_dot_75 - object + PepperShaker_bar__plus_02_dot_71_bar__plus_01_dot_02_bar__minus_00_dot_24 - object + PepperShaker_bar__plus_02_dot_80_bar__plus_00_dot_76_bar__plus_03_dot_75 - object + Plate_bar__plus_02_dot_53_bar__plus_00_dot_76_bar__plus_04_dot_50 - object + Plate_bar__plus_02_dot_99_bar__plus_00_dot_03_bar__minus_01_dot_07 - object + Plate_bar__minus_00_dot_42_bar__plus_01_dot_03_bar__plus_00_dot_60 - object + Potato_bar__plus_01_dot_78_bar__plus_01_dot_07_bar__plus_01_dot_56 - object + Potato_bar__plus_02_dot_72_bar__plus_01_dot_07_bar__plus_01_dot_60 - object + Potato_bar__minus_01_dot_07_bar__plus_01_dot_07_bar__plus_01_dot_24 - object + Pot_bar__plus_01_dot_76_bar__plus_01_dot_03_bar__minus_01_dot_60 - object + Pot_bar__plus_02_dot_18_bar__plus_01_dot_03_bar__minus_01_dot_60 - object + SaltShaker_bar__plus_01_dot_20_bar__plus_00_dot_79_bar__minus_01_dot_42 - object + SaltShaker_bar__plus_01_dot_35_bar__plus_01_dot_02_bar__minus_01_dot_88 - object + SaltShaker_bar__minus_00_dot_66_bar__plus_00_dot_80_bar__plus_01_dot_84 - object + Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33 - object + SoapBottle_bar__plus_02_dot_43_bar__plus_01_dot_03_bar__minus_01_dot_45 - object + Spatula_bar__minus_00_dot_42_bar__plus_01_dot_04_bar__plus_01_dot_82 - object + Spatula_bar__minus_00_dot_54_bar__plus_01_dot_04_bar__plus_00_dot_51 - object + Spatula_bar__minus_00_dot_92_bar__plus_01_dot_04_bar__plus_01_dot_82 - object + Spoon_bar__minus_00_dot_65_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_60_bar__plus_00_dot_82_bar__plus_03_dot_45 - object + Window_bar__plus_01_dot_76_bar__plus_01_dot_61_bar__plus_04_dot_76 - object + WineBottle_bar__plus_02_dot_45_bar__plus_00_dot_77_bar__plus_03_dot_97 - object + WineBottle_bar__plus_02_dot_63_bar__plus_00_dot_77_bar__plus_03_dot_97 - object + WineBottle_bar__minus_00_dot_36_bar__plus_01_dot_03_bar__plus_01_dot_36 - object + Cabinet_bar__plus_01_dot_14_bar__plus_00_dot_39_bar__minus_01_dot_36 - receptacle + Cabinet_bar__plus_01_dot_14_bar__plus_02_dot_23_bar__minus_01_dot_71 - receptacle + Cabinet_bar__plus_01_dot_31_bar__plus_00_dot_47_bar__plus_01_dot_64 - receptacle + Cabinet_bar__plus_01_dot_50_bar__plus_02_dot_48_bar__minus_01_dot_71 - receptacle + Cabinet_bar__plus_01_dot_88_bar__plus_00_dot_38_bar__plus_01_dot_02 - receptacle + Cabinet_bar__plus_01_dot_89_bar__plus_00_dot_38_bar__plus_01_dot_01 - receptacle + Cabinet_bar__plus_02_dot_39_bar__plus_02_dot_48_bar__minus_01_dot_71 - receptacle + Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__plus_00_dot_38 - receptacle + Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__minus_00_dot_48 - receptacle + Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__minus_00_dot_49 - receptacle + Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__minus_01_dot_34 - receptacle + Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_47_bar__plus_00_dot_37 - receptacle + Cabinet_bar__plus_02_dot_73_bar__plus_02_dot_23_bar__minus_01_dot_71 - receptacle + Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__plus_00_dot_02 - receptacle + Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__minus_00_dot_83 - receptacle + Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__minus_00_dot_84 - receptacle + Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__minus_01_dot_69 - receptacle + Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_38_bar__plus_00_dot_27 - receptacle + Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_38_bar__plus_01_dot_71 - receptacle + Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_38_bar__plus_02_dot_63 - receptacle + Cabinet_bar__minus_00_dot_66_bar__plus_02_dot_23_bar__plus_00_dot_59 - receptacle + Cabinet_bar__minus_00_dot_66_bar__plus_02_dot_50_bar__plus_00_dot_16 - receptacle + Cabinet_bar__minus_00_dot_66_bar__plus_02_dot_50_bar__minus_00_dot_87 - receptacle + Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_00_dot_62 - receptacle + Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_01_dot_60 - receptacle + Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_01_dot_62 - receptacle + Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_02_dot_61 - receptacle + CoffeeMachine_bar__minus_00_dot_94_bar__plus_01_dot_02_bar__plus_00_dot_65 - receptacle + CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68 - receptacle + CounterTop_bar__minus_00_dot_81_bar__plus_01_dot_06_bar__plus_02_dot_19 - receptacle + DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98 - receptacle + Drawer_bar__plus_01_dot_35_bar__plus_00_dot_84_bar__minus_01_dot_54 - receptacle + Drawer_bar__plus_01_dot_65_bar__plus_00_dot_83_bar__plus_01_dot_67 - receptacle + Drawer_bar__plus_01_dot_94_bar__plus_00_dot_83_bar__plus_01_dot_35 - receptacle + Drawer_bar__plus_02_dot_23_bar__plus_00_dot_83_bar__plus_01_dot_04 - receptacle + Drawer_bar__plus_02_dot_52_bar__plus_00_dot_83_bar__plus_00_dot_72 - receptacle + Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__plus_00_dot_16 - receptacle + Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__minus_00_dot_27 - receptacle + Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__minus_00_dot_70 - receptacle + Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__minus_01_dot_13 - receptacle + Drawer_bar__minus_00_dot_64_bar__plus_00_dot_83_bar__plus_00_dot_62 - receptacle + Drawer_bar__minus_00_dot_64_bar__plus_00_dot_83_bar__plus_01_dot_95 - receptacle + Drawer_bar__minus_00_dot_64_bar__plus_00_dot_83_bar__plus_02_dot_42 - receptacle + Fridge_bar__minus_00_dot_91_bar__plus_00_dot_00_bar__minus_00_dot_41 - receptacle + GarbageCan_bar__minus_00_dot_95_bar_00_dot_00_bar__plus_02_dot_83 - receptacle + Microwave_bar__plus_01_dot_94_bar__plus_01_dot_75_bar__minus_01_dot_83 - receptacle + Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33_bar_SinkBasin - receptacle + StoveBurner_bar__plus_01_dot_76_bar__plus_01_dot_02_bar__minus_01_dot_60 - receptacle + StoveBurner_bar__plus_01_dot_84_bar__plus_01_dot_02_bar__minus_01_dot_84 - receptacle + StoveBurner_bar__plus_02_dot_12_bar__plus_01_dot_02_bar__minus_01_dot_84 - receptacle + StoveBurner_bar__plus_02_dot_18_bar__plus_01_dot_02_bar__minus_01_dot_60 - receptacle + Toaster_bar__minus_01_dot_01_bar__plus_01_dot_02_bar__plus_02_dot_24 - receptacle + loc_bar_2_bar_6_bar_3_bar_60 - location + loc_bar_8_bar__minus_2_bar_1_bar__minus_30 - location + loc_bar_10_bar_12_bar_0_bar_45 - location + loc_bar_0_bar_6_bar_3_bar_45 - location + loc_bar_2_bar_11_bar_3_bar_30 - location + loc_bar_7_bar_0_bar_1_bar_45 - location + loc_bar_6_bar_15_bar_0_bar_0 - location + loc_bar_8_bar__minus_4_bar_2_bar_0 - location + loc_bar_0_bar_1_bar_3_bar__minus_30 - location + loc_bar_9_bar__minus_2_bar_0_bar_30 - location + loc_bar__minus_3_bar__minus_6_bar_0_bar__minus_30 - location + loc_bar_0_bar_3_bar_3_bar__minus_30 - location + loc_bar_9_bar__minus_2_bar_2_bar__minus_30 - location + loc_bar_7_bar__minus_2_bar_2_bar__minus_30 - location + loc_bar_0_bar_10_bar_3_bar__minus_30 - location + loc_bar_6_bar__minus_1_bar_1_bar_60 - location + loc_bar_9_bar__minus_4_bar_2_bar_45 - location + loc_bar_8_bar__minus_1_bar_0_bar_45 - location + loc_bar_8_bar__minus_4_bar_1_bar__minus_30 - location + loc_bar_0_bar_5_bar_3_bar__minus_30 - location + loc_bar_7_bar_3_bar_0_bar_60 - location + loc_bar_7_bar__minus_2_bar_2_bar_60 - location + loc_bar_4_bar_3_bar_0_bar_45 - location + loc_bar_0_bar__minus_1_bar_3_bar_60 - location + loc_bar_6_bar__minus_3_bar_1_bar_60 - location + loc_bar_0_bar__minus_6_bar_2_bar_30 - location + loc_bar_6_bar__minus_1_bar_1_bar_45 - location + loc_bar_2_bar_9_bar_3_bar_30 - location + loc_bar_7_bar__minus_2_bar_1_bar__minus_30 - location + loc_bar_7_bar__minus_3_bar_1_bar__minus_30 - location + loc_bar_2_bar_2_bar_3_bar_30 - location + loc_bar_2_bar_8_bar_3_bar_60 - location + loc_bar_8_bar_2_bar_1_bar_60 - location + loc_bar_9_bar__minus_4_bar_2_bar__minus_30 - location + loc_bar_0_bar_5_bar_3_bar_45 - location + loc_bar_0_bar_7_bar_3_bar__minus_30 - location + loc_bar_3_bar__minus_4_bar_1_bar_60 - location + loc_bar_8_bar__minus_4_bar_2_bar_30 - location + loc_bar_4_bar_7_bar_1_bar_60 - location + loc_bar_4_bar__minus_3_bar_2_bar__minus_30 - location + loc_bar_0_bar_3_bar_3_bar_30 - location + loc_bar_2_bar_4_bar_3_bar_60 - location + loc_bar__minus_2_bar_12_bar_3_bar_60 - location + loc_bar_8_bar__minus_4_bar_2_bar_45 - location + loc_bar_5_bar_2_bar_1_bar_45 - location + loc_bar_7_bar__minus_3_bar_1_bar_45 - location + loc_bar_6_bar_15_bar_0_bar_60 - location + loc_bar_0_bar_9_bar_3_bar_30 - location + 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SaltShaker_bar__minus_00_dot_66_bar__plus_00_dot_80_bar__plus_01_dot_84 Drawer_bar__minus_00_dot_64_bar__plus_00_dot_83_bar__plus_01_dot_95) + (inReceptacle SaltShaker_bar__plus_01_dot_20_bar__plus_00_dot_79_bar__minus_01_dot_42 Drawer_bar__plus_01_dot_35_bar__plus_00_dot_84_bar__minus_01_dot_54) + (inReceptacle Fork_bar__plus_02_dot_76_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 Knife_bar__plus_02_dot_66_bar__plus_00_dot_83_bar__plus_00_dot_79 Drawer_bar__plus_02_dot_52_bar__plus_00_dot_83_bar__plus_00_dot_72) + (inReceptacle Bowl_bar__minus_00_dot_85_bar__plus_02_dot_29_bar__minus_00_dot_49 Cabinet_bar__minus_00_dot_66_bar__plus_02_dot_50_bar__minus_00_dot_87) + (inReceptacle Cup_bar__plus_02_dot_49_bar__plus_01_dot_78_bar__minus_01_dot_83 Cabinet_bar__plus_02_dot_73_bar__plus_02_dot_23_bar__minus_01_dot_71) + (inReceptacle Plate_bar__plus_02_dot_99_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 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 Lettuce_bar__minus_00_dot_95_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 Cup_bar__minus_00_dot_97_bar__plus_01_dot_44_bar__minus_00_dot_52 Fridge_bar__minus_00_dot_91_bar__plus_00_dot_00_bar__minus_00_dot_41) + (inReceptacle Egg_bar__plus_02_dot_11_bar__plus_01_dot_91_bar__minus_01_dot_91 Microwave_bar__plus_01_dot_94_bar__plus_01_dot_75_bar__minus_01_dot_83) + (inReceptacle Apple_bar__minus_01_dot_04_bar__plus_00_dot_13_bar__plus_02_dot_75 GarbageCan_bar__minus_00_dot_95_bar_00_dot_00_bar__plus_02_dot_83) + (inReceptacle Glassbottle_bar__minus_00_dot_92_bar__plus_00_dot_08_bar__plus_02_dot_78 GarbageCan_bar__minus_00_dot_95_bar_00_dot_00_bar__plus_02_dot_83) + 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loc_bar_0_bar_3_bar_3_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_01_dot_60 loc_bar_0_bar_5_bar_3_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_01_dot_62 loc_bar_0_bar_7_bar_3_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_02_dot_61 loc_bar_0_bar_10_bar_3_bar__minus_30) + (receptacleAtLocation CoffeeMachine_bar__minus_00_dot_94_bar__plus_01_dot_02_bar__plus_00_dot_65 loc_bar_0_bar_3_bar_3_bar_30) + (receptacleAtLocation CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68 loc_bar_9_bar__minus_2_bar_0_bar_30) + (receptacleAtLocation CounterTop_bar__minus_00_dot_81_bar__plus_01_dot_06_bar__plus_02_dot_19 loc_bar_0_bar_9_bar_3_bar_30) + (receptacleAtLocation DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98 loc_bar_10_bar_12_bar_0_bar_45) + (receptacleAtLocation 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+ "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "PepperShaker_26395c85", + "position": { + "x": 2.70621943, + "y": 1.02317965, + "z": -0.236300111 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "ButterKnife_98253f2a", + "position": { + "x": -0.5904489, + "y": 0.8023382, + "z": 0.535134554 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Bread_7275394e", + "position": { + "x": 2.04694128, + "y": 0.832571, + "z": 4.372973 + }, + "rotation": { + "x": 0.0, + "y": 329.9999, + "z": 0.0 + } + }, + { + "objectName": "Cup_7fa88b29", + "position": { + "x": -0.968221545, + "y": 1.440705, + "z": -0.516975045 + }, + "rotation": { + "x": 0.0, + "y": 89.99984, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_00fca5a2", + "position": { + "x": 2.10099983, + "y": 0.7640346, + "z": 4.192656 + }, + "rotation": { + "x": 0.0, + "y": 269.999939, + "z": 0.0 + } + }, + { + "objectName": "Bowl_b3ba1f80", + "position": { + "x": 2.30256248, + "y": 0.7629045, + "z": 4.32 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Spoon_5dd10cb9", + "position": { + "x": -0.6459911, + "y": 0.8176854, + "z": 1.1816839 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_a04e993b", + "position": { + "x": 2.79078341, + "y": 0.759470344, + "z": 3.52991724 + }, + "rotation": { + "x": 0.0, + "y": 329.9999, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 170861577, + "scene_num": 16 + }, + "task_id": "trial_T20190909_114508_617301", + "task_type": "pick_clean_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A1O3TWBUDONVLO_3ERET4BTVP0HDC9RO2OFW8XTP8SK9N", + "high_descs": [ + "Turn around and walk forward to face the knife on the counter.", + "Pick up the knife on the counter.", + "Take a step to the left to face the sink.", + "Wash the knife in the sink and remove it.", + "Turn around and cross the room and turn left to face the kitchen table.", + "Place the knife on the kitchen table." + ], + "task_desc": "To wash an knife and place it on the kitchen table.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3F7G1FSFWQPLE_3HMIGG0U4OXCJCFYNPJS5KHT3HRY8F", + "high_descs": [ + "Turn right and walk forward, then turn right again and walk over to the counter.", + "Pick up the metal butter knife off of the counter.", + "Turn left and walk over to the sink.", + "Put the butter knife in the sink then turn on the water, after a couple seconds turn the water off and remove the now clean butter knife.", + "Turn right and walk towards the wall, then hang a right and walk over to the round white table in the corner of the room.", + "Put the clean butter knife on the round white table." + ], + "task_desc": "Put a clean butter knife on a round white table.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A12HZGOZQD5YK7_3HWRJOOET8TWWRDG1MD3F8PEX07SEA", + "high_descs": [ + "Turn around and go to the counter.", + "Pick up the knife on the counter.", + "Turn left and go to the sink.", + "Rinse the knife off in the sink and pick it back up.", + "Turn around and go to the round white table.", + "Put the knife on the table to the left of the tomato." + ], + "task_desc": "Put a clean knife on the table.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/valid_seen/pick_clean_then_place_in_recep-ButterKnife-None-Drawer-2/trial_T20190908_121728_511866/game.tw-pddl b/data/alfworld/json_2.1.1/valid_seen/pick_clean_then_place_in_recep-ButterKnife-None-Drawer-2/trial_T20190908_121728_511866/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..d338b8c795b31ccaedad8ccd426e016f0f2ef457 --- /dev/null +++ b/data/alfworld/json_2.1.1/valid_seen/pick_clean_then_place_in_recep-ButterKnife-None-Drawer-2/trial_T20190908_121728_511866/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\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 drawer.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190908_121728_511866)\n(:domain alfred)\n(:objects\nagent1 - agent\nCurtains - object\n SprayBottle - object\n Mirror - object\n HousePlant - object\n Watch - object\n TeddyBear - object\n WateringCan - object\n Bathtub - object\n LightSwitch - object\n Vase - object\n Candle - object\n Bread - object\n Statue - object\n HandTowel - object\n StoveKnob - object\n PaperTowelRoll - object\n Pan - object\n PepperShaker - object\n Painting - object\n CellPhone - object\n Plunger - object\n Spoon - object\n SaltShaker - object\n KeyChain - object\n Footstool - object\n Poster - object\n Television - object\n LaundryHamperLid - object\n Glassbottle - object\n AlarmClock - object\n WineBottle - object\n Bowl - object\n Sink - object\n TissueBox - object\n TennisRacket - object\n ToiletPaper - object\n ScrubBrush - object\n CreditCard - object\n Laptop - object\n Cloth - object\n Cup - object\n Chair - object\n BasketBall - object\n Kettle - object\n PaperTowel - object\n ShowerDoor - object\n BaseballBat - object\n Potato - object\n Pillow - object\n Lettuce - object\n RemoteControl - object\n Window - object\n DishSponge - object\n CD - object\n Boots - object\n Blinds - object\n Pen - object\n Newspaper - object\n Plate - object\n Mug - object\n ShowerGlass - object\n ToiletPaperRoll - object\n SoapBar - object\n FloorLamp - object\n SoapBottle - object\n Pot - object\n Pencil - object\n Spatula - object\n Towel - object\n Fork - object\n Ladle - object\n Knife - object\n Apple - object\n Box - object\n Tomato - object\n ButterKnife - object\n Egg - object\n Book - object\n DeskLamp - object\nCurtainsType - otype\n SprayBottleType - otype\n MirrorType - otype\n HousePlantType - otype\n WatchType - otype\n TeddyBearType - otype\n WateringCanType - otype\n BathtubType - otype\n LightSwitchType - otype\n VaseType - otype\n CandleType - otype\n BreadType - otype\n StatueType - otype\n HandTowelType - otype\n StoveKnobType - otype\n PaperTowelRollType - otype\n PanType - otype\n PepperShakerType - otype\n PaintingType - otype\n CellPhoneType - otype\n PlungerType - otype\n SpoonType - otype\n SaltShakerType - otype\n KeyChainType - otype\n FootstoolType - otype\n PosterType - otype\n TelevisionType - otype\n LaundryHamperLidType - otype\n GlassbottleType - otype\n AlarmClockType - otype\n WineBottleType - otype\n BowlType - otype\n SinkType - otype\n TissueBoxType - otype\n TennisRacketType - otype\n ToiletPaperType - otype\n ScrubBrushType - otype\n CreditCardType - otype\n LaptopType - otype\n ClothType - otype\n CupType - otype\n ChairType - otype\n BasketBallType - otype\n KettleType - otype\n PaperTowelType - otype\n ShowerDoorType - otype\n BaseballBatType - otype\n PotatoType - otype\n PillowType - otype\n LettuceType - otype\n RemoteControlType - otype\n WindowType - otype\n DishSpongeType - otype\n CDType - otype\n BootsType - otype\n BlindsType - otype\n PenType - otype\n NewspaperType - otype\n PlateType - otype\n MugType - otype\n ShowerGlassType - otype\n ToiletPaperRollType - otype\n SoapBarType - otype\n FloorLampType - otype\n SoapBottleType - otype\n PotType - otype\n PencilType - otype\n SpatulaType - otype\n TowelType - otype\n ForkType - otype\n LadleType - otype\n KnifeType - otype\n AppleType - otype\n BoxType - otype\n TomatoType - otype\n ButterKnifeType - otype\n EggType - otype\n BookType - otype\n DeskLampType - otype\nCabinetType - rtype\n ShelfType - rtype\n DiningTableType - rtype\n TowelHolderType - rtype\n PaintingHangerType - rtype\n TVStandType - rtype\n LaundryHamperType - rtype\n OttomanType - rtype\n SafeType - rtype\n CoffeeMachineType - rtype\n CounterTopType - rtype\n ToiletType - rtype\n FridgeType - rtype\n CoffeeTableType - rtype\n SinkBasinType - rtype\n GarbageCanType - rtype\n BathtubBasinType - rtype\n SideTableType - rtype\n CartType - rtype\n BedType - rtype\n DeskType - rtype\n SofaType - rtype\n ArmChairType - rtype\n MicrowaveType - rtype\n HandTowelHolderType - rtype\n ToasterType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n DrawerType - rtype\n DresserType - rtype\n\n\n Apple_bar__minus_01_dot_70_bar__plus_01_dot_73_bar__minus_00_dot_27 - object\n Apple_bar__minus_01_dot_75_bar__plus_01_dot_52_bar__plus_00_dot_01 - object\n Bowl_bar__plus_00_dot_97_bar__plus_01_dot_68_bar__minus_01_dot_58 - object\n Bread_bar__plus_01_dot_80_bar__plus_00_dot_99_bar__minus_01_dot_61 - object\n Bread_bar__minus_00_dot_11_bar__plus_01_dot_01_bar__plus_00_dot_51 - object\n Bread_bar__minus_00_dot_11_bar__plus_01_dot_01_bar__plus_01_dot_20 - object\n ButterKnife_bar__plus_00_dot_11_bar__plus_00_dot_93_bar__plus_00_dot_27 - object\n ButterKnife_bar__minus_00_dot_21_bar__plus_00_dot_93_bar__plus_00_dot_97 - object\n ButterKnife_bar__minus_00_dot_21_bar__plus_00_dot_93_bar__plus_01_dot_20 - object\n ButterKnife_bar__minus_01_dot_05_bar__plus_00_dot_91_bar__minus_01_dot_51 - object\n CellPhone_bar__plus_01_dot_82_bar__plus_00_dot_12_bar__plus_00_dot_45 - object\n CellPhone_bar__minus_00_dot_75_bar__plus_00_dot_67_bar__minus_01_dot_33 - object\n CellPhone_bar__minus_00_dot_84_bar__plus_00_dot_91_bar__minus_01_dot_32 - object\n Chair_bar__minus_00_dot_06_bar__plus_00_dot_52_bar__plus_01_dot_37 - object\n Cup_bar__plus_01_dot_89_bar__plus_01_dot_00_bar__minus_00_dot_60 - object\n Cup_bar__minus_01_dot_70_bar__plus_01_dot_47_bar__minus_00_dot_27 - object\n DishSponge_bar__plus_01_dot_71_bar__plus_00_dot_22_bar__plus_01_dot_35 - object\n Egg_bar__plus_00_dot_11_bar__plus_00_dot_98_bar__plus_00_dot_74 - object\n Egg_bar__minus_01_dot_59_bar__plus_01_dot_53_bar__plus_00_dot_20 - object\n Faucet_bar__minus_00_dot_02_bar__plus_01_dot_14_bar__minus_01_dot_61 - object\n Fork_bar__plus_01_dot_61_bar__plus_00_dot_35_bar__plus_00_dot_46 - object\n Fork_bar__plus_01_dot_71_bar__plus_00_dot_58_bar__plus_00_dot_05 - object\n Kettle_bar__plus_01_dot_68_bar__plus_00_dot_90_bar__plus_00_dot_09 - object\n Knife_bar__minus_00_dot_11_bar__plus_00_dot_95_bar__minus_00_dot_19 - object\n Ladle_bar__minus_00_dot_21_bar__plus_00_dot_97_bar__plus_00_dot_04 - object\n Lettuce_bar__plus_00_dot_17_bar__plus_00_dot_84_bar__minus_01_dot_44 - object\n Lettuce_bar__plus_00_dot_32_bar__plus_01_dot_00_bar__plus_00_dot_27 - object\n Lettuce_bar__minus_00_dot_09_bar__plus_00_dot_84_bar__minus_01_dot_44 - object\n LightSwitch_bar__minus_00_dot_15_bar__plus_01_dot_29_bar__plus_03_dot_70 - object\n Mug_bar__plus_02_dot_02_bar__plus_01_dot_00_bar__minus_00_dot_81 - object\n Mug_bar__minus_01_dot_20_bar__plus_00_dot_11_bar__minus_01_dot_42 - object\n Pan_bar__minus_01_dot_29_bar__plus_00_dot_90_bar__minus_01_dot_35 - object\n PepperShaker_bar__plus_01_dot_66_bar__plus_00_dot_69_bar__plus_00_dot_18 - object\n PepperShaker_bar__minus_00_dot_42_bar__plus_00_dot_11_bar__minus_01_dot_35 - object\n Plate_bar__plus_00_dot_00_bar__plus_00_dot_92_bar__plus_00_dot_04 - object\n Plate_bar__plus_00_dot_19_bar__plus_00_dot_11_bar__minus_01_dot_47 - object\n Plate_bar__plus_01_dot_96_bar__plus_01_dot_66_bar__minus_01_dot_13 - object\n Potato_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__plus_00_dot_74 - object\n Potato_bar__plus_01_dot_99_bar__plus_01_dot_03_bar__minus_00_dot_65 - object\n Pot_bar__plus_01_dot_98_bar__plus_00_dot_94_bar__plus_00_dot_38 - object\n SaltShaker_bar__minus_01_dot_29_bar__plus_00_dot_11_bar__minus_01_dot_30 - object\n Sink_bar__plus_00_dot_00_bar__plus_00_dot_89_bar__minus_01_dot_44 - object\n SoapBottle_bar__plus_00_dot_31_bar__plus_00_dot_12_bar__minus_01_dot_28 - object\n SoapBottle_bar__plus_01_dot_99_bar__plus_00_dot_92_bar__plus_01_dot_11 - object\n SoapBottle_bar__minus_01_dot_67_bar__plus_00_dot_92_bar__minus_01_dot_32 - object\n Spatula_bar__plus_01_dot_61_bar__plus_00_dot_16_bar__plus_01_dot_15 - object\n Spatula_bar__minus_00_dot_18_bar__plus_00_dot_78_bar__minus_01_dot_55 - object\n Spoon_bar__plus_00_dot_21_bar__plus_00_dot_93_bar__plus_00_dot_74 - object\n StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_46 - object\n StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_52 - object\n StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_57 - object\n StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_63 - object\n StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_68 - object\n StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_74 - object\n Tomato_bar__minus_00_dot_11_bar__plus_00_dot_98_bar__plus_00_dot_97 - object\n Tomato_bar__minus_01_dot_72_bar__plus_00_dot_62_bar__plus_00_dot_01 - object\n Tomato_bar__minus_01_dot_80_bar__plus_00_dot_10_bar__plus_01_dot_29 - object\n Window_bar__plus_02_dot_22_bar__plus_01_dot_57_bar__minus_00_dot_39 - object\n Window_bar__minus_00_dot_01_bar__plus_01_dot_58_bar__minus_01_dot_82 - object\n Window_bar__minus_03_dot_24_bar__plus_01_dot_62_bar__plus_02_dot_69 - object\n Cabinet_bar__plus_00_dot_41_bar__plus_00_dot_48_bar__plus_00_dot_45 - receptacle\n Cabinet_bar__plus_00_dot_50_bar__plus_00_dot_48_bar__minus_01_dot_15 - receptacle\n Cabinet_bar__plus_01_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_15 - receptacle\n Cabinet_bar__plus_01_dot_71_bar__plus_02_dot_02_bar__minus_01_dot_45 - receptacle\n Cabinet_bar__plus_01_dot_79_bar__plus_02_dot_02_bar__minus_00_dot_82 - receptacle\n Cabinet_bar__minus_00_dot_50_bar__plus_00_dot_48_bar__minus_01_dot_15 - receptacle\n Cabinet_bar__minus_00_dot_63_bar__plus_02_dot_02_bar__minus_01_dot_45 - receptacle\n Cabinet_bar__minus_01_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_15 - receptacle\n Cabinet_bar__minus_01_dot_70_bar__plus_02_dot_02_bar__minus_01_dot_45 - receptacle\n CoffeeMachine_bar__plus_01_dot_36_bar__plus_00_dot_90_bar__minus_01_dot_60 - receptacle\n CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51 - receptacle\n CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51 - receptacle\n Drawer_bar__plus_00_dot_81_bar__plus_00_dot_48_bar__minus_01_dot_16 - receptacle\n Drawer_bar__plus_01_dot_50_bar__plus_00_dot_14_bar__plus_00_dot_60 - receptacle\n Drawer_bar__plus_01_dot_50_bar__plus_00_dot_20_bar__plus_01_dot_22 - receptacle\n Drawer_bar__plus_01_dot_50_bar__plus_00_dot_20_bar__minus_00_dot_02 - receptacle\n Drawer_bar__plus_01_dot_50_bar__plus_00_dot_31_bar__plus_00_dot_60 - receptacle\n Drawer_bar__plus_01_dot_50_bar__plus_00_dot_43_bar__minus_00_dot_02 - receptacle\n Drawer_bar__plus_01_dot_50_bar__plus_00_dot_52_bar__plus_01_dot_22 - receptacle\n Drawer_bar__plus_01_dot_50_bar__plus_00_dot_54_bar__plus_00_dot_60 - receptacle\n Drawer_bar__plus_01_dot_50_bar__plus_00_dot_60_bar__minus_00_dot_02 - receptacle\n Drawer_bar__plus_01_dot_50_bar__plus_00_dot_63_bar__plus_00_dot_61 - receptacle\n Drawer_bar__plus_01_dot_50_bar__plus_00_dot_63_bar__minus_00_dot_02 - receptacle\n Drawer_bar__plus_01_dot_50_bar__plus_00_dot_78_bar__plus_01_dot_22 - receptacle\n Drawer_bar__minus_00_dot_70_bar__plus_00_dot_48_bar__minus_01_dot_16 - receptacle\n Fridge_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__plus_00_dot_01 - receptacle\n GarbageCan_bar__minus_01_dot_80_bar__plus_00_dot_00_bar__plus_01_dot_33 - receptacle\n Microwave_bar__plus_01_dot_93_bar__plus_00_dot_90_bar__minus_00_dot_77 - receptacle\n Sink_bar__plus_00_dot_00_bar__plus_00_dot_89_bar__minus_01_dot_44_bar_SinkBasin - receptacle\n StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_38 - receptacle\n StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_60 - receptacle\n StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_82 - receptacle\n StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_38 - receptacle\n StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_60 - receptacle\n StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_82 - receptacle\n Toaster_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__minus_00_dot_34 - receptacle\n loc_bar_4_bar__minus_3_bar_1_bar__minus_30 - location\n loc_bar_3_bar_1_bar_1_bar_60 - location\n loc_bar_5_bar_2_bar_1_bar_60 - location\n loc_bar_3_bar_4_bar_1_bar_60 - location\n loc_bar_2_bar_7_bar_1_bar_60 - location\n loc_bar__minus_3_bar__minus_1_bar_2_bar_60 - location\n loc_bar__minus_3_bar__minus_2_bar_2_bar_60 - location\n loc_bar_4_bar__minus_3_bar_1_bar_45 - location\n loc_bar_0_bar__minus_3_bar_2_bar_45 - location\n loc_bar_5_bar_3_bar_1_bar_60 - location\n loc_bar_3_bar_7_bar_2_bar_60 - location\n loc_bar_0_bar_8_bar_2_bar_60 - location\n loc_bar_3_bar_3_bar_1_bar_60 - location\n loc_bar_5_bar_0_bar_1_bar_60 - location\n loc_bar_5_bar_0_bar_2_bar_45 - location\n loc_bar_5_bar_4_bar_3_bar_60 - location\n loc_bar__minus_10_bar_11_bar_3_bar_0 - location\n loc_bar_4_bar_3_bar_2_bar_60 - location\n loc_bar__minus_5_bar_6_bar_3_bar_60 - location\n loc_bar__minus_3_bar_0_bar_3_bar_60 - location\n loc_bar_3_bar_0_bar_3_bar_45 - location\n loc_bar__minus_3_bar__minus_3_bar_3_bar__minus_15 - location\n loc_bar__minus_1_bar_12_bar_0_bar_30 - location\n loc_bar_5_bar_3_bar_1_bar_45 - location\n loc_bar__minus_3_bar__minus_3_bar_2_bar_45 - location\n loc_bar__minus_3_bar__minus_3_bar_2_bar__minus_30 - location\n loc_bar_4_bar__minus_3_bar_2_bar_45 - location\n loc_bar_5_bar_2_bar_1_bar_45 - location\n loc_bar_3_bar__minus_1_bar_2_bar_60 - location\n loc_bar_3_bar_6_bar_1_bar_45 - location\n loc_bar_3_bar_2_bar_3_bar_45 - location\n loc_bar_4_bar__minus_1_bar_1_bar_45 - location\n loc_bar_0_bar__minus_3_bar_2_bar_60 - location\n loc_bar_0_bar__minus_3_bar_2_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Cabinet_bar__minus_01_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_15 CabinetType)\n (receptacleType Toaster_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__minus_00_dot_34 ToasterType)\n (receptacleType Drawer_bar__plus_01_dot_50_bar__plus_00_dot_14_bar__plus_00_dot_60 DrawerType)\n (receptacleType CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51 CounterTopType)\n (receptacleType Drawer_bar__plus_01_dot_50_bar__plus_00_dot_60_bar__minus_00_dot_02 DrawerType)\n (receptacleType Drawer_bar__plus_01_dot_50_bar__plus_00_dot_78_bar__plus_01_dot_22 DrawerType)\n (receptacleType StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_82 StoveBurnerType)\n (receptacleType StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_82 StoveBurnerType)\n (receptacleType StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_60 StoveBurnerType)\n (receptacleType Cabinet_bar__minus_01_dot_70_bar__plus_02_dot_02_bar__minus_01_dot_45 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_63_bar__plus_02_dot_02_bar__minus_01_dot_45 CabinetType)\n (receptacleType Drawer_bar__plus_01_dot_50_bar__plus_00_dot_31_bar__plus_00_dot_60 DrawerType)\n (receptacleType Drawer_bar__plus_01_dot_50_bar__plus_00_dot_54_bar__plus_00_dot_60 DrawerType)\n (receptacleType CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51 CounterTopType)\n (receptacleType Cabinet_bar__plus_00_dot_50_bar__plus_00_dot_48_bar__minus_01_dot_15 CabinetType)\n (receptacleType StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_38 StoveBurnerType)\n (receptacleType Drawer_bar__minus_00_dot_70_bar__plus_00_dot_48_bar__minus_01_dot_16 DrawerType)\n (receptacleType Cabinet_bar__plus_00_dot_41_bar__plus_00_dot_48_bar__plus_00_dot_45 CabinetType)\n (receptacleType CoffeeMachine_bar__plus_01_dot_36_bar__plus_00_dot_90_bar__minus_01_dot_60 CoffeeMachineType)\n (receptacleType Sink_bar__plus_00_dot_00_bar__plus_00_dot_89_bar__minus_01_dot_44_bar_SinkBasin SinkBasinType)\n (receptacleType Cabinet_bar__minus_00_dot_50_bar__plus_00_dot_48_bar__minus_01_dot_15 CabinetType)\n (receptacleType Drawer_bar__plus_01_dot_50_bar__plus_00_dot_43_bar__minus_00_dot_02 DrawerType)\n (receptacleType Drawer_bar__plus_00_dot_81_bar__plus_00_dot_48_bar__minus_01_dot_16 DrawerType)\n (receptacleType StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_60 StoveBurnerType)\n (receptacleType Cabinet_bar__plus_01_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_15 CabinetType)\n (receptacleType Microwave_bar__plus_01_dot_93_bar__plus_00_dot_90_bar__minus_00_dot_77 MicrowaveType)\n (receptacleType Drawer_bar__plus_01_dot_50_bar__plus_00_dot_63_bar__minus_00_dot_02 DrawerType)\n (receptacleType GarbageCan_bar__minus_01_dot_80_bar__plus_00_dot_00_bar__plus_01_dot_33 GarbageCanType)\n (receptacleType Drawer_bar__plus_01_dot_50_bar__plus_00_dot_63_bar__plus_00_dot_61 DrawerType)\n (receptacleType Cabinet_bar__plus_01_dot_79_bar__plus_02_dot_02_bar__minus_00_dot_82 CabinetType)\n (receptacleType Cabinet_bar__plus_01_dot_71_bar__plus_02_dot_02_bar__minus_01_dot_45 CabinetType)\n (receptacleType Drawer_bar__plus_01_dot_50_bar__plus_00_dot_20_bar__minus_00_dot_02 DrawerType)\n (receptacleType Drawer_bar__plus_01_dot_50_bar__plus_00_dot_52_bar__plus_01_dot_22 DrawerType)\n (receptacleType StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_38 StoveBurnerType)\n (receptacleType Drawer_bar__plus_01_dot_50_bar__plus_00_dot_20_bar__plus_01_dot_22 DrawerType)\n (receptacleType Fridge_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__plus_00_dot_01 FridgeType)\n (objectType CellPhone_bar__minus_00_dot_75_bar__plus_00_dot_67_bar__minus_01_dot_33 CellPhoneType)\n (objectType Pan_bar__minus_01_dot_29_bar__plus_00_dot_90_bar__minus_01_dot_35 PanType)\n (objectType StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_63 StoveKnobType)\n (objectType Cup_bar__minus_01_dot_70_bar__plus_01_dot_47_bar__minus_00_dot_27 CupType)\n (objectType Apple_bar__minus_01_dot_70_bar__plus_01_dot_73_bar__minus_00_dot_27 AppleType)\n (objectType Pot_bar__plus_01_dot_98_bar__plus_00_dot_94_bar__plus_00_dot_38 PotType)\n (objectType Window_bar__plus_02_dot_22_bar__plus_01_dot_57_bar__minus_00_dot_39 WindowType)\n (objectType Bread_bar__minus_00_dot_11_bar__plus_01_dot_01_bar__plus_00_dot_51 BreadType)\n (objectType ButterKnife_bar__minus_00_dot_21_bar__plus_00_dot_93_bar__plus_01_dot_20 ButterKnifeType)\n (objectType ButterKnife_bar__plus_00_dot_11_bar__plus_00_dot_93_bar__plus_00_dot_27 ButterKnifeType)\n (objectType Lettuce_bar__minus_00_dot_09_bar__plus_00_dot_84_bar__minus_01_dot_44 LettuceType)\n (objectType Mug_bar__minus_01_dot_20_bar__plus_00_dot_11_bar__minus_01_dot_42 MugType)\n (objectType SoapBottle_bar__plus_00_dot_31_bar__plus_00_dot_12_bar__minus_01_dot_28 SoapBottleType)\n (objectType Window_bar__minus_03_dot_24_bar__plus_01_dot_62_bar__plus_02_dot_69 WindowType)\n (objectType LightSwitch_bar__minus_00_dot_15_bar__plus_01_dot_29_bar__plus_03_dot_70 LightSwitchType)\n (objectType Mug_bar__plus_02_dot_02_bar__plus_01_dot_00_bar__minus_00_dot_81 MugType)\n (objectType SaltShaker_bar__minus_01_dot_29_bar__plus_00_dot_11_bar__minus_01_dot_30 SaltShakerType)\n (objectType Tomato_bar__minus_01_dot_72_bar__plus_00_dot_62_bar__plus_00_dot_01 TomatoType)\n (objectType CellPhone_bar__plus_01_dot_82_bar__plus_00_dot_12_bar__plus_00_dot_45 CellPhoneType)\n (objectType Lettuce_bar__plus_00_dot_17_bar__plus_00_dot_84_bar__minus_01_dot_44 LettuceType)\n (objectType PepperShaker_bar__minus_00_dot_42_bar__plus_00_dot_11_bar__minus_01_dot_35 PepperShakerType)\n (objectType Plate_bar__plus_01_dot_96_bar__plus_01_dot_66_bar__minus_01_dot_13 PlateType)\n (objectType Window_bar__minus_00_dot_01_bar__plus_01_dot_58_bar__minus_01_dot_82 WindowType)\n (objectType Spatula_bar__minus_00_dot_18_bar__plus_00_dot_78_bar__minus_01_dot_55 SpatulaType)\n (objectType Ladle_bar__minus_00_dot_21_bar__plus_00_dot_97_bar__plus_00_dot_04 LadleType)\n (objectType Kettle_bar__plus_01_dot_68_bar__plus_00_dot_90_bar__plus_00_dot_09 KettleType)\n (objectType Potato_bar__plus_01_dot_99_bar__plus_01_dot_03_bar__minus_00_dot_65 PotatoType)\n (objectType Cup_bar__plus_01_dot_89_bar__plus_01_dot_00_bar__minus_00_dot_60 CupType)\n (objectType StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_74 StoveKnobType)\n (objectType Spatula_bar__plus_01_dot_61_bar__plus_00_dot_16_bar__plus_01_dot_15 SpatulaType)\n (objectType Fork_bar__plus_01_dot_61_bar__plus_00_dot_35_bar__plus_00_dot_46 ForkType)\n (objectType StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_68 StoveKnobType)\n (objectType SoapBottle_bar__plus_01_dot_99_bar__plus_00_dot_92_bar__plus_01_dot_11 SoapBottleType)\n (objectType StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_57 StoveKnobType)\n (objectType Knife_bar__minus_00_dot_11_bar__plus_00_dot_95_bar__minus_00_dot_19 KnifeType)\n (objectType Fork_bar__plus_01_dot_71_bar__plus_00_dot_58_bar__plus_00_dot_05 ForkType)\n (objectType Chair_bar__minus_00_dot_06_bar__plus_00_dot_52_bar__plus_01_dot_37 ChairType)\n (objectType ButterKnife_bar__minus_00_dot_21_bar__plus_00_dot_93_bar__plus_00_dot_97 ButterKnifeType)\n (objectType Egg_bar__plus_00_dot_11_bar__plus_00_dot_98_bar__plus_00_dot_74 EggType)\n (objectType Tomato_bar__minus_00_dot_11_bar__plus_00_dot_98_bar__plus_00_dot_97 TomatoType)\n (objectType Lettuce_bar__plus_00_dot_32_bar__plus_01_dot_00_bar__plus_00_dot_27 LettuceType)\n (objectType Apple_bar__minus_01_dot_75_bar__plus_01_dot_52_bar__plus_00_dot_01 AppleType)\n (objectType Tomato_bar__minus_01_dot_80_bar__plus_00_dot_10_bar__plus_01_dot_29 TomatoType)\n (objectType Plate_bar__plus_00_dot_19_bar__plus_00_dot_11_bar__minus_01_dot_47 PlateType)\n (objectType Bread_bar__plus_01_dot_80_bar__plus_00_dot_99_bar__minus_01_dot_61 BreadType)\n (objectType Bread_bar__minus_00_dot_11_bar__plus_01_dot_01_bar__plus_01_dot_20 BreadType)\n (objectType ButterKnife_bar__minus_01_dot_05_bar__plus_00_dot_91_bar__minus_01_dot_51 ButterKnifeType)\n (objectType Spoon_bar__plus_00_dot_21_bar__plus_00_dot_93_bar__plus_00_dot_74 SpoonType)\n (objectType Bowl_bar__plus_00_dot_97_bar__plus_01_dot_68_bar__minus_01_dot_58 BowlType)\n (objectType Potato_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__plus_00_dot_74 PotatoType)\n (objectType Egg_bar__minus_01_dot_59_bar__plus_01_dot_53_bar__plus_00_dot_20 EggType)\n (objectType DishSponge_bar__plus_01_dot_71_bar__plus_00_dot_22_bar__plus_01_dot_35 DishSpongeType)\n (objectType Plate_bar__plus_00_dot_00_bar__plus_00_dot_92_bar__plus_00_dot_04 PlateType)\n (objectType StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_46 StoveKnobType)\n (objectType PepperShaker_bar__plus_01_dot_66_bar__plus_00_dot_69_bar__plus_00_dot_18 PepperShakerType)\n (objectType StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_52 StoveKnobType)\n (objectType Sink_bar__plus_00_dot_00_bar__plus_00_dot_89_bar__minus_01_dot_44 SinkType)\n (objectType CellPhone_bar__minus_00_dot_84_bar__plus_00_dot_91_bar__minus_01_dot_32 CellPhoneType)\n (objectType SoapBottle_bar__minus_01_dot_67_bar__plus_00_dot_92_bar__minus_01_dot_32 SoapBottleType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType KettleType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType PotType)\n (canContain CabinetType BowlType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType LadleType)\n (canContain CabinetType PlateType)\n (canContain CabinetType MugType)\n (canContain CabinetType PanType)\n (canContain CabinetType PepperShakerType)\n (canContain CabinetType CupType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType SpoonType)\n (canContain DrawerType SaltShakerType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType SpatulaType)\n (canContain DrawerType LadleType)\n (canContain DrawerType ForkType)\n (canContain DrawerType KnifeType)\n (canContain DrawerType PepperShakerType)\n (canContain DrawerType ButterKnifeType)\n (canContain CounterTopType CellPhoneType)\n (canContain CounterTopType SpoonType)\n (canContain CounterTopType SaltShakerType)\n (canContain CounterTopType KettleType)\n (canContain CounterTopType PotatoType)\n (canContain CounterTopType SoapBottleType)\n (canContain CounterTopType LettuceType)\n (canContain CounterTopType PotType)\n (canContain CounterTopType BowlType)\n (canContain CounterTopType DishSpongeType)\n (canContain CounterTopType SpatulaType)\n (canContain CounterTopType ForkType)\n (canContain CounterTopType BreadType)\n (canContain CounterTopType LadleType)\n (canContain CounterTopType KnifeType)\n (canContain CounterTopType AppleType)\n (canContain CounterTopType PlateType)\n (canContain CounterTopType MugType)\n (canContain CounterTopType PanType)\n (canContain CounterTopType ButterKnifeType)\n (canContain CounterTopType PepperShakerType)\n (canContain CounterTopType TomatoType)\n (canContain CounterTopType CupType)\n (canContain CounterTopType EggType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType SpoonType)\n (canContain DrawerType SaltShakerType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType SpatulaType)\n (canContain DrawerType LadleType)\n (canContain DrawerType ForkType)\n (canContain DrawerType KnifeType)\n (canContain DrawerType PepperShakerType)\n (canContain DrawerType ButterKnifeType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType SpoonType)\n (canContain DrawerType SaltShakerType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType SpatulaType)\n (canContain DrawerType LadleType)\n (canContain DrawerType ForkType)\n (canContain DrawerType KnifeType)\n (canContain DrawerType PepperShakerType)\n (canContain DrawerType ButterKnifeType)\n (canContain StoveBurnerType PanType)\n (canContain StoveBurnerType KettleType)\n (canContain StoveBurnerType PotType)\n (canContain StoveBurnerType PanType)\n (canContain StoveBurnerType KettleType)\n (canContain StoveBurnerType PotType)\n (canContain StoveBurnerType PanType)\n (canContain StoveBurnerType KettleType)\n (canContain StoveBurnerType PotType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType KettleType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType PotType)\n (canContain CabinetType BowlType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType LadleType)\n (canContain CabinetType PlateType)\n (canContain CabinetType MugType)\n (canContain CabinetType PanType)\n (canContain CabinetType PepperShakerType)\n (canContain CabinetType CupType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType KettleType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType PotType)\n (canContain CabinetType BowlType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType LadleType)\n (canContain CabinetType PlateType)\n (canContain CabinetType MugType)\n (canContain CabinetType PanType)\n (canContain CabinetType PepperShakerType)\n (canContain CabinetType CupType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType SpoonType)\n (canContain DrawerType SaltShakerType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType SpatulaType)\n (canContain DrawerType LadleType)\n (canContain DrawerType ForkType)\n (canContain DrawerType KnifeType)\n (canContain DrawerType PepperShakerType)\n (canContain DrawerType ButterKnifeType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType SpoonType)\n (canContain DrawerType SaltShakerType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType SpatulaType)\n (canContain DrawerType LadleType)\n (canContain DrawerType ForkType)\n (canContain DrawerType KnifeType)\n (canContain 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Apple_bar__minus_01_dot_70_bar__plus_01_dot_73_bar__minus_00_dot_27)\n (coolable Pot_bar__plus_01_dot_98_bar__plus_00_dot_94_bar__plus_00_dot_38)\n (coolable Bread_bar__minus_00_dot_11_bar__plus_01_dot_01_bar__plus_00_dot_51)\n (coolable Lettuce_bar__minus_00_dot_09_bar__plus_00_dot_84_bar__minus_01_dot_44)\n (coolable Mug_bar__minus_01_dot_20_bar__plus_00_dot_11_bar__minus_01_dot_42)\n (coolable Mug_bar__plus_02_dot_02_bar__plus_01_dot_00_bar__minus_00_dot_81)\n (coolable Tomato_bar__minus_01_dot_72_bar__plus_00_dot_62_bar__plus_00_dot_01)\n (coolable Lettuce_bar__plus_00_dot_17_bar__plus_00_dot_84_bar__minus_01_dot_44)\n (coolable Plate_bar__plus_01_dot_96_bar__plus_01_dot_66_bar__minus_01_dot_13)\n (coolable Potato_bar__plus_01_dot_99_bar__plus_01_dot_03_bar__minus_00_dot_65)\n (coolable Cup_bar__plus_01_dot_89_bar__plus_01_dot_00_bar__minus_00_dot_60)\n (coolable Egg_bar__plus_00_dot_11_bar__plus_00_dot_98_bar__plus_00_dot_74)\n (coolable Tomato_bar__minus_00_dot_11_bar__plus_00_dot_98_bar__plus_00_dot_97)\n (coolable Lettuce_bar__plus_00_dot_32_bar__plus_01_dot_00_bar__plus_00_dot_27)\n (coolable Apple_bar__minus_01_dot_75_bar__plus_01_dot_52_bar__plus_00_dot_01)\n (coolable Tomato_bar__minus_01_dot_80_bar__plus_00_dot_10_bar__plus_01_dot_29)\n (coolable Plate_bar__plus_00_dot_19_bar__plus_00_dot_11_bar__minus_01_dot_47)\n (coolable Bread_bar__plus_01_dot_80_bar__plus_00_dot_99_bar__minus_01_dot_61)\n (coolable Bread_bar__minus_00_dot_11_bar__plus_01_dot_01_bar__plus_01_dot_20)\n (coolable Bowl_bar__plus_00_dot_97_bar__plus_01_dot_68_bar__minus_01_dot_58)\n (coolable Potato_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__plus_00_dot_74)\n (coolable Egg_bar__minus_01_dot_59_bar__plus_01_dot_53_bar__plus_00_dot_20)\n (coolable Plate_bar__plus_00_dot_00_bar__plus_00_dot_92_bar__plus_00_dot_04)\n \n \n \n \n \n (sliceable Apple_bar__minus_01_dot_70_bar__plus_01_dot_73_bar__minus_00_dot_27)\n (sliceable Bread_bar__minus_00_dot_11_bar__plus_01_dot_01_bar__plus_00_dot_51)\n (sliceable Lettuce_bar__minus_00_dot_09_bar__plus_00_dot_84_bar__minus_01_dot_44)\n (sliceable Tomato_bar__minus_01_dot_72_bar__plus_00_dot_62_bar__plus_00_dot_01)\n (sliceable Lettuce_bar__plus_00_dot_17_bar__plus_00_dot_84_bar__minus_01_dot_44)\n (sliceable Potato_bar__plus_01_dot_99_bar__plus_01_dot_03_bar__minus_00_dot_65)\n (sliceable Egg_bar__plus_00_dot_11_bar__plus_00_dot_98_bar__plus_00_dot_74)\n (sliceable Tomato_bar__minus_00_dot_11_bar__plus_00_dot_98_bar__plus_00_dot_97)\n (sliceable Lettuce_bar__plus_00_dot_32_bar__plus_01_dot_00_bar__plus_00_dot_27)\n (sliceable Apple_bar__minus_01_dot_75_bar__plus_01_dot_52_bar__plus_00_dot_01)\n (sliceable Tomato_bar__minus_01_dot_80_bar__plus_00_dot_10_bar__plus_01_dot_29)\n (sliceable Bread_bar__plus_01_dot_80_bar__plus_00_dot_99_bar__minus_01_dot_61)\n (sliceable Bread_bar__minus_00_dot_11_bar__plus_01_dot_01_bar__plus_01_dot_20)\n (sliceable Potato_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__plus_00_dot_74)\n (sliceable Egg_bar__minus_01_dot_59_bar__plus_01_dot_53_bar__plus_00_dot_20)\n \n (inReceptacleObject Ladle_bar__minus_00_dot_21_bar__plus_00_dot_97_bar__plus_00_dot_04 Plate_bar__plus_00_dot_00_bar__plus_00_dot_92_bar__plus_00_dot_04)\n (inReceptacle PepperShaker_bar__minus_00_dot_42_bar__plus_00_dot_11_bar__minus_01_dot_35 Cabinet_bar__minus_00_dot_50_bar__plus_00_dot_48_bar__minus_01_dot_15)\n (inReceptacle PepperShaker_bar__plus_01_dot_66_bar__plus_00_dot_69_bar__plus_00_dot_18 Drawer_bar__plus_01_dot_50_bar__plus_00_dot_63_bar__minus_00_dot_02)\n (inReceptacle Fork_bar__plus_01_dot_71_bar__plus_00_dot_58_bar__plus_00_dot_05 Drawer_bar__plus_01_dot_50_bar__plus_00_dot_60_bar__minus_00_dot_02)\n (inReceptacle Pot_bar__plus_01_dot_98_bar__plus_00_dot_94_bar__plus_00_dot_38 StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_38)\n (inReceptacle Plate_bar__plus_01_dot_96_bar__plus_01_dot_66_bar__minus_01_dot_13 Cabinet_bar__plus_01_dot_79_bar__plus_02_dot_02_bar__minus_00_dot_82)\n (inReceptacle Plate_bar__plus_00_dot_19_bar__plus_00_dot_11_bar__minus_01_dot_47 Cabinet_bar__plus_00_dot_50_bar__plus_00_dot_48_bar__minus_01_dot_15)\n (inReceptacle SoapBottle_bar__plus_00_dot_31_bar__plus_00_dot_12_bar__minus_01_dot_28 Cabinet_bar__plus_00_dot_50_bar__plus_00_dot_48_bar__minus_01_dot_15)\n (inReceptacle CellPhone_bar__minus_00_dot_75_bar__plus_00_dot_67_bar__minus_01_dot_33 Drawer_bar__minus_00_dot_70_bar__plus_00_dot_48_bar__minus_01_dot_16)\n (inReceptacle CellPhone_bar__plus_01_dot_82_bar__plus_00_dot_12_bar__plus_00_dot_45 Drawer_bar__plus_01_dot_50_bar__plus_00_dot_14_bar__plus_00_dot_60)\n (inReceptacle Fork_bar__plus_01_dot_61_bar__plus_00_dot_35_bar__plus_00_dot_46 Drawer_bar__plus_01_dot_50_bar__plus_00_dot_31_bar__plus_00_dot_60)\n (inReceptacle Pot_bar__plus_01_dot_98_bar__plus_00_dot_94_bar__plus_00_dot_38 StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_60)\n (inReceptacle Bowl_bar__plus_00_dot_97_bar__plus_01_dot_68_bar__minus_01_dot_58 Cabinet_bar__plus_01_dot_71_bar__plus_02_dot_02_bar__minus_01_dot_45)\n (inReceptacle Bread_bar__plus_01_dot_80_bar__plus_00_dot_99_bar__minus_01_dot_61 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51)\n (inReceptacle Pan_bar__minus_01_dot_29_bar__plus_00_dot_90_bar__minus_01_dot_35 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51)\n (inReceptacle SoapBottle_bar__plus_01_dot_99_bar__plus_00_dot_92_bar__plus_01_dot_11 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51)\n (inReceptacle ButterKnife_bar__minus_01_dot_05_bar__plus_00_dot_91_bar__minus_01_dot_51 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51)\n (inReceptacle Pot_bar__plus_01_dot_98_bar__plus_00_dot_94_bar__plus_00_dot_38 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51)\n (inReceptacle Window_bar__plus_02_dot_22_bar__plus_01_dot_57_bar__minus_00_dot_39 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51)\n (inReceptacle Window_bar__minus_00_dot_01_bar__plus_01_dot_58_bar__minus_01_dot_82 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51)\n (inReceptacle Kettle_bar__plus_01_dot_68_bar__plus_00_dot_90_bar__plus_00_dot_09 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51)\n (inReceptacle CellPhone_bar__minus_00_dot_84_bar__plus_00_dot_91_bar__minus_01_dot_32 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51)\n (inReceptacle SoapBottle_bar__minus_01_dot_67_bar__plus_00_dot_92_bar__minus_01_dot_32 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51)\n (inReceptacle Pot_bar__plus_01_dot_98_bar__plus_00_dot_94_bar__plus_00_dot_38 StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_38)\n (inReceptacle Bread_bar__minus_00_dot_11_bar__plus_01_dot_01_bar__plus_01_dot_20 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51)\n (inReceptacle Knife_bar__minus_00_dot_11_bar__plus_00_dot_95_bar__minus_00_dot_19 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51)\n (inReceptacle Spoon_bar__plus_00_dot_21_bar__plus_00_dot_93_bar__plus_00_dot_74 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51)\n (inReceptacle Potato_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__plus_00_dot_74 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51)\n (inReceptacle ButterKnife_bar__minus_00_dot_21_bar__plus_00_dot_93_bar__plus_00_dot_97 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51)\n (inReceptacle Egg_bar__plus_00_dot_11_bar__plus_00_dot_98_bar__plus_00_dot_74 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51)\n (inReceptacle ButterKnife_bar__minus_00_dot_21_bar__plus_00_dot_93_bar__plus_01_dot_20 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51)\n (inReceptacle Bread_bar__minus_00_dot_11_bar__plus_01_dot_01_bar__plus_00_dot_51 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51)\n (inReceptacle Plate_bar__plus_00_dot_00_bar__plus_00_dot_92_bar__plus_00_dot_04 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51)\n (inReceptacle ButterKnife_bar__plus_00_dot_11_bar__plus_00_dot_93_bar__plus_00_dot_27 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51)\n (inReceptacle Tomato_bar__minus_00_dot_11_bar__plus_00_dot_98_bar__plus_00_dot_97 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51)\n (inReceptacle Lettuce_bar__plus_00_dot_32_bar__plus_01_dot_00_bar__plus_00_dot_27 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51)\n (inReceptacle Spatula_bar__plus_01_dot_61_bar__plus_00_dot_16_bar__plus_01_dot_15 Drawer_bar__plus_01_dot_50_bar__plus_00_dot_20_bar__plus_01_dot_22)\n (inReceptacle DishSponge_bar__plus_01_dot_71_bar__plus_00_dot_22_bar__plus_01_dot_35 Drawer_bar__plus_01_dot_50_bar__plus_00_dot_20_bar__plus_01_dot_22)\n (inReceptacle SaltShaker_bar__minus_01_dot_29_bar__plus_00_dot_11_bar__minus_01_dot_30 Cabinet_bar__minus_01_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_15)\n (inReceptacle Mug_bar__minus_01_dot_20_bar__plus_00_dot_11_bar__minus_01_dot_42 Cabinet_bar__minus_01_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_15)\n (inReceptacle Tomato_bar__minus_01_dot_80_bar__plus_00_dot_10_bar__plus_01_dot_29 GarbageCan_bar__minus_01_dot_80_bar__plus_00_dot_00_bar__plus_01_dot_33)\n (inReceptacle Mug_bar__plus_02_dot_02_bar__plus_01_dot_00_bar__minus_00_dot_81 Microwave_bar__plus_01_dot_93_bar__plus_00_dot_90_bar__minus_00_dot_77)\n (inReceptacle Cup_bar__plus_01_dot_89_bar__plus_01_dot_00_bar__minus_00_dot_60 Microwave_bar__plus_01_dot_93_bar__plus_00_dot_90_bar__minus_00_dot_77)\n (inReceptacle Potato_bar__plus_01_dot_99_bar__plus_01_dot_03_bar__minus_00_dot_65 Microwave_bar__plus_01_dot_93_bar__plus_00_dot_90_bar__minus_00_dot_77)\n (inReceptacle Tomato_bar__minus_01_dot_72_bar__plus_00_dot_62_bar__plus_00_dot_01 Fridge_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__plus_00_dot_01)\n (inReceptacle Cup_bar__minus_01_dot_70_bar__plus_01_dot_47_bar__minus_00_dot_27 Fridge_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__plus_00_dot_01)\n (inReceptacle Apple_bar__minus_01_dot_70_bar__plus_01_dot_73_bar__minus_00_dot_27 Fridge_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__plus_00_dot_01)\n (inReceptacle Egg_bar__minus_01_dot_59_bar__plus_01_dot_53_bar__plus_00_dot_20 Fridge_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__plus_00_dot_01)\n (inReceptacle Apple_bar__minus_01_dot_75_bar__plus_01_dot_52_bar__plus_00_dot_01 Fridge_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__plus_00_dot_01)\n (inReceptacle Lettuce_bar__minus_00_dot_09_bar__plus_00_dot_84_bar__minus_01_dot_44 Sink_bar__plus_00_dot_00_bar__plus_00_dot_89_bar__minus_01_dot_44_bar_SinkBasin)\n (inReceptacle Lettuce_bar__plus_00_dot_17_bar__plus_00_dot_84_bar__minus_01_dot_44 Sink_bar__plus_00_dot_00_bar__plus_00_dot_89_bar__minus_01_dot_44_bar_SinkBasin)\n (inReceptacle Spatula_bar__minus_00_dot_18_bar__plus_00_dot_78_bar__minus_01_dot_55 Sink_bar__plus_00_dot_00_bar__plus_00_dot_89_bar__minus_01_dot_44_bar_SinkBasin)\n \n \n (receptacleAtLocation Cabinet_bar__plus_00_dot_41_bar__plus_00_dot_48_bar__plus_00_dot_45 loc_bar_5_bar_4_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_50_bar__plus_00_dot_48_bar__minus_01_dot_15 loc_bar_3_bar__minus_1_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_15 loc_bar_3_bar__minus_1_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_71_bar__plus_02_dot_02_bar__minus_01_dot_45 loc_bar_4_bar__minus_3_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_79_bar__plus_02_dot_02_bar__minus_00_dot_82 loc_bar_4_bar__minus_3_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_50_bar__plus_00_dot_48_bar__minus_01_dot_15 loc_bar__minus_3_bar__minus_1_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_63_bar__plus_02_dot_02_bar__minus_01_dot_45 loc_bar__minus_3_bar__minus_3_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_15 loc_bar__minus_3_bar__minus_1_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_70_bar__plus_02_dot_02_bar__minus_01_dot_45 loc_bar__minus_3_bar__minus_3_bar_3_bar__minus_15)\n (receptacleAtLocation CoffeeMachine_bar__plus_01_dot_36_bar__plus_00_dot_90_bar__minus_01_dot_60 loc_bar_4_bar__minus_3_bar_2_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51 loc_bar__minus_3_bar__minus_3_bar_2_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51 loc_bar_3_bar_2_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_81_bar__plus_00_dot_48_bar__minus_01_dot_16 loc_bar_5_bar_0_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_14_bar__plus_00_dot_60 loc_bar_3_bar_7_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_20_bar__plus_01_dot_22 loc_bar_2_bar_7_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_20_bar__minus_00_dot_02 loc_bar_5_bar_0_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_31_bar__plus_00_dot_60 loc_bar_5_bar_2_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_43_bar__minus_00_dot_02 loc_bar_5_bar_0_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_52_bar__plus_01_dot_22 loc_bar_3_bar_3_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_54_bar__plus_00_dot_60 loc_bar_5_bar_2_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_60_bar__minus_00_dot_02 loc_bar_4_bar_3_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_63_bar__plus_00_dot_61 loc_bar_3_bar_4_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_63_bar__minus_00_dot_02 loc_bar_3_bar_1_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_78_bar__plus_01_dot_22 loc_bar_3_bar_6_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_70_bar__plus_00_dot_48_bar__minus_01_dot_16 loc_bar__minus_3_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Fridge_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__plus_00_dot_01 loc_bar__minus_3_bar_0_bar_3_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_01_dot_80_bar__plus_00_dot_00_bar__plus_01_dot_33 loc_bar__minus_5_bar_6_bar_3_bar_60)\n (receptacleAtLocation Microwave_bar__plus_01_dot_93_bar__plus_00_dot_90_bar__minus_00_dot_77 loc_bar_4_bar__minus_3_bar_1_bar_45)\n (receptacleAtLocation Sink_bar__plus_00_dot_00_bar__plus_00_dot_89_bar__minus_01_dot_44_bar_SinkBasin loc_bar_0_bar__minus_3_bar_2_bar_60)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_38 loc_bar_5_bar_2_bar_1_bar_60)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_60 loc_bar_5_bar_2_bar_1_bar_60)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_82 loc_bar_5_bar_3_bar_1_bar_60)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_38 loc_bar_5_bar_2_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_60 loc_bar_5_bar_2_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_82 loc_bar_5_bar_3_bar_1_bar_45)\n (receptacleAtLocation Toaster_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__minus_00_dot_34 loc_bar_4_bar__minus_1_bar_1_bar_45)\n (objectAtLocation Mug_bar__plus_02_dot_02_bar__plus_01_dot_00_bar__minus_00_dot_81 loc_bar_4_bar__minus_3_bar_1_bar_45)\n (objectAtLocation Potato_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__plus_00_dot_74 loc_bar_3_bar_2_bar_3_bar_45)\n (objectAtLocation Tomato_bar__minus_01_dot_80_bar__plus_00_dot_10_bar__plus_01_dot_29 loc_bar__minus_5_bar_6_bar_3_bar_60)\n (objectAtLocation Bread_bar__minus_00_dot_11_bar__plus_01_dot_01_bar__plus_01_dot_20 loc_bar_3_bar_2_bar_3_bar_45)\n (objectAtLocation ButterKnife_bar__minus_00_dot_21_bar__plus_00_dot_93_bar__plus_01_dot_20 loc_bar_3_bar_2_bar_3_bar_45)\n (objectAtLocation CellPhone_bar__minus_00_dot_84_bar__plus_00_dot_91_bar__minus_01_dot_32 loc_bar__minus_3_bar__minus_3_bar_2_bar_45)\n (objectAtLocation PepperShaker_bar__minus_00_dot_42_bar__plus_00_dot_11_bar__minus_01_dot_35 loc_bar__minus_3_bar__minus_1_bar_2_bar_60)\n (objectAtLocation Apple_bar__minus_01_dot_75_bar__plus_01_dot_52_bar__plus_00_dot_01 loc_bar__minus_3_bar_0_bar_3_bar_60)\n (objectAtLocation Spatula_bar__minus_00_dot_18_bar__plus_00_dot_78_bar__minus_01_dot_55 loc_bar_0_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Lettuce_bar__minus_00_dot_09_bar__plus_00_dot_84_bar__minus_01_dot_44 loc_bar_0_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Plate_bar__plus_00_dot_00_bar__plus_00_dot_92_bar__plus_00_dot_04 loc_bar_3_bar_2_bar_3_bar_45)\n (objectAtLocation Egg_bar__plus_00_dot_11_bar__plus_00_dot_98_bar__plus_00_dot_74 loc_bar_3_bar_2_bar_3_bar_45)\n (objectAtLocation Fork_bar__plus_01_dot_61_bar__plus_00_dot_35_bar__plus_00_dot_46 loc_bar_5_bar_2_bar_1_bar_60)\n (objectAtLocation Cup_bar__minus_01_dot_70_bar__plus_01_dot_47_bar__minus_00_dot_27 loc_bar__minus_3_bar_0_bar_3_bar_60)\n (objectAtLocation SoapBottle_bar__plus_01_dot_99_bar__plus_00_dot_92_bar__plus_01_dot_11 loc_bar__minus_3_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Lettuce_bar__plus_00_dot_17_bar__plus_00_dot_84_bar__minus_01_dot_44 loc_bar_0_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Bread_bar__minus_00_dot_11_bar__plus_01_dot_01_bar__plus_00_dot_51 loc_bar_3_bar_2_bar_3_bar_45)\n (objectAtLocation Tomato_bar__minus_00_dot_11_bar__plus_00_dot_98_bar__plus_00_dot_97 loc_bar_3_bar_2_bar_3_bar_45)\n (objectAtLocation SoapBottle_bar__plus_00_dot_31_bar__plus_00_dot_12_bar__minus_01_dot_28 loc_bar_3_bar__minus_1_bar_2_bar_60)\n (objectAtLocation Plate_bar__plus_01_dot_96_bar__plus_01_dot_66_bar__minus_01_dot_13 loc_bar_4_bar__minus_3_bar_1_bar__minus_30)\n (objectAtLocation ButterKnife_bar__minus_00_dot_21_bar__plus_00_dot_93_bar__plus_00_dot_97 loc_bar_3_bar_2_bar_3_bar_45)\n (objectAtLocation ButterKnife_bar__minus_01_dot_05_bar__plus_00_dot_91_bar__minus_01_dot_51 loc_bar__minus_3_bar__minus_3_bar_2_bar_45)\n (objectAtLocation CellPhone_bar__minus_00_dot_75_bar__plus_00_dot_67_bar__minus_01_dot_33 loc_bar__minus_3_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Window_bar__minus_00_dot_01_bar__plus_01_dot_58_bar__minus_01_dot_82 loc_bar__minus_3_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Sink_bar__plus_00_dot_00_bar__plus_00_dot_89_bar__minus_01_dot_44 loc_bar_0_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Window_bar__plus_02_dot_22_bar__plus_01_dot_57_bar__minus_00_dot_39 loc_bar__minus_3_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Chair_bar__minus_00_dot_06_bar__plus_00_dot_52_bar__plus_01_dot_37 loc_bar_0_bar_8_bar_2_bar_60)\n (objectAtLocation Window_bar__minus_03_dot_24_bar__plus_01_dot_62_bar__plus_02_dot_69 loc_bar__minus_10_bar_11_bar_3_bar_0)\n (objectAtLocation SoapBottle_bar__minus_01_dot_67_bar__plus_00_dot_92_bar__minus_01_dot_32 loc_bar__minus_3_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Cup_bar__plus_01_dot_89_bar__plus_01_dot_00_bar__minus_00_dot_60 loc_bar_4_bar__minus_3_bar_1_bar_45)\n (objectAtLocation LightSwitch_bar__minus_00_dot_15_bar__plus_01_dot_29_bar__plus_03_dot_70 loc_bar__minus_1_bar_12_bar_0_bar_30)\n (objectAtLocation Pot_bar__plus_01_dot_98_bar__plus_00_dot_94_bar__plus_00_dot_38 loc_bar_5_bar_2_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_57 loc_bar_5_bar_2_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_63 loc_bar_5_bar_3_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_74 loc_bar_5_bar_3_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_68 loc_bar_5_bar_3_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_46 loc_bar_5_bar_2_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_52 loc_bar_5_bar_2_bar_1_bar_60)\n (objectAtLocation Fork_bar__plus_01_dot_71_bar__plus_00_dot_58_bar__plus_00_dot_05 loc_bar_4_bar_3_bar_2_bar_60)\n (objectAtLocation Ladle_bar__minus_00_dot_21_bar__plus_00_dot_97_bar__plus_00_dot_04 loc_bar_3_bar_0_bar_3_bar_45)\n (objectAtLocation Kettle_bar__plus_01_dot_68_bar__plus_00_dot_90_bar__plus_00_dot_09 loc_bar__minus_3_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Egg_bar__minus_01_dot_59_bar__plus_01_dot_53_bar__plus_00_dot_20 loc_bar__minus_3_bar_0_bar_3_bar_60)\n (objectAtLocation Plate_bar__plus_00_dot_19_bar__plus_00_dot_11_bar__minus_01_dot_47 loc_bar_3_bar__minus_1_bar_2_bar_60)\n (objectAtLocation Pan_bar__minus_01_dot_29_bar__plus_00_dot_90_bar__minus_01_dot_35 loc_bar__minus_3_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Lettuce_bar__plus_00_dot_32_bar__plus_01_dot_00_bar__plus_00_dot_27 loc_bar_3_bar_2_bar_3_bar_45)\n (objectAtLocation Spatula_bar__plus_01_dot_61_bar__plus_00_dot_16_bar__plus_01_dot_15 loc_bar_2_bar_7_bar_1_bar_60)\n (objectAtLocation Apple_bar__minus_01_dot_70_bar__plus_01_dot_73_bar__minus_00_dot_27 loc_bar__minus_3_bar_0_bar_3_bar_60)\n (objectAtLocation Knife_bar__minus_00_dot_11_bar__plus_00_dot_95_bar__minus_00_dot_19 loc_bar_3_bar_2_bar_3_bar_45)\n (objectAtLocation SaltShaker_bar__minus_01_dot_29_bar__plus_00_dot_11_bar__minus_01_dot_30 loc_bar__minus_3_bar__minus_1_bar_2_bar_60)\n (objectAtLocation PepperShaker_bar__plus_01_dot_66_bar__plus_00_dot_69_bar__plus_00_dot_18 loc_bar_3_bar_1_bar_1_bar_60)\n (objectAtLocation CellPhone_bar__plus_01_dot_82_bar__plus_00_dot_12_bar__plus_00_dot_45 loc_bar_3_bar_7_bar_2_bar_60)\n (objectAtLocation ButterKnife_bar__plus_00_dot_11_bar__plus_00_dot_93_bar__plus_00_dot_27 loc_bar_3_bar_2_bar_3_bar_45)\n (objectAtLocation Bread_bar__plus_01_dot_80_bar__plus_00_dot_99_bar__minus_01_dot_61 loc_bar__minus_3_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Tomato_bar__minus_01_dot_72_bar__plus_00_dot_62_bar__plus_00_dot_01 loc_bar__minus_3_bar_0_bar_3_bar_60)\n (objectAtLocation Potato_bar__plus_01_dot_99_bar__plus_01_dot_03_bar__minus_00_dot_65 loc_bar_4_bar__minus_3_bar_1_bar_45)\n (objectAtLocation DishSponge_bar__plus_01_dot_71_bar__plus_00_dot_22_bar__plus_01_dot_35 loc_bar_2_bar_7_bar_1_bar_60)\n (objectAtLocation Spoon_bar__plus_00_dot_21_bar__plus_00_dot_93_bar__plus_00_dot_74 loc_bar_3_bar_2_bar_3_bar_45)\n (objectAtLocation Mug_bar__minus_01_dot_20_bar__plus_00_dot_11_bar__minus_01_dot_42 loc_bar__minus_3_bar__minus_1_bar_2_bar_60)\n (objectAtLocation Bowl_bar__plus_00_dot_97_bar__plus_01_dot_68_bar__minus_01_dot_58 loc_bar_4_bar__minus_3_bar_1_bar__minus_30)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (cleanable ?o)\n (objectType ?o ButterKnifeType)\n (receptacleType ?r DrawerType)\n (isClean ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 2", "take butterknife 4 from countertop 2", "go to sinkbasin 1", "clean butterknife 4 with sinkbasin 1", "go to drawer 10", "move butterknife 4 to drawer 10"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/valid_seen/pick_clean_then_place_in_recep-ButterKnife-None-Drawer-2/trial_T20190908_121728_511866/initial_state.pddl b/data/alfworld/json_2.1.1/valid_seen/pick_clean_then_place_in_recep-ButterKnife-None-Drawer-2/trial_T20190908_121728_511866/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..7bb67c83d8b7ab540e13bae996e0a4bf184e8680 --- /dev/null +++ b/data/alfworld/json_2.1.1/valid_seen/pick_clean_then_place_in_recep-ButterKnife-None-Drawer-2/trial_T20190908_121728_511866/initial_state.pddl @@ -0,0 +1,1142 @@ + +(define (problem plan_trial_T20190908_121728_511866) +(:domain alfred) +(:objects +agent1 - agent +Curtains - object + SprayBottle - object + Mirror - object + HousePlant - object + Watch - object + TeddyBear - object + WateringCan - object + Bathtub - object + LightSwitch - object + Vase - object + Candle - object + Bread - object + Statue - object + HandTowel - object + StoveKnob - object + PaperTowelRoll - object + Pan - object + PepperShaker - object + Painting - object + CellPhone - object + Plunger - object + Spoon - object + SaltShaker - object + KeyChain - object + Footstool - object + Poster - object + Television - object + LaundryHamperLid - object + Glassbottle - object + AlarmClock - object + WineBottle - object + Bowl - object + Sink - object + TissueBox - object + TennisRacket - object + ToiletPaper - object + ScrubBrush - object + CreditCard - object + Laptop - object + Cloth - object + Cup - object + Chair - object + BasketBall - object + Kettle - object + PaperTowel - object + ShowerDoor - object + BaseballBat - object + Potato - object + Pillow - object + Lettuce - object + RemoteControl - object + Window - object + DishSponge - object + CD - object + Boots - object + Blinds - object + Pen - object + Newspaper - object + Plate - object + Mug - object + ShowerGlass - object + ToiletPaperRoll - object + SoapBar - object + FloorLamp - object + SoapBottle - object + Pot - object + Pencil - object + Spatula - object + Towel - object + Fork - object + Ladle - object + Knife - object + Apple - object + Box - object + Tomato - object + ButterKnife - object + Egg - object + Book - object + DeskLamp - object +CurtainsType - otype + SprayBottleType - otype + MirrorType - otype + HousePlantType - otype + WatchType - otype + TeddyBearType - otype + WateringCanType - otype + BathtubType - otype + LightSwitchType - otype + VaseType - otype + CandleType - otype + BreadType - otype + StatueType - otype + HandTowelType - otype + StoveKnobType - otype + PaperTowelRollType - otype + PanType - otype + PepperShakerType - otype + PaintingType - otype + CellPhoneType - otype + PlungerType - otype + SpoonType - otype + SaltShakerType - otype + KeyChainType - otype + FootstoolType - otype + PosterType - otype + TelevisionType - otype + LaundryHamperLidType - otype + GlassbottleType - otype + AlarmClockType - otype + WineBottleType - otype + BowlType - otype + SinkType - otype + TissueBoxType - otype + TennisRacketType - otype + ToiletPaperType - otype + ScrubBrushType - otype + CreditCardType - otype + LaptopType - otype + ClothType - otype + CupType - otype + ChairType - otype + BasketBallType - otype + KettleType - otype + PaperTowelType - otype + ShowerDoorType - otype + BaseballBatType - otype + PotatoType - otype + PillowType - otype + LettuceType - otype + RemoteControlType - otype + WindowType - otype + DishSpongeType - otype + CDType - otype + BootsType - otype + BlindsType - otype + PenType - otype + NewspaperType - otype + PlateType - otype + MugType - otype + ShowerGlassType - otype + ToiletPaperRollType - otype + SoapBarType - otype + FloorLampType - otype + SoapBottleType - otype + PotType - otype + PencilType - otype + SpatulaType - otype + TowelType - otype + ForkType - otype + LadleType - otype + KnifeType - otype + AppleType - otype + BoxType - otype + TomatoType - otype + ButterKnifeType - otype + EggType - otype + BookType - otype + DeskLampType - otype +CabinetType - rtype + ShelfType - rtype + DiningTableType - rtype + TowelHolderType - rtype + PaintingHangerType - rtype + TVStandType - rtype + LaundryHamperType - rtype + OttomanType - rtype + SafeType - rtype + CoffeeMachineType - rtype + CounterTopType - rtype + ToiletType - rtype + FridgeType - rtype + CoffeeTableType - rtype + SinkBasinType - rtype + GarbageCanType - rtype + BathtubBasinType - rtype + SideTableType - rtype + CartType - rtype + BedType - rtype + DeskType - rtype + SofaType - rtype + ArmChairType - rtype + MicrowaveType - rtype + HandTowelHolderType - rtype + ToasterType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + DrawerType - rtype + DresserType - rtype + + + Apple_bar__minus_01_dot_70_bar__plus_01_dot_73_bar__minus_00_dot_27 - object + Apple_bar__minus_01_dot_75_bar__plus_01_dot_52_bar__plus_00_dot_01 - object + Bowl_bar__plus_00_dot_97_bar__plus_01_dot_68_bar__minus_01_dot_58 - object + Bread_bar__plus_01_dot_80_bar__plus_00_dot_99_bar__minus_01_dot_61 - object + Bread_bar__minus_00_dot_11_bar__plus_01_dot_01_bar__plus_00_dot_51 - object + Bread_bar__minus_00_dot_11_bar__plus_01_dot_01_bar__plus_01_dot_20 - object + ButterKnife_bar__plus_00_dot_11_bar__plus_00_dot_93_bar__plus_00_dot_27 - object + ButterKnife_bar__minus_00_dot_21_bar__plus_00_dot_93_bar__plus_00_dot_97 - object + ButterKnife_bar__minus_00_dot_21_bar__plus_00_dot_93_bar__plus_01_dot_20 - object + ButterKnife_bar__minus_01_dot_05_bar__plus_00_dot_91_bar__minus_01_dot_51 - object + CellPhone_bar__plus_01_dot_82_bar__plus_00_dot_12_bar__plus_00_dot_45 - object + CellPhone_bar__minus_00_dot_75_bar__plus_00_dot_67_bar__minus_01_dot_33 - object + CellPhone_bar__minus_00_dot_84_bar__plus_00_dot_91_bar__minus_01_dot_32 - object + Chair_bar__minus_00_dot_06_bar__plus_00_dot_52_bar__plus_01_dot_37 - object + Cup_bar__plus_01_dot_89_bar__plus_01_dot_00_bar__minus_00_dot_60 - object + Cup_bar__minus_01_dot_70_bar__plus_01_dot_47_bar__minus_00_dot_27 - object + DishSponge_bar__plus_01_dot_71_bar__plus_00_dot_22_bar__plus_01_dot_35 - object + Egg_bar__plus_00_dot_11_bar__plus_00_dot_98_bar__plus_00_dot_74 - object + Egg_bar__minus_01_dot_59_bar__plus_01_dot_53_bar__plus_00_dot_20 - object + Faucet_bar__minus_00_dot_02_bar__plus_01_dot_14_bar__minus_01_dot_61 - object + Fork_bar__plus_01_dot_61_bar__plus_00_dot_35_bar__plus_00_dot_46 - object + Fork_bar__plus_01_dot_71_bar__plus_00_dot_58_bar__plus_00_dot_05 - object + Kettle_bar__plus_01_dot_68_bar__plus_00_dot_90_bar__plus_00_dot_09 - object + Knife_bar__minus_00_dot_11_bar__plus_00_dot_95_bar__minus_00_dot_19 - object + Ladle_bar__minus_00_dot_21_bar__plus_00_dot_97_bar__plus_00_dot_04 - object + Lettuce_bar__plus_00_dot_17_bar__plus_00_dot_84_bar__minus_01_dot_44 - object + Lettuce_bar__plus_00_dot_32_bar__plus_01_dot_00_bar__plus_00_dot_27 - object + Lettuce_bar__minus_00_dot_09_bar__plus_00_dot_84_bar__minus_01_dot_44 - object + LightSwitch_bar__minus_00_dot_15_bar__plus_01_dot_29_bar__plus_03_dot_70 - object + Mug_bar__plus_02_dot_02_bar__plus_01_dot_00_bar__minus_00_dot_81 - object + Mug_bar__minus_01_dot_20_bar__plus_00_dot_11_bar__minus_01_dot_42 - object + Pan_bar__minus_01_dot_29_bar__plus_00_dot_90_bar__minus_01_dot_35 - object + PepperShaker_bar__plus_01_dot_66_bar__plus_00_dot_69_bar__plus_00_dot_18 - object + PepperShaker_bar__minus_00_dot_42_bar__plus_00_dot_11_bar__minus_01_dot_35 - object + Plate_bar__plus_00_dot_00_bar__plus_00_dot_92_bar__plus_00_dot_04 - object + Plate_bar__plus_00_dot_19_bar__plus_00_dot_11_bar__minus_01_dot_47 - object + Plate_bar__plus_01_dot_96_bar__plus_01_dot_66_bar__minus_01_dot_13 - object + Potato_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__plus_00_dot_74 - object + Potato_bar__plus_01_dot_99_bar__plus_01_dot_03_bar__minus_00_dot_65 - object + Pot_bar__plus_01_dot_98_bar__plus_00_dot_94_bar__plus_00_dot_38 - object + SaltShaker_bar__minus_01_dot_29_bar__plus_00_dot_11_bar__minus_01_dot_30 - object + Sink_bar__plus_00_dot_00_bar__plus_00_dot_89_bar__minus_01_dot_44 - object + SoapBottle_bar__plus_00_dot_31_bar__plus_00_dot_12_bar__minus_01_dot_28 - object + SoapBottle_bar__plus_01_dot_99_bar__plus_00_dot_92_bar__plus_01_dot_11 - object + SoapBottle_bar__minus_01_dot_67_bar__plus_00_dot_92_bar__minus_01_dot_32 - object + Spatula_bar__plus_01_dot_61_bar__plus_00_dot_16_bar__plus_01_dot_15 - object + 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ButterKnife_bar__minus_00_dot_21_bar__plus_00_dot_93_bar__plus_00_dot_97 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51) + (inReceptacle Egg_bar__plus_00_dot_11_bar__plus_00_dot_98_bar__plus_00_dot_74 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51) + (inReceptacle ButterKnife_bar__minus_00_dot_21_bar__plus_00_dot_93_bar__plus_01_dot_20 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51) + (inReceptacle Bread_bar__minus_00_dot_11_bar__plus_01_dot_01_bar__plus_00_dot_51 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51) + (inReceptacle Plate_bar__plus_00_dot_00_bar__plus_00_dot_92_bar__plus_00_dot_04 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51) + (inReceptacle ButterKnife_bar__plus_00_dot_11_bar__plus_00_dot_93_bar__plus_00_dot_27 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51) + (inReceptacle 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"Spoon_bfeb74cb", + "position": { + "x": 0.214458212, + "y": 0.9267294, + "z": 0.7381004 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_b045e42b", + "position": { + "x": 2.02046251, + "y": 1.00142312, + "z": -0.808987558 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Bowl_253fa632", + "position": { + "x": 0.972442567, + "y": 1.67807925, + "z": -1.57705986 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 3193308801, + "scene_num": 2 + }, + "task_id": "trial_T20190908_121728_511866", + "task_type": "pick_clean_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A3F7G1FSFWQPLE_36V4Q8R5ZNHAAA4IU8N0WUVKUP1MQH", + "high_descs": [ + "Turn right and walk over to the counter, then turn left to face the counter.", + "Pick up the butter knife off of the counter.", + "Turn left and walk over to the sink.", + "Put the butter knife in the sink and turn on the water, after a couple seconds turn off the water and remove the now clean butter knife.", + "Turn left and walk over to the counter.", + "Open the third drawer from the top to the left of the dish washer and put the clean butter knife inside then close the drawer." + ], + "task_desc": "Put a clean butter knife in a drawer.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "AM2KK02JXXW48_3NC5L260MR31JOZLT8RJCZGBIMYFOK", + "high_descs": [ + "Turn right, move to the counter right of the sink.", + "Pick up the knife on the counter. ", + "Bring the knife to the sink on the left. ", + "Wash the knife in the sink with water. ", + "Bring the knife to the left, to the drawer left of the dishwasher. ", + "Open the drawer left of dishwasher and put the cleaned knife in there. " + ], + "task_desc": "Put a cleaned knife in a drawer. ", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A36DK84J5YJ942_35H6S234SDHJSL0SN0SG9N378SS655", + "high_descs": [ + "move to the counter to the right of the sink", + "pick up a knife from the counter", + "move to the sink to the left", + "clean the knife in the sink", + "move to the counter to the left of the dishwasher", + "put the knife in the drawer to the left of the dishwasher" + ], + "task_desc": "Put a cleaned knife in a drawer.", + "votes": [ + 1, + 1, + 0 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/valid_seen/pick_clean_then_place_in_recep-DishSponge-None-CounterTop-403/trial_T20190908_144357_621068/game.tw-pddl b/data/alfworld/json_2.1.1/valid_seen/pick_clean_then_place_in_recep-DishSponge-None-CounterTop-403/trial_T20190908_144357_621068/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..b7f3f2313ee6892d5d1aa5b940a817895f6c3e17 --- /dev/null +++ b/data/alfworld/json_2.1.1/valid_seen/pick_clean_then_place_in_recep-DishSponge-None-CounterTop-403/trial_T20190908_144357_621068/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\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 dishsponge and put it in countertop.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190908_144357_621068)\n(:domain alfred)\n(:objects\nagent1 - agent\nCurtains - object\n SprayBottle - object\n Mirror - object\n HousePlant - object\n Watch - object\n TeddyBear - object\n WateringCan - object\n Bathtub - object\n LightSwitch - object\n Vase - object\n Candle - object\n Bread - object\n Statue - object\n HandTowel - object\n StoveKnob - object\n PaperTowelRoll - object\n Pan - object\n PepperShaker - object\n Painting - object\n CellPhone - object\n Plunger - object\n Spoon - object\n SaltShaker - object\n KeyChain - object\n Footstool - object\n Poster - object\n Television - object\n LaundryHamperLid - object\n Glassbottle - object\n AlarmClock - object\n WineBottle - object\n Bowl - object\n Sink - object\n TissueBox - object\n TennisRacket - object\n ToiletPaper - object\n ScrubBrush - object\n CreditCard - object\n Laptop - object\n Cloth - object\n Cup - object\n Chair - object\n BasketBall - object\n Kettle - object\n PaperTowel - object\n ShowerDoor - object\n BaseballBat - object\n Potato - object\n Pillow - object\n Lettuce - object\n RemoteControl - object\n Window - object\n DishSponge - object\n CD - object\n Boots - object\n Blinds - object\n Pen - object\n Newspaper - object\n Plate - object\n Mug - object\n ShowerGlass - object\n ToiletPaperRoll - object\n SoapBar - object\n FloorLamp - object\n SoapBottle - object\n Pot - object\n Pencil - object\n Spatula - object\n Towel - object\n Fork - object\n Ladle - object\n Knife - object\n Apple - object\n Box - object\n Tomato - object\n ButterKnife - object\n Egg - object\n Book - object\n DeskLamp - object\nCurtainsType - otype\n SprayBottleType - otype\n MirrorType - otype\n HousePlantType - otype\n WatchType - otype\n TeddyBearType - otype\n WateringCanType - otype\n BathtubType - otype\n LightSwitchType - otype\n VaseType - otype\n CandleType - otype\n BreadType - otype\n StatueType - otype\n HandTowelType - otype\n StoveKnobType - otype\n PaperTowelRollType - otype\n PanType - otype\n PepperShakerType - otype\n PaintingType - otype\n CellPhoneType - otype\n PlungerType - otype\n SpoonType - otype\n SaltShakerType - otype\n KeyChainType - otype\n FootstoolType - otype\n PosterType - otype\n TelevisionType - otype\n LaundryHamperLidType - otype\n GlassbottleType - otype\n AlarmClockType - otype\n WineBottleType - otype\n BowlType - otype\n SinkType - otype\n TissueBoxType - otype\n TennisRacketType - otype\n ToiletPaperType - otype\n ScrubBrushType - otype\n CreditCardType - otype\n LaptopType - otype\n ClothType - otype\n CupType - otype\n ChairType - otype\n BasketBallType - otype\n KettleType - otype\n PaperTowelType - otype\n ShowerDoorType - otype\n BaseballBatType - otype\n PotatoType - otype\n PillowType - otype\n LettuceType - otype\n RemoteControlType - otype\n WindowType - otype\n DishSpongeType - otype\n CDType - otype\n BootsType - otype\n BlindsType - otype\n PenType - otype\n NewspaperType - otype\n PlateType - otype\n MugType - otype\n ShowerGlassType - otype\n ToiletPaperRollType - otype\n SoapBarType - otype\n FloorLampType - otype\n SoapBottleType - otype\n PotType - otype\n PencilType - otype\n SpatulaType - otype\n TowelType - otype\n ForkType - otype\n LadleType - otype\n KnifeType - otype\n AppleType - otype\n BoxType - otype\n TomatoType - otype\n ButterKnifeType - otype\n EggType - otype\n BookType - otype\n DeskLampType - otype\nCabinetType - rtype\n ShelfType - rtype\n DiningTableType - rtype\n TowelHolderType - rtype\n PaintingHangerType - rtype\n TVStandType - rtype\n LaundryHamperType - rtype\n OttomanType - rtype\n SafeType - rtype\n CoffeeMachineType - rtype\n CounterTopType - rtype\n ToiletType - rtype\n FridgeType - rtype\n CoffeeTableType - rtype\n SinkBasinType - rtype\n GarbageCanType - rtype\n BathtubBasinType - rtype\n SideTableType - rtype\n CartType - rtype\n BedType - rtype\n DeskType - rtype\n SofaType - rtype\n ArmChairType - rtype\n MicrowaveType - rtype\n HandTowelHolderType - rtype\n ToasterType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n DrawerType - rtype\n DresserType - rtype\n\n\n Bathtub_bar__minus_02_dot_23_bar__plus_00_dot_29_bar__plus_00_dot_72 - object\n Candle_bar__minus_00_dot_32_bar__plus_01_dot_10_bar__plus_03_dot_06 - object\n Cloth_bar__minus_02_dot_12_bar__plus_00_dot_06_bar__plus_03_dot_02 - object\n Cloth_bar__minus_03_dot_12_bar__plus_00_dot_60_bar__plus_01_dot_47 - object\n DishSponge_bar__minus_00_dot_82_bar__plus_01_dot_07_bar__plus_00_dot_33 - object\n DishSponge_bar__minus_01_dot_86_bar__plus_00_dot_11_bar__plus_00_dot_54 - object\n DishSponge_bar__minus_02_dot_81_bar__plus_00_dot_60_bar__plus_01_dot_47 - object\n Faucet_bar__minus_00_dot_85_bar__plus_01_dot_09_bar__plus_03_dot_37 - object\n Faucet_bar__minus_01_dot_34_bar__plus_00_dot_64_bar__plus_00_dot_63 - object\n Faucet_bar__minus_01_dot_94_bar__plus_01_dot_09_bar__plus_03_dot_37 - object\n Faucet_bar__minus_02_dot_95_bar__plus_02_dot_16_bar__plus_03_dot_43 - object\n HandTowel_bar__minus_00_dot_24_bar__plus_01_dot_76_bar__plus_03_dot_43 - object\n LightSwitch_bar__plus_00_dot_97_bar__plus_01_dot_43_bar__plus_01_dot_13 - object\n Mirror_bar__minus_01_dot_39_bar__plus_01_dot_60_bar__plus_03_dot_46 - object\n PaperTowelRoll_bar__minus_00_dot_56_bar__plus_01_dot_18_bar__plus_00_dot_33 - object\n Plunger_bar__minus_00_dot_22_bar__plus_00_dot_03_bar__plus_00_dot_49 - object\n ScrubBrush_bar__minus_00_dot_35_bar__plus_00_dot_03_bar__plus_00_dot_35 - object\n ShowerDoor_bar__minus_02_dot_48_bar__plus_01_dot_77_bar__plus_02_dot_39 - object\n ShowerGlass_bar__minus_02_dot_90_bar__plus_01_dot_42_bar__plus_02_dot_34 - object\n Sink_bar__minus_00_dot_85_bar__plus_00_dot_95_bar__plus_03_dot_14 - object\n Sink_bar__minus_01_dot_94_bar__plus_00_dot_95_bar__plus_03_dot_14 - object\n SoapBar_bar__minus_00_dot_69_bar__plus_01_dot_07_bar__plus_00_dot_36 - object\n SoapBottle_bar__minus_01_dot_19_bar__plus_00_dot_60_bar__plus_00_dot_86 - object\n SoapBottle_bar__minus_02_dot_34_bar__plus_01_dot_11_bar__plus_03_dot_21 - object\n SprayBottle_bar__minus_00_dot_63_bar__plus_01_dot_07_bar__plus_00_dot_24 - object\n SprayBottle_bar__minus_01_dot_00_bar__plus_00_dot_06_bar__plus_03_dot_36 - object\n SprayBottle_bar__minus_01_dot_70_bar__plus_00_dot_06_bar__plus_02_dot_95 - object\n ToiletPaper_bar__minus_00_dot_14_bar__plus_00_dot_06_bar__plus_03_dot_30 - object\n ToiletPaper_bar__minus_02_dot_18_bar__plus_00_dot_05_bar__plus_03_dot_16 - object\n Towel_bar__plus_00_dot_40_bar__plus_01_dot_39_bar__plus_03_dot_36 - object\n Towel_bar__plus_00_dot_86_bar__plus_01_dot_36_bar__plus_02_dot_86 - object\n Window_bar__minus_02_dot_19_bar__plus_01_dot_55_bar__plus_00_dot_09 - object\n Window_bar__minus_03_dot_45_bar__plus_01_dot_59_bar__plus_00_dot_65 - object\n Bathtub_bar__minus_02_dot_23_bar__plus_00_dot_29_bar__plus_00_dot_72_bar_BathtubBasin - receptacle\n Cabinet_bar__minus_00_dot_34_bar__plus_00_dot_43_bar__plus_02_dot_87 - receptacle\n Cabinet_bar__minus_01_dot_36_bar__plus_00_dot_43_bar__plus_02_dot_87 - receptacle\n Cabinet_bar__minus_01_dot_40_bar__plus_00_dot_43_bar__plus_02_dot_87 - receptacle\n Cabinet_bar__minus_02_dot_42_bar__plus_00_dot_43_bar__plus_02_dot_87 - receptacle\n CounterTop_bar__minus_01_dot_36_bar__plus_01_dot_09_bar__plus_03_dot_15 - receptacle\n GarbageCan_bar__minus_00_dot_13_bar__plus_00_dot_03_bar__plus_03_dot_25 - receptacle\n HandTowelHolder_bar__minus_00_dot_24_bar__plus_01_dot_86_bar__plus_03_dot_47 - receptacle\n Shelf_bar__minus_02_dot_93_bar__plus_00_dot_59_bar__plus_01_dot_43 - receptacle\n Sink_bar__minus_00_dot_85_bar__plus_00_dot_95_bar__plus_03_dot_14_bar_SinkBasin - receptacle\n Sink_bar__minus_01_dot_94_bar__plus_00_dot_95_bar__plus_03_dot_14_bar_SinkBasin - receptacle\n ToiletPaperHanger_bar__minus_00_dot_04_bar__plus_00_dot_96_bar__plus_00_dot_20 - receptacle\n Toilet_bar__minus_00_dot_70_bar__plus_00_dot_03_bar__plus_00_dot_66 - receptacle\n TowelHolder_bar__plus_00_dot_40_bar__plus_01_dot_38_bar__plus_03_dot_47 - receptacle\n TowelHolder_bar__plus_00_dot_97_bar__plus_01_dot_34_bar__plus_02_dot_86 - receptacle\n loc_bar_1_bar_11_bar_1_bar_30 - location\n loc_bar__minus_8_bar_10_bar_3_bar__minus_15 - location\n loc_bar__minus_8_bar_10_bar_0_bar_45 - location\n loc_bar__minus_2_bar_10_bar_0_bar_45 - location\n loc_bar__minus_3_bar_10_bar_0_bar_45 - location\n loc_bar__minus_8_bar_6_bar_3_bar_0 - location\n loc_bar__minus_8_bar_6_bar_2_bar_0 - location\n loc_bar__minus_8_bar_6_bar_2_bar_60 - location\n loc_bar_0_bar_3_bar_2_bar_45 - location\n loc_bar_0_bar_11_bar_0_bar_60 - location\n loc_bar__minus_7_bar_8_bar_0_bar_60 - location\n loc_bar__minus_6_bar_8_bar_0_bar_60 - location\n loc_bar_1_bar_3_bar_3_bar_60 - location\n loc_bar_0_bar_11_bar_0_bar__minus_15 - location\n loc_bar__minus_7_bar_10_bar_0_bar_45 - location\n loc_bar_2_bar_5_bar_1_bar_30 - location\n loc_bar__minus_6_bar_10_bar_0_bar_45 - location\n loc_bar__minus_1_bar_3_bar_2_bar_60 - location\n loc_bar__minus_5_bar_8_bar_0_bar_60 - location\n loc_bar__minus_4_bar_8_bar_0_bar_60 - location\n loc_bar_1_bar_11_bar_0_bar_15 - location\n loc_bar__minus_8_bar_6_bar_3_bar_45 - location\n loc_bar__minus_4_bar_9_bar_1_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Cabinet_bar__minus_00_dot_34_bar__plus_00_dot_43_bar__plus_02_dot_87 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_42_bar__plus_00_dot_43_bar__plus_02_dot_87 CabinetType)\n (receptacleType Cabinet_bar__minus_01_dot_40_bar__plus_00_dot_43_bar__plus_02_dot_87 CabinetType)\n (receptacleType TowelHolder_bar__plus_00_dot_97_bar__plus_01_dot_34_bar__plus_02_dot_86 TowelHolderType)\n (receptacleType Cabinet_bar__minus_01_dot_36_bar__plus_00_dot_43_bar__plus_02_dot_87 CabinetType)\n (receptacleType Shelf_bar__minus_02_dot_93_bar__plus_00_dot_59_bar__plus_01_dot_43 ShelfType)\n (receptacleType Toilet_bar__minus_00_dot_70_bar__plus_00_dot_03_bar__plus_00_dot_66 ToiletType)\n (receptacleType TowelHolder_bar__plus_00_dot_40_bar__plus_01_dot_38_bar__plus_03_dot_47 TowelHolderType)\n (receptacleType Sink_bar__minus_00_dot_85_bar__plus_00_dot_95_bar__plus_03_dot_14_bar_SinkBasin SinkBasinType)\n (receptacleType CounterTop_bar__minus_01_dot_36_bar__plus_01_dot_09_bar__plus_03_dot_15 CounterTopType)\n (receptacleType HandTowelHolder_bar__minus_00_dot_24_bar__plus_01_dot_86_bar__plus_03_dot_47 HandTowelHolderType)\n (receptacleType Sink_bar__minus_01_dot_94_bar__plus_00_dot_95_bar__plus_03_dot_14_bar_SinkBasin SinkBasinType)\n (receptacleType ToiletPaperHanger_bar__minus_00_dot_04_bar__plus_00_dot_96_bar__plus_00_dot_20 ToiletPaperHangerType)\n (receptacleType GarbageCan_bar__minus_00_dot_13_bar__plus_00_dot_03_bar__plus_03_dot_25 GarbageCanType)\n (receptacleType Bathtub_bar__minus_02_dot_23_bar__plus_00_dot_29_bar__plus_00_dot_72_bar_BathtubBasin BathtubBasinType)\n (objectType Bathtub_bar__minus_02_dot_23_bar__plus_00_dot_29_bar__plus_00_dot_72 BathtubType)\n (objectType DishSponge_bar__minus_00_dot_82_bar__plus_01_dot_07_bar__plus_00_dot_33 DishSpongeType)\n (objectType DishSponge_bar__minus_01_dot_86_bar__plus_00_dot_11_bar__plus_00_dot_54 DishSpongeType)\n (objectType DishSponge_bar__minus_02_dot_81_bar__plus_00_dot_60_bar__plus_01_dot_47 DishSpongeType)\n (objectType SoapBottle_bar__minus_02_dot_34_bar__plus_01_dot_11_bar__plus_03_dot_21 SoapBottleType)\n (objectType Window_bar__minus_03_dot_45_bar__plus_01_dot_59_bar__plus_00_dot_65 WindowType)\n (objectType SprayBottle_bar__minus_01_dot_00_bar__plus_00_dot_06_bar__plus_03_dot_36 SprayBottleType)\n (objectType SoapBottle_bar__minus_01_dot_19_bar__plus_00_dot_60_bar__plus_00_dot_86 SoapBottleType)\n (objectType SprayBottle_bar__minus_00_dot_63_bar__plus_01_dot_07_bar__plus_00_dot_24 SprayBottleType)\n (objectType Plunger_bar__minus_00_dot_22_bar__plus_00_dot_03_bar__plus_00_dot_49 PlungerType)\n (objectType Towel_bar__plus_00_dot_40_bar__plus_01_dot_39_bar__plus_03_dot_36 TowelType)\n (objectType HandTowel_bar__minus_00_dot_24_bar__plus_01_dot_76_bar__plus_03_dot_43 HandTowelType)\n (objectType Cloth_bar__minus_02_dot_12_bar__plus_00_dot_06_bar__plus_03_dot_02 ClothType)\n (objectType SprayBottle_bar__minus_01_dot_70_bar__plus_00_dot_06_bar__plus_02_dot_95 SprayBottleType)\n (objectType PaperTowelRoll_bar__minus_00_dot_56_bar__plus_01_dot_18_bar__plus_00_dot_33 PaperTowelRollType)\n (objectType ScrubBrush_bar__minus_00_dot_35_bar__plus_00_dot_03_bar__plus_00_dot_35 ScrubBrushType)\n (objectType Window_bar__minus_02_dot_19_bar__plus_01_dot_55_bar__plus_00_dot_09 WindowType)\n (objectType Cloth_bar__minus_03_dot_12_bar__plus_00_dot_60_bar__plus_01_dot_47 ClothType)\n (objectType Sink_bar__minus_00_dot_85_bar__plus_00_dot_95_bar__plus_03_dot_14 SinkType)\n (objectType Mirror_bar__minus_01_dot_39_bar__plus_01_dot_60_bar__plus_03_dot_46 MirrorType)\n (objectType ToiletPaper_bar__minus_00_dot_14_bar__plus_00_dot_06_bar__plus_03_dot_30 ToiletPaperType)\n (objectType ShowerDoor_bar__minus_02_dot_48_bar__plus_01_dot_77_bar__plus_02_dot_39 ShowerDoorType)\n (objectType Sink_bar__minus_01_dot_94_bar__plus_00_dot_95_bar__plus_03_dot_14 SinkType)\n (objectType ToiletPaper_bar__minus_02_dot_18_bar__plus_00_dot_05_bar__plus_03_dot_16 ToiletPaperType)\n (objectType Towel_bar__plus_00_dot_86_bar__plus_01_dot_36_bar__plus_02_dot_86 TowelType)\n (objectType SoapBar_bar__minus_00_dot_69_bar__plus_01_dot_07_bar__plus_00_dot_36 SoapBarType)\n (objectType ShowerGlass_bar__minus_02_dot_90_bar__plus_01_dot_42_bar__plus_02_dot_34 ShowerGlassType)\n (objectType LightSwitch_bar__plus_00_dot_97_bar__plus_01_dot_43_bar__plus_01_dot_13 LightSwitchType)\n (objectType Candle_bar__minus_00_dot_32_bar__plus_01_dot_10_bar__plus_03_dot_06 CandleType)\n (canContain CabinetType PlungerType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType CandleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType CandleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType CandleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain TowelHolderType TowelType)\n (canContain CabinetType PlungerType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType CandleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain ShelfType SprayBottleType)\n (canContain ShelfType SoapBarType)\n (canContain ShelfType SoapBottleType)\n (canContain ShelfType DishSpongeType)\n (canContain ShelfType ToiletPaperType)\n (canContain ShelfType CandleType)\n (canContain ShelfType ClothType)\n (canContain ShelfType HandTowelType)\n (canContain ToiletType ClothType)\n (canContain ToiletType SoapBarType)\n (canContain ToiletType HandTowelType)\n (canContain ToiletType ToiletPaperType)\n (canContain ToiletType SoapBottleType)\n (canContain ToiletType DishSpongeType)\n (canContain ToiletType SprayBottleType)\n (canContain ToiletType CandleType)\n (canContain TowelHolderType TowelType)\n (canContain SinkBasinType SoapBarType)\n (canContain SinkBasinType DishSpongeType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType HandTowelType)\n (canContain CounterTopType SprayBottleType)\n (canContain CounterTopType SoapBarType)\n (canContain CounterTopType SoapBottleType)\n (canContain CounterTopType DishSpongeType)\n (canContain CounterTopType ToiletPaperType)\n (canContain CounterTopType CandleType)\n (canContain CounterTopType ClothType)\n (canContain CounterTopType HandTowelType)\n (canContain HandTowelHolderType HandTowelType)\n (canContain SinkBasinType SoapBarType)\n (canContain SinkBasinType DishSpongeType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType HandTowelType)\n (canContain ToiletPaperHangerType ToiletPaperType)\n (canContain GarbageCanType SprayBottleType)\n (canContain GarbageCanType SoapBarType)\n (canContain GarbageCanType SoapBottleType)\n (canContain GarbageCanType DishSpongeType)\n (canContain GarbageCanType ToiletPaperType)\n (canContain GarbageCanType ClothType)\n (canContain GarbageCanType HandTowelType)\n (canContain BathtubBasinType HandTowelType)\n (canContain BathtubBasinType SoapBarType)\n (canContain BathtubBasinType ClothType)\n (canContain BathtubBasinType DishSpongeType)\n (pickupable DishSponge_bar__minus_00_dot_82_bar__plus_01_dot_07_bar__plus_00_dot_33)\n (pickupable DishSponge_bar__minus_01_dot_86_bar__plus_00_dot_11_bar__plus_00_dot_54)\n (pickupable DishSponge_bar__minus_02_dot_81_bar__plus_00_dot_60_bar__plus_01_dot_47)\n (pickupable SoapBottle_bar__minus_02_dot_34_bar__plus_01_dot_11_bar__plus_03_dot_21)\n (pickupable SprayBottle_bar__minus_01_dot_00_bar__plus_00_dot_06_bar__plus_03_dot_36)\n (pickupable SoapBottle_bar__minus_01_dot_19_bar__plus_00_dot_60_bar__plus_00_dot_86)\n (pickupable SprayBottle_bar__minus_00_dot_63_bar__plus_01_dot_07_bar__plus_00_dot_24)\n (pickupable Plunger_bar__minus_00_dot_22_bar__plus_00_dot_03_bar__plus_00_dot_49)\n (pickupable Towel_bar__plus_00_dot_40_bar__plus_01_dot_39_bar__plus_03_dot_36)\n (pickupable HandTowel_bar__minus_00_dot_24_bar__plus_01_dot_76_bar__plus_03_dot_43)\n (pickupable Cloth_bar__minus_02_dot_12_bar__plus_00_dot_06_bar__plus_03_dot_02)\n (pickupable SprayBottle_bar__minus_01_dot_70_bar__plus_00_dot_06_bar__plus_02_dot_95)\n (pickupable PaperTowelRoll_bar__minus_00_dot_56_bar__plus_01_dot_18_bar__plus_00_dot_33)\n (pickupable ScrubBrush_bar__minus_00_dot_35_bar__plus_00_dot_03_bar__plus_00_dot_35)\n (pickupable Cloth_bar__minus_03_dot_12_bar__plus_00_dot_60_bar__plus_01_dot_47)\n (pickupable ToiletPaper_bar__minus_00_dot_14_bar__plus_00_dot_06_bar__plus_03_dot_30)\n (pickupable ToiletPaper_bar__minus_02_dot_18_bar__plus_00_dot_05_bar__plus_03_dot_16)\n (pickupable Towel_bar__plus_00_dot_86_bar__plus_01_dot_36_bar__plus_02_dot_86)\n (pickupable SoapBar_bar__minus_00_dot_69_bar__plus_01_dot_07_bar__plus_00_dot_36)\n (pickupable Candle_bar__minus_00_dot_32_bar__plus_01_dot_10_bar__plus_03_dot_06)\n \n (openable Cabinet_bar__minus_00_dot_34_bar__plus_00_dot_43_bar__plus_02_dot_87)\n (openable Cabinet_bar__minus_02_dot_42_bar__plus_00_dot_43_bar__plus_02_dot_87)\n (openable Cabinet_bar__minus_01_dot_40_bar__plus_00_dot_43_bar__plus_02_dot_87)\n (openable Cabinet_bar__minus_01_dot_36_bar__plus_00_dot_43_bar__plus_02_dot_87)\n \n (atLocation agent1 loc_bar__minus_4_bar_9_bar_1_bar_30)\n \n (cleanable DishSponge_bar__minus_00_dot_82_bar__plus_01_dot_07_bar__plus_00_dot_33)\n (cleanable DishSponge_bar__minus_01_dot_86_bar__plus_00_dot_11_bar__plus_00_dot_54)\n (cleanable DishSponge_bar__minus_02_dot_81_bar__plus_00_dot_60_bar__plus_01_dot_47)\n (cleanable Cloth_bar__minus_02_dot_12_bar__plus_00_dot_06_bar__plus_03_dot_02)\n (cleanable Cloth_bar__minus_03_dot_12_bar__plus_00_dot_60_bar__plus_01_dot_47)\n (cleanable SoapBar_bar__minus_00_dot_69_bar__plus_01_dot_07_bar__plus_00_dot_36)\n \n \n \n \n \n \n \n \n \n \n (inReceptacle Mirror_bar__minus_01_dot_39_bar__plus_01_dot_60_bar__plus_03_dot_46 CounterTop_bar__minus_01_dot_36_bar__plus_01_dot_09_bar__plus_03_dot_15)\n (inReceptacle SoapBottle_bar__minus_02_dot_34_bar__plus_01_dot_11_bar__plus_03_dot_21 CounterTop_bar__minus_01_dot_36_bar__plus_01_dot_09_bar__plus_03_dot_15)\n (inReceptacle Candle_bar__minus_00_dot_32_bar__plus_01_dot_10_bar__plus_03_dot_06 CounterTop_bar__minus_01_dot_36_bar__plus_01_dot_09_bar__plus_03_dot_15)\n (inReceptacle ShowerGlass_bar__minus_02_dot_90_bar__plus_01_dot_42_bar__plus_02_dot_34 CounterTop_bar__minus_01_dot_36_bar__plus_01_dot_09_bar__plus_03_dot_15)\n (inReceptacle SprayBottle_bar__minus_01_dot_70_bar__plus_00_dot_06_bar__plus_02_dot_95 Cabinet_bar__minus_01_dot_40_bar__plus_00_dot_43_bar__plus_02_dot_87)\n (inReceptacle SprayBottle_bar__minus_01_dot_00_bar__plus_00_dot_06_bar__plus_03_dot_36 Cabinet_bar__minus_01_dot_36_bar__plus_00_dot_43_bar__plus_02_dot_87)\n (inReceptacle Cloth_bar__minus_02_dot_12_bar__plus_00_dot_06_bar__plus_03_dot_02 Cabinet_bar__minus_02_dot_42_bar__plus_00_dot_43_bar__plus_02_dot_87)\n (inReceptacle ToiletPaper_bar__minus_02_dot_18_bar__plus_00_dot_05_bar__plus_03_dot_16 Cabinet_bar__minus_02_dot_42_bar__plus_00_dot_43_bar__plus_02_dot_87)\n (inReceptacle ToiletPaper_bar__minus_00_dot_14_bar__plus_00_dot_06_bar__plus_03_dot_30 GarbageCan_bar__minus_00_dot_13_bar__plus_00_dot_03_bar__plus_03_dot_25)\n (inReceptacle Towel_bar__plus_00_dot_86_bar__plus_01_dot_36_bar__plus_02_dot_86 TowelHolder_bar__plus_00_dot_97_bar__plus_01_dot_34_bar__plus_02_dot_86)\n (inReceptacle Towel_bar__plus_00_dot_40_bar__plus_01_dot_39_bar__plus_03_dot_36 TowelHolder_bar__plus_00_dot_40_bar__plus_01_dot_38_bar__plus_03_dot_47)\n (inReceptacle DishSponge_bar__minus_01_dot_86_bar__plus_00_dot_11_bar__plus_00_dot_54 Bathtub_bar__minus_02_dot_23_bar__plus_00_dot_29_bar__plus_00_dot_72_bar_BathtubBasin)\n (inReceptacle DishSponge_bar__minus_02_dot_81_bar__plus_00_dot_60_bar__plus_01_dot_47 Shelf_bar__minus_02_dot_93_bar__plus_00_dot_59_bar__plus_01_dot_43)\n (inReceptacle Cloth_bar__minus_03_dot_12_bar__plus_00_dot_60_bar__plus_01_dot_47 Shelf_bar__minus_02_dot_93_bar__plus_00_dot_59_bar__plus_01_dot_43)\n (inReceptacle ShowerGlass_bar__minus_02_dot_90_bar__plus_01_dot_42_bar__plus_02_dot_34 Shelf_bar__minus_02_dot_93_bar__plus_00_dot_59_bar__plus_01_dot_43)\n (inReceptacle HandTowel_bar__minus_00_dot_24_bar__plus_01_dot_76_bar__plus_03_dot_43 HandTowelHolder_bar__minus_00_dot_24_bar__plus_01_dot_86_bar__plus_03_dot_47)\n (inReceptacle SprayBottle_bar__minus_00_dot_63_bar__plus_01_dot_07_bar__plus_00_dot_24 Toilet_bar__minus_00_dot_70_bar__plus_00_dot_03_bar__plus_00_dot_66)\n (inReceptacle PaperTowelRoll_bar__minus_00_dot_56_bar__plus_01_dot_18_bar__plus_00_dot_33 Toilet_bar__minus_00_dot_70_bar__plus_00_dot_03_bar__plus_00_dot_66)\n (inReceptacle SoapBar_bar__minus_00_dot_69_bar__plus_01_dot_07_bar__plus_00_dot_36 Toilet_bar__minus_00_dot_70_bar__plus_00_dot_03_bar__plus_00_dot_66)\n (inReceptacle DishSponge_bar__minus_00_dot_82_bar__plus_01_dot_07_bar__plus_00_dot_33 Toilet_bar__minus_00_dot_70_bar__plus_00_dot_03_bar__plus_00_dot_66)\n \n \n (receptacleAtLocation Bathtub_bar__minus_02_dot_23_bar__plus_00_dot_29_bar__plus_00_dot_72_bar_BathtubBasin loc_bar__minus_8_bar_6_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_34_bar__plus_00_dot_43_bar__plus_02_dot_87 loc_bar__minus_4_bar_8_bar_0_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_36_bar__plus_00_dot_43_bar__plus_02_dot_87 loc_bar__minus_6_bar_8_bar_0_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_40_bar__plus_00_dot_43_bar__plus_02_dot_87 loc_bar__minus_5_bar_8_bar_0_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_42_bar__plus_00_dot_43_bar__plus_02_dot_87 loc_bar__minus_7_bar_8_bar_0_bar_60)\n (receptacleAtLocation CounterTop_bar__minus_01_dot_36_bar__plus_01_dot_09_bar__plus_03_dot_15 loc_bar__minus_6_bar_10_bar_0_bar_45)\n (receptacleAtLocation GarbageCan_bar__minus_00_dot_13_bar__plus_00_dot_03_bar__plus_03_dot_25 loc_bar_0_bar_11_bar_0_bar_60)\n (receptacleAtLocation HandTowelHolder_bar__minus_00_dot_24_bar__plus_01_dot_86_bar__plus_03_dot_47 loc_bar_0_bar_11_bar_0_bar__minus_15)\n (receptacleAtLocation Shelf_bar__minus_02_dot_93_bar__plus_00_dot_59_bar__plus_01_dot_43 loc_bar__minus_8_bar_6_bar_3_bar_45)\n (receptacleAtLocation Sink_bar__minus_00_dot_85_bar__plus_00_dot_95_bar__plus_03_dot_14_bar_SinkBasin loc_bar__minus_2_bar_10_bar_0_bar_45)\n (receptacleAtLocation Sink_bar__minus_01_dot_94_bar__plus_00_dot_95_bar__plus_03_dot_14_bar_SinkBasin loc_bar__minus_7_bar_10_bar_0_bar_45)\n (receptacleAtLocation ToiletPaperHanger_bar__minus_00_dot_04_bar__plus_00_dot_96_bar__plus_00_dot_20 loc_bar_0_bar_3_bar_2_bar_45)\n (receptacleAtLocation Toilet_bar__minus_00_dot_70_bar__plus_00_dot_03_bar__plus_00_dot_66 loc_bar_1_bar_3_bar_3_bar_60)\n (receptacleAtLocation TowelHolder_bar__plus_00_dot_40_bar__plus_01_dot_38_bar__plus_03_dot_47 loc_bar_1_bar_11_bar_0_bar_15)\n (receptacleAtLocation TowelHolder_bar__plus_00_dot_97_bar__plus_01_dot_34_bar__plus_02_dot_86 loc_bar_1_bar_11_bar_1_bar_30)\n (objectAtLocation SprayBottle_bar__minus_01_dot_00_bar__plus_00_dot_06_bar__plus_03_dot_36 loc_bar__minus_6_bar_8_bar_0_bar_60)\n (objectAtLocation DishSponge_bar__minus_01_dot_86_bar__plus_00_dot_11_bar__plus_00_dot_54 loc_bar__minus_8_bar_6_bar_2_bar_60)\n (objectAtLocation Cloth_bar__minus_03_dot_12_bar__plus_00_dot_60_bar__plus_01_dot_47 loc_bar__minus_8_bar_6_bar_3_bar_45)\n (objectAtLocation Towel_bar__plus_00_dot_40_bar__plus_01_dot_39_bar__plus_03_dot_36 loc_bar_1_bar_11_bar_0_bar_15)\n (objectAtLocation SoapBottle_bar__minus_02_dot_34_bar__plus_01_dot_11_bar__plus_03_dot_21 loc_bar__minus_6_bar_10_bar_0_bar_45)\n (objectAtLocation DishSponge_bar__minus_00_dot_82_bar__plus_01_dot_07_bar__plus_00_dot_33 loc_bar_1_bar_3_bar_3_bar_60)\n (objectAtLocation SprayBottle_bar__minus_00_dot_63_bar__plus_01_dot_07_bar__plus_00_dot_24 loc_bar_1_bar_3_bar_3_bar_60)\n (objectAtLocation Window_bar__minus_03_dot_45_bar__plus_01_dot_59_bar__plus_00_dot_65 loc_bar__minus_8_bar_6_bar_3_bar_0)\n (objectAtLocation Mirror_bar__minus_01_dot_39_bar__plus_01_dot_60_bar__plus_03_dot_46 loc_bar__minus_6_bar_10_bar_0_bar_45)\n (objectAtLocation ShowerDoor_bar__minus_02_dot_48_bar__plus_01_dot_77_bar__plus_02_dot_39 loc_bar__minus_8_bar_10_bar_3_bar__minus_15)\n (objectAtLocation Sink_bar__minus_00_dot_85_bar__plus_00_dot_95_bar__plus_03_dot_14 loc_bar__minus_3_bar_10_bar_0_bar_45)\n (objectAtLocation Bathtub_bar__minus_02_dot_23_bar__plus_00_dot_29_bar__plus_00_dot_72 loc_bar__minus_8_bar_6_bar_2_bar_60)\n (objectAtLocation Sink_bar__minus_01_dot_94_bar__plus_00_dot_95_bar__plus_03_dot_14 loc_bar__minus_8_bar_10_bar_0_bar_45)\n (objectAtLocation ShowerGlass_bar__minus_02_dot_90_bar__plus_01_dot_42_bar__plus_02_dot_34 loc_bar__minus_8_bar_6_bar_3_bar_45)\n (objectAtLocation Window_bar__minus_02_dot_19_bar__plus_01_dot_55_bar__plus_00_dot_09 loc_bar__minus_8_bar_6_bar_2_bar_0)\n (objectAtLocation HandTowel_bar__minus_00_dot_24_bar__plus_01_dot_76_bar__plus_03_dot_43 loc_bar_0_bar_11_bar_0_bar__minus_15)\n (objectAtLocation Plunger_bar__minus_00_dot_22_bar__plus_00_dot_03_bar__plus_00_dot_49 loc_bar__minus_1_bar_3_bar_2_bar_60)\n (objectAtLocation SoapBar_bar__minus_00_dot_69_bar__plus_01_dot_07_bar__plus_00_dot_36 loc_bar_1_bar_3_bar_3_bar_60)\n (objectAtLocation ToiletPaper_bar__minus_02_dot_18_bar__plus_00_dot_05_bar__plus_03_dot_16 loc_bar__minus_7_bar_8_bar_0_bar_60)\n (objectAtLocation SoapBottle_bar__minus_01_dot_19_bar__plus_00_dot_60_bar__plus_00_dot_86 loc_bar__minus_8_bar_6_bar_2_bar_60)\n (objectAtLocation LightSwitch_bar__plus_00_dot_97_bar__plus_01_dot_43_bar__plus_01_dot_13 loc_bar_2_bar_5_bar_1_bar_30)\n (objectAtLocation ToiletPaper_bar__minus_00_dot_14_bar__plus_00_dot_06_bar__plus_03_dot_30 loc_bar_0_bar_11_bar_0_bar_60)\n (objectAtLocation Towel_bar__plus_00_dot_86_bar__plus_01_dot_36_bar__plus_02_dot_86 loc_bar_1_bar_11_bar_1_bar_30)\n (objectAtLocation PaperTowelRoll_bar__minus_00_dot_56_bar__plus_01_dot_18_bar__plus_00_dot_33 loc_bar_1_bar_3_bar_3_bar_60)\n (objectAtLocation ScrubBrush_bar__minus_00_dot_35_bar__plus_00_dot_03_bar__plus_00_dot_35 loc_bar__minus_1_bar_3_bar_2_bar_60)\n (objectAtLocation Cloth_bar__minus_02_dot_12_bar__plus_00_dot_06_bar__plus_03_dot_02 loc_bar__minus_7_bar_8_bar_0_bar_60)\n (objectAtLocation Candle_bar__minus_00_dot_32_bar__plus_01_dot_10_bar__plus_03_dot_06 loc_bar__minus_6_bar_10_bar_0_bar_45)\n (objectAtLocation DishSponge_bar__minus_02_dot_81_bar__plus_00_dot_60_bar__plus_01_dot_47 loc_bar__minus_8_bar_6_bar_3_bar_45)\n (objectAtLocation SprayBottle_bar__minus_01_dot_70_bar__plus_00_dot_06_bar__plus_02_dot_95 loc_bar__minus_5_bar_8_bar_0_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (cleanable ?o)\n (objectType ?o DishSpongeType)\n (receptacleType ?r CounterTopType)\n (isClean ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to toilet 1", "take dishsponge 3 from toilet 1", "go to sinkbasin 2", "clean dishsponge 3 with sinkbasin 2", "go to countertop 1", "move dishsponge 3 to countertop 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/valid_seen/pick_clean_then_place_in_recep-DishSponge-None-CounterTop-403/trial_T20190908_144357_621068/initial_state.pddl b/data/alfworld/json_2.1.1/valid_seen/pick_clean_then_place_in_recep-DishSponge-None-CounterTop-403/trial_T20190908_144357_621068/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..f09cfbd6f7a2b9f5fdafafa35146e9ad90525df5 --- /dev/null +++ b/data/alfworld/json_2.1.1/valid_seen/pick_clean_then_place_in_recep-DishSponge-None-CounterTop-403/trial_T20190908_144357_621068/initial_state.pddl @@ -0,0 +1,529 @@ + +(define (problem plan_trial_T20190908_144357_621068) +(:domain alfred) +(:objects +agent1 - agent +Curtains - object + SprayBottle - object + Mirror - object + HousePlant - object + Watch - object + TeddyBear - object + WateringCan - object + Bathtub - object + LightSwitch - object + Vase - object + Candle - object + Bread - object + Statue - object + HandTowel - object + StoveKnob - object + PaperTowelRoll - object + Pan - object + PepperShaker - object + Painting - object + CellPhone - object + Plunger - object + Spoon - object + SaltShaker - object + KeyChain - object + Footstool - object + Poster - object + Television - object + LaundryHamperLid - object + Glassbottle - object + AlarmClock - object + WineBottle - object + Bowl - object + Sink - object + TissueBox - object + TennisRacket - object + ToiletPaper - object + ScrubBrush - object + CreditCard - object + Laptop - object + Cloth - object + Cup - object + Chair - object + BasketBall - object + Kettle - object + PaperTowel - object + ShowerDoor - object + BaseballBat - object + Potato - object + Pillow - object + Lettuce - object + RemoteControl - object + Window - object + DishSponge - object + CD - object + Boots - object + Blinds - object + Pen - object + Newspaper - object + Plate - object + Mug - object + ShowerGlass - object + ToiletPaperRoll - object + SoapBar - object + FloorLamp - object + SoapBottle - object + Pot - object + Pencil - object + Spatula - object + Towel - object + Fork - object + Ladle - object + Knife - object + Apple - object + Box - object + Tomato - object + ButterKnife - object + Egg - object + Book - object + DeskLamp - object +CurtainsType - otype + SprayBottleType - otype + MirrorType - otype + HousePlantType - otype + WatchType - otype + TeddyBearType - otype + WateringCanType - otype + BathtubType - otype + LightSwitchType - otype + VaseType - otype + CandleType - otype + BreadType - otype + StatueType - otype + HandTowelType - otype + StoveKnobType - otype + PaperTowelRollType - otype + PanType - otype + PepperShakerType - otype + PaintingType - otype + CellPhoneType - otype + PlungerType - otype + SpoonType - otype + SaltShakerType - otype + KeyChainType - otype + FootstoolType - otype + PosterType - otype + TelevisionType - otype + LaundryHamperLidType - otype + GlassbottleType - otype + AlarmClockType - otype + WineBottleType - otype + BowlType - otype + SinkType - otype + TissueBoxType - otype + TennisRacketType - otype + ToiletPaperType - otype + ScrubBrushType - otype + CreditCardType - otype + LaptopType - otype + ClothType - otype + CupType - otype + ChairType - otype + BasketBallType - otype + KettleType - otype + PaperTowelType - otype + ShowerDoorType - otype + BaseballBatType - otype + PotatoType - otype + PillowType - otype + LettuceType - otype + RemoteControlType - otype + WindowType - otype + DishSpongeType - otype + CDType - otype + BootsType - otype + BlindsType - otype + PenType - otype + NewspaperType - otype + PlateType - otype + MugType - otype + ShowerGlassType - otype + ToiletPaperRollType - otype + SoapBarType - otype + FloorLampType - otype + SoapBottleType - otype + PotType - otype + PencilType - otype + SpatulaType - otype + TowelType - otype + ForkType - otype + LadleType - otype + KnifeType - otype + AppleType - otype + BoxType - otype + TomatoType - otype + ButterKnifeType - otype + EggType - otype + BookType - otype + DeskLampType - otype +CabinetType - rtype + ShelfType - rtype + DiningTableType - rtype + TowelHolderType - rtype + PaintingHangerType - rtype + TVStandType - rtype + LaundryHamperType - rtype + OttomanType - rtype + SafeType - rtype + CoffeeMachineType - rtype + CounterTopType - rtype + ToiletType - rtype + FridgeType - rtype + CoffeeTableType - rtype + SinkBasinType - rtype + GarbageCanType - rtype + BathtubBasinType - rtype + SideTableType - rtype + CartType - rtype + BedType - rtype + DeskType - rtype + SofaType - rtype + ArmChairType - rtype + MicrowaveType - rtype + HandTowelHolderType - rtype + ToasterType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + DrawerType - rtype + DresserType - rtype + + + Bathtub_bar__minus_02_dot_23_bar__plus_00_dot_29_bar__plus_00_dot_72 - object + Candle_bar__minus_00_dot_32_bar__plus_01_dot_10_bar__plus_03_dot_06 - object + Cloth_bar__minus_02_dot_12_bar__plus_00_dot_06_bar__plus_03_dot_02 - object + Cloth_bar__minus_03_dot_12_bar__plus_00_dot_60_bar__plus_01_dot_47 - object + DishSponge_bar__minus_00_dot_82_bar__plus_01_dot_07_bar__plus_00_dot_33 - object + DishSponge_bar__minus_01_dot_86_bar__plus_00_dot_11_bar__plus_00_dot_54 - object + DishSponge_bar__minus_02_dot_81_bar__plus_00_dot_60_bar__plus_01_dot_47 - object + Faucet_bar__minus_00_dot_85_bar__plus_01_dot_09_bar__plus_03_dot_37 - object + Faucet_bar__minus_01_dot_34_bar__plus_00_dot_64_bar__plus_00_dot_63 - object + Faucet_bar__minus_01_dot_94_bar__plus_01_dot_09_bar__plus_03_dot_37 - object + Faucet_bar__minus_02_dot_95_bar__plus_02_dot_16_bar__plus_03_dot_43 - object + HandTowel_bar__minus_00_dot_24_bar__plus_01_dot_76_bar__plus_03_dot_43 - object + LightSwitch_bar__plus_00_dot_97_bar__plus_01_dot_43_bar__plus_01_dot_13 - object + Mirror_bar__minus_01_dot_39_bar__plus_01_dot_60_bar__plus_03_dot_46 - object + PaperTowelRoll_bar__minus_00_dot_56_bar__plus_01_dot_18_bar__plus_00_dot_33 - object + Plunger_bar__minus_00_dot_22_bar__plus_00_dot_03_bar__plus_00_dot_49 - object + ScrubBrush_bar__minus_00_dot_35_bar__plus_00_dot_03_bar__plus_00_dot_35 - object + ShowerDoor_bar__minus_02_dot_48_bar__plus_01_dot_77_bar__plus_02_dot_39 - object + ShowerGlass_bar__minus_02_dot_90_bar__plus_01_dot_42_bar__plus_02_dot_34 - object + Sink_bar__minus_00_dot_85_bar__plus_00_dot_95_bar__plus_03_dot_14 - object + Sink_bar__minus_01_dot_94_bar__plus_00_dot_95_bar__plus_03_dot_14 - object + SoapBar_bar__minus_00_dot_69_bar__plus_01_dot_07_bar__plus_00_dot_36 - object + SoapBottle_bar__minus_01_dot_19_bar__plus_00_dot_60_bar__plus_00_dot_86 - object + SoapBottle_bar__minus_02_dot_34_bar__plus_01_dot_11_bar__plus_03_dot_21 - object + SprayBottle_bar__minus_00_dot_63_bar__plus_01_dot_07_bar__plus_00_dot_24 - object + SprayBottle_bar__minus_01_dot_00_bar__plus_00_dot_06_bar__plus_03_dot_36 - object + SprayBottle_bar__minus_01_dot_70_bar__plus_00_dot_06_bar__plus_02_dot_95 - object + ToiletPaper_bar__minus_00_dot_14_bar__plus_00_dot_06_bar__plus_03_dot_30 - object + ToiletPaper_bar__minus_02_dot_18_bar__plus_00_dot_05_bar__plus_03_dot_16 - object + Towel_bar__plus_00_dot_40_bar__plus_01_dot_39_bar__plus_03_dot_36 - object + Towel_bar__plus_00_dot_86_bar__plus_01_dot_36_bar__plus_02_dot_86 - object + Window_bar__minus_02_dot_19_bar__plus_01_dot_55_bar__plus_00_dot_09 - object + Window_bar__minus_03_dot_45_bar__plus_01_dot_59_bar__plus_00_dot_65 - object + Bathtub_bar__minus_02_dot_23_bar__plus_00_dot_29_bar__plus_00_dot_72_bar_BathtubBasin - receptacle + Cabinet_bar__minus_00_dot_34_bar__plus_00_dot_43_bar__plus_02_dot_87 - receptacle + Cabinet_bar__minus_01_dot_36_bar__plus_00_dot_43_bar__plus_02_dot_87 - receptacle + Cabinet_bar__minus_01_dot_40_bar__plus_00_dot_43_bar__plus_02_dot_87 - receptacle + Cabinet_bar__minus_02_dot_42_bar__plus_00_dot_43_bar__plus_02_dot_87 - receptacle + CounterTop_bar__minus_01_dot_36_bar__plus_01_dot_09_bar__plus_03_dot_15 - receptacle + GarbageCan_bar__minus_00_dot_13_bar__plus_00_dot_03_bar__plus_03_dot_25 - receptacle + HandTowelHolder_bar__minus_00_dot_24_bar__plus_01_dot_86_bar__plus_03_dot_47 - receptacle + Shelf_bar__minus_02_dot_93_bar__plus_00_dot_59_bar__plus_01_dot_43 - receptacle + Sink_bar__minus_00_dot_85_bar__plus_00_dot_95_bar__plus_03_dot_14_bar_SinkBasin - receptacle + Sink_bar__minus_01_dot_94_bar__plus_00_dot_95_bar__plus_03_dot_14_bar_SinkBasin - receptacle + ToiletPaperHanger_bar__minus_00_dot_04_bar__plus_00_dot_96_bar__plus_00_dot_20 - receptacle + Toilet_bar__minus_00_dot_70_bar__plus_00_dot_03_bar__plus_00_dot_66 - receptacle + TowelHolder_bar__plus_00_dot_40_bar__plus_01_dot_38_bar__plus_03_dot_47 - receptacle + TowelHolder_bar__plus_00_dot_97_bar__plus_01_dot_34_bar__plus_02_dot_86 - receptacle + loc_bar_1_bar_11_bar_1_bar_30 - location + loc_bar__minus_8_bar_10_bar_3_bar__minus_15 - location + loc_bar__minus_8_bar_10_bar_0_bar_45 - location + loc_bar__minus_2_bar_10_bar_0_bar_45 - location + loc_bar__minus_3_bar_10_bar_0_bar_45 - location + loc_bar__minus_8_bar_6_bar_3_bar_0 - location + loc_bar__minus_8_bar_6_bar_2_bar_0 - location + loc_bar__minus_8_bar_6_bar_2_bar_60 - location + loc_bar_0_bar_3_bar_2_bar_45 - location + loc_bar_0_bar_11_bar_0_bar_60 - location + loc_bar__minus_7_bar_8_bar_0_bar_60 - location + loc_bar__minus_6_bar_8_bar_0_bar_60 - location + loc_bar_1_bar_3_bar_3_bar_60 - location + loc_bar_0_bar_11_bar_0_bar__minus_15 - location + loc_bar__minus_7_bar_10_bar_0_bar_45 - location + loc_bar_2_bar_5_bar_1_bar_30 - location + loc_bar__minus_6_bar_10_bar_0_bar_45 - location + loc_bar__minus_1_bar_3_bar_2_bar_60 - location + loc_bar__minus_5_bar_8_bar_0_bar_60 - location + loc_bar__minus_4_bar_8_bar_0_bar_60 - location + loc_bar_1_bar_11_bar_0_bar_15 - location + loc_bar__minus_8_bar_6_bar_3_bar_45 - location + loc_bar__minus_4_bar_9_bar_1_bar_30 - location + ) + + +(:init + + + (receptacleType Cabinet_bar__minus_00_dot_34_bar__plus_00_dot_43_bar__plus_02_dot_87 CabinetType) + (receptacleType Cabinet_bar__minus_02_dot_42_bar__plus_00_dot_43_bar__plus_02_dot_87 CabinetType) + (receptacleType Cabinet_bar__minus_01_dot_40_bar__plus_00_dot_43_bar__plus_02_dot_87 CabinetType) + (receptacleType TowelHolder_bar__plus_00_dot_97_bar__plus_01_dot_34_bar__plus_02_dot_86 TowelHolderType) + (receptacleType Cabinet_bar__minus_01_dot_36_bar__plus_00_dot_43_bar__plus_02_dot_87 CabinetType) + (receptacleType Shelf_bar__minus_02_dot_93_bar__plus_00_dot_59_bar__plus_01_dot_43 ShelfType) + (receptacleType Toilet_bar__minus_00_dot_70_bar__plus_00_dot_03_bar__plus_00_dot_66 ToiletType) + (receptacleType TowelHolder_bar__plus_00_dot_40_bar__plus_01_dot_38_bar__plus_03_dot_47 TowelHolderType) + (receptacleType Sink_bar__minus_00_dot_85_bar__plus_00_dot_95_bar__plus_03_dot_14_bar_SinkBasin SinkBasinType) + (receptacleType CounterTop_bar__minus_01_dot_36_bar__plus_01_dot_09_bar__plus_03_dot_15 CounterTopType) + (receptacleType HandTowelHolder_bar__minus_00_dot_24_bar__plus_01_dot_86_bar__plus_03_dot_47 HandTowelHolderType) + (receptacleType Sink_bar__minus_01_dot_94_bar__plus_00_dot_95_bar__plus_03_dot_14_bar_SinkBasin SinkBasinType) + (receptacleType ToiletPaperHanger_bar__minus_00_dot_04_bar__plus_00_dot_96_bar__plus_00_dot_20 ToiletPaperHangerType) + (receptacleType GarbageCan_bar__minus_00_dot_13_bar__plus_00_dot_03_bar__plus_03_dot_25 GarbageCanType) + (receptacleType Bathtub_bar__minus_02_dot_23_bar__plus_00_dot_29_bar__plus_00_dot_72_bar_BathtubBasin BathtubBasinType) + (objectType Bathtub_bar__minus_02_dot_23_bar__plus_00_dot_29_bar__plus_00_dot_72 BathtubType) + (objectType DishSponge_bar__minus_00_dot_82_bar__plus_01_dot_07_bar__plus_00_dot_33 DishSpongeType) + (objectType DishSponge_bar__minus_01_dot_86_bar__plus_00_dot_11_bar__plus_00_dot_54 DishSpongeType) + (objectType DishSponge_bar__minus_02_dot_81_bar__plus_00_dot_60_bar__plus_01_dot_47 DishSpongeType) + (objectType SoapBottle_bar__minus_02_dot_34_bar__plus_01_dot_11_bar__plus_03_dot_21 SoapBottleType) + (objectType Window_bar__minus_03_dot_45_bar__plus_01_dot_59_bar__plus_00_dot_65 WindowType) + (objectType SprayBottle_bar__minus_01_dot_00_bar__plus_00_dot_06_bar__plus_03_dot_36 SprayBottleType) + (objectType SoapBottle_bar__minus_01_dot_19_bar__plus_00_dot_60_bar__plus_00_dot_86 SoapBottleType) + (objectType SprayBottle_bar__minus_00_dot_63_bar__plus_01_dot_07_bar__plus_00_dot_24 SprayBottleType) + (objectType Plunger_bar__minus_00_dot_22_bar__plus_00_dot_03_bar__plus_00_dot_49 PlungerType) + (objectType Towel_bar__plus_00_dot_40_bar__plus_01_dot_39_bar__plus_03_dot_36 TowelType) + (objectType HandTowel_bar__minus_00_dot_24_bar__plus_01_dot_76_bar__plus_03_dot_43 HandTowelType) + (objectType Cloth_bar__minus_02_dot_12_bar__plus_00_dot_06_bar__plus_03_dot_02 ClothType) + (objectType SprayBottle_bar__minus_01_dot_70_bar__plus_00_dot_06_bar__plus_02_dot_95 SprayBottleType) + (objectType PaperTowelRoll_bar__minus_00_dot_56_bar__plus_01_dot_18_bar__plus_00_dot_33 PaperTowelRollType) + (objectType ScrubBrush_bar__minus_00_dot_35_bar__plus_00_dot_03_bar__plus_00_dot_35 ScrubBrushType) + (objectType Window_bar__minus_02_dot_19_bar__plus_01_dot_55_bar__plus_00_dot_09 WindowType) + (objectType Cloth_bar__minus_03_dot_12_bar__plus_00_dot_60_bar__plus_01_dot_47 ClothType) + (objectType Sink_bar__minus_00_dot_85_bar__plus_00_dot_95_bar__plus_03_dot_14 SinkType) + (objectType Mirror_bar__minus_01_dot_39_bar__plus_01_dot_60_bar__plus_03_dot_46 MirrorType) + (objectType ToiletPaper_bar__minus_00_dot_14_bar__plus_00_dot_06_bar__plus_03_dot_30 ToiletPaperType) + (objectType ShowerDoor_bar__minus_02_dot_48_bar__plus_01_dot_77_bar__plus_02_dot_39 ShowerDoorType) + (objectType Sink_bar__minus_01_dot_94_bar__plus_00_dot_95_bar__plus_03_dot_14 SinkType) + (objectType ToiletPaper_bar__minus_02_dot_18_bar__plus_00_dot_05_bar__plus_03_dot_16 ToiletPaperType) + (objectType Towel_bar__plus_00_dot_86_bar__plus_01_dot_36_bar__plus_02_dot_86 TowelType) + (objectType SoapBar_bar__minus_00_dot_69_bar__plus_01_dot_07_bar__plus_00_dot_36 SoapBarType) + (objectType ShowerGlass_bar__minus_02_dot_90_bar__plus_01_dot_42_bar__plus_02_dot_34 ShowerGlassType) + (objectType LightSwitch_bar__plus_00_dot_97_bar__plus_01_dot_43_bar__plus_01_dot_13 LightSwitchType) + (objectType Candle_bar__minus_00_dot_32_bar__plus_01_dot_10_bar__plus_03_dot_06 CandleType) + (canContain CabinetType PlungerType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType SoapBarType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType DishSpongeType) + (canContain CabinetType ToiletPaperType) + (canContain CabinetType CandleType) + (canContain CabinetType ClothType) + (canContain CabinetType HandTowelType) + (canContain CabinetType PlungerType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType SoapBarType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType DishSpongeType) + (canContain CabinetType ToiletPaperType) + (canContain CabinetType CandleType) + (canContain CabinetType ClothType) + (canContain CabinetType HandTowelType) + (canContain CabinetType PlungerType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType SoapBarType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType DishSpongeType) + (canContain CabinetType ToiletPaperType) + (canContain CabinetType CandleType) + (canContain CabinetType ClothType) + (canContain CabinetType HandTowelType) + (canContain TowelHolderType TowelType) + (canContain CabinetType PlungerType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType SoapBarType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType DishSpongeType) + (canContain CabinetType ToiletPaperType) + (canContain CabinetType CandleType) + (canContain CabinetType ClothType) + (canContain CabinetType HandTowelType) + (canContain ShelfType SprayBottleType) + (canContain ShelfType SoapBarType) + (canContain ShelfType SoapBottleType) + (canContain ShelfType DishSpongeType) + (canContain ShelfType ToiletPaperType) + (canContain ShelfType CandleType) + (canContain ShelfType ClothType) + (canContain ShelfType HandTowelType) + (canContain ToiletType ClothType) + (canContain ToiletType SoapBarType) + (canContain ToiletType HandTowelType) + (canContain ToiletType ToiletPaperType) + (canContain ToiletType SoapBottleType) + (canContain ToiletType DishSpongeType) + (canContain ToiletType SprayBottleType) + (canContain ToiletType CandleType) + (canContain TowelHolderType TowelType) + (canContain SinkBasinType SoapBarType) + (canContain SinkBasinType DishSpongeType) + (canContain SinkBasinType ClothType) + (canContain SinkBasinType HandTowelType) + (canContain CounterTopType SprayBottleType) + (canContain CounterTopType SoapBarType) + (canContain CounterTopType SoapBottleType) + (canContain CounterTopType DishSpongeType) + (canContain CounterTopType ToiletPaperType) + (canContain CounterTopType CandleType) + (canContain CounterTopType ClothType) + (canContain CounterTopType HandTowelType) + (canContain HandTowelHolderType HandTowelType) + (canContain SinkBasinType SoapBarType) + (canContain SinkBasinType DishSpongeType) + (canContain SinkBasinType ClothType) + (canContain SinkBasinType HandTowelType) + (canContain ToiletPaperHangerType ToiletPaperType) + (canContain GarbageCanType SprayBottleType) + (canContain GarbageCanType SoapBarType) + (canContain GarbageCanType SoapBottleType) + (canContain GarbageCanType DishSpongeType) + (canContain GarbageCanType ToiletPaperType) + (canContain GarbageCanType ClothType) + (canContain GarbageCanType HandTowelType) + (canContain BathtubBasinType HandTowelType) + (canContain BathtubBasinType SoapBarType) + (canContain BathtubBasinType ClothType) + (canContain BathtubBasinType DishSpongeType) + (pickupable DishSponge_bar__minus_00_dot_82_bar__plus_01_dot_07_bar__plus_00_dot_33) + (pickupable DishSponge_bar__minus_01_dot_86_bar__plus_00_dot_11_bar__plus_00_dot_54) + (pickupable DishSponge_bar__minus_02_dot_81_bar__plus_00_dot_60_bar__plus_01_dot_47) + (pickupable SoapBottle_bar__minus_02_dot_34_bar__plus_01_dot_11_bar__plus_03_dot_21) + (pickupable SprayBottle_bar__minus_01_dot_00_bar__plus_00_dot_06_bar__plus_03_dot_36) + (pickupable SoapBottle_bar__minus_01_dot_19_bar__plus_00_dot_60_bar__plus_00_dot_86) + (pickupable SprayBottle_bar__minus_00_dot_63_bar__plus_01_dot_07_bar__plus_00_dot_24) + (pickupable Plunger_bar__minus_00_dot_22_bar__plus_00_dot_03_bar__plus_00_dot_49) + (pickupable Towel_bar__plus_00_dot_40_bar__plus_01_dot_39_bar__plus_03_dot_36) + (pickupable HandTowel_bar__minus_00_dot_24_bar__plus_01_dot_76_bar__plus_03_dot_43) + (pickupable Cloth_bar__minus_02_dot_12_bar__plus_00_dot_06_bar__plus_03_dot_02) + (pickupable SprayBottle_bar__minus_01_dot_70_bar__plus_00_dot_06_bar__plus_02_dot_95) + (pickupable PaperTowelRoll_bar__minus_00_dot_56_bar__plus_01_dot_18_bar__plus_00_dot_33) + (pickupable ScrubBrush_bar__minus_00_dot_35_bar__plus_00_dot_03_bar__plus_00_dot_35) + (pickupable Cloth_bar__minus_03_dot_12_bar__plus_00_dot_60_bar__plus_01_dot_47) + (pickupable ToiletPaper_bar__minus_00_dot_14_bar__plus_00_dot_06_bar__plus_03_dot_30) + (pickupable ToiletPaper_bar__minus_02_dot_18_bar__plus_00_dot_05_bar__plus_03_dot_16) + (pickupable Towel_bar__plus_00_dot_86_bar__plus_01_dot_36_bar__plus_02_dot_86) + (pickupable SoapBar_bar__minus_00_dot_69_bar__plus_01_dot_07_bar__plus_00_dot_36) + (pickupable Candle_bar__minus_00_dot_32_bar__plus_01_dot_10_bar__plus_03_dot_06) + + (openable Cabinet_bar__minus_00_dot_34_bar__plus_00_dot_43_bar__plus_02_dot_87) + (openable Cabinet_bar__minus_02_dot_42_bar__plus_00_dot_43_bar__plus_02_dot_87) + (openable Cabinet_bar__minus_01_dot_40_bar__plus_00_dot_43_bar__plus_02_dot_87) + (openable Cabinet_bar__minus_01_dot_36_bar__plus_00_dot_43_bar__plus_02_dot_87) + + (atLocation agent1 loc_bar__minus_4_bar_9_bar_1_bar_30) + + (cleanable DishSponge_bar__minus_00_dot_82_bar__plus_01_dot_07_bar__plus_00_dot_33) + (cleanable DishSponge_bar__minus_01_dot_86_bar__plus_00_dot_11_bar__plus_00_dot_54) + (cleanable DishSponge_bar__minus_02_dot_81_bar__plus_00_dot_60_bar__plus_01_dot_47) + (cleanable Cloth_bar__minus_02_dot_12_bar__plus_00_dot_06_bar__plus_03_dot_02) + (cleanable Cloth_bar__minus_03_dot_12_bar__plus_00_dot_60_bar__plus_01_dot_47) + (cleanable SoapBar_bar__minus_00_dot_69_bar__plus_01_dot_07_bar__plus_00_dot_36) + + + + + + + + + + + (inReceptacle Mirror_bar__minus_01_dot_39_bar__plus_01_dot_60_bar__plus_03_dot_46 CounterTop_bar__minus_01_dot_36_bar__plus_01_dot_09_bar__plus_03_dot_15) + (inReceptacle SoapBottle_bar__minus_02_dot_34_bar__plus_01_dot_11_bar__plus_03_dot_21 CounterTop_bar__minus_01_dot_36_bar__plus_01_dot_09_bar__plus_03_dot_15) + (inReceptacle Candle_bar__minus_00_dot_32_bar__plus_01_dot_10_bar__plus_03_dot_06 CounterTop_bar__minus_01_dot_36_bar__plus_01_dot_09_bar__plus_03_dot_15) + (inReceptacle ShowerGlass_bar__minus_02_dot_90_bar__plus_01_dot_42_bar__plus_02_dot_34 CounterTop_bar__minus_01_dot_36_bar__plus_01_dot_09_bar__plus_03_dot_15) + (inReceptacle SprayBottle_bar__minus_01_dot_70_bar__plus_00_dot_06_bar__plus_02_dot_95 Cabinet_bar__minus_01_dot_40_bar__plus_00_dot_43_bar__plus_02_dot_87) + (inReceptacle SprayBottle_bar__minus_01_dot_00_bar__plus_00_dot_06_bar__plus_03_dot_36 Cabinet_bar__minus_01_dot_36_bar__plus_00_dot_43_bar__plus_02_dot_87) + (inReceptacle Cloth_bar__minus_02_dot_12_bar__plus_00_dot_06_bar__plus_03_dot_02 Cabinet_bar__minus_02_dot_42_bar__plus_00_dot_43_bar__plus_02_dot_87) + (inReceptacle ToiletPaper_bar__minus_02_dot_18_bar__plus_00_dot_05_bar__plus_03_dot_16 Cabinet_bar__minus_02_dot_42_bar__plus_00_dot_43_bar__plus_02_dot_87) + (inReceptacle ToiletPaper_bar__minus_00_dot_14_bar__plus_00_dot_06_bar__plus_03_dot_30 GarbageCan_bar__minus_00_dot_13_bar__plus_00_dot_03_bar__plus_03_dot_25) + (inReceptacle Towel_bar__plus_00_dot_86_bar__plus_01_dot_36_bar__plus_02_dot_86 TowelHolder_bar__plus_00_dot_97_bar__plus_01_dot_34_bar__plus_02_dot_86) + (inReceptacle Towel_bar__plus_00_dot_40_bar__plus_01_dot_39_bar__plus_03_dot_36 TowelHolder_bar__plus_00_dot_40_bar__plus_01_dot_38_bar__plus_03_dot_47) + (inReceptacle DishSponge_bar__minus_01_dot_86_bar__plus_00_dot_11_bar__plus_00_dot_54 Bathtub_bar__minus_02_dot_23_bar__plus_00_dot_29_bar__plus_00_dot_72_bar_BathtubBasin) + (inReceptacle DishSponge_bar__minus_02_dot_81_bar__plus_00_dot_60_bar__plus_01_dot_47 Shelf_bar__minus_02_dot_93_bar__plus_00_dot_59_bar__plus_01_dot_43) + (inReceptacle Cloth_bar__minus_03_dot_12_bar__plus_00_dot_60_bar__plus_01_dot_47 Shelf_bar__minus_02_dot_93_bar__plus_00_dot_59_bar__plus_01_dot_43) + (inReceptacle ShowerGlass_bar__minus_02_dot_90_bar__plus_01_dot_42_bar__plus_02_dot_34 Shelf_bar__minus_02_dot_93_bar__plus_00_dot_59_bar__plus_01_dot_43) + (inReceptacle HandTowel_bar__minus_00_dot_24_bar__plus_01_dot_76_bar__plus_03_dot_43 HandTowelHolder_bar__minus_00_dot_24_bar__plus_01_dot_86_bar__plus_03_dot_47) + (inReceptacle SprayBottle_bar__minus_00_dot_63_bar__plus_01_dot_07_bar__plus_00_dot_24 Toilet_bar__minus_00_dot_70_bar__plus_00_dot_03_bar__plus_00_dot_66) + (inReceptacle PaperTowelRoll_bar__minus_00_dot_56_bar__plus_01_dot_18_bar__plus_00_dot_33 Toilet_bar__minus_00_dot_70_bar__plus_00_dot_03_bar__plus_00_dot_66) + (inReceptacle SoapBar_bar__minus_00_dot_69_bar__plus_01_dot_07_bar__plus_00_dot_36 Toilet_bar__minus_00_dot_70_bar__plus_00_dot_03_bar__plus_00_dot_66) + (inReceptacle DishSponge_bar__minus_00_dot_82_bar__plus_01_dot_07_bar__plus_00_dot_33 Toilet_bar__minus_00_dot_70_bar__plus_00_dot_03_bar__plus_00_dot_66) + + + (receptacleAtLocation Bathtub_bar__minus_02_dot_23_bar__plus_00_dot_29_bar__plus_00_dot_72_bar_BathtubBasin loc_bar__minus_8_bar_6_bar_2_bar_60) + (receptacleAtLocation Cabinet_bar__minus_00_dot_34_bar__plus_00_dot_43_bar__plus_02_dot_87 loc_bar__minus_4_bar_8_bar_0_bar_60) + (receptacleAtLocation Cabinet_bar__minus_01_dot_36_bar__plus_00_dot_43_bar__plus_02_dot_87 loc_bar__minus_6_bar_8_bar_0_bar_60) + (receptacleAtLocation Cabinet_bar__minus_01_dot_40_bar__plus_00_dot_43_bar__plus_02_dot_87 loc_bar__minus_5_bar_8_bar_0_bar_60) + (receptacleAtLocation Cabinet_bar__minus_02_dot_42_bar__plus_00_dot_43_bar__plus_02_dot_87 loc_bar__minus_7_bar_8_bar_0_bar_60) + (receptacleAtLocation CounterTop_bar__minus_01_dot_36_bar__plus_01_dot_09_bar__plus_03_dot_15 loc_bar__minus_6_bar_10_bar_0_bar_45) + (receptacleAtLocation GarbageCan_bar__minus_00_dot_13_bar__plus_00_dot_03_bar__plus_03_dot_25 loc_bar_0_bar_11_bar_0_bar_60) + (receptacleAtLocation HandTowelHolder_bar__minus_00_dot_24_bar__plus_01_dot_86_bar__plus_03_dot_47 loc_bar_0_bar_11_bar_0_bar__minus_15) + (receptacleAtLocation Shelf_bar__minus_02_dot_93_bar__plus_00_dot_59_bar__plus_01_dot_43 loc_bar__minus_8_bar_6_bar_3_bar_45) + (receptacleAtLocation Sink_bar__minus_00_dot_85_bar__plus_00_dot_95_bar__plus_03_dot_14_bar_SinkBasin loc_bar__minus_2_bar_10_bar_0_bar_45) + (receptacleAtLocation Sink_bar__minus_01_dot_94_bar__plus_00_dot_95_bar__plus_03_dot_14_bar_SinkBasin loc_bar__minus_7_bar_10_bar_0_bar_45) + (receptacleAtLocation ToiletPaperHanger_bar__minus_00_dot_04_bar__plus_00_dot_96_bar__plus_00_dot_20 loc_bar_0_bar_3_bar_2_bar_45) + (receptacleAtLocation Toilet_bar__minus_00_dot_70_bar__plus_00_dot_03_bar__plus_00_dot_66 loc_bar_1_bar_3_bar_3_bar_60) + (receptacleAtLocation TowelHolder_bar__plus_00_dot_40_bar__plus_01_dot_38_bar__plus_03_dot_47 loc_bar_1_bar_11_bar_0_bar_15) + (receptacleAtLocation TowelHolder_bar__plus_00_dot_97_bar__plus_01_dot_34_bar__plus_02_dot_86 loc_bar_1_bar_11_bar_1_bar_30) + (objectAtLocation SprayBottle_bar__minus_01_dot_00_bar__plus_00_dot_06_bar__plus_03_dot_36 loc_bar__minus_6_bar_8_bar_0_bar_60) + (objectAtLocation DishSponge_bar__minus_01_dot_86_bar__plus_00_dot_11_bar__plus_00_dot_54 loc_bar__minus_8_bar_6_bar_2_bar_60) + (objectAtLocation Cloth_bar__minus_03_dot_12_bar__plus_00_dot_60_bar__plus_01_dot_47 loc_bar__minus_8_bar_6_bar_3_bar_45) + (objectAtLocation Towel_bar__plus_00_dot_40_bar__plus_01_dot_39_bar__plus_03_dot_36 loc_bar_1_bar_11_bar_0_bar_15) + (objectAtLocation SoapBottle_bar__minus_02_dot_34_bar__plus_01_dot_11_bar__plus_03_dot_21 loc_bar__minus_6_bar_10_bar_0_bar_45) + (objectAtLocation DishSponge_bar__minus_00_dot_82_bar__plus_01_dot_07_bar__plus_00_dot_33 loc_bar_1_bar_3_bar_3_bar_60) + (objectAtLocation SprayBottle_bar__minus_00_dot_63_bar__plus_01_dot_07_bar__plus_00_dot_24 loc_bar_1_bar_3_bar_3_bar_60) + (objectAtLocation Window_bar__minus_03_dot_45_bar__plus_01_dot_59_bar__plus_00_dot_65 loc_bar__minus_8_bar_6_bar_3_bar_0) + (objectAtLocation Mirror_bar__minus_01_dot_39_bar__plus_01_dot_60_bar__plus_03_dot_46 loc_bar__minus_6_bar_10_bar_0_bar_45) + (objectAtLocation ShowerDoor_bar__minus_02_dot_48_bar__plus_01_dot_77_bar__plus_02_dot_39 loc_bar__minus_8_bar_10_bar_3_bar__minus_15) + (objectAtLocation Sink_bar__minus_00_dot_85_bar__plus_00_dot_95_bar__plus_03_dot_14 loc_bar__minus_3_bar_10_bar_0_bar_45) + (objectAtLocation Bathtub_bar__minus_02_dot_23_bar__plus_00_dot_29_bar__plus_00_dot_72 loc_bar__minus_8_bar_6_bar_2_bar_60) + (objectAtLocation Sink_bar__minus_01_dot_94_bar__plus_00_dot_95_bar__plus_03_dot_14 loc_bar__minus_8_bar_10_bar_0_bar_45) + (objectAtLocation ShowerGlass_bar__minus_02_dot_90_bar__plus_01_dot_42_bar__plus_02_dot_34 loc_bar__minus_8_bar_6_bar_3_bar_45) + (objectAtLocation Window_bar__minus_02_dot_19_bar__plus_01_dot_55_bar__plus_00_dot_09 loc_bar__minus_8_bar_6_bar_2_bar_0) + (objectAtLocation HandTowel_bar__minus_00_dot_24_bar__plus_01_dot_76_bar__plus_03_dot_43 loc_bar_0_bar_11_bar_0_bar__minus_15) + (objectAtLocation Plunger_bar__minus_00_dot_22_bar__plus_00_dot_03_bar__plus_00_dot_49 loc_bar__minus_1_bar_3_bar_2_bar_60) + (objectAtLocation SoapBar_bar__minus_00_dot_69_bar__plus_01_dot_07_bar__plus_00_dot_36 loc_bar_1_bar_3_bar_3_bar_60) + (objectAtLocation ToiletPaper_bar__minus_02_dot_18_bar__plus_00_dot_05_bar__plus_03_dot_16 loc_bar__minus_7_bar_8_bar_0_bar_60) + (objectAtLocation SoapBottle_bar__minus_01_dot_19_bar__plus_00_dot_60_bar__plus_00_dot_86 loc_bar__minus_8_bar_6_bar_2_bar_60) + (objectAtLocation LightSwitch_bar__plus_00_dot_97_bar__plus_01_dot_43_bar__plus_01_dot_13 loc_bar_2_bar_5_bar_1_bar_30) + (objectAtLocation 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"high_descs": [ + "Turn around and take two steps then turn left and walk to the left side of the tub.", + "Pick up the sponge that's in front of you in the tub.", + "Turn left and take a step then turn left and walk to the sink.", + "Get the sponge wet in the sink and then pick it back up and shut off the water.", + "Take a step to your left.", + "Put the sponge on the edge of the counter to the right of the left sink." + ], + "task_desc": "Put a wet sponge on the counter.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1HKHM4NVAO98H_3X87C8JFV92LTU3LAD839PESGMDQS4", + "high_descs": [ + "turn around and walk over to the bath tub on the left side of the room", + "grab the sponge out of the bath tub", + "turn left and walk over to the sink on the left side of the room", + "place the sponge inside of the sink, rinse it off, then take it back out", + "move to the left a bit and face the sink again", + "place the clean sponge on top of the sink" + ], + "task_desc": "place a clean sponge on top of the sink counter", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1ELPYAFO7MANS_3ZPPDN2SLYNERCHHSGDCYDKO5VTE9Y", + "high_descs": [ + "Turn right and slightly right to the tub.", + "Take the sponge out of the tub.", + "Turn around and walk to the right sink.", + "Wash the sponge in the sink.", + "Take a step left.", + "Place the sponge on the counter in between the two sinks." + ], + "task_desc": "Place a clean sponge on a counter.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/valid_seen/pick_clean_then_place_in_recep-Mug-None-CoffeeMachine-26/trial_T20190907_233056_022802/game.tw-pddl b/data/alfworld/json_2.1.1/valid_seen/pick_clean_then_place_in_recep-Mug-None-CoffeeMachine-26/trial_T20190907_233056_022802/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..5d3a5d6625bfc71afeb427bc9b6f2738c38a39fd --- /dev/null +++ b/data/alfworld/json_2.1.1/valid_seen/pick_clean_then_place_in_recep-Mug-None-CoffeeMachine-26/trial_T20190907_233056_022802/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\n\\n#task#\"\n }\n ],\n\n \"notImplemented\": [\n {\n \"rhs\": \"TODO\"\n }\n ],\n\n \"task\": [\n {\n \"rhs\": \"Your task is to: clean some mug and put it in coffeemachine.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190907_233056_022802)\n(:domain alfred)\n(:objects\nagent1 - agent\nCurtains - object\n SprayBottle - object\n Mirror - object\n HousePlant - object\n Watch - object\n TeddyBear - object\n WateringCan - object\n Bathtub - object\n LightSwitch - object\n Vase - object\n Candle - object\n Bread - object\n Statue - object\n HandTowel - object\n StoveKnob - object\n PaperTowelRoll - object\n Pan - object\n PepperShaker - object\n Painting - object\n CellPhone - object\n Plunger - object\n Spoon - object\n SaltShaker - object\n KeyChain - object\n Footstool - object\n Poster - object\n Television - object\n LaundryHamperLid - object\n Glassbottle - object\n AlarmClock - object\n WineBottle - object\n Bowl - object\n Sink - object\n TissueBox - object\n TennisRacket - object\n ToiletPaper - object\n ScrubBrush - object\n CreditCard - object\n Laptop - object\n Cloth - object\n Cup - object\n Chair - object\n BasketBall - object\n Kettle - object\n PaperTowel - object\n ShowerDoor - object\n BaseballBat - object\n Potato - object\n Pillow - object\n Lettuce - object\n RemoteControl - object\n Window - object\n DishSponge - object\n CD - object\n Boots - object\n Blinds - object\n Pen - object\n Newspaper - object\n Plate - object\n Mug - object\n ShowerGlass - object\n ToiletPaperRoll - object\n SoapBar - object\n FloorLamp - object\n SoapBottle - object\n Pot - object\n Pencil - object\n Spatula - object\n Towel - object\n Fork - object\n Ladle - object\n Knife - object\n Apple - object\n Box - object\n Tomato - object\n ButterKnife - object\n Egg - object\n Book - object\n DeskLamp - object\nCurtainsType - otype\n SprayBottleType - otype\n MirrorType - otype\n HousePlantType - otype\n WatchType - otype\n TeddyBearType - otype\n WateringCanType - otype\n BathtubType - otype\n LightSwitchType - otype\n VaseType - otype\n CandleType - otype\n BreadType - otype\n StatueType - otype\n HandTowelType - otype\n StoveKnobType - otype\n PaperTowelRollType - otype\n PanType - otype\n PepperShakerType - otype\n PaintingType - otype\n CellPhoneType - otype\n PlungerType - otype\n SpoonType - otype\n SaltShakerType - otype\n KeyChainType - otype\n FootstoolType - otype\n PosterType - otype\n TelevisionType - otype\n LaundryHamperLidType - otype\n GlassbottleType - otype\n AlarmClockType - otype\n WineBottleType - otype\n BowlType - otype\n SinkType - otype\n TissueBoxType - otype\n TennisRacketType - otype\n ToiletPaperType - otype\n ScrubBrushType - otype\n CreditCardType - otype\n LaptopType - otype\n ClothType - otype\n CupType - otype\n ChairType - otype\n BasketBallType - otype\n KettleType - otype\n PaperTowelType - otype\n ShowerDoorType - otype\n BaseballBatType - otype\n PotatoType - otype\n PillowType - otype\n LettuceType - otype\n RemoteControlType - otype\n WindowType - otype\n DishSpongeType - otype\n CDType - otype\n BootsType - otype\n BlindsType - otype\n PenType - otype\n NewspaperType - otype\n PlateType - otype\n MugType - otype\n ShowerGlassType - otype\n ToiletPaperRollType - otype\n SoapBarType - otype\n FloorLampType - otype\n SoapBottleType - otype\n PotType - otype\n PencilType - otype\n SpatulaType - otype\n TowelType - otype\n ForkType - otype\n LadleType - otype\n KnifeType - otype\n AppleType - otype\n BoxType - otype\n TomatoType - otype\n ButterKnifeType - otype\n EggType - otype\n BookType - otype\n DeskLampType - otype\nCabinetType - rtype\n ShelfType - rtype\n DiningTableType - rtype\n TowelHolderType - rtype\n PaintingHangerType - rtype\n TVStandType - rtype\n LaundryHamperType - rtype\n OttomanType - rtype\n SafeType - rtype\n CoffeeMachineType - rtype\n CounterTopType - rtype\n ToiletType - rtype\n FridgeType - rtype\n CoffeeTableType - rtype\n SinkBasinType - rtype\n GarbageCanType - rtype\n BathtubBasinType - rtype\n SideTableType - rtype\n CartType - rtype\n BedType - rtype\n DeskType - rtype\n SofaType - rtype\n ArmChairType - rtype\n MicrowaveType - rtype\n HandTowelHolderType - rtype\n ToasterType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n DrawerType - rtype\n DresserType - rtype\n\n\n Apple_bar__minus_00_dot_35_bar__plus_01_dot_08_bar__plus_00_dot_27 - object\n Apple_bar__minus_02_dot_38_bar__plus_00_dot_96_bar__plus_02_dot_31 - object\n Bowl_bar__minus_01_dot_75_bar__plus_01_dot_77_bar__plus_00_dot_25 - object\n Bread_bar__minus_02_dot_86_bar__plus_00_dot_94_bar__plus_01_dot_98 - object\n ButterKnife_bar__minus_02_dot_48_bar__plus_00_dot_90_bar__plus_02_dot_71 - object\n Cup_bar__minus_00_dot_23_bar__plus_00_dot_90_bar__plus_02_dot_53 - object\n Cup_bar__minus_02_dot_58_bar__plus_00_dot_90_bar__plus_02_dot_71 - object\n DishSponge_bar__minus_02_dot_22_bar__plus_00_dot_66_bar__plus_00_dot_41 - object\n Egg_bar__minus_01_dot_35_bar__plus_00_dot_83_bar__plus_00_dot_23 - object\n Faucet_bar__minus_01_dot_08_bar__plus_00_dot_92_bar__plus_00_dot_03 - object\n Fork_bar__minus_02_dot_17_bar__plus_00_dot_93_bar__plus_00_dot_60 - object\n Knife_bar__minus_02_dot_43_bar__plus_00_dot_69_bar__plus_00_dot_36 - object\n Lettuce_bar__minus_02_dot_85_bar__plus_01_dot_27_bar__plus_04_dot_50 - object\n LightSwitch_bar__minus_00_dot_07_bar__plus_01_dot_45_bar__plus_02_dot_00 - object\n Mug_bar__minus_02_dot_78_bar__plus_01_dot_00_bar__plus_03_dot_71 - object\n Mug_bar__minus_02_dot_79_bar__plus_00_dot_29_bar__plus_04_dot_50 - object\n Pan_bar__minus_00_dot_25_bar__plus_00_dot_93_bar__plus_04_dot_27 - object\n PepperShaker_bar__minus_00_dot_31_bar__plus_00_dot_90_bar__plus_02_dot_73 - object\n Plate_bar__minus_00_dot_49_bar__plus_00_dot_90_bar__plus_02_dot_53 - object\n Plate_bar__minus_00_dot_69_bar__plus_01_dot_78_bar__plus_00_dot_16 - object\n Plate_bar__minus_02_dot_74_bar__plus_00_dot_30_bar__plus_04_dot_28 - object\n Potato_bar__minus_00_dot_19_bar__plus_01_dot_04_bar__plus_00_dot_24 - object\n Potato_bar__minus_00_dot_23_bar__plus_00_dot_93_bar__plus_03_dot_33 - object\n Potato_bar__minus_02_dot_71_bar__plus_00_dot_96_bar__plus_03_dot_40 - object\n Pot_bar__minus_02_dot_48_bar__plus_00_dot_89_bar__plus_02_dot_05 - object\n SaltShaker_bar__minus_00_dot_66_bar__plus_00_dot_90_bar__plus_02_dot_93 - object\n SaltShaker_bar__minus_01_dot_66_bar__plus_00_dot_66_bar__plus_00_dot_41 - object\n Sink_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_00_dot_34 - object\n SoapBottle_bar__minus_00_dot_57_bar__plus_00_dot_90_bar__plus_03_dot_33 - object\n SoapBottle_bar__minus_02_dot_63_bar__plus_00_dot_94_bar__plus_03_dot_77 - object\n Spatula_bar__minus_01_dot_18_bar__plus_00_dot_81_bar__plus_00_dot_28 - object\n Spatula_bar__minus_01_dot_77_bar__plus_00_dot_94_bar__plus_00_dot_43 - object\n Spatula_bar__minus_02_dot_58_bar__plus_00_dot_92_bar__plus_02_dot_31 - object\n Spoon_bar__minus_00_dot_31_bar__plus_00_dot_90_bar__plus_02_dot_33 - object\n Spoon_bar__minus_01_dot_01_bar__plus_00_dot_80_bar__plus_00_dot_28 - object\n Spoon_bar__minus_02_dot_71_bar__plus_00_dot_94_bar__plus_03_dot_30 - object\n StoveKnob_bar__minus_00_dot_06_bar__plus_01_dot_09_bar__plus_04_dot_22 - object\n StoveKnob_bar__minus_00_dot_06_bar__plus_01_dot_09_bar__plus_04_dot_38 - object\n StoveKnob_bar__minus_00_dot_06_bar__plus_01_dot_09_bar__plus_04_dot_63 - object\n StoveKnob_bar__minus_00_dot_06_bar__plus_01_dot_09_bar__plus_04_dot_78 - object\n Tomato_bar__minus_02_dot_82_bar__plus_00_dot_12_bar__plus_00_dot_45 - object\n Tomato_bar__minus_02_dot_94_bar__plus_01_dot_00_bar__plus_03_dot_30 - object\n Window_bar__minus_03_dot_08_bar__plus_01_dot_59_bar__plus_01_dot_36 - object\n Cabinet_bar__minus_00_dot_48_bar__plus_02_dot_05_bar__plus_00_dot_39 - receptacle\n Cabinet_bar__minus_00_dot_52_bar__plus_02_dot_05_bar__plus_00_dot_39 - receptacle\n Cabinet_bar__minus_00_dot_56_bar__plus_00_dot_49_bar__plus_00_dot_65 - receptacle\n Cabinet_bar__minus_00_dot_60_bar__plus_00_dot_49_bar__plus_00_dot_65 - receptacle\n Cabinet_bar__minus_01_dot_48_bar__plus_02_dot_05_bar__plus_00_dot_39 - receptacle\n Cabinet_bar__minus_01_dot_51_bar__plus_02_dot_05_bar__plus_00_dot_39 - receptacle\n Cabinet_bar__minus_01_dot_55_bar__plus_00_dot_49_bar__plus_00_dot_65 - receptacle\n Cabinet_bar__minus_01_dot_59_bar__plus_00_dot_49_bar__plus_00_dot_65 - receptacle\n Cabinet_bar__minus_02_dot_47_bar__plus_02_dot_05_bar__plus_00_dot_39 - receptacle\n Cabinet_bar__minus_02_dot_55_bar__plus_00_dot_49_bar__plus_00_dot_65 - receptacle\n CoffeeMachine_bar__minus_02_dot_96_bar__plus_00_dot_93_bar__plus_03_dot_61 - receptacle\n CounterTop_bar__minus_01_dot_37_bar__plus_00_dot_95_bar__plus_00_dot_35 - receptacle\n CounterTop_bar__minus_02_dot_78_bar__plus_00_dot_97_bar__plus_03_dot_49 - receptacle\n DiningTable_bar__minus_00_dot_47_bar__plus_00_dot_01_bar__plus_03_dot_00 - receptacle\n DiningTable_bar__minus_02_dot_76_bar__plus_00_dot_01_bar__plus_02_dot_36 - receptacle\n Drawer_bar__minus_00_dot_33_bar__plus_00_dot_70_bar__plus_00_dot_41 - receptacle\n Drawer_bar__minus_01_dot_82_bar__plus_00_dot_70_bar__plus_00_dot_41 - receptacle\n Drawer_bar__minus_02_dot_32_bar__plus_00_dot_70_bar__plus_00_dot_41 - receptacle\n Fridge_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__plus_04_dot_43 - receptacle\n GarbageCan_bar__minus_02_dot_82_bar__plus_00_dot_00_bar__plus_00_dot_37 - receptacle\n Microwave_bar__minus_00_dot_36_bar__plus_00_dot_91_bar__plus_00_dot_22 - receptacle\n Sink_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_00_dot_34_bar_SinkBasin - receptacle\n StoveBurner_bar__minus_00_dot_25_bar__plus_00_dot_92_bar__plus_04_dot_27 - receptacle\n StoveBurner_bar__minus_00_dot_25_bar__plus_00_dot_92_bar__plus_04_dot_67 - receptacle\n StoveBurner_bar__minus_00_dot_54_bar__plus_00_dot_92_bar__plus_04_dot_27 - receptacle\n StoveBurner_bar__minus_00_dot_54_bar__plus_00_dot_92_bar__plus_04_dot_67 - receptacle\n Toaster_bar__minus_00_dot_29_bar__plus_00_dot_89_bar__plus_03_dot_56 - receptacle\n loc_bar__minus_5_bar_4_bar_2_bar__minus_30 - location\n loc_bar__minus_4_bar_17_bar_1_bar_60 - location\n loc_bar__minus_6_bar_5_bar_2_bar_45 - location\n loc_bar__minus_8_bar_4_bar_2_bar__minus_30 - location\n loc_bar__minus_7_bar_4_bar_2_bar__minus_30 - location\n loc_bar__minus_3_bar_4_bar_2_bar_45 - location\n loc_bar__minus_3_bar_5_bar_2_bar_30 - location\n loc_bar__minus_3_bar_6_bar_2_bar_45 - location\n loc_bar__minus_8_bar_14_bar_3_bar_45 - location\n loc_bar__minus_10_bar_5_bar_3_bar_0 - location\n loc_bar__minus_3_bar_7_bar_1_bar_15 - location\n loc_bar__minus_7_bar_4_bar_2_bar_60 - location\n loc_bar__minus_4_bar_14_bar_1_bar_45 - location\n loc_bar__minus_4_bar_5_bar_2_bar_45 - location\n loc_bar__minus_3_bar_4_bar_2_bar_60 - location\n loc_bar__minus_4_bar_17_bar_1_bar_30 - location\n loc_bar__minus_8_bar_14_bar_3_bar_30 - location\n loc_bar__minus_3_bar_5_bar_2_bar__minus_30 - location\n loc_bar__minus_7_bar_17_bar_3_bar_60 - location\n loc_bar__minus_8_bar_5_bar_2_bar_45 - location\n loc_bar__minus_3_bar_5_bar_2_bar_45 - location\n loc_bar__minus_4_bar_17_bar_1_bar_45 - location\n loc_bar__minus_5_bar_11_bar_1_bar_60 - location\n loc_bar__minus_8_bar_10_bar_3_bar_60 - location\n loc_bar__minus_10_bar_4_bar_2_bar_60 - location\n loc_bar__minus_3_bar_4_bar_2_bar__minus_30 - location\n loc_bar__minus_4_bar_11_bar_2_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType CounterTop_bar__minus_02_dot_78_bar__plus_00_dot_97_bar__plus_03_dot_49 CounterTopType)\n (receptacleType CounterTop_bar__minus_01_dot_37_bar__plus_00_dot_95_bar__plus_00_dot_35 CounterTopType)\n (receptacleType StoveBurner_bar__minus_00_dot_54_bar__plus_00_dot_92_bar__plus_04_dot_27 StoveBurnerType)\n (receptacleType CoffeeMachine_bar__minus_02_dot_96_bar__plus_00_dot_93_bar__plus_03_dot_61 CoffeeMachineType)\n (receptacleType GarbageCan_bar__minus_02_dot_82_bar__plus_00_dot_00_bar__plus_00_dot_37 GarbageCanType)\n (receptacleType Cabinet_bar__minus_00_dot_60_bar__plus_00_dot_49_bar__plus_00_dot_65 CabinetType)\n (receptacleType StoveBurner_bar__minus_00_dot_54_bar__plus_00_dot_92_bar__plus_04_dot_67 StoveBurnerType)\n (receptacleType Cabinet_bar__minus_00_dot_56_bar__plus_00_dot_49_bar__plus_00_dot_65 CabinetType)\n (receptacleType StoveBurner_bar__minus_00_dot_25_bar__plus_00_dot_92_bar__plus_04_dot_27 StoveBurnerType)\n (receptacleType Toaster_bar__minus_00_dot_29_bar__plus_00_dot_89_bar__plus_03_dot_56 ToasterType)\n (receptacleType Cabinet_bar__minus_00_dot_52_bar__plus_02_dot_05_bar__plus_00_dot_39 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_47_bar__plus_02_dot_05_bar__plus_00_dot_39 CabinetType)\n (receptacleType Microwave_bar__minus_00_dot_36_bar__plus_00_dot_91_bar__plus_00_dot_22 MicrowaveType)\n (receptacleType StoveBurner_bar__minus_00_dot_25_bar__plus_00_dot_92_bar__plus_04_dot_67 StoveBurnerType)\n (receptacleType Cabinet_bar__minus_00_dot_48_bar__plus_02_dot_05_bar__plus_00_dot_39 CabinetType)\n (receptacleType Drawer_bar__minus_01_dot_82_bar__plus_00_dot_70_bar__plus_00_dot_41 DrawerType)\n (receptacleType Drawer_bar__minus_02_dot_32_bar__plus_00_dot_70_bar__plus_00_dot_41 DrawerType)\n (receptacleType Cabinet_bar__minus_01_dot_48_bar__plus_02_dot_05_bar__plus_00_dot_39 CabinetType)\n (receptacleType DiningTable_bar__minus_02_dot_76_bar__plus_00_dot_01_bar__plus_02_dot_36 DiningTableType)\n (receptacleType Drawer_bar__minus_00_dot_33_bar__plus_00_dot_70_bar__plus_00_dot_41 DrawerType)\n (receptacleType DiningTable_bar__minus_00_dot_47_bar__plus_00_dot_01_bar__plus_03_dot_00 DiningTableType)\n (receptacleType Sink_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_00_dot_34_bar_SinkBasin SinkBasinType)\n (receptacleType Cabinet_bar__minus_01_dot_55_bar__plus_00_dot_49_bar__plus_00_dot_65 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_55_bar__plus_00_dot_49_bar__plus_00_dot_65 CabinetType)\n (receptacleType Cabinet_bar__minus_01_dot_59_bar__plus_00_dot_49_bar__plus_00_dot_65 CabinetType)\n (receptacleType Fridge_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__plus_04_dot_43 FridgeType)\n (receptacleType Cabinet_bar__minus_01_dot_51_bar__plus_02_dot_05_bar__plus_00_dot_39 CabinetType)\n (objectType Bread_bar__minus_02_dot_86_bar__plus_00_dot_94_bar__plus_01_dot_98 BreadType)\n (objectType Tomato_bar__minus_02_dot_94_bar__plus_01_dot_00_bar__plus_03_dot_30 TomatoType)\n (objectType PepperShaker_bar__minus_00_dot_31_bar__plus_00_dot_90_bar__plus_02_dot_73 PepperShakerType)\n (objectType Cup_bar__minus_02_dot_58_bar__plus_00_dot_90_bar__plus_02_dot_71 CupType)\n (objectType Potato_bar__minus_00_dot_23_bar__plus_00_dot_93_bar__plus_03_dot_33 PotatoType)\n (objectType StoveKnob_bar__minus_00_dot_06_bar__plus_01_dot_09_bar__plus_04_dot_22 StoveKnobType)\n (objectType Sink_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_00_dot_34 SinkType)\n (objectType Plate_bar__minus_00_dot_69_bar__plus_01_dot_78_bar__plus_00_dot_16 PlateType)\n (objectType Plate_bar__minus_00_dot_49_bar__plus_00_dot_90_bar__plus_02_dot_53 PlateType)\n (objectType StoveKnob_bar__minus_00_dot_06_bar__plus_01_dot_09_bar__plus_04_dot_63 StoveKnobType)\n (objectType Spoon_bar__minus_00_dot_31_bar__plus_00_dot_90_bar__plus_02_dot_33 SpoonType)\n (objectType Pan_bar__minus_00_dot_25_bar__plus_00_dot_93_bar__plus_04_dot_27 PanType)\n (objectType Apple_bar__minus_00_dot_35_bar__plus_01_dot_08_bar__plus_00_dot_27 AppleType)\n (objectType Mug_bar__minus_02_dot_78_bar__plus_01_dot_00_bar__plus_03_dot_71 MugType)\n (objectType Spoon_bar__minus_01_dot_01_bar__plus_00_dot_80_bar__plus_00_dot_28 SpoonType)\n (objectType Spatula_bar__minus_01_dot_77_bar__plus_00_dot_94_bar__plus_00_dot_43 SpatulaType)\n (objectType Plate_bar__minus_02_dot_74_bar__plus_00_dot_30_bar__plus_04_dot_28 PlateType)\n (objectType DishSponge_bar__minus_02_dot_22_bar__plus_00_dot_66_bar__plus_00_dot_41 DishSpongeType)\n (objectType StoveKnob_bar__minus_00_dot_06_bar__plus_01_dot_09_bar__plus_04_dot_78 StoveKnobType)\n (objectType StoveKnob_bar__minus_00_dot_06_bar__plus_01_dot_09_bar__plus_04_dot_38 StoveKnobType)\n (objectType Egg_bar__minus_01_dot_35_bar__plus_00_dot_83_bar__plus_00_dot_23 EggType)\n (objectType Lettuce_bar__minus_02_dot_85_bar__plus_01_dot_27_bar__plus_04_dot_50 LettuceType)\n (objectType SaltShaker_bar__minus_00_dot_66_bar__plus_00_dot_90_bar__plus_02_dot_93 SaltShakerType)\n (objectType Potato_bar__minus_02_dot_71_bar__plus_00_dot_96_bar__plus_03_dot_40 PotatoType)\n (objectType Spoon_bar__minus_02_dot_71_bar__plus_00_dot_94_bar__plus_03_dot_30 SpoonType)\n (objectType Fork_bar__minus_02_dot_17_bar__plus_00_dot_93_bar__plus_00_dot_60 ForkType)\n (objectType SoapBottle_bar__minus_02_dot_63_bar__plus_00_dot_94_bar__plus_03_dot_77 SoapBottleType)\n (objectType Potato_bar__minus_00_dot_19_bar__plus_01_dot_04_bar__plus_00_dot_24 PotatoType)\n (objectType Pot_bar__minus_02_dot_48_bar__plus_00_dot_89_bar__plus_02_dot_05 PotType)\n (objectType ButterKnife_bar__minus_02_dot_48_bar__plus_00_dot_90_bar__plus_02_dot_71 ButterKnifeType)\n (objectType 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Bowl_bar__minus_01_dot_75_bar__plus_01_dot_77_bar__plus_00_dot_25 BowlType)\n (objectType Mug_bar__minus_02_dot_79_bar__plus_00_dot_29_bar__plus_04_dot_50 MugType)\n (canContain CounterTopType SpoonType)\n (canContain CounterTopType SaltShakerType)\n (canContain CounterTopType PotatoType)\n (canContain CounterTopType SoapBottleType)\n (canContain CounterTopType LettuceType)\n (canContain CounterTopType PotType)\n (canContain CounterTopType BowlType)\n (canContain CounterTopType DishSpongeType)\n (canContain CounterTopType SpatulaType)\n (canContain CounterTopType ForkType)\n (canContain CounterTopType BreadType)\n (canContain CounterTopType KnifeType)\n (canContain CounterTopType AppleType)\n (canContain CounterTopType PlateType)\n (canContain CounterTopType MugType)\n (canContain CounterTopType PanType)\n (canContain CounterTopType ButterKnifeType)\n (canContain CounterTopType PepperShakerType)\n (canContain CounterTopType TomatoType)\n (canContain CounterTopType CupType)\n (canContain CounterTopType EggType)\n (canContain CounterTopType SpoonType)\n (canContain CounterTopType SaltShakerType)\n (canContain CounterTopType PotatoType)\n (canContain CounterTopType SoapBottleType)\n (canContain CounterTopType LettuceType)\n (canContain CounterTopType PotType)\n (canContain CounterTopType BowlType)\n (canContain CounterTopType DishSpongeType)\n (canContain CounterTopType SpatulaType)\n (canContain CounterTopType ForkType)\n (canContain CounterTopType BreadType)\n (canContain CounterTopType KnifeType)\n (canContain CounterTopType AppleType)\n (canContain CounterTopType PlateType)\n (canContain CounterTopType MugType)\n (canContain CounterTopType PanType)\n (canContain CounterTopType ButterKnifeType)\n (canContain CounterTopType PepperShakerType)\n (canContain CounterTopType TomatoType)\n (canContain CounterTopType CupType)\n (canContain CounterTopType EggType)\n (canContain StoveBurnerType PanType)\n (canContain StoveBurnerType PotType)\n (canContain CoffeeMachineType MugType)\n (canContain GarbageCanType PotatoType)\n (canContain GarbageCanType SoapBottleType)\n (canContain GarbageCanType LettuceType)\n (canContain GarbageCanType DishSpongeType)\n (canContain GarbageCanType BreadType)\n (canContain GarbageCanType AppleType)\n (canContain GarbageCanType TomatoType)\n (canContain GarbageCanType EggType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType PotType)\n (canContain CabinetType BowlType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType PlateType)\n (canContain CabinetType MugType)\n (canContain CabinetType PanType)\n (canContain CabinetType PepperShakerType)\n (canContain CabinetType CupType)\n (canContain StoveBurnerType PanType)\n (canContain StoveBurnerType PotType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType PotType)\n (canContain CabinetType BowlType)\n (canContain CabinetType 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DrawerType DishSpongeType)\n (canContain DrawerType SpatulaType)\n (canContain DrawerType ForkType)\n (canContain DrawerType KnifeType)\n (canContain DrawerType PepperShakerType)\n (canContain DrawerType ButterKnifeType)\n (canContain DrawerType SpoonType)\n (canContain DrawerType SaltShakerType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType SpatulaType)\n (canContain DrawerType ForkType)\n (canContain DrawerType KnifeType)\n (canContain DrawerType PepperShakerType)\n (canContain DrawerType ButterKnifeType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType PotType)\n (canContain CabinetType BowlType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType PlateType)\n (canContain CabinetType MugType)\n (canContain CabinetType PanType)\n (canContain CabinetType PepperShakerType)\n (canContain CabinetType CupType)\n (canContain DiningTableType SpoonType)\n 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Cup_bar__minus_00_dot_23_bar__plus_00_dot_90_bar__plus_02_dot_53)\n (heatable Tomato_bar__minus_02_dot_82_bar__plus_00_dot_12_bar__plus_00_dot_45)\n (heatable Apple_bar__minus_02_dot_38_bar__plus_00_dot_96_bar__plus_02_dot_31)\n (heatable Mug_bar__minus_02_dot_79_bar__plus_00_dot_29_bar__plus_04_dot_50)\n (coolable Bread_bar__minus_02_dot_86_bar__plus_00_dot_94_bar__plus_01_dot_98)\n (coolable Tomato_bar__minus_02_dot_94_bar__plus_01_dot_00_bar__plus_03_dot_30)\n (coolable Cup_bar__minus_02_dot_58_bar__plus_00_dot_90_bar__plus_02_dot_71)\n (coolable Potato_bar__minus_00_dot_23_bar__plus_00_dot_93_bar__plus_03_dot_33)\n (coolable Plate_bar__minus_00_dot_69_bar__plus_01_dot_78_bar__plus_00_dot_16)\n (coolable Plate_bar__minus_00_dot_49_bar__plus_00_dot_90_bar__plus_02_dot_53)\n (coolable Pan_bar__minus_00_dot_25_bar__plus_00_dot_93_bar__plus_04_dot_27)\n (coolable Apple_bar__minus_00_dot_35_bar__plus_01_dot_08_bar__plus_00_dot_27)\n (coolable 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Mug_bar__minus_02_dot_79_bar__plus_00_dot_29_bar__plus_04_dot_50)\n \n \n \n (sliceable Bread_bar__minus_02_dot_86_bar__plus_00_dot_94_bar__plus_01_dot_98)\n (sliceable Tomato_bar__minus_02_dot_94_bar__plus_01_dot_00_bar__plus_03_dot_30)\n (sliceable Potato_bar__minus_00_dot_23_bar__plus_00_dot_93_bar__plus_03_dot_33)\n (sliceable Apple_bar__minus_00_dot_35_bar__plus_01_dot_08_bar__plus_00_dot_27)\n (sliceable Egg_bar__minus_01_dot_35_bar__plus_00_dot_83_bar__plus_00_dot_23)\n (sliceable Lettuce_bar__minus_02_dot_85_bar__plus_01_dot_27_bar__plus_04_dot_50)\n (sliceable Potato_bar__minus_02_dot_71_bar__plus_00_dot_96_bar__plus_03_dot_40)\n (sliceable Potato_bar__minus_00_dot_19_bar__plus_01_dot_04_bar__plus_00_dot_24)\n (sliceable Tomato_bar__minus_02_dot_82_bar__plus_00_dot_12_bar__plus_00_dot_45)\n (sliceable Apple_bar__minus_02_dot_38_bar__plus_00_dot_96_bar__plus_02_dot_31)\n \n (inReceptacleObject Sink_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_00_dot_34 Plate_bar__minus_00_dot_69_bar__plus_01_dot_78_bar__plus_00_dot_16)\n (inReceptacle Bowl_bar__minus_01_dot_75_bar__plus_01_dot_77_bar__plus_00_dot_25 Cabinet_bar__minus_01_dot_51_bar__plus_02_dot_05_bar__plus_00_dot_39)\n (inReceptacle Fork_bar__minus_02_dot_17_bar__plus_00_dot_93_bar__plus_00_dot_60 CounterTop_bar__minus_01_dot_37_bar__plus_00_dot_95_bar__plus_00_dot_35)\n (inReceptacle Plate_bar__minus_00_dot_69_bar__plus_01_dot_78_bar__plus_00_dot_16 CounterTop_bar__minus_01_dot_37_bar__plus_00_dot_95_bar__plus_00_dot_35)\n (inReceptacle Spatula_bar__minus_01_dot_77_bar__plus_00_dot_94_bar__plus_00_dot_43 CounterTop_bar__minus_01_dot_37_bar__plus_00_dot_95_bar__plus_00_dot_35)\n (inReceptacle SaltShaker_bar__minus_01_dot_66_bar__plus_00_dot_66_bar__plus_00_dot_41 Drawer_bar__minus_01_dot_82_bar__plus_00_dot_70_bar__plus_00_dot_41)\n (inReceptacle Bread_bar__minus_02_dot_86_bar__plus_00_dot_94_bar__plus_01_dot_98 DiningTable_bar__minus_02_dot_76_bar__plus_00_dot_01_bar__plus_02_dot_36)\n (inReceptacle Cup_bar__minus_02_dot_58_bar__plus_00_dot_90_bar__plus_02_dot_71 DiningTable_bar__minus_02_dot_76_bar__plus_00_dot_01_bar__plus_02_dot_36)\n (inReceptacle Pot_bar__minus_02_dot_48_bar__plus_00_dot_89_bar__plus_02_dot_05 DiningTable_bar__minus_02_dot_76_bar__plus_00_dot_01_bar__plus_02_dot_36)\n (inReceptacle ButterKnife_bar__minus_02_dot_48_bar__plus_00_dot_90_bar__plus_02_dot_71 DiningTable_bar__minus_02_dot_76_bar__plus_00_dot_01_bar__plus_02_dot_36)\n (inReceptacle Apple_bar__minus_02_dot_38_bar__plus_00_dot_96_bar__plus_02_dot_31 DiningTable_bar__minus_02_dot_76_bar__plus_00_dot_01_bar__plus_02_dot_36)\n (inReceptacle Spatula_bar__minus_02_dot_58_bar__plus_00_dot_92_bar__plus_02_dot_31 DiningTable_bar__minus_02_dot_76_bar__plus_00_dot_01_bar__plus_02_dot_36)\n (inReceptacle SaltShaker_bar__minus_00_dot_66_bar__plus_00_dot_90_bar__plus_02_dot_93 DiningTable_bar__minus_00_dot_47_bar__plus_00_dot_01_bar__plus_03_dot_00)\n (inReceptacle Plate_bar__minus_00_dot_49_bar__plus_00_dot_90_bar__plus_02_dot_53 DiningTable_bar__minus_00_dot_47_bar__plus_00_dot_01_bar__plus_03_dot_00)\n (inReceptacle PepperShaker_bar__minus_00_dot_31_bar__plus_00_dot_90_bar__plus_02_dot_73 DiningTable_bar__minus_00_dot_47_bar__plus_00_dot_01_bar__plus_03_dot_00)\n (inReceptacle Spoon_bar__minus_00_dot_31_bar__plus_00_dot_90_bar__plus_02_dot_33 DiningTable_bar__minus_00_dot_47_bar__plus_00_dot_01_bar__plus_03_dot_00)\n (inReceptacle Cup_bar__minus_00_dot_23_bar__plus_00_dot_90_bar__plus_02_dot_53 DiningTable_bar__minus_00_dot_47_bar__plus_00_dot_01_bar__plus_03_dot_00)\n (inReceptacle Potato_bar__minus_00_dot_23_bar__plus_00_dot_93_bar__plus_03_dot_33 DiningTable_bar__minus_00_dot_47_bar__plus_00_dot_01_bar__plus_03_dot_00)\n (inReceptacle SoapBottle_bar__minus_00_dot_57_bar__plus_00_dot_90_bar__plus_03_dot_33 DiningTable_bar__minus_00_dot_47_bar__plus_00_dot_01_bar__plus_03_dot_00)\n (inReceptacle Pan_bar__minus_00_dot_25_bar__plus_00_dot_93_bar__plus_04_dot_27 StoveBurner_bar__minus_00_dot_25_bar__plus_00_dot_92_bar__plus_04_dot_27)\n (inReceptacle Potato_bar__minus_02_dot_71_bar__plus_00_dot_96_bar__plus_03_dot_40 CounterTop_bar__minus_02_dot_78_bar__plus_00_dot_97_bar__plus_03_dot_49)\n (inReceptacle Spoon_bar__minus_02_dot_71_bar__plus_00_dot_94_bar__plus_03_dot_30 CounterTop_bar__minus_02_dot_78_bar__plus_00_dot_97_bar__plus_03_dot_49)\n (inReceptacle Tomato_bar__minus_02_dot_94_bar__plus_01_dot_00_bar__plus_03_dot_30 CounterTop_bar__minus_02_dot_78_bar__plus_00_dot_97_bar__plus_03_dot_49)\n (inReceptacle Mug_bar__minus_02_dot_78_bar__plus_01_dot_00_bar__plus_03_dot_71 CounterTop_bar__minus_02_dot_78_bar__plus_00_dot_97_bar__plus_03_dot_49)\n (inReceptacle SoapBottle_bar__minus_02_dot_63_bar__plus_00_dot_94_bar__plus_03_dot_77 CounterTop_bar__minus_02_dot_78_bar__plus_00_dot_97_bar__plus_03_dot_49)\n (inReceptacle DishSponge_bar__minus_02_dot_22_bar__plus_00_dot_66_bar__plus_00_dot_41 Drawer_bar__minus_02_dot_32_bar__plus_00_dot_70_bar__plus_00_dot_41)\n (inReceptacle Knife_bar__minus_02_dot_43_bar__plus_00_dot_69_bar__plus_00_dot_36 Drawer_bar__minus_02_dot_32_bar__plus_00_dot_70_bar__plus_00_dot_41)\n (inReceptacle Tomato_bar__minus_02_dot_82_bar__plus_00_dot_12_bar__plus_00_dot_45 GarbageCan_bar__minus_02_dot_82_bar__plus_00_dot_00_bar__plus_00_dot_37)\n (inReceptacle Lettuce_bar__minus_02_dot_85_bar__plus_01_dot_27_bar__plus_04_dot_50 Fridge_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__plus_04_dot_43)\n (inReceptacle Mug_bar__minus_02_dot_79_bar__plus_00_dot_29_bar__plus_04_dot_50 Fridge_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__plus_04_dot_43)\n (inReceptacle Plate_bar__minus_02_dot_74_bar__plus_00_dot_30_bar__plus_04_dot_28 Fridge_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__plus_04_dot_43)\n (inReceptacle Egg_bar__minus_01_dot_35_bar__plus_00_dot_83_bar__plus_00_dot_23 Sink_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_00_dot_34_bar_SinkBasin)\n (inReceptacle Spoon_bar__minus_01_dot_01_bar__plus_00_dot_80_bar__plus_00_dot_28 Sink_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_00_dot_34_bar_SinkBasin)\n (inReceptacle Spatula_bar__minus_01_dot_18_bar__plus_00_dot_81_bar__plus_00_dot_28 Sink_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_00_dot_34_bar_SinkBasin)\n (inReceptacle Plate_bar__minus_00_dot_69_bar__plus_01_dot_78_bar__plus_00_dot_16 Sink_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_00_dot_34_bar_SinkBasin)\n (inReceptacle Apple_bar__minus_00_dot_35_bar__plus_01_dot_08_bar__plus_00_dot_27 Microwave_bar__minus_00_dot_36_bar__plus_00_dot_91_bar__plus_00_dot_22)\n (inReceptacle Potato_bar__minus_00_dot_19_bar__plus_01_dot_04_bar__plus_00_dot_24 Microwave_bar__minus_00_dot_36_bar__plus_00_dot_91_bar__plus_00_dot_22)\n (inReceptacle Mug_bar__minus_02_dot_78_bar__plus_01_dot_00_bar__plus_03_dot_71 CoffeeMachine_bar__minus_02_dot_96_bar__plus_00_dot_93_bar__plus_03_dot_61)\n \n \n (receptacleAtLocation Cabinet_bar__minus_00_dot_48_bar__plus_02_dot_05_bar__plus_00_dot_39 loc_bar__minus_3_bar_5_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_52_bar__plus_02_dot_05_bar__plus_00_dot_39 loc_bar__minus_3_bar_4_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_56_bar__plus_00_dot_49_bar__plus_00_dot_65 loc_bar__minus_3_bar_4_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_60_bar__plus_00_dot_49_bar__plus_00_dot_65 loc_bar__minus_3_bar_4_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_48_bar__plus_02_dot_05_bar__plus_00_dot_39 loc_bar__minus_5_bar_4_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_51_bar__plus_02_dot_05_bar__plus_00_dot_39 loc_bar__minus_7_bar_4_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_55_bar__plus_00_dot_49_bar__plus_00_dot_65 loc_bar__minus_7_bar_4_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_59_bar__plus_00_dot_49_bar__plus_00_dot_65 loc_bar__minus_7_bar_4_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_47_bar__plus_02_dot_05_bar__plus_00_dot_39 loc_bar__minus_8_bar_4_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_55_bar__plus_00_dot_49_bar__plus_00_dot_65 loc_bar__minus_10_bar_4_bar_2_bar_60)\n (receptacleAtLocation CoffeeMachine_bar__minus_02_dot_96_bar__plus_00_dot_93_bar__plus_03_dot_61 loc_bar__minus_8_bar_14_bar_3_bar_30)\n (receptacleAtLocation CounterTop_bar__minus_01_dot_37_bar__plus_00_dot_95_bar__plus_00_dot_35 loc_bar__minus_8_bar_5_bar_2_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_02_dot_78_bar__plus_00_dot_97_bar__plus_03_dot_49 loc_bar__minus_8_bar_14_bar_3_bar_45)\n (receptacleAtLocation DiningTable_bar__minus_00_dot_47_bar__plus_00_dot_01_bar__plus_03_dot_00 loc_bar__minus_5_bar_11_bar_1_bar_60)\n (receptacleAtLocation DiningTable_bar__minus_02_dot_76_bar__plus_00_dot_01_bar__plus_02_dot_36 loc_bar__minus_8_bar_10_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_33_bar__plus_00_dot_70_bar__plus_00_dot_41 loc_bar__minus_3_bar_6_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_82_bar__plus_00_dot_70_bar__plus_00_dot_41 loc_bar__minus_4_bar_5_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_02_dot_32_bar__plus_00_dot_70_bar__plus_00_dot_41 loc_bar__minus_6_bar_5_bar_2_bar_45)\n (receptacleAtLocation Fridge_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__plus_04_dot_43 loc_bar__minus_7_bar_17_bar_3_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_02_dot_82_bar__plus_00_dot_00_bar__plus_00_dot_37 loc_bar__minus_10_bar_4_bar_2_bar_60)\n (receptacleAtLocation Microwave_bar__minus_00_dot_36_bar__plus_00_dot_91_bar__plus_00_dot_22 loc_bar__minus_3_bar_5_bar_2_bar_30)\n (receptacleAtLocation Sink_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_00_dot_34_bar_SinkBasin loc_bar__minus_3_bar_5_bar_2_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_25_bar__plus_00_dot_92_bar__plus_04_dot_27 loc_bar__minus_4_bar_17_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_25_bar__plus_00_dot_92_bar__plus_04_dot_67 loc_bar__minus_4_bar_17_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_54_bar__plus_00_dot_92_bar__plus_04_dot_27 loc_bar__minus_4_bar_17_bar_1_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_54_bar__plus_00_dot_92_bar__plus_04_dot_67 loc_bar__minus_4_bar_17_bar_1_bar_60)\n (receptacleAtLocation Toaster_bar__minus_00_dot_29_bar__plus_00_dot_89_bar__plus_03_dot_56 loc_bar__minus_4_bar_14_bar_1_bar_45)\n (objectAtLocation Mug_bar__minus_02_dot_78_bar__plus_01_dot_00_bar__plus_03_dot_71 loc_bar__minus_8_bar_14_bar_3_bar_30)\n (objectAtLocation Spoon_bar__minus_00_dot_31_bar__plus_00_dot_90_bar__plus_02_dot_33 loc_bar__minus_5_bar_11_bar_1_bar_60)\n (objectAtLocation SoapBottle_bar__minus_00_dot_57_bar__plus_00_dot_90_bar__plus_03_dot_33 loc_bar__minus_5_bar_11_bar_1_bar_60)\n (objectAtLocation SaltShaker_bar__minus_00_dot_66_bar__plus_00_dot_90_bar__plus_02_dot_93 loc_bar__minus_5_bar_11_bar_1_bar_60)\n (objectAtLocation Cup_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 Tomato_bar__minus_02_dot_94_bar__plus_01_dot_00_bar__plus_03_dot_30 loc_bar__minus_8_bar_14_bar_3_bar_45)\n (objectAtLocation Potato_bar__minus_00_dot_19_bar__plus_01_dot_04_bar__plus_00_dot_24 loc_bar__minus_3_bar_5_bar_2_bar_30)\n (objectAtLocation Spatula_bar__minus_01_dot_77_bar__plus_00_dot_94_bar__plus_00_dot_43 loc_bar__minus_8_bar_5_bar_2_bar_45)\n (objectAtLocation Apple_bar__minus_00_dot_35_bar__plus_01_dot_08_bar__plus_00_dot_27 loc_bar__minus_3_bar_5_bar_2_bar_30)\n (objectAtLocation Plate_bar__minus_02_dot_74_bar__plus_00_dot_30_bar__plus_04_dot_28 loc_bar__minus_7_bar_17_bar_3_bar_60)\n (objectAtLocation Plate_bar__minus_00_dot_69_bar__plus_01_dot_78_bar__plus_00_dot_16 loc_bar__minus_3_bar_5_bar_2_bar_45)\n (objectAtLocation Spoon_bar__minus_02_dot_71_bar__plus_00_dot_94_bar__plus_03_dot_30 loc_bar__minus_8_bar_14_bar_3_bar_45)\n (objectAtLocation Spatula_bar__minus_02_dot_58_bar__plus_00_dot_92_bar__plus_02_dot_31 loc_bar__minus_8_bar_10_bar_3_bar_60)\n (objectAtLocation Potato_bar__minus_00_dot_23_bar__plus_00_dot_93_bar__plus_03_dot_33 loc_bar__minus_5_bar_11_bar_1_bar_60)\n (objectAtLocation Sink_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_00_dot_34 loc_bar__minus_3_bar_4_bar_2_bar_45)\n (objectAtLocation Egg_bar__minus_01_dot_35_bar__plus_00_dot_83_bar__plus_00_dot_23 loc_bar__minus_3_bar_5_bar_2_bar_45)\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_49_bar__plus_00_dot_90_bar__plus_02_dot_53 loc_bar__minus_5_bar_11_bar_1_bar_60)\n (objectAtLocation Fork_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 Bread_bar__minus_02_dot_86_bar__plus_00_dot_94_bar__plus_01_dot_98 loc_bar__minus_8_bar_10_bar_3_bar_60)\n (objectAtLocation Apple_bar__minus_02_dot_38_bar__plus_00_dot_96_bar__plus_02_dot_31 loc_bar__minus_8_bar_10_bar_3_bar_60)\n (objectAtLocation Lettuce_bar__minus_02_dot_85_bar__plus_01_dot_27_bar__plus_04_dot_50 loc_bar__minus_7_bar_17_bar_3_bar_60)\n (objectAtLocation LightSwitch_bar__minus_00_dot_07_bar__plus_01_dot_45_bar__plus_02_dot_00 loc_bar__minus_3_bar_7_bar_1_bar_15)\n (objectAtLocation Window_bar__minus_03_dot_08_bar__plus_01_dot_59_bar__plus_01_dot_36 loc_bar__minus_10_bar_5_bar_3_bar_0)\n (objectAtLocation Spatula_bar__minus_01_dot_18_bar__plus_00_dot_81_bar__plus_00_dot_28 loc_bar__minus_3_bar_5_bar_2_bar_45)\n (objectAtLocation Knife_bar__minus_02_dot_43_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_02_dot_71_bar__plus_00_dot_96_bar__plus_03_dot_40 loc_bar__minus_8_bar_14_bar_3_bar_45)\n (objectAtLocation Tomato_bar__minus_02_dot_82_bar__plus_00_dot_12_bar__plus_00_dot_45 loc_bar__minus_10_bar_4_bar_2_bar_60)\n (objectAtLocation Cup_bar__minus_02_dot_58_bar__plus_00_dot_90_bar__plus_02_dot_71 loc_bar__minus_8_bar_10_bar_3_bar_60)\n (objectAtLocation SaltShaker_bar__minus_01_dot_66_bar__plus_00_dot_66_bar__plus_00_dot_41 loc_bar__minus_4_bar_5_bar_2_bar_45)\n (objectAtLocation PepperShaker_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 ButterKnife_bar__minus_02_dot_48_bar__plus_00_dot_90_bar__plus_02_dot_71 loc_bar__minus_8_bar_10_bar_3_bar_60)\n (objectAtLocation SoapBottle_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 Pan_bar__minus_00_dot_25_bar__plus_00_dot_93_bar__plus_04_dot_27 loc_bar__minus_4_bar_17_bar_1_bar_45)\n (objectAtLocation DishSponge_bar__minus_02_dot_22_bar__plus_00_dot_66_bar__plus_00_dot_41 loc_bar__minus_6_bar_5_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_01_dot_01_bar__plus_00_dot_80_bar__plus_00_dot_28 loc_bar__minus_3_bar_5_bar_2_bar_45)\n (objectAtLocation Mug_bar__minus_02_dot_79_bar__plus_00_dot_29_bar__plus_04_dot_50 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_25 loc_bar__minus_7_bar_4_bar_2_bar__minus_30)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (cleanable ?o)\n (objectType ?o MugType)\n (receptacleType ?r CoffeeMachineType)\n (isClean ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 1", "take mug 2 from countertop 1", "go to sinkbasin 1", "clean mug 2 with sinkbasin 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/valid_seen/pick_clean_then_place_in_recep-Mug-None-CoffeeMachine-26/trial_T20190907_233056_022802/initial_state.pddl b/data/alfworld/json_2.1.1/valid_seen/pick_clean_then_place_in_recep-Mug-None-CoffeeMachine-26/trial_T20190907_233056_022802/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..5db2fbe87cf168a2118b705c822e5d5df35cb20b --- /dev/null +++ b/data/alfworld/json_2.1.1/valid_seen/pick_clean_then_place_in_recep-Mug-None-CoffeeMachine-26/trial_T20190907_233056_022802/initial_state.pddl @@ -0,0 +1,902 @@ + +(define (problem plan_trial_T20190907_233056_022802) +(:domain alfred) +(:objects +agent1 - agent +Curtains - object + SprayBottle - object + Mirror - object + HousePlant - object + Watch - object + TeddyBear - object + WateringCan - object + Bathtub - object + LightSwitch - object + Vase - object + Candle - object + Bread - object + Statue - object + HandTowel - object + StoveKnob - object + PaperTowelRoll - object + Pan - object + PepperShaker - object + Painting - object + CellPhone - object + Plunger - object + Spoon - object + SaltShaker - object + KeyChain - object + Footstool - object + Poster - object + Television - object + LaundryHamperLid - object + Glassbottle - object + AlarmClock - object + WineBottle - object + Bowl - object + Sink - object + TissueBox - object + TennisRacket - object + ToiletPaper - object + ScrubBrush - object + CreditCard - object + Laptop - object + Cloth - object + Cup - object + Chair - object + BasketBall - object + Kettle - object + PaperTowel - object + ShowerDoor - object + BaseballBat - object + Potato - object + Pillow - object + Lettuce - object + RemoteControl - object + Window - object + DishSponge - object + CD - object + Boots - object + Blinds - object + Pen - object + Newspaper - object + Plate - object + Mug - object + ShowerGlass - object + ToiletPaperRoll - object + SoapBar - object + FloorLamp - object + SoapBottle - object + Pot - object + Pencil - object + Spatula - object + Towel - object + Fork - object + Ladle - object + Knife - object + Apple - object + Box - object + Tomato - object + ButterKnife - object + Egg - object + Book - object + DeskLamp - object +CurtainsType - otype + SprayBottleType - otype + MirrorType - otype + HousePlantType - otype + WatchType - otype + TeddyBearType - otype + WateringCanType - otype + BathtubType - otype + LightSwitchType - otype + VaseType - otype + CandleType - otype + BreadType - otype + StatueType - otype + HandTowelType - otype + StoveKnobType - otype + PaperTowelRollType - otype + PanType - otype + PepperShakerType - otype + PaintingType - otype + CellPhoneType - otype + PlungerType - otype + SpoonType - otype + SaltShakerType - otype + KeyChainType - otype + FootstoolType - otype + PosterType - otype + TelevisionType - otype + LaundryHamperLidType - otype + GlassbottleType - otype + AlarmClockType - otype + WineBottleType - otype + BowlType - otype + SinkType - otype + TissueBoxType - otype + TennisRacketType - otype + ToiletPaperType - otype + ScrubBrushType - otype + CreditCardType - otype + LaptopType - otype + ClothType - otype + CupType - otype + ChairType - otype + BasketBallType - otype + KettleType - otype + PaperTowelType - otype + ShowerDoorType - otype + BaseballBatType - otype + PotatoType - otype + PillowType - otype + LettuceType - otype + RemoteControlType - otype + WindowType - otype + DishSpongeType - otype + CDType - otype + BootsType - otype + BlindsType - otype + PenType - otype + NewspaperType - otype + PlateType - otype + MugType - otype + ShowerGlassType - otype + ToiletPaperRollType - otype + SoapBarType - otype + FloorLampType - otype + SoapBottleType - otype + PotType - otype + PencilType - otype + SpatulaType - otype + TowelType - otype + ForkType - otype + LadleType - otype + KnifeType - otype + AppleType - otype + BoxType - otype + TomatoType - otype + ButterKnifeType - otype + EggType - otype + BookType - otype + DeskLampType - otype +CabinetType - rtype + ShelfType - rtype + DiningTableType - rtype + TowelHolderType - rtype + PaintingHangerType - rtype + TVStandType - rtype + LaundryHamperType - rtype + OttomanType - rtype + SafeType - rtype + CoffeeMachineType - rtype + CounterTopType - rtype + ToiletType - rtype + FridgeType - rtype + CoffeeTableType - rtype + SinkBasinType - rtype + GarbageCanType - rtype + BathtubBasinType - rtype + SideTableType - rtype + CartType - rtype + BedType - rtype + DeskType - rtype + SofaType - rtype + ArmChairType - rtype + MicrowaveType - rtype + HandTowelHolderType - rtype + ToasterType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + DrawerType - rtype + DresserType - rtype + + + Apple_bar__minus_00_dot_35_bar__plus_01_dot_08_bar__plus_00_dot_27 - object + Apple_bar__minus_02_dot_38_bar__plus_00_dot_96_bar__plus_02_dot_31 - object + Bowl_bar__minus_01_dot_75_bar__plus_01_dot_77_bar__plus_00_dot_25 - object + Bread_bar__minus_02_dot_86_bar__plus_00_dot_94_bar__plus_01_dot_98 - object + ButterKnife_bar__minus_02_dot_48_bar__plus_00_dot_90_bar__plus_02_dot_71 - object + Cup_bar__minus_00_dot_23_bar__plus_00_dot_90_bar__plus_02_dot_53 - object + Cup_bar__minus_02_dot_58_bar__plus_00_dot_90_bar__plus_02_dot_71 - object + DishSponge_bar__minus_02_dot_22_bar__plus_00_dot_66_bar__plus_00_dot_41 - object + Egg_bar__minus_01_dot_35_bar__plus_00_dot_83_bar__plus_00_dot_23 - object + Faucet_bar__minus_01_dot_08_bar__plus_00_dot_92_bar__plus_00_dot_03 - object + Fork_bar__minus_02_dot_17_bar__plus_00_dot_93_bar__plus_00_dot_60 - object + Knife_bar__minus_02_dot_43_bar__plus_00_dot_69_bar__plus_00_dot_36 - object + Lettuce_bar__minus_02_dot_85_bar__plus_01_dot_27_bar__plus_04_dot_50 - object + LightSwitch_bar__minus_00_dot_07_bar__plus_01_dot_45_bar__plus_02_dot_00 - object + Mug_bar__minus_02_dot_78_bar__plus_01_dot_00_bar__plus_03_dot_71 - object + Mug_bar__minus_02_dot_79_bar__plus_00_dot_29_bar__plus_04_dot_50 - object + Pan_bar__minus_00_dot_25_bar__plus_00_dot_93_bar__plus_04_dot_27 - object + PepperShaker_bar__minus_00_dot_31_bar__plus_00_dot_90_bar__plus_02_dot_73 - object + Plate_bar__minus_00_dot_49_bar__plus_00_dot_90_bar__plus_02_dot_53 - object + Plate_bar__minus_00_dot_69_bar__plus_01_dot_78_bar__plus_00_dot_16 - object + Plate_bar__minus_02_dot_74_bar__plus_00_dot_30_bar__plus_04_dot_28 - object + Potato_bar__minus_00_dot_19_bar__plus_01_dot_04_bar__plus_00_dot_24 - object + Potato_bar__minus_00_dot_23_bar__plus_00_dot_93_bar__plus_03_dot_33 - object + Potato_bar__minus_02_dot_71_bar__plus_00_dot_96_bar__plus_03_dot_40 - object + Pot_bar__minus_02_dot_48_bar__plus_00_dot_89_bar__plus_02_dot_05 - object + SaltShaker_bar__minus_00_dot_66_bar__plus_00_dot_90_bar__plus_02_dot_93 - object + SaltShaker_bar__minus_01_dot_66_bar__plus_00_dot_66_bar__plus_00_dot_41 - 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_03_dot_33 - object + SoapBottle_bar__minus_02_dot_63_bar__plus_00_dot_94_bar__plus_03_dot_77 - object + Spatula_bar__minus_01_dot_18_bar__plus_00_dot_81_bar__plus_00_dot_28 - object + Spatula_bar__minus_01_dot_77_bar__plus_00_dot_94_bar__plus_00_dot_43 - object + Spatula_bar__minus_02_dot_58_bar__plus_00_dot_92_bar__plus_02_dot_31 - object + Spoon_bar__minus_00_dot_31_bar__plus_00_dot_90_bar__plus_02_dot_33 - object + Spoon_bar__minus_01_dot_01_bar__plus_00_dot_80_bar__plus_00_dot_28 - object + Spoon_bar__minus_02_dot_71_bar__plus_00_dot_94_bar__plus_03_dot_30 - 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_82_bar__plus_00_dot_12_bar__plus_00_dot_45 - object + Tomato_bar__minus_02_dot_94_bar__plus_01_dot_00_bar__plus_03_dot_30 - object + Window_bar__minus_03_dot_08_bar__plus_01_dot_59_bar__plus_01_dot_36 - object + Cabinet_bar__minus_00_dot_48_bar__plus_02_dot_05_bar__plus_00_dot_39 - receptacle + Cabinet_bar__minus_00_dot_52_bar__plus_02_dot_05_bar__plus_00_dot_39 - receptacle + Cabinet_bar__minus_00_dot_56_bar__plus_00_dot_49_bar__plus_00_dot_65 - receptacle + Cabinet_bar__minus_00_dot_60_bar__plus_00_dot_49_bar__plus_00_dot_65 - receptacle + Cabinet_bar__minus_01_dot_48_bar__plus_02_dot_05_bar__plus_00_dot_39 - receptacle + Cabinet_bar__minus_01_dot_51_bar__plus_02_dot_05_bar__plus_00_dot_39 - receptacle + Cabinet_bar__minus_01_dot_55_bar__plus_00_dot_49_bar__plus_00_dot_65 - receptacle + Cabinet_bar__minus_01_dot_59_bar__plus_00_dot_49_bar__plus_00_dot_65 - receptacle + Cabinet_bar__minus_02_dot_47_bar__plus_02_dot_05_bar__plus_00_dot_39 - receptacle + Cabinet_bar__minus_02_dot_55_bar__plus_00_dot_49_bar__plus_00_dot_65 - receptacle + CoffeeMachine_bar__minus_02_dot_96_bar__plus_00_dot_93_bar__plus_03_dot_61 - receptacle + CounterTop_bar__minus_01_dot_37_bar__plus_00_dot_95_bar__plus_00_dot_35 - receptacle + CounterTop_bar__minus_02_dot_78_bar__plus_00_dot_97_bar__plus_03_dot_49 - receptacle + DiningTable_bar__minus_00_dot_47_bar__plus_00_dot_01_bar__plus_03_dot_00 - receptacle + DiningTable_bar__minus_02_dot_76_bar__plus_00_dot_01_bar__plus_02_dot_36 - receptacle + Drawer_bar__minus_00_dot_33_bar__plus_00_dot_70_bar__plus_00_dot_41 - receptacle + Drawer_bar__minus_01_dot_82_bar__plus_00_dot_70_bar__plus_00_dot_41 - receptacle + Drawer_bar__minus_02_dot_32_bar__plus_00_dot_70_bar__plus_00_dot_41 - receptacle + Fridge_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__plus_04_dot_43 - receptacle + GarbageCan_bar__minus_02_dot_82_bar__plus_00_dot_00_bar__plus_00_dot_37 - receptacle + Microwave_bar__minus_00_dot_36_bar__plus_00_dot_91_bar__plus_00_dot_22 - receptacle + Sink_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_00_dot_34_bar_SinkBasin - receptacle + StoveBurner_bar__minus_00_dot_25_bar__plus_00_dot_92_bar__plus_04_dot_27 - receptacle + StoveBurner_bar__minus_00_dot_25_bar__plus_00_dot_92_bar__plus_04_dot_67 - receptacle + StoveBurner_bar__minus_00_dot_54_bar__plus_00_dot_92_bar__plus_04_dot_27 - receptacle + StoveBurner_bar__minus_00_dot_54_bar__plus_00_dot_92_bar__plus_04_dot_67 - receptacle + Toaster_bar__minus_00_dot_29_bar__plus_00_dot_89_bar__plus_03_dot_56 - receptacle + loc_bar__minus_5_bar_4_bar_2_bar__minus_30 - location + loc_bar__minus_4_bar_17_bar_1_bar_60 - location + loc_bar__minus_6_bar_5_bar_2_bar_45 - location + loc_bar__minus_8_bar_4_bar_2_bar__minus_30 - location + loc_bar__minus_7_bar_4_bar_2_bar__minus_30 - location + loc_bar__minus_3_bar_4_bar_2_bar_45 - 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_5_bar_2_bar_45 - location + loc_bar__minus_3_bar_4_bar_2_bar_60 - location + loc_bar__minus_4_bar_17_bar_1_bar_30 - location + loc_bar__minus_8_bar_14_bar_3_bar_30 - location + loc_bar__minus_3_bar_5_bar_2_bar__minus_30 - location + loc_bar__minus_7_bar_17_bar_3_bar_60 - location + loc_bar__minus_8_bar_5_bar_2_bar_45 - location + loc_bar__minus_3_bar_5_bar_2_bar_45 - location + loc_bar__minus_4_bar_17_bar_1_bar_45 - location + loc_bar__minus_5_bar_11_bar_1_bar_60 - location + loc_bar__minus_8_bar_10_bar_3_bar_60 - location + loc_bar__minus_10_bar_4_bar_2_bar_60 - location + loc_bar__minus_3_bar_4_bar_2_bar__minus_30 - location + loc_bar__minus_4_bar_11_bar_2_bar_30 - location + ) + + +(:init + + + (receptacleType CounterTop_bar__minus_02_dot_78_bar__plus_00_dot_97_bar__plus_03_dot_49 CounterTopType) + (receptacleType CounterTop_bar__minus_01_dot_37_bar__plus_00_dot_95_bar__plus_00_dot_35 CounterTopType) + (receptacleType StoveBurner_bar__minus_00_dot_54_bar__plus_00_dot_92_bar__plus_04_dot_27 StoveBurnerType) + (receptacleType CoffeeMachine_bar__minus_02_dot_96_bar__plus_00_dot_93_bar__plus_03_dot_61 CoffeeMachineType) + (receptacleType GarbageCan_bar__minus_02_dot_82_bar__plus_00_dot_00_bar__plus_00_dot_37 GarbageCanType) + (receptacleType Cabinet_bar__minus_00_dot_60_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_67 StoveBurnerType) + (receptacleType Cabinet_bar__minus_00_dot_56_bar__plus_00_dot_49_bar__plus_00_dot_65 CabinetType) + (receptacleType StoveBurner_bar__minus_00_dot_25_bar__plus_00_dot_92_bar__plus_04_dot_27 StoveBurnerType) + (receptacleType Toaster_bar__minus_00_dot_29_bar__plus_00_dot_89_bar__plus_03_dot_56 ToasterType) + (receptacleType Cabinet_bar__minus_00_dot_52_bar__plus_02_dot_05_bar__plus_00_dot_39 CabinetType) + (receptacleType Cabinet_bar__minus_02_dot_47_bar__plus_02_dot_05_bar__plus_00_dot_39 CabinetType) + (receptacleType Microwave_bar__minus_00_dot_36_bar__plus_00_dot_91_bar__plus_00_dot_22 MicrowaveType) + (receptacleType StoveBurner_bar__minus_00_dot_25_bar__plus_00_dot_92_bar__plus_04_dot_67 StoveBurnerType) + (receptacleType Cabinet_bar__minus_00_dot_48_bar__plus_02_dot_05_bar__plus_00_dot_39 CabinetType) + (receptacleType Drawer_bar__minus_01_dot_82_bar__plus_00_dot_70_bar__plus_00_dot_41 DrawerType) + (receptacleType Drawer_bar__minus_02_dot_32_bar__plus_00_dot_70_bar__plus_00_dot_41 DrawerType) + (receptacleType Cabinet_bar__minus_01_dot_48_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 DiningTable_bar__minus_00_dot_47_bar__plus_00_dot_01_bar__plus_03_dot_00 DiningTableType) + (receptacleType Sink_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_00_dot_34_bar_SinkBasin SinkBasinType) + (receptacleType Cabinet_bar__minus_01_dot_55_bar__plus_00_dot_49_bar__plus_00_dot_65 CabinetType) + (receptacleType Cabinet_bar__minus_02_dot_55_bar__plus_00_dot_49_bar__plus_00_dot_65 CabinetType) + (receptacleType Cabinet_bar__minus_01_dot_59_bar__plus_00_dot_49_bar__plus_00_dot_65 CabinetType) + (receptacleType Fridge_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__plus_04_dot_43 FridgeType) + (receptacleType Cabinet_bar__minus_01_dot_51_bar__plus_02_dot_05_bar__plus_00_dot_39 CabinetType) + (objectType Bread_bar__minus_02_dot_86_bar__plus_00_dot_94_bar__plus_01_dot_98 BreadType) + (objectType Tomato_bar__minus_02_dot_94_bar__plus_01_dot_00_bar__plus_03_dot_30 TomatoType) + (objectType PepperShaker_bar__minus_00_dot_31_bar__plus_00_dot_90_bar__plus_02_dot_73 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Spatula_bar__minus_02_dot_58_bar__plus_00_dot_92_bar__plus_02_dot_31) + (cleanable Knife_bar__minus_02_dot_43_bar__plus_00_dot_69_bar__plus_00_dot_36) + (cleanable Spatula_bar__minus_01_dot_18_bar__plus_00_dot_81_bar__plus_00_dot_28) + (cleanable Cup_bar__minus_00_dot_23_bar__plus_00_dot_90_bar__plus_02_dot_53) + (cleanable Tomato_bar__minus_02_dot_82_bar__plus_00_dot_12_bar__plus_00_dot_45) + (cleanable Apple_bar__minus_02_dot_38_bar__plus_00_dot_96_bar__plus_02_dot_31) + (cleanable Bowl_bar__minus_01_dot_75_bar__plus_01_dot_77_bar__plus_00_dot_25) + (cleanable Mug_bar__minus_02_dot_79_bar__plus_00_dot_29_bar__plus_04_dot_50) + + (heatable Bread_bar__minus_02_dot_86_bar__plus_00_dot_94_bar__plus_01_dot_98) + (heatable Tomato_bar__minus_02_dot_94_bar__plus_01_dot_00_bar__plus_03_dot_30) + (heatable Cup_bar__minus_02_dot_58_bar__plus_00_dot_90_bar__plus_02_dot_71) + (heatable Potato_bar__minus_00_dot_23_bar__plus_00_dot_93_bar__plus_03_dot_33) + (heatable Plate_bar__minus_00_dot_69_bar__plus_01_dot_78_bar__plus_00_dot_16) + (heatable Plate_bar__minus_00_dot_49_bar__plus_00_dot_90_bar__plus_02_dot_53) + (heatable Apple_bar__minus_00_dot_35_bar__plus_01_dot_08_bar__plus_00_dot_27) + (heatable Mug_bar__minus_02_dot_78_bar__plus_01_dot_00_bar__plus_03_dot_71) + (heatable Plate_bar__minus_02_dot_74_bar__plus_00_dot_30_bar__plus_04_dot_28) + (heatable Egg_bar__minus_01_dot_35_bar__plus_00_dot_83_bar__plus_00_dot_23) + (heatable Potato_bar__minus_02_dot_71_bar__plus_00_dot_96_bar__plus_03_dot_40) + (heatable Potato_bar__minus_00_dot_19_bar__plus_01_dot_04_bar__plus_00_dot_24) + (heatable Cup_bar__minus_00_dot_23_bar__plus_00_dot_90_bar__plus_02_dot_53) + (heatable Tomato_bar__minus_02_dot_82_bar__plus_00_dot_12_bar__plus_00_dot_45) + (heatable Apple_bar__minus_02_dot_38_bar__plus_00_dot_96_bar__plus_02_dot_31) + (heatable Mug_bar__minus_02_dot_79_bar__plus_00_dot_29_bar__plus_04_dot_50) + (coolable Bread_bar__minus_02_dot_86_bar__plus_00_dot_94_bar__plus_01_dot_98) + (coolable Tomato_bar__minus_02_dot_94_bar__plus_01_dot_00_bar__plus_03_dot_30) + (coolable Cup_bar__minus_02_dot_58_bar__plus_00_dot_90_bar__plus_02_dot_71) + (coolable Potato_bar__minus_00_dot_23_bar__plus_00_dot_93_bar__plus_03_dot_33) + (coolable Plate_bar__minus_00_dot_69_bar__plus_01_dot_78_bar__plus_00_dot_16) + (coolable Plate_bar__minus_00_dot_49_bar__plus_00_dot_90_bar__plus_02_dot_53) + (coolable Pan_bar__minus_00_dot_25_bar__plus_00_dot_93_bar__plus_04_dot_27) + (coolable Apple_bar__minus_00_dot_35_bar__plus_01_dot_08_bar__plus_00_dot_27) + (coolable Mug_bar__minus_02_dot_78_bar__plus_01_dot_00_bar__plus_03_dot_71) + (coolable Plate_bar__minus_02_dot_74_bar__plus_00_dot_30_bar__plus_04_dot_28) + (coolable Egg_bar__minus_01_dot_35_bar__plus_00_dot_83_bar__plus_00_dot_23) + (coolable Lettuce_bar__minus_02_dot_85_bar__plus_01_dot_27_bar__plus_04_dot_50) + (coolable Potato_bar__minus_02_dot_71_bar__plus_00_dot_96_bar__plus_03_dot_40) + (coolable Potato_bar__minus_00_dot_19_bar__plus_01_dot_04_bar__plus_00_dot_24) + (coolable Pot_bar__minus_02_dot_48_bar__plus_00_dot_89_bar__plus_02_dot_05) + (coolable Cup_bar__minus_00_dot_23_bar__plus_00_dot_90_bar__plus_02_dot_53) + (coolable Tomato_bar__minus_02_dot_82_bar__plus_00_dot_12_bar__plus_00_dot_45) + (coolable Apple_bar__minus_02_dot_38_bar__plus_00_dot_96_bar__plus_02_dot_31) + (coolable Bowl_bar__minus_01_dot_75_bar__plus_01_dot_77_bar__plus_00_dot_25) + (coolable Mug_bar__minus_02_dot_79_bar__plus_00_dot_29_bar__plus_04_dot_50) + + (isCool Mug_bar__minus_02_dot_79_bar__plus_00_dot_29_bar__plus_04_dot_50) + + + + (sliceable Bread_bar__minus_02_dot_86_bar__plus_00_dot_94_bar__plus_01_dot_98) + (sliceable Tomato_bar__minus_02_dot_94_bar__plus_01_dot_00_bar__plus_03_dot_30) + (sliceable Potato_bar__minus_00_dot_23_bar__plus_00_dot_93_bar__plus_03_dot_33) + (sliceable Apple_bar__minus_00_dot_35_bar__plus_01_dot_08_bar__plus_00_dot_27) + (sliceable Egg_bar__minus_01_dot_35_bar__plus_00_dot_83_bar__plus_00_dot_23) + (sliceable Lettuce_bar__minus_02_dot_85_bar__plus_01_dot_27_bar__plus_04_dot_50) + (sliceable Potato_bar__minus_02_dot_71_bar__plus_00_dot_96_bar__plus_03_dot_40) + (sliceable Potato_bar__minus_00_dot_19_bar__plus_01_dot_04_bar__plus_00_dot_24) + (sliceable Tomato_bar__minus_02_dot_82_bar__plus_00_dot_12_bar__plus_00_dot_45) + (sliceable Apple_bar__minus_02_dot_38_bar__plus_00_dot_96_bar__plus_02_dot_31) + + (inReceptacleObject Sink_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_00_dot_34 Plate_bar__minus_00_dot_69_bar__plus_01_dot_78_bar__plus_00_dot_16) + (inReceptacle Bowl_bar__minus_01_dot_75_bar__plus_01_dot_77_bar__plus_00_dot_25 Cabinet_bar__minus_01_dot_51_bar__plus_02_dot_05_bar__plus_00_dot_39) + (inReceptacle Fork_bar__minus_02_dot_17_bar__plus_00_dot_93_bar__plus_00_dot_60 CounterTop_bar__minus_01_dot_37_bar__plus_00_dot_95_bar__plus_00_dot_35) + (inReceptacle Plate_bar__minus_00_dot_69_bar__plus_01_dot_78_bar__plus_00_dot_16 CounterTop_bar__minus_01_dot_37_bar__plus_00_dot_95_bar__plus_00_dot_35) + (inReceptacle Spatula_bar__minus_01_dot_77_bar__plus_00_dot_94_bar__plus_00_dot_43 CounterTop_bar__minus_01_dot_37_bar__plus_00_dot_95_bar__plus_00_dot_35) + (inReceptacle SaltShaker_bar__minus_01_dot_66_bar__plus_00_dot_66_bar__plus_00_dot_41 Drawer_bar__minus_01_dot_82_bar__plus_00_dot_70_bar__plus_00_dot_41) + (inReceptacle Bread_bar__minus_02_dot_86_bar__plus_00_dot_94_bar__plus_01_dot_98 DiningTable_bar__minus_02_dot_76_bar__plus_00_dot_01_bar__plus_02_dot_36) + (inReceptacle Cup_bar__minus_02_dot_58_bar__plus_00_dot_90_bar__plus_02_dot_71 DiningTable_bar__minus_02_dot_76_bar__plus_00_dot_01_bar__plus_02_dot_36) + (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 ButterKnife_bar__minus_02_dot_48_bar__plus_00_dot_90_bar__plus_02_dot_71 DiningTable_bar__minus_02_dot_76_bar__plus_00_dot_01_bar__plus_02_dot_36) + (inReceptacle Apple_bar__minus_02_dot_38_bar__plus_00_dot_96_bar__plus_02_dot_31 DiningTable_bar__minus_02_dot_76_bar__plus_00_dot_01_bar__plus_02_dot_36) + (inReceptacle Spatula_bar__minus_02_dot_58_bar__plus_00_dot_92_bar__plus_02_dot_31 DiningTable_bar__minus_02_dot_76_bar__plus_00_dot_01_bar__plus_02_dot_36) + (inReceptacle SaltShaker_bar__minus_00_dot_66_bar__plus_00_dot_90_bar__plus_02_dot_93 DiningTable_bar__minus_00_dot_47_bar__plus_00_dot_01_bar__plus_03_dot_00) + (inReceptacle Plate_bar__minus_00_dot_49_bar__plus_00_dot_90_bar__plus_02_dot_53 DiningTable_bar__minus_00_dot_47_bar__plus_00_dot_01_bar__plus_03_dot_00) + (inReceptacle PepperShaker_bar__minus_00_dot_31_bar__plus_00_dot_90_bar__plus_02_dot_73 DiningTable_bar__minus_00_dot_47_bar__plus_00_dot_01_bar__plus_03_dot_00) + (inReceptacle Spoon_bar__minus_00_dot_31_bar__plus_00_dot_90_bar__plus_02_dot_33 DiningTable_bar__minus_00_dot_47_bar__plus_00_dot_01_bar__plus_03_dot_00) + (inReceptacle Cup_bar__minus_00_dot_23_bar__plus_00_dot_90_bar__plus_02_dot_53 DiningTable_bar__minus_00_dot_47_bar__plus_00_dot_01_bar__plus_03_dot_00) + (inReceptacle Potato_bar__minus_00_dot_23_bar__plus_00_dot_93_bar__plus_03_dot_33 DiningTable_bar__minus_00_dot_47_bar__plus_00_dot_01_bar__plus_03_dot_00) + (inReceptacle SoapBottle_bar__minus_00_dot_57_bar__plus_00_dot_90_bar__plus_03_dot_33 DiningTable_bar__minus_00_dot_47_bar__plus_00_dot_01_bar__plus_03_dot_00) + (inReceptacle Pan_bar__minus_00_dot_25_bar__plus_00_dot_93_bar__plus_04_dot_27 StoveBurner_bar__minus_00_dot_25_bar__plus_00_dot_92_bar__plus_04_dot_27) + (inReceptacle Potato_bar__minus_02_dot_71_bar__plus_00_dot_96_bar__plus_03_dot_40 CounterTop_bar__minus_02_dot_78_bar__plus_00_dot_97_bar__plus_03_dot_49) + (inReceptacle Spoon_bar__minus_02_dot_71_bar__plus_00_dot_94_bar__plus_03_dot_30 CounterTop_bar__minus_02_dot_78_bar__plus_00_dot_97_bar__plus_03_dot_49) + (inReceptacle Tomato_bar__minus_02_dot_94_bar__plus_01_dot_00_bar__plus_03_dot_30 CounterTop_bar__minus_02_dot_78_bar__plus_00_dot_97_bar__plus_03_dot_49) + (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 SoapBottle_bar__minus_02_dot_63_bar__plus_00_dot_94_bar__plus_03_dot_77 CounterTop_bar__minus_02_dot_78_bar__plus_00_dot_97_bar__plus_03_dot_49) + (inReceptacle DishSponge_bar__minus_02_dot_22_bar__plus_00_dot_66_bar__plus_00_dot_41 Drawer_bar__minus_02_dot_32_bar__plus_00_dot_70_bar__plus_00_dot_41) + (inReceptacle Knife_bar__minus_02_dot_43_bar__plus_00_dot_69_bar__plus_00_dot_36 Drawer_bar__minus_02_dot_32_bar__plus_00_dot_70_bar__plus_00_dot_41) + (inReceptacle Tomato_bar__minus_02_dot_82_bar__plus_00_dot_12_bar__plus_00_dot_45 GarbageCan_bar__minus_02_dot_82_bar__plus_00_dot_00_bar__plus_00_dot_37) + (inReceptacle Lettuce_bar__minus_02_dot_85_bar__plus_01_dot_27_bar__plus_04_dot_50 Fridge_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__plus_04_dot_43) + (inReceptacle Mug_bar__minus_02_dot_79_bar__plus_00_dot_29_bar__plus_04_dot_50 Fridge_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__plus_04_dot_43) + (inReceptacle Plate_bar__minus_02_dot_74_bar__plus_00_dot_30_bar__plus_04_dot_28 Fridge_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__plus_04_dot_43) + (inReceptacle Egg_bar__minus_01_dot_35_bar__plus_00_dot_83_bar__plus_00_dot_23 Sink_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_00_dot_34_bar_SinkBasin) + (inReceptacle Spoon_bar__minus_01_dot_01_bar__plus_00_dot_80_bar__plus_00_dot_28 Sink_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_00_dot_34_bar_SinkBasin) + (inReceptacle Spatula_bar__minus_01_dot_18_bar__plus_00_dot_81_bar__plus_00_dot_28 Sink_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_00_dot_34_bar_SinkBasin) + (inReceptacle Plate_bar__minus_00_dot_69_bar__plus_01_dot_78_bar__plus_00_dot_16 Sink_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_00_dot_34_bar_SinkBasin) + (inReceptacle Apple_bar__minus_00_dot_35_bar__plus_01_dot_08_bar__plus_00_dot_27 Microwave_bar__minus_00_dot_36_bar__plus_00_dot_91_bar__plus_00_dot_22) + (inReceptacle Potato_bar__minus_00_dot_19_bar__plus_01_dot_04_bar__plus_00_dot_24 Microwave_bar__minus_00_dot_36_bar__plus_00_dot_91_bar__plus_00_dot_22) + (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 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-2.78504086, + "y": 0.294089973, + "z": 4.501237 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Apple_5deff24a", + "position": { + "x": -2.37741566, + "y": 0.95696336, + "z": 2.30972838 + }, + "rotation": { + "x": 0.0, + "y": 0.000163924531, + "z": 0.0 + } + }, + { + "objectName": "Egg_05581a9a", + "position": { + "x": -1.353308, + "y": 0.830949247, + "z": 0.226540342 + }, + "rotation": { + "x": 1.40334191e-14, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Plate_d1c1b4b5", + "position": { + "x": -2.73827887, + "y": 0.303408861, + "z": 4.278526 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Fork_80a3685e", + "position": { + "x": -2.170633, + "y": 0.9287549, + "z": 0.6026541 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Bread_4b633365", + "position": { + "x": -2.864998, + "y": 0.9408251, + "z": 1.9830004 + }, + "rotation": { + "x": -0.000114042472, + "y": 0.000253703824, + "z": -0.0006043673 + } + }, + { + "objectName": "Apple_5deff24a", + "position": { + "x": -0.3501144, + "y": 1.07968175, + "z": 0.267501146 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Lettuce_8490bc5f", + "position": { + "x": -2.847339, + "y": 1.26601517, + "z": 4.50123739 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Spatula_5216d872", + "position": { + "x": -1.7709682, + "y": 0.943206251, + "z": 0.433551341 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Knife_6c866e4b", + "position": { + "x": -2.43151259, + "y": 0.6880228, + "z": 0.355198532 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Potato_bbca86d2", + "position": { + "x": -0.1911687, + "y": 1.04482126, + "z": 0.235637575 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Tomato_d8a5b3b1", + "position": { + "x": -2.94370174, + "y": 0.9993129, + "z": 3.30242777 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Cup_c473c604", + "position": { + "x": -0.2289853, + "y": 0.9003033, + "z": 2.53082418 + }, + "rotation": { + "x": 0.0, + "y": 0.000163924531, + "z": 0.0 + } + }, + { + "objectName": "SaltShaker_38b3b13a", + "position": { + "x": -0.65782845, + "y": 0.896926939, + "z": 2.93264031 + }, + "rotation": { + "x": 0.0, + "y": 0.000163924531, + "z": 0.0 + } + }, + { + "objectName": "PepperShaker_c5422882", + "position": { + "x": -0.314753562, + "y": 0.896926939, + "z": 2.731732 + }, + "rotation": { + "x": 0.0, + "y": 0.000163924531, + "z": 0.0 + } + }, + { + "objectName": "ButterKnife_19505874", + "position": { + "x": -2.480455, + "y": 0.900662839, + "z": 2.70609045 + }, + "rotation": { + "x": 0.0, + "y": 0.000163924531, + "z": 0.0 + } + }, + { + "objectName": "SoapBottle_57182a42", + "position": { + "x": -0.572058439, + "y": 0.900284231, + "z": 3.33445454 + }, + "rotation": { + "x": 0.0, + "y": 0.000163924531, + "z": 0.0 + } + }, + { + "objectName": "Pan_b3245c00", + "position": { + "x": -0.2546, + "y": 0.928928852, + "z": 4.2742 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_50b7389e", + "position": { + "x": -2.21588755, + "y": 0.6619687, + "z": 0.409886 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pot_c7fbe144", + "position": { + "x": -2.476408, + "y": 0.8897501, + "z": 2.05054617 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Spoon_11e3f5dc", + "position": { + "x": -0.314754725, + "y": 0.901750147, + "z": 2.32991719 + }, + "rotation": { + "x": 0.0, + "y": 0.000163924531, + "z": 0.0 + } + }, + { + "objectName": "Mug_a7306c85", + "position": { + "x": -2.77860022, + "y": 1.00137031, + "z": 3.71400023 + }, + "rotation": { + "x": 0.0, + "y": 89.99991, + "z": 0.0 + } + }, + { + "objectName": "Bowl_9504375a", + "position": { + "x": -1.74649632, + "y": 1.7701875, + "z": 0.2514462 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 2136234823, + "scene_num": 26 + }, + "task_id": "trial_T20190907_233056_022802", + "task_type": "pick_clean_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A1RLO9LNUJIW5S_3FDJT1UU77PQR0LHP4MHJ68P9EMK5G", + "high_descs": [ + "Turn around and walk to the end of the white table to your right then turn left and walk to the coffee maker.", + "Get the dirty mug from under the coffee maker's spout.", + "Turn left and walk to the counter then move left until you're facing the spot between the microwave and sink.", + "Wash the mug off in the sink then pick it back up after you shut off the faucet.", + "Walk back to the coffee maker.", + "Put the mug back where you got it from." + ], + "task_desc": "Put a clean mug under the coffee maker.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A2ALWT2BUSXD83_3TXMY6UCAH5X1OSRHJTMTYQ801UCQ2", + "high_descs": [ + "Turn around and walk towards the coffee maker.", + "Remove the cup from the coffee maker.", + "Turn to your left and approach the sink.", + "Place the cup in the sink, turn the faucet on and off and remove the cup.", + "Turn around and approach the coffee maker.", + "Place the cup in the coffee maker." + ], + "task_desc": "Place a clean cup in the coffee maker.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "AKW57KYG90X61_3PB5A5BD0YN0CI3HN6GZJYUST4H7GY", + "high_descs": [ + "turn right to the coffee maker", + "pick up the mug", + "turn left to the sink", + "wash the mug in the sink", + "turn around to the coffee maker ", + "drop the mug on the coffee maker" + ], + "task_desc": "drop a clean mug on the coffee maker", + "votes": [ + 1, + 1, + 0 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/valid_seen/pick_cool_then_place_in_recep-BreadSliced-None-Microwave-11/trial_T20190909_102940_350963/initial_state.pddl b/data/alfworld/json_2.1.1/valid_seen/pick_cool_then_place_in_recep-BreadSliced-None-Microwave-11/trial_T20190909_102940_350963/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..a5b8e49a7c246a15e2ec20bc7258de30c5d7e993 --- /dev/null +++ b/data/alfworld/json_2.1.1/valid_seen/pick_cool_then_place_in_recep-BreadSliced-None-Microwave-11/trial_T20190909_102940_350963/initial_state.pddl @@ -0,0 +1,1034 @@ + +(define (problem plan_trial_T20190909_102940_350963) +(:domain alfred) +(:objects +agent1 - agent +Curtains - object + SprayBottle - object + Mirror - object + HousePlant - object + Watch - object + TeddyBear - object + WateringCan - object + Bathtub - object + LightSwitch - object + Vase - object + Candle - object + Bread - object + Statue - object + HandTowel - object + StoveKnob - object + PaperTowelRoll - object + Pan - object + PepperShaker - object + Painting - object + CellPhone - object + Plunger - object + Spoon - object + SaltShaker - object + KeyChain - object + Footstool - object + Poster - object + Television - object + LaundryHamperLid - object + Glassbottle - object + AlarmClock - object + WineBottle - object + Bowl - object + Sink - object + TissueBox - object + TennisRacket - object + ToiletPaper - object + ScrubBrush - object + CreditCard - object + Laptop - object + Cloth - object + Cup - object + Chair - object + BasketBall - object + Kettle - object + PaperTowel - object + ShowerDoor - object + BaseballBat - object + Potato - object + Pillow - object + Lettuce - object + RemoteControl - object + Window - object + DishSponge - object + CD - object + Boots - object + Blinds - object + Pen - object + Newspaper - object + Plate - object + Mug - object + ShowerGlass - object + ToiletPaperRoll - object + SoapBar - object + FloorLamp - object + SoapBottle - object + Pot - object + Pencil - object + Spatula - object + Towel - object + Fork - object + Ladle - object + Knife - object + Apple - object + Box - object + Tomato - object + ButterKnife - object + Egg - object + Book - object + DeskLamp - object +CurtainsType - otype + SprayBottleType - otype + MirrorType - otype + HousePlantType - otype + WatchType - otype + TeddyBearType - otype + WateringCanType - otype + BathtubType - otype + LightSwitchType - otype + VaseType - otype + CandleType - otype + BreadType - otype + StatueType - otype + HandTowelType - otype + StoveKnobType - otype + PaperTowelRollType - otype + PanType - otype + PepperShakerType - otype + PaintingType - otype + CellPhoneType - otype + PlungerType - otype + SpoonType - otype + SaltShakerType - otype + KeyChainType - otype + FootstoolType - otype + PosterType - otype + TelevisionType - otype + LaundryHamperLidType - otype + GlassbottleType - otype + AlarmClockType - otype + WineBottleType - otype + BowlType - otype + SinkType - otype + TissueBoxType - otype + TennisRacketType - otype + ToiletPaperType - otype + ScrubBrushType - otype + CreditCardType - otype + LaptopType - otype + ClothType - otype + CupType - otype + ChairType - otype + BasketBallType - otype + KettleType - otype + PaperTowelType - otype + ShowerDoorType - otype + BaseballBatType - otype + PotatoType - otype + PillowType - otype + LettuceType - otype + RemoteControlType - otype + WindowType - otype + DishSpongeType - otype + CDType - otype + BootsType - otype + BlindsType - otype + PenType - otype + NewspaperType - otype + PlateType - otype + MugType - otype + ShowerGlassType - otype + ToiletPaperRollType - otype + SoapBarType - otype + FloorLampType - otype + SoapBottleType - otype + PotType - otype + PencilType - otype + SpatulaType - otype + TowelType - otype + ForkType - otype + LadleType - otype + KnifeType - otype + AppleType - otype + BoxType - otype + TomatoType - otype + ButterKnifeType - otype + EggType - otype + BookType - otype + DeskLampType - otype +CabinetType - rtype + ShelfType - rtype + DiningTableType - rtype + TowelHolderType - rtype + PaintingHangerType - rtype + TVStandType - rtype + LaundryHamperType - rtype + OttomanType - rtype + SafeType - rtype + CoffeeMachineType - rtype + CounterTopType - rtype + ToiletType - rtype + FridgeType - rtype + CoffeeTableType - rtype + SinkBasinType - rtype + GarbageCanType - rtype + BathtubBasinType - rtype + SideTableType - rtype + CartType - rtype + BedType - rtype + DeskType - rtype + SofaType - rtype + ArmChairType - rtype + MicrowaveType - rtype + HandTowelHolderType - rtype + ToasterType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + DrawerType - rtype + DresserType - rtype + + + Apple_bar__minus_00_dot_10_bar__plus_00_dot_98_bar__plus_00_dot_21 - object + Apple_bar__minus_02_dot_14_bar__plus_01_dot_56_bar__minus_01_dot_76 - object + Bowl_bar__plus_01_dot_66_bar__plus_00_dot_91_bar__minus_01_dot_82 - object + Bread_bar__plus_00_dot_04_bar__plus_01_dot_00_bar__plus_00_dot_46 - object + Bread_bar__minus_00_dot_36_bar__plus_01_dot_00_bar__minus_01_dot_82 - object + ButterKnife_bar__minus_00_dot_18_bar__plus_00_dot_91_bar__minus_01_dot_82 - object + ButterKnife_bar__minus_02_dot_34_bar__plus_00_dot_95_bar__plus_00_dot_52 - object + ButterKnife_bar__minus_02_dot_61_bar__plus_00_dot_95_bar__plus_00_dot_44 - object + Chair_bar__minus_02_dot_42_bar__plus_00_dot_56_bar__plus_00_dot_41 - object + Cup_bar__plus_01_dot_60_bar__plus_00_dot_91_bar__plus_00_dot_71 - object + Cup_bar__minus_01_dot_87_bar__plus_01_dot_49_bar__minus_01_dot_85 - object + DishSponge_bar__plus_00_dot_21_bar__plus_00_dot_11_bar__minus_01_dot_47 - object + DishSponge_bar__plus_01_dot_91_bar__plus_00_dot_91_bar__plus_00_dot_62 - object + DishSponge_bar__minus_01_dot_93_bar__plus_00_dot_95_bar__plus_00_dot_26 - object + Egg_bar__minus_00_dot_27_bar__plus_00_dot_95_bar__minus_01_dot_49 - object + Egg_bar__minus_02_dot_31_bar__plus_00_dot_30_bar__minus_01_dot_89 - object + Faucet_bar__plus_00_dot_55_bar__plus_01_dot_05_bar__minus_01_dot_83 - object + Fork_bar__plus_00_dot_75_bar__plus_00_dot_92_bar__minus_01_dot_45 - object + Fork_bar__plus_00_dot_91_bar__plus_00_dot_92_bar__minus_01_dot_58 - object + Fork_bar__plus_01_dot_85_bar__plus_00_dot_91_bar__plus_00_dot_21 - object + Kettle_bar__minus_00_dot_49_bar__plus_01_dot_33_bar__minus_01_dot_81 - object + Kettle_bar__minus_02_dot_48_bar__plus_00_dot_95_bar__plus_00_dot_61 - object + Knife_bar__plus_00_dot_17_bar__plus_00_dot_94_bar__plus_00_dot_21 - object + Lettuce_bar__plus_01_dot_79_bar__plus_01_dot_00_bar__plus_00_dot_46 - object + Lettuce_bar__minus_01_dot_79_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__plus_00_dot_62_bar__plus_00_dot_95_bar__plus_00_dot_47 - object + Pan_bar__plus_01_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_29 - object + PaperTowelRoll_bar__minus_02_dot_20_bar__plus_01_dot_06_bar__plus_00_dot_26 - object + PepperShaker_bar__minus_02_dot_07_bar__plus_00_dot_95_bar__plus_00_dot_70 - object + PepperShaker_bar__minus_02_dot_20_bar__plus_00_dot_95_bar__plus_00_dot_70 - object + Plate_bar__plus_00_dot_45_bar__plus_00_dot_11_bar__plus_00_dot_31 - object + Plate_bar__plus_01_dot_75_bar__plus_01_dot_33_bar__minus_01_dot_81 - object + Potato_bar__plus_01_dot_91_bar__plus_00_dot_94_bar__plus_00_dot_29 - object + Potato_bar__minus_00_dot_87_bar__plus_01_dot_05_bar__minus_01_dot_77 - object + Potato_bar__minus_01_dot_96_bar__plus_01_dot_52_bar__minus_01_dot_68 - 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__minus_00_dot_44_bar__plus_00_dot_11_bar__minus_01_dot_58 - object + SaltShaker_bar__minus_00_dot_63_bar__plus_00_dot_11_bar__minus_01_dot_40 - object + SaltShaker_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__plus_00_dot_26 - object + Sink_bar__plus_00_dot_71_bar__plus_00_dot_82_bar__minus_01_dot_77 - object + SoapBottle_bar__minus_00_dot_10_bar__plus_00_dot_11_bar__minus_01_dot_58 - object + Spatula_bar__plus_01_dot_90_bar__plus_00_dot_93_bar__minus_01_dot_41 - object + Spoon_bar__plus_00_dot_38_bar__plus_00_dot_78_bar__minus_01_dot_55 - object + Spoon_bar__plus_00_dot_65_bar__plus_00_dot_92_bar__minus_01_dot_58 - object + Spoon_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__plus_00_dot_44 - object + StoveKnob_bar__plus_01_dot_00_bar__plus_00_dot_91_bar__plus_00_dot_12 - object + StoveKnob_bar__plus_01_dot_13_bar__plus_00_dot_91_bar__plus_00_dot_12 - object + StoveKnob_bar__plus_01_dot_25_bar__plus_00_dot_91_bar__plus_00_dot_12 - object + StoveKnob_bar__plus_01_dot_37_bar__plus_00_dot_91_bar__plus_00_dot_12 - object + 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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 + 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CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65) + (inReceptacle Egg_bar__minus_00_dot_27_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) + (inReceptacle Spatula_bar__plus_01_dot_90_bar__plus_00_dot_93_bar__minus_01_dot_41 CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65) + (inReceptacle ButterKnife_bar__minus_00_dot_18_bar__plus_00_dot_91_bar__minus_01_dot_82 CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65) + (inReceptacle Bowl_bar__plus_01_dot_66_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 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 SoapBottle_bar__minus_00_dot_10_bar__plus_00_dot_11_bar__minus_01_dot_58 Cabinet_bar__plus_00_dot_06_bar__plus_00_dot_40_bar__minus_01_dot_35) + (inReceptacle Plate_bar__plus_00_dot_45_bar__plus_00_dot_11_bar__plus_00_dot_31 Cabinet_bar__plus_00_dot_73_bar__plus_00_dot_40_bar__plus_00_dot_15) + (inReceptacle Pan_bar__plus_01_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_29 StoveBurner_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_29) + (inReceptacle SaltShaker_bar__minus_00_dot_44_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 SaltShaker_bar__minus_00_dot_63_bar__plus_00_dot_11_bar__minus_01_dot_40 Cabinet_bar__minus_00_dot_40_bar__plus_00_dot_40_bar__minus_01_dot_35) + (inReceptacle Potato_bar__plus_01_dot_91_bar__plus_00_dot_94_bar__plus_00_dot_29 CounterTop_bar__plus_01_dot_78_bar__plus_00_dot_95_bar__plus_00_dot_46) + (inReceptacle DishSponge_bar__plus_01_dot_91_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 Fork_bar__plus_01_dot_85_bar__plus_00_dot_91_bar__plus_00_dot_21 CounterTop_bar__plus_01_dot_78_bar__plus_00_dot_95_bar__plus_00_dot_46) + (inReceptacle Lettuce_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 Cup_bar__plus_01_dot_60_bar__plus_00_dot_91_bar__plus_00_dot_71 CounterTop_bar__plus_01_dot_78_bar__plus_00_dot_95_bar__plus_00_dot_46) + (inReceptacle Plate_bar__plus_01_dot_75_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) + (inReceptacle Potato_bar__minus_00_dot_87_bar__plus_01_dot_05_bar__minus_01_dot_77 Microwave_bar__minus_01_dot_04_bar__plus_00_dot_90_bar__minus_01_dot_72) + (inReceptacle Spoon_bar__plus_00_dot_38_bar__plus_00_dot_78_bar__minus_01_dot_55 Sink_bar__plus_00_dot_71_bar__plus_00_dot_82_bar__minus_01_dot_77_bar_SinkBasin) + (inReceptacle Tomato_bar__minus_00_dot_36_bar__plus_00_dot_12_bar__plus_00_dot_57 GarbageCan_bar__minus_00_dot_36_bar__plus_00_dot_00_bar__plus_00_dot_54) + (inReceptacle Apple_bar__minus_02_dot_14_bar__plus_01_dot_56_bar__minus_01_dot_76 Fridge_bar__minus_02_dot_14_bar__plus_00_dot_00_bar__minus_01_dot_69) + (inReceptacle Cup_bar__minus_01_dot_87_bar__plus_01_dot_49_bar__minus_01_dot_85 Fridge_bar__minus_02_dot_14_bar__plus_00_dot_00_bar__minus_01_dot_69) + (inReceptacle Potato_bar__minus_01_dot_96_bar__plus_01_dot_52_bar__minus_01_dot_68 Fridge_bar__minus_02_dot_14_bar__plus_00_dot_00_bar__minus_01_dot_69) + (inReceptacle Egg_bar__minus_02_dot_31_bar__plus_00_dot_30_bar__minus_01_dot_89 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+ (objectAtLocation Spoon_bar__plus_00_dot_38_bar__plus_00_dot_78_bar__minus_01_dot_55 loc_bar_1_bar__minus_4_bar_2_bar_60) + (objectAtLocation Mug_bar__plus_00_dot_62_bar__plus_00_dot_95_bar__plus_00_dot_47 loc_bar_1_bar__minus_1_bar_0_bar_45) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (sliceable ?o) + (isSliced ?o) + (coolable ?o) + (objectType ?o BreadType) + (receptacleType ?r MicrowaveType) + (isCool ?o) + (inReceptacle ?o ?r) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/valid_seen/pick_cool_then_place_in_recep-BreadSliced-None-Microwave-11/trial_T20190909_102940_350963/traj_data.json b/data/alfworld/json_2.1.1/valid_seen/pick_cool_then_place_in_recep-BreadSliced-None-Microwave-11/trial_T20190909_102940_350963/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..edf40e14e26c8fc6c4c13f3a10c9244271149752 --- /dev/null +++ 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"x": 0.0, + "y": 180.00032, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 3359662475, + "scene_num": 11 + }, + "task_id": "trial_T20190909_102940_350963", + "task_type": "pick_cool_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "ARB80JPV0HQ5O_35K3O9HUAE4NSM8UV2D4896Z8AWEFW", + "high_descs": [ + "Turn left, turn left, walk straight, turn right to the table next to the sink", + "Pick up the knife on the table", + "Cut the bread on the table into slices", + "Turn right, walk straight, turn left to the microwave", + "Open the microwave, put the knife inside, close the microwave.", + "Turn left, walk straight, turn right to the table next to the sink", + "Pick up a slice of bread from the table", + "Turn right, walk straight, turn left to the fridge", + "Open the fridge, put the bread inside, close the fridge. Open the fridge, take out the bread inside, close the fridge.", + "Turn left, walk straight, turn right to microwave", + "Open the microwave, put the bread inside, close the microwave." + ], + "task_desc": "Put a slice of bread into a microwave", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1O3TWBUDONVLO_3JC6VJ2SAEAS0CYT9LY9QEPVY2XA5T", + "high_descs": [ + "Turn left and step forward to face the counter.", + "Pick up the knife on the counter.", + "Cut the bread on the counter into slices.", + "Step right to face the microwave.", + "Place the knife in the microwave.", + "Step to the left to face the bread on the counter.", + "Pick up a slice of bread on the counter.", + "Turn right and walk forward and turn left to face the fridge.", + "Cool the bread slice in the fridge and remove it.", + "Step to the left to face the microwave.", + "Place the bread slice in the microwave." + ], + "task_desc": "To cool a bread slice and place it in the microwave.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AISNLDPD2DFEG_3WJ1OXY92D7BNUHV7J5C2YZM0S58A0", + "high_descs": [ + "Turn around, go forward, turn right before the sink", + "Pick up the knife on the counter", + "Slice the bread on the counter", + "Move a bit to the right to the front of the microwave", + "Put the knife in the microwave", + "Move a bit to the left", + "Pick up a bread slice from the counter", + "Turn right,go forward, turn left at the fridge", + "Put the bread slice in the fridge, wait, pick up the bread slice from the fridge", + "Turn left, go forward, turn right at the microwave", + "Put the bread in the microwave" + ], + "task_desc": "Cool a slice of bread and put it in the microwave", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/valid_seen/pick_cool_then_place_in_recep-Cup-None-Microwave-17/trial_T20190906_192817_654400/game.tw-pddl b/data/alfworld/json_2.1.1/valid_seen/pick_cool_then_place_in_recep-Cup-None-Microwave-17/trial_T20190906_192817_654400/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..b702a8bf2211892b2e1927311fbab2e8dda544f5 --- /dev/null +++ b/data/alfworld/json_2.1.1/valid_seen/pick_cool_then_place_in_recep-Cup-None-Microwave-17/trial_T20190906_192817_654400/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\n\\n#task#\"\n }\n ],\n\n \"notImplemented\": [\n {\n \"rhs\": \"TODO\"\n }\n ],\n\n \"task\": [\n {\n \"rhs\": \"Your task is to: put a cool cup in microwave.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190906_192817_654400)\n(:domain alfred)\n(:objects\nagent1 - agent\nCurtains - object\n SprayBottle - object\n Mirror - object\n HousePlant - object\n Watch - object\n TeddyBear - object\n WateringCan - object\n Bathtub - object\n LightSwitch - object\n Vase - object\n Candle - object\n Bread - object\n Statue - object\n HandTowel - object\n StoveKnob - object\n PaperTowelRoll - object\n Pan - object\n PepperShaker - object\n Painting - object\n CellPhone - object\n Plunger - object\n Spoon - object\n SaltShaker - object\n KeyChain - object\n Footstool - object\n Poster - object\n Television - object\n LaundryHamperLid - object\n Glassbottle - object\n AlarmClock - object\n WineBottle - object\n Bowl - object\n Sink - object\n TissueBox - object\n TennisRacket - object\n ToiletPaper - object\n ScrubBrush - object\n CreditCard - object\n Laptop - object\n Cloth - object\n Cup - object\n Chair - object\n BasketBall - object\n Kettle - object\n PaperTowel - object\n ShowerDoor - object\n BaseballBat - object\n Potato - object\n Pillow - object\n Lettuce - object\n RemoteControl - object\n Window - object\n DishSponge - object\n CD - object\n Boots - object\n Blinds - object\n Pen - object\n Newspaper - object\n Plate - object\n Mug - object\n ShowerGlass - object\n ToiletPaperRoll - object\n SoapBar - object\n FloorLamp - object\n SoapBottle - object\n Pot - object\n Pencil - object\n Spatula - object\n Towel - object\n Fork - object\n Ladle - object\n Knife - object\n Apple - object\n Box - object\n Tomato - object\n ButterKnife - object\n Egg - object\n Book - object\n DeskLamp - object\nCurtainsType - otype\n SprayBottleType - otype\n MirrorType - otype\n HousePlantType - otype\n WatchType - otype\n TeddyBearType - otype\n WateringCanType - otype\n BathtubType - otype\n LightSwitchType - otype\n VaseType - otype\n CandleType - otype\n BreadType - otype\n StatueType - otype\n HandTowelType - otype\n StoveKnobType - otype\n PaperTowelRollType - otype\n PanType - otype\n PepperShakerType - otype\n PaintingType - otype\n CellPhoneType - otype\n PlungerType - otype\n SpoonType - otype\n SaltShakerType - otype\n KeyChainType - otype\n FootstoolType - otype\n PosterType - otype\n TelevisionType - otype\n LaundryHamperLidType - otype\n GlassbottleType - otype\n AlarmClockType - otype\n WineBottleType - otype\n BowlType - otype\n SinkType - otype\n TissueBoxType - otype\n TennisRacketType - otype\n ToiletPaperType - otype\n ScrubBrushType - otype\n CreditCardType - otype\n LaptopType - otype\n ClothType - otype\n CupType - otype\n ChairType - otype\n BasketBallType - otype\n KettleType - otype\n PaperTowelType - otype\n ShowerDoorType - otype\n BaseballBatType - otype\n PotatoType - otype\n PillowType - otype\n LettuceType - otype\n RemoteControlType - otype\n WindowType - otype\n DishSpongeType - otype\n CDType - otype\n BootsType - otype\n BlindsType - otype\n PenType - otype\n NewspaperType - otype\n PlateType - otype\n MugType - otype\n ShowerGlassType - otype\n ToiletPaperRollType - otype\n SoapBarType - otype\n FloorLampType - otype\n SoapBottleType - otype\n PotType - otype\n PencilType - otype\n SpatulaType - otype\n TowelType - otype\n ForkType - otype\n LadleType - otype\n KnifeType - otype\n AppleType - otype\n BoxType - otype\n TomatoType - otype\n ButterKnifeType - otype\n EggType - otype\n BookType - otype\n DeskLampType - otype\nCabinetType - rtype\n ShelfType - rtype\n DiningTableType - rtype\n TowelHolderType - rtype\n PaintingHangerType - rtype\n TVStandType - rtype\n LaundryHamperType - rtype\n OttomanType - rtype\n SafeType - rtype\n CoffeeMachineType - rtype\n CounterTopType - rtype\n ToiletType - rtype\n FridgeType - rtype\n CoffeeTableType - rtype\n SinkBasinType - rtype\n GarbageCanType - rtype\n BathtubBasinType - rtype\n SideTableType - rtype\n CartType - rtype\n BedType - rtype\n DeskType - rtype\n SofaType - rtype\n ArmChairType - rtype\n MicrowaveType - rtype\n HandTowelHolderType - rtype\n ToasterType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n DrawerType - rtype\n DresserType - rtype\n\n\n Apple_bar__plus_00_dot_10_bar__plus_00_dot_82_bar__minus_00_dot_69 - object\n Bowl_bar__plus_01_dot_44_bar__plus_00_dot_91_bar__plus_00_dot_42 - object\n Bowl_bar__minus_01_dot_01_bar__plus_00_dot_75_bar__plus_02_dot_46 - object\n 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(pickupable Plate_bar__plus_01_dot_03_bar__plus_00_dot_89_bar__plus_02_dot_69)\n (pickupable Kettle_bar__plus_01_dot_28_bar__plus_00_dot_89_bar__plus_02_dot_37)\n (pickupable Potato_bar__minus_01_dot_38_bar__plus_00_dot_80_bar__plus_00_dot_67)\n (pickupable PepperShaker_bar__plus_01_dot_22_bar__plus_00_dot_11_bar__plus_00_dot_77)\n (pickupable Bowl_bar__minus_01_dot_01_bar__plus_00_dot_75_bar__plus_02_dot_46)\n (pickupable CellPhone_bar__minus_01_dot_14_bar__plus_00_dot_91_bar__minus_00_dot_39)\n (pickupable Pot_bar__plus_00_dot_51_bar__plus_00_dot_94_bar__minus_00_dot_49)\n (pickupable Tomato_bar__minus_01_dot_38_bar__plus_01_dot_69_bar__plus_00_dot_68)\n (pickupable Bowl_bar__plus_01_dot_44_bar__plus_00_dot_91_bar__plus_00_dot_42)\n (pickupable Apple_bar__plus_00_dot_10_bar__plus_00_dot_82_bar__minus_00_dot_69)\n (pickupable Egg_bar__minus_01_dot_38_bar__plus_00_dot_78_bar__plus_02_dot_64)\n (pickupable Bread_bar__minus_01_dot_26_bar__plus_01_dot_70_bar__plus_00_dot_88)\n (pickupable 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ButterKnife_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)\n (inReceptacle Fork_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)\n (inReceptacle CellPhone_bar__minus_01_dot_14_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 Knife_bar__minus_01_dot_14_bar__plus_00_dot_93_bar__minus_00_dot_73 CounterTop_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_00_dot_67)\n (inReceptacle Potato_bar__minus_00_dot_97_bar__plus_00_dot_96_bar__minus_00_dot_51 CounterTop_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_00_dot_67)\n (inReceptacle Kettle_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 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)\n (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)\n (inReceptacle CellPhone_bar__plus_01_dot_16_bar__plus_00_dot_77_bar__plus_01_dot_05 Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_01_dot_08)\n (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)\n (inReceptacle Egg_bar__minus_01_dot_38_bar__plus_00_dot_78_bar__plus_02_dot_64 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_03_dot_02 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46)\n (inReceptacle Lettuce_bar__minus_00_dot_92_bar__plus_00_dot_82_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_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_48_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 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)\n (inReceptacle ButterKnife_bar__minus_01_dot_20_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 Bread_bar__minus_01_dot_38_bar__plus_00_dot_81_bar__plus_02_dot_46 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46)\n (inReceptacle Bowl_bar__minus_01_dot_01_bar__plus_00_dot_75_bar__plus_02_dot_46 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_02_dot_64 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46)\n (inReceptacle Bread_bar__minus_01_dot_26_bar__plus_01_dot_70_bar__plus_00_dot_88 Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99)\n (inReceptacle Tomato_bar__minus_01_dot_13_bar__plus_00_dot_39_bar__plus_01_dot_09 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_42_bar__plus_01_dot_20 Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99)\n (inReceptacle Potato_bar__minus_01_dot_38_bar__plus_00_dot_80_bar__plus_00_dot_67 Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99)\n (inReceptacle WineBottle_bar__minus_01_dot_09_bar__plus_00_dot_75_bar__plus_01_dot_09 Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99)\n (inReceptacle Tomato_bar__minus_01_dot_38_bar__plus_01_dot_69_bar__plus_00_dot_68 Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99)\n (inReceptacle SprayBottle_bar__plus_01_dot_25_bar__plus_00_dot_09_bar__plus_01_dot_50 GarbageCan_bar__plus_01_dot_30_bar__plus_00_dot_01_bar__plus_01_dot_47)\n (inReceptacle Cup_bar__minus_01_dot_30_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 Fork_bar__plus_00_dot_04_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 (inReceptacle Potato_bar__minus_00_dot_14_bar__plus_00_dot_80_bar__minus_00_dot_53 Sink_bar__minus_00_dot_01_bar__plus_00_dot_91_bar__minus_00_dot_62_bar_SinkBasin)\n (inReceptacle Apple_bar__plus_00_dot_10_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 \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_25_bar__plus_00_dot_09_bar__plus_01_dot_50 loc_bar_1_bar_6_bar_1_bar_60)\n (objectAtLocation Spoon_bar__plus_01_dot_37_bar__plus_00_dot_89_bar__plus_02_dot_15 loc_bar_2_bar_10_bar_1_bar_45)\n (objectAtLocation ButterKnife_bar__minus_01_dot_20_bar__plus_00_dot_75_bar__plus_02_dot_64 loc_bar_0_bar_10_bar_3_bar_30)\n (objectAtLocation Potato_bar__minus_00_dot_14_bar__plus_00_dot_80_bar__minus_00_dot_53 loc_bar_1_bar_0_bar_2_bar_60)\n (objectAtLocation PepperShaker_bar__plus_01_dot_37_bar__plus_00_dot_91_bar__plus_00_dot_71 loc_bar_2_bar_1_bar_1_bar_45)\n (objectAtLocation SaltShaker_bar__plus_01_dot_37_bar__plus_00_dot_91_bar__minus_00_dot_14 loc_bar_2_bar_1_bar_1_bar_45)\n (objectAtLocation Egg_bar__minus_01_dot_38_bar__plus_00_dot_78_bar__plus_02_dot_64 loc_bar_0_bar_10_bar_3_bar_30)\n (objectAtLocation Bowl_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 Spatula_bar__minus_01_dot_01_bar__plus_00_dot_76_bar__plus_02_dot_09 loc_bar_0_bar_10_bar_3_bar_30)\n (objectAtLocation CellPhone_bar__minus_01_dot_14_bar__plus_00_dot_91_bar__minus_00_dot_39 loc_bar__minus_2_bar_0_bar_2_bar_45)\n (objectAtLocation Plate_bar__plus_01_dot_03_bar__plus_00_dot_89_bar__plus_02_dot_69 loc_bar_2_bar_10_bar_1_bar_45)\n (objectAtLocation Tomato_bar__minus_01_dot_38_bar__plus_01_dot_69_bar__plus_00_dot_68 loc_bar__minus_1_bar_4_bar_3_bar_60)\n (objectAtLocation Kettle_bar__plus_01_dot_28_bar__plus_00_dot_89_bar__plus_02_dot_37 loc_bar_2_bar_10_bar_1_bar_45)\n (objectAtLocation Fork_bar__plus_01_dot_12_bar__plus_00_dot_89_bar__plus_02_dot_15 loc_bar_2_bar_10_bar_1_bar_45)\n (objectAtLocation Bread_bar__minus_01_dot_26_bar__plus_01_dot_70_bar__plus_00_dot_88 loc_bar__minus_1_bar_4_bar_3_bar_60)\n (objectAtLocation SaltShaker_bar__plus_01_dot_26_bar__plus_01_dot_65_bar__minus_00_dot_45 loc_bar_2_bar_0_bar_1_bar__minus_30)\n (objectAtLocation Bowl_bar__minus_01_dot_26_bar__plus_01_dot_42_bar__plus_01_dot_20 loc_bar__minus_1_bar_4_bar_3_bar_60)\n (objectAtLocation Spatula_bar__plus_01_dot_21_bar__plus_00_dot_93_bar__plus_00_dot_42 loc_bar_2_bar_1_bar_1_bar_45)\n (objectAtLocation ButterKnife_bar__plus_01_dot_20_bar__plus_00_dot_89_bar__plus_02_dot_80 loc_bar_2_bar_10_bar_1_bar_45)\n (objectAtLocation Potato_bar__minus_01_dot_38_bar__plus_00_dot_80_bar__plus_00_dot_67 loc_bar__minus_1_bar_4_bar_3_bar_60)\n (objectAtLocation Chair_bar__plus_00_dot_98_bar__plus_00_dot_54_bar__plus_02_dot_52 loc_bar_2_bar_10_bar_1_bar_60)\n (objectAtLocation Sink_bar__minus_00_dot_01_bar__plus_00_dot_91_bar__minus_00_dot_62 loc_bar_0_bar_0_bar_2_bar_45)\n (objectAtLocation Bread_bar__minus_01_dot_38_bar__plus_00_dot_81_bar__plus_02_dot_46 loc_bar_0_bar_10_bar_3_bar_30)\n (objectAtLocation StoveKnob_bar__plus_00_dot_55_bar__plus_01_dot_09_bar__minus_00_dot_91 loc_bar_2_bar_0_bar_2_bar_30)\n (objectAtLocation StoveKnob_bar__plus_00_dot_89_bar__plus_01_dot_09_bar__minus_00_dot_91 loc_bar_2_bar_0_bar_2_bar_30)\n (objectAtLocation StoveKnob_bar__plus_00_dot_43_bar__plus_01_dot_09_bar__minus_00_dot_91 loc_bar_2_bar_0_bar_2_bar_30)\n (objectAtLocation StoveKnob_bar__plus_00_dot_78_bar__plus_01_dot_09_bar__minus_00_dot_91 loc_bar_2_bar_0_bar_2_bar_30)\n (objectAtLocation Glassbottle_bar__plus_01_dot_39_bar__plus_01_dot_66_bar__minus_00_dot_33 loc_bar_2_bar_0_bar_1_bar__minus_30)\n (objectAtLocation Fork_bar__plus_00_dot_04_bar__plus_00_dot_76_bar__minus_00_dot_65 loc_bar_1_bar_0_bar_2_bar_60)\n (objectAtLocation Kettle_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 Tomato_bar__minus_01_dot_13_bar__plus_00_dot_39_bar__plus_01_dot_09 loc_bar__minus_1_bar_4_bar_3_bar_60)\n (objectAtLocation Plate_bar__plus_00_dot_73_bar__plus_02_dot_16_bar__minus_00_dot_79 loc_bar_2_bar_0_bar_2_bar__minus_30)\n (objectAtLocation CellPhone_bar__plus_01_dot_16_bar__plus_00_dot_77_bar__plus_01_dot_05 loc_bar_3_bar_5_bar_1_bar_60)\n (objectAtLocation Lettuce_bar__minus_00_dot_92_bar__plus_00_dot_82_bar__plus_01_dot_90 loc_bar_0_bar_10_bar_3_bar_30)\n (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)\n (objectAtLocation SoapBottle_bar__plus_01_dot_13_bar__plus_00_dot_12_bar__plus_00_dot_69 loc_bar_0_bar_2_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_09_bar__plus_00_dot_75_bar__plus_01_dot_09 loc_bar__minus_1_bar_4_bar_3_bar_60)\n (objectAtLocation Spatula_bar__plus_01_dot_21_bar__plus_00_dot_93_bar__minus_00_dot_43 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_42 loc_bar_2_bar_1_bar_1_bar_45)\n (objectAtLocation Apple_bar__plus_00_dot_10_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_30_bar__plus_01_dot_01_bar__minus_00_dot_06 loc_bar__minus_2_bar_0_bar_3_bar_45)\n (objectAtLocation Knife_bar__minus_01_dot_14_bar__plus_00_dot_93_bar__minus_00_dot_73 loc_bar__minus_2_bar_0_bar_2_bar_45)\n (objectAtLocation Egg_bar__minus_01_dot_48_bar__plus_00_dot_78_bar__plus_02_dot_83 loc_bar_0_bar_10_bar_3_bar_30)\n (objectAtLocation SaltShaker_bar__minus_00_dot_92_bar__plus_00_dot_75_bar__plus_03_dot_02 loc_bar_0_bar_10_bar_3_bar_30)\n (objectAtLocation PepperShaker_bar__plus_01_dot_22_bar__plus_00_dot_11_bar__plus_00_dot_77 loc_bar_0_bar_2_bar_1_bar_45)\n (objectAtLocation Potato_bar__minus_00_dot_97_bar__plus_00_dot_96_bar__minus_00_dot_51 loc_bar__minus_2_bar_0_bar_2_bar_45)\n (objectAtLocation ButterKnife_bar__minus_01_dot_20_bar__plus_00_dot_75_bar__plus_02_dot_27 loc_bar_0_bar_10_bar_3_bar_30)\n (objectAtLocation DishSponge_bar__plus_01_dot_21_bar__plus_00_dot_91_bar__plus_00_dot_71 loc_bar_2_bar_1_bar_1_bar_45)\n (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)\n (objectAtLocation Spoon_bar__minus_00_dot_92_bar__plus_00_dot_75_bar__plus_02_dot_64 loc_bar_0_bar_10_bar_3_bar_30)\n (objectAtLocation SprayBottle_bar__minus_00_dot_13_bar__plus_00_dot_12_bar__minus_00_dot_49 loc_bar_1_bar_2_bar_2_bar_60)\n (objectAtLocation Mug_bar__plus_01_dot_52_bar__plus_00_dot_91_bar__plus_00_dot_14 loc_bar_2_bar_1_bar_1_bar_45)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (coolable ?o)\n (objectType ?o CupType)\n (receptacleType ?r MicrowaveType)\n (isCool ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to microwave 1", "open microwave 1", "take cup 1 from microwave 1", "go to fridge 1", "cool cup 1 with fridge 1", "go to microwave 1", "move cup 1 to microwave 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/valid_seen/pick_cool_then_place_in_recep-Cup-None-Microwave-17/trial_T20190906_192817_654400/initial_state.pddl b/data/alfworld/json_2.1.1/valid_seen/pick_cool_then_place_in_recep-Cup-None-Microwave-17/trial_T20190906_192817_654400/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..15888d1e4181f4b5a784351cf1f6a02ab34ec1a9 --- /dev/null +++ b/data/alfworld/json_2.1.1/valid_seen/pick_cool_then_place_in_recep-Cup-None-Microwave-17/trial_T20190906_192817_654400/initial_state.pddl @@ -0,0 +1,1265 @@ + +(define (problem plan_trial_T20190906_192817_654400) +(:domain alfred) +(:objects +agent1 - agent +Curtains - object + SprayBottle - object + Mirror - object + HousePlant - object + Watch - object + TeddyBear - object + WateringCan - object + Bathtub - object + LightSwitch - object + Vase - object + Candle - object + Bread - object + Statue - object + HandTowel - object + StoveKnob - object + PaperTowelRoll - object + Pan - object + PepperShaker - object + Painting - object + CellPhone - object + Plunger - object + Spoon - object + SaltShaker - object + KeyChain - object + Footstool - object + Poster - object + Television - object + LaundryHamperLid - object + Glassbottle - object + AlarmClock - object + WineBottle - object + Bowl - object + Sink - object + TissueBox - object + TennisRacket - object + ToiletPaper - object + ScrubBrush - object + CreditCard - object + Laptop - object + Cloth - object + Cup - object + Chair - object + BasketBall - object + Kettle - object + PaperTowel - object + ShowerDoor - object + BaseballBat - object + Potato - object + Pillow - object + Lettuce - object + RemoteControl - object + Window - object + DishSponge - object + CD - object + Boots - object + Blinds - object + Pen - object + Newspaper - object + Plate - object + Mug - object + ShowerGlass - object + ToiletPaperRoll - object + SoapBar - object + FloorLamp - object + SoapBottle - object + Pot - object + Pencil - object + Spatula - object + Towel - object + Fork - object + Ladle - object + Knife - object + Apple - object + Box - object + Tomato - object + ButterKnife - object + Egg - object + Book - object + DeskLamp - object +CurtainsType - otype + SprayBottleType - otype + MirrorType - otype + HousePlantType - otype + WatchType - otype + TeddyBearType - otype + WateringCanType - otype + BathtubType - otype + LightSwitchType - otype + VaseType - otype + CandleType - otype + BreadType - otype + StatueType - otype + HandTowelType - otype + StoveKnobType - otype + PaperTowelRollType - otype + PanType - otype + PepperShakerType - otype + PaintingType - otype + CellPhoneType - otype + PlungerType - otype + SpoonType - otype + SaltShakerType - otype + KeyChainType - otype + FootstoolType - otype + PosterType - otype + TelevisionType - otype + LaundryHamperLidType - otype + GlassbottleType - otype + AlarmClockType - otype + WineBottleType - otype + BowlType - otype + SinkType - otype + TissueBoxType - otype + TennisRacketType - otype + ToiletPaperType - otype + ScrubBrushType - otype + CreditCardType - otype + LaptopType - otype + ClothType - otype + CupType - otype + ChairType - otype + BasketBallType - otype + KettleType - otype + PaperTowelType - otype + ShowerDoorType - otype + BaseballBatType - otype + PotatoType - otype + PillowType - otype + LettuceType - otype + RemoteControlType - otype + WindowType - otype + DishSpongeType - otype + CDType - otype + BootsType - otype + BlindsType - otype + PenType - otype + NewspaperType - otype + PlateType - otype + MugType - otype + ShowerGlassType - otype + ToiletPaperRollType - otype + SoapBarType - otype + FloorLampType - otype + SoapBottleType - otype + PotType - otype + PencilType - otype + SpatulaType - otype + TowelType - otype + ForkType - otype + LadleType - otype + KnifeType - otype + AppleType - otype + BoxType - otype + TomatoType - otype + ButterKnifeType - otype + EggType - otype + BookType - otype + DeskLampType - otype +CabinetType - rtype + ShelfType - rtype + DiningTableType - rtype + TowelHolderType - rtype + PaintingHangerType - rtype + TVStandType - rtype + LaundryHamperType - rtype + OttomanType - rtype + SafeType - rtype + CoffeeMachineType - rtype + CounterTopType - rtype + ToiletType - rtype + FridgeType - rtype + CoffeeTableType - rtype + SinkBasinType - rtype + GarbageCanType - rtype + BathtubBasinType - rtype + SideTableType - rtype + CartType - rtype + BedType - rtype + DeskType - rtype + SofaType - rtype + ArmChairType - rtype + MicrowaveType - rtype + HandTowelHolderType - rtype + ToasterType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + DrawerType - rtype + DresserType - rtype + + + Apple_bar__plus_00_dot_10_bar__plus_00_dot_82_bar__minus_00_dot_69 - object + Bowl_bar__plus_01_dot_44_bar__plus_00_dot_91_bar__plus_00_dot_42 - object + Bowl_bar__minus_01_dot_01_bar__plus_00_dot_75_bar__plus_02_dot_46 - object + Bowl_bar__minus_01_dot_26_bar__plus_01_dot_42_bar__plus_01_dot_20 - object + Bread_bar__minus_01_dot_26_bar__plus_01_dot_70_bar__plus_00_dot_88 - object + Bread_bar__minus_01_dot_38_bar__plus_00_dot_81_bar__plus_02_dot_46 - object + ButterKnife_bar__plus_01_dot_20_bar__plus_00_dot_89_bar__plus_02_dot_80 - object + ButterKnife_bar__minus_01_dot_20_bar__plus_00_dot_75_bar__plus_02_dot_27 - object + ButterKnife_bar__minus_01_dot_20_bar__plus_00_dot_75_bar__plus_02_dot_64 - object + CellPhone_bar__plus_01_dot_16_bar__plus_00_dot_77_bar__plus_01_dot_05 - object + CellPhone_bar__minus_01_dot_14_bar__plus_00_dot_91_bar__minus_00_dot_39 - object + Chair_bar__plus_00_dot_98_bar__plus_00_dot_54_bar__plus_02_dot_52 - object + Cup_bar__minus_01_dot_30_bar__plus_01_dot_01_bar__minus_00_dot_06 - object + DishSponge_bar__plus_01_dot_21_bar__plus_00_dot_91_bar__plus_00_dot_71 - object + Egg_bar__minus_01_dot_38_bar__plus_00_dot_78_bar__plus_02_dot_64 - object + Egg_bar__minus_01_dot_48_bar__plus_00_dot_78_bar__plus_02_dot_83 - object + Faucet_bar__minus_00_dot_03_bar__plus_00_dot_93_bar__minus_00_dot_81 - object + Fork_bar__plus_00_dot_04_bar__plus_00_dot_76_bar__minus_00_dot_65 - object + Fork_bar__plus_01_dot_12_bar__plus_00_dot_89_bar__plus_02_dot_15 - object + Glassbottle_bar__plus_01_dot_39_bar__plus_01_dot_66_bar__minus_00_dot_33 - object + Kettle_bar__plus_00_dot_50_bar__plus_00_dot_94_bar__minus_00_dot_74 - object + Kettle_bar__plus_01_dot_28_bar__plus_00_dot_89_bar__plus_02_dot_37 - object + Knife_bar__minus_01_dot_14_bar__plus_00_dot_93_bar__minus_00_dot_73 - object + Lettuce_bar__minus_00_dot_92_bar__plus_00_dot_82_bar__plus_01_dot_90 - object + LightSwitch_bar__plus_00_dot_12_bar__plus_01_dot_35_bar__plus_03_dot_80 - object + Mug_bar__plus_01_dot_52_bar__plus_00_dot_91_bar__plus_00_dot_14 - object + Pan_bar__plus_00_dot_80_bar__plus_00_dot_94_bar__minus_00_dot_47 - object + PepperShaker_bar__plus_01_dot_22_bar__plus_00_dot_11_bar__plus_00_dot_77 - object + PepperShaker_bar__plus_01_dot_37_bar__plus_00_dot_91_bar__plus_00_dot_71 - object + Plate_bar__plus_00_dot_73_bar__plus_02_dot_16_bar__minus_00_dot_79 - object + Plate_bar__plus_01_dot_03_bar__plus_00_dot_89_bar__plus_02_dot_69 - object + Potato_bar__minus_00_dot_14_bar__plus_00_dot_80_bar__minus_00_dot_53 - object + Potato_bar__minus_00_dot_97_bar__plus_00_dot_96_bar__minus_00_dot_51 - object + Potato_bar__minus_01_dot_38_bar__plus_00_dot_80_bar__plus_00_dot_67 - 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_01_dot_65_bar__minus_00_dot_45 - object + SaltShaker_bar__plus_01_dot_37_bar__plus_00_dot_91_bar__minus_00_dot_14 - object + SaltShaker_bar__minus_00_dot_92_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_13_bar__plus_00_dot_12_bar__plus_00_dot_69 - object + Spatula_bar__plus_01_dot_21_bar__plus_00_dot_93_bar__plus_00_dot_42 - object + Spatula_bar__plus_01_dot_21_bar__plus_00_dot_93_bar__minus_00_dot_43 - object + Spatula_bar__minus_01_dot_01_bar__plus_00_dot_76_bar__plus_02_dot_09 - object + Spoon_bar__plus_01_dot_37_bar__plus_00_dot_89_bar__plus_02_dot_15 - object + Spoon_bar__minus_00_dot_92_bar__plus_00_dot_75_bar__plus_02_dot_64 - object + SprayBottle_bar__plus_01_dot_25_bar__plus_00_dot_09_bar__plus_01_dot_50 - object + SprayBottle_bar__minus_00_dot_13_bar__plus_00_dot_12_bar__minus_00_dot_49 - 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_13_bar__plus_00_dot_39_bar__plus_01_dot_09 - object + Tomato_bar__minus_01_dot_38_bar__plus_01_dot_69_bar__plus_00_dot_68 - 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_09_bar__plus_00_dot_75_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_0_bar_10_bar_0_bar_30 - location + ) + + +(:init + + + (receptacleType Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_37 DrawerType) + (receptacleType GarbageCan_bar__plus_01_dot_30_bar__plus_00_dot_01_bar__plus_01_dot_47 GarbageCanType) + (receptacleType Cabinet_bar__plus_00_dot_59_bar__plus_02_dot_31_bar__minus_00_dot_65 CabinetType) + (receptacleType Drawer_bar__minus_01_dot_12_bar__plus_00_dot_79_bar__minus_00_dot_17 DrawerType) + (receptacleType Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_64 CabinetType) + (receptacleType Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_31_bar__plus_01_dot_38 CabinetType) + (receptacleType CoffeeMachine_bar__plus_01_dot_31_bar__plus_00_dot_90_bar__minus_00_dot_74 CoffeeMachineType) + (receptacleType Drawer_bar__minus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_21 DrawerType) + (receptacleType StoveBurner_bar__plus_00_dot_80_bar__plus_00_dot_93_bar__minus_00_dot_47 StoveBurnerType) + (receptacleType Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99 FridgeType) + (receptacleType Microwave_bar__minus_01_dot_34_bar__plus_00_dot_90_bar__plus_00_dot_05 MicrowaveType) + (receptacleType StoveBurner_bar__plus_00_dot_50_bar__plus_00_dot_93_bar__minus_00_dot_74 StoveBurnerType) + (receptacleType Cabinet_bar__minus_00_dot_57_bar__plus_02_dot_06_bar__minus_00_dot_65 CabinetType) + (receptacleType Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_31_bar__plus_00_dot_43 CabinetType) + (receptacleType CounterTop_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_00_dot_67 CounterTopType) + (receptacleType 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SaltShaker_bar__plus_01_dot_26_bar__plus_01_dot_65_bar__minus_00_dot_45 Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_64) + (inReceptacle Glassbottle_bar__plus_01_dot_39_bar__plus_01_dot_66_bar__minus_00_dot_33 Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_64) + (inReceptacle Plate_bar__plus_00_dot_73_bar__plus_02_dot_16_bar__minus_00_dot_79 Cabinet_bar__plus_00_dot_59_bar__plus_02_dot_31_bar__minus_00_dot_65) + (inReceptacle PepperShaker_bar__plus_01_dot_22_bar__plus_00_dot_11_bar__plus_00_dot_77 Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_58) + (inReceptacle SoapBottle_bar__plus_01_dot_13_bar__plus_00_dot_12_bar__plus_00_dot_69 Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_58) + (inReceptacle SprayBottle_bar__minus_00_dot_13_bar__plus_00_dot_12_bar__minus_00_dot_49 Cabinet_bar__minus_00_dot_37_bar__plus_00_dot_40_bar__minus_00_dot_35) + (inReceptacle Spatula_bar__plus_01_dot_21_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 Spatula_bar__plus_01_dot_21_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 DishSponge_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 Mug_bar__plus_01_dot_52_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 SaltShaker_bar__plus_01_dot_37_bar__plus_00_dot_91_bar__minus_00_dot_14 CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07) + (inReceptacle PepperShaker_bar__plus_01_dot_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 Bowl_bar__plus_01_dot_44_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 Spoon_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 Plate_bar__plus_01_dot_03_bar__plus_00_dot_89_bar__plus_02_dot_69 DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48) + (inReceptacle Kettle_bar__plus_01_dot_28_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 ButterKnife_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 Fork_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 CellPhone_bar__minus_01_dot_14_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 Knife_bar__minus_01_dot_14_bar__plus_00_dot_93_bar__minus_00_dot_73 CounterTop_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_00_dot_67) + (inReceptacle Potato_bar__minus_00_dot_97_bar__plus_00_dot_96_bar__minus_00_dot_51 CounterTop_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_00_dot_67) + (inReceptacle Kettle_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 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_01_dot_05 Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_01_dot_08) + (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 Egg_bar__minus_01_dot_38_bar__plus_00_dot_78_bar__plus_02_dot_64 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_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_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_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_48_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 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 ButterKnife_bar__minus_01_dot_20_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 Bread_bar__minus_01_dot_38_bar__plus_00_dot_81_bar__plus_02_dot_46 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46) + (inReceptacle Bowl_bar__minus_01_dot_01_bar__plus_00_dot_75_bar__plus_02_dot_46 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_02_dot_64 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46) + (inReceptacle Bread_bar__minus_01_dot_26_bar__plus_01_dot_70_bar__plus_00_dot_88 Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99) + (inReceptacle Tomato_bar__minus_01_dot_13_bar__plus_00_dot_39_bar__plus_01_dot_09 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_01_dot_20 Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99) + (inReceptacle Potato_bar__minus_01_dot_38_bar__plus_00_dot_80_bar__plus_00_dot_67 Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99) + (inReceptacle WineBottle_bar__minus_01_dot_09_bar__plus_00_dot_75_bar__plus_01_dot_09 Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99) + (inReceptacle Tomato_bar__minus_01_dot_38_bar__plus_01_dot_69_bar__plus_00_dot_68 Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99) + (inReceptacle SprayBottle_bar__plus_01_dot_25_bar__plus_00_dot_09_bar__plus_01_dot_50 GarbageCan_bar__plus_01_dot_30_bar__plus_00_dot_01_bar__plus_01_dot_47) + (inReceptacle Cup_bar__minus_01_dot_30_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 Fork_bar__plus_00_dot_04_bar__plus_00_dot_76_bar__minus_00_dot_65 Sink_bar__minus_00_dot_01_bar__plus_00_dot_91_bar__minus_00_dot_62_bar_SinkBasin) + (inReceptacle Potato_bar__minus_00_dot_14_bar__plus_00_dot_80_bar__minus_00_dot_53 Sink_bar__minus_00_dot_01_bar__plus_00_dot_91_bar__minus_00_dot_62_bar_SinkBasin) + (inReceptacle Apple_bar__plus_00_dot_10_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) + + + (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_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 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{ + "anns": [ + { + "assignment_id": "A23HZ18KTCK2DA_35DR22AR5G1TXLXKA4DDU3I7QEAX31", + "high_descs": [ + "Turn around. Head towards the sink. Turn right and go to the microwave.", + "Open the microwave and take the cup that is in the microwave out.", + "Turn Right and go to the fridge.", + "Open the fridge. Put the cup to the left of the wine bottle. Shut the fridge. Open the fridge and take the cup out.", + "Turn left and go to the microwave. Put the cup in the microwave.", + " Put the cup in the microwave and shut the microwave door." + ], + "task_desc": "Take the cup out of the microwave, put it in the fridge, back in the microwave.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1MKCTVKE7J0ZP_388U7OUMFAIDJXCBIIP23NYCMO40RI", + "high_descs": [ + "Turn around and go to the microwave to the left of the fridge.", + "Take the cup from the microwave.", + "Go to the fridge to your right.", + "Chill the cup in the fridge.", + "Go to the microwave to the left of the fridge.", + "Put the cup in the microwave." + ], + "task_desc": "Put a chilled cup in the microwave.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1GVTH5YS3WOK0_39K0FND3AKWINUX15CQE6UGFPL4AME", + "high_descs": [ + "Turn around, walk towards the sink, turn right towards the microwave.", + "Open the microwave, take the cup out of it, and close the microwave.", + "Head towards the fridge on your right.", + "Open the fridge, place the cup to the left of the bottle, close the fridge, let the cup cool, and then take the cup out of the fridge.", + "Turn left and head towards the microwave on your right.", + "Open the microwave, place the cup back inside, and close the microwave." + ], + "task_desc": "Cool down the cup inside the microwave.", + "votes": [ + 1, + 0, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/valid_seen/pick_cool_then_place_in_recep-Lettuce-None-CounterTop-1/trial_T20190908_042713_075616/game.tw-pddl b/data/alfworld/json_2.1.1/valid_seen/pick_cool_then_place_in_recep-Lettuce-None-CounterTop-1/trial_T20190908_042713_075616/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..b47e10c1b83c48551e140c5a696b721b21b0501d --- /dev/null +++ b/data/alfworld/json_2.1.1/valid_seen/pick_cool_then_place_in_recep-Lettuce-None-CounterTop-1/trial_T20190908_042713_075616/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\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 countertop.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190908_042713_075616)\n(:domain alfred)\n(:objects\nagent1 - agent\nCurtains - object\n SprayBottle - object\n Mirror - object\n HousePlant - object\n Watch - object\n TeddyBear - object\n WateringCan - object\n Bathtub - object\n LightSwitch - object\n Vase - object\n Candle - object\n Bread - object\n Statue - object\n HandTowel - object\n StoveKnob - object\n PaperTowelRoll - object\n Pan - object\n PepperShaker - object\n Painting - object\n CellPhone - object\n Plunger - object\n Spoon - object\n SaltShaker - object\n KeyChain - object\n Footstool - object\n Poster - object\n Television - object\n LaundryHamperLid - object\n Glassbottle - object\n AlarmClock - object\n WineBottle - object\n Bowl - object\n Sink - object\n TissueBox - object\n TennisRacket - object\n ToiletPaper - object\n ScrubBrush - object\n CreditCard - object\n Laptop - object\n Cloth - object\n Cup - object\n Chair - object\n BasketBall - object\n Kettle - object\n PaperTowel - object\n ShowerDoor - object\n BaseballBat - object\n Potato - object\n Pillow - object\n Lettuce - object\n RemoteControl - object\n Window - object\n DishSponge - object\n CD - object\n Boots - object\n Blinds - object\n Pen - object\n Newspaper - object\n Plate - object\n Mug - object\n ShowerGlass - object\n ToiletPaperRoll - object\n SoapBar - object\n FloorLamp - object\n SoapBottle - object\n Pot - object\n Pencil - object\n Spatula - object\n Towel - object\n Fork - object\n Ladle - object\n Knife - object\n Apple - object\n Box - object\n Tomato - object\n ButterKnife - object\n Egg - object\n Book - object\n DeskLamp - object\nCurtainsType - otype\n SprayBottleType - otype\n MirrorType - otype\n HousePlantType - otype\n WatchType - otype\n TeddyBearType - otype\n WateringCanType - otype\n BathtubType - otype\n LightSwitchType - otype\n VaseType - otype\n CandleType - otype\n BreadType - otype\n StatueType - otype\n HandTowelType - otype\n StoveKnobType - otype\n PaperTowelRollType - otype\n PanType - otype\n PepperShakerType - otype\n PaintingType - otype\n CellPhoneType - otype\n PlungerType - otype\n SpoonType - otype\n SaltShakerType - otype\n KeyChainType - otype\n FootstoolType - otype\n PosterType - otype\n TelevisionType - otype\n LaundryHamperLidType - otype\n GlassbottleType - otype\n AlarmClockType - otype\n WineBottleType - otype\n BowlType - otype\n SinkType - otype\n TissueBoxType - otype\n TennisRacketType - otype\n ToiletPaperType - otype\n ScrubBrushType - otype\n CreditCardType - otype\n LaptopType - otype\n ClothType - otype\n CupType - otype\n ChairType - otype\n BasketBallType - otype\n KettleType - otype\n PaperTowelType - otype\n ShowerDoorType - otype\n BaseballBatType - otype\n PotatoType - otype\n PillowType - otype\n LettuceType - otype\n RemoteControlType - otype\n WindowType - otype\n DishSpongeType - otype\n CDType - otype\n BootsType - otype\n BlindsType - otype\n PenType - otype\n NewspaperType - otype\n PlateType - otype\n MugType - otype\n ShowerGlassType - otype\n ToiletPaperRollType - otype\n SoapBarType - otype\n FloorLampType - otype\n SoapBottleType - otype\n PotType - otype\n PencilType - otype\n SpatulaType - otype\n TowelType - otype\n ForkType - otype\n LadleType - otype\n KnifeType - otype\n AppleType - otype\n BoxType - otype\n TomatoType - otype\n ButterKnifeType - otype\n EggType - otype\n BookType - otype\n DeskLampType - otype\nCabinetType - rtype\n ShelfType - rtype\n DiningTableType - rtype\n TowelHolderType - rtype\n PaintingHangerType - rtype\n TVStandType - rtype\n LaundryHamperType - rtype\n OttomanType - rtype\n SafeType - rtype\n CoffeeMachineType - rtype\n CounterTopType - rtype\n ToiletType - rtype\n FridgeType - rtype\n CoffeeTableType - rtype\n SinkBasinType - rtype\n GarbageCanType - rtype\n BathtubBasinType - rtype\n SideTableType - rtype\n CartType - rtype\n BedType - rtype\n DeskType - rtype\n SofaType - rtype\n ArmChairType - rtype\n MicrowaveType - rtype\n HandTowelHolderType - rtype\n ToasterType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n DrawerType - rtype\n DresserType - rtype\n\n\n Apple_bar__plus_00_dot_45_bar__plus_00_dot_96_bar__minus_02_dot_33 - object\n Apple_bar__minus_00_dot_17_bar__plus_01_dot_84_bar__minus_02_dot_48 - object\n Book_bar__plus_00_dot_16_bar__plus_01_dot_10_bar__plus_00_dot_62 - object\n Bowl_bar__minus_00_dot_06_bar__plus_01_dot_11_bar__minus_00_dot_25 - object\n Bowl_bar__minus_00_dot_20_bar__plus_01_dot_11_bar__plus_00_dot_25 - object\n Bread_bar__plus_00_dot_08_bar__plus_01_dot_18_bar__plus_00_dot_25 - object\n Bread_bar__minus_00_dot_20_bar__plus_01_dot_18_bar__plus_00_dot_76 - object\n Bread_bar__minus_01_dot_14_bar__plus_00_dot_98_bar__minus_02_dot_64 - object\n ButterKnife_bar__minus_01_dot_77_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_56 - object\n CreditCard_bar__plus_00_dot_78_bar__plus_00_dot_64_bar__minus_02_dot_38 - object\n CreditCard_bar__plus_01_dot_10_bar__plus_00_dot_91_bar__minus_02_dot_48 - object\n Cup_bar__minus_02_dot_04_bar__plus_01_dot_50_bar__plus_01_dot_34 - object\n DishSponge_bar__plus_00_dot_36_bar__plus_01_dot_11_bar__minus_00_dot_51 - object\n DishSponge_bar__minus_01_dot_91_bar__plus_00_dot_77_bar__minus_01_dot_24 - object\n DishSponge_bar__minus_02_dot_02_bar__plus_00_dot_77_bar__minus_01_dot_50 - object\n Egg_bar__minus_00_dot_20_bar__plus_01_dot_15_bar__minus_00_dot_25 - object\n Faucet_bar__minus_02_dot_07_bar__plus_01_dot_13_bar__minus_01_dot_51 - object\n Fork_bar__plus_00_dot_45_bar__plus_00_dot_91_bar__minus_02_dot_64 - object\n Fork_bar__minus_01_dot_91_bar__plus_00_dot_77_bar__minus_01_dot_41 - object\n Glassbottle_bar__plus_00_dot_08_bar__plus_01_dot_11_bar_00_dot_00 - object\n Glassbottle_bar__plus_00_dot_97_bar__plus_00_dot_91_bar__minus_02_dot_25 - object\n Glassbottle_bar__minus_01_dot_96_bar__plus_00_dot_77_bar__minus_01_dot_76 - 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_58 - object\n Kettle_bar__minus_01_dot_72_bar__plus_00_dot_13_bar__plus_00_dot_16 - object\n Knife_bar__minus_01_dot_96_bar__plus_00_dot_80_bar__minus_01_dot_67 - object\n Lettuce_bar__plus_00_dot_58_bar__plus_00_dot_99_bar__minus_02_dot_48 - object\n LightSwitch_bar__plus_02_dot_33_bar__plus_01_dot_31_bar__minus_00_dot_16 - object\n Mug_bar__plus_01_dot_58_bar__plus_00_dot_55_bar__minus_02_dot_67 - object\n Mug_bar__minus_01_dot_85_bar__plus_00_dot_76_bar__minus_01_dot_59 - object\n Mug_bar__minus_01_dot_98_bar__plus_01_dot_30_bar__plus_01_dot_26 - object\n Pan_bar__minus_00_dot_47_bar__plus_00_dot_95_bar__minus_02_dot_37 - object\n PaperTowelRoll_bar__plus_00_dot_08_bar__plus_01_dot_22_bar__minus_00_dot_25 - object\n PepperShaker_bar__plus_01_dot_48_bar__plus_00_dot_88_bar__minus_02_dot_62 - object\n Plate_bar__minus_00_dot_91_bar__plus_00_dot_13_bar__minus_02_dot_35 - object\n Plate_bar__minus_02_dot_12_bar__plus_01_dot_50_bar__plus_01_dot_01 - object\n Potato_bar__minus_00_dot_33_bar__plus_01_dot_82_bar__minus_02_dot_51 - object\n Potato_bar__minus_01_dot_94_bar__plus_00_dot_08_bar__plus_01_dot_89 - object\n Potato_bar__minus_02_dot_00_bar__plus_00_dot_26_bar__plus_01_dot_09 - object\n Pot_bar__minus_02_dot_04_bar__plus_00_dot_80_bar__plus_01_dot_25 - object\n SaltShaker_bar__plus_00_dot_45_bar__plus_00_dot_91_bar__minus_02_dot_71 - object\n SaltShaker_bar__plus_01_dot_12_bar__plus_00_dot_14_bar__minus_02_dot_24 - object\n Sink_bar__minus_01_dot_90_bar__plus_00_dot_97_bar__minus_01_dot_50 - object\n SoapBottle_bar__minus_01_dot_99_bar__plus_00_dot_05_bar__plus_01_dot_98 - object\n Spatula_bar__plus_01_dot_10_bar__plus_00_dot_93_bar__minus_02_dot_64 - object\n Spatula_bar__minus_00_dot_06_bar__plus_01_dot_13_bar__minus_00_dot_51 - object\n Spoon_bar__plus_00_dot_89_bar__plus_00_dot_32_bar__minus_02_dot_38 - object\n Spoon_bar__minus_01_dot_80_bar__plus_00_dot_77_bar__minus_01_dot_33 - object\n Statue_bar__minus_00_dot_06_bar__plus_01_dot_11_bar__minus_00_dot_76 - 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_94_bar__plus_00_dot_09_bar__plus_02_dot_08 - object\n Tomato_bar__minus_02_dot_12_bar__plus_00_dot_58_bar__plus_01_dot_00 - object\n Tomato_bar__minus_02_dot_16_bar__plus_01_dot_54_bar__plus_00_dot_84 - object\n Vase_bar__plus_01_dot_48_bar__plus_00_dot_55_bar__minus_02_dot_51 - 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__minus_00_dot_34_bar__plus_01_dot_11_bar__plus_00_dot_50 - 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_1_bar__minus_7_bar_1_bar_30 - location\n )\n \n\n(:init\n\n\n 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Apple_bar__plus_00_dot_45_bar__plus_00_dot_96_bar__minus_02_dot_33)\n (coolable Egg_bar__minus_00_dot_20_bar__plus_01_dot_15_bar__minus_00_dot_25)\n (coolable Apple_bar__minus_00_dot_17_bar__plus_01_dot_84_bar__minus_02_dot_48)\n (coolable Tomato_bar__minus_02_dot_16_bar__plus_01_dot_54_bar__plus_00_dot_84)\n (coolable Bread_bar__minus_01_dot_14_bar__plus_00_dot_98_bar__minus_02_dot_64)\n (coolable Plate_bar__minus_00_dot_91_bar__plus_00_dot_13_bar__minus_02_dot_35)\n (coolable Bowl_bar__minus_00_dot_06_bar__plus_01_dot_11_bar__minus_00_dot_25)\n (coolable Tomato_bar__minus_02_dot_12_bar__plus_00_dot_58_bar__plus_01_dot_00)\n (coolable Cup_bar__minus_02_dot_04_bar__plus_01_dot_50_bar__plus_01_dot_34)\n (coolable Bread_bar__minus_00_dot_20_bar__plus_01_dot_18_bar__plus_00_dot_76)\n (coolable WineBottle_bar__minus_00_dot_34_bar__plus_01_dot_11_bar__plus_00_dot_50)\n (coolable Mug_bar__minus_01_dot_85_bar__plus_00_dot_76_bar__minus_01_dot_59)\n (coolable Bread_bar__plus_00_dot_08_bar__plus_01_dot_18_bar__plus_00_dot_25)\n (coolable Potato_bar__minus_02_dot_00_bar__plus_00_dot_26_bar__plus_01_dot_09)\n (coolable Pot_bar__minus_02_dot_04_bar__plus_00_dot_80_bar__plus_01_dot_25)\n (coolable Pan_bar__minus_00_dot_47_bar__plus_00_dot_95_bar__minus_02_dot_37)\n (coolable Lettuce_bar__plus_00_dot_58_bar__plus_00_dot_99_bar__minus_02_dot_48)\n (coolable Tomato_bar__minus_01_dot_94_bar__plus_00_dot_09_bar__plus_02_dot_08)\n (coolable Mug_bar__minus_01_dot_98_bar__plus_01_dot_30_bar__plus_01_dot_26)\n (coolable Potato_bar__minus_00_dot_33_bar__plus_01_dot_82_bar__minus_02_dot_51)\n \n \n \n \n \n (sliceable Potato_bar__minus_01_dot_94_bar__plus_00_dot_08_bar__plus_01_dot_89)\n (sliceable Apple_bar__plus_00_dot_45_bar__plus_00_dot_96_bar__minus_02_dot_33)\n (sliceable Egg_bar__minus_00_dot_20_bar__plus_01_dot_15_bar__minus_00_dot_25)\n (sliceable Apple_bar__minus_00_dot_17_bar__plus_01_dot_84_bar__minus_02_dot_48)\n (sliceable Tomato_bar__minus_02_dot_16_bar__plus_01_dot_54_bar__plus_00_dot_84)\n (sliceable Bread_bar__minus_01_dot_14_bar__plus_00_dot_98_bar__minus_02_dot_64)\n (sliceable Tomato_bar__minus_02_dot_12_bar__plus_00_dot_58_bar__plus_01_dot_00)\n (sliceable Bread_bar__minus_00_dot_20_bar__plus_01_dot_18_bar__plus_00_dot_76)\n (sliceable Bread_bar__plus_00_dot_08_bar__plus_01_dot_18_bar__plus_00_dot_25)\n (sliceable Potato_bar__minus_02_dot_00_bar__plus_00_dot_26_bar__plus_01_dot_09)\n (sliceable Lettuce_bar__plus_00_dot_58_bar__plus_00_dot_99_bar__minus_02_dot_48)\n (sliceable Tomato_bar__minus_01_dot_94_bar__plus_00_dot_09_bar__plus_02_dot_08)\n (sliceable Potato_bar__minus_00_dot_33_bar__plus_01_dot_82_bar__minus_02_dot_51)\n \n (inReceptacle Pan_bar__minus_00_dot_47_bar__plus_00_dot_95_bar__minus_02_dot_37 StoveBurner_bar__minus_00_dot_47_bar__plus_00_dot_92_bar__minus_02_dot_37)\n (inReceptacle DishSponge_bar__plus_00_dot_36_bar__plus_01_dot_11_bar__minus_00_dot_51 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00)\n (inReceptacle PaperTowelRoll_bar__plus_00_dot_08_bar__plus_01_dot_22_bar__minus_00_dot_25 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00)\n (inReceptacle Bowl_bar__minus_00_dot_06_bar__plus_01_dot_11_bar__minus_00_dot_25 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00)\n (inReceptacle Egg_bar__minus_00_dot_20_bar__plus_01_dot_15_bar__minus_00_dot_25 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00)\n (inReceptacle Book_bar__plus_00_dot_16_bar__plus_01_dot_10_bar__plus_00_dot_62 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00)\n (inReceptacle Glassbottle_bar__plus_00_dot_08_bar__plus_01_dot_11_bar_00_dot_00 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00)\n (inReceptacle Spatula_bar__minus_00_dot_06_bar__plus_01_dot_13_bar__minus_00_dot_51 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00)\n (inReceptacle WineBottle_bar__minus_00_dot_34_bar__plus_01_dot_11_bar__plus_00_dot_50 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00)\n (inReceptacle Bowl_bar__minus_00_dot_20_bar__plus_01_dot_11_bar__plus_00_dot_25 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00)\n (inReceptacle Bread_bar__minus_00_dot_20_bar__plus_01_dot_18_bar__plus_00_dot_76 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00)\n (inReceptacle Bread_bar__plus_00_dot_08_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 Statue_bar__minus_00_dot_06_bar__plus_01_dot_11_bar__minus_00_dot_76 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00)\n (inReceptacle CreditCard_bar__plus_01_dot_10_bar__plus_00_dot_91_bar__minus_02_dot_48 CounterTop_bar__plus_00_dot_69_bar__plus_00_dot_95_bar__minus_02_dot_48)\n (inReceptacle Apple_bar__plus_00_dot_45_bar__plus_00_dot_96_bar__minus_02_dot_33 CounterTop_bar__plus_00_dot_69_bar__plus_00_dot_95_bar__minus_02_dot_48)\n (inReceptacle SaltShaker_bar__plus_00_dot_45_bar__plus_00_dot_91_bar__minus_02_dot_71 CounterTop_bar__plus_00_dot_69_bar__plus_00_dot_95_bar__minus_02_dot_48)\n (inReceptacle Glassbottle_bar__plus_00_dot_97_bar__plus_00_dot_91_bar__minus_02_dot_25 CounterTop_bar__plus_00_dot_69_bar__plus_00_dot_95_bar__minus_02_dot_48)\n (inReceptacle Spatula_bar__plus_01_dot_10_bar__plus_00_dot_93_bar__minus_02_dot_64 CounterTop_bar__plus_00_dot_69_bar__plus_00_dot_95_bar__minus_02_dot_48)\n (inReceptacle Lettuce_bar__plus_00_dot_58_bar__plus_00_dot_99_bar__minus_02_dot_48 CounterTop_bar__plus_00_dot_69_bar__plus_00_dot_95_bar__minus_02_dot_48)\n (inReceptacle Fork_bar__plus_00_dot_45_bar__plus_00_dot_91_bar__minus_02_dot_64 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 Spoon_bar__plus_00_dot_89_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)\n (inReceptacle CreditCard_bar__plus_00_dot_78_bar__plus_00_dot_64_bar__minus_02_dot_38 Drawer_bar__plus_00_dot_95_bar__plus_00_dot_71_bar__minus_02_dot_20)\n (inReceptacle Kettle_bar__minus_01_dot_72_bar__plus_00_dot_13_bar__plus_00_dot_16 Cabinet_bar__minus_01_dot_55_bar__plus_00_dot_50_bar__plus_00_dot_38)\n (inReceptacle Plate_bar__minus_00_dot_91_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 SaltShaker_bar__plus_01_dot_12_bar__plus_00_dot_14_bar__minus_02_dot_24 Drawer_bar__plus_00_dot_95_bar__plus_00_dot_22_bar__minus_02_dot_20)\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 Bread_bar__minus_01_dot_14_bar__plus_00_dot_98_bar__minus_02_dot_64 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21)\n (inReceptacle ButterKnife_bar__minus_01_dot_77_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 Pan_bar__minus_00_dot_47_bar__plus_00_dot_95_bar__minus_02_dot_37 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21)\n (inReceptacle Apple_bar__minus_00_dot_17_bar__plus_01_dot_84_bar__minus_02_dot_48 Microwave_bar__minus_00_dot_24_bar__plus_01_dot_69_bar__minus_02_dot_53)\n (inReceptacle Potato_bar__minus_00_dot_33_bar__plus_01_dot_82_bar__minus_02_dot_51 Microwave_bar__minus_00_dot_24_bar__plus_01_dot_69_bar__minus_02_dot_53)\n (inReceptacle PepperShaker_bar__plus_01_dot_48_bar__plus_00_dot_88_bar__minus_02_dot_62 Shelf_bar__plus_01_dot_80_bar__plus_00_dot_87_bar__minus_02_dot_56)\n (inReceptacle Vase_bar__plus_01_dot_48_bar__plus_00_dot_55_bar__minus_02_dot_51 Shelf_bar__plus_01_dot_80_bar__plus_00_dot_54_bar__minus_02_dot_56)\n (inReceptacle Mug_bar__plus_01_dot_58_bar__plus_00_dot_55_bar__minus_02_dot_67 Shelf_bar__plus_01_dot_80_bar__plus_00_dot_54_bar__minus_02_dot_56)\n (inReceptacle Vase_bar__plus_02_dot_04_bar__plus_00_dot_54_bar__minus_02_dot_50 Shelf_bar__plus_01_dot_80_bar__plus_00_dot_54_bar__minus_02_dot_56)\n (inReceptacle Tomato_bar__minus_01_dot_94_bar__plus_00_dot_09_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_94_bar__plus_00_dot_08_bar__plus_01_dot_89 GarbageCan_bar__minus_01_dot_94_bar__plus_00_dot_00_bar__plus_02_dot_03)\n (inReceptacle SoapBottle_bar__minus_01_dot_99_bar__plus_00_dot_05_bar__plus_01_dot_98 GarbageCan_bar__minus_01_dot_94_bar__plus_00_dot_00_bar__plus_02_dot_03)\n (inReceptacle Tomato_bar__minus_02_dot_12_bar__plus_00_dot_58_bar__plus_01_dot_00 Fridge_bar__minus_02_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_09)\n (inReceptacle Cup_bar__minus_02_dot_04_bar__plus_01_dot_50_bar__plus_01_dot_34 Fridge_bar__minus_02_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_09)\n (inReceptacle Pot_bar__minus_02_dot_04_bar__plus_00_dot_80_bar__plus_01_dot_25 Fridge_bar__minus_02_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_09)\n (inReceptacle Tomato_bar__minus_02_dot_16_bar__plus_01_dot_54_bar__plus_00_dot_84 Fridge_bar__minus_02_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_09)\n (inReceptacle Mug_bar__minus_01_dot_98_bar__plus_01_dot_30_bar__plus_01_dot_26 Fridge_bar__minus_02_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_09)\n (inReceptacle Potato_bar__minus_02_dot_00_bar__plus_00_dot_26_bar__plus_01_dot_09 Fridge_bar__minus_02_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_09)\n (inReceptacle Plate_bar__minus_02_dot_12_bar__plus_01_dot_50_bar__plus_01_dot_01 Fridge_bar__minus_02_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_09)\n (inReceptacle Fork_bar__minus_01_dot_91_bar__plus_00_dot_77_bar__minus_01_dot_41 Sink_bar__minus_01_dot_90_bar__plus_00_dot_97_bar__minus_01_dot_50_bar_SinkBasin)\n (inReceptacle Glassbottle_bar__minus_01_dot_96_bar__plus_00_dot_77_bar__minus_01_dot_76 Sink_bar__minus_01_dot_90_bar__plus_00_dot_97_bar__minus_01_dot_50_bar_SinkBasin)\n (inReceptacle DishSponge_bar__minus_02_dot_02_bar__plus_00_dot_77_bar__minus_01_dot_50 Sink_bar__minus_01_dot_90_bar__plus_00_dot_97_bar__minus_01_dot_50_bar_SinkBasin)\n (inReceptacle DishSponge_bar__minus_01_dot_91_bar__plus_00_dot_77_bar__minus_01_dot_24 Sink_bar__minus_01_dot_90_bar__plus_00_dot_97_bar__minus_01_dot_50_bar_SinkBasin)\n (inReceptacle Spoon_bar__minus_01_dot_80_bar__plus_00_dot_77_bar__minus_01_dot_33 Sink_bar__minus_01_dot_90_bar__plus_00_dot_97_bar__minus_01_dot_50_bar_SinkBasin)\n (inReceptacle Mug_bar__minus_01_dot_85_bar__plus_00_dot_76_bar__minus_01_dot_59 Sink_bar__minus_01_dot_90_bar__plus_00_dot_97_bar__minus_01_dot_50_bar_SinkBasin)\n \n \n (receptacleAtLocation Cabinet_bar__plus_00_dot_68_bar__plus_00_dot_50_bar__minus_02_dot_20 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_68_bar__plus_02_dot_02_bar__minus_02_dot_46 loc_bar_2_bar__minus_7_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_72_bar__plus_02_dot_02_bar__minus_02_dot_46 loc_bar_4_bar__minus_7_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_73_bar__plus_02_dot_02_bar__minus_02_dot_46 loc_bar__minus_4_bar__minus_7_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_18_bar__plus_00_dot_50_bar__minus_02_dot_20 loc_bar__minus_5_bar__minus_5_bar_2_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_55_bar__plus_00_dot_50_bar__plus_00_dot_38 loc_bar__minus_4_bar_2_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_55_bar__plus_00_dot_50_bar__minus_01_dot_97 loc_bar__minus_3_bar__minus_6_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_69_bar__plus_02_dot_02_bar__minus_02_dot_46 loc_bar__minus_5_bar__minus_7_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_85_bar__plus_02_dot_02_bar__plus_00_dot_38 loc_bar__minus_5_bar_2_bar_3_bar__minus_30)\n (receptacleAtLocation CoffeeMachine_bar__minus_02_dot_00_bar__plus_00_dot_90_bar__minus_00_dot_17 loc_bar__minus_5_bar__minus_1_bar_3_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_00_dot_69_bar__plus_00_dot_95_bar__minus_02_dot_48 loc_bar_3_bar__minus_7_bar_2_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00 loc_bar_3_bar_0_bar_3_bar_30)\n (receptacleAtLocation CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21 loc_bar__minus_5_bar__minus_7_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_95_bar__plus_00_dot_22_bar__minus_02_dot_20 loc_bar_6_bar__minus_4_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_95_bar__plus_00_dot_39_bar__minus_02_dot_20 loc_bar_6_bar__minus_4_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_95_bar__plus_00_dot_56_bar__minus_02_dot_20 loc_bar_2_bar__minus_5_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_95_bar__plus_00_dot_71_bar__minus_02_dot_20 loc_bar_7_bar__minus_7_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_95_bar__plus_00_dot_83_bar__minus_02_dot_20 loc_bar_1_bar__minus_7_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_56_bar__plus_00_dot_33_bar__minus_00_dot_20 loc_bar__minus_4_bar_3_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_56_bar__plus_00_dot_66_bar__minus_00_dot_20 loc_bar__minus_5_bar__minus_1_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_56_bar__plus_00_dot_84_bar__plus_00_dot_20 loc_bar__minus_4_bar_4_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_56_bar__plus_00_dot_84_bar__minus_00_dot_20 loc_bar__minus_4_bar__minus_4_bar_0_bar_45)\n (receptacleAtLocation Fridge_bar__minus_02_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_09 loc_bar__minus_4_bar_4_bar_3_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_01_dot_94_bar__plus_00_dot_00_bar__plus_02_dot_03 loc_bar__minus_5_bar_7_bar_3_bar_60)\n (receptacleAtLocation Microwave_bar__minus_00_dot_24_bar__plus_01_dot_69_bar__minus_02_dot_53 loc_bar__minus_1_bar__minus_7_bar_2_bar_0)\n (receptacleAtLocation Shelf_bar__plus_01_dot_80_bar__plus_00_dot_16_bar__minus_02_dot_56 loc_bar_7_bar__minus_8_bar_2_bar_60)\n (receptacleAtLocation Shelf_bar__plus_01_dot_80_bar__plus_00_dot_54_bar__minus_02_dot_56 loc_bar_5_bar__minus_6_bar_2_bar_45)\n (receptacleAtLocation Shelf_bar__plus_01_dot_80_bar__plus_00_dot_87_bar__minus_02_dot_56 loc_bar_7_bar__minus_5_bar_2_bar_30)\n (receptacleAtLocation Sink_bar__minus_01_dot_90_bar__plus_00_dot_97_bar__minus_01_dot_50_bar_SinkBasin loc_bar__minus_5_bar__minus_6_bar_3_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_04_bar__plus_00_dot_92_bar__minus_02_dot_37 loc_bar_0_bar__minus_7_bar_2_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_04_bar__plus_00_dot_92_bar__minus_02_dot_58 loc_bar_0_bar__minus_7_bar_2_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_47_bar__plus_00_dot_92_bar__minus_02_dot_37 loc_bar__minus_2_bar__minus_7_bar_2_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_47_bar__plus_00_dot_92_bar__minus_02_dot_58 loc_bar__minus_2_bar__minus_7_bar_2_bar_45)\n (receptacleAtLocation Toaster_bar__minus_01_dot_84_bar__plus_00_dot_90_bar__plus_00_dot_13 loc_bar__minus_5_bar_1_bar_3_bar_45)\n (objectAtLocation Mug_bar__minus_01_dot_85_bar__plus_00_dot_76_bar__minus_01_dot_59 loc_bar__minus_5_bar__minus_6_bar_3_bar_60)\n (objectAtLocation Spoon_bar__plus_00_dot_89_bar__plus_00_dot_32_bar__minus_02_dot_38 loc_bar_6_bar__minus_4_bar_2_bar_45)\n (objectAtLocation DishSponge_bar__minus_02_dot_02_bar__plus_00_dot_77_bar__minus_01_dot_50 loc_bar__minus_5_bar__minus_6_bar_3_bar_60)\n (objectAtLocation Apple_bar__plus_00_dot_45_bar__plus_00_dot_96_bar__minus_02_dot_33 loc_bar_3_bar__minus_7_bar_2_bar_45)\n (objectAtLocation SaltShaker_bar__plus_01_dot_12_bar__plus_00_dot_14_bar__minus_02_dot_24 loc_bar_6_bar__minus_4_bar_2_bar_45)\n (objectAtLocation Bowl_bar__minus_00_dot_06_bar__plus_01_dot_11_bar__minus_00_dot_25 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation Spatula_bar__plus_01_dot_10_bar__plus_00_dot_93_bar__minus_02_dot_64 loc_bar_3_bar__minus_7_bar_2_bar_45)\n (objectAtLocation CreditCard_bar__plus_01_dot_10_bar__plus_00_dot_91_bar__minus_02_dot_48 loc_bar_3_bar__minus_7_bar_2_bar_45)\n (objectAtLocation Tomato_bar__minus_01_dot_94_bar__plus_00_dot_09_bar__plus_02_dot_08 loc_bar__minus_5_bar_7_bar_3_bar_60)\n (objectAtLocation Plate_bar__minus_02_dot_12_bar__plus_01_dot_50_bar__plus_01_dot_01 loc_bar__minus_4_bar_4_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 Potato_bar__minus_00_dot_33_bar__plus_01_dot_82_bar__minus_02_dot_51 loc_bar__minus_1_bar__minus_7_bar_2_bar_0)\n (objectAtLocation Fork_bar__plus_00_dot_45_bar__plus_00_dot_91_bar__minus_02_dot_64 loc_bar_3_bar__minus_7_bar_2_bar_45)\n (objectAtLocation Bread_bar__plus_00_dot_08_bar__plus_01_dot_18_bar__plus_00_dot_25 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation Glassbottle_bar__plus_00_dot_97_bar__plus_00_dot_91_bar__minus_02_dot_25 loc_bar_3_bar__minus_7_bar_2_bar_45)\n (objectAtLocation DishSponge_bar__plus_00_dot_36_bar__plus_01_dot_11_bar__minus_00_dot_51 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation Glassbottle_bar__minus_01_dot_96_bar__plus_00_dot_77_bar__minus_01_dot_76 loc_bar__minus_5_bar__minus_6_bar_3_bar_60)\n (objectAtLocation Mug_bar__minus_01_dot_98_bar__plus_01_dot_30_bar__plus_01_dot_26 loc_bar__minus_4_bar_4_bar_3_bar_60)\n (objectAtLocation Bread_bar__minus_01_dot_14_bar__plus_00_dot_98_bar__minus_02_dot_64 loc_bar__minus_5_bar__minus_7_bar_3_bar_45)\n (objectAtLocation Tomato_bar__minus_02_dot_16_bar__plus_01_dot_54_bar__plus_00_dot_84 loc_bar__minus_4_bar_4_bar_3_bar_60)\n (objectAtLocation Potato_bar__minus_01_dot_94_bar__plus_00_dot_08_bar__plus_01_dot_89 loc_bar__minus_5_bar_7_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_02_bar__plus_00_dot_88_bar__minus_02_dot_19 loc_bar_0_bar__minus_7_bar_2_bar_60)\n (objectAtLocation Window_bar__minus_02_dot_23_bar__plus_01_dot_43_bar__minus_01_dot_20 loc_bar__minus_5_bar__minus_5_bar_3_bar_15)\n (objectAtLocation StoveKnob_bar__minus_00_dot_48_bar__plus_00_dot_88_bar__minus_02_dot_19 loc_bar__minus_2_bar__minus_7_bar_2_bar_60)\n (objectAtLocation Sink_bar__minus_01_dot_90_bar__plus_00_dot_97_bar__minus_01_dot_50 loc_bar__minus_5_bar__minus_6_bar_3_bar_45)\n (objectAtLocation StoveKnob_bar__minus_00_dot_33_bar__plus_00_dot_88_bar__minus_02_dot_19 loc_bar__minus_1_bar__minus_7_bar_2_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_18_bar__plus_00_dot_88_bar__minus_02_dot_19 loc_bar__minus_1_bar__minus_7_bar_2_bar_60)\n (objectAtLocation Book_bar__plus_00_dot_16_bar__plus_01_dot_10_bar__plus_00_dot_62 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation Chair_bar__plus_00_dot_67_bar__plus_00_dot_73_bar__plus_00_dot_56 loc_bar_3_bar_0_bar_0_bar_60)\n (objectAtLocation Glassbottle_bar__plus_00_dot_08_bar__plus_01_dot_11_bar_00_dot_00 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation Knife_bar__minus_01_dot_96_bar__plus_00_dot_80_bar__minus_01_dot_67 loc_bar__minus_5_bar__minus_7_bar_3_bar_45)\n (objectAtLocation Bread_bar__minus_00_dot_20_bar__plus_01_dot_18_bar__plus_00_dot_76 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation Fork_bar__minus_01_dot_91_bar__plus_00_dot_77_bar__minus_01_dot_41 loc_bar__minus_5_bar__minus_6_bar_3_bar_60)\n (objectAtLocation Potato_bar__minus_02_dot_00_bar__plus_00_dot_26_bar__plus_01_dot_09 loc_bar__minus_4_bar_4_bar_3_bar_60)\n (objectAtLocation HousePlant_bar__minus_01_dot_95_bar__plus_00_dot_90_bar__minus_02_dot_52 loc_bar__minus_5_bar__minus_7_bar_3_bar_45)\n (objectAtLocation SoapBottle_bar__minus_01_dot_99_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_01_dot_72_bar__plus_00_dot_13_bar__plus_00_dot_16 loc_bar__minus_4_bar_2_bar_3_bar_60)\n (objectAtLocation Pan_bar__minus_00_dot_47_bar__plus_00_dot_95_bar__minus_02_dot_37 loc_bar__minus_5_bar__minus_7_bar_3_bar_45)\n (objectAtLocation Plate_bar__minus_00_dot_91_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_12_bar__plus_00_dot_58_bar__plus_01_dot_00 loc_bar__minus_4_bar_4_bar_3_bar_60)\n (objectAtLocation Vase_bar__plus_02_dot_04_bar__plus_00_dot_54_bar__minus_02_dot_50 loc_bar_5_bar__minus_6_bar_2_bar_45)\n (objectAtLocation Egg_bar__minus_00_dot_20_bar__plus_01_dot_15_bar__minus_00_dot_25 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation CreditCard_bar__plus_00_dot_78_bar__plus_00_dot_64_bar__minus_02_dot_38 loc_bar_7_bar__minus_7_bar_3_bar_45)\n (objectAtLocation Statue_bar__minus_00_dot_06_bar__plus_01_dot_11_bar__minus_00_dot_76 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation Chair_bar__plus_00_dot_62_bar__plus_00_dot_73_bar__minus_00_dot_51 loc_bar_5_bar__minus_2_bar_3_bar_60)\n (objectAtLocation WineBottle_bar__minus_00_dot_34_bar__plus_01_dot_11_bar__plus_00_dot_50 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation Pot_bar__minus_02_dot_04_bar__plus_00_dot_80_bar__plus_01_dot_25 loc_bar__minus_4_bar_4_bar_3_bar_60)\n (objectAtLocation Spatula_bar__minus_00_dot_06_bar__plus_01_dot_13_bar__minus_00_dot_51 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation PaperTowelRoll_bar__plus_00_dot_08_bar__plus_01_dot_22_bar__minus_00_dot_25 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation Cup_bar__minus_02_dot_04_bar__plus_01_dot_50_bar__plus_01_dot_34 loc_bar__minus_4_bar_4_bar_3_bar_60)\n (objectAtLocation Vase_bar__plus_01_dot_48_bar__plus_00_dot_55_bar__minus_02_dot_51 loc_bar_5_bar__minus_6_bar_2_bar_45)\n (objectAtLocation Bowl_bar__minus_00_dot_20_bar__plus_01_dot_11_bar__plus_00_dot_25 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation SaltShaker_bar__plus_00_dot_45_bar__plus_00_dot_91_bar__minus_02_dot_71 loc_bar_3_bar__minus_7_bar_2_bar_45)\n (objectAtLocation PepperShaker_bar__plus_01_dot_48_bar__plus_00_dot_88_bar__minus_02_dot_62 loc_bar_7_bar__minus_5_bar_2_bar_30)\n (objectAtLocation Lettuce_bar__plus_00_dot_58_bar__plus_00_dot_99_bar__minus_02_dot_48 loc_bar_3_bar__minus_7_bar_2_bar_45)\n (objectAtLocation ButterKnife_bar__minus_01_dot_77_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__minus_00_dot_17_bar__plus_01_dot_84_bar__minus_02_dot_48 loc_bar__minus_1_bar__minus_7_bar_2_bar_0)\n (objectAtLocation DishSponge_bar__minus_01_dot_91_bar__plus_00_dot_77_bar__minus_01_dot_24 loc_bar__minus_5_bar__minus_6_bar_3_bar_60)\n (objectAtLocation Spoon_bar__minus_01_dot_80_bar__plus_00_dot_77_bar__minus_01_dot_33 loc_bar__minus_5_bar__minus_6_bar_3_bar_60)\n (objectAtLocation LightSwitch_bar__plus_02_dot_33_bar__plus_01_dot_31_bar__minus_00_dot_16 loc_bar_7_bar__minus_1_bar_1_bar_30)\n (objectAtLocation Mug_bar__plus_01_dot_58_bar__plus_00_dot_55_bar__minus_02_dot_67 loc_bar_5_bar__minus_6_bar_2_bar_45)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (coolable ?o)\n (objectType ?o LettuceType)\n (receptacleType ?r CounterTopType)\n (isCool ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 1", "take lettuce 1 from countertop 1", "go to fridge 1", "cool lettuce 1 with fridge 1", "go to countertop 3", "move lettuce 1 to countertop 3"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/valid_seen/pick_cool_then_place_in_recep-Lettuce-None-CounterTop-1/trial_T20190908_042713_075616/initial_state.pddl b/data/alfworld/json_2.1.1/valid_seen/pick_cool_then_place_in_recep-Lettuce-None-CounterTop-1/trial_T20190908_042713_075616/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..4e4d31afcebcf6453577ebaf91616322618826ad --- /dev/null +++ b/data/alfworld/json_2.1.1/valid_seen/pick_cool_then_place_in_recep-Lettuce-None-CounterTop-1/trial_T20190908_042713_075616/initial_state.pddl @@ -0,0 +1,1209 @@ + +(define (problem plan_trial_T20190908_042713_075616) +(:domain alfred) +(:objects +agent1 - agent +Curtains - object + SprayBottle - object + Mirror - object + HousePlant - object + Watch - object + TeddyBear - object + WateringCan - object + Bathtub - object + LightSwitch - object + Vase - object + Candle - object + Bread - object + Statue - object + HandTowel - object + StoveKnob - object + PaperTowelRoll - object + Pan - object + PepperShaker - object + Painting - object + CellPhone - object + Plunger - object + Spoon - object + SaltShaker - object + KeyChain - object + Footstool - object + Poster - object + Television - object + LaundryHamperLid - object + Glassbottle - object + AlarmClock - object + WineBottle - object + Bowl - object + Sink - object + TissueBox - object + TennisRacket - object + ToiletPaper - object + ScrubBrush - object + CreditCard - object + Laptop - object + Cloth - object + Cup - object + Chair - object + BasketBall - object + Kettle - object + PaperTowel - object + ShowerDoor - object + BaseballBat - object + Potato - object + Pillow - object + Lettuce - object + RemoteControl - object + Window - object + DishSponge - object + CD - object + Boots - object + Blinds - object + Pen - object + Newspaper - object + Plate - object + Mug - object + ShowerGlass - object + ToiletPaperRoll - object + SoapBar - object + FloorLamp - object + SoapBottle - object + Pot - object + Pencil - object + Spatula - object + Towel - object + Fork - object + Ladle - object + Knife - object + Apple - object + Box - object + Tomato - object + ButterKnife - object + Egg - object + Book - object + DeskLamp - object +CurtainsType - otype + SprayBottleType - otype + MirrorType - otype + HousePlantType - otype + WatchType - otype + TeddyBearType - otype + WateringCanType - otype + BathtubType - otype + LightSwitchType - otype + VaseType - otype + CandleType - otype + BreadType - otype + StatueType - otype + HandTowelType - otype + StoveKnobType - otype + PaperTowelRollType - otype + PanType - otype + PepperShakerType - otype + PaintingType - otype + CellPhoneType - otype + PlungerType - otype + SpoonType - otype + SaltShakerType - otype + KeyChainType - otype + FootstoolType - otype + PosterType - otype + TelevisionType - otype + LaundryHamperLidType - otype + GlassbottleType - otype + AlarmClockType - otype + WineBottleType - otype + BowlType - otype + SinkType - otype + TissueBoxType - otype + TennisRacketType - otype + ToiletPaperType - otype + ScrubBrushType - otype + CreditCardType - otype + LaptopType - otype + ClothType - otype + CupType - otype + ChairType - otype + BasketBallType - otype + KettleType - otype + PaperTowelType - otype + ShowerDoorType - otype + BaseballBatType - otype + PotatoType - otype + PillowType - otype + LettuceType - otype + RemoteControlType - otype + WindowType - otype + DishSpongeType - otype + CDType - otype + BootsType - otype + BlindsType - otype + PenType - otype + NewspaperType - otype + PlateType - otype + MugType - otype + ShowerGlassType - otype + ToiletPaperRollType - otype + SoapBarType - otype + FloorLampType - otype + SoapBottleType - otype + PotType - otype + PencilType - otype + SpatulaType - otype + TowelType - otype + ForkType - otype + LadleType - otype + KnifeType - otype + AppleType - otype + BoxType - otype + TomatoType - otype + ButterKnifeType - otype + EggType - otype + BookType - otype + DeskLampType - otype +CabinetType - rtype + ShelfType - rtype + DiningTableType - rtype + TowelHolderType - rtype + PaintingHangerType - rtype + TVStandType - rtype + LaundryHamperType - rtype + OttomanType - rtype + SafeType - rtype + CoffeeMachineType - rtype + CounterTopType - rtype + ToiletType - rtype + FridgeType - rtype + CoffeeTableType - rtype + SinkBasinType - rtype + GarbageCanType - rtype + BathtubBasinType - rtype + SideTableType - rtype + CartType - rtype + BedType - rtype + DeskType - rtype + SofaType - rtype + ArmChairType - rtype + MicrowaveType - rtype + HandTowelHolderType - rtype + ToasterType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + DrawerType - rtype + DresserType - rtype + + + Apple_bar__plus_00_dot_45_bar__plus_00_dot_96_bar__minus_02_dot_33 - object + Apple_bar__minus_00_dot_17_bar__plus_01_dot_84_bar__minus_02_dot_48 - object + Book_bar__plus_00_dot_16_bar__plus_01_dot_10_bar__plus_00_dot_62 - object + Bowl_bar__minus_00_dot_06_bar__plus_01_dot_11_bar__minus_00_dot_25 - object + Bowl_bar__minus_00_dot_20_bar__plus_01_dot_11_bar__plus_00_dot_25 - object + Bread_bar__plus_00_dot_08_bar__plus_01_dot_18_bar__plus_00_dot_25 - object + Bread_bar__minus_00_dot_20_bar__plus_01_dot_18_bar__plus_00_dot_76 - object + Bread_bar__minus_01_dot_14_bar__plus_00_dot_98_bar__minus_02_dot_64 - object + ButterKnife_bar__minus_01_dot_77_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_56 - object + CreditCard_bar__plus_00_dot_78_bar__plus_00_dot_64_bar__minus_02_dot_38 - object + CreditCard_bar__plus_01_dot_10_bar__plus_00_dot_91_bar__minus_02_dot_48 - object + Cup_bar__minus_02_dot_04_bar__plus_01_dot_50_bar__plus_01_dot_34 - object + DishSponge_bar__plus_00_dot_36_bar__plus_01_dot_11_bar__minus_00_dot_51 - object + DishSponge_bar__minus_01_dot_91_bar__plus_00_dot_77_bar__minus_01_dot_24 - object + DishSponge_bar__minus_02_dot_02_bar__plus_00_dot_77_bar__minus_01_dot_50 - object + Egg_bar__minus_00_dot_20_bar__plus_01_dot_15_bar__minus_00_dot_25 - object + Faucet_bar__minus_02_dot_07_bar__plus_01_dot_13_bar__minus_01_dot_51 - object + Fork_bar__plus_00_dot_45_bar__plus_00_dot_91_bar__minus_02_dot_64 - object + Fork_bar__minus_01_dot_91_bar__plus_00_dot_77_bar__minus_01_dot_41 - object + Glassbottle_bar__plus_00_dot_08_bar__plus_01_dot_11_bar_00_dot_00 - object + Glassbottle_bar__plus_00_dot_97_bar__plus_00_dot_91_bar__minus_02_dot_25 - object + Glassbottle_bar__minus_01_dot_96_bar__plus_00_dot_77_bar__minus_01_dot_76 - object + HousePlant_bar__minus_01_dot_95_bar__plus_00_dot_90_bar__minus_02_dot_52 - object + Kettle_bar__minus_00_dot_04_bar__plus_00_dot_95_bar__minus_02_dot_58 - object + Kettle_bar__minus_01_dot_72_bar__plus_00_dot_13_bar__plus_00_dot_16 - object + Knife_bar__minus_01_dot_96_bar__plus_00_dot_80_bar__minus_01_dot_67 - object + Lettuce_bar__plus_00_dot_58_bar__plus_00_dot_99_bar__minus_02_dot_48 - object + LightSwitch_bar__plus_02_dot_33_bar__plus_01_dot_31_bar__minus_00_dot_16 - object + Mug_bar__plus_01_dot_58_bar__plus_00_dot_55_bar__minus_02_dot_67 - object + Mug_bar__minus_01_dot_85_bar__plus_00_dot_76_bar__minus_01_dot_59 - object + Mug_bar__minus_01_dot_98_bar__plus_01_dot_30_bar__plus_01_dot_26 - object + Pan_bar__minus_00_dot_47_bar__plus_00_dot_95_bar__minus_02_dot_37 - object + PaperTowelRoll_bar__plus_00_dot_08_bar__plus_01_dot_22_bar__minus_00_dot_25 - object + PepperShaker_bar__plus_01_dot_48_bar__plus_00_dot_88_bar__minus_02_dot_62 - object + Plate_bar__minus_00_dot_91_bar__plus_00_dot_13_bar__minus_02_dot_35 - object + Plate_bar__minus_02_dot_12_bar__plus_01_dot_50_bar__plus_01_dot_01 - object + Potato_bar__minus_00_dot_33_bar__plus_01_dot_82_bar__minus_02_dot_51 - object + Potato_bar__minus_01_dot_94_bar__plus_00_dot_08_bar__plus_01_dot_89 - object + Potato_bar__minus_02_dot_00_bar__plus_00_dot_26_bar__plus_01_dot_09 - object + Pot_bar__minus_02_dot_04_bar__plus_00_dot_80_bar__plus_01_dot_25 - object + SaltShaker_bar__plus_00_dot_45_bar__plus_00_dot_91_bar__minus_02_dot_71 - object + SaltShaker_bar__plus_01_dot_12_bar__plus_00_dot_14_bar__minus_02_dot_24 - object + Sink_bar__minus_01_dot_90_bar__plus_00_dot_97_bar__minus_01_dot_50 - object + SoapBottle_bar__minus_01_dot_99_bar__plus_00_dot_05_bar__plus_01_dot_98 - object + Spatula_bar__plus_01_dot_10_bar__plus_00_dot_93_bar__minus_02_dot_64 - object + Spatula_bar__minus_00_dot_06_bar__plus_01_dot_13_bar__minus_00_dot_51 - object + Spoon_bar__plus_00_dot_89_bar__plus_00_dot_32_bar__minus_02_dot_38 - object + Spoon_bar__minus_01_dot_80_bar__plus_00_dot_77_bar__minus_01_dot_33 - object + Statue_bar__minus_00_dot_06_bar__plus_01_dot_11_bar__minus_00_dot_76 - object + StoveKnob_bar__minus_00_dot_02_bar__plus_00_dot_88_bar__minus_02_dot_19 - object + StoveKnob_bar__minus_00_dot_18_bar__plus_00_dot_88_bar__minus_02_dot_19 - object + StoveKnob_bar__minus_00_dot_33_bar__plus_00_dot_88_bar__minus_02_dot_19 - object + StoveKnob_bar__minus_00_dot_48_bar__plus_00_dot_88_bar__minus_02_dot_19 - object + Tomato_bar__minus_01_dot_94_bar__plus_00_dot_09_bar__plus_02_dot_08 - object + Tomato_bar__minus_02_dot_12_bar__plus_00_dot_58_bar__plus_01_dot_00 - object + Tomato_bar__minus_02_dot_16_bar__plus_01_dot_54_bar__plus_00_dot_84 - object + Vase_bar__plus_01_dot_48_bar__plus_00_dot_55_bar__minus_02_dot_51 - object + Vase_bar__plus_02_dot_04_bar__plus_00_dot_54_bar__minus_02_dot_50 - object + Window_bar__minus_02_dot_23_bar__plus_01_dot_43_bar__minus_01_dot_20 - object + 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Cup_bar__minus_02_dot_04_bar__plus_01_dot_50_bar__plus_01_dot_34) + (cleanable Kettle_bar__minus_01_dot_72_bar__plus_00_dot_13_bar__plus_00_dot_16) + (cleanable Spoon_bar__minus_01_dot_80_bar__plus_00_dot_77_bar__minus_01_dot_33) + (cleanable Mug_bar__minus_01_dot_85_bar__plus_00_dot_76_bar__minus_01_dot_59) + (cleanable Spoon_bar__plus_00_dot_89_bar__plus_00_dot_32_bar__minus_02_dot_38) + (cleanable Potato_bar__minus_02_dot_00_bar__plus_00_dot_26_bar__plus_01_dot_09) + (cleanable Fork_bar__plus_00_dot_45_bar__plus_00_dot_91_bar__minus_02_dot_64) + (cleanable DishSponge_bar__plus_00_dot_36_bar__plus_01_dot_11_bar__minus_00_dot_51) + (cleanable Kettle_bar__minus_00_dot_04_bar__plus_00_dot_95_bar__minus_02_dot_58) + (cleanable Pot_bar__minus_02_dot_04_bar__plus_00_dot_80_bar__plus_01_dot_25) + (cleanable ButterKnife_bar__minus_01_dot_77_bar__plus_00_dot_91_bar__minus_00_dot_70) + (cleanable DishSponge_bar__minus_01_dot_91_bar__plus_00_dot_77_bar__minus_01_dot_24) + (cleanable Pan_bar__minus_00_dot_47_bar__plus_00_dot_95_bar__minus_02_dot_37) + (cleanable Lettuce_bar__plus_00_dot_58_bar__plus_00_dot_99_bar__minus_02_dot_48) + (cleanable Tomato_bar__minus_01_dot_94_bar__plus_00_dot_09_bar__plus_02_dot_08) + (cleanable Mug_bar__minus_01_dot_98_bar__plus_01_dot_30_bar__plus_01_dot_26) + (cleanable Potato_bar__minus_00_dot_33_bar__plus_01_dot_82_bar__minus_02_dot_51) + + (heatable Mug_bar__plus_01_dot_58_bar__plus_00_dot_55_bar__minus_02_dot_67) + (heatable Potato_bar__minus_01_dot_94_bar__plus_00_dot_08_bar__plus_01_dot_89) + (heatable Plate_bar__minus_02_dot_12_bar__plus_01_dot_50_bar__plus_01_dot_01) + (heatable Apple_bar__plus_00_dot_45_bar__plus_00_dot_96_bar__minus_02_dot_33) + (heatable Egg_bar__minus_00_dot_20_bar__plus_01_dot_15_bar__minus_00_dot_25) + (heatable Apple_bar__minus_00_dot_17_bar__plus_01_dot_84_bar__minus_02_dot_48) + (heatable Tomato_bar__minus_02_dot_16_bar__plus_01_dot_54_bar__plus_00_dot_84) + (heatable Bread_bar__minus_01_dot_14_bar__plus_00_dot_98_bar__minus_02_dot_64) + (heatable Plate_bar__minus_00_dot_91_bar__plus_00_dot_13_bar__minus_02_dot_35) + (heatable Tomato_bar__minus_02_dot_12_bar__plus_00_dot_58_bar__plus_01_dot_00) + (heatable Cup_bar__minus_02_dot_04_bar__plus_01_dot_50_bar__plus_01_dot_34) + (heatable Bread_bar__minus_00_dot_20_bar__plus_01_dot_18_bar__plus_00_dot_76) + (heatable Mug_bar__minus_01_dot_85_bar__plus_00_dot_76_bar__minus_01_dot_59) + (heatable Bread_bar__plus_00_dot_08_bar__plus_01_dot_18_bar__plus_00_dot_25) + (heatable Potato_bar__minus_02_dot_00_bar__plus_00_dot_26_bar__plus_01_dot_09) + (heatable Tomato_bar__minus_01_dot_94_bar__plus_00_dot_09_bar__plus_02_dot_08) + (heatable Mug_bar__minus_01_dot_98_bar__plus_01_dot_30_bar__plus_01_dot_26) + (heatable Potato_bar__minus_00_dot_33_bar__plus_01_dot_82_bar__minus_02_dot_51) + (coolable Mug_bar__plus_01_dot_58_bar__plus_00_dot_55_bar__minus_02_dot_67) + (coolable Potato_bar__minus_01_dot_94_bar__plus_00_dot_08_bar__plus_01_dot_89) + (coolable Bowl_bar__minus_00_dot_20_bar__plus_01_dot_11_bar__plus_00_dot_25) + (coolable Plate_bar__minus_02_dot_12_bar__plus_01_dot_50_bar__plus_01_dot_01) + (coolable Apple_bar__plus_00_dot_45_bar__plus_00_dot_96_bar__minus_02_dot_33) + (coolable Egg_bar__minus_00_dot_20_bar__plus_01_dot_15_bar__minus_00_dot_25) + (coolable Apple_bar__minus_00_dot_17_bar__plus_01_dot_84_bar__minus_02_dot_48) + (coolable Tomato_bar__minus_02_dot_16_bar__plus_01_dot_54_bar__plus_00_dot_84) + (coolable Bread_bar__minus_01_dot_14_bar__plus_00_dot_98_bar__minus_02_dot_64) + (coolable Plate_bar__minus_00_dot_91_bar__plus_00_dot_13_bar__minus_02_dot_35) + (coolable Bowl_bar__minus_00_dot_06_bar__plus_01_dot_11_bar__minus_00_dot_25) + (coolable Tomato_bar__minus_02_dot_12_bar__plus_00_dot_58_bar__plus_01_dot_00) + (coolable Cup_bar__minus_02_dot_04_bar__plus_01_dot_50_bar__plus_01_dot_34) + (coolable Bread_bar__minus_00_dot_20_bar__plus_01_dot_18_bar__plus_00_dot_76) + (coolable WineBottle_bar__minus_00_dot_34_bar__plus_01_dot_11_bar__plus_00_dot_50) + (coolable Mug_bar__minus_01_dot_85_bar__plus_00_dot_76_bar__minus_01_dot_59) + (coolable Bread_bar__plus_00_dot_08_bar__plus_01_dot_18_bar__plus_00_dot_25) + (coolable Potato_bar__minus_02_dot_00_bar__plus_00_dot_26_bar__plus_01_dot_09) + (coolable Pot_bar__minus_02_dot_04_bar__plus_00_dot_80_bar__plus_01_dot_25) + (coolable Pan_bar__minus_00_dot_47_bar__plus_00_dot_95_bar__minus_02_dot_37) + (coolable Lettuce_bar__plus_00_dot_58_bar__plus_00_dot_99_bar__minus_02_dot_48) + (coolable Tomato_bar__minus_01_dot_94_bar__plus_00_dot_09_bar__plus_02_dot_08) + (coolable Mug_bar__minus_01_dot_98_bar__plus_01_dot_30_bar__plus_01_dot_26) + (coolable Potato_bar__minus_00_dot_33_bar__plus_01_dot_82_bar__minus_02_dot_51) + + + + + + (sliceable Potato_bar__minus_01_dot_94_bar__plus_00_dot_08_bar__plus_01_dot_89) + (sliceable Apple_bar__plus_00_dot_45_bar__plus_00_dot_96_bar__minus_02_dot_33) + (sliceable Egg_bar__minus_00_dot_20_bar__plus_01_dot_15_bar__minus_00_dot_25) + (sliceable Apple_bar__minus_00_dot_17_bar__plus_01_dot_84_bar__minus_02_dot_48) + (sliceable Tomato_bar__minus_02_dot_16_bar__plus_01_dot_54_bar__plus_00_dot_84) + (sliceable Bread_bar__minus_01_dot_14_bar__plus_00_dot_98_bar__minus_02_dot_64) + (sliceable Tomato_bar__minus_02_dot_12_bar__plus_00_dot_58_bar__plus_01_dot_00) + (sliceable Bread_bar__minus_00_dot_20_bar__plus_01_dot_18_bar__plus_00_dot_76) + (sliceable Bread_bar__plus_00_dot_08_bar__plus_01_dot_18_bar__plus_00_dot_25) + (sliceable Potato_bar__minus_02_dot_00_bar__plus_00_dot_26_bar__plus_01_dot_09) + (sliceable Lettuce_bar__plus_00_dot_58_bar__plus_00_dot_99_bar__minus_02_dot_48) + (sliceable Tomato_bar__minus_01_dot_94_bar__plus_00_dot_09_bar__plus_02_dot_08) + (sliceable Potato_bar__minus_00_dot_33_bar__plus_01_dot_82_bar__minus_02_dot_51) + + (inReceptacle Pan_bar__minus_00_dot_47_bar__plus_00_dot_95_bar__minus_02_dot_37 StoveBurner_bar__minus_00_dot_47_bar__plus_00_dot_92_bar__minus_02_dot_37) + (inReceptacle DishSponge_bar__plus_00_dot_36_bar__plus_01_dot_11_bar__minus_00_dot_51 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00) + (inReceptacle PaperTowelRoll_bar__plus_00_dot_08_bar__plus_01_dot_22_bar__minus_00_dot_25 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00) + (inReceptacle Bowl_bar__minus_00_dot_06_bar__plus_01_dot_11_bar__minus_00_dot_25 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00) + (inReceptacle Egg_bar__minus_00_dot_20_bar__plus_01_dot_15_bar__minus_00_dot_25 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00) + (inReceptacle Book_bar__plus_00_dot_16_bar__plus_01_dot_10_bar__plus_00_dot_62 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00) + (inReceptacle Glassbottle_bar__plus_00_dot_08_bar__plus_01_dot_11_bar_00_dot_00 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00) + (inReceptacle Spatula_bar__minus_00_dot_06_bar__plus_01_dot_13_bar__minus_00_dot_51 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00) + (inReceptacle WineBottle_bar__minus_00_dot_34_bar__plus_01_dot_11_bar__plus_00_dot_50 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00) + (inReceptacle Bowl_bar__minus_00_dot_20_bar__plus_01_dot_11_bar__plus_00_dot_25 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00) + (inReceptacle Bread_bar__minus_00_dot_20_bar__plus_01_dot_18_bar__plus_00_dot_76 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00) + (inReceptacle Bread_bar__plus_00_dot_08_bar__plus_01_dot_18_bar__plus_00_dot_25 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00) + (inReceptacle Statue_bar__minus_00_dot_06_bar__plus_01_dot_11_bar__minus_00_dot_76 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00) + (inReceptacle 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Fork_bar__plus_00_dot_45_bar__plus_00_dot_91_bar__minus_02_dot_64 CounterTop_bar__plus_00_dot_69_bar__plus_00_dot_95_bar__minus_02_dot_48) + (inReceptacle Kettle_bar__minus_00_dot_04_bar__plus_00_dot_95_bar__minus_02_dot_58 StoveBurner_bar__minus_00_dot_04_bar__plus_00_dot_92_bar__minus_02_dot_58) + (inReceptacle Spoon_bar__plus_00_dot_89_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 CreditCard_bar__plus_00_dot_78_bar__plus_00_dot_64_bar__minus_02_dot_38 Drawer_bar__plus_00_dot_95_bar__plus_00_dot_71_bar__minus_02_dot_20) + (inReceptacle Kettle_bar__minus_01_dot_72_bar__plus_00_dot_13_bar__plus_00_dot_16 Cabinet_bar__minus_01_dot_55_bar__plus_00_dot_50_bar__plus_00_dot_38) + (inReceptacle Plate_bar__minus_00_dot_91_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 SaltShaker_bar__plus_01_dot_12_bar__plus_00_dot_14_bar__minus_02_dot_24 Drawer_bar__plus_00_dot_95_bar__plus_00_dot_22_bar__minus_02_dot_20) + (inReceptacle 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 Bread_bar__minus_01_dot_14_bar__plus_00_dot_98_bar__minus_02_dot_64 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21) + (inReceptacle ButterKnife_bar__minus_01_dot_77_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 Pan_bar__minus_00_dot_47_bar__plus_00_dot_95_bar__minus_02_dot_37 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21) + (inReceptacle Apple_bar__minus_00_dot_17_bar__plus_01_dot_84_bar__minus_02_dot_48 Microwave_bar__minus_00_dot_24_bar__plus_01_dot_69_bar__minus_02_dot_53) + (inReceptacle Potato_bar__minus_00_dot_33_bar__plus_01_dot_82_bar__minus_02_dot_51 Microwave_bar__minus_00_dot_24_bar__plus_01_dot_69_bar__minus_02_dot_53) + (inReceptacle PepperShaker_bar__plus_01_dot_48_bar__plus_00_dot_88_bar__minus_02_dot_62 Shelf_bar__plus_01_dot_80_bar__plus_00_dot_87_bar__minus_02_dot_56) + (inReceptacle Vase_bar__plus_01_dot_48_bar__plus_00_dot_55_bar__minus_02_dot_51 Shelf_bar__plus_01_dot_80_bar__plus_00_dot_54_bar__minus_02_dot_56) + (inReceptacle Mug_bar__plus_01_dot_58_bar__plus_00_dot_55_bar__minus_02_dot_67 Shelf_bar__plus_01_dot_80_bar__plus_00_dot_54_bar__minus_02_dot_56) + (inReceptacle Vase_bar__plus_02_dot_04_bar__plus_00_dot_54_bar__minus_02_dot_50 Shelf_bar__plus_01_dot_80_bar__plus_00_dot_54_bar__minus_02_dot_56) + (inReceptacle Tomato_bar__minus_01_dot_94_bar__plus_00_dot_09_bar__plus_02_dot_08 GarbageCan_bar__minus_01_dot_94_bar__plus_00_dot_00_bar__plus_02_dot_03) + (inReceptacle Potato_bar__minus_01_dot_94_bar__plus_00_dot_08_bar__plus_01_dot_89 GarbageCan_bar__minus_01_dot_94_bar__plus_00_dot_00_bar__plus_02_dot_03) + (inReceptacle SoapBottle_bar__minus_01_dot_99_bar__plus_00_dot_05_bar__plus_01_dot_98 GarbageCan_bar__minus_01_dot_94_bar__plus_00_dot_00_bar__plus_02_dot_03) + (inReceptacle Tomato_bar__minus_02_dot_12_bar__plus_00_dot_58_bar__plus_01_dot_00 Fridge_bar__minus_02_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_09) + (inReceptacle Cup_bar__minus_02_dot_04_bar__plus_01_dot_50_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_80_bar__plus_01_dot_25 Fridge_bar__minus_02_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_09) + (inReceptacle Tomato_bar__minus_02_dot_16_bar__plus_01_dot_54_bar__plus_00_dot_84 Fridge_bar__minus_02_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_09) + (inReceptacle Mug_bar__minus_01_dot_98_bar__plus_01_dot_30_bar__plus_01_dot_26 Fridge_bar__minus_02_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_09) + 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Close the door, wait a moment, and take it out again.", + "Turn left and walk to the sink on the right counter.", + "Place the lettuce on the counter to the left of the sink." + ], + "task_desc": "Place a chilled head of lettuce on a counter.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A38Z99XF4NDNH0_3S96KQ6I9PLKYWQXYJISI9JD59BTD5", + "high_descs": [ + "Move to the right facing the lettuce on the counter", + "Pick up the lettuce on top of the counter", + "Carry the lettuce to the white fridge to the right of the counter", + "Place the lettuce in the fridge then open the fridge and remove lettuce", + "Carry the lettuce to the left counter top next to the sink", + "Place the lettuce on top of the counter to the left of the sink" + ], + "task_desc": "Chill a head of lettuce then place on the counter", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3F7G1FSFWQPLE_3VHHR074H6YGYAHIYXDFWQZ0PL5L7K", + "high_descs": [ + "Take a step forward, then turn right and walk up to the counter.", + "Pick up the head of lettuce off of the counter.", + "Turn right and walk over to the sink, then turn right and walk to the fridge.", + "Open the fridge door and put the head of lettuce inside, then close the fridge door, after a couple seconds open the fridge back up and remove the head of lettuce.", + "Turn left and walk towards the counter, then turn right to face the sink.", + "Put the chilled head of lettuce on the counter to the left of the sink." + ], + "task_desc": "Put a chilled head of lettuce on the counter.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/valid_seen/pick_cool_then_place_in_recep-Lettuce-None-CounterTop-11/trial_T20190908_222555_651605/game.tw-pddl b/data/alfworld/json_2.1.1/valid_seen/pick_cool_then_place_in_recep-Lettuce-None-CounterTop-11/trial_T20190908_222555_651605/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..2ed99aa157403b98aacba463272eb47b1878939a --- /dev/null +++ b/data/alfworld/json_2.1.1/valid_seen/pick_cool_then_place_in_recep-Lettuce-None-CounterTop-11/trial_T20190908_222555_651605/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; 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true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\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 countertop.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190908_222555_651605)\n(:domain alfred)\n(:objects\nagent1 - agent\nCurtains - object\n SprayBottle - object\n Mirror - object\n HousePlant - object\n Watch - object\n TeddyBear - object\n WateringCan - object\n Bathtub - object\n LightSwitch - object\n Vase - object\n Candle - object\n Bread - object\n Statue - object\n HandTowel - object\n StoveKnob - object\n PaperTowelRoll - object\n Pan - object\n PepperShaker - object\n Painting - object\n CellPhone - object\n Plunger - object\n Spoon - object\n SaltShaker - object\n KeyChain - object\n Footstool - object\n Poster - object\n Television - object\n LaundryHamperLid - object\n Glassbottle - object\n AlarmClock - object\n WineBottle - object\n Bowl - object\n Sink - object\n TissueBox - object\n TennisRacket - object\n ToiletPaper - object\n ScrubBrush - object\n CreditCard - object\n Laptop - object\n Cloth - object\n Cup - object\n Chair - object\n BasketBall - object\n Kettle - object\n PaperTowel - object\n ShowerDoor - object\n BaseballBat - object\n Potato - object\n Pillow - object\n Lettuce - object\n RemoteControl - object\n Window - object\n DishSponge - object\n CD - object\n Boots - object\n Blinds - object\n Pen - object\n Newspaper - object\n Plate - object\n Mug - object\n ShowerGlass - object\n ToiletPaperRoll - object\n SoapBar - object\n FloorLamp - object\n SoapBottle - object\n Pot - object\n Pencil - object\n Spatula - object\n Towel - object\n Fork - object\n Ladle - object\n Knife - object\n Apple - object\n Box - object\n Tomato - object\n ButterKnife - object\n Egg - object\n Book - object\n DeskLamp - object\nCurtainsType - otype\n SprayBottleType - otype\n MirrorType - otype\n HousePlantType - otype\n WatchType - otype\n TeddyBearType - otype\n WateringCanType - otype\n BathtubType - otype\n LightSwitchType - otype\n VaseType - otype\n CandleType - otype\n BreadType - otype\n StatueType - otype\n HandTowelType - otype\n StoveKnobType - otype\n PaperTowelRollType - otype\n PanType - otype\n PepperShakerType - otype\n PaintingType - otype\n CellPhoneType - otype\n PlungerType - otype\n SpoonType - otype\n SaltShakerType - otype\n KeyChainType - otype\n FootstoolType - otype\n PosterType - otype\n TelevisionType - otype\n LaundryHamperLidType - otype\n GlassbottleType - otype\n AlarmClockType - otype\n WineBottleType - otype\n BowlType - otype\n SinkType - otype\n TissueBoxType - otype\n TennisRacketType - otype\n ToiletPaperType - otype\n ScrubBrushType - otype\n CreditCardType - otype\n LaptopType - otype\n ClothType - otype\n CupType - otype\n ChairType - otype\n BasketBallType - otype\n KettleType - otype\n PaperTowelType - otype\n ShowerDoorType - otype\n BaseballBatType - otype\n PotatoType - otype\n PillowType - otype\n LettuceType - otype\n RemoteControlType - otype\n WindowType - otype\n DishSpongeType - otype\n CDType - otype\n BootsType - otype\n BlindsType - otype\n PenType - otype\n NewspaperType - otype\n PlateType - otype\n MugType - otype\n ShowerGlassType - otype\n ToiletPaperRollType - otype\n SoapBarType - otype\n FloorLampType - otype\n SoapBottleType - otype\n PotType - otype\n PencilType - otype\n SpatulaType - otype\n TowelType - otype\n ForkType - otype\n LadleType - otype\n KnifeType - otype\n AppleType - otype\n BoxType - otype\n TomatoType - otype\n ButterKnifeType - otype\n EggType - otype\n BookType - otype\n DeskLampType - otype\nCabinetType - rtype\n ShelfType - rtype\n DiningTableType - rtype\n TowelHolderType - rtype\n PaintingHangerType - rtype\n TVStandType - rtype\n LaundryHamperType - rtype\n OttomanType - rtype\n SafeType - rtype\n CoffeeMachineType - rtype\n CounterTopType - rtype\n ToiletType - rtype\n FridgeType - rtype\n CoffeeTableType - rtype\n SinkBasinType - rtype\n GarbageCanType - rtype\n BathtubBasinType - rtype\n SideTableType - rtype\n CartType - rtype\n BedType - rtype\n DeskType - rtype\n SofaType - rtype\n ArmChairType - rtype\n MicrowaveType - rtype\n HandTowelHolderType - rtype\n ToasterType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n DrawerType - rtype\n DresserType - rtype\n\n\n Apple_bar__plus_00_dot_38_bar__plus_00_dot_84_bar__minus_01_dot_75 - object\n Bowl_bar__minus_00_dot_03_bar__plus_00_dot_11_bar__plus_00_dot_32 - object\n Bowl_bar__minus_02_dot_22_bar__plus_01_dot_05_bar__minus_01_dot_76 - object\n Bowl_bar__minus_02_dot_31_bar__plus_01_dot_49_bar__minus_01_dot_81 - object\n Bread_bar__plus_01_dot_30_bar__plus_00_dot_98_bar__minus_01_dot_53 - object\n Bread_bar__minus_02_dot_07_bar__plus_01_dot_04_bar__plus_00_dot_26 - object\n ButterKnife_bar__plus_01_dot_71_bar__plus_00_dot_90_bar__plus_00_dot_27 - object\n ButterKnife_bar__minus_00_dot_45_bar__plus_00_dot_91_bar__minus_01_dot_41 - object\n Chair_bar__minus_02_dot_42_bar__plus_00_dot_56_bar__plus_00_dot_41 - object\n Cup_bar__minus_01_dot_87_bar__plus_01_dot_05_bar__minus_01_dot_68 - object\n Cup_bar__minus_02_dot_05_bar__plus_00_dot_78_bar__minus_01_dot_81 - object\n DishSponge_bar__minus_00_dot_27_bar__plus_00_dot_91_bar__minus_01_dot_90 - object\n Egg_bar__minus_01_dot_87_bar__plus_01_dot_53_bar__minus_01_dot_72 - object\n Faucet_bar__plus_00_dot_55_bar__plus_01_dot_05_bar__minus_01_dot_83 - object\n Fork_bar__plus_01_dot_78_bar__plus_00_dot_91_bar__minus_01_dot_49 - object\n Fork_bar__minus_01_dot_93_bar__plus_00_dot_95_bar__plus_00_dot_44 - object\n Kettle_bar__plus_00_dot_50_bar__plus_00_dot_11_bar__plus_00_dot_27 - 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_96_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 Knife_bar__minus_02_dot_48_bar__plus_00_dot_98_bar__plus_00_dot_26 - object\n Lettuce_bar__plus_01_dot_66_bar__plus_01_dot_00_bar__minus_01_dot_65 - object\n LightSwitch_bar__minus_02_dot_76_bar__plus_01_dot_31_bar__minus_00_dot_99 - object\n Mug_bar__minus_01_dot_08_bar__plus_01_dot_01_bar__minus_01_dot_80 - object\n Pan_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_29 - object\n Pan_bar__plus_01_dot_54_bar__plus_01_dot_33_bar__minus_01_dot_81 - object\n PaperTowelRoll_bar__minus_00_dot_43_bar__plus_00_dot_17_bar__plus_00_dot_40 - object\n PepperShaker_bar__minus_00_dot_10_bar__plus_00_dot_11_bar__minus_01_dot_55 - object\n PepperShaker_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__plus_00_dot_26 - object\n Plate_bar__minus_00_dot_11_bar__plus_00_dot_90_bar__minus_01_dot_60 - object\n Plate_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__plus_00_dot_61 - object\n Plate_bar__minus_02_dot_31_bar__plus_00_dot_51_bar__minus_01_dot_76 - object\n Potato_bar__plus_00_dot_86_bar__plus_00_dot_95_bar__minus_01_dot_45 - object\n Pot_bar__minus_02_dot_38_bar__plus_00_dot_94_bar__plus_00_dot_58 - object\n SaltShaker_bar__plus_01_dot_83_bar__plus_01_dot_33_bar__minus_01_dot_92 - 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_57 - object\n SoapBottle_bar__minus_00_dot_59_bar__plus_00_dot_11_bar__minus_01_dot_51 - object\n Spatula_bar__plus_00_dot_70_bar__plus_00_dot_93_bar__minus_01_dot_78 - object\n Spatula_bar__minus_00_dot_27_bar__plus_00_dot_93_bar__minus_01_dot_41 - object\n Spoon_bar__plus_01_dot_79_bar__plus_00_dot_77_bar__plus_00_dot_27 - object\n Spoon_bar__minus_00_dot_45_bar__plus_00_dot_91_bar__minus_01_dot_74 - object\n StoveKnob_bar__plus_01_dot_00_bar__plus_00_dot_91_bar__plus_00_dot_12 - object\n StoveKnob_bar__plus_01_dot_13_bar__plus_00_dot_91_bar__plus_00_dot_12 - object\n StoveKnob_bar__plus_01_dot_25_bar__plus_00_dot_91_bar__plus_00_dot_12 - object\n StoveKnob_bar__plus_01_dot_37_bar__plus_00_dot_91_bar__plus_00_dot_12 - object\n Tomato_bar__minus_02_dot_14_bar__plus_00_dot_56_bar__minus_01_dot_85 - object\n Window_bar__plus_00_dot_58_bar__plus_01_dot_61_bar__minus_01_dot_97 - object\n Window_bar__plus_01_dot_97_bar__plus_01_dot_50_bar__minus_00_dot_62 - object\n Cabinet_bar__plus_00_dot_06_bar__plus_00_dot_40_bar__minus_01_dot_35 - receptacle\n Cabinet_bar__plus_00_dot_10_bar__plus_00_dot_40_bar__minus_01_dot_35 - receptacle\n Cabinet_bar__plus_00_dot_73_bar__plus_00_dot_40_bar__plus_00_dot_15 - receptacle\n Cabinet_bar__plus_01_dot_08_bar__plus_00_dot_40_bar__minus_01_dot_35 - receptacle\n Cabinet_bar__plus_01_dot_67_bar__plus_00_dot_40_bar__plus_00_dot_15 - receptacle\n Cabinet_bar__plus_01_dot_97_bar__plus_01_dot_69_bar__minus_01_dot_65 - receptacle\n Cabinet_bar__minus_00_dot_18_bar__plus_00_dot_40_bar__plus_00_dot_15 - receptacle\n Cabinet_bar__minus_00_dot_19_bar__plus_01_dot_69_bar__minus_01_dot_65 - receptacle\n Cabinet_bar__minus_00_dot_40_bar__plus_00_dot_40_bar__minus_01_dot_35 - receptacle\n Cabinet_bar__minus_00_dot_82_bar__plus_00_dot_40_bar__minus_01_dot_35 - receptacle\n CoffeeMachine_bar__plus_00_dot_62_bar__plus_00_dot_90_bar__plus_00_dot_60 - receptacle\n CounterTop_bar__plus_00_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_46 - receptacle\n CounterTop_bar__plus_01_dot_78_bar__plus_00_dot_95_bar__plus_00_dot_46 - receptacle\n CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65 - receptacle\n DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45 - receptacle\n Drawer_bar__plus_00_dot_02_bar__plus_00_dot_79_bar__plus_00_dot_30 - receptacle\n Drawer_bar__plus_00_dot_50_bar__plus_00_dot_79_bar__plus_00_dot_30 - receptacle\n Drawer_bar__plus_01_dot_83_bar__plus_00_dot_79_bar__plus_00_dot_30 - receptacle\n Drawer_bar__minus_00_dot_15_bar__plus_00_dot_79_bar__minus_01_dot_50 - receptacle\n Drawer_bar__minus_00_dot_59_bar__plus_00_dot_79_bar__minus_01_dot_50 - receptacle\n Drawer_bar__minus_01_dot_10_bar__plus_00_dot_79_bar__minus_01_dot_50 - receptacle\n Fridge_bar__minus_02_dot_14_bar__plus_00_dot_00_bar__minus_01_dot_69 - receptacle\n GarbageCan_bar__minus_00_dot_36_bar__plus_00_dot_00_bar__plus_00_dot_54 - receptacle\n Microwave_bar__minus_01_dot_04_bar__plus_00_dot_90_bar__minus_01_dot_72 - receptacle\n Sink_bar__plus_00_dot_71_bar__plus_00_dot_82_bar__minus_01_dot_77_bar_SinkBasin - receptacle\n StoveBurner_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_29 - receptacle\n StoveBurner_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56 - receptacle\n StoveBurner_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_29 - receptacle\n StoveBurner_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_56 - receptacle\n Toaster_bar__plus_00_dot_31_bar__plus_00_dot_90_bar__plus_00_dot_55 - receptacle\n loc_bar_5_bar__minus_2_bar_2_bar_60 - location\n loc_bar_6_bar__minus_4_bar_0_bar_45 - location\n loc_bar_6_bar__minus_4_bar_3_bar_15 - location\n loc_bar_1_bar__minus_2_bar_0_bar_45 - location\n loc_bar_1_bar__minus_1_bar_0_bar_45 - location\n loc_bar_0_bar__minus_3_bar_3_bar_45 - location\n loc_bar_4_bar__minus_1_bar_0_bar_45 - location\n loc_bar__minus_9_bar__minus_3_bar_2_bar_60 - location\n loc_bar_1_bar__minus_4_bar_2_bar_60 - location\n loc_bar_5_bar__minus_1_bar_0_bar_60 - location\n loc_bar__minus_6_bar__minus_2_bar_2_bar_60 - location\n loc_bar__minus_2_bar__minus_4_bar_2_bar_0 - location\n loc_bar_2_bar__minus_4_bar_3_bar_60 - location\n loc_bar_6_bar__minus_4_bar_2_bar_0 - location\n loc_bar__minus_9_bar__minus_1_bar_0_bar_60 - location\n loc_bar_4_bar__minus_1_bar_0_bar_60 - location\n loc_bar_6_bar__minus_1_bar_0_bar_45 - location\n loc_bar__minus_9_bar__minus_3_bar_3_bar_30 - location\n loc_bar_1_bar__minus_2_bar_2_bar_60 - location\n loc_bar__minus_1_bar__minus_2_bar_0_bar_45 - location\n loc_bar_6_bar__minus_2_bar_1_bar_15 - location\n loc_bar__minus_4_bar__minus_2_bar_2_bar_60 - location\n loc_bar_5_bar__minus_1_bar_0_bar_45 - location\n loc_bar__minus_2_bar_0_bar_0_bar_60 - location\n loc_bar_4_bar__minus_3_bar_0_bar_60 - location\n loc_bar__minus_4_bar__minus_4_bar_2_bar_45 - location\n loc_bar__minus_9_bar__minus_1_bar_0_bar_45 - location\n loc_bar__minus_5_bar__minus_4_bar_1_bar_45 - location\n loc_bar_2_bar__minus_4_bar_2_bar_0 - location\n loc_bar_3_bar__minus_2_bar_2_bar_60 - location\n loc_bar_6_bar__minus_1_bar_0_bar_60 - location\n loc_bar__minus_2_bar__minus_3_bar_0_bar_60 - location\n loc_bar_2_bar__minus_1_bar_0_bar_45 - location\n loc_bar_2_bar__minus_2_bar_2_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Cabinet_bar__plus_00_dot_10_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 CounterTop_bar__plus_00_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_46 CounterTopType)\n (receptacleType Cabinet_bar__plus_01_dot_97_bar__plus_01_dot_69_bar__minus_01_dot_65 CabinetType)\n (receptacleType CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65 CounterTopType)\n (receptacleType GarbageCan_bar__minus_00_dot_36_bar__plus_00_dot_00_bar__plus_00_dot_54 GarbageCanType)\n (receptacleType DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45 DiningTableType)\n (receptacleType Drawer_bar__plus_00_dot_50_bar__plus_00_dot_79_bar__plus_00_dot_30 DrawerType)\n (receptacleType Cabinet_bar__minus_00_dot_82_bar__plus_00_dot_40_bar__minus_01_dot_35 CabinetType)\n (receptacleType StoveBurner_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_29 StoveBurnerType)\n (receptacleType Cabinet_bar__minus_00_dot_19_bar__plus_01_dot_69_bar__minus_01_dot_65 CabinetType)\n (receptacleType Microwave_bar__minus_01_dot_04_bar__plus_00_dot_90_bar__minus_01_dot_72 MicrowaveType)\n (receptacleType CoffeeMachine_bar__plus_00_dot_62_bar__plus_00_dot_90_bar__plus_00_dot_60 CoffeeMachineType)\n (receptacleType StoveBurner_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_56 StoveBurnerType)\n (receptacleType Drawer_bar__minus_00_dot_59_bar__plus_00_dot_79_bar__minus_01_dot_50 DrawerType)\n (receptacleType Cabinet_bar__plus_01_dot_08_bar__plus_00_dot_40_bar__minus_01_dot_35 CabinetType)\n (receptacleType Cabinet_bar__plus_00_dot_73_bar__plus_00_dot_40_bar__plus_00_dot_15 CabinetType)\n (receptacleType Cabinet_bar__plus_01_dot_67_bar__plus_00_dot_40_bar__plus_00_dot_15 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_18_bar__plus_00_dot_40_bar__plus_00_dot_15 CabinetType)\n (receptacleType Drawer_bar__plus_00_dot_02_bar__plus_00_dot_79_bar__plus_00_dot_30 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_10_bar__plus_00_dot_79_bar__minus_01_dot_50 DrawerType)\n (receptacleType StoveBurner_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_29 StoveBurnerType)\n (receptacleType Cabinet_bar__plus_00_dot_06_bar__plus_00_dot_40_bar__minus_01_dot_35 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_40_bar__plus_00_dot_40_bar__minus_01_dot_35 CabinetType)\n (receptacleType Drawer_bar__plus_01_dot_83_bar__plus_00_dot_79_bar__plus_00_dot_30 DrawerType)\n (receptacleType 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Kettle_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56)\n (cleanable DishSponge_bar__minus_00_dot_27_bar__plus_00_dot_91_bar__minus_01_dot_90)\n (cleanable Lettuce_bar__plus_01_dot_66_bar__plus_01_dot_00_bar__minus_01_dot_65)\n (cleanable Pot_bar__minus_02_dot_38_bar__plus_00_dot_94_bar__plus_00_dot_58)\n (cleanable Bowl_bar__minus_02_dot_31_bar__plus_01_dot_49_bar__minus_01_dot_81)\n (cleanable Kettle_bar__plus_00_dot_50_bar__plus_00_dot_11_bar__plus_00_dot_27)\n (cleanable ButterKnife_bar__plus_01_dot_71_bar__plus_00_dot_90_bar__plus_00_dot_27)\n (cleanable Fork_bar__plus_01_dot_78_bar__plus_00_dot_91_bar__minus_01_dot_49)\n (cleanable Cup_bar__minus_01_dot_87_bar__plus_01_dot_05_bar__minus_01_dot_68)\n (cleanable Cup_bar__minus_02_dot_05_bar__plus_00_dot_78_bar__minus_01_dot_81)\n (cleanable Knife_bar__plus_00_dot_96_bar__plus_00_dot_94_bar__minus_01_dot_65)\n (cleanable Plate_bar__minus_02_dot_31_bar__plus_00_dot_51_bar__minus_01_dot_76)\n (cleanable Apple_bar__plus_00_dot_38_bar__plus_00_dot_84_bar__minus_01_dot_75)\n (cleanable Fork_bar__minus_01_dot_93_bar__plus_00_dot_95_bar__plus_00_dot_44)\n (cleanable Tomato_bar__minus_02_dot_14_bar__plus_00_dot_56_bar__minus_01_dot_85)\n (cleanable Kettle_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_29)\n (cleanable Pan_bar__plus_01_dot_54_bar__plus_01_dot_33_bar__minus_01_dot_81)\n \n (heatable Egg_bar__minus_01_dot_87_bar__plus_01_dot_53_bar__minus_01_dot_72)\n (heatable Mug_bar__minus_01_dot_08_bar__plus_01_dot_01_bar__minus_01_dot_80)\n (heatable Potato_bar__plus_00_dot_86_bar__plus_00_dot_95_bar__minus_01_dot_45)\n (heatable Plate_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__plus_00_dot_61)\n (heatable Bread_bar__plus_01_dot_30_bar__plus_00_dot_98_bar__minus_01_dot_53)\n (heatable Plate_bar__minus_00_dot_11_bar__plus_00_dot_90_bar__minus_01_dot_60)\n (heatable Cup_bar__minus_01_dot_87_bar__plus_01_dot_05_bar__minus_01_dot_68)\n (heatable Cup_bar__minus_02_dot_05_bar__plus_00_dot_78_bar__minus_01_dot_81)\n (heatable Plate_bar__minus_02_dot_31_bar__plus_00_dot_51_bar__minus_01_dot_76)\n (heatable Bread_bar__minus_02_dot_07_bar__plus_01_dot_04_bar__plus_00_dot_26)\n (heatable Apple_bar__plus_00_dot_38_bar__plus_00_dot_84_bar__minus_01_dot_75)\n (heatable Tomato_bar__minus_02_dot_14_bar__plus_00_dot_56_bar__minus_01_dot_85)\n (coolable Egg_bar__minus_01_dot_87_bar__plus_01_dot_53_bar__minus_01_dot_72)\n (coolable Bowl_bar__minus_00_dot_03_bar__plus_00_dot_11_bar__plus_00_dot_32)\n (coolable Mug_bar__minus_01_dot_08_bar__plus_01_dot_01_bar__minus_01_dot_80)\n (coolable Bowl_bar__minus_02_dot_22_bar__plus_01_dot_05_bar__minus_01_dot_76)\n (coolable Potato_bar__plus_00_dot_86_bar__plus_00_dot_95_bar__minus_01_dot_45)\n (coolable Plate_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__plus_00_dot_61)\n (coolable Pan_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_29)\n (coolable Bread_bar__plus_01_dot_30_bar__plus_00_dot_98_bar__minus_01_dot_53)\n (coolable Plate_bar__minus_00_dot_11_bar__plus_00_dot_90_bar__minus_01_dot_60)\n (coolable Lettuce_bar__plus_01_dot_66_bar__plus_01_dot_00_bar__minus_01_dot_65)\n (coolable Pot_bar__minus_02_dot_38_bar__plus_00_dot_94_bar__plus_00_dot_58)\n (coolable Bowl_bar__minus_02_dot_31_bar__plus_01_dot_49_bar__minus_01_dot_81)\n (coolable Cup_bar__minus_01_dot_87_bar__plus_01_dot_05_bar__minus_01_dot_68)\n (coolable Cup_bar__minus_02_dot_05_bar__plus_00_dot_78_bar__minus_01_dot_81)\n (coolable Plate_bar__minus_02_dot_31_bar__plus_00_dot_51_bar__minus_01_dot_76)\n (coolable Bread_bar__minus_02_dot_07_bar__plus_01_dot_04_bar__plus_00_dot_26)\n (coolable Apple_bar__plus_00_dot_38_bar__plus_00_dot_84_bar__minus_01_dot_75)\n (coolable Tomato_bar__minus_02_dot_14_bar__plus_00_dot_56_bar__minus_01_dot_85)\n (coolable Pan_bar__plus_01_dot_54_bar__plus_01_dot_33_bar__minus_01_dot_81)\n \n \n \n \n \n (sliceable Egg_bar__minus_01_dot_87_bar__plus_01_dot_53_bar__minus_01_dot_72)\n (sliceable Potato_bar__plus_00_dot_86_bar__plus_00_dot_95_bar__minus_01_dot_45)\n (sliceable Bread_bar__plus_01_dot_30_bar__plus_00_dot_98_bar__minus_01_dot_53)\n (sliceable Lettuce_bar__plus_01_dot_66_bar__plus_01_dot_00_bar__minus_01_dot_65)\n (sliceable Bread_bar__minus_02_dot_07_bar__plus_01_dot_04_bar__plus_00_dot_26)\n (sliceable Apple_bar__plus_00_dot_38_bar__plus_00_dot_84_bar__minus_01_dot_75)\n (sliceable Tomato_bar__minus_02_dot_14_bar__plus_00_dot_56_bar__minus_01_dot_85)\n \n (inReceptacle Knife_bar__minus_02_dot_48_bar__plus_00_dot_98_bar__plus_00_dot_26 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45)\n (inReceptacle 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)\n (inReceptacle PepperShaker_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__plus_00_dot_26 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45)\n (inReceptacle Bread_bar__minus_02_dot_07_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 Plate_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)\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 Fork_bar__minus_01_dot_93_bar__plus_00_dot_95_bar__plus_00_dot_44 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45)\n (inReceptacle 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 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 DishSponge_bar__minus_00_dot_27_bar__plus_00_dot_91_bar__minus_01_dot_90 CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65)\n (inReceptacle Spoon_bar__minus_00_dot_45_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 Lettuce_bar__plus_01_dot_66_bar__plus_01_dot_00_bar__minus_01_dot_65 CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65)\n (inReceptacle ButterKnife_bar__minus_00_dot_45_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 Fork_bar__plus_01_dot_78_bar__plus_00_dot_91_bar__minus_01_dot_49 CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65)\n (inReceptacle Bread_bar__plus_01_dot_30_bar__plus_00_dot_98_bar__minus_01_dot_53 CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65)\n (inReceptacle Plate_bar__minus_00_dot_11_bar__plus_00_dot_90_bar__minus_01_dot_60 CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65)\n (inReceptacle Spatula_bar__minus_00_dot_27_bar__plus_00_dot_93_bar__minus_01_dot_41 CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65)\n (inReceptacle Spoon_bar__plus_01_dot_79_bar__plus_00_dot_77_bar__plus_00_dot_27 Drawer_bar__plus_01_dot_83_bar__plus_00_dot_79_bar__plus_00_dot_30)\n (inReceptacle 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 PepperShaker_bar__minus_00_dot_10_bar__plus_00_dot_11_bar__minus_01_dot_55 Cabinet_bar__plus_00_dot_06_bar__plus_00_dot_40_bar__minus_01_dot_35)\n (inReceptacle Bowl_bar__minus_00_dot_03_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 Kettle_bar__plus_00_dot_50_bar__plus_00_dot_11_bar__plus_00_dot_27 Cabinet_bar__plus_00_dot_73_bar__plus_00_dot_40_bar__plus_00_dot_15)\n (inReceptacle Pan_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_29 StoveBurner_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_29)\n (inReceptacle SoapBottle_bar__minus_00_dot_59_bar__plus_00_dot_11_bar__minus_01_dot_51 Cabinet_bar__minus_00_dot_40_bar__plus_00_dot_40_bar__minus_01_dot_35)\n (inReceptacle ButterKnife_bar__plus_01_dot_71_bar__plus_00_dot_90_bar__plus_00_dot_27 CounterTop_bar__plus_01_dot_78_bar__plus_00_dot_95_bar__plus_00_dot_46)\n (inReceptacle SaltShaker_bar__plus_01_dot_83_bar__plus_01_dot_33_bar__minus_01_dot_92 Cabinet_bar__plus_01_dot_97_bar__plus_01_dot_69_bar__minus_01_dot_65)\n (inReceptacle Pan_bar__plus_01_dot_54_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)\n (inReceptacle Mug_bar__minus_01_dot_08_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 Apple_bar__plus_00_dot_38_bar__plus_00_dot_84_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 SoapBottle_bar__minus_00_dot_33_bar__plus_00_dot_07_bar__plus_00_dot_57 GarbageCan_bar__minus_00_dot_36_bar__plus_00_dot_00_bar__plus_00_dot_54)\n (inReceptacle PaperTowelRoll_bar__minus_00_dot_43_bar__plus_00_dot_17_bar__plus_00_dot_40 GarbageCan_bar__minus_00_dot_36_bar__plus_00_dot_00_bar__plus_00_dot_54)\n (inReceptacle Egg_bar__minus_01_dot_87_bar__plus_01_dot_53_bar__minus_01_dot_72 Fridge_bar__minus_02_dot_14_bar__plus_00_dot_00_bar__minus_01_dot_69)\n (inReceptacle Cup_bar__minus_02_dot_05_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)\n (inReceptacle Bowl_bar__minus_02_dot_31_bar__plus_01_dot_49_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_76 Fridge_bar__minus_02_dot_14_bar__plus_00_dot_00_bar__minus_01_dot_69)\n (inReceptacle Tomato_bar__minus_02_dot_14_bar__plus_00_dot_56_bar__minus_01_dot_85 Fridge_bar__minus_02_dot_14_bar__plus_00_dot_00_bar__minus_01_dot_69)\n (inReceptacle Bowl_bar__minus_02_dot_22_bar__plus_01_dot_05_bar__minus_01_dot_76 Fridge_bar__minus_02_dot_14_bar__plus_00_dot_00_bar__minus_01_dot_69)\n (inReceptacle Cup_bar__minus_01_dot_87_bar__plus_01_dot_05_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 Spoon_bar__plus_01_dot_79_bar__plus_00_dot_77_bar__plus_00_dot_27 loc_bar_6_bar__minus_1_bar_0_bar_60)\n (objectAtLocation Pan_bar__plus_01_dot_54_bar__plus_01_dot_33_bar__minus_01_dot_81 loc_bar_6_bar__minus_4_bar_2_bar_0)\n (objectAtLocation ButterKnife_bar__plus_01_dot_71_bar__plus_00_dot_90_bar__plus_00_dot_27 loc_bar_6_bar__minus_1_bar_0_bar_45)\n (objectAtLocation PepperShaker_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__plus_00_dot_26 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Spatula_bar__plus_00_dot_70_bar__plus_00_dot_93_bar__minus_01_dot_78 loc_bar_1_bar__minus_4_bar_2_bar_60)\n (objectAtLocation Plate_bar__minus_00_dot_11_bar__plus_00_dot_90_bar__minus_01_dot_60 loc_bar_6_bar__minus_4_bar_3_bar_15)\n (objectAtLocation SoapBottle_bar__minus_00_dot_33_bar__plus_00_dot_07_bar__plus_00_dot_57 loc_bar__minus_2_bar_0_bar_0_bar_60)\n (objectAtLocation Cup_bar__minus_01_dot_87_bar__plus_01_dot_05_bar__minus_01_dot_68 loc_bar__minus_9_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Kettle_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56 loc_bar_4_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Bowl_bar__minus_00_dot_03_bar__plus_00_dot_11_bar__plus_00_dot_32 loc_bar__minus_2_bar__minus_3_bar_0_bar_60)\n (objectAtLocation Fork_bar__minus_01_dot_93_bar__plus_00_dot_95_bar__plus_00_dot_44 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Knife_bar__plus_00_dot_96_bar__plus_00_dot_94_bar__minus_01_dot_65 loc_bar_1_bar__minus_4_bar_2_bar_60)\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 Bowl_bar__minus_02_dot_22_bar__plus_01_dot_05_bar__minus_01_dot_76 loc_bar__minus_9_bar__minus_3_bar_2_bar_60)\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 Plate_bar__minus_02_dot_31_bar__plus_00_dot_51_bar__minus_01_dot_76 loc_bar__minus_9_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Kettle_bar__plus_00_dot_50_bar__plus_00_dot_11_bar__plus_00_dot_27 loc_bar_4_bar__minus_3_bar_0_bar_60)\n (objectAtLocation Sink_bar__plus_00_dot_71_bar__plus_00_dot_82_bar__minus_01_dot_77 loc_bar_6_bar__minus_4_bar_3_bar_15)\n (objectAtLocation Bread_bar__minus_02_dot_07_bar__plus_01_dot_04_bar__plus_00_dot_26 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Knife_bar__minus_02_dot_48_bar__plus_00_dot_98_bar__plus_00_dot_26 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Fork_bar__plus_01_dot_78_bar__plus_00_dot_91_bar__minus_01_dot_49 loc_bar_6_bar__minus_4_bar_3_bar_15)\n (objectAtLocation Bowl_bar__minus_02_dot_31_bar__plus_01_dot_49_bar__minus_01_dot_81 loc_bar__minus_9_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Kettle_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_29 loc_bar_5_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Cup_bar__minus_02_dot_05_bar__plus_00_dot_78_bar__minus_01_dot_81 loc_bar__minus_9_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Tomato_bar__minus_02_dot_14_bar__plus_00_dot_56_bar__minus_01_dot_85 loc_bar__minus_9_bar__minus_3_bar_2_bar_60)\n (objectAtLocation SoapBottle_bar__minus_00_dot_59_bar__plus_00_dot_11_bar__minus_01_dot_51 loc_bar__minus_4_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Plate_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__plus_00_dot_61 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation LightSwitch_bar__minus_02_dot_76_bar__plus_01_dot_31_bar__minus_00_dot_99 loc_bar__minus_9_bar__minus_3_bar_3_bar_30)\n (objectAtLocation Pot_bar__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__minus_00_dot_27_bar__plus_00_dot_93_bar__minus_01_dot_41 loc_bar_6_bar__minus_4_bar_3_bar_15)\n (objectAtLocation PaperTowelRoll_bar__minus_00_dot_43_bar__plus_00_dot_17_bar__plus_00_dot_40 loc_bar__minus_2_bar_0_bar_0_bar_60)\n (objectAtLocation Egg_bar__minus_01_dot_87_bar__plus_01_dot_53_bar__minus_01_dot_72 loc_bar__minus_9_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Lettuce_bar__plus_01_dot_66_bar__plus_01_dot_00_bar__minus_01_dot_65 loc_bar_6_bar__minus_4_bar_3_bar_15)\n (objectAtLocation SaltShaker_bar__plus_01_dot_83_bar__plus_01_dot_33_bar__minus_01_dot_92 loc_bar_6_bar__minus_4_bar_2_bar_0)\n (objectAtLocation PepperShaker_bar__minus_00_dot_10_bar__plus_00_dot_11_bar__minus_01_dot_55 loc_bar_1_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Apple_bar__plus_00_dot_38_bar__plus_00_dot_84_bar__minus_01_dot_75 loc_bar_1_bar__minus_4_bar_2_bar_60)\n (objectAtLocation ButterKnife_bar__minus_00_dot_45_bar__plus_00_dot_91_bar__minus_01_dot_41 loc_bar_6_bar__minus_4_bar_3_bar_15)\n (objectAtLocation StoveKnob_bar__plus_01_dot_25_bar__plus_00_dot_91_bar__plus_00_dot_12 loc_bar_5_bar__minus_1_bar_0_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_37_bar__plus_00_dot_91_bar__plus_00_dot_12 loc_bar_5_bar__minus_1_bar_0_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_00_bar__plus_00_dot_91_bar__plus_00_dot_12 loc_bar_4_bar__minus_1_bar_0_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_13_bar__plus_00_dot_91_bar__plus_00_dot_12 loc_bar_5_bar__minus_1_bar_0_bar_60)\n (objectAtLocation Potato_bar__plus_00_dot_86_bar__plus_00_dot_95_bar__minus_01_dot_45 loc_bar_1_bar__minus_4_bar_2_bar_60)\n (objectAtLocation Pan_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_29 loc_bar_4_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Chair_bar__minus_02_dot_42_bar__plus_00_dot_56_bar__plus_00_dot_41 loc_bar__minus_9_bar__minus_1_bar_0_bar_60)\n (objectAtLocation DishSponge_bar__minus_00_dot_27_bar__plus_00_dot_91_bar__minus_01_dot_90 loc_bar_6_bar__minus_4_bar_3_bar_15)\n (objectAtLocation Spoon_bar__minus_00_dot_45_bar__plus_00_dot_91_bar__minus_01_dot_74 loc_bar_6_bar__minus_4_bar_3_bar_15)\n (objectAtLocation Mug_bar__minus_01_dot_08_bar__plus_01_dot_01_bar__minus_01_dot_80 loc_bar__minus_4_bar__minus_4_bar_2_bar_45)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (coolable ?o)\n (objectType ?o LettuceType)\n (receptacleType ?r CounterTopType)\n (isCool ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 3", "take lettuce 1 from countertop 3", "go to fridge 1", "cool lettuce 1 with fridge 1", "go to countertop 2", "move lettuce 1 to countertop 2"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/valid_seen/pick_cool_then_place_in_recep-Lettuce-None-CounterTop-11/trial_T20190908_222555_651605/initial_state.pddl b/data/alfworld/json_2.1.1/valid_seen/pick_cool_then_place_in_recep-Lettuce-None-CounterTop-11/trial_T20190908_222555_651605/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..ddcf6e40f9671e7798aa3ea4e6889c834e319f4b --- /dev/null +++ b/data/alfworld/json_2.1.1/valid_seen/pick_cool_then_place_in_recep-Lettuce-None-CounterTop-11/trial_T20190908_222555_651605/initial_state.pddl @@ -0,0 +1,994 @@ + +(define (problem plan_trial_T20190908_222555_651605) +(:domain alfred) +(:objects +agent1 - agent +Curtains - object + SprayBottle - object + Mirror - object + HousePlant - object + Watch - object + TeddyBear - object + WateringCan - object + Bathtub - object + LightSwitch - object + Vase - object + Candle - object + Bread - object + Statue - object + HandTowel - object + StoveKnob - object + PaperTowelRoll - object + Pan - object + PepperShaker - object + Painting - object + CellPhone - object + Plunger - object + Spoon - object + SaltShaker - object + KeyChain - object + Footstool - object + Poster - object + Television - object + LaundryHamperLid - object + Glassbottle - object + AlarmClock - object + WineBottle - object + Bowl - object + Sink - object + TissueBox - object + TennisRacket - object + ToiletPaper - object + ScrubBrush - object + CreditCard - object + Laptop - object + Cloth - object + Cup - object + Chair - object + BasketBall - object + Kettle - object + PaperTowel - object + ShowerDoor - object + BaseballBat - object + Potato - object + Pillow - object + Lettuce - object + RemoteControl - object + Window - object + DishSponge - object + CD - object + Boots - object + Blinds - object + Pen - object + Newspaper - object + Plate - object + Mug - object + ShowerGlass - object + ToiletPaperRoll - object + SoapBar - object + FloorLamp - object + SoapBottle - object + Pot - object + Pencil - object + Spatula - object + Towel - object + Fork - object + Ladle - object + Knife - object + Apple - object + Box - object + Tomato - object + ButterKnife - object + Egg - object + Book - object + DeskLamp - object +CurtainsType - otype + SprayBottleType - otype + MirrorType - otype + HousePlantType - otype + WatchType - otype + TeddyBearType - otype + WateringCanType - otype + BathtubType - otype + LightSwitchType - otype + VaseType - otype + CandleType - otype + BreadType - otype + StatueType - otype + HandTowelType - otype + StoveKnobType - otype + PaperTowelRollType - otype + PanType - otype + PepperShakerType - otype + PaintingType - otype + CellPhoneType - otype + PlungerType - otype + SpoonType - otype + SaltShakerType - otype + KeyChainType - otype + FootstoolType - otype + PosterType - otype + TelevisionType - otype + LaundryHamperLidType - otype + GlassbottleType - otype + AlarmClockType - otype + WineBottleType - otype + BowlType - otype + SinkType - otype + TissueBoxType - otype + TennisRacketType - otype + ToiletPaperType - otype + ScrubBrushType - otype + CreditCardType - otype + LaptopType - otype + ClothType - otype + CupType - otype + ChairType - otype + BasketBallType - otype + KettleType - otype + PaperTowelType - otype + ShowerDoorType - otype + BaseballBatType - otype + PotatoType - otype + PillowType - otype + LettuceType - otype + RemoteControlType - otype + WindowType - otype + DishSpongeType - otype + CDType - otype + BootsType - otype + BlindsType - otype + PenType - otype + NewspaperType - otype + PlateType - otype + MugType - otype + ShowerGlassType - otype + ToiletPaperRollType - otype + SoapBarType - otype + FloorLampType - otype + SoapBottleType - otype + PotType - otype + PencilType - otype + SpatulaType - otype + TowelType - otype + ForkType - otype + LadleType - otype + KnifeType - otype + AppleType - otype + BoxType - otype + TomatoType - otype + ButterKnifeType - otype + EggType - otype + BookType - otype + DeskLampType - otype +CabinetType - rtype + ShelfType - rtype + DiningTableType - rtype + TowelHolderType - rtype + PaintingHangerType - rtype + TVStandType - rtype + LaundryHamperType - rtype + OttomanType - rtype + SafeType - rtype + CoffeeMachineType - rtype + CounterTopType - rtype + ToiletType - rtype + FridgeType - rtype + CoffeeTableType - rtype + SinkBasinType - rtype + GarbageCanType - rtype + BathtubBasinType - rtype + SideTableType - rtype + CartType - rtype + BedType - rtype + DeskType - rtype + SofaType - rtype + ArmChairType - rtype + MicrowaveType - rtype + HandTowelHolderType - rtype + ToasterType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + DrawerType - rtype + DresserType - rtype + + + Apple_bar__plus_00_dot_38_bar__plus_00_dot_84_bar__minus_01_dot_75 - object + Bowl_bar__minus_00_dot_03_bar__plus_00_dot_11_bar__plus_00_dot_32 - object + Bowl_bar__minus_02_dot_22_bar__plus_01_dot_05_bar__minus_01_dot_76 - object + Bowl_bar__minus_02_dot_31_bar__plus_01_dot_49_bar__minus_01_dot_81 - object + Bread_bar__plus_01_dot_30_bar__plus_00_dot_98_bar__minus_01_dot_53 - object + Bread_bar__minus_02_dot_07_bar__plus_01_dot_04_bar__plus_00_dot_26 - object + ButterKnife_bar__plus_01_dot_71_bar__plus_00_dot_90_bar__plus_00_dot_27 - object + ButterKnife_bar__minus_00_dot_45_bar__plus_00_dot_91_bar__minus_01_dot_41 - object + Chair_bar__minus_02_dot_42_bar__plus_00_dot_56_bar__plus_00_dot_41 - object + Cup_bar__minus_01_dot_87_bar__plus_01_dot_05_bar__minus_01_dot_68 - object + Cup_bar__minus_02_dot_05_bar__plus_00_dot_78_bar__minus_01_dot_81 - object + DishSponge_bar__minus_00_dot_27_bar__plus_00_dot_91_bar__minus_01_dot_90 - object + Egg_bar__minus_01_dot_87_bar__plus_01_dot_53_bar__minus_01_dot_72 - object + Faucet_bar__plus_00_dot_55_bar__plus_01_dot_05_bar__minus_01_dot_83 - object + Fork_bar__plus_01_dot_78_bar__plus_00_dot_91_bar__minus_01_dot_49 - object + Fork_bar__minus_01_dot_93_bar__plus_00_dot_95_bar__plus_00_dot_44 - object + Kettle_bar__plus_00_dot_50_bar__plus_00_dot_11_bar__plus_00_dot_27 - object + Kettle_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56 - object + Kettle_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_29 - object + Knife_bar__plus_00_dot_96_bar__plus_00_dot_94_bar__minus_01_dot_65 - object + Knife_bar__minus_02_dot_34_bar__plus_00_dot_98_bar__plus_00_dot_44 - object + Knife_bar__minus_02_dot_48_bar__plus_00_dot_98_bar__plus_00_dot_26 - object + Lettuce_bar__plus_01_dot_66_bar__plus_01_dot_00_bar__minus_01_dot_65 - object + LightSwitch_bar__minus_02_dot_76_bar__plus_01_dot_31_bar__minus_00_dot_99 - object + Mug_bar__minus_01_dot_08_bar__plus_01_dot_01_bar__minus_01_dot_80 - object + Pan_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_29 - object + Pan_bar__plus_01_dot_54_bar__plus_01_dot_33_bar__minus_01_dot_81 - object + PaperTowelRoll_bar__minus_00_dot_43_bar__plus_00_dot_17_bar__plus_00_dot_40 - object + PepperShaker_bar__minus_00_dot_10_bar__plus_00_dot_11_bar__minus_01_dot_55 - object + PepperShaker_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__plus_00_dot_26 - object + Plate_bar__minus_00_dot_11_bar__plus_00_dot_90_bar__minus_01_dot_60 - object + Plate_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__plus_00_dot_61 - object + Plate_bar__minus_02_dot_31_bar__plus_00_dot_51_bar__minus_01_dot_76 - object + Potato_bar__plus_00_dot_86_bar__plus_00_dot_95_bar__minus_01_dot_45 - object + Pot_bar__minus_02_dot_38_bar__plus_00_dot_94_bar__plus_00_dot_58 - object + SaltShaker_bar__plus_01_dot_83_bar__plus_01_dot_33_bar__minus_01_dot_92 - 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_57 - object + SoapBottle_bar__minus_00_dot_59_bar__plus_00_dot_11_bar__minus_01_dot_51 - object + Spatula_bar__plus_00_dot_70_bar__plus_00_dot_93_bar__minus_01_dot_78 - object + Spatula_bar__minus_00_dot_27_bar__plus_00_dot_93_bar__minus_01_dot_41 - object + Spoon_bar__plus_01_dot_79_bar__plus_00_dot_77_bar__plus_00_dot_27 - object + Spoon_bar__minus_00_dot_45_bar__plus_00_dot_91_bar__minus_01_dot_74 - 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_14_bar__plus_00_dot_56_bar__minus_01_dot_85 - 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 + 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DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45) + (inReceptacle Bread_bar__minus_02_dot_07_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 Plate_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 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 Fork_bar__minus_01_dot_93_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 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 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_27_bar__plus_00_dot_91_bar__minus_01_dot_90 CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65) + (inReceptacle Spoon_bar__minus_00_dot_45_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 Lettuce_bar__plus_01_dot_66_bar__plus_01_dot_00_bar__minus_01_dot_65 CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65) + (inReceptacle ButterKnife_bar__minus_00_dot_45_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 Fork_bar__plus_01_dot_78_bar__plus_00_dot_91_bar__minus_01_dot_49 CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65) + (inReceptacle Bread_bar__plus_01_dot_30_bar__plus_00_dot_98_bar__minus_01_dot_53 CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65) + (inReceptacle Plate_bar__minus_00_dot_11_bar__plus_00_dot_90_bar__minus_01_dot_60 CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65) + (inReceptacle Spatula_bar__minus_00_dot_27_bar__plus_00_dot_93_bar__minus_01_dot_41 CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65) + (inReceptacle Spoon_bar__plus_01_dot_79_bar__plus_00_dot_77_bar__plus_00_dot_27 Drawer_bar__plus_01_dot_83_bar__plus_00_dot_79_bar__plus_00_dot_30) + (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 PepperShaker_bar__minus_00_dot_10_bar__plus_00_dot_11_bar__minus_01_dot_55 Cabinet_bar__plus_00_dot_06_bar__plus_00_dot_40_bar__minus_01_dot_35) + (inReceptacle Bowl_bar__minus_00_dot_03_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 Kettle_bar__plus_00_dot_50_bar__plus_00_dot_11_bar__plus_00_dot_27 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 SoapBottle_bar__minus_00_dot_59_bar__plus_00_dot_11_bar__minus_01_dot_51 Cabinet_bar__minus_00_dot_40_bar__plus_00_dot_40_bar__minus_01_dot_35) + (inReceptacle ButterKnife_bar__plus_01_dot_71_bar__plus_00_dot_90_bar__plus_00_dot_27 CounterTop_bar__plus_01_dot_78_bar__plus_00_dot_95_bar__plus_00_dot_46) + (inReceptacle SaltShaker_bar__plus_01_dot_83_bar__plus_01_dot_33_bar__minus_01_dot_92 Cabinet_bar__plus_01_dot_97_bar__plus_01_dot_69_bar__minus_01_dot_65) + (inReceptacle Pan_bar__plus_01_dot_54_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) + (inReceptacle Mug_bar__minus_01_dot_08_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 Apple_bar__plus_00_dot_38_bar__plus_00_dot_84_bar__minus_01_dot_75 Sink_bar__plus_00_dot_71_bar__plus_00_dot_82_bar__minus_01_dot_77_bar_SinkBasin) + (inReceptacle SoapBottle_bar__minus_00_dot_33_bar__plus_00_dot_07_bar__plus_00_dot_57 GarbageCan_bar__minus_00_dot_36_bar__plus_00_dot_00_bar__plus_00_dot_54) + (inReceptacle PaperTowelRoll_bar__minus_00_dot_43_bar__plus_00_dot_17_bar__plus_00_dot_40 GarbageCan_bar__minus_00_dot_36_bar__plus_00_dot_00_bar__plus_00_dot_54) + (inReceptacle Egg_bar__minus_01_dot_87_bar__plus_01_dot_53_bar__minus_01_dot_72 Fridge_bar__minus_02_dot_14_bar__plus_00_dot_00_bar__minus_01_dot_69) + (inReceptacle Cup_bar__minus_02_dot_05_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) + (inReceptacle Bowl_bar__minus_02_dot_31_bar__plus_01_dot_49_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_76 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_00_dot_56_bar__minus_01_dot_85 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_01_dot_05_bar__minus_01_dot_76 Fridge_bar__minus_02_dot_14_bar__plus_00_dot_00_bar__minus_01_dot_69) + (inReceptacle Cup_bar__minus_01_dot_87_bar__plus_01_dot_05_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 CounterTop_bar__plus_01_dot_78_bar__plus_00_dot_95_bar__plus_00_dot_46 loc_bar_6_bar__minus_1_bar_0_bar_45) + (receptacleAtLocation CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65 loc_bar_6_bar__minus_4_bar_3_bar_15) + (receptacleAtLocation DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45 loc_bar__minus_9_bar__minus_1_bar_0_bar_45) + (receptacleAtLocation Drawer_bar__plus_00_dot_02_bar__plus_00_dot_79_bar__plus_00_dot_30 loc_bar__minus_1_bar__minus_2_bar_0_bar_45) + (receptacleAtLocation Drawer_bar__plus_00_dot_50_bar__plus_00_dot_79_bar__plus_00_dot_30 loc_bar_1_bar__minus_2_bar_0_bar_45) + (receptacleAtLocation Drawer_bar__plus_01_dot_83_bar__plus_00_dot_79_bar__plus_00_dot_30 loc_bar_6_bar__minus_1_bar_0_bar_60) + (receptacleAtLocation Drawer_bar__minus_00_dot_15_bar__plus_00_dot_79_bar__minus_01_dot_50 loc_bar_2_bar__minus_4_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_00_dot_59_bar__plus_00_dot_79_bar__minus_01_dot_50 loc_bar__minus_5_bar__minus_4_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_10_bar__plus_00_dot_79_bar__minus_01_dot_50 loc_bar_0_bar__minus_3_bar_3_bar_45) + (receptacleAtLocation Fridge_bar__minus_02_dot_14_bar__plus_00_dot_00_bar__minus_01_dot_69 loc_bar__minus_9_bar__minus_3_bar_2_bar_60) + (receptacleAtLocation GarbageCan_bar__minus_00_dot_36_bar__plus_00_dot_00_bar__plus_00_dot_54 loc_bar__minus_2_bar_0_bar_0_bar_60) + (receptacleAtLocation Microwave_bar__minus_01_dot_04_bar__plus_00_dot_90_bar__minus_01_dot_72 loc_bar__minus_4_bar__minus_4_bar_2_bar_45) + (receptacleAtLocation Sink_bar__plus_00_dot_71_bar__plus_00_dot_82_bar__minus_01_dot_77_bar_SinkBasin loc_bar_1_bar__minus_4_bar_2_bar_60) + (receptacleAtLocation StoveBurner_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_29 loc_bar_4_bar__minus_1_bar_0_bar_45) + (receptacleAtLocation StoveBurner_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56 loc_bar_4_bar__minus_1_bar_0_bar_45) + (receptacleAtLocation StoveBurner_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_29 loc_bar_5_bar__minus_1_bar_0_bar_45) + (receptacleAtLocation StoveBurner_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_56 loc_bar_5_bar__minus_1_bar_0_bar_45) + (receptacleAtLocation Toaster_bar__plus_00_dot_31_bar__plus_00_dot_90_bar__plus_00_dot_55 loc_bar_1_bar__minus_1_bar_0_bar_45) + (objectAtLocation Spoon_bar__plus_01_dot_79_bar__plus_00_dot_77_bar__plus_00_dot_27 loc_bar_6_bar__minus_1_bar_0_bar_60) + (objectAtLocation Pan_bar__plus_01_dot_54_bar__plus_01_dot_33_bar__minus_01_dot_81 loc_bar_6_bar__minus_4_bar_2_bar_0) + (objectAtLocation ButterKnife_bar__plus_01_dot_71_bar__plus_00_dot_90_bar__plus_00_dot_27 loc_bar_6_bar__minus_1_bar_0_bar_45) + (objectAtLocation PepperShaker_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__plus_00_dot_26 loc_bar__minus_9_bar__minus_1_bar_0_bar_45) + (objectAtLocation Spatula_bar__plus_00_dot_70_bar__plus_00_dot_93_bar__minus_01_dot_78 loc_bar_1_bar__minus_4_bar_2_bar_60) + (objectAtLocation Plate_bar__minus_00_dot_11_bar__plus_00_dot_90_bar__minus_01_dot_60 loc_bar_6_bar__minus_4_bar_3_bar_15) + (objectAtLocation SoapBottle_bar__minus_00_dot_33_bar__plus_00_dot_07_bar__plus_00_dot_57 loc_bar__minus_2_bar_0_bar_0_bar_60) + (objectAtLocation Cup_bar__minus_01_dot_87_bar__plus_01_dot_05_bar__minus_01_dot_68 loc_bar__minus_9_bar__minus_3_bar_2_bar_60) 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loc_bar__minus_9_bar__minus_3_bar_2_bar_60) + (objectAtLocation Kettle_bar__plus_00_dot_50_bar__plus_00_dot_11_bar__plus_00_dot_27 loc_bar_4_bar__minus_3_bar_0_bar_60) + (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_02_dot_07_bar__plus_01_dot_04_bar__plus_00_dot_26 loc_bar__minus_9_bar__minus_1_bar_0_bar_45) + (objectAtLocation Knife_bar__minus_02_dot_48_bar__plus_00_dot_98_bar__plus_00_dot_26 loc_bar__minus_9_bar__minus_1_bar_0_bar_45) + (objectAtLocation Fork_bar__plus_01_dot_78_bar__plus_00_dot_91_bar__minus_01_dot_49 loc_bar_6_bar__minus_4_bar_3_bar_15) + (objectAtLocation Bowl_bar__minus_02_dot_31_bar__plus_01_dot_49_bar__minus_01_dot_81 loc_bar__minus_9_bar__minus_3_bar_2_bar_60) + (objectAtLocation Kettle_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_29 loc_bar_5_bar__minus_1_bar_0_bar_45) + (objectAtLocation Cup_bar__minus_02_dot_05_bar__plus_00_dot_78_bar__minus_01_dot_81 loc_bar__minus_9_bar__minus_3_bar_2_bar_60) + (objectAtLocation Tomato_bar__minus_02_dot_14_bar__plus_00_dot_56_bar__minus_01_dot_85 loc_bar__minus_9_bar__minus_3_bar_2_bar_60) + (objectAtLocation SoapBottle_bar__minus_00_dot_59_bar__plus_00_dot_11_bar__minus_01_dot_51 loc_bar__minus_4_bar__minus_2_bar_2_bar_60) + (objectAtLocation Plate_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__plus_00_dot_61 loc_bar__minus_9_bar__minus_1_bar_0_bar_45) + (objectAtLocation LightSwitch_bar__minus_02_dot_76_bar__plus_01_dot_31_bar__minus_00_dot_99 loc_bar__minus_9_bar__minus_3_bar_3_bar_30) + (objectAtLocation Pot_bar__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) + (objectAtLocation Window_bar__plus_00_dot_58_bar__plus_01_dot_61_bar__minus_01_dot_97 loc_bar_2_bar__minus_4_bar_2_bar_0) + (objectAtLocation Window_bar__plus_01_dot_97_bar__plus_01_dot_50_bar__minus_00_dot_62 loc_bar_6_bar__minus_2_bar_1_bar_15) + (objectAtLocation Spatula_bar__minus_00_dot_27_bar__plus_00_dot_93_bar__minus_01_dot_41 loc_bar_6_bar__minus_4_bar_3_bar_15) + (objectAtLocation PaperTowelRoll_bar__minus_00_dot_43_bar__plus_00_dot_17_bar__plus_00_dot_40 loc_bar__minus_2_bar_0_bar_0_bar_60) + (objectAtLocation Egg_bar__minus_01_dot_87_bar__plus_01_dot_53_bar__minus_01_dot_72 loc_bar__minus_9_bar__minus_3_bar_2_bar_60) + (objectAtLocation Lettuce_bar__plus_01_dot_66_bar__plus_01_dot_00_bar__minus_01_dot_65 loc_bar_6_bar__minus_4_bar_3_bar_15) + (objectAtLocation SaltShaker_bar__plus_01_dot_83_bar__plus_01_dot_33_bar__minus_01_dot_92 loc_bar_6_bar__minus_4_bar_2_bar_0) + (objectAtLocation PepperShaker_bar__minus_00_dot_10_bar__plus_00_dot_11_bar__minus_01_dot_55 loc_bar_1_bar__minus_2_bar_2_bar_60) + (objectAtLocation Apple_bar__plus_00_dot_38_bar__plus_00_dot_84_bar__minus_01_dot_75 loc_bar_1_bar__minus_4_bar_2_bar_60) + (objectAtLocation ButterKnife_bar__minus_00_dot_45_bar__plus_00_dot_91_bar__minus_01_dot_41 loc_bar_6_bar__minus_4_bar_3_bar_15) + (objectAtLocation StoveKnob_bar__plus_01_dot_25_bar__plus_00_dot_91_bar__plus_00_dot_12 loc_bar_5_bar__minus_1_bar_0_bar_60) + (objectAtLocation StoveKnob_bar__plus_01_dot_37_bar__plus_00_dot_91_bar__plus_00_dot_12 loc_bar_5_bar__minus_1_bar_0_bar_60) + (objectAtLocation StoveKnob_bar__plus_01_dot_00_bar__plus_00_dot_91_bar__plus_00_dot_12 loc_bar_4_bar__minus_1_bar_0_bar_60) + (objectAtLocation StoveKnob_bar__plus_01_dot_13_bar__plus_00_dot_91_bar__plus_00_dot_12 loc_bar_5_bar__minus_1_bar_0_bar_60) + (objectAtLocation Potato_bar__plus_00_dot_86_bar__plus_00_dot_95_bar__minus_01_dot_45 loc_bar_1_bar__minus_4_bar_2_bar_60) + (objectAtLocation Pan_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_29 loc_bar_4_bar__minus_1_bar_0_bar_45) + (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_27_bar__plus_00_dot_91_bar__minus_01_dot_90 loc_bar_6_bar__minus_4_bar_3_bar_15) + (objectAtLocation Spoon_bar__minus_00_dot_45_bar__plus_00_dot_91_bar__minus_01_dot_74 loc_bar_6_bar__minus_4_bar_3_bar_15) + (objectAtLocation Mug_bar__minus_01_dot_08_bar__plus_01_dot_01_bar__minus_01_dot_80 loc_bar__minus_4_bar__minus_4_bar_2_bar_45) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (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/valid_seen/pick_cool_then_place_in_recep-Lettuce-None-CounterTop-11/trial_T20190908_222555_651605/traj_data.json b/data/alfworld/json_2.1.1/valid_seen/pick_cool_then_place_in_recep-Lettuce-None-CounterTop-11/trial_T20190908_222555_651605/traj_data.json new file mode 100644 index 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Close the door, wait a moment, and then take it out again.", + "Turn left and take a few steps, then turn left and go to the counter with the toaster on it.", + "Place the lettuce on the counter to the left of the toaster." + ], + "task_desc": "Place a chilled head of lettuce on a counter.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AJQGWGESKQT4Y_3N8OEVH1FUH3AQYCOJZQ0F9R4X7OOE", + "high_descs": [ + "Go left and stop in front of the counter where the lettuce is.", + "Pick the lettuce up from the counter.", + "Go right and turn left to face the fridge.", + "Put the lettuce in the fridge and shut the door and then open the door and take the lettuce out and shut the door.", + "Go left and then left again to face the counter to the left of the toaster.", + "Put the lettuce on the counter." + ], + "task_desc": "Put a chilled head of lettuce on the counter.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AM2KK02JXXW48_3R08VXYT7FM4UTFFYJ9Y6N0IH9QW70", + "high_descs": [ + "Move over to the lettuce on the counter, left of the sink. ", + "Pick up the lettuce on the counter.", + "Turn right, bring the lettuce down to the fridge past the sink on the left.", + "Chill the lettuce in the sink. ", + "Bring the chilled lettuce to the counter with the toaster and coffee machine, which is on the other side of the room as the sink. ", + "Put the chilled lettuce on the counter near the toaster. " + ], + "task_desc": "Put chilled lettuce on the counter. ", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/valid_seen/pick_cool_then_place_in_recep-Pan-None-StoveBurner-18/trial_T20190906_181023_216915/game.tw-pddl b/data/alfworld/json_2.1.1/valid_seen/pick_cool_then_place_in_recep-Pan-None-StoveBurner-18/trial_T20190906_181023_216915/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..efa0d579132a270a011da51b0dbc3fd8ff0f7f69 --- /dev/null +++ b/data/alfworld/json_2.1.1/valid_seen/pick_cool_then_place_in_recep-Pan-None-StoveBurner-18/trial_T20190906_181023_216915/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\n\\n#task#\"\n }\n ],\n\n \"notImplemented\": [\n {\n \"rhs\": \"TODO\"\n }\n ],\n\n \"task\": [\n {\n \"rhs\": \"Your task is to: put a cool pan in stoveburner.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using 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_181023_216915)\n(:domain alfred)\n(:objects\nagent1 - agent\nCurtains - object\n SprayBottle - object\n Mirror - object\n HousePlant - object\n Watch - object\n TeddyBear - object\n WateringCan - object\n Bathtub - object\n LightSwitch - object\n Vase - object\n Candle - object\n Bread - object\n Statue - object\n HandTowel - object\n StoveKnob - object\n PaperTowelRoll - object\n Pan - object\n PepperShaker - object\n Painting - object\n CellPhone - object\n Plunger - object\n Spoon - object\n SaltShaker - object\n KeyChain - object\n Footstool - object\n Poster - object\n Television - object\n LaundryHamperLid - object\n Glassbottle - object\n AlarmClock - object\n WineBottle - object\n Bowl - object\n Sink - object\n TissueBox - object\n TennisRacket - object\n ToiletPaper - object\n ScrubBrush - object\n CreditCard - object\n Laptop - object\n Cloth - object\n Cup - object\n Chair - object\n BasketBall - object\n Kettle - object\n PaperTowel - object\n ShowerDoor - object\n BaseballBat - object\n Potato - object\n Pillow - object\n Lettuce - object\n RemoteControl - object\n Window - object\n DishSponge - object\n CD - object\n Boots - object\n Blinds - object\n Pen - object\n Newspaper - object\n Plate - object\n Mug - object\n ShowerGlass - object\n ToiletPaperRoll - object\n SoapBar - object\n FloorLamp - object\n SoapBottle - object\n Pot - object\n Pencil - object\n Spatula - object\n Towel - object\n Fork - object\n Ladle - object\n Knife - object\n Apple - object\n Box - object\n Tomato - object\n ButterKnife - object\n Egg - object\n Book - object\n DeskLamp - object\nCurtainsType - otype\n SprayBottleType - otype\n MirrorType - otype\n HousePlantType - otype\n WatchType - otype\n TeddyBearType - otype\n WateringCanType - otype\n BathtubType - otype\n LightSwitchType - otype\n VaseType - otype\n CandleType - otype\n BreadType - otype\n StatueType - otype\n HandTowelType - otype\n StoveKnobType - otype\n PaperTowelRollType - otype\n PanType - otype\n PepperShakerType - otype\n PaintingType - otype\n CellPhoneType - otype\n PlungerType - otype\n SpoonType - otype\n SaltShakerType - otype\n KeyChainType - otype\n FootstoolType - otype\n PosterType - otype\n TelevisionType - otype\n LaundryHamperLidType - otype\n GlassbottleType - otype\n AlarmClockType - otype\n WineBottleType - otype\n BowlType - otype\n SinkType - otype\n TissueBoxType - otype\n TennisRacketType - otype\n ToiletPaperType - otype\n ScrubBrushType - otype\n CreditCardType - otype\n LaptopType - otype\n ClothType - otype\n CupType - otype\n ChairType - otype\n BasketBallType - otype\n KettleType - otype\n PaperTowelType - otype\n ShowerDoorType - otype\n BaseballBatType - otype\n PotatoType - otype\n PillowType - otype\n LettuceType - otype\n RemoteControlType - otype\n WindowType - otype\n DishSpongeType - otype\n CDType - otype\n BootsType - otype\n BlindsType - otype\n PenType - otype\n NewspaperType - otype\n PlateType - otype\n MugType - otype\n ShowerGlassType - otype\n ToiletPaperRollType - otype\n SoapBarType - otype\n FloorLampType - otype\n SoapBottleType - otype\n PotType - otype\n PencilType - otype\n SpatulaType - otype\n TowelType - otype\n ForkType - otype\n LadleType - otype\n KnifeType - otype\n AppleType - otype\n BoxType - otype\n TomatoType - otype\n ButterKnifeType - otype\n EggType - otype\n BookType - otype\n DeskLampType - otype\nCabinetType - rtype\n ShelfType - rtype\n DiningTableType - rtype\n TowelHolderType - rtype\n PaintingHangerType - rtype\n TVStandType - rtype\n LaundryHamperType - rtype\n OttomanType - rtype\n SafeType - rtype\n CoffeeMachineType - rtype\n CounterTopType - rtype\n ToiletType - rtype\n FridgeType - rtype\n CoffeeTableType - rtype\n SinkBasinType - rtype\n GarbageCanType - rtype\n BathtubBasinType - rtype\n SideTableType - rtype\n CartType - rtype\n BedType - rtype\n DeskType - rtype\n SofaType - rtype\n ArmChairType - rtype\n MicrowaveType - rtype\n HandTowelHolderType - rtype\n ToasterType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n DrawerType - rtype\n DresserType - rtype\n\n\n Apple_bar__plus_00_dot_02_bar__plus_00_dot_83_bar__plus_06_dot_74 - object\n Apple_bar__plus_01_dot_14_bar__plus_01_dot_07_bar__plus_03_dot_51 - object\n Apple_bar__minus_00_dot_31_bar__plus_00_dot_83_bar__plus_06_dot_54 - object\n Blinds_bar__plus_01_dot_74_bar__plus_02_dot_56_bar__plus_02_dot_31 - object\n Bowl_bar__plus_00_dot_31_bar__plus_00_dot_76_bar__plus_06_dot_48 - object\n Bowl_bar__minus_00_dot_48_bar__plus_00_dot_14_bar__plus_00_dot_51 - object\n Bread_bar__minus_00_dot_54_bar__plus_01_dot_06_bar__plus_00_dot_30 - object\n ButterKnife_bar__plus_00_dot_12_bar__plus_00_dot_76_bar__plus_06_dot_11 - object\n ButterKnife_bar__plus_01_dot_28_bar__plus_00_dot_98_bar__plus_01_dot_34 - object\n ButterKnife_bar__minus_00_dot_41_bar__plus_00_dot_77_bar__plus_00_dot_45 - object\n Chair_bar__plus_00_dot_29_bar__plus_00_dot_02_bar__plus_06_dot_14 - object\n Cup_bar__plus_01_dot_58_bar__plus_02_dot_20_bar__plus_03_dot_84 - object\n DishSponge_bar__plus_01_dot_14_bar__plus_00_dot_99_bar__plus_04_dot_67 - object\n DishSponge_bar__plus_01_dot_40_bar__plus_02_dot_21_bar__plus_03_dot_89 - object\n DishSponge_bar__minus_00_dot_35_bar__plus_00_dot_76_bar__plus_06_dot_17 - object\n Egg_bar__plus_01_dot_40_bar__plus_01_dot_04_bar__plus_03_dot_42 - object\n Faucet_bar__plus_01_dot_54_bar__plus_01_dot_03_bar__plus_02_dot_37 - object\n Fork_bar__minus_00_dot_03_bar__plus_00_dot_76_bar__plus_06_dot_63 - object\n Fork_bar__minus_00_dot_49_bar__plus_00_dot_76_bar__plus_06_dot_81 - object\n HousePlant_bar__minus_00_dot_17_bar__plus_00_dot_75_bar__plus_06_dot_44 - object\n Kettle_bar__plus_01_dot_59_bar__plus_00_dot_98_bar__plus_03_dot_25 - object\n Knife_bar__plus_00_dot_19_bar__plus_00_dot_80_bar__plus_00_dot_56 - object\n Knife_bar__plus_00_dot_26_bar__plus_00_dot_80_bar__plus_00_dot_56 - object\n Knife_bar__plus_00_dot_92_bar__plus_01_dot_02_bar__plus_00_dot_21 - object\n Lettuce_bar__plus_01_dot_45_bar__plus_00_dot_93_bar__plus_02_dot_05 - object\n Lettuce_bar__minus_00_dot_16_bar__plus_00_dot_85_bar__plus_06_dot_94 - object\n LightSwitch_bar__minus_02_dot_00_bar__plus_01_dot_55_bar__plus_06_dot_05 - object\n Mug_bar__plus_00_dot_06_bar__plus_01_dot_09_bar__plus_00_dot_18 - object\n Mug_bar__plus_01_dot_33_bar__plus_00_dot_89_bar__plus_02_dot_53 - object\n Pan_bar__plus_01_dot_31_bar__plus_00_dot_99_bar__plus_04_dot_28 - object\n PaperTowelRoll_bar__minus_00_dot_47_bar__plus_00_dot_86_bar__plus_06_dot_29 - object\n PepperShaker_bar__plus_00_dot_15_bar__plus_00_dot_76_bar__plus_06_dot_42 - object\n Plate_bar__plus_01_dot_23_bar__plus_00_dot_99_bar__plus_00_dot_21 - object\n Plate_bar__minus_00_dot_01_bar__plus_01_dot_58_bar__plus_00_dot_25 - object\n Potato_bar__plus_01_dot_49_bar__plus_01_dot_03_bar__plus_02_dot_95 - object\n Potato_bar__minus_00_dot_47_bar__plus_00_dot_79_bar__plus_06_dot_60 - object\n Pot_bar__plus_01_dot_56_bar__plus_00_dot_99_bar__plus_03_dot_85 - object\n SaltShaker_bar__plus_00_dot_06_bar__plus_00_dot_76_bar__plus_06_dot_26 - object\n SaltShaker_bar__plus_01_dot_14_bar__plus_00_dot_99_bar__plus_04_dot_58 - object\n SaltShaker_bar__plus_01_dot_45_bar__plus_02_dot_20_bar__plus_03_dot_65 - object\n Sink_bar__plus_01_dot_39_bar__plus_01_dot_01_bar__plus_02_dot_33 - object\n SoapBottle_bar__plus_00_dot_30_bar__plus_00_dot_76_bar__plus_06_dot_67 - object\n SoapBottle_bar__plus_01_dot_37_bar__plus_01_dot_58_bar__plus_04_dot_63 - object\n SoapBottle_bar__minus_00_dot_38_bar__plus_00_dot_99_bar__plus_00_dot_40 - object\n Spatula_bar__minus_00_dot_08_bar__plus_00_dot_79_bar__plus_00_dot_51 - object\n Spoon_bar__plus_00_dot_12_bar__plus_00_dot_77_bar__plus_00_dot_45 - object\n Spoon_bar__plus_00_dot_80_bar__plus_00_dot_77_bar__plus_00_dot_45 - object\n Spoon_bar__minus_00_dot_62_bar__plus_00_dot_77_bar__plus_00_dot_40 - object\n StoveKnob_bar__plus_01_dot_14_bar__plus_00_dot_93_bar__plus_03_dot_82 - object\n StoveKnob_bar__plus_01_dot_14_bar__plus_00_dot_93_bar__plus_03_dot_99 - object\n StoveKnob_bar__plus_01_dot_14_bar__plus_00_dot_93_bar__plus_04_dot_14 - object\n StoveKnob_bar__plus_01_dot_14_bar__plus_00_dot_93_bar__plus_04_dot_31 - object\n Tomato_bar__minus_00_dot_62_bar__plus_00_dot_81_bar__plus_06_dot_28 - object\n Window_bar__plus_01_dot_76_bar__plus_02_dot_01_bar__plus_02_dot_30 - object\n Window_bar__minus_02_dot_07_bar__plus_01_dot_92_bar__plus_03_dot_63 - object\n Cabinet_bar__plus_00_dot_25_bar__plus_02_dot_13_bar__plus_00_dot_43 - receptacle\n Cabinet_bar__plus_00_dot_44_bar__plus_00_dot_42_bar__plus_00_dot_74 - receptacle\n Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_01_dot_71 - receptacle\n Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_02_dot_94 - receptacle\n Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_02_dot_99 - receptacle\n Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_04_dot_55 - receptacle\n Cabinet_bar__plus_01_dot_27_bar__plus_02_dot_13_bar__plus_00_dot_43 - receptacle\n Cabinet_bar__plus_01_dot_31_bar__plus_02_dot_46_bar__plus_03_dot_61 - receptacle\n Cabinet_bar__plus_01_dot_31_bar__plus_02_dot_46_bar__plus_04_dot_36 - receptacle\n Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_00_dot_52 - receptacle\n Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_01_dot_53 - receptacle\n Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_03_dot_10 - receptacle\n Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_04_dot_89 - receptacle\n Cabinet_bar__minus_00_dot_17_bar__plus_00_dot_42_bar__plus_00_dot_74 - receptacle\n Cabinet_bar__minus_00_dot_26_bar__plus_02_dot_13_bar__plus_00_dot_43 - receptacle\n Cabinet_bar__minus_00_dot_78_bar__plus_00_dot_42_bar__plus_00_dot_74 - receptacle\n CoffeeMachine_bar__plus_01_dot_55_bar__plus_00_dot_98_bar__plus_00_dot_95 - receptacle\n CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90 - receptacle\n CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_04_dot_72 - receptacle\n DiningTable_bar__minus_00_dot_16_bar__plus_00_dot_67_bar__plus_06_dot_47 - receptacle\n Drawer_bar__plus_00_dot_12_bar__plus_00_dot_80_bar__plus_00_dot_52 - receptacle\n Drawer_bar__plus_00_dot_74_bar__plus_00_dot_80_bar__plus_00_dot_52 - receptacle\n Drawer_bar__plus_01_dot_28_bar__plus_00_dot_80_bar__plus_03_dot_29 - receptacle\n Drawer_bar__plus_01_dot_28_bar__plus_00_dot_81_bar__plus_04_dot_72 - receptacle\n Drawer_bar__minus_00_dot_48_bar__plus_00_dot_80_bar__plus_00_dot_52 - receptacle\n Fridge_bar__plus_02_dot_04_bar__plus_00_dot_00_bar__plus_05_dot_63 - receptacle\n GarbageCan_bar__plus_02_dot_00_bar__plus_00_dot_00_bar__plus_06_dot_50 - receptacle\n Microwave_bar__plus_00_dot_11_bar__plus_00_dot_98_bar__plus_00_dot_26 - receptacle\n Safe_bar__plus_02_dot_05_bar__minus_00_dot_01_bar__plus_07_dot_06 - receptacle\n Sink_bar__plus_01_dot_39_bar__plus_01_dot_01_bar__plus_02_dot_33_bar_SinkBasin - receptacle\n StoveBurner_bar__plus_01_dot_32_bar__plus_00_dot_98_bar__plus_03_dot_85 - receptacle\n StoveBurner_bar__plus_01_dot_32_bar__plus_00_dot_98_bar__plus_04_dot_29 - receptacle\n StoveBurner_bar__plus_01_dot_56_bar__plus_00_dot_98_bar__plus_03_dot_85 - receptacle\n StoveBurner_bar__plus_01_dot_56_bar__plus_00_dot_98_bar__plus_04_dot_29 - receptacle\n Toaster_bar__plus_01_dot_47_bar__plus_00_dot_98_bar__plus_04_dot_72 - receptacle\n loc_bar_3_bar_5_bar_1_bar__minus_30 - location\n loc_bar_2_bar_4_bar_2_bar__minus_30 - location\n loc_bar_0_bar_4_bar_2_bar__minus_30 - location\n loc_bar__minus_1_bar_7_bar_2_bar_45 - location\n loc_bar_3_bar_14_bar_1_bar__minus_30 - location\n loc_bar_4_bar_22_bar_1_bar_60 - location\n loc_bar__minus_6_bar_15_bar_3_bar__minus_30 - location\n loc_bar_3_bar_15_bar_1_bar_45 - location\n loc_bar_1_bar_10_bar_1_bar_60 - location\n loc_bar_3_bar_16_bar_1_bar_60 - location\n loc_bar_3_bar_18_bar_1_bar__minus_30 - location\n loc_bar_3_bar_17_bar_1_bar__minus_30 - location\n loc_bar_1_bar_13_bar_1_bar_45 - location\n loc_bar_3_bar_4_bar_1_bar__minus_30 - location\n loc_bar__minus_5_bar_5_bar_1_bar_45 - location\n loc_bar_0_bar_7_bar_2_bar_45 - location\n loc_bar__minus_6_bar_24_bar_3_bar_15 - location\n loc_bar_3_bar_9_bar_1_bar__minus_30 - location\n loc_bar_4_bar_24_bar_1_bar_60 - location\n loc_bar_3_bar_17_bar_1_bar_60 - location\n loc_bar_1_bar_14_bar_1_bar_60 - location\n loc_bar_3_bar_9_bar_1_bar__minus_15 - location\n loc_bar_1_bar_20_bar_1_bar_45 - location\n loc_bar__minus_3_bar_5_bar_1_bar_45 - location\n loc_bar_3_bar_9_bar_1_bar_45 - location\n loc_bar_3_bar_17_bar_1_bar_45 - location\n loc_bar_1_bar_17_bar_1_bar_60 - location\n loc_bar_4_bar_26_bar_1_bar_60 - location\n loc_bar_1_bar_22_bar_0_bar_60 - location\n loc_bar_0_bar_5_bar_1_bar_45 - location\n loc_bar_3_bar_15_bar_1_bar_60 - location\n loc_bar_1_bar_6_bar_2_bar_30 - location\n loc_bar_1_bar_7_bar_2_bar_45 - location\n loc_bar_3_bar_4_bar_1_bar_45 - location\n loc_bar_1_bar_7_bar_1_bar_60 - location\n loc_bar_3_bar_26_bar_3_bar_45 - location\n loc_bar_3_bar_19_bar_1_bar_45 - location\n loc_bar_3_bar_4_bar_2_bar__minus_30 - location\n loc_bar__minus_6_bar_2_bar_1_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Toaster_bar__plus_01_dot_47_bar__plus_00_dot_98_bar__plus_04_dot_72 ToasterType)\n (receptacleType Drawer_bar__plus_00_dot_74_bar__plus_00_dot_80_bar__plus_00_dot_52 DrawerType)\n (receptacleType Cabinet_bar__minus_00_dot_26_bar__plus_02_dot_13_bar__plus_00_dot_43 CabinetType)\n (receptacleType Drawer_bar__plus_01_dot_28_bar__plus_00_dot_80_bar__plus_03_dot_29 DrawerType)\n (receptacleType StoveBurner_bar__plus_01_dot_56_bar__plus_00_dot_98_bar__plus_03_dot_85 StoveBurnerType)\n (receptacleType Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_04_dot_89 CabinetType)\n (receptacleType CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90 CounterTopType)\n (receptacleType Cabinet_bar__plus_00_dot_25_bar__plus_02_dot_13_bar__plus_00_dot_43 CabinetType)\n (receptacleType 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PaperTowelRoll_bar__minus_00_dot_47_bar__plus_00_dot_86_bar__plus_06_dot_29 DiningTable_bar__minus_00_dot_16_bar__plus_00_dot_67_bar__plus_06_dot_47)\n (inReceptacle DishSponge_bar__minus_00_dot_35_bar__plus_00_dot_76_bar__plus_06_dot_17 DiningTable_bar__minus_00_dot_16_bar__plus_00_dot_67_bar__plus_06_dot_47)\n (inReceptacle Bowl_bar__plus_00_dot_31_bar__plus_00_dot_76_bar__plus_06_dot_48 DiningTable_bar__minus_00_dot_16_bar__plus_00_dot_67_bar__plus_06_dot_47)\n (inReceptacle Fork_bar__minus_00_dot_03_bar__plus_00_dot_76_bar__plus_06_dot_63 DiningTable_bar__minus_00_dot_16_bar__plus_00_dot_67_bar__plus_06_dot_47)\n (inReceptacle Fork_bar__minus_00_dot_49_bar__plus_00_dot_76_bar__plus_06_dot_81 DiningTable_bar__minus_00_dot_16_bar__plus_00_dot_67_bar__plus_06_dot_47)\n (inReceptacle HousePlant_bar__minus_00_dot_17_bar__plus_00_dot_75_bar__plus_06_dot_44 DiningTable_bar__minus_00_dot_16_bar__plus_00_dot_67_bar__plus_06_dot_47)\n (inReceptacle SoapBottle_bar__plus_00_dot_30_bar__plus_00_dot_76_bar__plus_06_dot_67 DiningTable_bar__minus_00_dot_16_bar__plus_00_dot_67_bar__plus_06_dot_47)\n (inReceptacle Tomato_bar__minus_00_dot_62_bar__plus_00_dot_81_bar__plus_06_dot_28 DiningTable_bar__minus_00_dot_16_bar__plus_00_dot_67_bar__plus_06_dot_47)\n (inReceptacle Apple_bar__plus_00_dot_02_bar__plus_00_dot_83_bar__plus_06_dot_74 DiningTable_bar__minus_00_dot_16_bar__plus_00_dot_67_bar__plus_06_dot_47)\n (inReceptacle SaltShaker_bar__plus_00_dot_06_bar__plus_00_dot_76_bar__plus_06_dot_26 DiningTable_bar__minus_00_dot_16_bar__plus_00_dot_67_bar__plus_06_dot_47)\n (inReceptacle Pan_bar__plus_01_dot_31_bar__plus_00_dot_99_bar__plus_04_dot_28 StoveBurner_bar__plus_01_dot_32_bar__plus_00_dot_98_bar__plus_04_dot_29)\n (inReceptacle ButterKnife_bar__minus_00_dot_41_bar__plus_00_dot_77_bar__plus_00_dot_45 Drawer_bar__minus_00_dot_48_bar__plus_00_dot_80_bar__plus_00_dot_52)\n (inReceptacle Spoon_bar__minus_00_dot_62_bar__plus_00_dot_77_bar__plus_00_dot_40 Drawer_bar__minus_00_dot_48_bar__plus_00_dot_80_bar__plus_00_dot_52)\n (inReceptacle Knife_bar__plus_00_dot_26_bar__plus_00_dot_80_bar__plus_00_dot_56 Drawer_bar__plus_00_dot_12_bar__plus_00_dot_80_bar__plus_00_dot_52)\n (inReceptacle Knife_bar__plus_00_dot_19_bar__plus_00_dot_80_bar__plus_00_dot_56 Drawer_bar__plus_00_dot_12_bar__plus_00_dot_80_bar__plus_00_dot_52)\n (inReceptacle Spatula_bar__minus_00_dot_08_bar__plus_00_dot_79_bar__plus_00_dot_51 Drawer_bar__plus_00_dot_12_bar__plus_00_dot_80_bar__plus_00_dot_52)\n (inReceptacle Spoon_bar__plus_00_dot_12_bar__plus_00_dot_77_bar__plus_00_dot_45 Drawer_bar__plus_00_dot_12_bar__plus_00_dot_80_bar__plus_00_dot_52)\n (inReceptacle Plate_bar__plus_01_dot_23_bar__plus_00_dot_99_bar__plus_00_dot_21 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90)\n (inReceptacle Potato_bar__plus_01_dot_49_bar__plus_01_dot_03_bar__plus_02_dot_95 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90)\n (inReceptacle Kettle_bar__plus_01_dot_59_bar__plus_00_dot_98_bar__plus_03_dot_25 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90)\n (inReceptacle ButterKnife_bar__plus_01_dot_28_bar__plus_00_dot_98_bar__plus_01_dot_34 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90)\n (inReceptacle Egg_bar__plus_01_dot_40_bar__plus_01_dot_04_bar__plus_03_dot_42 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90)\n (inReceptacle Bread_bar__minus_00_dot_54_bar__plus_01_dot_06_bar__plus_00_dot_30 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90)\n (inReceptacle Apple_bar__plus_01_dot_14_bar__plus_01_dot_07_bar__plus_03_dot_51 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90)\n (inReceptacle SoapBottle_bar__minus_00_dot_38_bar__plus_00_dot_99_bar__plus_00_dot_40 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90)\n (inReceptacle Knife_bar__plus_00_dot_92_bar__plus_01_dot_02_bar__plus_00_dot_21 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90)\n (inReceptacle DishSponge_bar__plus_01_dot_14_bar__plus_00_dot_99_bar__plus_04_dot_67 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_04_dot_72)\n (inReceptacle SaltShaker_bar__plus_01_dot_14_bar__plus_00_dot_99_bar__plus_04_dot_58 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_04_dot_72)\n (inReceptacle SoapBottle_bar__plus_01_dot_37_bar__plus_01_dot_58_bar__plus_04_dot_63 Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_04_dot_89)\n (inReceptacle Bowl_bar__minus_00_dot_48_bar__plus_00_dot_14_bar__plus_00_dot_51 Cabinet_bar__minus_00_dot_78_bar__plus_00_dot_42_bar__plus_00_dot_74)\n (inReceptacle Plate_bar__minus_00_dot_01_bar__plus_01_dot_58_bar__plus_00_dot_25 Cabinet_bar__minus_00_dot_26_bar__plus_02_dot_13_bar__plus_00_dot_43)\n (inReceptacle Mug_bar__plus_00_dot_06_bar__plus_01_dot_09_bar__plus_00_dot_18 Microwave_bar__plus_00_dot_11_bar__plus_00_dot_98_bar__plus_00_dot_26)\n (inReceptacle Mug_bar__plus_01_dot_33_bar__plus_00_dot_89_bar__plus_02_dot_53 Sink_bar__plus_01_dot_39_bar__plus_01_dot_01_bar__plus_02_dot_33_bar_SinkBasin)\n (inReceptacle Lettuce_bar__plus_01_dot_45_bar__plus_00_dot_93_bar__plus_02_dot_05 Sink_bar__plus_01_dot_39_bar__plus_01_dot_01_bar__plus_02_dot_33_bar_SinkBasin)\n \n \n (receptacleAtLocation Cabinet_bar__plus_00_dot_25_bar__plus_02_dot_13_bar__plus_00_dot_43 loc_bar_2_bar_4_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_44_bar__plus_00_dot_42_bar__plus_00_dot_74 loc_bar_1_bar_7_bar_2_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_01_dot_71 loc_bar_1_bar_7_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_02_dot_94 loc_bar_1_bar_10_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_02_dot_99 loc_bar_1_bar_14_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_04_dot_55 loc_bar_1_bar_17_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_27_bar__plus_02_dot_13_bar__plus_00_dot_43 loc_bar_3_bar_4_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_31_bar__plus_02_dot_46_bar__plus_03_dot_61 loc_bar_3_bar_14_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_31_bar__plus_02_dot_46_bar__plus_04_dot_36 loc_bar_3_bar_17_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_00_dot_52 loc_bar_3_bar_4_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_01_dot_53 loc_bar_3_bar_5_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_03_dot_10 loc_bar_3_bar_14_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_04_dot_89 loc_bar_3_bar_18_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_17_bar__plus_00_dot_42_bar__plus_00_dot_74 loc_bar__minus_1_bar_7_bar_2_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_26_bar__plus_02_dot_13_bar__plus_00_dot_43 loc_bar_0_bar_4_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_78_bar__plus_00_dot_42_bar__plus_00_dot_74 loc_bar_0_bar_7_bar_2_bar_45)\n (receptacleAtLocation CoffeeMachine_bar__plus_01_dot_55_bar__plus_00_dot_98_bar__plus_00_dot_95 loc_bar_3_bar_4_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90 loc_bar_3_bar_4_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_04_dot_72 loc_bar_3_bar_19_bar_1_bar_45)\n (receptacleAtLocation DiningTable_bar__minus_00_dot_16_bar__plus_00_dot_67_bar__plus_06_dot_47 loc_bar_3_bar_26_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_12_bar__plus_00_dot_80_bar__plus_00_dot_52 loc_bar__minus_3_bar_5_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_74_bar__plus_00_dot_80_bar__plus_00_dot_52 loc_bar_0_bar_5_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_01_dot_28_bar__plus_00_dot_80_bar__plus_03_dot_29 loc_bar_1_bar_13_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_01_dot_28_bar__plus_00_dot_81_bar__plus_04_dot_72 loc_bar_1_bar_20_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_48_bar__plus_00_dot_80_bar__plus_00_dot_52 loc_bar__minus_5_bar_5_bar_1_bar_45)\n (receptacleAtLocation Fridge_bar__plus_02_dot_04_bar__plus_00_dot_00_bar__plus_05_dot_63 loc_bar_4_bar_22_bar_1_bar_60)\n (receptacleAtLocation GarbageCan_bar__plus_02_dot_00_bar__plus_00_dot_00_bar__plus_06_dot_50 loc_bar_4_bar_24_bar_1_bar_60)\n (receptacleAtLocation Microwave_bar__plus_00_dot_11_bar__plus_00_dot_98_bar__plus_00_dot_26 loc_bar_1_bar_6_bar_2_bar_30)\n (receptacleAtLocation Safe_bar__plus_02_dot_05_bar__minus_00_dot_01_bar__plus_07_dot_06 loc_bar_4_bar_26_bar_1_bar_60)\n (receptacleAtLocation Sink_bar__plus_01_dot_39_bar__plus_01_dot_01_bar__plus_02_dot_33_bar_SinkBasin loc_bar_3_bar_9_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_32_bar__plus_00_dot_98_bar__plus_03_dot_85 loc_bar_3_bar_15_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_32_bar__plus_00_dot_98_bar__plus_04_dot_29 loc_bar_3_bar_17_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_56_bar__plus_00_dot_98_bar__plus_03_dot_85 loc_bar_3_bar_15_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_56_bar__plus_00_dot_98_bar__plus_04_dot_29 loc_bar_3_bar_17_bar_1_bar_45)\n (receptacleAtLocation Toaster_bar__plus_01_dot_47_bar__plus_00_dot_98_bar__plus_04_dot_72 loc_bar_3_bar_19_bar_1_bar_45)\n (objectAtLocation Mug_bar__plus_00_dot_06_bar__plus_01_dot_09_bar__plus_00_dot_18 loc_bar_1_bar_6_bar_2_bar_30)\n (objectAtLocation Spoon_bar__plus_00_dot_80_bar__plus_00_dot_77_bar__plus_00_dot_45 loc_bar_0_bar_5_bar_1_bar_45)\n (objectAtLocation DishSponge_bar__plus_01_dot_14_bar__plus_00_dot_99_bar__plus_04_dot_67 loc_bar_3_bar_19_bar_1_bar_45)\n (objectAtLocation ButterKnife_bar__plus_01_dot_28_bar__plus_00_dot_98_bar__plus_01_dot_34 loc_bar_3_bar_4_bar_1_bar_45)\n (objectAtLocation Potato_bar__plus_01_dot_49_bar__plus_01_dot_03_bar__plus_02_dot_95 loc_bar_3_bar_4_bar_1_bar_45)\n (objectAtLocation SoapBottle_bar__minus_00_dot_38_bar__plus_00_dot_99_bar__plus_00_dot_40 loc_bar_3_bar_4_bar_1_bar_45)\n (objectAtLocation Lettuce_bar__plus_01_dot_45_bar__plus_00_dot_93_bar__plus_02_dot_05 loc_bar_3_bar_9_bar_1_bar_45)\n (objectAtLocation SaltShaker_bar__plus_01_dot_14_bar__plus_00_dot_99_bar__plus_04_dot_58 loc_bar_3_bar_19_bar_1_bar_45)\n (objectAtLocation Plate_bar__minus_00_dot_01_bar__plus_01_dot_58_bar__plus_00_dot_25 loc_bar_0_bar_4_bar_2_bar__minus_30)\n (objectAtLocation Apple_bar__minus_00_dot_31_bar__plus_00_dot_83_bar__plus_06_dot_54 loc_bar_3_bar_26_bar_3_bar_45)\n (objectAtLocation Fork_bar__minus_00_dot_03_bar__plus_00_dot_76_bar__plus_06_dot_63 loc_bar_3_bar_26_bar_3_bar_45)\n (objectAtLocation Knife_bar__plus_00_dot_26_bar__plus_00_dot_80_bar__plus_00_dot_56 loc_bar__minus_3_bar_5_bar_1_bar_45)\n (objectAtLocation Bowl_bar__minus_00_dot_48_bar__plus_00_dot_14_bar__plus_00_dot_51 loc_bar_0_bar_7_bar_2_bar_45)\n (objectAtLocation Apple_bar__plus_00_dot_02_bar__plus_00_dot_83_bar__plus_06_dot_74 loc_bar_3_bar_26_bar_3_bar_45)\n (objectAtLocation SaltShaker_bar__plus_00_dot_06_bar__plus_00_dot_76_bar__plus_06_dot_26 loc_bar_3_bar_26_bar_3_bar_45)\n (objectAtLocation SoapBottle_bar__plus_01_dot_37_bar__plus_01_dot_58_bar__plus_04_dot_63 loc_bar_3_bar_18_bar_1_bar__minus_30)\n (objectAtLocation Knife_bar__plus_00_dot_92_bar__plus_01_dot_02_bar__plus_00_dot_21 loc_bar_3_bar_4_bar_1_bar_45)\n (objectAtLocation Spoon_bar__minus_00_dot_62_bar__plus_00_dot_77_bar__plus_00_dot_40 loc_bar__minus_5_bar_5_bar_1_bar_45)\n (objectAtLocation ButterKnife_bar__plus_00_dot_12_bar__plus_00_dot_76_bar__plus_06_dot_11 loc_bar_3_bar_26_bar_3_bar_45)\n (objectAtLocation DishSponge_bar__minus_00_dot_35_bar__plus_00_dot_76_bar__plus_06_dot_17 loc_bar_3_bar_26_bar_3_bar_45)\n (objectAtLocation Sink_bar__plus_01_dot_39_bar__plus_01_dot_01_bar__plus_02_dot_33 loc_bar_3_bar_9_bar_1_bar_45)\n (objectAtLocation Bowl_bar__plus_00_dot_31_bar__plus_00_dot_76_bar__plus_06_dot_48 loc_bar_3_bar_26_bar_3_bar_45)\n (objectAtLocation Bread_bar__minus_00_dot_54_bar__plus_01_dot_06_bar__plus_00_dot_30 loc_bar_3_bar_4_bar_1_bar_45)\n (objectAtLocation Egg_bar__plus_01_dot_40_bar__plus_01_dot_04_bar__plus_03_dot_42 loc_bar_3_bar_4_bar_1_bar_45)\n (objectAtLocation Knife_bar__plus_00_dot_19_bar__plus_00_dot_80_bar__plus_00_dot_56 loc_bar__minus_3_bar_5_bar_1_bar_45)\n (objectAtLocation Fork_bar__minus_00_dot_49_bar__plus_00_dot_76_bar__plus_06_dot_81 loc_bar_3_bar_26_bar_3_bar_45)\n (objectAtLocation Apple_bar__plus_01_dot_14_bar__plus_01_dot_07_bar__plus_03_dot_51 loc_bar_3_bar_4_bar_1_bar_45)\n (objectAtLocation Kettle_bar__plus_01_dot_59_bar__plus_00_dot_98_bar__plus_03_dot_25 loc_bar_3_bar_4_bar_1_bar_45)\n (objectAtLocation Plate_bar__plus_01_dot_23_bar__plus_00_dot_99_bar__plus_00_dot_21 loc_bar_3_bar_4_bar_1_bar_45)\n (objectAtLocation HousePlant_bar__minus_00_dot_17_bar__plus_00_dot_75_bar__plus_06_dot_44 loc_bar_3_bar_26_bar_3_bar_45)\n (objectAtLocation SaltShaker_bar__plus_01_dot_45_bar__plus_02_dot_20_bar__plus_03_dot_65 loc_bar_3_bar_14_bar_1_bar__minus_30)\n (objectAtLocation Lettuce_bar__minus_00_dot_16_bar__plus_00_dot_85_bar__plus_06_dot_94 loc_bar_3_bar_26_bar_3_bar_45)\n (objectAtLocation Window_bar__minus_02_dot_07_bar__plus_01_dot_92_bar__plus_03_dot_63 loc_bar__minus_6_bar_15_bar_3_bar__minus_30)\n (objectAtLocation Window_bar__plus_01_dot_76_bar__plus_02_dot_01_bar__plus_02_dot_30 loc_bar_3_bar_9_bar_1_bar__minus_15)\n (objectAtLocation SoapBottle_bar__plus_00_dot_30_bar__plus_00_dot_76_bar__plus_06_dot_67 loc_bar_3_bar_26_bar_3_bar_45)\n (objectAtLocation Spatula_bar__minus_00_dot_08_bar__plus_00_dot_79_bar__plus_00_dot_51 loc_bar__minus_3_bar_5_bar_1_bar_45)\n (objectAtLocation PaperTowelRoll_bar__minus_00_dot_47_bar__plus_00_dot_86_bar__plus_06_dot_29 loc_bar_3_bar_26_bar_3_bar_45)\n (objectAtLocation Pot_bar__plus_01_dot_56_bar__plus_00_dot_99_bar__plus_03_dot_85 loc_bar_3_bar_15_bar_1_bar_45)\n (objectAtLocation Potato_bar__minus_00_dot_47_bar__plus_00_dot_79_bar__plus_06_dot_60 loc_bar_3_bar_26_bar_3_bar_45)\n (objectAtLocation ButterKnife_bar__minus_00_dot_41_bar__plus_00_dot_77_bar__plus_00_dot_45 loc_bar__minus_5_bar_5_bar_1_bar_45)\n (objectAtLocation StoveKnob_bar__plus_01_dot_14_bar__plus_00_dot_93_bar__plus_03_dot_99 loc_bar_3_bar_16_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_14_bar__plus_00_dot_93_bar__plus_04_dot_31 loc_bar_3_bar_17_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_14_bar__plus_00_dot_93_bar__plus_04_dot_14 loc_bar_3_bar_17_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_14_bar__plus_00_dot_93_bar__plus_03_dot_82 loc_bar_3_bar_15_bar_1_bar_60)\n (objectAtLocation PepperShaker_bar__plus_00_dot_15_bar__plus_00_dot_76_bar__plus_06_dot_42 loc_bar_3_bar_26_bar_3_bar_45)\n (objectAtLocation Pan_bar__plus_01_dot_31_bar__plus_00_dot_99_bar__plus_04_dot_28 loc_bar_3_bar_17_bar_1_bar_45)\n (objectAtLocation Tomato_bar__minus_00_dot_62_bar__plus_00_dot_81_bar__plus_06_dot_28 loc_bar_3_bar_26_bar_3_bar_45)\n (objectAtLocation DishSponge_bar__plus_01_dot_40_bar__plus_02_dot_21_bar__plus_03_dot_89 loc_bar_3_bar_14_bar_1_bar__minus_30)\n (objectAtLocation Cup_bar__plus_01_dot_58_bar__plus_02_dot_20_bar__plus_03_dot_84 loc_bar_3_bar_14_bar_1_bar__minus_30)\n (objectAtLocation LightSwitch_bar__minus_02_dot_00_bar__plus_01_dot_55_bar__plus_06_dot_05 loc_bar__minus_6_bar_24_bar_3_bar_15)\n (objectAtLocation Chair_bar__plus_00_dot_29_bar__plus_00_dot_02_bar__plus_06_dot_14 loc_bar_1_bar_22_bar_0_bar_60)\n (objectAtLocation Spoon_bar__plus_00_dot_12_bar__plus_00_dot_77_bar__plus_00_dot_45 loc_bar__minus_3_bar_5_bar_1_bar_45)\n (objectAtLocation Mug_bar__plus_01_dot_33_bar__plus_00_dot_89_bar__plus_02_dot_53 loc_bar_3_bar_9_bar_1_bar_45)\n (objectAtLocation Blinds_bar__plus_01_dot_74_bar__plus_02_dot_56_bar__plus_02_dot_31 loc_bar_3_bar_9_bar_1_bar__minus_30)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (coolable ?o)\n (objectType ?o PanType)\n (receptacleType ?r StoveBurnerType)\n (isCool ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to stoveburner 3", "take pan 1 from stoveburner 3", "go to fridge 1", "cool pan 1 with fridge 1", "go to stoveburner 4", "move pan 1 to stoveburner 4"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/valid_seen/pick_cool_then_place_in_recep-Pan-None-StoveBurner-18/trial_T20190906_181023_216915/initial_state.pddl b/data/alfworld/json_2.1.1/valid_seen/pick_cool_then_place_in_recep-Pan-None-StoveBurner-18/trial_T20190906_181023_216915/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..1675876753b527af505a773f96e529ac1b1dbf9a --- /dev/null +++ b/data/alfworld/json_2.1.1/valid_seen/pick_cool_then_place_in_recep-Pan-None-StoveBurner-18/trial_T20190906_181023_216915/initial_state.pddl @@ -0,0 +1,1080 @@ + +(define (problem plan_trial_T20190906_181023_216915) +(:domain alfred) +(:objects +agent1 - agent +Curtains - object + SprayBottle - object + Mirror - object + HousePlant - object + Watch - object + TeddyBear - object + WateringCan - object + Bathtub - object + LightSwitch - object + Vase - object + Candle - object + Bread - object + Statue - object + HandTowel - object + StoveKnob - object + PaperTowelRoll - object + Pan - object + PepperShaker - object + Painting - object + CellPhone - object + Plunger - object + Spoon - object + SaltShaker - object + KeyChain - object + Footstool - object + Poster - object + Television - object + LaundryHamperLid - object + Glassbottle - object + AlarmClock - object + WineBottle - object + Bowl - object + Sink - object + TissueBox - object + TennisRacket - object + ToiletPaper - object + ScrubBrush - object + CreditCard - object + Laptop - object + Cloth - object + Cup - object + Chair - object + BasketBall - object + Kettle - object + PaperTowel - object + ShowerDoor - object + BaseballBat - object + Potato - object + Pillow - object + Lettuce - object + RemoteControl - object + Window - object + DishSponge - object + CD - object + Boots - object + Blinds - object + Pen - object + Newspaper - object + Plate - object + Mug - object + ShowerGlass - object + ToiletPaperRoll - object + SoapBar - object + FloorLamp - object + SoapBottle - object + Pot - object + Pencil - object + Spatula - object + Towel - object + Fork - object + Ladle - object + Knife - object + Apple - object + Box - object + Tomato - object + ButterKnife - object + Egg - object + Book - object + DeskLamp - object +CurtainsType - otype + SprayBottleType - otype + MirrorType - otype + HousePlantType - otype + WatchType - otype + TeddyBearType - otype + WateringCanType - otype + BathtubType - otype + LightSwitchType - otype + VaseType - otype + CandleType - otype + BreadType - otype + StatueType - otype + HandTowelType - otype + StoveKnobType - otype + PaperTowelRollType - otype + PanType - otype + PepperShakerType - otype + PaintingType - otype + CellPhoneType - otype + PlungerType - otype + SpoonType - otype + SaltShakerType - otype + KeyChainType - otype + FootstoolType - otype + PosterType - otype + TelevisionType - otype + LaundryHamperLidType - otype + GlassbottleType - otype + AlarmClockType - otype + WineBottleType - otype + BowlType - otype + SinkType - otype + TissueBoxType - otype + TennisRacketType - otype + ToiletPaperType - otype + ScrubBrushType - otype + CreditCardType - otype + LaptopType - otype + ClothType - otype + CupType - otype + ChairType - otype + BasketBallType - otype + KettleType - otype + PaperTowelType - otype + ShowerDoorType - otype + BaseballBatType - otype + PotatoType - otype + PillowType - otype + LettuceType - otype + RemoteControlType - otype + WindowType - otype + DishSpongeType - otype + CDType - otype + BootsType - otype + BlindsType - otype + PenType - otype + NewspaperType - otype + PlateType - otype + MugType - otype + ShowerGlassType - otype + ToiletPaperRollType - otype + SoapBarType - otype + FloorLampType - otype + SoapBottleType - otype + PotType - otype + PencilType - otype + SpatulaType - otype + TowelType - otype + ForkType - otype + LadleType - otype + KnifeType - otype + AppleType - otype + BoxType - otype + TomatoType - otype + ButterKnifeType - otype + EggType - otype + BookType - otype + DeskLampType - otype +CabinetType - rtype + ShelfType - rtype + DiningTableType - rtype + TowelHolderType - rtype + PaintingHangerType - rtype + TVStandType - rtype + LaundryHamperType - rtype + OttomanType - rtype + SafeType - rtype + CoffeeMachineType - rtype + CounterTopType - rtype + ToiletType - rtype + FridgeType - rtype + CoffeeTableType - rtype + SinkBasinType - rtype + GarbageCanType - rtype + BathtubBasinType - rtype + SideTableType - rtype + CartType - rtype + BedType - rtype + DeskType - rtype + SofaType - rtype + ArmChairType - rtype + MicrowaveType - rtype + HandTowelHolderType - rtype + ToasterType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + DrawerType - rtype + DresserType - rtype + + + Apple_bar__plus_00_dot_02_bar__plus_00_dot_83_bar__plus_06_dot_74 - object + Apple_bar__plus_01_dot_14_bar__plus_01_dot_07_bar__plus_03_dot_51 - object + Apple_bar__minus_00_dot_31_bar__plus_00_dot_83_bar__plus_06_dot_54 - object + Blinds_bar__plus_01_dot_74_bar__plus_02_dot_56_bar__plus_02_dot_31 - object + Bowl_bar__plus_00_dot_31_bar__plus_00_dot_76_bar__plus_06_dot_48 - object + Bowl_bar__minus_00_dot_48_bar__plus_00_dot_14_bar__plus_00_dot_51 - object + Bread_bar__minus_00_dot_54_bar__plus_01_dot_06_bar__plus_00_dot_30 - object + ButterKnife_bar__plus_00_dot_12_bar__plus_00_dot_76_bar__plus_06_dot_11 - object + ButterKnife_bar__plus_01_dot_28_bar__plus_00_dot_98_bar__plus_01_dot_34 - object + ButterKnife_bar__minus_00_dot_41_bar__plus_00_dot_77_bar__plus_00_dot_45 - object + Chair_bar__plus_00_dot_29_bar__plus_00_dot_02_bar__plus_06_dot_14 - object + Cup_bar__plus_01_dot_58_bar__plus_02_dot_20_bar__plus_03_dot_84 - object + 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loc_bar_3_bar_15_bar_1_bar_60 - location + loc_bar_1_bar_6_bar_2_bar_30 - location + loc_bar_1_bar_7_bar_2_bar_45 - location + loc_bar_3_bar_4_bar_1_bar_45 - location + loc_bar_1_bar_7_bar_1_bar_60 - location + loc_bar_3_bar_26_bar_3_bar_45 - location + loc_bar_3_bar_19_bar_1_bar_45 - location + loc_bar_3_bar_4_bar_2_bar__minus_30 - location + loc_bar__minus_6_bar_2_bar_1_bar_30 - location + ) + + +(:init + + + (receptacleType Toaster_bar__plus_01_dot_47_bar__plus_00_dot_98_bar__plus_04_dot_72 ToasterType) + (receptacleType Drawer_bar__plus_00_dot_74_bar__plus_00_dot_80_bar__plus_00_dot_52 DrawerType) + (receptacleType Cabinet_bar__minus_00_dot_26_bar__plus_02_dot_13_bar__plus_00_dot_43 CabinetType) + (receptacleType Drawer_bar__plus_01_dot_28_bar__plus_00_dot_80_bar__plus_03_dot_29 DrawerType) + (receptacleType StoveBurner_bar__plus_01_dot_56_bar__plus_00_dot_98_bar__plus_03_dot_85 StoveBurnerType) + (receptacleType Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_04_dot_89 CabinetType) + (receptacleType CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90 CounterTopType) + (receptacleType Cabinet_bar__plus_00_dot_25_bar__plus_02_dot_13_bar__plus_00_dot_43 CabinetType) + (receptacleType Cabinet_bar__plus_01_dot_31_bar__plus_02_dot_46_bar__plus_04_dot_36 CabinetType) + (receptacleType StoveBurner_bar__plus_01_dot_56_bar__plus_00_dot_98_bar__plus_04_dot_29 StoveBurnerType) + (receptacleType Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_03_dot_10 CabinetType) + (receptacleType GarbageCan_bar__plus_02_dot_00_bar__plus_00_dot_00_bar__plus_06_dot_50 GarbageCanType) + (receptacleType StoveBurner_bar__plus_01_dot_32_bar__plus_00_dot_98_bar__plus_04_dot_29 StoveBurnerType) + (receptacleType StoveBurner_bar__plus_01_dot_32_bar__plus_00_dot_98_bar__plus_03_dot_85 StoveBurnerType) + (receptacleType Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_01_dot_71 CabinetType) + (receptacleType 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Microwave_bar__plus_00_dot_11_bar__plus_00_dot_98_bar__plus_00_dot_26) + + (atLocation agent1 loc_bar__minus_6_bar_2_bar_1_bar_30) + + (cleanable Plate_bar__plus_01_dot_23_bar__plus_00_dot_99_bar__plus_00_dot_21) + (cleanable ButterKnife_bar__plus_00_dot_12_bar__plus_00_dot_76_bar__plus_06_dot_11) + (cleanable Lettuce_bar__minus_00_dot_16_bar__plus_00_dot_85_bar__plus_06_dot_94) + (cleanable Potato_bar__plus_01_dot_49_bar__plus_01_dot_03_bar__plus_02_dot_95) + (cleanable Spoon_bar__minus_00_dot_62_bar__plus_00_dot_77_bar__plus_00_dot_40) + (cleanable Mug_bar__plus_01_dot_33_bar__plus_00_dot_89_bar__plus_02_dot_53) + (cleanable Pan_bar__plus_01_dot_31_bar__plus_00_dot_99_bar__plus_04_dot_28) + (cleanable Pot_bar__plus_01_dot_56_bar__plus_00_dot_99_bar__plus_03_dot_85) + (cleanable Knife_bar__plus_00_dot_26_bar__plus_00_dot_80_bar__plus_00_dot_56) + (cleanable Spoon_bar__plus_00_dot_12_bar__plus_00_dot_77_bar__plus_00_dot_45) + (cleanable Spoon_bar__plus_00_dot_80_bar__plus_00_dot_77_bar__plus_00_dot_45) + (cleanable Bowl_bar__plus_00_dot_31_bar__plus_00_dot_76_bar__plus_06_dot_48) + (cleanable Fork_bar__minus_00_dot_49_bar__plus_00_dot_76_bar__plus_06_dot_81) + (cleanable Lettuce_bar__plus_01_dot_45_bar__plus_00_dot_93_bar__plus_02_dot_05) + (cleanable ButterKnife_bar__plus_01_dot_28_bar__plus_00_dot_98_bar__plus_01_dot_34) + (cleanable Knife_bar__plus_00_dot_19_bar__plus_00_dot_80_bar__plus_00_dot_56) + (cleanable Kettle_bar__plus_01_dot_59_bar__plus_00_dot_98_bar__plus_03_dot_25) + (cleanable Apple_bar__minus_00_dot_31_bar__plus_00_dot_83_bar__plus_06_dot_54) + (cleanable Potato_bar__minus_00_dot_47_bar__plus_00_dot_79_bar__plus_06_dot_60) + (cleanable Mug_bar__plus_00_dot_06_bar__plus_01_dot_09_bar__plus_00_dot_18) + (cleanable Cup_bar__plus_01_dot_58_bar__plus_02_dot_20_bar__plus_03_dot_84) + (cleanable ButterKnife_bar__minus_00_dot_41_bar__plus_00_dot_77_bar__plus_00_dot_45) + (cleanable Fork_bar__minus_00_dot_03_bar__plus_00_dot_76_bar__plus_06_dot_63) + (cleanable Bowl_bar__minus_00_dot_48_bar__plus_00_dot_14_bar__plus_00_dot_51) + (cleanable DishSponge_bar__plus_01_dot_40_bar__plus_02_dot_21_bar__plus_03_dot_89) + (cleanable Egg_bar__plus_01_dot_40_bar__plus_01_dot_04_bar__plus_03_dot_42) + (cleanable Apple_bar__plus_01_dot_14_bar__plus_01_dot_07_bar__plus_03_dot_51) + (cleanable Knife_bar__plus_00_dot_92_bar__plus_01_dot_02_bar__plus_00_dot_21) + (cleanable Spatula_bar__minus_00_dot_08_bar__plus_00_dot_79_bar__plus_00_dot_51) + (cleanable DishSponge_bar__plus_01_dot_14_bar__plus_00_dot_99_bar__plus_04_dot_67) + (cleanable DishSponge_bar__minus_00_dot_35_bar__plus_00_dot_76_bar__plus_06_dot_17) + (cleanable Tomato_bar__minus_00_dot_62_bar__plus_00_dot_81_bar__plus_06_dot_28) + (cleanable Plate_bar__minus_00_dot_01_bar__plus_01_dot_58_bar__plus_00_dot_25) + (cleanable Apple_bar__plus_00_dot_02_bar__plus_00_dot_83_bar__plus_06_dot_74) + + (heatable Plate_bar__plus_01_dot_23_bar__plus_00_dot_99_bar__plus_00_dot_21) + (heatable Potato_bar__plus_01_dot_49_bar__plus_01_dot_03_bar__plus_02_dot_95) + (heatable Mug_bar__plus_01_dot_33_bar__plus_00_dot_89_bar__plus_02_dot_53) + (heatable Apple_bar__minus_00_dot_31_bar__plus_00_dot_83_bar__plus_06_dot_54) + (heatable Potato_bar__minus_00_dot_47_bar__plus_00_dot_79_bar__plus_06_dot_60) + (heatable Mug_bar__plus_00_dot_06_bar__plus_01_dot_09_bar__plus_00_dot_18) + (heatable Cup_bar__plus_01_dot_58_bar__plus_02_dot_20_bar__plus_03_dot_84) + (heatable Egg_bar__plus_01_dot_40_bar__plus_01_dot_04_bar__plus_03_dot_42) + (heatable Apple_bar__plus_01_dot_14_bar__plus_01_dot_07_bar__plus_03_dot_51) + (heatable Tomato_bar__minus_00_dot_62_bar__plus_00_dot_81_bar__plus_06_dot_28) + (heatable Plate_bar__minus_00_dot_01_bar__plus_01_dot_58_bar__plus_00_dot_25) + (heatable Bread_bar__minus_00_dot_54_bar__plus_01_dot_06_bar__plus_00_dot_30) + (heatable Apple_bar__plus_00_dot_02_bar__plus_00_dot_83_bar__plus_06_dot_74) + (coolable Plate_bar__plus_01_dot_23_bar__plus_00_dot_99_bar__plus_00_dot_21) + (coolable Lettuce_bar__minus_00_dot_16_bar__plus_00_dot_85_bar__plus_06_dot_94) + (coolable Potato_bar__plus_01_dot_49_bar__plus_01_dot_03_bar__plus_02_dot_95) + (coolable Mug_bar__plus_01_dot_33_bar__plus_00_dot_89_bar__plus_02_dot_53) + (coolable Pan_bar__plus_01_dot_31_bar__plus_00_dot_99_bar__plus_04_dot_28) + (coolable Pot_bar__plus_01_dot_56_bar__plus_00_dot_99_bar__plus_03_dot_85) + (coolable Bowl_bar__plus_00_dot_31_bar__plus_00_dot_76_bar__plus_06_dot_48) + (coolable Lettuce_bar__plus_01_dot_45_bar__plus_00_dot_93_bar__plus_02_dot_05) + (coolable Apple_bar__minus_00_dot_31_bar__plus_00_dot_83_bar__plus_06_dot_54) + (coolable Potato_bar__minus_00_dot_47_bar__plus_00_dot_79_bar__plus_06_dot_60) + (coolable Mug_bar__plus_00_dot_06_bar__plus_01_dot_09_bar__plus_00_dot_18) + (coolable 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CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90) + (inReceptacle Potato_bar__plus_01_dot_49_bar__plus_01_dot_03_bar__plus_02_dot_95 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90) + (inReceptacle Kettle_bar__plus_01_dot_59_bar__plus_00_dot_98_bar__plus_03_dot_25 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90) + (inReceptacle ButterKnife_bar__plus_01_dot_28_bar__plus_00_dot_98_bar__plus_01_dot_34 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90) + (inReceptacle Egg_bar__plus_01_dot_40_bar__plus_01_dot_04_bar__plus_03_dot_42 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90) + (inReceptacle Bread_bar__minus_00_dot_54_bar__plus_01_dot_06_bar__plus_00_dot_30 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90) + (inReceptacle Apple_bar__plus_01_dot_14_bar__plus_01_dot_07_bar__plus_03_dot_51 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90) + (inReceptacle SoapBottle_bar__minus_00_dot_38_bar__plus_00_dot_99_bar__plus_00_dot_40 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90) + (inReceptacle Knife_bar__plus_00_dot_92_bar__plus_01_dot_02_bar__plus_00_dot_21 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90) + (inReceptacle DishSponge_bar__plus_01_dot_14_bar__plus_00_dot_99_bar__plus_04_dot_67 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_04_dot_72) + (inReceptacle SaltShaker_bar__plus_01_dot_14_bar__plus_00_dot_99_bar__plus_04_dot_58 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_04_dot_72) + (inReceptacle SoapBottle_bar__plus_01_dot_37_bar__plus_01_dot_58_bar__plus_04_dot_63 Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_04_dot_89) + (inReceptacle Bowl_bar__minus_00_dot_48_bar__plus_00_dot_14_bar__plus_00_dot_51 Cabinet_bar__minus_00_dot_78_bar__plus_00_dot_42_bar__plus_00_dot_74) + (inReceptacle Plate_bar__minus_00_dot_01_bar__plus_01_dot_58_bar__plus_00_dot_25 Cabinet_bar__minus_00_dot_26_bar__plus_02_dot_13_bar__plus_00_dot_43) + (inReceptacle Mug_bar__plus_00_dot_06_bar__plus_01_dot_09_bar__plus_00_dot_18 Microwave_bar__plus_00_dot_11_bar__plus_00_dot_98_bar__plus_00_dot_26) + (inReceptacle Mug_bar__plus_01_dot_33_bar__plus_00_dot_89_bar__plus_02_dot_53 Sink_bar__plus_01_dot_39_bar__plus_01_dot_01_bar__plus_02_dot_33_bar_SinkBasin) + (inReceptacle Lettuce_bar__plus_01_dot_45_bar__plus_00_dot_93_bar__plus_02_dot_05 Sink_bar__plus_01_dot_39_bar__plus_01_dot_01_bar__plus_02_dot_33_bar_SinkBasin) + + + (receptacleAtLocation Cabinet_bar__plus_00_dot_25_bar__plus_02_dot_13_bar__plus_00_dot_43 loc_bar_2_bar_4_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_00_dot_44_bar__plus_00_dot_42_bar__plus_00_dot_74 loc_bar_1_bar_7_bar_2_bar_45) + (receptacleAtLocation 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(receptacleAtLocation Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_01_dot_53 loc_bar_3_bar_5_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_03_dot_10 loc_bar_3_bar_14_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_04_dot_89 loc_bar_3_bar_18_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_17_bar__plus_00_dot_42_bar__plus_00_dot_74 loc_bar__minus_1_bar_7_bar_2_bar_45) + (receptacleAtLocation Cabinet_bar__minus_00_dot_26_bar__plus_02_dot_13_bar__plus_00_dot_43 loc_bar_0_bar_4_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_78_bar__plus_00_dot_42_bar__plus_00_dot_74 loc_bar_0_bar_7_bar_2_bar_45) + (receptacleAtLocation CoffeeMachine_bar__plus_01_dot_55_bar__plus_00_dot_98_bar__plus_00_dot_95 loc_bar_3_bar_4_bar_1_bar_45) + (receptacleAtLocation CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90 loc_bar_3_bar_4_bar_1_bar_45) + (receptacleAtLocation CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_04_dot_72 loc_bar_3_bar_19_bar_1_bar_45) + (receptacleAtLocation DiningTable_bar__minus_00_dot_16_bar__plus_00_dot_67_bar__plus_06_dot_47 loc_bar_3_bar_26_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__plus_00_dot_12_bar__plus_00_dot_80_bar__plus_00_dot_52 loc_bar__minus_3_bar_5_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_00_dot_74_bar__plus_00_dot_80_bar__plus_00_dot_52 loc_bar_0_bar_5_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_01_dot_28_bar__plus_00_dot_80_bar__plus_03_dot_29 loc_bar_1_bar_13_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_01_dot_28_bar__plus_00_dot_81_bar__plus_04_dot_72 loc_bar_1_bar_20_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_48_bar__plus_00_dot_80_bar__plus_00_dot_52 loc_bar__minus_5_bar_5_bar_1_bar_45) + (receptacleAtLocation Fridge_bar__plus_02_dot_04_bar__plus_00_dot_00_bar__plus_05_dot_63 loc_bar_4_bar_22_bar_1_bar_60) + (receptacleAtLocation GarbageCan_bar__plus_02_dot_00_bar__plus_00_dot_00_bar__plus_06_dot_50 loc_bar_4_bar_24_bar_1_bar_60) + (receptacleAtLocation Microwave_bar__plus_00_dot_11_bar__plus_00_dot_98_bar__plus_00_dot_26 loc_bar_1_bar_6_bar_2_bar_30) + (receptacleAtLocation Safe_bar__plus_02_dot_05_bar__minus_00_dot_01_bar__plus_07_dot_06 loc_bar_4_bar_26_bar_1_bar_60) + (receptacleAtLocation Sink_bar__plus_01_dot_39_bar__plus_01_dot_01_bar__plus_02_dot_33_bar_SinkBasin loc_bar_3_bar_9_bar_1_bar_45) + (receptacleAtLocation StoveBurner_bar__plus_01_dot_32_bar__plus_00_dot_98_bar__plus_03_dot_85 loc_bar_3_bar_15_bar_1_bar_45) + (receptacleAtLocation StoveBurner_bar__plus_01_dot_32_bar__plus_00_dot_98_bar__plus_04_dot_29 loc_bar_3_bar_17_bar_1_bar_45) + (receptacleAtLocation StoveBurner_bar__plus_01_dot_56_bar__plus_00_dot_98_bar__plus_03_dot_85 loc_bar_3_bar_15_bar_1_bar_45) + (receptacleAtLocation StoveBurner_bar__plus_01_dot_56_bar__plus_00_dot_98_bar__plus_04_dot_29 loc_bar_3_bar_17_bar_1_bar_45) + (receptacleAtLocation Toaster_bar__plus_01_dot_47_bar__plus_00_dot_98_bar__plus_04_dot_72 loc_bar_3_bar_19_bar_1_bar_45) + (objectAtLocation Mug_bar__plus_00_dot_06_bar__plus_01_dot_09_bar__plus_00_dot_18 loc_bar_1_bar_6_bar_2_bar_30) + (objectAtLocation Spoon_bar__plus_00_dot_80_bar__plus_00_dot_77_bar__plus_00_dot_45 loc_bar_0_bar_5_bar_1_bar_45) + (objectAtLocation DishSponge_bar__plus_01_dot_14_bar__plus_00_dot_99_bar__plus_04_dot_67 loc_bar_3_bar_19_bar_1_bar_45) + (objectAtLocation ButterKnife_bar__plus_01_dot_28_bar__plus_00_dot_98_bar__plus_01_dot_34 loc_bar_3_bar_4_bar_1_bar_45) + (objectAtLocation Potato_bar__plus_01_dot_49_bar__plus_01_dot_03_bar__plus_02_dot_95 loc_bar_3_bar_4_bar_1_bar_45) + (objectAtLocation SoapBottle_bar__minus_00_dot_38_bar__plus_00_dot_99_bar__plus_00_dot_40 loc_bar_3_bar_4_bar_1_bar_45) + (objectAtLocation Lettuce_bar__plus_01_dot_45_bar__plus_00_dot_93_bar__plus_02_dot_05 loc_bar_3_bar_9_bar_1_bar_45) + (objectAtLocation SaltShaker_bar__plus_01_dot_14_bar__plus_00_dot_99_bar__plus_04_dot_58 loc_bar_3_bar_19_bar_1_bar_45) + (objectAtLocation Plate_bar__minus_00_dot_01_bar__plus_01_dot_58_bar__plus_00_dot_25 loc_bar_0_bar_4_bar_2_bar__minus_30) + (objectAtLocation Apple_bar__minus_00_dot_31_bar__plus_00_dot_83_bar__plus_06_dot_54 loc_bar_3_bar_26_bar_3_bar_45) + (objectAtLocation Fork_bar__minus_00_dot_03_bar__plus_00_dot_76_bar__plus_06_dot_63 loc_bar_3_bar_26_bar_3_bar_45) + (objectAtLocation Knife_bar__plus_00_dot_26_bar__plus_00_dot_80_bar__plus_00_dot_56 loc_bar__minus_3_bar_5_bar_1_bar_45) + (objectAtLocation Bowl_bar__minus_00_dot_48_bar__plus_00_dot_14_bar__plus_00_dot_51 loc_bar_0_bar_7_bar_2_bar_45) + (objectAtLocation Apple_bar__plus_00_dot_02_bar__plus_00_dot_83_bar__plus_06_dot_74 loc_bar_3_bar_26_bar_3_bar_45) + (objectAtLocation SaltShaker_bar__plus_00_dot_06_bar__plus_00_dot_76_bar__plus_06_dot_26 loc_bar_3_bar_26_bar_3_bar_45) + (objectAtLocation SoapBottle_bar__plus_01_dot_37_bar__plus_01_dot_58_bar__plus_04_dot_63 loc_bar_3_bar_18_bar_1_bar__minus_30) + (objectAtLocation Knife_bar__plus_00_dot_92_bar__plus_01_dot_02_bar__plus_00_dot_21 loc_bar_3_bar_4_bar_1_bar_45) + (objectAtLocation Spoon_bar__minus_00_dot_62_bar__plus_00_dot_77_bar__plus_00_dot_40 loc_bar__minus_5_bar_5_bar_1_bar_45) + (objectAtLocation ButterKnife_bar__plus_00_dot_12_bar__plus_00_dot_76_bar__plus_06_dot_11 loc_bar_3_bar_26_bar_3_bar_45) + (objectAtLocation DishSponge_bar__minus_00_dot_35_bar__plus_00_dot_76_bar__plus_06_dot_17 loc_bar_3_bar_26_bar_3_bar_45) + (objectAtLocation Sink_bar__plus_01_dot_39_bar__plus_01_dot_01_bar__plus_02_dot_33 loc_bar_3_bar_9_bar_1_bar_45) + (objectAtLocation Bowl_bar__plus_00_dot_31_bar__plus_00_dot_76_bar__plus_06_dot_48 loc_bar_3_bar_26_bar_3_bar_45) + (objectAtLocation Bread_bar__minus_00_dot_54_bar__plus_01_dot_06_bar__plus_00_dot_30 loc_bar_3_bar_4_bar_1_bar_45) + (objectAtLocation Egg_bar__plus_01_dot_40_bar__plus_01_dot_04_bar__plus_03_dot_42 loc_bar_3_bar_4_bar_1_bar_45) + (objectAtLocation Knife_bar__plus_00_dot_19_bar__plus_00_dot_80_bar__plus_00_dot_56 loc_bar__minus_3_bar_5_bar_1_bar_45) + (objectAtLocation Fork_bar__minus_00_dot_49_bar__plus_00_dot_76_bar__plus_06_dot_81 loc_bar_3_bar_26_bar_3_bar_45) + (objectAtLocation Apple_bar__plus_01_dot_14_bar__plus_01_dot_07_bar__plus_03_dot_51 loc_bar_3_bar_4_bar_1_bar_45) + (objectAtLocation Kettle_bar__plus_01_dot_59_bar__plus_00_dot_98_bar__plus_03_dot_25 loc_bar_3_bar_4_bar_1_bar_45) + (objectAtLocation Plate_bar__plus_01_dot_23_bar__plus_00_dot_99_bar__plus_00_dot_21 loc_bar_3_bar_4_bar_1_bar_45) + (objectAtLocation HousePlant_bar__minus_00_dot_17_bar__plus_00_dot_75_bar__plus_06_dot_44 loc_bar_3_bar_26_bar_3_bar_45) + (objectAtLocation SaltShaker_bar__plus_01_dot_45_bar__plus_02_dot_20_bar__plus_03_dot_65 loc_bar_3_bar_14_bar_1_bar__minus_30) + (objectAtLocation Lettuce_bar__minus_00_dot_16_bar__plus_00_dot_85_bar__plus_06_dot_94 loc_bar_3_bar_26_bar_3_bar_45) + (objectAtLocation Window_bar__minus_02_dot_07_bar__plus_01_dot_92_bar__plus_03_dot_63 loc_bar__minus_6_bar_15_bar_3_bar__minus_30) + (objectAtLocation Window_bar__plus_01_dot_76_bar__plus_02_dot_01_bar__plus_02_dot_30 loc_bar_3_bar_9_bar_1_bar__minus_15) + (objectAtLocation SoapBottle_bar__plus_00_dot_30_bar__plus_00_dot_76_bar__plus_06_dot_67 loc_bar_3_bar_26_bar_3_bar_45) + (objectAtLocation Spatula_bar__minus_00_dot_08_bar__plus_00_dot_79_bar__plus_00_dot_51 loc_bar__minus_3_bar_5_bar_1_bar_45) + (objectAtLocation PaperTowelRoll_bar__minus_00_dot_47_bar__plus_00_dot_86_bar__plus_06_dot_29 loc_bar_3_bar_26_bar_3_bar_45) + (objectAtLocation Pot_bar__plus_01_dot_56_bar__plus_00_dot_99_bar__plus_03_dot_85 loc_bar_3_bar_15_bar_1_bar_45) + (objectAtLocation Potato_bar__minus_00_dot_47_bar__plus_00_dot_79_bar__plus_06_dot_60 loc_bar_3_bar_26_bar_3_bar_45) + (objectAtLocation ButterKnife_bar__minus_00_dot_41_bar__plus_00_dot_77_bar__plus_00_dot_45 loc_bar__minus_5_bar_5_bar_1_bar_45) + (objectAtLocation StoveKnob_bar__plus_01_dot_14_bar__plus_00_dot_93_bar__plus_03_dot_99 loc_bar_3_bar_16_bar_1_bar_60) + (objectAtLocation StoveKnob_bar__plus_01_dot_14_bar__plus_00_dot_93_bar__plus_04_dot_31 loc_bar_3_bar_17_bar_1_bar_60) + (objectAtLocation StoveKnob_bar__plus_01_dot_14_bar__plus_00_dot_93_bar__plus_04_dot_14 loc_bar_3_bar_17_bar_1_bar_60) + (objectAtLocation StoveKnob_bar__plus_01_dot_14_bar__plus_00_dot_93_bar__plus_03_dot_82 loc_bar_3_bar_15_bar_1_bar_60) + (objectAtLocation PepperShaker_bar__plus_00_dot_15_bar__plus_00_dot_76_bar__plus_06_dot_42 loc_bar_3_bar_26_bar_3_bar_45) + (objectAtLocation Pan_bar__plus_01_dot_31_bar__plus_00_dot_99_bar__plus_04_dot_28 loc_bar_3_bar_17_bar_1_bar_45) + (objectAtLocation 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{ + "objectName": "ButterKnife_8d8b47bb", + "position": { + "x": 1.28472257, + "y": 0.981694043, + "z": 1.33948648 + }, + "rotation": { + "x": 0.0, + "y": 14.1857319, + "z": 0.0 + } + }, + { + "objectName": "PepperShaker_cff2324e", + "position": { + "x": 0.150742471, + "y": 0.7550883, + "z": 6.416539 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "Pan_08687688", + "position": { + "x": 1.3131808, + "y": 0.9855794, + "z": 4.28467369 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Tomato_8b4d7f57", + "position": { + "x": -0.61884886, + "y": 0.8095539, + "z": 6.2845335 + }, + "rotation": { + "x": 0.0, + "y": 225.000046, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_6d7ef995", + "position": { + "x": 1.13578975, + "y": 0.99226433, + "z": 4.67067957 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Cup_8e8a26e1", + "position": { + "x": 1.57739961, + "y": 2.20325, + "z": 3.84069443 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Spoon_cefc2847", + "position": { + "x": 0.80350095, + "y": 0.773551643, + "z": 0.451127946 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_6d84c70f", + "position": { + "x": 0.06465548, + "y": 1.09214664, + "z": 0.180919528 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 3760225649, + "scene_num": 18 + }, + "task_id": "trial_T20190906_181023_216915", + "task_type": "pick_cool_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A1RLO9LNUJIW5S_3F1567XTNZMV3QLO5ZJVR8PZRLQQ93", + "high_descs": [ + "Turn left and walk halfway across the room until you are even with the stove then turn right and walk to the stove so you are facing the front of it.", + "Pick up the frying pan on the bottom left burner.", + "Turn left and walk to the fridge and face it.", + "Open the fridge and place the frying pan on the top shelf to the right and close the door letting it chill for a while before retrieving it and closing the door.", + "Position yourself back in front of the stove where you were before.", + "Place the frying pan back on the stove but on the top left burner this time." + ], + "task_desc": "Place a chilled frying pan on the stove.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1ELPYAFO7MANS_3M0BCWMB8YDJBGW7FSWXA32B3NIWBX", + "high_descs": [ + "Turn left, go forward, and hang right to face the stove.", + "Pick up the pan on the front left burner.", + "Turn left and walk to the fridge.", + "Open the fridge, place the pan on the right shelf. Close the door, wait a moment, and take the pan back out.", + "Turn right and take a few steps. Face the stove.", + "Place the pan on the back left burner of the stove." + ], + "task_desc": "Place a chilled pan on a stove.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1ELPYAFO7MANS_3DOCMVPBTQVVPVCQQHAJ5FPFUV7NNW", + "high_descs": [ + "Turn left and walk ahead, veering right to the stove.", + "Pick up the pan on the left side of the stove.", + "Take a few steps left.", + "Place the pan in the fridge and close the door. Wait a moment and take the pan back out.", + "Take a few steps back until you're facing the stove again.", + "Place the pan on the back left burner on the stove." + ], + "task_desc": "Place a chilled plate on a stove.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1P0XSCJ9XAV74_3EFVCAY5L6QE3YY15HT8UBI3WF18JL", + "high_descs": [ + "Turn left and walk straight. Halfway turn right and go to the stove.", + "Pick up the frying pan on the stove.", + "Turn left, walk straight making a right to face the fridge.", + "Put the frying pan on the shelf in the fridge and shut the door. After a few seconds take the pan back out.", + "Turn around to take a step towards the table and turn left. Walk to the stove and turn left to face it.", + "Place the frying pan on the back burner." + ], + "task_desc": "To place the pan in the fridge to go back on the stove top.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A28HB7240OFGEW_386PBUZZXIE9I5IKZ62CZG48DKMJL9", + "high_descs": [ + "Turn around and walk over to the stove.", + "Pick up the pan on the left side of the stove.", + "Turn around and walk to the refrigerator.", + "Open the refrigerator and put the pan inside then close the door. Wait a few seconds then open the door and take the pan out. Close the door.", + "Walk back over to the stove.", + "Put the pan onto the back of the stove." + ], + "task_desc": "Put a cooled down pan onto the back of the stove.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AKW57KYG90X61_3DPNQGW4LOW1W2WS9V964VXT8OD640", + "high_descs": [ + "move left towards the gas", + "pick up the pan from the gas", + "move left towards the fridge", + "place the pan in the fridge to cool and then take it out", + "turn right and head for the gas", + "place the pan on the gas" + ], + "task_desc": "place a cold pan on the gas", + "votes": [ + 0, + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/valid_seen/pick_cool_then_place_in_recep-Tomato-None-Microwave-13/trial_T20190910_173916_331859/game.tw-pddl b/data/alfworld/json_2.1.1/valid_seen/pick_cool_then_place_in_recep-Tomato-None-Microwave-13/trial_T20190910_173916_331859/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..d4b70fbb38da7acb08bb22f2fc0f94435235488f --- /dev/null +++ b/data/alfworld/json_2.1.1/valid_seen/pick_cool_then_place_in_recep-Tomato-None-Microwave-13/trial_T20190910_173916_331859/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\n\\n#task#\"\n }\n ],\n\n \"notImplemented\": [\n {\n \"rhs\": \"TODO\"\n }\n ],\n\n \"task\": [\n {\n \"rhs\": \"Your task is to: cool some tomato and put it in microwave.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190910_173916_331859)\n(:domain alfred)\n(:objects\nagent1 - agent\nCurtains - object\n SprayBottle - object\n Mirror - object\n HousePlant - object\n Watch - object\n TeddyBear - object\n WateringCan - object\n Bathtub - object\n LightSwitch - object\n Vase - object\n Candle - object\n Bread - object\n Statue - object\n HandTowel - object\n StoveKnob - object\n PaperTowelRoll - object\n Pan - object\n PepperShaker - object\n Painting - object\n CellPhone - object\n Plunger - object\n Spoon - object\n SaltShaker - object\n KeyChain - object\n Footstool - object\n Poster - object\n Television - object\n LaundryHamperLid - object\n Glassbottle - object\n AlarmClock - object\n WineBottle - object\n Bowl - object\n Sink - object\n TissueBox - object\n TennisRacket - object\n ToiletPaper - object\n ScrubBrush - object\n CreditCard - object\n Laptop - object\n Cloth - object\n Cup - object\n Chair - object\n BasketBall - object\n Kettle - object\n PaperTowel - object\n ShowerDoor - object\n BaseballBat - object\n Potato - object\n Pillow - object\n Lettuce - object\n RemoteControl - object\n Window - object\n DishSponge - object\n CD - object\n Boots - object\n Blinds - object\n Pen - object\n Newspaper - object\n Plate - object\n Mug - object\n ShowerGlass - object\n ToiletPaperRoll - object\n SoapBar - object\n FloorLamp - object\n SoapBottle - object\n Pot - object\n Pencil - object\n Spatula - object\n Towel - object\n Fork - object\n Ladle - object\n Knife - object\n Apple - object\n Box - object\n Tomato - object\n ButterKnife - object\n Egg - object\n Book - object\n DeskLamp - object\nCurtainsType - otype\n SprayBottleType - otype\n MirrorType - otype\n HousePlantType - otype\n WatchType - otype\n TeddyBearType - otype\n WateringCanType - otype\n BathtubType - otype\n LightSwitchType - otype\n VaseType - otype\n CandleType - otype\n BreadType - otype\n StatueType - otype\n HandTowelType - otype\n StoveKnobType - otype\n PaperTowelRollType - otype\n PanType - otype\n PepperShakerType - otype\n PaintingType - otype\n CellPhoneType - otype\n PlungerType - otype\n SpoonType - otype\n SaltShakerType - otype\n KeyChainType - otype\n FootstoolType - otype\n PosterType - otype\n TelevisionType - otype\n LaundryHamperLidType - otype\n GlassbottleType - otype\n AlarmClockType - otype\n WineBottleType - otype\n BowlType - otype\n SinkType - otype\n TissueBoxType - otype\n TennisRacketType - otype\n ToiletPaperType - otype\n ScrubBrushType - otype\n CreditCardType - otype\n LaptopType - otype\n ClothType - otype\n CupType - otype\n ChairType - otype\n BasketBallType - otype\n KettleType - otype\n PaperTowelType - otype\n ShowerDoorType - otype\n BaseballBatType - otype\n PotatoType - otype\n PillowType - otype\n LettuceType - otype\n RemoteControlType - otype\n WindowType - otype\n DishSpongeType - otype\n CDType - otype\n BootsType - otype\n BlindsType - otype\n PenType - otype\n NewspaperType - otype\n PlateType - otype\n MugType - otype\n ShowerGlassType - otype\n ToiletPaperRollType - otype\n SoapBarType - otype\n FloorLampType - otype\n SoapBottleType - otype\n PotType - otype\n PencilType - otype\n SpatulaType - otype\n TowelType - otype\n ForkType - otype\n LadleType - otype\n KnifeType - otype\n AppleType - otype\n BoxType - otype\n TomatoType - otype\n ButterKnifeType - otype\n EggType - otype\n BookType - otype\n DeskLampType - otype\nCabinetType - rtype\n ShelfType - rtype\n DiningTableType - rtype\n TowelHolderType - rtype\n PaintingHangerType - rtype\n TVStandType - rtype\n LaundryHamperType - rtype\n OttomanType - rtype\n SafeType - rtype\n CoffeeMachineType - rtype\n CounterTopType - rtype\n ToiletType - rtype\n FridgeType - rtype\n CoffeeTableType - rtype\n SinkBasinType - rtype\n GarbageCanType - rtype\n BathtubBasinType - rtype\n SideTableType - rtype\n CartType - rtype\n BedType - rtype\n DeskType - rtype\n SofaType - rtype\n ArmChairType - rtype\n MicrowaveType - rtype\n HandTowelHolderType - rtype\n ToasterType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n DrawerType - rtype\n DresserType - rtype\n\n\n Apple_bar__minus_04_dot_20_bar__plus_00_dot_84_bar__plus_03_dot_10 - object\n Bowl_bar__minus_00_dot_26_bar__plus_00_dot_92_bar__plus_04_dot_62 - object\n Bowl_bar__minus_01_dot_94_bar__plus_00_dot_92_bar__plus_01_dot_65 - object\n Bread_bar__minus_04_dot_23_bar__plus_00_dot_99_bar__plus_03_dot_99 - object\n ButterKnife_bar__minus_00_dot_33_bar__plus_00_dot_93_bar__plus_05_dot_60 - object\n ButterKnife_bar__minus_04_dot_31_bar__plus_00_dot_92_bar__plus_02_dot_77 - object\n Cup_bar__minus_00_dot_18_bar__plus_00_dot_92_bar__plus_04_dot_94 - object\n Cup_bar__minus_01_dot_78_bar__plus_00_dot_92_bar__plus_01_dot_72 - object\n Cup_bar__minus_01_dot_94_bar__plus_00_dot_92_bar__plus_01_dot_95 - object\n Curtains_bar__minus_04_dot_52_bar__plus_02_dot_25_bar__plus_03_dot_39 - object\n DishSponge_bar__minus_04_dot_03_bar__plus_01_dot_46_bar__plus_01_dot_74 - object\n Egg_bar__minus_04_dot_31_bar__plus_00_dot_83_bar__plus_03_dot_29 - object\n Egg_bar__minus_04_dot_31_bar__plus_00_dot_83_bar__plus_03_dot_47 - object\n Egg_bar__minus_04_dot_41_bar__plus_00_dot_96_bar__plus_05_dot_16 - object\n Faucet_bar__minus_04_dot_44_bar__plus_00_dot_91_bar__plus_03_dot_29 - object\n Fork_bar__minus_00_dot_26_bar__plus_00_dot_93_bar__plus_04_dot_94 - object\n Fork_bar__minus_01_dot_86_bar__plus_00_dot_92_bar__plus_01_dot_95 - object\n Fork_bar__minus_04_dot_13_bar__plus_00_dot_75_bar__plus_02_dot_59 - object\n Knife_bar__minus_01_dot_78_bar__plus_00_dot_95_bar__plus_02_dot_03 - object\n Lettuce_bar__minus_03_dot_61_bar__plus_01_dot_02_bar__plus_05_dot_49 - object\n LightSwitch_bar__minus_01_dot_59_bar__plus_01_dot_17_bar__plus_01_dot_51 - object\n Mug_bar__minus_00_dot_41_bar__plus_00_dot_96_bar__plus_06_dot_56 - object\n Mug_bar__minus_04_dot_16_bar__plus_00_dot_79_bar__plus_03_dot_41 - object\n Mug_bar__minus_04_dot_20_bar__plus_00_dot_79_bar__plus_03_dot_22 - object\n Pan_bar__minus_02_dot_92_bar__plus_00_dot_93_bar__plus_02_dot_01 - object\n Pan_bar__minus_03_dot_86_bar__plus_00_dot_92_bar__plus_01_dot_95 - object\n PaperTowelRoll_bar__minus_01_dot_61_bar__plus_01_dot_03_bar__plus_01_dot_57 - object\n Pencil_bar__minus_00_dot_49_bar__plus_00_dot_93_bar__plus_06_dot_26 - object\n PepperShaker_bar__minus_00_dot_53_bar__plus_00_dot_74_bar__plus_04_dot_85 - object\n PepperShaker_bar__minus_01_dot_94_bar__plus_00_dot_92_bar__plus_01_dot_80 - object\n PepperShaker_bar__minus_03_dot_83_bar__plus_00_dot_74_bar__plus_05_dot_13 - object\n Plate_bar__minus_04_dot_13_bar__plus_00_dot_08_bar__plus_02_dot_29 - object\n Potato_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_05_dot_16 - object\n Pot_bar__minus_02_dot_92_bar__plus_00_dot_93_bar__plus_01_dot_71 - object\n SaltShaker_bar__minus_00_dot_18_bar__plus_00_dot_92_bar__plus_05_dot_27 - object\n SaltShaker_bar__minus_03_dot_53_bar__plus_00_dot_08_bar__plus_01_dot_85 - object\n SaltShaker_bar__minus_04_dot_04_bar__plus_00_dot_74_bar__plus_04_dot_51 - object\n Sink_bar__minus_04_dot_19_bar__plus_00_dot_92_bar__plus_03_dot_28 - object\n SoapBottle_bar__minus_00_dot_57_bar__plus_00_dot_92_bar__plus_04_dot_94 - object\n 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PepperShaker_bar__minus_01_dot_94_bar__plus_00_dot_92_bar__plus_01_dot_80 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_96_bar__plus_01_dot_80)\n (inReceptacle Cup_bar__minus_01_dot_94_bar__plus_00_dot_92_bar__plus_01_dot_95 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_96_bar__plus_01_dot_80)\n (inReceptacle Fork_bar__minus_01_dot_86_bar__plus_00_dot_92_bar__plus_01_dot_95 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_96_bar__plus_01_dot_80)\n (inReceptacle Bowl_bar__minus_01_dot_94_bar__plus_00_dot_92_bar__plus_01_dot_65 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_96_bar__plus_01_dot_80)\n (inReceptacle Cup_bar__minus_01_dot_78_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)\n (inReceptacle Spatula_bar__minus_01_dot_69_bar__plus_00_dot_94_bar__plus_01_dot_80 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_96_bar__plus_01_dot_80)\n (inReceptacle PaperTowelRoll_bar__minus_01_dot_61_bar__plus_01_dot_03_bar__plus_01_dot_57 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_96_bar__plus_01_dot_80)\n (inReceptacle Knife_bar__minus_01_dot_78_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)\n (inReceptacle Pan_bar__minus_02_dot_92_bar__plus_00_dot_93_bar__plus_02_dot_01 StoveBurner_bar__minus_02_dot_92_bar__plus_00_dot_92_bar__plus_02_dot_01)\n (inReceptacle Bowl_bar__minus_00_dot_26_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)\n (inReceptacle Mug_bar__minus_00_dot_41_bar__plus_00_dot_96_bar__plus_06_dot_56 CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__plus_05_dot_60)\n (inReceptacle Cup_bar__minus_00_dot_18_bar__plus_00_dot_92_bar__plus_04_dot_94 CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__plus_05_dot_60)\n (inReceptacle SoapBottle_bar__minus_00_dot_57_bar__plus_00_dot_92_bar__plus_04_dot_94 CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__plus_05_dot_60)\n (inReceptacle Tomato_bar__minus_00_dot_49_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)\n (inReceptacle ButterKnife_bar__minus_00_dot_33_bar__plus_00_dot_93_bar__plus_05_dot_60 CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__plus_05_dot_60)\n (inReceptacle Fork_bar__minus_00_dot_26_bar__plus_00_dot_93_bar__plus_04_dot_94 CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__plus_05_dot_60)\n (inReceptacle SaltShaker_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)\n (inReceptacle Pencil_bar__minus_00_dot_49_bar__plus_00_dot_93_bar__plus_06_dot_26 CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__plus_05_dot_60)\n (inReceptacle PepperShaker_bar__minus_00_dot_53_bar__plus_00_dot_74_bar__plus_04_dot_85 Drawer_bar__minus_00_dot_51_bar__plus_00_dot_78_bar__plus_04_dot_62)\n (inReceptacle Pot_bar__minus_02_dot_92_bar__plus_00_dot_93_bar__plus_01_dot_71 StoveBurner_bar__minus_02_dot_92_bar__plus_00_dot_92_bar__plus_01_dot_71)\n (inReceptacle Pan_bar__minus_02_dot_92_bar__plus_00_dot_93_bar__plus_02_dot_01 StoveBurner_bar__minus_02_dot_92_bar__plus_00_dot_92_bar__plus_01_dot_71)\n (inReceptacle Tomato_bar__minus_04_dot_10_bar__plus_00_dot_98_bar__plus_02_dot_30 CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94)\n (inReceptacle Tomato_bar__minus_04_dot_26_bar__plus_00_dot_98_bar__plus_04_dot_90 CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94)\n (inReceptacle Egg_bar__minus_04_dot_41_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)\n (inReceptacle WineBottle_bar__minus_04_dot_41_bar__plus_00_dot_92_bar__plus_03_dot_86 CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94)\n (inReceptacle Lettuce_bar__minus_03_dot_61_bar__plus_01_dot_02_bar__plus_05_dot_49 CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94)\n (inReceptacle Bread_bar__minus_04_dot_23_bar__plus_00_dot_99_bar__plus_03_dot_99 CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94)\n (inReceptacle Pan_bar__minus_03_dot_86_bar__plus_00_dot_92_bar__plus_01_dot_95 CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94)\n (inReceptacle ButterKnife_bar__minus_04_dot_31_bar__plus_00_dot_92_bar__plus_02_dot_77 CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94)\n (inReceptacle Spoon_bar__minus_04_dot_52_bar__plus_00_dot_92_bar__plus_03_dot_43 CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94)\n (inReceptacle Potato_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_05_dot_16 CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94)\n (inReceptacle DishSponge_bar__minus_04_dot_03_bar__plus_01_dot_46_bar__plus_01_dot_74 Cabinet_bar__minus_04_dot_28_bar__plus_01_dot_93_bar__plus_02_dot_23)\n (inReceptacle PepperShaker_bar__minus_03_dot_83_bar__plus_00_dot_74_bar__plus_05_dot_13 Drawer_bar__minus_03_dot_80_bar__plus_00_dot_78_bar__plus_05_dot_16)\n (inReceptacle SaltShaker_bar__minus_04_dot_04_bar__plus_00_dot_74_bar__plus_04_dot_51 Drawer_bar__minus_04_dot_09_bar__plus_00_dot_78_bar__plus_04_dot_66)\n (inReceptacle Plate_bar__minus_04_dot_13_bar__plus_00_dot_08_bar__plus_02_dot_29 Cabinet_bar__minus_03_dot_96_bar__plus_00_dot_39_bar__plus_02_dot_12)\n (inReceptacle SoapBottle_bar__minus_01_dot_91_bar__plus_01_dot_45_bar__plus_01_dot_61 Cabinet_bar__minus_01_dot_58_bar__plus_01_dot_93_bar__plus_01_dot_78)\n (inReceptacle Mug_bar__minus_00_dot_41_bar__plus_00_dot_96_bar__plus_06_dot_56 CoffeeMachine_bar__minus_00_dot_28_bar__plus_00_dot_91_bar__plus_06_dot_56)\n (inReceptacle Tomato_bar__minus_03_dot_71_bar__plus_00_dot_13_bar__plus_06_dot_46 GarbageCan_bar__minus_03_dot_71_bar_00_dot_00_bar__plus_06_dot_38)\n (inReceptacle WineBottle_bar__minus_03_dot_75_bar__plus_00_dot_07_bar__plus_06_dot_33 GarbageCan_bar__minus_03_dot_71_bar_00_dot_00_bar__plus_06_dot_38)\n (inReceptacleObject Pan_bar__minus_02_dot_92_bar__plus_00_dot_93_bar__plus_02_dot_01 Pot_bar__minus_02_dot_92_bar__plus_00_dot_93_bar__plus_01_dot_71)\n (inReceptacle Apple_bar__minus_04_dot_20_bar__plus_00_dot_84_bar__plus_03_dot_10 Sink_bar__minus_04_dot_19_bar__plus_00_dot_92_bar__plus_03_dot_28_bar_SinkBasin)\n (inReceptacle Mug_bar__minus_04_dot_16_bar__plus_00_dot_79_bar__plus_03_dot_41 Sink_bar__minus_04_dot_19_bar__plus_00_dot_92_bar__plus_03_dot_28_bar_SinkBasin)\n (inReceptacle Mug_bar__minus_04_dot_20_bar__plus_00_dot_79_bar__plus_03_dot_22 Sink_bar__minus_04_dot_19_bar__plus_00_dot_92_bar__plus_03_dot_28_bar_SinkBasin)\n (inReceptacle Egg_bar__minus_04_dot_31_bar__plus_00_dot_83_bar__plus_03_dot_29 Sink_bar__minus_04_dot_19_bar__plus_00_dot_92_bar__plus_03_dot_28_bar_SinkBasin)\n (inReceptacle Egg_bar__minus_04_dot_31_bar__plus_00_dot_83_bar__plus_03_dot_47 Sink_bar__minus_04_dot_19_bar__plus_00_dot_92_bar__plus_03_dot_28_bar_SinkBasin)\n \n \n (receptacleAtLocation Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_03_dot_01 loc_bar__minus_2_bar_10_bar_0_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_04_dot_21 loc_bar__minus_5_bar_17_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_04_dot_31 loc_bar__minus_4_bar_18_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_05_dot_51 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Egg_bar__minus_04_dot_41_bar__plus_00_dot_96_bar__plus_05_dot_16 loc_bar__minus_15_bar_19_bar_3_bar_60)\n (objectAtLocation Mug_bar__minus_00_dot_41_bar__plus_00_dot_96_bar__plus_06_dot_56 loc_bar__minus_4_bar_25_bar_1_bar_45)\n (objectAtLocation PepperShaker_bar__minus_00_dot_53_bar__plus_00_dot_74_bar__plus_04_dot_85 loc_bar__minus_4_bar_21_bar_2_bar_60)\n (objectAtLocation SaltShaker_bar__minus_04_dot_04_bar__plus_00_dot_74_bar__plus_04_dot_51 loc_bar__minus_15_bar_14_bar_0_bar_30)\n (objectAtLocation Tomato_bar__minus_04_dot_10_bar__plus_00_dot_98_bar__plus_02_dot_30 loc_bar__minus_15_bar_19_bar_3_bar_60)\n (objectAtLocation Tomato_bar__minus_04_dot_26_bar__plus_00_dot_98_bar__plus_04_dot_90 loc_bar__minus_15_bar_19_bar_3_bar_60)\n (objectAtLocation Egg_bar__minus_04_dot_31_bar__plus_00_dot_83_bar__plus_03_dot_29 loc_bar__minus_15_bar_14_bar_3_bar_60)\n (objectAtLocation Cup_bar__minus_01_dot_94_bar__plus_00_dot_92_bar__plus_01_dot_95 loc_bar__minus_8_bar_10_bar_2_bar_45)\n (objectAtLocation Fork_bar__minus_00_dot_26_bar__plus_00_dot_93_bar__plus_04_dot_94 loc_bar__minus_4_bar_20_bar_1_bar_45)\n (objectAtLocation Sink_bar__minus_04_dot_19_bar__plus_00_dot_92_bar__plus_03_dot_28 loc_bar__minus_15_bar_13_bar_3_bar_60)\n (objectAtLocation Egg_bar__minus_04_dot_31_bar__plus_00_dot_83_bar__plus_03_dot_47 loc_bar__minus_15_bar_14_bar_3_bar_60)\n (objectAtLocation Apple_bar__minus_04_dot_20_bar__plus_00_dot_84_bar__plus_03_dot_10 loc_bar__minus_15_bar_14_bar_3_bar_60)\n (objectAtLocation Knife_bar__minus_01_dot_78_bar__plus_00_dot_95_bar__plus_02_dot_03 loc_bar__minus_8_bar_10_bar_2_bar_45)\n (objectAtLocation Potato_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_05_dot_16 loc_bar__minus_15_bar_19_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_02_dot_35_bar__plus_01_dot_10_bar__plus_01_dot_56 loc_bar__minus_9_bar_10_bar_2_bar_30)\n (objectAtLocation StoveKnob_bar__minus_02_dot_79_bar__plus_01_dot_10_bar__plus_01_dot_56 loc_bar__minus_11_bar_10_bar_2_bar_30)\n (objectAtLocation StoveKnob_bar__minus_02_dot_97_bar__plus_01_dot_10_bar__plus_01_dot_56 loc_bar__minus_12_bar_10_bar_2_bar_30)\n (objectAtLocation StoveKnob_bar__minus_02_dot_51_bar__plus_01_dot_10_bar__plus_01_dot_56 loc_bar__minus_10_bar_10_bar_2_bar_30)\n (objectAtLocation Fork_bar__minus_04_dot_13_bar__plus_00_dot_75_bar__plus_02_dot_59 loc_bar__minus_13_bar_11_bar_3_bar_45)\n (objectAtLocation Bowl_bar__minus_01_dot_94_bar__plus_00_dot_92_bar__plus_01_dot_65 loc_bar__minus_8_bar_10_bar_2_bar_45)\n (objectAtLocation Plate_bar__minus_04_dot_13_bar__plus_00_dot_08_bar__plus_02_dot_29 loc_bar__minus_12_bar_10_bar_3_bar_60)\n (objectAtLocation Lettuce_bar__minus_03_dot_61_bar__plus_01_dot_02_bar__plus_05_dot_49 loc_bar__minus_15_bar_19_bar_3_bar_60)\n (objectAtLocation Bread_bar__minus_04_dot_23_bar__plus_00_dot_99_bar__plus_03_dot_99 loc_bar__minus_15_bar_19_bar_3_bar_60)\n (objectAtLocation Tomato_bar__minus_00_dot_49_bar__plus_00_dot_98_bar__plus_05_dot_27 loc_bar__minus_4_bar_20_bar_1_bar_45)\n (objectAtLocation Curtains_bar__minus_04_dot_52_bar__plus_02_dot_25_bar__plus_03_dot_39 loc_bar__minus_15_bar_14_bar_3_bar__minus_30)\n (objectAtLocation Window_bar__minus_04_dot_87_bar__plus_01_dot_63_bar__plus_03_dot_31 loc_bar__minus_15_bar_13_bar_3_bar_0)\n (objectAtLocation WineBottle_bar__minus_04_dot_41_bar__plus_00_dot_92_bar__plus_03_dot_86 loc_bar__minus_15_bar_19_bar_3_bar_60)\n (objectAtLocation Spatula_bar__minus_04_dot_02_bar__plus_00_dot_77_bar__plus_02_dot_24 loc_bar__minus_13_bar_11_bar_3_bar_45)\n (objectAtLocation PaperTowelRoll_bar__minus_01_dot_61_bar__plus_01_dot_03_bar__plus_01_dot_57 loc_bar__minus_8_bar_10_bar_2_bar_45)\n (objectAtLocation Cup_bar__minus_01_dot_78_bar__plus_00_dot_92_bar__plus_01_dot_72 loc_bar__minus_8_bar_10_bar_2_bar_45)\n (objectAtLocation Pencil_bar__minus_00_dot_49_bar__plus_00_dot_93_bar__plus_06_dot_26 loc_bar__minus_4_bar_20_bar_1_bar_45)\n (objectAtLocation Pan_bar__minus_03_dot_86_bar__plus_00_dot_92_bar__plus_01_dot_95 loc_bar__minus_15_bar_19_bar_3_bar_60)\n (objectAtLocation Pot_bar__minus_02_dot_92_bar__plus_00_dot_93_bar__plus_01_dot_71 loc_bar__minus_12_bar_10_bar_2_bar_45)\n (objectAtLocation LightSwitch_bar__minus_01_dot_59_bar__plus_01_dot_17_bar__plus_01_dot_51 loc_bar__minus_4_bar_6_bar_3_bar_45)\n (objectAtLocation SaltShaker_bar__minus_03_dot_53_bar__plus_00_dot_08_bar__plus_01_dot_85 loc_bar__minus_12_bar_12_bar_2_bar_60)\n (objectAtLocation SoapBottle_bar__minus_01_dot_91_bar__plus_01_dot_45_bar__plus_01_dot_61 loc_bar__minus_4_bar_7_bar_3_bar__minus_30)\n (objectAtLocation PepperShaker_bar__minus_01_dot_94_bar__plus_00_dot_92_bar__plus_01_dot_80 loc_bar__minus_8_bar_10_bar_2_bar_45)\n (objectAtLocation ButterKnife_bar__minus_00_dot_33_bar__plus_00_dot_93_bar__plus_05_dot_60 loc_bar__minus_4_bar_20_bar_1_bar_45)\n (objectAtLocation DishSponge_bar__minus_04_dot_03_bar__plus_01_dot_46_bar__plus_01_dot_74 loc_bar__minus_14_bar_10_bar_3_bar__minus_15)\n (objectAtLocation Spoon_bar__minus_04_dot_52_bar__plus_00_dot_92_bar__plus_03_dot_43 loc_bar__minus_15_bar_19_bar_3_bar_60)\n (objectAtLocation Mug_bar__minus_04_dot_16_bar__plus_00_dot_79_bar__plus_03_dot_41 loc_bar__minus_15_bar_14_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 MicrowaveType)\n (isCool ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to garbagecan 1", "take tomato 3 from garbagecan 1", "go to fridge 1", "cool tomato 3 with fridge 1", "go to microwave 1", "open microwave 1", "move tomato 3 to microwave 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/valid_seen/pick_cool_then_place_in_recep-Tomato-None-Microwave-13/trial_T20190910_173916_331859/initial_state.pddl b/data/alfworld/json_2.1.1/valid_seen/pick_cool_then_place_in_recep-Tomato-None-Microwave-13/trial_T20190910_173916_331859/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..54269bb294a2edec024a6d5880c72755b2586138 --- /dev/null +++ b/data/alfworld/json_2.1.1/valid_seen/pick_cool_then_place_in_recep-Tomato-None-Microwave-13/trial_T20190910_173916_331859/initial_state.pddl @@ -0,0 +1,1355 @@ + +(define (problem plan_trial_T20190910_173916_331859) +(:domain alfred) +(:objects +agent1 - agent +Curtains - object + SprayBottle - object + Mirror - object + HousePlant - object + Watch - object + TeddyBear - object + WateringCan - object + Bathtub - object + LightSwitch - object + Vase - object + Candle - object + Bread - object + Statue - object + HandTowel - object + StoveKnob - object + PaperTowelRoll - object + Pan - object + PepperShaker - object + Painting - object + CellPhone - object + Plunger - object + Spoon - object + SaltShaker - object + KeyChain - object + Footstool - object + Poster - object + Television - object + LaundryHamperLid - object + Glassbottle - object + AlarmClock - object + WineBottle - object + Bowl - object + Sink - object + TissueBox - object + TennisRacket - object + ToiletPaper - object + ScrubBrush - object + CreditCard - object + Laptop - object + Cloth - object + Cup - object + Chair - object + BasketBall - object + Kettle - object + PaperTowel - object + ShowerDoor - object + BaseballBat - object + Potato - object + Pillow - object + Lettuce - object + RemoteControl - object + Window - object + DishSponge - object + CD - object + Boots - object + Blinds - object + Pen - object + Newspaper - object + Plate - object + Mug - object + ShowerGlass - object + ToiletPaperRoll - object + SoapBar - object + FloorLamp - object + SoapBottle - object + Pot - object + Pencil - object + Spatula - object + Towel - object + Fork - object + Ladle - object + Knife - object + Apple - object + Box - object + Tomato - object + ButterKnife - object + Egg - object + Book - object + DeskLamp - object +CurtainsType - otype + SprayBottleType - otype + MirrorType - otype + HousePlantType - otype + WatchType - otype + TeddyBearType - otype + WateringCanType - otype + BathtubType - otype + LightSwitchType - otype + VaseType - otype + CandleType - otype + BreadType - otype + StatueType - otype + HandTowelType - otype + StoveKnobType - otype + PaperTowelRollType - otype + PanType - otype + PepperShakerType - otype + PaintingType - otype + CellPhoneType - otype + PlungerType - otype + SpoonType - otype + SaltShakerType - otype + KeyChainType - otype + FootstoolType - otype + PosterType - otype + TelevisionType - otype + LaundryHamperLidType - otype + GlassbottleType - otype + AlarmClockType - otype + WineBottleType - otype + BowlType - otype + SinkType - otype + TissueBoxType - otype + TennisRacketType - otype + ToiletPaperType - otype + ScrubBrushType - otype + CreditCardType - otype + LaptopType - otype + ClothType - otype + CupType - otype + ChairType - otype + BasketBallType - otype + KettleType - otype + PaperTowelType - otype + ShowerDoorType - otype + BaseballBatType - otype + PotatoType - otype + PillowType - otype + LettuceType - otype + RemoteControlType - otype + WindowType - otype + DishSpongeType - otype + CDType - otype + BootsType - otype + BlindsType - otype + PenType - otype + NewspaperType - otype + PlateType - otype + MugType - otype + ShowerGlassType - otype + ToiletPaperRollType - otype + SoapBarType - otype + FloorLampType - otype + SoapBottleType - otype + PotType - otype + PencilType - otype + SpatulaType - otype + TowelType - otype + ForkType - otype + LadleType - otype + KnifeType - otype + AppleType - otype + BoxType - otype + TomatoType - otype + ButterKnifeType - otype + EggType - otype + BookType - otype + DeskLampType - otype +CabinetType - rtype + ShelfType - rtype + DiningTableType - rtype + TowelHolderType - rtype + PaintingHangerType - rtype + TVStandType - rtype + LaundryHamperType - rtype + OttomanType - rtype + SafeType - rtype + CoffeeMachineType - rtype + CounterTopType - rtype + ToiletType - rtype + FridgeType - rtype + CoffeeTableType - rtype + SinkBasinType - rtype + GarbageCanType - rtype + BathtubBasinType - rtype + SideTableType - rtype + CartType - rtype + BedType - rtype + DeskType - rtype + SofaType - rtype + ArmChairType - rtype + MicrowaveType - rtype + HandTowelHolderType - rtype + ToasterType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + DrawerType - rtype + DresserType - rtype + + + Apple_bar__minus_04_dot_20_bar__plus_00_dot_84_bar__plus_03_dot_10 - object + Bowl_bar__minus_00_dot_26_bar__plus_00_dot_92_bar__plus_04_dot_62 - object + Bowl_bar__minus_01_dot_94_bar__plus_00_dot_92_bar__plus_01_dot_65 - object + Bread_bar__minus_04_dot_23_bar__plus_00_dot_99_bar__plus_03_dot_99 - object + ButterKnife_bar__minus_00_dot_33_bar__plus_00_dot_93_bar__plus_05_dot_60 - object + ButterKnife_bar__minus_04_dot_31_bar__plus_00_dot_92_bar__plus_02_dot_77 - object + Cup_bar__minus_00_dot_18_bar__plus_00_dot_92_bar__plus_04_dot_94 - object + Cup_bar__minus_01_dot_78_bar__plus_00_dot_92_bar__plus_01_dot_72 - object + Cup_bar__minus_01_dot_94_bar__plus_00_dot_92_bar__plus_01_dot_95 - object + Curtains_bar__minus_04_dot_52_bar__plus_02_dot_25_bar__plus_03_dot_39 - object + DishSponge_bar__minus_04_dot_03_bar__plus_01_dot_46_bar__plus_01_dot_74 - object + Egg_bar__minus_04_dot_31_bar__plus_00_dot_83_bar__plus_03_dot_29 - object + Egg_bar__minus_04_dot_31_bar__plus_00_dot_83_bar__plus_03_dot_47 - object + Egg_bar__minus_04_dot_41_bar__plus_00_dot_96_bar__plus_05_dot_16 - object + Faucet_bar__minus_04_dot_44_bar__plus_00_dot_91_bar__plus_03_dot_29 - object + Fork_bar__minus_00_dot_26_bar__plus_00_dot_93_bar__plus_04_dot_94 - object + Fork_bar__minus_01_dot_86_bar__plus_00_dot_92_bar__plus_01_dot_95 - object + Fork_bar__minus_04_dot_13_bar__plus_00_dot_75_bar__plus_02_dot_59 - object + Knife_bar__minus_01_dot_78_bar__plus_00_dot_95_bar__plus_02_dot_03 - object + Lettuce_bar__minus_03_dot_61_bar__plus_01_dot_02_bar__plus_05_dot_49 - object + LightSwitch_bar__minus_01_dot_59_bar__plus_01_dot_17_bar__plus_01_dot_51 - object + Mug_bar__minus_00_dot_41_bar__plus_00_dot_96_bar__plus_06_dot_56 - object + Mug_bar__minus_04_dot_16_bar__plus_00_dot_79_bar__plus_03_dot_41 - object + Mug_bar__minus_04_dot_20_bar__plus_00_dot_79_bar__plus_03_dot_22 - object + Pan_bar__minus_02_dot_92_bar__plus_00_dot_93_bar__plus_02_dot_01 - object + Pan_bar__minus_03_dot_86_bar__plus_00_dot_92_bar__plus_01_dot_95 - object + PaperTowelRoll_bar__minus_01_dot_61_bar__plus_01_dot_03_bar__plus_01_dot_57 - object + Pencil_bar__minus_00_dot_49_bar__plus_00_dot_93_bar__plus_06_dot_26 - object + PepperShaker_bar__minus_00_dot_53_bar__plus_00_dot_74_bar__plus_04_dot_85 - object + PepperShaker_bar__minus_01_dot_94_bar__plus_00_dot_92_bar__plus_01_dot_80 - object + PepperShaker_bar__minus_03_dot_83_bar__plus_00_dot_74_bar__plus_05_dot_13 - object + Plate_bar__minus_04_dot_13_bar__plus_00_dot_08_bar__plus_02_dot_29 - object + Potato_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_05_dot_16 - object + Pot_bar__minus_02_dot_92_bar__plus_00_dot_93_bar__plus_01_dot_71 - object + SaltShaker_bar__minus_00_dot_18_bar__plus_00_dot_92_bar__plus_05_dot_27 - object + SaltShaker_bar__minus_03_dot_53_bar__plus_00_dot_08_bar__plus_01_dot_85 - object + SaltShaker_bar__minus_04_dot_04_bar__plus_00_dot_74_bar__plus_04_dot_51 - 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_04_dot_94 - object + SoapBottle_bar__minus_01_dot_91_bar__plus_01_dot_45_bar__plus_01_dot_61 - object + Spatula_bar__minus_01_dot_69_bar__plus_00_dot_94_bar__plus_01_dot_80 - object + Spatula_bar__minus_04_dot_02_bar__plus_00_dot_77_bar__plus_02_dot_24 - object + Spoon_bar__minus_04_dot_52_bar__plus_00_dot_92_bar__plus_03_dot_43 - 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_49_bar__plus_00_dot_98_bar__plus_05_dot_27 - object + Tomato_bar__minus_03_dot_71_bar__plus_00_dot_13_bar__plus_06_dot_46 - object + Tomato_bar__minus_04_dot_10_bar__plus_00_dot_98_bar__plus_02_dot_30 - object + Tomato_bar__minus_04_dot_26_bar__plus_00_dot_98_bar__plus_04_dot_90 - object + Window_bar__minus_04_dot_87_bar__plus_01_dot_63_bar__plus_03_dot_31 - object + WineBottle_bar__minus_03_dot_75_bar__plus_00_dot_07_bar__plus_06_dot_33 - object + WineBottle_bar__minus_04_dot_41_bar__plus_00_dot_92_bar__plus_03_dot_86 - 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 + Cabinet_bar__minus_00_dot_64_bar__plus_00_dot_39_bar__plus_05_dot_60 - receptacle + Cabinet_bar__minus_00_dot_64_bar__plus_00_dot_39_bar__plus_06_dot_88 - receptacle + Cabinet_bar__minus_01_dot_54_bar__plus_00_dot_39_bar__plus_02_dot_09 - receptacle + Cabinet_bar__minus_01_dot_58_bar__plus_01_dot_93_bar__plus_01_dot_78 - receptacle + Cabinet_bar__minus_03_dot_04_bar__plus_00_dot_39_bar__plus_05_dot_03 - receptacle + Cabinet_bar__minus_03_dot_04_bar__plus_01_dot_94_bar__plus_05_dot_32 - receptacle + Cabinet_bar__minus_03_dot_19_bar__plus_00_dot_39_bar__plus_02_dot_09 - receptacle + Cabinet_bar__minus_03_dot_20_bar__plus_01_dot_93_bar__plus_01_dot_78 - receptacle + Cabinet_bar__minus_03_dot_64_bar__plus_00_dot_39_bar__plus_05_dot_03 - receptacle + Cabinet_bar__minus_03_dot_67_bar__plus_00_dot_39_bar__plus_05_dot_03 - receptacle + Cabinet_bar__minus_03_dot_92_bar__plus_00_dot_40_bar__plus_02_dot_09 - receptacle + Cabinet_bar__minus_03_dot_96_bar__plus_00_dot_39_bar__plus_02_dot_12 - receptacle + Cabinet_bar__minus_03_dot_96_bar__plus_00_dot_39_bar__plus_02_dot_88 - receptacle + Cabinet_bar__minus_03_dot_96_bar__plus_00_dot_39_bar__plus_04_dot_34 - receptacle + Cabinet_bar__minus_03_dot_97_bar__plus_00_dot_39_bar__plus_02_dot_89 - receptacle + Cabinet_bar__minus_03_dot_97_bar__plus_00_dot_39_bar__plus_03_dot_66 - receptacle + Cabinet_bar__minus_04_dot_11_bar__plus_01_dot_94_bar__plus_05_dot_32 - receptacle + Cabinet_bar__minus_04_dot_28_bar__plus_01_dot_93_bar__plus_02_dot_23 - receptacle + CoffeeMachine_bar__minus_00_dot_28_bar__plus_00_dot_91_bar__plus_06_dot_56 - receptacle + CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__plus_05_dot_60 - receptacle + CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_96_bar__plus_01_dot_80 - receptacle + CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94 - receptacle + Drawer_bar__minus_00_dot_51_bar__plus_00_dot_78_bar__plus_04_dot_62 - receptacle + Drawer_bar__minus_00_dot_51_bar__plus_00_dot_78_bar__plus_05_dot_27 - receptacle + Drawer_bar__minus_00_dot_51_bar__plus_00_dot_78_bar__plus_05_dot_92 - receptacle + Drawer_bar__minus_00_dot_51_bar__plus_00_dot_78_bar__plus_06_dot_57 - receptacle + Drawer_bar__minus_01_dot_86_bar__plus_00_dot_78_bar__plus_01_dot_96 - receptacle + Drawer_bar__minus_03_dot_19_bar__plus_00_dot_78_bar__plus_05_dot_16 - receptacle + Drawer_bar__minus_03_dot_42_bar__plus_00_dot_78_bar__plus_01_dot_96 - receptacle + Drawer_bar__minus_03_dot_51_bar__plus_00_dot_78_bar__plus_05_dot_16 - receptacle + Drawer_bar__minus_03_dot_80_bar__plus_00_dot_78_bar__plus_01_dot_96 - receptacle + Drawer_bar__minus_03_dot_80_bar__plus_00_dot_78_bar__plus_05_dot_16 - receptacle + Drawer_bar__minus_04_dot_09_bar__plus_00_dot_78_bar__plus_04_dot_66 - receptacle + Drawer_bar__minus_04_dot_13_bar__plus_00_dot_80_bar__plus_02_dot_50 - receptacle + Fridge_bar__minus_00_dot_32_bar_00_dot_00_bar__plus_03_dot_60 - receptacle + GarbageCan_bar__minus_03_dot_71_bar_00_dot_00_bar__plus_06_dot_38 - receptacle + Microwave_bar__minus_02_dot_69_bar__plus_01_dot_43_bar__plus_01_dot_69 - receptacle + Sink_bar__minus_04_dot_19_bar__plus_00_dot_92_bar__plus_03_dot_28_bar_SinkBasin - receptacle + StoveBurner_bar__minus_02_dot_47_bar__plus_00_dot_92_bar__plus_01_dot_71 - receptacle + StoveBurner_bar__minus_02_dot_47_bar__plus_00_dot_92_bar__plus_02_dot_01 - receptacle + StoveBurner_bar__minus_02_dot_92_bar__plus_00_dot_92_bar__plus_01_dot_71 - receptacle + StoveBurner_bar__minus_02_dot_92_bar__plus_00_dot_92_bar__plus_02_dot_01 - receptacle + Toaster_bar__minus_03_dot_58_bar__plus_00_dot_91_bar__plus_01_dot_76 - receptacle + loc_bar__minus_4_bar_25_bar_1_bar__minus_30 - location + loc_bar__minus_13_bar_10_bar_2_bar__minus_15 - location + loc_bar__minus_6_bar_20_bar_1_bar_60 - location + loc_bar__minus_6_bar_17_bar_1_bar_60 - location + loc_bar__minus_4_bar_23_bar_0_bar_45 - location + loc_bar__minus_15_bar_14_bar_3_bar_60 - 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 + 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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_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_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_3_bar_1_bar_1_bar_30 - location + ) + + +(:init + + + (receptacleType Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_06_dot_81 CabinetType) + (receptacleType CoffeeMachine_bar__minus_00_dot_28_bar__plus_00_dot_91_bar__plus_06_dot_56 CoffeeMachineType) + (receptacleType Drawer_bar__minus_04_dot_09_bar__plus_00_dot_78_bar__plus_04_dot_66 DrawerType) + (receptacleType Cabinet_bar__minus_03_dot_04_bar__plus_01_dot_94_bar__plus_05_dot_32 CabinetType) + (receptacleType Cabinet_bar__minus_03_dot_92_bar__plus_00_dot_40_bar__plus_02_dot_09 CabinetType) + (receptacleType Cabinet_bar__minus_01_dot_54_bar__plus_00_dot_39_bar__plus_02_dot_09 CabinetType) + (receptacleType StoveBurner_bar__minus_02_dot_92_bar__plus_00_dot_92_bar__plus_02_dot_01 StoveBurnerType) + (receptacleType StoveBurner_bar__minus_02_dot_47_bar__plus_00_dot_92_bar__plus_02_dot_01 StoveBurnerType) + (receptacleType Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_05_dot_51 CabinetType) + (receptacleType Cabinet_bar__minus_03_dot_19_bar__plus_00_dot_39_bar__plus_02_dot_09 CabinetType) + (receptacleType Cabinet_bar__minus_03_dot_20_bar__plus_01_dot_93_bar__plus_01_dot_78 CabinetType) + (receptacleType Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_04_dot_21 CabinetType) + (receptacleType Drawer_bar__minus_03_dot_19_bar__plus_00_dot_78_bar__plus_05_dot_16 DrawerType) + (receptacleType Drawer_bar__minus_01_dot_86_bar__plus_00_dot_78_bar__plus_01_dot_96 DrawerType) + (receptacleType Cabinet_bar__minus_03_dot_67_bar__plus_00_dot_39_bar__plus_05_dot_03 CabinetType) + (receptacleType Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_03_dot_01 CabinetType) + (receptacleType Drawer_bar__minus_00_dot_51_bar__plus_00_dot_78_bar__plus_05_dot_92 DrawerType) + (receptacleType StoveBurner_bar__minus_02_dot_47_bar__plus_00_dot_92_bar__plus_01_dot_71 StoveBurnerType) + (receptacleType Cabinet_bar__minus_00_dot_64_bar__plus_00_dot_39_bar__plus_05_dot_60 CabinetType) + (receptacleType Drawer_bar__minus_00_dot_51_bar__plus_00_dot_78_bar__plus_05_dot_27 DrawerType) + (receptacleType Cabinet_bar__minus_03_dot_04_bar__plus_00_dot_39_bar__plus_05_dot_03 CabinetType) + (receptacleType Drawer_bar__minus_00_dot_51_bar__plus_00_dot_78_bar__plus_06_dot_57 DrawerType) + (receptacleType Cabinet_bar__minus_03_dot_97_bar__plus_00_dot_39_bar__plus_03_dot_66 CabinetType) + (receptacleType Drawer_bar__minus_04_dot_13_bar__plus_00_dot_80_bar__plus_02_dot_50 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_51_bar__plus_00_dot_78_bar__plus_04_dot_62 DrawerType) + (receptacleType Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_04_dot_31 CabinetType) + (receptacleType Cabinet_bar__minus_04_dot_28_bar__plus_01_dot_93_bar__plus_02_dot_23 CabinetType) + (receptacleType CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__plus_05_dot_60 CounterTopType) + (receptacleType Cabinet_bar__minus_03_dot_96_bar__plus_00_dot_39_bar__plus_04_dot_34 CabinetType) + (receptacleType Cabinet_bar__minus_00_dot_64_bar__plus_00_dot_39_bar__plus_04_dot_30 CabinetType) + (receptacleType CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94 CounterTopType) + (receptacleType Cabinet_bar__minus_00_dot_64_bar__plus_00_dot_39_bar__plus_06_dot_88 CabinetType) + (receptacleType Sink_bar__minus_04_dot_19_bar__plus_00_dot_92_bar__plus_03_dot_28_bar_SinkBasin SinkBasinType) + (receptacleType 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CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_96_bar__plus_01_dot_80) + (inReceptacle Cup_bar__minus_01_dot_94_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 Fork_bar__minus_01_dot_86_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 Bowl_bar__minus_01_dot_94_bar__plus_00_dot_92_bar__plus_01_dot_65 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_96_bar__plus_01_dot_80) + (inReceptacle Cup_bar__minus_01_dot_78_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 Spatula_bar__minus_01_dot_69_bar__plus_00_dot_94_bar__plus_01_dot_80 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_96_bar__plus_01_dot_80) + (inReceptacle PaperTowelRoll_bar__minus_01_dot_61_bar__plus_01_dot_03_bar__plus_01_dot_57 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CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94) + (inReceptacle Lettuce_bar__minus_03_dot_61_bar__plus_01_dot_02_bar__plus_05_dot_49 CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94) + (inReceptacle Bread_bar__minus_04_dot_23_bar__plus_00_dot_99_bar__plus_03_dot_99 CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94) + (inReceptacle Pan_bar__minus_03_dot_86_bar__plus_00_dot_92_bar__plus_01_dot_95 CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94) + (inReceptacle ButterKnife_bar__minus_04_dot_31_bar__plus_00_dot_92_bar__plus_02_dot_77 CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94) + (inReceptacle Spoon_bar__minus_04_dot_52_bar__plus_00_dot_92_bar__plus_03_dot_43 CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94) + (inReceptacle Potato_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_05_dot_16 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DishSponge_bar__minus_04_dot_03_bar__plus_01_dot_46_bar__plus_01_dot_74 loc_bar__minus_14_bar_10_bar_3_bar__minus_15) + (objectAtLocation Spoon_bar__minus_04_dot_52_bar__plus_00_dot_92_bar__plus_03_dot_43 loc_bar__minus_15_bar_19_bar_3_bar_60) + (objectAtLocation Mug_bar__minus_04_dot_16_bar__plus_00_dot_79_bar__plus_03_dot_41 loc_bar__minus_15_bar_14_bar_3_bar_60) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (coolable ?o) + (objectType ?o TomatoType) + (receptacleType ?r MicrowaveType) + (isCool ?o) + (inReceptacle ?o ?r) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/valid_seen/pick_cool_then_place_in_recep-Tomato-None-Microwave-13/trial_T20190910_173916_331859/traj_data.json b/data/alfworld/json_2.1.1/valid_seen/pick_cool_then_place_in_recep-Tomato-None-Microwave-13/trial_T20190910_173916_331859/traj_data.json new file mode 100644 index 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0.923959553, + "z": 4.944333 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pencil_282a316d", + "position": { + "x": -0.488323241, + "y": 0.9253912, + "z": 6.26166725 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pan_94f6c891", + "position": { + "x": -2.92400026, + "y": 0.9303, + "z": 2.0129 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pot_04c898c4", + "position": { + "x": -2.92400026, + "y": 0.9303, + "z": 1.712 + }, + "rotation": { + "x": 0.0, + "y": 180.000336, + "z": 0.0 + } + }, + { + "objectName": "SaltShaker_c6eeef1e", + "position": { + "x": -0.181592077, + "y": 0.92140615, + "z": 5.27366638 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SoapBottle_56566bc4", + "position": { + "x": -0.565006, + "y": 0.924821734, + "z": 4.944333 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "PepperShaker_ddab876f", + "position": { + "x": -3.83045149, + "y": 0.7432668, + "z": 5.13312626 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + } + }, + { + "objectName": "ButterKnife_8b572f1d", + "position": { + "x": -4.31204462, + "y": 0.923542, + "z": 2.76642179 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_a23d8e54", + "position": { + "x": -4.0282793, + "y": 1.455746, + "z": 1.73529768 + }, + "rotation": { + "x": 0.0, + "y": 44.9999962, + "z": 0.0 + } + }, + { + "objectName": "Spoon_8612b3fc", + "position": { + "x": -4.51782036, + "y": 0.924629331, + "z": 3.43222857 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_19433bed", + "position": { + "x": -4.19639969, + "y": 0.7859571, + "z": 3.22241282 + }, + "rotation": { + "x": -1.44077641e-20, + "y": 269.999939, + "z": -1.40334191e-14 + } + } + ], + "object_toggles": [], + "random_seed": 3224845753, + "scene_num": 13 + }, + "task_id": "trial_T20190910_173916_331859", + "task_type": "pick_cool_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "AO33H4GL9KZX9_3GNA64GUZHLC23JC296EFSKY8TBQ5T", + "high_descs": [ + "Turn left and go through the kitchen to the front of the counter top on the left of the sink", + "Pick up the red tomato on the left side of the counter. ", + "Turn around and go to the front of the refrigerator. ", + "Chill the tomato in the refrigerator and take it out. ", + "Turn around and go left to the front of the microwave above the stove. ", + "Place the chilled tomato in the microwave and close it." + ], + "task_desc": "Put a chilled tomato in the microwave", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AISNLDPD2DFEG_3II4UPYCOMO76GY5HFOXD48QLC2DQL", + "high_descs": [ + "Turn left, go forward, turn left and go to the counter", + "Pick up the tomato on the counter", + "Turn right, go forward a bit, turn right and go to the fridge", + "Put the tomato in the fridge, wait, pick up the tomato", + "Turn around, go forward a bit, turn left and go to the microwave", + "Put the tomato in the microwave" + ], + "task_desc": "Cool a tomato and put it in the microwave", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A24RGLS3BRZ60J_3JC6VJ2SAE0KFNCVDD9SPS5T4DHA52", + "high_descs": [ + "Turn to the left, and then the left again to face the counter.", + "Pick up the tomato from the left side of the counter.", + "Carry the tomato and move to the right, then turn around to locate the fridge.", + "Open the fridge and place the tomato inside. Shut the fridge, then open it. Take the tomato out and shut the door.", + "Take the tomato and turn around, then left to find the stove. Look up to the microwave.", + "Open the microwave and place the tomato inside." + ], + "task_desc": "Chill a tomato and place it in the microwave.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/valid_seen/pick_heat_then_place_in_recep-AppleSliced-None-DiningTable-17/trial_T20190918_205656_000147/initial_state.pddl b/data/alfworld/json_2.1.1/valid_seen/pick_heat_then_place_in_recep-AppleSliced-None-DiningTable-17/trial_T20190918_205656_000147/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..a1691ca26b1938dfc0afbab99e80a4bb6b6decd6 --- /dev/null +++ b/data/alfworld/json_2.1.1/valid_seen/pick_heat_then_place_in_recep-AppleSliced-None-DiningTable-17/trial_T20190918_205656_000147/initial_state.pddl @@ -0,0 +1,1303 @@ + +(define (problem plan_trial_T20190918_205656_000147) +(:domain alfred) +(:objects +agent1 - agent +Curtains - object + SprayBottle - object + Mirror - object + HousePlant - object + Watch - object + TeddyBear - object + WateringCan - object + Bathtub - object + LightSwitch - object + Vase - object + Candle - object + Bread - object + Statue - object + HandTowel - object + StoveKnob - object + PaperTowelRoll - object + Pan - object + PepperShaker - object + Painting - object + CellPhone - object + Plunger - object + Spoon - object + SaltShaker - object + KeyChain - object + Footstool - object + Poster - object + Television - object + LaundryHamperLid - object + Glassbottle - object + AlarmClock - object + WineBottle - object + Bowl - object + Sink - object + TissueBox - object + TennisRacket - object + ToiletPaper - object + ScrubBrush - object + CreditCard - object + Laptop - object + Cloth - object + Cup - object + Chair - object + BasketBall - object + Kettle - object + PaperTowel - object + ShowerDoor - object + BaseballBat - object + Potato - object + Pillow - object + Lettuce - object + RemoteControl - object + Window - object + DishSponge - object + CD - object + Boots - object + Blinds - object + Pen - object + Newspaper - object + Plate - object + Mug - object + ShowerGlass - object + ToiletPaperRoll - object + SoapBar - object + FloorLamp - object + SoapBottle - object + Pot - object + Pencil - object + Spatula - object + Towel - object + Fork - object + Ladle - object + Knife - object + Apple - object + Box - object + Tomato - object + ButterKnife - object + Egg - object + Book - object + DeskLamp - object +CurtainsType - otype + SprayBottleType - otype + MirrorType - otype + HousePlantType - otype + WatchType - otype + TeddyBearType - otype + WateringCanType - otype + BathtubType - otype + LightSwitchType - otype + VaseType - otype + CandleType - otype + BreadType - otype + StatueType - otype + HandTowelType - otype + StoveKnobType - otype + PaperTowelRollType - otype + PanType - otype + PepperShakerType - otype + PaintingType - otype + CellPhoneType - otype + PlungerType - otype + SpoonType - otype + SaltShakerType - otype + KeyChainType - otype + FootstoolType - otype + PosterType - otype + TelevisionType - otype + LaundryHamperLidType - otype + GlassbottleType - otype + AlarmClockType - otype + WineBottleType - otype + BowlType - otype + SinkType - otype + TissueBoxType - otype + TennisRacketType - otype + ToiletPaperType - otype + ScrubBrushType - otype + CreditCardType - otype + LaptopType - otype + ClothType - otype + CupType - otype + ChairType - otype + BasketBallType - otype + KettleType - otype + PaperTowelType - otype + ShowerDoorType - otype + BaseballBatType - otype + PotatoType - otype + PillowType - otype + LettuceType - otype + RemoteControlType - otype + WindowType - otype + DishSpongeType - otype + CDType - otype + BootsType - otype + BlindsType - otype + PenType - otype + NewspaperType - otype + PlateType - otype + MugType - otype + ShowerGlassType - otype + ToiletPaperRollType - otype + SoapBarType - otype + FloorLampType - otype + SoapBottleType - otype + PotType - otype + PencilType - otype + SpatulaType - otype + TowelType - otype + ForkType - otype + LadleType - otype + KnifeType - otype + AppleType - otype + BoxType - otype + TomatoType - otype + ButterKnifeType - otype + EggType - otype + BookType - otype + DeskLampType - otype +CabinetType - rtype + ShelfType - rtype + DiningTableType - rtype + TowelHolderType - rtype + PaintingHangerType - rtype + TVStandType - rtype + LaundryHamperType - rtype + OttomanType - rtype + SafeType - rtype + CoffeeMachineType - rtype + CounterTopType - rtype + ToiletType - rtype + FridgeType - rtype + CoffeeTableType - rtype + SinkBasinType - rtype + GarbageCanType - rtype + BathtubBasinType - rtype + SideTableType - rtype + CartType - rtype + BedType - rtype + DeskType - rtype + SofaType - rtype + ArmChairType - rtype + MicrowaveType - rtype + HandTowelHolderType - rtype + ToasterType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + DrawerType - rtype + DresserType - rtype + + + 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Cup_bar__minus_01_dot_21_bar__plus_00_dot_75_bar__plus_00_dot_88 - object + DishSponge_bar__plus_01_dot_13_bar__plus_00_dot_78_bar__plus_00_dot_37 - object + DishSponge_bar__minus_01_dot_44_bar__plus_00_dot_91_bar__minus_00_dot_39 - object + Egg_bar__plus_01_dot_37_bar__plus_00_dot_95_bar__minus_00_dot_43 - object + Egg_bar__plus_01_dot_44_bar__plus_00_dot_95_bar__minus_00_dot_14 - 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_69 - object + Fork_bar__plus_01_dot_29_bar__plus_00_dot_91_bar__plus_00_dot_42 - object + Fork_bar__minus_01_dot_20_bar__plus_00_dot_75_bar__plus_02_dot_27 - object + Glassbottle_bar__minus_00_dot_92_bar__plus_00_dot_75_bar__plus_02_dot_46 - object + Kettle_bar__minus_00_dot_69_bar__plus_01_dot_66_bar__minus_00_dot_79 - object + Kettle_bar__minus_01_dot_33_bar__plus_02_dot_15_bar__plus_01_dot_09 - object + Knife_bar__plus_01_dot_21_bar__plus_00_dot_93_bar__minus_00_dot_14 - object + Knife_bar__minus_00_dot_13_bar__plus_00_dot_93_bar__minus_00_dot_37 - object + Knife_bar__minus_01_dot_11_bar__plus_00_dot_77_bar__plus_02_dot_09 - object + Lettuce_bar__plus_01_dot_21_bar__plus_00_dot_98_bar__plus_00_dot_71 - object + Lettuce_bar__plus_01_dot_37_bar__plus_00_dot_98_bar__plus_00_dot_14 - object + LightSwitch_bar__plus_00_dot_12_bar__plus_01_dot_35_bar__plus_03_dot_80 - object + Mug_bar__plus_00_dot_04_bar__plus_00_dot_75_bar__minus_00_dot_57 - object + Mug_bar__plus_01_dot_18_bar__plus_00_dot_11_bar__plus_00_dot_66 - object + Mug_bar__minus_01_dot_38_bar__plus_01_dot_28_bar__plus_00_dot_67 - object + Pan_bar__minus_01_dot_11_bar__plus_00_dot_75_bar__plus_03_dot_02 - 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_48 - object + Plate_bar__plus_01_dot_13_bar__plus_00_dot_12_bar__minus_00_dot_01 - object + Potato_bar__plus_00_dot_04_bar__plus_00_dot_80_bar__minus_00_dot_69 - object + Pot_bar__plus_00_dot_50_bar__plus_00_dot_94_bar__minus_00_dot_74 - object + Pot_bar__plus_00_dot_80_bar__plus_00_dot_94_bar__minus_00_dot_74 - object + SaltShaker_bar__plus_01_dot_28_bar__plus_00_dot_88_bar__plus_02_dot_15 - object + SaltShaker_bar__plus_01_dot_45_bar__plus_00_dot_88_bar__plus_02_dot_80 - object + SaltShaker_bar__minus_01_dot_20_bar__plus_00_dot_75_bar__plus_02_dot_83 - object + Sink_bar__minus_00_dot_01_bar__plus_00_dot_91_bar__minus_00_dot_62 - object + SoapBottle_bar__plus_00_dot_95_bar__plus_00_dot_89_bar__plus_02_dot_26 - object + SoapBottle_bar__plus_01_dot_20_bar__plus_00_dot_89_bar__plus_02_dot_26 - object + Spatula_bar__plus_01_dot_52_bar__plus_00_dot_93_bar__plus_00_dot_71 - object + Spatula_bar__minus_00_dot_97_bar__plus_00_dot_93_bar__minus_00_dot_43 - object + Spatula_bar__minus_01_dot_20_bar__plus_00_dot_76_bar__plus_01_dot_90 - object + Spoon_bar__minus_01_dot_11_bar__plus_00_dot_75_bar__plus_02_dot_46 - object + SprayBottle_bar__plus_01_dot_33_bar__plus_02_dot_16_bar__plus_00_dot_51 - object + SprayBottle_bar__minus_00_dot_17_bar__plus_00_dot_12_bar__minus_00_dot_62 - object + StoveKnob_bar__plus_00_dot_43_bar__plus_01_dot_09_bar__minus_00_dot_91 - object + StoveKnob_bar__plus_00_dot_55_bar__plus_01_dot_09_bar__minus_00_dot_91 - object + StoveKnob_bar__plus_00_dot_78_bar__plus_01_dot_09_bar__minus_00_dot_91 - object + StoveKnob_bar__plus_00_dot_89_bar__plus_01_dot_09_bar__minus_00_dot_91 - object + Tomato_bar__plus_01_dot_37_bar__plus_00_dot_94_bar__plus_02_dot_37 - object + Tomato_bar__minus_01_dot_21_bar__plus_01_dot_69_bar__plus_01_dot_19 - 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_32_bar__plus_00_dot_75_bar__plus_00_dot_67 - object + Cabinet_bar__plus_00_dot_34_bar__plus_00_dot_40_bar__minus_00_dot_35 - receptacle + Cabinet_bar__plus_00_dot_59_bar__plus_02_dot_31_bar__minus_00_dot_65 - receptacle + Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_53 - receptacle + Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_58 - receptacle + Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_01_dot_23 - receptacle + Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__minus_00_dot_18 - receptacle + Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_06_bar__plus_00_dot_38 - receptacle + Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_64 - receptacle + Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_31_bar__plus_00_dot_43 - receptacle + Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_31_bar__plus_01_dot_18 - receptacle + Cabinet_bar__minus_00_dot_37_bar__plus_00_dot_40_bar__minus_00_dot_35 - receptacle + Cabinet_bar__minus_00_dot_57_bar__plus_02_dot_06_bar__minus_00_dot_65 - receptacle + Cabinet_bar__minus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_37 - receptacle + Cabinet_bar__minus_00_dot_99_bar__plus_00_dot_40_bar__minus_00_dot_34 - receptacle + Cabinet_bar__minus_01_dot_10_bar__plus_02_dot_06_bar__minus_00_dot_65 - receptacle + Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__plus_00_dot_38 - receptacle + Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_28 - receptacle + Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_33 - receptacle + Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_31_bar__plus_00_dot_43 - receptacle + Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_31_bar__plus_01_dot_38 - receptacle + CoffeeMachine_bar__plus_01_dot_31_bar__plus_00_dot_90_bar__minus_00_dot_74 - receptacle + CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07 - receptacle + CounterTop_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_00_dot_67 - receptacle + DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48 - receptacle + DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46 - receptacle + Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_37 - receptacle + Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_73 - receptacle + Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_01_dot_08 - receptacle + Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__minus_00_dot_02 - receptacle + Drawer_bar__minus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_21 - receptacle + Drawer_bar__minus_01_dot_12_bar__plus_00_dot_79_bar__minus_00_dot_17 - receptacle + Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99 - receptacle + GarbageCan_bar__plus_01_dot_30_bar__plus_00_dot_01_bar__plus_01_dot_47 - receptacle + Microwave_bar__minus_01_dot_34_bar__plus_00_dot_90_bar__plus_00_dot_05 - receptacle + Sink_bar__minus_00_dot_01_bar__plus_00_dot_91_bar__minus_00_dot_62_bar_SinkBasin - receptacle + StoveBurner_bar__plus_00_dot_50_bar__plus_00_dot_93_bar__minus_00_dot_47 - receptacle + StoveBurner_bar__plus_00_dot_50_bar__plus_00_dot_93_bar__minus_00_dot_74 - receptacle + StoveBurner_bar__plus_00_dot_80_bar__plus_00_dot_93_bar__minus_00_dot_47 - receptacle + StoveBurner_bar__plus_00_dot_80_bar__plus_00_dot_93_bar__minus_00_dot_74 - receptacle + Toaster_bar__plus_01_dot_36_bar__plus_00_dot_90_bar__plus_01_dot_05 - receptacle + loc_bar_3_bar_5_bar_1_bar__minus_30 - location + loc_bar_0_bar_10_bar_3_bar_30 - location + loc_bar_2_bar_0_bar_2_bar_45 - location + loc_bar_3_bar_1_bar_1_bar_60 - location + loc_bar_2_bar_10_bar_1_bar_0 - location + loc_bar_2_bar_10_bar_1_bar_60 - location + loc_bar_2_bar_1_bar_1_bar_45 - location + loc_bar__minus_1_bar_2_bar_3_bar__minus_30 - location + loc_bar_3_bar_2_bar_1_bar__minus_30 - location + loc_bar_3_bar_2_bar_1_bar_60 - location + loc_bar__minus_1_bar_2_bar_2_bar_60 - location + loc_bar_3_bar_5_bar_1_bar_60 - location + loc_bar_2_bar_10_bar_1_bar_45 - location + loc_bar__minus_2_bar_0_bar_3_bar_60 - location + loc_bar_2_bar_0_bar_2_bar__minus_30 - location + loc_bar_0_bar_3_bar_3_bar_45 - location + loc_bar__minus_2_bar_0_bar_3_bar__minus_30 - location + loc_bar_0_bar_0_bar_2_bar_45 - location + loc_bar__minus_2_bar_0_bar_2_bar_45 - location + loc_bar__minus_1_bar_4_bar_3_bar_60 - location + loc_bar_0_bar_13_bar_0_bar_30 - location + loc_bar__minus_2_bar_0_bar_2_bar__minus_30 - location + loc_bar_1_bar_0_bar_2_bar_60 - location + loc_bar_2_bar_0_bar_2_bar_60 - location + loc_bar_2_bar_0_bar_1_bar__minus_30 - location + loc_bar__minus_1_bar_5_bar_3_bar__minus_30 - location + loc_bar_1_bar_2_bar_1_bar_60 - location + loc_bar_2_bar_0_bar_2_bar_30 - location + loc_bar_3_bar_5_bar_1_bar_45 - location + loc_bar_2_bar_0_bar_1_bar_60 - location + loc_bar__minus_1_bar_1_bar_3_bar__minus_30 - location + loc_bar_0_bar_2_bar_1_bar_45 - location + loc_bar_1_bar_6_bar_1_bar_60 - location + loc_bar__minus_2_bar_0_bar_3_bar_45 - location + loc_bar_1_bar_2_bar_2_bar_60 - location + loc_bar_0_bar_0_bar_2_bar_0 - location + loc_bar_0_bar_6_bar_1_bar_45 - location + loc_bar_2_bar_0_bar_1_bar_45 - location + loc_bar_1_bar_7_bar_0_bar_30 - location + ) + + +(:init + + + (receptacleType Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_37 DrawerType) + (receptacleType GarbageCan_bar__plus_01_dot_30_bar__plus_00_dot_01_bar__plus_01_dot_47 GarbageCanType) + (receptacleType Cabinet_bar__plus_00_dot_59_bar__plus_02_dot_31_bar__minus_00_dot_65 CabinetType) + (receptacleType Drawer_bar__minus_01_dot_12_bar__plus_00_dot_79_bar__minus_00_dot_17 DrawerType) + (receptacleType Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_64 CabinetType) + (receptacleType Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_31_bar__plus_01_dot_38 CabinetType) + (receptacleType CoffeeMachine_bar__plus_01_dot_31_bar__plus_00_dot_90_bar__minus_00_dot_74 CoffeeMachineType) + (receptacleType Drawer_bar__minus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_21 DrawerType) + (receptacleType StoveBurner_bar__plus_00_dot_80_bar__plus_00_dot_93_bar__minus_00_dot_47 StoveBurnerType) + (receptacleType Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99 FridgeType) + (receptacleType Microwave_bar__minus_01_dot_34_bar__plus_00_dot_90_bar__plus_00_dot_05 MicrowaveType) + (receptacleType StoveBurner_bar__plus_00_dot_50_bar__plus_00_dot_93_bar__minus_00_dot_74 StoveBurnerType) + (receptacleType Cabinet_bar__minus_00_dot_57_bar__plus_02_dot_06_bar__minus_00_dot_65 CabinetType) + (receptacleType Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_31_bar__plus_00_dot_43 CabinetType) + (receptacleType CounterTop_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_00_dot_67 CounterTopType) + (receptacleType 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ToasterType) + (receptacleType Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_58 CabinetType) + (receptacleType Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_73 DrawerType) + (receptacleType Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__minus_00_dot_02 DrawerType) + (receptacleType Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_53 CabinetType) + (receptacleType Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_33 CabinetType) + (receptacleType Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_01_dot_08 DrawerType) + (receptacleType Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__plus_00_dot_38 CabinetType) + (receptacleType Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__minus_00_dot_18 CabinetType) + (receptacleType DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48 DiningTableType) + (receptacleType Cabinet_bar__minus_01_dot_10_bar__plus_02_dot_06_bar__minus_00_dot_65 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WineBottle_bar__minus_01_dot_32_bar__plus_00_dot_75_bar__plus_00_dot_67) + + + + + + (sliceable Apple_bar__plus_01_dot_37_bar__plus_00_dot_95_bar__plus_02_dot_15) + (sliceable Potato_bar__plus_00_dot_04_bar__plus_00_dot_80_bar__minus_00_dot_69) + (sliceable Egg_bar__plus_01_dot_44_bar__plus_00_dot_95_bar__minus_00_dot_14) + (sliceable Tomato_bar__plus_01_dot_37_bar__plus_00_dot_94_bar__plus_02_dot_37) + (sliceable Egg_bar__plus_01_dot_37_bar__plus_00_dot_95_bar__minus_00_dot_43) + (sliceable Tomato_bar__minus_01_dot_21_bar__plus_01_dot_69_bar__plus_01_dot_19) + (sliceable Lettuce_bar__plus_01_dot_21_bar__plus_00_dot_98_bar__plus_00_dot_71) + (sliceable Lettuce_bar__plus_01_dot_37_bar__plus_00_dot_98_bar__plus_00_dot_14) + (sliceable Bread_bar__plus_01_dot_07_bar__plus_00_dot_94_bar__plus_02_dot_68) + + (inReceptacle Cup_bar__plus_01_dot_36_bar__plus_01_dot_66_bar__minus_00_dot_39 Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_64) + (inReceptacle Kettle_bar__minus_00_dot_69_bar__plus_01_dot_66_bar__minus_00_dot_79 Cabinet_bar__minus_00_dot_57_bar__plus_02_dot_06_bar__minus_00_dot_65) + (inReceptacle SprayBottle_bar__plus_01_dot_33_bar__plus_02_dot_16_bar__plus_00_dot_51 Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_31_bar__plus_00_dot_43) + (inReceptacle Mug_bar__plus_01_dot_18_bar__plus_00_dot_11_bar__plus_00_dot_66 Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_58) + (inReceptacle Plate_bar__plus_01_dot_13_bar__plus_00_dot_12_bar__minus_00_dot_01 Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__minus_00_dot_18) + (inReceptacle SprayBottle_bar__minus_00_dot_17_bar__plus_00_dot_12_bar__minus_00_dot_62 Cabinet_bar__minus_00_dot_37_bar__plus_00_dot_40_bar__minus_00_dot_35) + (inReceptacle Kettle_bar__minus_01_dot_33_bar__plus_02_dot_15_bar__plus_01_dot_09 Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_31_bar__plus_01_dot_38) + (inReceptacle Knife_bar__plus_01_dot_21_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 Egg_bar__plus_01_dot_44_bar__plus_00_dot_95_bar__minus_00_dot_14 CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07) + (inReceptacle Cup_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 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 Egg_bar__plus_01_dot_37_bar__plus_00_dot_95_bar__minus_00_dot_43 CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07) + (inReceptacle Lettuce_bar__plus_01_dot_21_bar__plus_00_dot_98_bar__plus_00_dot_71 CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07) + (inReceptacle ButterKnife_bar__plus_01_dot_13_bar__plus_00_dot_91_bar__plus_00_dot_71 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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_13_bar__plus_00_dot_78_bar__plus_00_dot_37 Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_37) + (inReceptacle 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 Knife_bar__minus_01_dot_11_bar__plus_00_dot_77_bar__plus_02_dot_09 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46) + (inReceptacle Glassbottle_bar__minus_00_dot_92_bar__plus_00_dot_75_bar__plus_02_dot_46 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46) + (inReceptacle Bowl_bar__minus_01_dot_01_bar__plus_00_dot_75_bar__plus_02_dot_64 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46) + (inReceptacle Spatula_bar__minus_01_dot_20_bar__plus_00_dot_76_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_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 CellPhone_bar__minus_01_dot_20_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 Pan_bar__minus_01_dot_11_bar__plus_00_dot_75_bar__plus_03_dot_02 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46) + (inReceptacle Fork_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 Spoon_bar__minus_01_dot_11_bar__plus_00_dot_75_bar__plus_02_dot_46 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46) + (inReceptacle Cup_bar__minus_01_dot_21_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 Mug_bar__minus_01_dot_38_bar__plus_01_dot_28_bar__plus_00_dot_67 Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99) + (inReceptacle Tomato_bar__minus_01_dot_21_bar__plus_01_dot_69_bar__plus_01_dot_19 Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99) + (inReceptacle Bowl_bar__minus_01_dot_21_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 WineBottle_bar__minus_01_dot_32_bar__plus_00_dot_75_bar__plus_00_dot_67 Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99) + (inReceptacle Potato_bar__plus_00_dot_04_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) 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loc_bar__minus_2_bar_0_bar_3_bar_60) + (receptacleAtLocation Cabinet_bar__minus_01_dot_10_bar__plus_02_dot_06_bar__minus_00_dot_65 loc_bar__minus_2_bar_0_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__plus_00_dot_38 loc_bar__minus_2_bar_0_bar_3_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_28 loc_bar__minus_1_bar_1_bar_3_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_33 loc_bar__minus_2_bar_0_bar_3_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_31_bar__plus_00_dot_43 loc_bar__minus_1_bar_2_bar_3_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_31_bar__plus_01_dot_38 loc_bar__minus_1_bar_5_bar_3_bar__minus_30) + (receptacleAtLocation CoffeeMachine_bar__plus_01_dot_31_bar__plus_00_dot_90_bar__minus_00_dot_74 loc_bar_2_bar_0_bar_1_bar_45) + (receptacleAtLocation CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07 loc_bar_2_bar_1_bar_1_bar_45) + (receptacleAtLocation CounterTop_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_00_dot_67 loc_bar__minus_2_bar_0_bar_2_bar_45) + (receptacleAtLocation DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48 loc_bar_2_bar_10_bar_1_bar_45) + (receptacleAtLocation DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46 loc_bar_0_bar_10_bar_3_bar_30) + (receptacleAtLocation Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_37 loc_bar_3_bar_1_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_73 loc_bar_3_bar_2_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_01_dot_08 loc_bar_3_bar_5_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__minus_00_dot_02 loc_bar_2_bar_0_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__minus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_21 loc_bar__minus_2_bar_0_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_01_dot_12_bar__plus_00_dot_79_bar__minus_00_dot_17 loc_bar__minus_2_bar_0_bar_3_bar_60) + (receptacleAtLocation Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99 loc_bar__minus_1_bar_4_bar_3_bar_60) + (receptacleAtLocation GarbageCan_bar__plus_01_dot_30_bar__plus_00_dot_01_bar__plus_01_dot_47 loc_bar_1_bar_6_bar_1_bar_60) + (receptacleAtLocation Microwave_bar__minus_01_dot_34_bar__plus_00_dot_90_bar__plus_00_dot_05 loc_bar__minus_2_bar_0_bar_3_bar_45) + (receptacleAtLocation Sink_bar__minus_00_dot_01_bar__plus_00_dot_91_bar__minus_00_dot_62_bar_SinkBasin loc_bar_1_bar_0_bar_2_bar_60) + (receptacleAtLocation StoveBurner_bar__plus_00_dot_50_bar__plus_00_dot_93_bar__minus_00_dot_47 loc_bar_2_bar_0_bar_2_bar_60) + (receptacleAtLocation StoveBurner_bar__plus_00_dot_50_bar__plus_00_dot_93_bar__minus_00_dot_74 loc_bar_2_bar_0_bar_2_bar_45) + (receptacleAtLocation StoveBurner_bar__plus_00_dot_80_bar__plus_00_dot_93_bar__minus_00_dot_47 loc_bar_2_bar_0_bar_2_bar_60) + (receptacleAtLocation StoveBurner_bar__plus_00_dot_80_bar__plus_00_dot_93_bar__minus_00_dot_74 loc_bar_2_bar_0_bar_2_bar_45) + (receptacleAtLocation Toaster_bar__plus_01_dot_36_bar__plus_00_dot_90_bar__plus_01_dot_05 loc_bar_3_bar_5_bar_1_bar_45) + (objectAtLocation Mug_bar__plus_01_dot_18_bar__plus_00_dot_11_bar__plus_00_dot_66 loc_bar_0_bar_2_bar_1_bar_45) + (objectAtLocation SprayBottle_bar__minus_00_dot_17_bar__plus_00_dot_12_bar__minus_00_dot_62 loc_bar_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 DishSponge_bar__minus_01_dot_44_bar__plus_00_dot_91_bar__minus_00_dot_39 loc_bar__minus_2_bar_0_bar_2_bar_45) + (objectAtLocation ButterKnife_bar__minus_00_dot_04_bar__plus_00_dot_91_bar__minus_00_dot_35 loc_bar__minus_2_bar_0_bar_2_bar_45) + (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 Egg_bar__plus_01_dot_37_bar__plus_00_dot_95_bar__minus_00_dot_43 loc_bar_2_bar_1_bar_1_bar_45) + (objectAtLocation Knife_bar__plus_01_dot_21_bar__plus_00_dot_93_bar__minus_00_dot_14 loc_bar_2_bar_1_bar_1_bar_45) + (objectAtLocation Cup_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 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__minus_00_dot_97_bar__plus_00_dot_93_bar__minus_00_dot_43 loc_bar__minus_2_bar_0_bar_2_bar_45) + (objectAtLocation SoapBottle_bar__plus_01_dot_20_bar__plus_00_dot_89_bar__plus_02_dot_26 loc_bar_2_bar_10_bar_1_bar_45) + (objectAtLocation Pot_bar__plus_00_dot_50_bar__plus_00_dot_94_bar__minus_00_dot_74 loc_bar_2_bar_0_bar_2_bar_45) + (objectAtLocation Lettuce_bar__plus_01_dot_21_bar__plus_00_dot_98_bar__plus_00_dot_71 loc_bar_2_bar_1_bar_1_bar_45) + (objectAtLocation CellPhone_bar__plus_01_dot_12_bar__plus_00_dot_88_bar__plus_02_dot_15 loc_bar_2_bar_10_bar_1_bar_45) + (objectAtLocation Tomato_bar__plus_01_dot_37_bar__plus_00_dot_94_bar__plus_02_dot_37 loc_bar_2_bar_10_bar_1_bar_45) + (objectAtLocation Kettle_bar__minus_00_dot_69_bar__plus_01_dot_66_bar__minus_00_dot_79 loc_bar__minus_2_bar_0_bar_2_bar__minus_30) + (objectAtLocation Fork_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 Mug_bar__minus_01_dot_38_bar__plus_01_dot_28_bar__plus_00_dot_67 loc_bar__minus_1_bar_4_bar_3_bar_60) + (objectAtLocation SaltShaker_bar__plus_01_dot_45_bar__plus_00_dot_88_bar__plus_02_dot_80 loc_bar_2_bar_10_bar_1_bar_45) + (objectAtLocation Bowl_bar__minus_01_dot_21_bar__plus_00_dot_75_bar__plus_01_dot_20 loc_bar__minus_1_bar_4_bar_3_bar_60) + (objectAtLocation Knife_bar__minus_00_dot_13_bar__plus_00_dot_93_bar__minus_00_dot_37 loc_bar__minus_2_bar_0_bar_2_bar_45) + (objectAtLocation Cup_bar__minus_01_dot_21_bar__plus_00_dot_75_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 Fork_bar__plus_01_dot_20_bar__plus_00_dot_89_bar__plus_02_dot_69 loc_bar_2_bar_10_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__plus_01_dot_07_bar__plus_00_dot_94_bar__plus_02_dot_68 loc_bar_2_bar_10_bar_1_bar_45) + (objectAtLocation StoveKnob_bar__plus_00_dot_55_bar__plus_01_dot_09_bar__minus_00_dot_91 loc_bar_2_bar_0_bar_2_bar_30) + (objectAtLocation StoveKnob_bar__plus_00_dot_89_bar__plus_01_dot_09_bar__minus_00_dot_91 loc_bar_2_bar_0_bar_2_bar_30) + (objectAtLocation StoveKnob_bar__plus_00_dot_43_bar__plus_01_dot_09_bar__minus_00_dot_91 loc_bar_2_bar_0_bar_2_bar_30) + (objectAtLocation StoveKnob_bar__plus_00_dot_78_bar__plus_01_dot_09_bar__minus_00_dot_91 loc_bar_2_bar_0_bar_2_bar_30) + (objectAtLocation Glassbottle_bar__minus_00_dot_92_bar__plus_00_dot_75_bar__plus_02_dot_46 loc_bar_0_bar_10_bar_3_bar_30) + (objectAtLocation Fork_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 Kettle_bar__minus_01_dot_33_bar__plus_02_dot_15_bar__plus_01_dot_09 loc_bar__minus_1_bar_5_bar_3_bar__minus_30) + (objectAtLocation Tomato_bar__minus_01_dot_21_bar__plus_01_dot_69_bar__plus_01_dot_19 loc_bar__minus_1_bar_4_bar_3_bar_60) + (objectAtLocation Plate_bar__plus_01_dot_13_bar__plus_00_dot_12_bar__minus_00_dot_01 loc_bar_1_bar_2_bar_1_bar_60) + (objectAtLocation CellPhone_bar__minus_01_dot_20_bar__plus_00_dot_75_bar__plus_02_dot_46 loc_bar_0_bar_10_bar_3_bar_30) + (objectAtLocation Lettuce_bar__plus_01_dot_37_bar__plus_00_dot_98_bar__plus_00_dot_14 loc_bar_2_bar_1_bar_1_bar_45) + (objectAtLocation Pot_bar__plus_00_dot_80_bar__plus_00_dot_94_bar__minus_00_dot_74 loc_bar_2_bar_0_bar_2_bar_45) + (objectAtLocation SoapBottle_bar__plus_00_dot_95_bar__plus_00_dot_89_bar__plus_02_dot_26 loc_bar_2_bar_10_bar_1_bar_45) + (objectAtLocation Window_bar__minus_00_dot_01_bar__plus_01_dot_64_bar__minus_00_dot_97 loc_bar_0_bar_0_bar_2_bar_0) + (objectAtLocation Window_bar__plus_01_dot_60_bar__plus_01_dot_65_bar__plus_02_dot_49 loc_bar_2_bar_10_bar_1_bar_0) + (objectAtLocation WineBottle_bar__minus_01_dot_32_bar__plus_00_dot_75_bar__plus_00_dot_67 loc_bar__minus_1_bar_4_bar_3_bar_60) + (objectAtLocation Spatula_bar__minus_01_dot_20_bar__plus_00_dot_76_bar__plus_01_dot_90 loc_bar_0_bar_10_bar_3_bar_30) + (objectAtLocation Bowl_bar__minus_01_dot_01_bar__plus_00_dot_75_bar__plus_02_dot_64 loc_bar_0_bar_10_bar_3_bar_30) + (objectAtLocation Apple_bar__plus_01_dot_37_bar__plus_00_dot_95_bar__plus_02_dot_15 loc_bar_2_bar_10_bar_1_bar_45) + (objectAtLocation LightSwitch_bar__plus_00_dot_12_bar__plus_01_dot_35_bar__plus_03_dot_80 loc_bar_0_bar_13_bar_0_bar_30) + (objectAtLocation Cup_bar__plus_01_dot_36_bar__plus_01_dot_66_bar__minus_00_dot_39 loc_bar_2_bar_0_bar_1_bar__minus_30) + (objectAtLocation Knife_bar__minus_01_dot_11_bar__plus_00_dot_77_bar__plus_02_dot_09 loc_bar_0_bar_10_bar_3_bar_30) + (objectAtLocation Egg_bar__plus_01_dot_44_bar__plus_00_dot_95_bar__minus_00_dot_14 loc_bar_2_bar_1_bar_1_bar_45) + (objectAtLocation SaltShaker_bar__plus_01_dot_28_bar__plus_00_dot_88_bar__plus_02_dot_15 loc_bar_2_bar_10_bar_1_bar_45) + (objectAtLocation 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+ "objectName": "Egg_1ede3fc6", + "position": { + "x": 1.36534023, + "y": 0.9456665, + "z": -0.4283477 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SaltShaker_8429d040", + "position": { + "x": -1.19785714, + "y": 0.7452062, + "z": 2.83014464 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "PepperShaker_b6eaf348", + "position": { + "x": 1.20097, + "y": 0.8826062, + "z": 2.477 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Potato_edec52fd", + "position": { + "x": 0.0417298749, + "y": 0.803515, + "z": -0.691273868 + }, + "rotation": { + "x": 1.40334191e-14, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "ButterKnife_432df619", + "position": { + "x": -0.0380308032, + "y": 0.912142038, + "z": -0.354357183 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_4b57442b", + "position": { + "x": -1.43764663, + "y": 0.9116642, + "z": -0.392702371 + }, + "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": -1.10519874, + "y": 0.750755668, + "z": 2.459 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SprayBottle_4f8d0eee", + "position": { + "x": -0.170651615, + "y": 0.116042852, + "z": -0.6216246 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_c297f602", + "position": { + "x": 1.17539263, + "y": 0.11086005, + "z": 0.6566105 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 940086207, + "scene_num": 17 + }, + "task_id": "trial_T20190918_205656_000147", + "task_type": "pick_heat_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "AFU00NU09CFXE_31Z0PCVWUN6C2CBL3E4NJ3TJDIY7TH", + "high_descs": [ + "Turn around and move to the stove, then turn left to face the counter to the left of the stove.", + "Pick up the sharp knife with the yellow handle from the counter.", + "Turn left and carry the knife to the white table in front of the window on your right.", + "Use the knife to slice the apple on the back right corner of the table. ", + "Turn around and carry the knife to the other white table, which has shelves below, on the opposite wall. ", + "Place the knife in the bowl closest to you on the table. ", + "Turn back around and move to the table with the apple.", + "Pick up a slice of apple from the table. ", + "Turn right, carry the apple slice to the stove, and then head right again to the microwave.", + "Place the apple slice in the microwave and then remove once heated.", + "Turn right and carry the apple slice to the white table with shelves below on your left. ", + "Place the apple slice on the table." + ], + "task_desc": "Move a heated slice of apple to the white table with shelving below.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "ARB8SJAWXUWTD_32XVDSJFP2O13GOVO5MG1YHJ8RL2MU", + "high_descs": [ + "Go to the counter near the stove", + "Pick up the knife from the counter", + "Go to the small white table", + "Cut the apple", + "Turn around to the big white table", + "Place the knife down in a bowl on the table", + "Turn around to the small white table", + "Pick up an apple piece", + "Go to the microwave", + "Heat the apple piece", + "Go to the big white table", + "Place the apple down on the big white table" + ], + "task_desc": "Place a heated apple slice on the large table", + "votes": [ + 1, + 0, + 1 + ] + }, + { + "assignment_id": "A3SFPSMFRSRTB3_3N2BF7Y2VTL5I6RD7QPNO2NLXDHHMB", + "high_descs": [ + "Turn around go to sink and stove. Turn left, go to counter with knife and mug.", + "Pick up knife from counter, left of the mug.", + "Turn left, proceed to table on right. Turn right to face table with pump dispensers.", + "Slice potato on back of table, behind salt shaker.", + "Turn around, go to table across room.", + "Put knife in bowl closest to you on table.", + "Turn around, go to table with sliced potato on it.", + "Pick up slice of potato off of table.", + "Turn right go to stove. Turn around, go across room to microwave.", + "Put potato in microwave, wait three seconds, remove potato from microwave.", + "Turn right, to to table on left. Turn left to face table.", + "Place potato on table, in front of fork, to the right of the knife with the yellow handle." + ], + "task_desc": "Pick up knife, slice potato, put knife in bowl, heat slice of potato in microwave, put potato on table.", + "votes": [ + 0, + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/valid_seen/pick_heat_then_place_in_recep-AppleSliced-None-Fridge-18/trial_T20190911_045200_839773/initial_state.pddl b/data/alfworld/json_2.1.1/valid_seen/pick_heat_then_place_in_recep-AppleSliced-None-Fridge-18/trial_T20190911_045200_839773/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..b085373621717c4d294a2c4198ea51aa9cb703d5 --- /dev/null +++ b/data/alfworld/json_2.1.1/valid_seen/pick_heat_then_place_in_recep-AppleSliced-None-Fridge-18/trial_T20190911_045200_839773/initial_state.pddl @@ -0,0 +1,1054 @@ + +(define (problem plan_trial_T20190911_045200_839773) +(:domain alfred) +(:objects +agent1 - agent +Curtains - object + SprayBottle - object + Mirror - object + HousePlant - object + Watch - object + TeddyBear - object + WateringCan - object + Bathtub - object + LightSwitch - object + Vase - object + Candle - object + Bread - object + Statue - object + HandTowel - object + StoveKnob - object + PaperTowelRoll - object + Pan - object + PepperShaker - object + Painting - object + CellPhone - object + Plunger - object + Spoon - object + SaltShaker - object + KeyChain - object + Footstool - object + Poster - object + Television - object + LaundryHamperLid - object + Glassbottle - object + AlarmClock - object + WineBottle - object + Bowl - object + Sink - object + TissueBox - object + TennisRacket - object + ToiletPaper - object + ScrubBrush - object + CreditCard - object + Laptop - object + Cloth - object + Cup - object + Chair - object + BasketBall - object + Kettle - object + PaperTowel - object + ShowerDoor - object + BaseballBat - object + Potato - object + Pillow - object + Lettuce - object + RemoteControl - object + Window - object + DishSponge - object + CD - object + Boots - object + Blinds - object + Pen - object + Newspaper - object + Plate - object + Mug - object + ShowerGlass - object + ToiletPaperRoll - object + SoapBar - object + FloorLamp - object + SoapBottle - object + Pot - object + Pencil - object + Spatula - object + Towel - object + Fork - object + Ladle - object + Knife - object + Apple - object + Box - object + Tomato - object + ButterKnife - object + Egg - object + Book - object + DeskLamp - object +CurtainsType - otype + SprayBottleType - otype + MirrorType - otype + HousePlantType - otype + WatchType - otype + TeddyBearType - otype + WateringCanType - otype + BathtubType - otype + LightSwitchType - otype + VaseType - otype + CandleType - otype + BreadType - otype + StatueType - otype + HandTowelType - otype + StoveKnobType - otype + PaperTowelRollType - otype + PanType - otype + PepperShakerType - otype + PaintingType - otype + CellPhoneType - otype + PlungerType - otype + SpoonType - otype + SaltShakerType - otype + KeyChainType - otype + FootstoolType - otype + PosterType - otype + TelevisionType - otype + LaundryHamperLidType - otype + GlassbottleType - otype + AlarmClockType - otype + WineBottleType - otype + BowlType - otype + SinkType - otype + TissueBoxType - otype + TennisRacketType - otype + ToiletPaperType - otype + ScrubBrushType - otype + CreditCardType - otype + LaptopType - otype + ClothType - otype + CupType - otype + ChairType - otype + BasketBallType - otype + KettleType - otype + PaperTowelType - otype + ShowerDoorType - otype + BaseballBatType - otype + PotatoType - otype + PillowType - otype + LettuceType - otype + RemoteControlType - otype + WindowType - otype + DishSpongeType - otype + CDType - otype + BootsType - otype + BlindsType - otype + PenType - otype + NewspaperType - otype + PlateType - otype + MugType - otype + ShowerGlassType - otype + ToiletPaperRollType - otype + SoapBarType - otype + FloorLampType - otype + SoapBottleType - otype + PotType - otype + PencilType - otype + SpatulaType - otype + TowelType - otype + ForkType - otype + LadleType - otype + KnifeType - otype + AppleType - otype + BoxType - otype + TomatoType - otype + ButterKnifeType - otype + EggType - otype + BookType - otype + DeskLampType - otype +CabinetType - rtype + ShelfType - rtype + DiningTableType - rtype + TowelHolderType - rtype + PaintingHangerType - rtype + TVStandType - rtype + LaundryHamperType - rtype + OttomanType - rtype + SafeType - rtype + CoffeeMachineType - rtype + CounterTopType - rtype + ToiletType - rtype + FridgeType - rtype + CoffeeTableType - rtype + SinkBasinType - rtype + GarbageCanType - rtype + BathtubBasinType - rtype + SideTableType - rtype + CartType - rtype + BedType - rtype + DeskType - rtype + SofaType - rtype + ArmChairType - rtype + MicrowaveType - rtype + HandTowelHolderType - rtype + ToasterType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + DrawerType - rtype + DresserType - rtype + + + Apple_bar__plus_01_dot_23_bar__plus_01_dot_07_bar__plus_03_dot_23 - object + Apple_bar__plus_02_dot_01_bar__plus_00_dot_16_bar__plus_06_dot_53 - object + Blinds_bar__plus_01_dot_74_bar__plus_02_dot_56_bar__plus_02_dot_31 - object + Bowl_bar__plus_01_dot_45_bar__plus_02_dot_21_bar__plus_03_dot_84 - object + Bowl_bar__minus_00_dot_07_bar__plus_01_dot_58_bar__plus_00_dot_25 - object + Bread_bar__plus_00_dot_15_bar__plus_00_dot_83_bar__plus_06_dot_60 - object + ButterKnife_bar__plus_00_dot_06_bar__plus_00_dot_76_bar__plus_06_dot_26 - object + Chair_bar__plus_00_dot_29_bar__plus_00_dot_02_bar__plus_06_dot_14 - object + Cup_bar__plus_02_dot_01_bar__plus_01_dot_51_bar__plus_05_dot_38 - object + DishSponge_bar__plus_00_dot_19_bar__plus_00_dot_14_bar__plus_00_dot_58 - object + DishSponge_bar__plus_00_dot_26_bar__plus_00_dot_77_bar__plus_00_dot_62 - object + Egg_bar__plus_01_dot_40_bar__plus_01_dot_04_bar__plus_00_dot_44 - object + Faucet_bar__plus_01_dot_54_bar__plus_01_dot_03_bar__plus_02_dot_37 - object + Fork_bar__plus_00_dot_87_bar__plus_00_dot_77_bar__plus_00_dot_51 - object + HousePlant_bar__minus_00_dot_17_bar__plus_00_dot_75_bar__plus_06_dot_44 - object + Kettle_bar__plus_01_dot_59_bar__plus_00_dot_98_bar__plus_03_dot_25 - object + Kettle_bar__minus_00_dot_62_bar__plus_00_dot_76_bar__plus_06_dot_42 - object + Knife_bar__plus_00_dot_15_bar__plus_00_dot_79_bar__plus_06_dot_42 - object + Knife_bar__minus_00_dot_54_bar__plus_01_dot_02_bar__plus_00_dot_49 - object + Lettuce_bar__plus_01_dot_58_bar__plus_01_dot_08_bar__plus_00_dot_44 - object + Lettuce_bar__minus_00_dot_29_bar__plus_00_dot_85_bar__plus_06_dot_79 - object + LightSwitch_bar__minus_02_dot_00_bar__plus_01_dot_55_bar__plus_06_dot_05 - object + Mug_bar__plus_00_dot_27_bar__plus_01_dot_09_bar__plus_00_dot_21 - object + Mug_bar__plus_01_dot_57_bar__plus_00_dot_14_bar__plus_04_dot_65 - object + Mug_bar__plus_02_dot_05_bar__plus_01_dot_51_bar__plus_05_dot_88 - object + Pan_bar__plus_00_dot_70_bar__plus_00_dot_99_bar__plus_00_dot_58 - object + PaperTowelRoll_bar__plus_01_dot_14_bar__plus_01_dot_10_bar__plus_04_dot_58 - object + PepperShaker_bar__plus_00_dot_84_bar__plus_01_dot_57_bar__plus_00_dot_38 - object + Plate_bar__plus_01_dot_41_bar__plus_00_dot_14_bar__plus_02_dot_65 - object + Potato_bar__plus_01_dot_14_bar__plus_01_dot_03_bar__plus_04_dot_72 - object + Pot_bar__plus_01_dot_32_bar__plus_00_dot_99_bar__plus_03_dot_85 - object + Pot_bar__plus_01_dot_56_bar__plus_00_dot_99_bar__plus_03_dot_85 - object + Pot_bar__plus_01_dot_56_bar__plus_00_dot_99_bar__plus_04_dot_29 - object + SaltShaker_bar__plus_01_dot_50_bar__plus_01_dot_57_bar__plus_01_dot_41 - object + Sink_bar__plus_01_dot_39_bar__plus_01_dot_01_bar__plus_02_dot_33 - object + SoapBottle_bar__plus_00_dot_12_bar__plus_00_dot_14_bar__plus_00_dot_28 - object + SoapBottle_bar__plus_00_dot_15_bar__plus_00_dot_76_bar__plus_06_dot_35 - object + SoapBottle_bar__minus_00_dot_44_bar__plus_00_dot_76_bar__plus_06_dot_11 - object + Spatula_bar__minus_00_dot_28_bar__plus_00_dot_79_bar__plus_00_dot_56 - object + Spatula_bar__minus_00_dot_41_bar__plus_00_dot_79_bar__plus_00_dot_45 - object + Spoon_bar__plus_01_dot_24_bar__plus_00_dot_77_bar__plus_04_dot_72 - object + Spoon_bar__plus_01_dot_40_bar__plus_00_dot_99_bar__plus_03_dot_32 - object + Spoon_bar__minus_00_dot_47_bar__plus_00_dot_76_bar__plus_06_dot_48 - object + StoveKnob_bar__plus_01_dot_14_bar__plus_00_dot_93_bar__plus_03_dot_82 - object + StoveKnob_bar__plus_01_dot_14_bar__plus_00_dot_93_bar__plus_03_dot_99 - object + StoveKnob_bar__plus_01_dot_14_bar__plus_00_dot_93_bar__plus_04_dot_14 - object + StoveKnob_bar__plus_01_dot_14_bar__plus_00_dot_93_bar__plus_04_dot_31 - object + Tomato_bar__minus_00_dot_54_bar__plus_01_dot_04_bar__plus_00_dot_67 - object + Window_bar__plus_01_dot_76_bar__plus_02_dot_01_bar__plus_02_dot_30 - object + Window_bar__minus_02_dot_07_bar__plus_01_dot_92_bar__plus_03_dot_63 - object + Cabinet_bar__plus_00_dot_25_bar__plus_02_dot_13_bar__plus_00_dot_43 - receptacle + Cabinet_bar__plus_00_dot_44_bar__plus_00_dot_42_bar__plus_00_dot_74 - receptacle + Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_01_dot_71 - receptacle + Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_02_dot_94 - receptacle + Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_02_dot_99 - receptacle + Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_04_dot_55 - receptacle + Cabinet_bar__plus_01_dot_27_bar__plus_02_dot_13_bar__plus_00_dot_43 - receptacle + Cabinet_bar__plus_01_dot_31_bar__plus_02_dot_46_bar__plus_03_dot_61 - receptacle + Cabinet_bar__plus_01_dot_31_bar__plus_02_dot_46_bar__plus_04_dot_36 - receptacle + Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_00_dot_52 - receptacle + Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_01_dot_53 - receptacle + Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_03_dot_10 - receptacle + Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_04_dot_89 - receptacle + Cabinet_bar__minus_00_dot_17_bar__plus_00_dot_42_bar__plus_00_dot_74 - receptacle + Cabinet_bar__minus_00_dot_26_bar__plus_02_dot_13_bar__plus_00_dot_43 - receptacle + Cabinet_bar__minus_00_dot_78_bar__plus_00_dot_42_bar__plus_00_dot_74 - receptacle + CoffeeMachine_bar__plus_01_dot_55_bar__plus_00_dot_98_bar__plus_00_dot_95 - receptacle + CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90 - receptacle + CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_04_dot_72 - receptacle + DiningTable_bar__minus_00_dot_16_bar__plus_00_dot_67_bar__plus_06_dot_47 - receptacle + Drawer_bar__plus_00_dot_12_bar__plus_00_dot_80_bar__plus_00_dot_52 - receptacle + Drawer_bar__plus_00_dot_74_bar__plus_00_dot_80_bar__plus_00_dot_52 - 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StoveBurner_bar__plus_01_dot_56_bar__plus_00_dot_98_bar__plus_04_dot_29 - receptacle + Toaster_bar__plus_01_dot_47_bar__plus_00_dot_98_bar__plus_04_dot_72 - receptacle + loc_bar_3_bar_5_bar_1_bar__minus_30 - location + loc_bar_2_bar_4_bar_2_bar__minus_30 - location + loc_bar_0_bar_4_bar_2_bar__minus_30 - location + loc_bar__minus_1_bar_7_bar_2_bar_45 - location + loc_bar_3_bar_14_bar_1_bar__minus_30 - location + loc_bar_4_bar_22_bar_1_bar_60 - location + loc_bar__minus_6_bar_15_bar_3_bar__minus_30 - location + loc_bar_3_bar_15_bar_1_bar_45 - location + loc_bar_1_bar_10_bar_1_bar_60 - location + loc_bar_3_bar_16_bar_1_bar_60 - location + loc_bar_3_bar_18_bar_1_bar__minus_30 - location + loc_bar_3_bar_17_bar_1_bar__minus_30 - location + loc_bar_1_bar_13_bar_1_bar_45 - location + loc_bar_3_bar_4_bar_1_bar__minus_30 - location + loc_bar__minus_5_bar_5_bar_1_bar_45 - location + loc_bar_0_bar_7_bar_2_bar_45 - location + loc_bar__minus_6_bar_24_bar_3_bar_15 - location + loc_bar_3_bar_9_bar_1_bar__minus_30 - location + loc_bar_4_bar_24_bar_1_bar_60 - location + loc_bar_3_bar_17_bar_1_bar_60 - location + loc_bar_1_bar_14_bar_1_bar_60 - location + loc_bar_3_bar_9_bar_1_bar__minus_15 - location + loc_bar_1_bar_20_bar_1_bar_45 - location + loc_bar__minus_3_bar_5_bar_1_bar_45 - location + loc_bar_3_bar_9_bar_1_bar_45 - location + loc_bar_3_bar_17_bar_1_bar_45 - location + loc_bar_1_bar_17_bar_1_bar_60 - location + loc_bar_4_bar_26_bar_1_bar_60 - location + loc_bar_4_bar_24_bar_1_bar_15 - location + loc_bar_1_bar_22_bar_0_bar_60 - location + loc_bar_0_bar_5_bar_1_bar_45 - location + loc_bar_3_bar_15_bar_1_bar_60 - location + loc_bar_1_bar_6_bar_2_bar_30 - location + loc_bar_1_bar_7_bar_2_bar_45 - location + loc_bar_3_bar_4_bar_1_bar_45 - location + loc_bar_1_bar_7_bar_1_bar_60 - location + loc_bar_3_bar_26_bar_3_bar_45 - location + loc_bar_3_bar_19_bar_1_bar_45 - location + loc_bar_3_bar_4_bar_2_bar__minus_30 - location + loc_bar_1_bar_10_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType Toaster_bar__plus_01_dot_47_bar__plus_00_dot_98_bar__plus_04_dot_72 ToasterType) + (receptacleType Drawer_bar__plus_00_dot_74_bar__plus_00_dot_80_bar__plus_00_dot_52 DrawerType) + (receptacleType Cabinet_bar__minus_00_dot_26_bar__plus_02_dot_13_bar__plus_00_dot_43 CabinetType) + (receptacleType Drawer_bar__plus_01_dot_28_bar__plus_00_dot_80_bar__plus_03_dot_29 DrawerType) + (receptacleType StoveBurner_bar__plus_01_dot_56_bar__plus_00_dot_98_bar__plus_03_dot_85 StoveBurnerType) + (receptacleType Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_04_dot_89 CabinetType) + (receptacleType CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90 CounterTopType) + (receptacleType Cabinet_bar__plus_00_dot_25_bar__plus_02_dot_13_bar__plus_00_dot_43 CabinetType) + (receptacleType Cabinet_bar__plus_01_dot_31_bar__plus_02_dot_46_bar__plus_04_dot_36 CabinetType) + (receptacleType StoveBurner_bar__plus_01_dot_56_bar__plus_00_dot_98_bar__plus_04_dot_29 StoveBurnerType) + (receptacleType Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_03_dot_10 CabinetType) + (receptacleType GarbageCan_bar__plus_02_dot_00_bar__plus_00_dot_00_bar__plus_06_dot_50 GarbageCanType) + (receptacleType StoveBurner_bar__plus_01_dot_32_bar__plus_00_dot_98_bar__plus_04_dot_29 StoveBurnerType) + (receptacleType StoveBurner_bar__plus_01_dot_32_bar__plus_00_dot_98_bar__plus_03_dot_85 StoveBurnerType) + (receptacleType Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_01_dot_71 CabinetType) + (receptacleType Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_04_dot_55 CabinetType) + (receptacleType Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_01_dot_53 CabinetType) + (receptacleType Sink_bar__plus_01_dot_39_bar__plus_01_dot_01_bar__plus_02_dot_33_bar_SinkBasin SinkBasinType) + (receptacleType Drawer_bar__plus_01_dot_28_bar__plus_00_dot_81_bar__plus_04_dot_72 DrawerType) + (receptacleType Safe_bar__plus_02_dot_05_bar__minus_00_dot_01_bar__plus_07_dot_06 SafeType) + (receptacleType Cabinet_bar__plus_01_dot_27_bar__plus_02_dot_13_bar__plus_00_dot_43 CabinetType) + (receptacleType DiningTable_bar__minus_00_dot_16_bar__plus_00_dot_67_bar__plus_06_dot_47 DiningTableType) + (receptacleType Drawer_bar__plus_00_dot_12_bar__plus_00_dot_80_bar__plus_00_dot_52 DrawerType) + (receptacleType CoffeeMachine_bar__plus_01_dot_55_bar__plus_00_dot_98_bar__plus_00_dot_95 CoffeeMachineType) + (receptacleType Cabinet_bar__minus_00_dot_17_bar__plus_00_dot_42_bar__plus_00_dot_74 CabinetType) + (receptacleType CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_04_dot_72 CounterTopType) + (receptacleType Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_02_dot_94 CabinetType) + (receptacleType Cabinet_bar__minus_00_dot_78_bar__plus_00_dot_42_bar__plus_00_dot_74 CabinetType) + (receptacleType Cabinet_bar__plus_01_dot_31_bar__plus_02_dot_46_bar__plus_03_dot_61 CabinetType) + (receptacleType Fridge_bar__plus_02_dot_04_bar__plus_00_dot_00_bar__plus_05_dot_63 FridgeType) + (receptacleType Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_00_dot_52 CabinetType) + (receptacleType Cabinet_bar__plus_00_dot_44_bar__plus_00_dot_42_bar__plus_00_dot_74 CabinetType) + (receptacleType Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_02_dot_99 CabinetType) + (receptacleType Drawer_bar__minus_00_dot_48_bar__plus_00_dot_80_bar__plus_00_dot_52 DrawerType) + (receptacleType Microwave_bar__plus_00_dot_11_bar__plus_00_dot_98_bar__plus_00_dot_26 MicrowaveType) + (objectType Fork_bar__plus_00_dot_87_bar__plus_00_dot_77_bar__plus_00_dot_51 ForkType) + (objectType Spoon_bar__plus_01_dot_40_bar__plus_00_dot_99_bar__plus_03_dot_32 SpoonType) + (objectType Apple_bar__plus_02_dot_01_bar__plus_00_dot_16_bar__plus_06_dot_53 AppleType) + (objectType 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Kettle_bar__plus_01_dot_59_bar__plus_00_dot_98_bar__plus_03_dot_25 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90) + (inReceptacle Tomato_bar__minus_00_dot_54_bar__plus_01_dot_04_bar__plus_00_dot_67 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90) + (inReceptacle PaperTowelRoll_bar__plus_01_dot_14_bar__plus_01_dot_10_bar__plus_04_dot_58 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_04_dot_72) + (inReceptacle Potato_bar__plus_01_dot_14_bar__plus_01_dot_03_bar__plus_04_dot_72 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_04_dot_72) + (inReceptacle Mug_bar__plus_01_dot_57_bar__plus_00_dot_14_bar__plus_04_dot_65 Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_04_dot_55) + (inReceptacle PepperShaker_bar__plus_00_dot_84_bar__plus_01_dot_57_bar__plus_00_dot_38 Cabinet_bar__plus_01_dot_27_bar__plus_02_dot_13_bar__plus_00_dot_43) + (inReceptacle DishSponge_bar__plus_00_dot_19_bar__plus_00_dot_14_bar__plus_00_dot_58 Cabinet_bar__minus_00_dot_17_bar__plus_00_dot_42_bar__plus_00_dot_74) + (inReceptacle SoapBottle_bar__plus_00_dot_12_bar__plus_00_dot_14_bar__plus_00_dot_28 Cabinet_bar__minus_00_dot_17_bar__plus_00_dot_42_bar__plus_00_dot_74) + (inReceptacle SaltShaker_bar__plus_01_dot_50_bar__plus_01_dot_57_bar__plus_01_dot_41 Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_01_dot_53) + (inReceptacle Plate_bar__plus_01_dot_41_bar__plus_00_dot_14_bar__plus_02_dot_65 Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_02_dot_94) + (inReceptacle Bowl_bar__minus_00_dot_07_bar__plus_01_dot_58_bar__plus_00_dot_25 Cabinet_bar__minus_00_dot_26_bar__plus_02_dot_13_bar__plus_00_dot_43) + (inReceptacle Mug_bar__plus_00_dot_27_bar__plus_01_dot_09_bar__plus_00_dot_21 Microwave_bar__plus_00_dot_11_bar__plus_00_dot_98_bar__plus_00_dot_26) + (inReceptacle Cup_bar__plus_02_dot_01_bar__plus_01_dot_51_bar__plus_05_dot_38 Fridge_bar__plus_02_dot_04_bar__plus_00_dot_00_bar__plus_05_dot_63) + (inReceptacleObject Pot_bar__plus_01_dot_32_bar__plus_00_dot_99_bar__plus_03_dot_85 Pot_bar__plus_01_dot_56_bar__plus_00_dot_99_bar__plus_03_dot_85) + (inReceptacle Apple_bar__plus_02_dot_01_bar__plus_00_dot_16_bar__plus_06_dot_53 GarbageCan_bar__plus_02_dot_00_bar__plus_00_dot_00_bar__plus_06_dot_50) + + + (receptacleAtLocation Cabinet_bar__plus_00_dot_25_bar__plus_02_dot_13_bar__plus_00_dot_43 loc_bar_2_bar_4_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_00_dot_44_bar__plus_00_dot_42_bar__plus_00_dot_74 loc_bar_1_bar_7_bar_2_bar_45) + (receptacleAtLocation Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_01_dot_71 loc_bar_1_bar_7_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_02_dot_94 loc_bar_1_bar_10_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_02_dot_99 loc_bar_1_bar_14_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_04_dot_55 loc_bar_1_bar_17_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__plus_01_dot_27_bar__plus_02_dot_13_bar__plus_00_dot_43 loc_bar_3_bar_4_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_01_dot_31_bar__plus_02_dot_46_bar__plus_03_dot_61 loc_bar_3_bar_14_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_01_dot_31_bar__plus_02_dot_46_bar__plus_04_dot_36 loc_bar_3_bar_17_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_00_dot_52 loc_bar_3_bar_4_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_01_dot_53 loc_bar_3_bar_5_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_03_dot_10 loc_bar_3_bar_14_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_04_dot_89 loc_bar_3_bar_18_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_17_bar__plus_00_dot_42_bar__plus_00_dot_74 loc_bar__minus_1_bar_7_bar_2_bar_45) + (receptacleAtLocation Cabinet_bar__minus_00_dot_26_bar__plus_02_dot_13_bar__plus_00_dot_43 loc_bar_0_bar_4_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_78_bar__plus_00_dot_42_bar__plus_00_dot_74 loc_bar_0_bar_7_bar_2_bar_45) + (receptacleAtLocation CoffeeMachine_bar__plus_01_dot_55_bar__plus_00_dot_98_bar__plus_00_dot_95 loc_bar_3_bar_4_bar_1_bar_45) + (receptacleAtLocation CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90 loc_bar_3_bar_4_bar_1_bar_45) + (receptacleAtLocation CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_04_dot_72 loc_bar_3_bar_19_bar_1_bar_45) + (receptacleAtLocation DiningTable_bar__minus_00_dot_16_bar__plus_00_dot_67_bar__plus_06_dot_47 loc_bar_3_bar_26_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__plus_00_dot_12_bar__plus_00_dot_80_bar__plus_00_dot_52 loc_bar__minus_3_bar_5_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_00_dot_74_bar__plus_00_dot_80_bar__plus_00_dot_52 loc_bar_0_bar_5_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_01_dot_28_bar__plus_00_dot_80_bar__plus_03_dot_29 loc_bar_1_bar_13_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_01_dot_28_bar__plus_00_dot_81_bar__plus_04_dot_72 loc_bar_1_bar_20_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_48_bar__plus_00_dot_80_bar__plus_00_dot_52 loc_bar__minus_5_bar_5_bar_1_bar_45) + (receptacleAtLocation Fridge_bar__plus_02_dot_04_bar__plus_00_dot_00_bar__plus_05_dot_63 loc_bar_4_bar_22_bar_1_bar_60) + (receptacleAtLocation GarbageCan_bar__plus_02_dot_00_bar__plus_00_dot_00_bar__plus_06_dot_50 loc_bar_4_bar_24_bar_1_bar_60) + (receptacleAtLocation Microwave_bar__plus_00_dot_11_bar__plus_00_dot_98_bar__plus_00_dot_26 loc_bar_1_bar_6_bar_2_bar_30) + (receptacleAtLocation Safe_bar__plus_02_dot_05_bar__minus_00_dot_01_bar__plus_07_dot_06 loc_bar_4_bar_26_bar_1_bar_60) + (receptacleAtLocation Sink_bar__plus_01_dot_39_bar__plus_01_dot_01_bar__plus_02_dot_33_bar_SinkBasin loc_bar_3_bar_9_bar_1_bar_45) + (receptacleAtLocation StoveBurner_bar__plus_01_dot_32_bar__plus_00_dot_98_bar__plus_03_dot_85 loc_bar_3_bar_15_bar_1_bar_45) + (receptacleAtLocation StoveBurner_bar__plus_01_dot_32_bar__plus_00_dot_98_bar__plus_04_dot_29 loc_bar_3_bar_17_bar_1_bar_45) + (receptacleAtLocation StoveBurner_bar__plus_01_dot_56_bar__plus_00_dot_98_bar__plus_03_dot_85 loc_bar_3_bar_15_bar_1_bar_45) + (receptacleAtLocation StoveBurner_bar__plus_01_dot_56_bar__plus_00_dot_98_bar__plus_04_dot_29 loc_bar_3_bar_17_bar_1_bar_45) + (receptacleAtLocation Toaster_bar__plus_01_dot_47_bar__plus_00_dot_98_bar__plus_04_dot_72 loc_bar_3_bar_19_bar_1_bar_45) + (objectAtLocation Mug_bar__plus_02_dot_05_bar__plus_01_dot_51_bar__plus_05_dot_88 loc_bar_4_bar_24_bar_1_bar_15) + (objectAtLocation Spoon_bar__plus_01_dot_24_bar__plus_00_dot_77_bar__plus_04_dot_72 loc_bar_1_bar_20_bar_1_bar_45) + (objectAtLocation DishSponge_bar__plus_00_dot_26_bar__plus_00_dot_77_bar__plus_00_dot_62 loc_bar__minus_3_bar_5_bar_1_bar_45) + (objectAtLocation Pot_bar__plus_01_dot_32_bar__plus_00_dot_99_bar__plus_03_dot_85 loc_bar_3_bar_15_bar_1_bar_45) + (objectAtLocation Spatula_bar__minus_00_dot_41_bar__plus_00_dot_79_bar__plus_00_dot_45 loc_bar__minus_5_bar_5_bar_1_bar_45) + (objectAtLocation SoapBottle_bar__plus_00_dot_15_bar__plus_00_dot_76_bar__plus_06_dot_35 loc_bar_3_bar_26_bar_3_bar_45) + (objectAtLocation Lettuce_bar__plus_01_dot_58_bar__plus_01_dot_08_bar__plus_00_dot_44 loc_bar_3_bar_4_bar_1_bar_45) + (objectAtLocation Kettle_bar__plus_01_dot_59_bar__plus_00_dot_98_bar__plus_03_dot_25 loc_bar_3_bar_4_bar_1_bar_45) + (objectAtLocation Apple_bar__plus_01_dot_23_bar__plus_01_dot_07_bar__plus_03_dot_23 loc_bar_3_bar_4_bar_1_bar_45) + (objectAtLocation Knife_bar__minus_00_dot_54_bar__plus_01_dot_02_bar__plus_00_dot_49 loc_bar_3_bar_4_bar_1_bar_45) + (objectAtLocation Bowl_bar__plus_01_dot_45_bar__plus_02_dot_21_bar__plus_03_dot_84 loc_bar_3_bar_14_bar_1_bar__minus_30) + (objectAtLocation Mug_bar__plus_01_dot_57_bar__plus_00_dot_14_bar__plus_04_dot_65 loc_bar_1_bar_17_bar_1_bar_60) + (objectAtLocation SoapBottle_bar__plus_00_dot_12_bar__plus_00_dot_14_bar__plus_00_dot_28 loc_bar__minus_1_bar_7_bar_2_bar_45) + (objectAtLocation Spoon_bar__plus_01_dot_40_bar__plus_00_dot_99_bar__plus_03_dot_32 loc_bar_3_bar_4_bar_1_bar_45) + (objectAtLocation Pot_bar__plus_01_dot_56_bar__plus_00_dot_99_bar__plus_04_dot_29 loc_bar_3_bar_17_bar_1_bar_45) + (objectAtLocation Sink_bar__plus_01_dot_39_bar__plus_01_dot_01_bar__plus_02_dot_33 loc_bar_3_bar_9_bar_1_bar_45) + (objectAtLocation Bowl_bar__minus_00_dot_07_bar__plus_01_dot_58_bar__plus_00_dot_25 loc_bar_0_bar_4_bar_2_bar__minus_30) + (objectAtLocation Bread_bar__plus_00_dot_15_bar__plus_00_dot_83_bar__plus_06_dot_60 loc_bar_3_bar_26_bar_3_bar_45) + (objectAtLocation Egg_bar__plus_01_dot_40_bar__plus_01_dot_04_bar__plus_00_dot_44 loc_bar_3_bar_4_bar_1_bar_45) + (objectAtLocation Knife_bar__plus_00_dot_15_bar__plus_00_dot_79_bar__plus_06_dot_42 loc_bar_3_bar_26_bar_3_bar_45) + (objectAtLocation Fork_bar__plus_00_dot_87_bar__plus_00_dot_77_bar__plus_00_dot_51 loc_bar_0_bar_5_bar_1_bar_45) + (objectAtLocation Apple_bar__plus_02_dot_01_bar__plus_00_dot_16_bar__plus_06_dot_53 loc_bar_4_bar_24_bar_1_bar_60) + (objectAtLocation Kettle_bar__minus_00_dot_62_bar__plus_00_dot_76_bar__plus_06_dot_42 loc_bar_3_bar_26_bar_3_bar_45) + (objectAtLocation Plate_bar__plus_01_dot_41_bar__plus_00_dot_14_bar__plus_02_dot_65 loc_bar_1_bar_10_bar_1_bar_60) + (objectAtLocation HousePlant_bar__minus_00_dot_17_bar__plus_00_dot_75_bar__plus_06_dot_44 loc_bar_3_bar_26_bar_3_bar_45) + (objectAtLocation SaltShaker_bar__plus_01_dot_50_bar__plus_01_dot_57_bar__plus_01_dot_41 loc_bar_3_bar_5_bar_1_bar__minus_30) + (objectAtLocation Lettuce_bar__minus_00_dot_29_bar__plus_00_dot_85_bar__plus_06_dot_79 loc_bar_3_bar_26_bar_3_bar_45) + (objectAtLocation Window_bar__minus_02_dot_07_bar__plus_01_dot_92_bar__plus_03_dot_63 loc_bar__minus_6_bar_15_bar_3_bar__minus_30) + (objectAtLocation Window_bar__plus_01_dot_76_bar__plus_02_dot_01_bar__plus_02_dot_30 loc_bar_3_bar_9_bar_1_bar__minus_15) + (objectAtLocation SoapBottle_bar__minus_00_dot_44_bar__plus_00_dot_76_bar__plus_06_dot_11 loc_bar_3_bar_26_bar_3_bar_45) + (objectAtLocation Spatula_bar__minus_00_dot_28_bar__plus_00_dot_79_bar__plus_00_dot_56 loc_bar__minus_5_bar_5_bar_1_bar_45) + (objectAtLocation PaperTowelRoll_bar__plus_01_dot_14_bar__plus_01_dot_10_bar__plus_04_dot_58 loc_bar_3_bar_19_bar_1_bar_45) + (objectAtLocation Pot_bar__plus_01_dot_56_bar__plus_00_dot_99_bar__plus_03_dot_85 loc_bar_3_bar_15_bar_1_bar_45) + (objectAtLocation Potato_bar__plus_01_dot_14_bar__plus_01_dot_03_bar__plus_04_dot_72 loc_bar_3_bar_19_bar_1_bar_45) + (objectAtLocation ButterKnife_bar__plus_00_dot_06_bar__plus_00_dot_76_bar__plus_06_dot_26 loc_bar_3_bar_26_bar_3_bar_45) + (objectAtLocation StoveKnob_bar__plus_01_dot_14_bar__plus_00_dot_93_bar__plus_03_dot_99 loc_bar_3_bar_16_bar_1_bar_60) + (objectAtLocation StoveKnob_bar__plus_01_dot_14_bar__plus_00_dot_93_bar__plus_04_dot_31 loc_bar_3_bar_17_bar_1_bar_60) + (objectAtLocation StoveKnob_bar__plus_01_dot_14_bar__plus_00_dot_93_bar__plus_04_dot_14 loc_bar_3_bar_17_bar_1_bar_60) + (objectAtLocation StoveKnob_bar__plus_01_dot_14_bar__plus_00_dot_93_bar__plus_03_dot_82 loc_bar_3_bar_15_bar_1_bar_60) + (objectAtLocation PepperShaker_bar__plus_00_dot_84_bar__plus_01_dot_57_bar__plus_00_dot_38 loc_bar_3_bar_4_bar_2_bar__minus_30) + (objectAtLocation Pan_bar__plus_00_dot_70_bar__plus_00_dot_99_bar__plus_00_dot_58 loc_bar_3_bar_4_bar_1_bar_45) + (objectAtLocation Tomato_bar__minus_00_dot_54_bar__plus_01_dot_04_bar__plus_00_dot_67 loc_bar_3_bar_4_bar_1_bar_45) + (objectAtLocation DishSponge_bar__plus_00_dot_19_bar__plus_00_dot_14_bar__plus_00_dot_58 loc_bar__minus_1_bar_7_bar_2_bar_45) + (objectAtLocation Cup_bar__plus_02_dot_01_bar__plus_01_dot_51_bar__plus_05_dot_38 loc_bar_4_bar_22_bar_1_bar_60) + (objectAtLocation LightSwitch_bar__minus_02_dot_00_bar__plus_01_dot_55_bar__plus_06_dot_05 loc_bar__minus_6_bar_24_bar_3_bar_15) + (objectAtLocation Chair_bar__plus_00_dot_29_bar__plus_00_dot_02_bar__plus_06_dot_14 loc_bar_1_bar_22_bar_0_bar_60) + (objectAtLocation Spoon_bar__minus_00_dot_47_bar__plus_00_dot_76_bar__plus_06_dot_48 loc_bar_3_bar_26_bar_3_bar_45) + (objectAtLocation Mug_bar__plus_00_dot_27_bar__plus_01_dot_09_bar__plus_00_dot_21 loc_bar_1_bar_6_bar_2_bar_30) + (objectAtLocation Blinds_bar__plus_01_dot_74_bar__plus_02_dot_56_bar__plus_02_dot_31 loc_bar_3_bar_9_bar_1_bar__minus_30) + ) + + + (:goal + (and + (exists (?r - receptacle) + 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Then open the microwave and pick up the apple then close the door", + "Turn around and head to the black table across the room then turn right and walk to the white fridge", + "Open the fridge and place the apple on the top shelf in between the two mugs then close the fridge" + ], + "task_desc": "Place a cooked apple into a fridge.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1RLO9LNUJIW5S_378XPAWRUFUWRB7AKXSME19Y9KZIA2", + "high_descs": [ + "Turn right and walk to the table then turn right and walk to the fridge then turn left and take a step then turn left and walk to the table.", + "Pick up the yellow handled knife.", + "Turn left and take a step left then walk to the counter then turn right and take a step then turn left and walk to the counter to the right of the stove top to face an apple.", + "Cut the apple into three chunks,.", + "Back up a step.", + "Put the knife in the cabinet under the apple the one directly to the right of the stove.", + "Walk to the counter and take a step left.", + "Pick up a chunk of apple.", + "Turn right and take a step to your right then walk to the microwave that's in front of you.", + "Warm the chunk of apple in the microwave and then get it back out and close the door.", + "Turn around and walk to the table then turn right and walk to the fridge.", + "Put the apple in the fridge." + ], + "task_desc": "Put a cold chunk of apple in the fridge.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AFU00NU09CFXE_3E7TUJ2EGF31EHHJ0DDBR9I1BXO9DR", + "high_descs": [ + "Move to stand at the round black table, so you're positioned directly right of the chair.", + "Pick up the sharp knife with the yellow handle.", + "Carry the knife to the counter space between the stove and sink.", + "Use the knife to slice the green apple on the counter.", + "Back up from the counter while carrying the knife so you have room to open the cupboard.", + "Open the cupboard beneath the apple and place the knife inside.", + "Move back closer to the counter where the apple is.", + "Pick up a slice of apple from the counter.", + "Carry the apple slice to the microwave.", + "Place the apple slice in the microwave and then remove, once heated.", + "Carry the heated apple slice to the fridge.", + "Open the fridge and place the apple slice on the top shelf. " + ], + "task_desc": "Place a heated slice of apple in the fridge.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A2KAGFQU28JY43_3VE8AYVF8PEYYWC5MR2NFDQB35UF8T", + "high_descs": [ + "Turn to your right and walk across the room to the dining table, once there walk to the right hand side of the chair. ", + "Pick up the knife on the table, in front of the pump bottle and loaf of bread. ", + "Turn to your left and walk to the kitchen counter, on your left, between the stove and the sink. ", + "Cut the apple, on the counter, in front of the tea kettle into slices. ", + "Step back from the counter. ", + "Place the knife in the bottom, left cupboard, under the counter the apple is on. ", + "Step back up to the counter the apple is sitting on. ", + "Pick up one of the apple slices from the kitchen counter. ", + "Turn to your right and walk to the microwave on the kitchen counter across from you. ", + "Place the apple in the microwave, heat it up, then remove the apple from the microwave. ", + "Turn around and walk across the kitchen to the table, turn right at the table and go to the refrigerator. ", + "Place the apple in the refrigerator, on the right shelf, above the drawers. " + ], + "task_desc": "Put a warm apple slice in the refrigerator. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3T9K2RY06UO14_3KKG4CDWKLFOELYQ72CIO5OVYB5946", + "high_descs": [ + "Turn around and go to the round table.", + "Pick up the knife on the table. ", + "Turn around and go to the counter by the sink.", + "Slice the apple on the counter. ", + "Go to the cabinet under the counter.", + "Put the knife in the cabinet. ", + "Go to the counter.", + "Pick up an apple slice on the counter. ", + "Turn and go to the microwave.", + "Cook the apple in the microwave. ", + "Turn around and go to the refrigerator", + "Put the apple slice in the refrigerator. " + ], + "task_desc": "Put a microwaved apple slice in the refrigerator. ", + "votes": [ + 1, + 0, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/valid_seen/pick_heat_then_place_in_recep-BreadSliced-None-Fridge-19/trial_T20190908_070424_700178/initial_state.pddl b/data/alfworld/json_2.1.1/valid_seen/pick_heat_then_place_in_recep-BreadSliced-None-Fridge-19/trial_T20190908_070424_700178/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..f9bd11c0719f63a01c5a9ff558f982b629206712 --- /dev/null +++ b/data/alfworld/json_2.1.1/valid_seen/pick_heat_then_place_in_recep-BreadSliced-None-Fridge-19/trial_T20190908_070424_700178/initial_state.pddl @@ -0,0 +1,1123 @@ + +(define (problem plan_trial_T20190908_070424_700178) +(:domain alfred) +(:objects +agent1 - agent +Curtains - object + SprayBottle - object + Mirror - object + HousePlant - object + Watch - object + TeddyBear - object + WateringCan - object + Bathtub - object + LightSwitch - object + Vase - object + Candle - object + Bread - object + Statue - object + HandTowel - object + StoveKnob - object + PaperTowelRoll - object + Pan - object + PepperShaker - object + Painting - object + CellPhone - object + Plunger - object + Spoon - object + SaltShaker - object + KeyChain - object + Footstool - object + Poster - object + Television - object + LaundryHamperLid - object + Glassbottle - object + AlarmClock - object + WineBottle - object + Bowl - object + Sink - object + TissueBox - object + TennisRacket - object + ToiletPaper - object + ScrubBrush - object + CreditCard - object + Laptop - object + Cloth - object + Cup - object + Chair - object + BasketBall - object + Kettle - object + PaperTowel - object + ShowerDoor - object + BaseballBat - object + Potato - object + Pillow - object + Lettuce - object + RemoteControl - object + Window - object + DishSponge - object + CD - object + Boots - object + Blinds - object + Pen - object + Newspaper - object + Plate - object + Mug - object + ShowerGlass - object + ToiletPaperRoll - object + SoapBar - object + FloorLamp - object + SoapBottle - object + Pot - object + Pencil - object + Spatula - object + Towel - object + Fork - object + Ladle - object + Knife - object + Apple - object + Box - object + Tomato - object + ButterKnife - object + Egg - object + Book - object + DeskLamp - object +CurtainsType - otype + SprayBottleType - otype + MirrorType - otype + HousePlantType - otype + WatchType - otype + TeddyBearType - otype + WateringCanType - otype + BathtubType - otype + LightSwitchType - otype + VaseType - otype + CandleType - otype + BreadType - otype + StatueType - otype + HandTowelType - otype + StoveKnobType - otype + PaperTowelRollType - otype + PanType - otype + PepperShakerType - otype + PaintingType - otype + CellPhoneType - otype + PlungerType - otype + SpoonType - otype + SaltShakerType - otype + KeyChainType - otype + FootstoolType - otype + PosterType - otype + TelevisionType - otype + LaundryHamperLidType - otype + GlassbottleType - otype + AlarmClockType - otype + WineBottleType - otype + BowlType - otype + SinkType - otype + TissueBoxType - otype + TennisRacketType - otype + ToiletPaperType - otype + ScrubBrushType - otype + CreditCardType - otype + LaptopType - otype + ClothType - otype + CupType - otype + ChairType - otype + BasketBallType - otype + KettleType - otype + PaperTowelType - otype + ShowerDoorType - otype + BaseballBatType - otype + PotatoType - otype + PillowType - otype + LettuceType - otype + RemoteControlType - otype + WindowType - otype + DishSpongeType - otype + CDType - otype + BootsType - otype + BlindsType - otype + PenType - otype + NewspaperType - otype + PlateType - otype + MugType - otype + ShowerGlassType - otype + ToiletPaperRollType - otype + SoapBarType - otype + FloorLampType - otype + SoapBottleType - otype + PotType - otype + PencilType - otype + SpatulaType - otype + TowelType - otype + ForkType - otype + LadleType - otype + KnifeType - otype + AppleType - otype + BoxType - 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Tomato_bar__minus_00_dot_50_bar__plus_00_dot_97_bar__minus_01_dot_43 CounterTop_bar__minus_00_dot_27_bar__plus_00_dot_95_bar__minus_01_dot_09) + (inReceptacle Mug_bar__minus_00_dot_34_bar__plus_00_dot_91_bar__minus_01_dot_37 CounterTop_bar__minus_00_dot_27_bar__plus_00_dot_95_bar__minus_01_dot_09) + (inReceptacle Bowl_bar__minus_00_dot_42_bar__plus_00_dot_91_bar__minus_01_dot_62 CounterTop_bar__minus_00_dot_27_bar__plus_00_dot_95_bar__minus_01_dot_09) + (inReceptacle DishSponge_bar__minus_00_dot_44_bar__plus_00_dot_75_bar__minus_03_dot_38 Drawer_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__minus_03_dot_35) + (inReceptacle Pot_bar__minus_00_dot_17_bar__plus_00_dot_98_bar__minus_02_dot_03 StoveBurner_bar__minus_00_dot_38_bar__plus_00_dot_94_bar__minus_02_dot_03) + (inReceptacle Pot_bar__minus_00_dot_17_bar__plus_00_dot_98_bar__minus_02_dot_03 StoveBurner_bar__minus_00_dot_17_bar__plus_00_dot_94_bar__minus_02_dot_03) + (inReceptacle 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PepperShaker_bar__minus_02_dot_99_bar__plus_00_dot_91_bar__minus_04_dot_03 loc_bar__minus_4_bar__minus_13_bar_3_bar_45) + (objectAtLocation ButterKnife_bar__minus_02_dot_27_bar__plus_00_dot_91_bar__minus_03_dot_66 loc_bar__minus_4_bar__minus_13_bar_3_bar_45) + (objectAtLocation Plate_bar__minus_03_dot_18_bar__plus_00_dot_64_bar__minus_01_dot_94 loc_bar__minus_9_bar__minus_9_bar_3_bar_60) + (objectAtLocation DishSponge_bar__minus_00_dot_45_bar__plus_00_dot_91_bar__minus_03_dot_95 loc_bar__minus_4_bar__minus_13_bar_3_bar_45) + (objectAtLocation Chair_bar__minus_02_dot_38_bar__plus_00_dot_02_bar__minus_00_dot_55 loc_bar__minus_8_bar__minus_3_bar_3_bar_60) + (objectAtLocation Chair_bar__minus_03_dot_16_bar__plus_00_dot_01_bar__minus_00_dot_99 loc_bar__minus_9_bar__minus_5_bar_3_bar_60) + (objectAtLocation Spoon_bar__minus_02_dot_52_bar__plus_00_dot_72_bar__minus_00_dot_75 loc_bar__minus_7_bar__minus_2_bar_3_bar_45) + (objectAtLocation 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"position": { + "x": -1.05887711, + "y": 0.913742, + "z": -3.65575743 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Plate_bdd88192", + "position": { + "x": -0.37460953, + "y": 0.07864249, + "z": -1.57002044 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_78f219bc", + "position": { + "x": -0.44328028, + "y": 0.7460218, + "z": -3.37695646 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Spoon_94d2125c", + "position": { + "x": -2.51998067, + "y": 0.7180968, + "z": -0.7534318 + }, + "rotation": { + "x": 0.0, + "y": 135.000092, + "z": 0.0 + } + }, + { + "objectName": "Mug_f4b8ca2f", + "position": { + "x": -0.24455595, + "y": 0.9086999, + "z": -3.2130084 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Bowl_697b561f", + "position": { + "x": -0.41940093, + "y": 0.913598061, + "z": -1.61635566 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 2067962650, + "scene_num": 19 + }, + "task_id": "trial_T20190908_070424_700178", + "task_type": "pick_heat_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "AT3C00TKZK13L_35L9RVQFCRZGAPAOKKRSEQKDGP9UHO", + "high_descs": [ + "Walk towards the counter", + "Grab a knife from the counter", + "Slice the bread on the counter", + "Walk with the knife towards the microwave", + "Put the knife in the microwave", + "Walk towards the counter", + "Grab a slice of bread", + "Walk with the slice of bread towards the microwave", + "Put the slice of bread inside the microwave", + "Cook the slice of bread and take it out", + "Walk with the slice of bread towards the fridge", + "Put the bread slice inside the fridge" + ], + "task_desc": "Slice the bread, cook a slice in the microwave, put it in the fridge", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A35P2RX8HKZM96_3OE22WJIGL5TNI9R3AEMN4CE7DEUQV", + "high_descs": [ + "Turn around and walk toward the stove, then turn right to face the counter.", + "Take the silver knife on the counter.", + "Turn left and face the loaf of bread.", + "Slice the loaf of bread on the counter.", + "Turn left and walk to the microwave on the right.", + "Open the microwave door, put the knife inside, and close the door.", + "Turn right, then walk toward the toaster on the left.", + "Take a slice of bread from the loaf.", + "Turn left and walk back to the microwave on the right.", + "Open the microwave door, put the slice inside, close the door, and turn it on. Remove it when it's done and close the door.", + "Turn around and walk to the fridge.", + "Open the door, put the slice inside, and close the door." + ], + "task_desc": "Put a microwaved slice of bread in the fridge.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A36DK84J5YJ942_3EO896NRAZCX1IQP8F43L7EQA5ITJH", + "high_descs": [ + "move to the counter to the right of the stove", + "pick up a knife from the counter", + "turn to the left to the counter", + "cut a slice of bread on the counter", + "move to the microwave to the left of the stove", + "put the knife in the microwave", + "move to the counter to the right of the stove", + "pick up a slice of bread from the counter", + "move to the microwave to the left of the stove", + "heat the bread in the microwave", + "move to the fridge to the right of you", + "put the bread in the microwave" + ], + "task_desc": "Put a slice of heated bread in the fridge.", + "votes": [ + 1, + 1, + 0 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/valid_seen/pick_heat_then_place_in_recep-Egg-None-CounterTop-2/trial_T20190908_122951_021026/game.tw-pddl b/data/alfworld/json_2.1.1/valid_seen/pick_heat_then_place_in_recep-Egg-None-CounterTop-2/trial_T20190908_122951_021026/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..dd998ab1869bb47bc4d26f4ed475fd6e248ecd20 --- /dev/null +++ b/data/alfworld/json_2.1.1/valid_seen/pick_heat_then_place_in_recep-Egg-None-CounterTop-2/trial_T20190908_122951_021026/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\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 countertop.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190908_122951_021026)\n(:domain alfred)\n(:objects\nagent1 - agent\nCurtains - object\n SprayBottle - object\n Mirror - object\n HousePlant - object\n Watch - object\n TeddyBear - object\n WateringCan - object\n Bathtub - object\n LightSwitch - object\n Vase - object\n Candle - object\n Bread - object\n Statue - object\n HandTowel - object\n StoveKnob - object\n PaperTowelRoll - object\n Pan - object\n PepperShaker - object\n Painting - object\n CellPhone - object\n Plunger - object\n Spoon - object\n SaltShaker - object\n KeyChain - object\n Footstool - object\n Poster - object\n Television - object\n LaundryHamperLid - object\n Glassbottle - object\n AlarmClock - object\n WineBottle - object\n Bowl - object\n Sink - object\n TissueBox - object\n TennisRacket - object\n ToiletPaper - object\n ScrubBrush - object\n CreditCard - object\n Laptop - object\n Cloth - object\n Cup - object\n Chair - object\n BasketBall - object\n Kettle - object\n PaperTowel - object\n ShowerDoor - object\n BaseballBat - object\n Potato - object\n Pillow - object\n Lettuce - object\n RemoteControl - object\n Window - object\n DishSponge - object\n CD - object\n Boots - object\n Blinds - object\n Pen - object\n Newspaper - object\n Plate - object\n Mug - object\n ShowerGlass - object\n ToiletPaperRoll - object\n SoapBar - object\n FloorLamp - object\n SoapBottle - object\n Pot - object\n Pencil - object\n Spatula - object\n Towel - object\n Fork - object\n Ladle - object\n Knife - object\n Apple - object\n Box - object\n Tomato - object\n ButterKnife - object\n Egg - object\n Book - object\n DeskLamp - object\nCurtainsType - otype\n SprayBottleType - otype\n MirrorType - otype\n HousePlantType - otype\n WatchType - otype\n TeddyBearType - otype\n WateringCanType - otype\n BathtubType - otype\n LightSwitchType - otype\n VaseType - otype\n CandleType - otype\n BreadType - otype\n StatueType - otype\n HandTowelType - otype\n StoveKnobType - otype\n PaperTowelRollType - otype\n PanType - otype\n PepperShakerType - otype\n PaintingType - otype\n CellPhoneType - otype\n PlungerType - otype\n SpoonType - otype\n SaltShakerType - otype\n KeyChainType - otype\n FootstoolType - otype\n PosterType - otype\n TelevisionType - otype\n LaundryHamperLidType - otype\n GlassbottleType - otype\n AlarmClockType - otype\n WineBottleType - otype\n BowlType - otype\n SinkType - otype\n TissueBoxType - otype\n TennisRacketType - otype\n ToiletPaperType - otype\n ScrubBrushType - otype\n CreditCardType - otype\n LaptopType - otype\n ClothType - otype\n CupType - otype\n ChairType - otype\n BasketBallType - otype\n KettleType - otype\n PaperTowelType - otype\n ShowerDoorType - otype\n BaseballBatType - otype\n PotatoType - otype\n PillowType - otype\n LettuceType - otype\n RemoteControlType - otype\n WindowType - otype\n DishSpongeType - otype\n CDType - otype\n BootsType - otype\n BlindsType - otype\n PenType - otype\n NewspaperType - otype\n PlateType - otype\n MugType - otype\n ShowerGlassType - otype\n ToiletPaperRollType - otype\n SoapBarType - otype\n FloorLampType - otype\n SoapBottleType - otype\n PotType - otype\n PencilType - otype\n SpatulaType - otype\n TowelType - otype\n ForkType - otype\n LadleType - otype\n KnifeType - otype\n AppleType - otype\n BoxType - otype\n TomatoType - otype\n ButterKnifeType - otype\n EggType - otype\n BookType - otype\n DeskLampType - otype\nCabinetType - rtype\n ShelfType - rtype\n DiningTableType - rtype\n TowelHolderType - rtype\n PaintingHangerType - rtype\n TVStandType - rtype\n LaundryHamperType - rtype\n OttomanType - rtype\n SafeType - rtype\n CoffeeMachineType - rtype\n CounterTopType - rtype\n ToiletType - rtype\n FridgeType - rtype\n CoffeeTableType - rtype\n SinkBasinType - rtype\n GarbageCanType - rtype\n BathtubBasinType - rtype\n SideTableType - rtype\n CartType - rtype\n BedType - rtype\n DeskType - rtype\n SofaType - rtype\n ArmChairType - rtype\n MicrowaveType - rtype\n HandTowelHolderType - rtype\n ToasterType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n DrawerType - rtype\n DresserType - rtype\n\n\n Apple_bar__minus_00_dot_64_bar__plus_00_dot_96_bar__minus_01_dot_71 - object\n Bowl_bar__minus_00_dot_09_bar__plus_00_dot_76_bar__minus_01_dot_38 - object\n Bowl_bar__minus_01_dot_69_bar__plus_00_dot_56_bar__minus_00_dot_18 - object\n 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StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_74 - object\n Tomato_bar__plus_01_dot_64_bar__plus_00_dot_97_bar__plus_01_dot_03 - object\n Tomato_bar__plus_01_dot_81_bar__plus_00_dot_97_bar__plus_01_dot_33 - object\n Tomato_bar__minus_00_dot_21_bar__plus_00_dot_98_bar__plus_00_dot_97 - object\n Window_bar__plus_02_dot_22_bar__plus_01_dot_57_bar__minus_00_dot_39 - object\n Window_bar__minus_00_dot_01_bar__plus_01_dot_58_bar__minus_01_dot_82 - object\n Window_bar__minus_03_dot_24_bar__plus_01_dot_62_bar__plus_02_dot_69 - object\n Cabinet_bar__plus_00_dot_41_bar__plus_00_dot_48_bar__plus_00_dot_45 - receptacle\n Cabinet_bar__plus_00_dot_50_bar__plus_00_dot_48_bar__minus_01_dot_15 - receptacle\n Cabinet_bar__plus_01_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_15 - receptacle\n Cabinet_bar__plus_01_dot_71_bar__plus_02_dot_02_bar__minus_01_dot_45 - receptacle\n Cabinet_bar__plus_01_dot_79_bar__plus_02_dot_02_bar__minus_00_dot_82 - receptacle\n 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- receptacle\n Drawer_bar__plus_01_dot_50_bar__plus_00_dot_43_bar__minus_00_dot_02 - receptacle\n Drawer_bar__plus_01_dot_50_bar__plus_00_dot_52_bar__plus_01_dot_22 - receptacle\n Drawer_bar__plus_01_dot_50_bar__plus_00_dot_54_bar__plus_00_dot_60 - receptacle\n Drawer_bar__plus_01_dot_50_bar__plus_00_dot_60_bar__minus_00_dot_02 - receptacle\n Drawer_bar__plus_01_dot_50_bar__plus_00_dot_63_bar__plus_00_dot_61 - receptacle\n Drawer_bar__plus_01_dot_50_bar__plus_00_dot_63_bar__minus_00_dot_02 - receptacle\n Drawer_bar__plus_01_dot_50_bar__plus_00_dot_78_bar__plus_01_dot_22 - receptacle\n Drawer_bar__minus_00_dot_70_bar__plus_00_dot_48_bar__minus_01_dot_16 - receptacle\n Fridge_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__plus_00_dot_01 - receptacle\n GarbageCan_bar__minus_01_dot_80_bar__plus_00_dot_00_bar__plus_01_dot_33 - receptacle\n Microwave_bar__plus_01_dot_93_bar__plus_00_dot_90_bar__minus_00_dot_77 - receptacle\n 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loc_bar__minus_3_bar__minus_2_bar_2_bar_60 - location\n loc_bar_4_bar__minus_3_bar_1_bar_45 - location\n loc_bar_0_bar__minus_3_bar_2_bar_45 - location\n loc_bar_5_bar_3_bar_1_bar_60 - location\n loc_bar_3_bar_7_bar_2_bar_60 - location\n loc_bar_0_bar_8_bar_2_bar_60 - location\n loc_bar_3_bar_3_bar_1_bar_60 - location\n loc_bar_5_bar_0_bar_1_bar_60 - location\n loc_bar_5_bar_0_bar_2_bar_45 - location\n loc_bar_5_bar_4_bar_3_bar_60 - location\n loc_bar__minus_10_bar_11_bar_3_bar_0 - location\n loc_bar_4_bar_3_bar_2_bar_60 - location\n loc_bar__minus_5_bar_6_bar_3_bar_60 - location\n loc_bar__minus_3_bar_0_bar_3_bar_60 - location\n loc_bar__minus_3_bar__minus_3_bar_3_bar__minus_15 - location\n loc_bar__minus_1_bar_12_bar_0_bar_30 - location\n loc_bar__minus_3_bar_0_bar_3_bar_30 - location\n loc_bar_5_bar_3_bar_1_bar_45 - location\n loc_bar__minus_3_bar__minus_3_bar_2_bar_45 - location\n loc_bar__minus_3_bar__minus_3_bar_2_bar__minus_30 - location\n loc_bar_4_bar__minus_3_bar_2_bar_45 - location\n loc_bar_5_bar_2_bar_1_bar_45 - location\n loc_bar_3_bar__minus_1_bar_2_bar_60 - location\n loc_bar_3_bar_6_bar_1_bar_45 - location\n loc_bar_3_bar_2_bar_3_bar_45 - location\n loc_bar_4_bar__minus_1_bar_1_bar_45 - location\n loc_bar_0_bar__minus_3_bar_2_bar_60 - location\n loc_bar__minus_11_bar_9_bar_1_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Cabinet_bar__minus_01_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_15 CabinetType)\n (receptacleType Toaster_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__minus_00_dot_34 ToasterType)\n (receptacleType Drawer_bar__plus_01_dot_50_bar__plus_00_dot_14_bar__plus_00_dot_60 DrawerType)\n (receptacleType CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51 CounterTopType)\n (receptacleType Drawer_bar__plus_01_dot_50_bar__plus_00_dot_60_bar__minus_00_dot_02 DrawerType)\n (receptacleType Drawer_bar__plus_01_dot_50_bar__plus_00_dot_78_bar__plus_01_dot_22 DrawerType)\n (receptacleType 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Knife_bar__plus_00_dot_21_bar__plus_00_dot_95_bar__minus_00_dot_19 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51)\n (inReceptacle CellPhone_bar__minus_00_dot_32_bar__plus_00_dot_92_bar__minus_00_dot_19 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51)\n (inReceptacle Ladle_bar__plus_00_dot_00_bar__plus_00_dot_97_bar__plus_00_dot_74 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51)\n (inReceptacle Pot_bar__plus_00_dot_00_bar__plus_00_dot_93_bar__plus_00_dot_04 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51)\n (inReceptacle Kettle_bar__minus_00_dot_11_bar__plus_00_dot_93_bar__plus_00_dot_27 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51)\n (inReceptacle Egg_bar__plus_00_dot_11_bar__plus_00_dot_98_bar__plus_00_dot_97 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51)\n (inReceptacle Egg_bar__minus_00_dot_21_bar__plus_00_dot_98_bar__plus_00_dot_51 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51)\n (inReceptacle Bread_bar__plus_00_dot_32_bar__plus_01_dot_01_bar__plus_00_dot_74 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51)\n (inReceptacle Lettuce_bar__plus_00_dot_11_bar__plus_01_dot_00_bar__plus_00_dot_51 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51)\n (inReceptacle Spatula_bar__plus_00_dot_32_bar__plus_00_dot_94_bar__plus_00_dot_04 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51)\n (inReceptacle Tomato_bar__minus_00_dot_21_bar__plus_00_dot_98_bar__plus_00_dot_97 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51)\n (inReceptacle Egg_bar__plus_00_dot_11_bar__plus_00_dot_98_bar__plus_01_dot_20 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51)\n (inReceptacle ButterKnife_bar__plus_01_dot_66_bar__plus_00_dot_14_bar__plus_01_dot_22 Drawer_bar__plus_01_dot_50_bar__plus_00_dot_20_bar__plus_01_dot_22)\n (inReceptacle PepperShaker_bar__minus_01_dot_29_bar__plus_00_dot_11_bar__minus_01_dot_42 Cabinet_bar__minus_01_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_15)\n (inReceptacle Pan_bar__minus_01_dot_75_bar__plus_01_dot_68_bar__minus_00_dot_18 Fridge_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__plus_00_dot_01)\n (inReceptacle Potato_bar__minus_01_dot_75_bar__plus_01_dot_49_bar__plus_00_dot_30 Fridge_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__plus_00_dot_01)\n (inReceptacle Plate_bar__minus_01_dot_80_bar__plus_01_dot_47_bar__minus_00_dot_08 Fridge_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__plus_00_dot_01)\n (inReceptacle Bowl_bar__minus_01_dot_69_bar__plus_00_dot_56_bar__minus_00_dot_18 Fridge_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__plus_00_dot_01)\n (inReceptacle Bowl_bar__minus_00_dot_09_bar__plus_00_dot_76_bar__minus_01_dot_38 Sink_bar__plus_00_dot_00_bar__plus_00_dot_89_bar__minus_01_dot_44_bar_SinkBasin)\n (inReceptacle Spoon_bar__minus_00_dot_18_bar__plus_00_dot_76_bar__minus_01_dot_38 Sink_bar__plus_00_dot_00_bar__plus_00_dot_89_bar__minus_01_dot_44_bar_SinkBasin)\n (inReceptacle Potato_bar__minus_00_dot_09_bar__plus_00_dot_78_bar__minus_01_dot_55 Sink_bar__plus_00_dot_00_bar__plus_00_dot_89_bar__minus_01_dot_44_bar_SinkBasin)\n (inReceptacle Cup_bar__plus_00_dot_17_bar__plus_00_dot_76_bar__minus_01_dot_55 Sink_bar__plus_00_dot_00_bar__plus_00_dot_89_bar__minus_01_dot_44_bar_SinkBasin)\n (inReceptacleObject Spoon_bar__minus_00_dot_18_bar__plus_00_dot_76_bar__minus_01_dot_38 Bowl_bar__minus_00_dot_09_bar__plus_00_dot_76_bar__minus_01_dot_38)\n \n \n (receptacleAtLocation Cabinet_bar__plus_00_dot_41_bar__plus_00_dot_48_bar__plus_00_dot_45 loc_bar_5_bar_4_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_50_bar__plus_00_dot_48_bar__minus_01_dot_15 loc_bar_3_bar__minus_1_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_15 loc_bar_3_bar__minus_1_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_71_bar__plus_02_dot_02_bar__minus_01_dot_45 loc_bar_4_bar__minus_3_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_79_bar__plus_02_dot_02_bar__minus_00_dot_82 loc_bar_4_bar__minus_3_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_50_bar__plus_00_dot_48_bar__minus_01_dot_15 loc_bar__minus_3_bar__minus_1_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_63_bar__plus_02_dot_02_bar__minus_01_dot_45 loc_bar__minus_3_bar__minus_3_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_15 loc_bar__minus_3_bar__minus_1_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_70_bar__plus_02_dot_02_bar__minus_01_dot_45 loc_bar__minus_3_bar__minus_3_bar_3_bar__minus_15)\n (receptacleAtLocation CoffeeMachine_bar__plus_01_dot_36_bar__plus_00_dot_90_bar__minus_01_dot_60 loc_bar_4_bar__minus_3_bar_2_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51 loc_bar__minus_3_bar__minus_3_bar_2_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51 loc_bar_3_bar_2_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_81_bar__plus_00_dot_48_bar__minus_01_dot_16 loc_bar_5_bar_0_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_14_bar__plus_00_dot_60 loc_bar_3_bar_7_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_20_bar__plus_01_dot_22 loc_bar_2_bar_7_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_20_bar__minus_00_dot_02 loc_bar_5_bar_0_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_31_bar__plus_00_dot_60 loc_bar_5_bar_2_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_43_bar__minus_00_dot_02 loc_bar_5_bar_0_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_52_bar__plus_01_dot_22 loc_bar_3_bar_3_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_54_bar__plus_00_dot_60 loc_bar_5_bar_2_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_60_bar__minus_00_dot_02 loc_bar_4_bar_3_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_63_bar__plus_00_dot_61 loc_bar_3_bar_4_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_63_bar__minus_00_dot_02 loc_bar_3_bar_1_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_78_bar__plus_01_dot_22 loc_bar_3_bar_6_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_70_bar__plus_00_dot_48_bar__minus_01_dot_16 loc_bar__minus_3_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Fridge_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__plus_00_dot_01 loc_bar__minus_3_bar_0_bar_3_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_01_dot_80_bar__plus_00_dot_00_bar__plus_01_dot_33 loc_bar__minus_5_bar_6_bar_3_bar_60)\n (receptacleAtLocation Microwave_bar__plus_01_dot_93_bar__plus_00_dot_90_bar__minus_00_dot_77 loc_bar_4_bar__minus_3_bar_1_bar_45)\n (receptacleAtLocation Sink_bar__plus_00_dot_00_bar__plus_00_dot_89_bar__minus_01_dot_44_bar_SinkBasin loc_bar_0_bar__minus_3_bar_2_bar_60)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_38 loc_bar_5_bar_2_bar_1_bar_60)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_60 loc_bar_5_bar_2_bar_1_bar_60)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_82 loc_bar_5_bar_3_bar_1_bar_60)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_38 loc_bar_5_bar_2_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_60 loc_bar_5_bar_2_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_82 loc_bar_5_bar_3_bar_1_bar_45)\n (receptacleAtLocation Toaster_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__minus_00_dot_34 loc_bar_4_bar__minus_1_bar_1_bar_45)\n (objectAtLocation Bowl_bar__minus_01_dot_69_bar__plus_00_dot_56_bar__minus_00_dot_18 loc_bar__minus_3_bar_0_bar_3_bar_60)\n (objectAtLocation Mug_bar__minus_01_dot_75_bar__plus_01_dot_02_bar__plus_00_dot_01 loc_bar__minus_3_bar_0_bar_3_bar_30)\n (objectAtLocation Spoon_bar__plus_01_dot_66_bar__plus_00_dot_58_bar__minus_00_dot_17 loc_bar_4_bar_3_bar_2_bar_60)\n (objectAtLocation Potato_bar__minus_00_dot_09_bar__plus_00_dot_78_bar__minus_01_dot_55 loc_bar_0_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Tomato_bar__minus_00_dot_21_bar__plus_00_dot_98_bar__plus_00_dot_97 loc_bar_3_bar_2_bar_3_bar_45)\n (objectAtLocation Bread_bar__minus_00_dot_11_bar__plus_01_dot_01_bar__plus_01_dot_20 loc_bar_3_bar_2_bar_3_bar_45)\n (objectAtLocation ButterKnife_bar__plus_01_dot_12_bar__plus_00_dot_91_bar__minus_01_dot_51 loc_bar__minus_3_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Spatula_bar__plus_01_dot_66_bar__plus_00_dot_14_bar__plus_00_dot_67 loc_bar_3_bar_7_bar_2_bar_60)\n (objectAtLocation Lettuce_bar__minus_01_dot_67_bar__plus_00_dot_99_bar__minus_01_dot_71 loc_bar__minus_3_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Pan_bar__minus_01_dot_75_bar__plus_01_dot_68_bar__minus_00_dot_18 loc_bar__minus_3_bar_0_bar_3_bar_60)\n (objectAtLocation Plate_bar__minus_00_dot_19_bar__plus_00_dot_11_bar__minus_01_dot_35 loc_bar__minus_3_bar__minus_1_bar_2_bar_60)\n (objectAtLocation Egg_bar__plus_00_dot_11_bar__plus_00_dot_98_bar__plus_00_dot_97 loc_bar_3_bar_2_bar_3_bar_45)\n (objectAtLocation Fork_bar__plus_01_dot_57_bar__plus_00_dot_91_bar__minus_01_dot_51 loc_bar__minus_3_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Pot_bar__plus_00_dot_00_bar__plus_00_dot_93_bar__plus_00_dot_04 loc_bar_3_bar_2_bar_3_bar_45)\n (objectAtLocation SoapBottle_bar__plus_02_dot_03_bar__plus_00_dot_92_bar__minus_01_dot_42 loc_bar__minus_3_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Tomato_bar__plus_01_dot_64_bar__plus_00_dot_97_bar__plus_01_dot_03 loc_bar__minus_3_bar__minus_3_bar_2_bar_45)\n (objectAtLocation SoapBottle_bar__minus_01_dot_55_bar__plus_00_dot_92_bar__minus_00_dot_96 loc_bar__minus_3_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Plate_bar__minus_01_dot_80_bar__plus_01_dot_47_bar__minus_00_dot_08 loc_bar__minus_3_bar_0_bar_3_bar_60)\n (objectAtLocation Egg_bar__plus_00_dot_11_bar__plus_00_dot_98_bar__plus_01_dot_20 loc_bar_3_bar_2_bar_3_bar_45)\n (objectAtLocation Spoon_bar__minus_00_dot_18_bar__plus_00_dot_76_bar__minus_01_dot_38 loc_bar_0_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Potato_bar__minus_00_dot_21_bar__plus_00_dot_95_bar__plus_00_dot_04 loc_bar_3_bar_2_bar_3_bar_45)\n (objectAtLocation Window_bar__minus_00_dot_01_bar__plus_01_dot_58_bar__minus_01_dot_82 loc_bar__minus_3_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Sink_bar__plus_00_dot_00_bar__plus_00_dot_89_bar__minus_01_dot_44 loc_bar_0_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Window_bar__plus_02_dot_22_bar__plus_01_dot_57_bar__minus_00_dot_39 loc_bar__minus_3_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Chair_bar__minus_00_dot_06_bar__plus_00_dot_52_bar__plus_01_dot_37 loc_bar_0_bar_8_bar_2_bar_60)\n (objectAtLocation Window_bar__minus_03_dot_24_bar__plus_01_dot_62_bar__plus_02_dot_69 loc_bar__minus_10_bar_11_bar_3_bar_0)\n (objectAtLocation SoapBottle_bar__plus_01_dot_10_bar__plus_01_dot_68_bar__minus_01_dot_58 loc_bar_4_bar__minus_3_bar_1_bar__minus_30)\n (objectAtLocation Cup_bar__plus_00_dot_17_bar__plus_00_dot_76_bar__minus_01_dot_55 loc_bar_0_bar__minus_3_bar_2_bar_60)\n (objectAtLocation LightSwitch_bar__minus_00_dot_15_bar__plus_01_dot_29_bar__plus_03_dot_70 loc_bar__minus_1_bar_12_bar_0_bar_30)\n (objectAtLocation Pot_bar__plus_01_dot_98_bar__plus_00_dot_94_bar__plus_00_dot_38 loc_bar_5_bar_2_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_57 loc_bar_5_bar_2_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_63 loc_bar_5_bar_3_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_74 loc_bar_5_bar_3_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_68 loc_bar_5_bar_3_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_46 loc_bar_5_bar_2_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_52 loc_bar_5_bar_2_bar_1_bar_60)\n (objectAtLocation Fork_bar__plus_00_dot_21_bar__plus_00_dot_93_bar__plus_00_dot_51 loc_bar_3_bar_2_bar_3_bar_45)\n (objectAtLocation Ladle_bar__plus_00_dot_00_bar__plus_00_dot_97_bar__plus_00_dot_74 loc_bar_3_bar_2_bar_3_bar_45)\n (objectAtLocation Kettle_bar__minus_00_dot_11_bar__plus_00_dot_93_bar__plus_00_dot_27 loc_bar_3_bar_2_bar_3_bar_45)\n (objectAtLocation Egg_bar__minus_00_dot_21_bar__plus_00_dot_98_bar__plus_00_dot_51 loc_bar_3_bar_2_bar_3_bar_45)\n (objectAtLocation Plate_bar__plus_00_dot_25_bar__plus_00_dot_11_bar__minus_01_dot_41 loc_bar_3_bar__minus_1_bar_2_bar_60)\n (objectAtLocation Pan_bar__minus_00_dot_84_bar__plus_00_dot_91_bar__minus_01_dot_71 loc_bar__minus_3_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Lettuce_bar__plus_00_dot_11_bar__plus_01_dot_00_bar__plus_00_dot_51 loc_bar_3_bar_2_bar_3_bar_45)\n (objectAtLocation Spatula_bar__plus_00_dot_32_bar__plus_00_dot_94_bar__plus_00_dot_04 loc_bar_3_bar_2_bar_3_bar_45)\n (objectAtLocation Apple_bar__minus_00_dot_64_bar__plus_00_dot_96_bar__minus_01_dot_71 loc_bar__minus_3_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Knife_bar__plus_00_dot_21_bar__plus_00_dot_95_bar__minus_00_dot_19 loc_bar_3_bar_2_bar_3_bar_45)\n (objectAtLocation SaltShaker_bar__plus_01_dot_27_bar__plus_00_dot_11_bar__minus_01_dot_35 loc_bar_3_bar__minus_1_bar_2_bar_60)\n (objectAtLocation PepperShaker_bar__minus_01_dot_29_bar__plus_00_dot_11_bar__minus_01_dot_42 loc_bar__minus_3_bar__minus_1_bar_2_bar_60)\n (objectAtLocation CellPhone_bar__minus_00_dot_32_bar__plus_00_dot_92_bar__minus_00_dot_19 loc_bar_3_bar_2_bar_3_bar_45)\n (objectAtLocation ButterKnife_bar__plus_01_dot_66_bar__plus_00_dot_14_bar__plus_01_dot_22 loc_bar_2_bar_7_bar_1_bar_60)\n (objectAtLocation Bread_bar__plus_00_dot_32_bar__plus_01_dot_01_bar__plus_00_dot_74 loc_bar_3_bar_2_bar_3_bar_45)\n (objectAtLocation Tomato_bar__plus_01_dot_81_bar__plus_00_dot_97_bar__plus_01_dot_33 loc_bar__minus_3_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Potato_bar__minus_01_dot_75_bar__plus_01_dot_49_bar__plus_00_dot_30 loc_bar__minus_3_bar_0_bar_3_bar_60)\n (objectAtLocation DishSponge_bar__plus_00_dot_89_bar__plus_00_dot_91_bar__minus_01_dot_42 loc_bar__minus_3_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Spoon_bar__plus_01_dot_12_bar__plus_00_dot_91_bar__minus_01_dot_61 loc_bar__minus_3_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Mug_bar__plus_01_dot_12_bar__plus_00_dot_10_bar__minus_01_dot_54 loc_bar_3_bar__minus_1_bar_2_bar_60)\n (objectAtLocation Bowl_bar__minus_00_dot_09_bar__plus_00_dot_76_bar__minus_01_dot_38 loc_bar_0_bar__minus_3_bar_2_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (heatable ?o)\n (objectType ?o EggType)\n (receptacleType ?r CounterTopType)\n (isHot ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 2", "take egg 3 from countertop 2", "go to microwave 1", "heat egg 3 with microwave 1", "go to countertop 2", "move egg 3 to countertop 2"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/valid_seen/pick_heat_then_place_in_recep-Egg-None-CounterTop-2/trial_T20190908_122951_021026/initial_state.pddl b/data/alfworld/json_2.1.1/valid_seen/pick_heat_then_place_in_recep-Egg-None-CounterTop-2/trial_T20190908_122951_021026/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..a81f3eb8367678c949ac9c69eea393d491e1364a --- /dev/null +++ b/data/alfworld/json_2.1.1/valid_seen/pick_heat_then_place_in_recep-Egg-None-CounterTop-2/trial_T20190908_122951_021026/initial_state.pddl @@ -0,0 +1,1135 @@ + +(define (problem plan_trial_T20190908_122951_021026) +(:domain alfred) +(:objects +agent1 - agent +Curtains - object + SprayBottle - object + Mirror - object + HousePlant - object + Watch - object + TeddyBear - object + WateringCan - object + Bathtub - object + LightSwitch - object + Vase - object + Candle - object + Bread - object + Statue - object + HandTowel - object + StoveKnob - object + PaperTowelRoll - object + Pan - object + PepperShaker - object + Painting - object + CellPhone - object + Plunger - object + Spoon - object + SaltShaker - object + KeyChain - object + Footstool - object + Poster - object + Television - object + LaundryHamperLid - object + Glassbottle - object + AlarmClock - object + WineBottle - object + Bowl - object + Sink - object + TissueBox - object + TennisRacket - object + ToiletPaper - object + ScrubBrush - object + CreditCard - object + Laptop - object + Cloth - object + Cup - object + Chair - object + BasketBall - object + Kettle - object + PaperTowel - object + ShowerDoor - object + BaseballBat - object + Potato - object + Pillow - object + Lettuce - object + RemoteControl - object + Window - object + DishSponge - object + CD - object + Boots - object + Blinds - object + Pen - object + Newspaper - object + Plate - object + Mug - object + ShowerGlass - object + ToiletPaperRoll - object + SoapBar - object + FloorLamp - object + SoapBottle - object + Pot - object + Pencil - object + Spatula - object + Towel - object + Fork - object + Ladle - object + Knife - object + Apple - object + Box - object + Tomato - object + ButterKnife - object + Egg - object + Book - object + DeskLamp - object +CurtainsType - otype + SprayBottleType - otype + MirrorType - otype + HousePlantType - otype + WatchType - otype + TeddyBearType - otype + WateringCanType - otype + BathtubType - otype + LightSwitchType - otype + VaseType - otype + CandleType - otype + BreadType - otype + StatueType - otype + HandTowelType - otype + StoveKnobType - otype + PaperTowelRollType - otype + PanType - otype + PepperShakerType - otype + PaintingType - otype + CellPhoneType - otype + PlungerType - otype + SpoonType - otype + SaltShakerType - otype + KeyChainType - otype + FootstoolType - otype + PosterType - otype + TelevisionType - otype + LaundryHamperLidType - otype + GlassbottleType - otype + AlarmClockType - otype + WineBottleType - otype + BowlType - otype + SinkType - otype + TissueBoxType - otype + TennisRacketType - otype + ToiletPaperType - otype + ScrubBrushType - otype + CreditCardType - otype + LaptopType - otype + ClothType - otype + CupType - otype + ChairType - otype + BasketBallType - otype + KettleType - otype + PaperTowelType - otype + ShowerDoorType - otype + BaseballBatType - otype + PotatoType - otype + PillowType - otype + LettuceType - otype + RemoteControlType - otype + WindowType - otype + DishSpongeType - otype + CDType - otype + BootsType - otype + BlindsType - otype + PenType - otype + NewspaperType - otype + PlateType - otype + MugType - otype + ShowerGlassType - otype + ToiletPaperRollType - otype + SoapBarType - otype + FloorLampType - otype + SoapBottleType - otype + PotType - otype + PencilType - otype + SpatulaType - otype + TowelType - otype + ForkType - otype + LadleType - otype + KnifeType - otype + AppleType - otype + BoxType - otype + TomatoType - otype + ButterKnifeType - otype + EggType - otype + BookType - otype + DeskLampType - otype +CabinetType - rtype + ShelfType - rtype + DiningTableType - rtype + TowelHolderType - rtype + PaintingHangerType - rtype + TVStandType - rtype + LaundryHamperType - rtype + OttomanType - rtype + SafeType - rtype + CoffeeMachineType - rtype + CounterTopType - rtype + ToiletType - rtype + FridgeType - rtype + CoffeeTableType - rtype + SinkBasinType - rtype + GarbageCanType - rtype + BathtubBasinType - rtype + SideTableType - rtype + CartType - rtype + BedType - rtype + DeskType - rtype + SofaType - rtype + ArmChairType - rtype + MicrowaveType - rtype + HandTowelHolderType - rtype + ToasterType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + DrawerType - rtype + DresserType - rtype + + + Apple_bar__minus_00_dot_64_bar__plus_00_dot_96_bar__minus_01_dot_71 - object + Bowl_bar__minus_00_dot_09_bar__plus_00_dot_76_bar__minus_01_dot_38 - object + Bowl_bar__minus_01_dot_69_bar__plus_00_dot_56_bar__minus_00_dot_18 - object + Bread_bar__plus_00_dot_32_bar__plus_01_dot_01_bar__plus_00_dot_74 - object + Bread_bar__minus_00_dot_11_bar__plus_01_dot_01_bar__plus_01_dot_20 - object + ButterKnife_bar__plus_01_dot_12_bar__plus_00_dot_91_bar__minus_01_dot_51 - object + ButterKnife_bar__plus_01_dot_66_bar__plus_00_dot_14_bar__plus_01_dot_22 - object + CellPhone_bar__minus_00_dot_32_bar__plus_00_dot_92_bar__minus_00_dot_19 - object + Chair_bar__minus_00_dot_06_bar__plus_00_dot_52_bar__plus_01_dot_37 - object + Cup_bar__plus_00_dot_17_bar__plus_00_dot_76_bar__minus_01_dot_55 - object + DishSponge_bar__plus_00_dot_89_bar__plus_00_dot_91_bar__minus_01_dot_42 - object + Egg_bar__plus_00_dot_11_bar__plus_00_dot_98_bar__plus_00_dot_97 - object + Egg_bar__plus_00_dot_11_bar__plus_00_dot_98_bar__plus_01_dot_20 - object + Egg_bar__minus_00_dot_21_bar__plus_00_dot_98_bar__plus_00_dot_51 - object + Faucet_bar__minus_00_dot_02_bar__plus_01_dot_14_bar__minus_01_dot_61 - object + Fork_bar__plus_00_dot_21_bar__plus_00_dot_93_bar__plus_00_dot_51 - object + Fork_bar__plus_01_dot_57_bar__plus_00_dot_91_bar__minus_01_dot_51 - object + Kettle_bar__minus_00_dot_11_bar__plus_00_dot_93_bar__plus_00_dot_27 - object + Knife_bar__plus_00_dot_21_bar__plus_00_dot_95_bar__minus_00_dot_19 - object + Ladle_bar__plus_00_dot_00_bar__plus_00_dot_97_bar__plus_00_dot_74 - object + Lettuce_bar__plus_00_dot_11_bar__plus_01_dot_00_bar__plus_00_dot_51 - object + Lettuce_bar__minus_01_dot_67_bar__plus_00_dot_99_bar__minus_01_dot_71 - object + LightSwitch_bar__minus_00_dot_15_bar__plus_01_dot_29_bar__plus_03_dot_70 - object + Mug_bar__plus_01_dot_12_bar__plus_00_dot_10_bar__minus_01_dot_54 - object + Mug_bar__minus_01_dot_75_bar__plus_01_dot_02_bar__plus_00_dot_01 - object + Pan_bar__minus_00_dot_84_bar__plus_00_dot_91_bar__minus_01_dot_71 - object + Pan_bar__minus_01_dot_75_bar__plus_01_dot_68_bar__minus_00_dot_18 - object + PepperShaker_bar__minus_01_dot_29_bar__plus_00_dot_11_bar__minus_01_dot_42 - object + Plate_bar__plus_00_dot_25_bar__plus_00_dot_11_bar__minus_01_dot_41 - object + Plate_bar__minus_00_dot_19_bar__plus_00_dot_11_bar__minus_01_dot_35 - object + Plate_bar__minus_01_dot_80_bar__plus_01_dot_47_bar__minus_00_dot_08 - object + Potato_bar__minus_00_dot_09_bar__plus_00_dot_78_bar__minus_01_dot_55 - object + Potato_bar__minus_00_dot_21_bar__plus_00_dot_95_bar__plus_00_dot_04 - object + Potato_bar__minus_01_dot_75_bar__plus_01_dot_49_bar__plus_00_dot_30 - object + Pot_bar__plus_00_dot_00_bar__plus_00_dot_93_bar__plus_00_dot_04 - object + Pot_bar__plus_01_dot_98_bar__plus_00_dot_94_bar__plus_00_dot_38 - object + SaltShaker_bar__plus_01_dot_27_bar__plus_00_dot_11_bar__minus_01_dot_35 - object + Sink_bar__plus_00_dot_00_bar__plus_00_dot_89_bar__minus_01_dot_44 - object + SoapBottle_bar__plus_01_dot_10_bar__plus_01_dot_68_bar__minus_01_dot_58 - object + SoapBottle_bar__plus_02_dot_03_bar__plus_00_dot_92_bar__minus_01_dot_42 - object + SoapBottle_bar__minus_01_dot_55_bar__plus_00_dot_92_bar__minus_00_dot_96 - object + Spatula_bar__plus_00_dot_32_bar__plus_00_dot_94_bar__plus_00_dot_04 - object + Spatula_bar__plus_01_dot_66_bar__plus_00_dot_14_bar__plus_00_dot_67 - object + Spoon_bar__plus_01_dot_12_bar__plus_00_dot_91_bar__minus_01_dot_61 - object + Spoon_bar__plus_01_dot_66_bar__plus_00_dot_58_bar__minus_00_dot_17 - object + Spoon_bar__minus_00_dot_18_bar__plus_00_dot_76_bar__minus_01_dot_38 - object + StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_46 - object + StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_52 - object + StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_57 - object + StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_63 - object + StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_68 - object + StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_74 - object + Tomato_bar__plus_01_dot_64_bar__plus_00_dot_97_bar__plus_01_dot_03 - object + Tomato_bar__plus_01_dot_81_bar__plus_00_dot_97_bar__plus_01_dot_33 - object + Tomato_bar__minus_00_dot_21_bar__plus_00_dot_98_bar__plus_00_dot_97 - object + Window_bar__plus_02_dot_22_bar__plus_01_dot_57_bar__minus_00_dot_39 - object + Window_bar__minus_00_dot_01_bar__plus_01_dot_58_bar__minus_01_dot_82 - object + Window_bar__minus_03_dot_24_bar__plus_01_dot_62_bar__plus_02_dot_69 - object + Cabinet_bar__plus_00_dot_41_bar__plus_00_dot_48_bar__plus_00_dot_45 - receptacle + Cabinet_bar__plus_00_dot_50_bar__plus_00_dot_48_bar__minus_01_dot_15 - receptacle + Cabinet_bar__plus_01_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_15 - receptacle + Cabinet_bar__plus_01_dot_71_bar__plus_02_dot_02_bar__minus_01_dot_45 - receptacle + Cabinet_bar__plus_01_dot_79_bar__plus_02_dot_02_bar__minus_00_dot_82 - receptacle + Cabinet_bar__minus_00_dot_50_bar__plus_00_dot_48_bar__minus_01_dot_15 - receptacle + Cabinet_bar__minus_00_dot_63_bar__plus_02_dot_02_bar__minus_01_dot_45 - receptacle + Cabinet_bar__minus_01_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_15 - receptacle + Cabinet_bar__minus_01_dot_70_bar__plus_02_dot_02_bar__minus_01_dot_45 - receptacle + CoffeeMachine_bar__plus_01_dot_36_bar__plus_00_dot_90_bar__minus_01_dot_60 - receptacle + CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51 - receptacle + CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51 - receptacle + Drawer_bar__plus_00_dot_81_bar__plus_00_dot_48_bar__minus_01_dot_16 - receptacle + Drawer_bar__plus_01_dot_50_bar__plus_00_dot_14_bar__plus_00_dot_60 - receptacle + Drawer_bar__plus_01_dot_50_bar__plus_00_dot_20_bar__plus_01_dot_22 - receptacle + Drawer_bar__plus_01_dot_50_bar__plus_00_dot_20_bar__minus_00_dot_02 - receptacle + Drawer_bar__plus_01_dot_50_bar__plus_00_dot_31_bar__plus_00_dot_60 - receptacle + Drawer_bar__plus_01_dot_50_bar__plus_00_dot_43_bar__minus_00_dot_02 - receptacle + Drawer_bar__plus_01_dot_50_bar__plus_00_dot_52_bar__plus_01_dot_22 - receptacle + Drawer_bar__plus_01_dot_50_bar__plus_00_dot_54_bar__plus_00_dot_60 - receptacle + Drawer_bar__plus_01_dot_50_bar__plus_00_dot_60_bar__minus_00_dot_02 - receptacle + Drawer_bar__plus_01_dot_50_bar__plus_00_dot_63_bar__plus_00_dot_61 - receptacle + Drawer_bar__plus_01_dot_50_bar__plus_00_dot_63_bar__minus_00_dot_02 - receptacle + Drawer_bar__plus_01_dot_50_bar__plus_00_dot_78_bar__plus_01_dot_22 - receptacle + Drawer_bar__minus_00_dot_70_bar__plus_00_dot_48_bar__minus_01_dot_16 - receptacle + Fridge_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__plus_00_dot_01 - receptacle + GarbageCan_bar__minus_01_dot_80_bar__plus_00_dot_00_bar__plus_01_dot_33 - receptacle + Microwave_bar__plus_01_dot_93_bar__plus_00_dot_90_bar__minus_00_dot_77 - receptacle + Sink_bar__plus_00_dot_00_bar__plus_00_dot_89_bar__minus_01_dot_44_bar_SinkBasin - receptacle + StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_38 - receptacle + StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_60 - receptacle + StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_82 - receptacle + StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_38 - receptacle + StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_60 - receptacle + StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_82 - receptacle + Toaster_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__minus_00_dot_34 - receptacle + loc_bar_4_bar__minus_3_bar_1_bar__minus_30 - location + loc_bar_3_bar_1_bar_1_bar_60 - location + loc_bar_5_bar_2_bar_1_bar_60 - location + loc_bar_3_bar_4_bar_1_bar_60 - location + loc_bar_2_bar_7_bar_1_bar_60 - location + loc_bar__minus_3_bar__minus_1_bar_2_bar_60 - location + loc_bar__minus_3_bar__minus_2_bar_2_bar_60 - location + loc_bar_4_bar__minus_3_bar_1_bar_45 - location + loc_bar_0_bar__minus_3_bar_2_bar_45 - location + loc_bar_5_bar_3_bar_1_bar_60 - location + loc_bar_3_bar_7_bar_2_bar_60 - location + loc_bar_0_bar_8_bar_2_bar_60 - location + loc_bar_3_bar_3_bar_1_bar_60 - location + loc_bar_5_bar_0_bar_1_bar_60 - location + loc_bar_5_bar_0_bar_2_bar_45 - location + loc_bar_5_bar_4_bar_3_bar_60 - location + loc_bar__minus_10_bar_11_bar_3_bar_0 - location + loc_bar_4_bar_3_bar_2_bar_60 - location + loc_bar__minus_5_bar_6_bar_3_bar_60 - location + loc_bar__minus_3_bar_0_bar_3_bar_60 - location + loc_bar__minus_3_bar__minus_3_bar_3_bar__minus_15 - location + loc_bar__minus_1_bar_12_bar_0_bar_30 - location + loc_bar__minus_3_bar_0_bar_3_bar_30 - location + loc_bar_5_bar_3_bar_1_bar_45 - location + loc_bar__minus_3_bar__minus_3_bar_2_bar_45 - location + loc_bar__minus_3_bar__minus_3_bar_2_bar__minus_30 - location + loc_bar_4_bar__minus_3_bar_2_bar_45 - location + loc_bar_5_bar_2_bar_1_bar_45 - location + loc_bar_3_bar__minus_1_bar_2_bar_60 - location + loc_bar_3_bar_6_bar_1_bar_45 - location + loc_bar_3_bar_2_bar_3_bar_45 - location + loc_bar_4_bar__minus_1_bar_1_bar_45 - location + loc_bar_0_bar__minus_3_bar_2_bar_60 - location + loc_bar__minus_11_bar_9_bar_1_bar_30 - location + ) + + +(:init + + + (receptacleType Cabinet_bar__minus_01_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_15 CabinetType) + (receptacleType Toaster_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__minus_00_dot_34 ToasterType) + (receptacleType Drawer_bar__plus_01_dot_50_bar__plus_00_dot_14_bar__plus_00_dot_60 DrawerType) + (receptacleType CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51 CounterTopType) + (receptacleType Drawer_bar__plus_01_dot_50_bar__plus_00_dot_60_bar__minus_00_dot_02 DrawerType) + (receptacleType Drawer_bar__plus_01_dot_50_bar__plus_00_dot_78_bar__plus_01_dot_22 DrawerType) + (receptacleType StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_82 StoveBurnerType) + (receptacleType StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_82 StoveBurnerType) + (receptacleType StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_60 StoveBurnerType) + (receptacleType Cabinet_bar__minus_01_dot_70_bar__plus_02_dot_02_bar__minus_01_dot_45 CabinetType) + (receptacleType Cabinet_bar__minus_00_dot_63_bar__plus_02_dot_02_bar__minus_01_dot_45 CabinetType) + (receptacleType Drawer_bar__plus_01_dot_50_bar__plus_00_dot_31_bar__plus_00_dot_60 DrawerType) + (receptacleType Drawer_bar__plus_01_dot_50_bar__plus_00_dot_54_bar__plus_00_dot_60 DrawerType) + (receptacleType CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51 CounterTopType) + (receptacleType Cabinet_bar__plus_00_dot_50_bar__plus_00_dot_48_bar__minus_01_dot_15 CabinetType) + (receptacleType StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_38 StoveBurnerType) + (receptacleType Drawer_bar__minus_00_dot_70_bar__plus_00_dot_48_bar__minus_01_dot_16 DrawerType) + (receptacleType Cabinet_bar__plus_00_dot_41_bar__plus_00_dot_48_bar__plus_00_dot_45 CabinetType) + (receptacleType CoffeeMachine_bar__plus_01_dot_36_bar__plus_00_dot_90_bar__minus_01_dot_60 CoffeeMachineType) + (receptacleType Sink_bar__plus_00_dot_00_bar__plus_00_dot_89_bar__minus_01_dot_44_bar_SinkBasin SinkBasinType) + (receptacleType Cabinet_bar__minus_00_dot_50_bar__plus_00_dot_48_bar__minus_01_dot_15 CabinetType) + (receptacleType Drawer_bar__plus_01_dot_50_bar__plus_00_dot_43_bar__minus_00_dot_02 DrawerType) + (receptacleType Drawer_bar__plus_00_dot_81_bar__plus_00_dot_48_bar__minus_01_dot_16 DrawerType) + (receptacleType StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_60 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StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_38 StoveBurnerType) + (receptacleType Drawer_bar__plus_01_dot_50_bar__plus_00_dot_20_bar__plus_01_dot_22 DrawerType) + (receptacleType Fridge_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__plus_00_dot_01 FridgeType) + (objectType Potato_bar__minus_00_dot_21_bar__plus_00_dot_95_bar__plus_00_dot_04 PotatoType) + (objectType StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_63 StoveKnobType) + (objectType Knife_bar__plus_00_dot_21_bar__plus_00_dot_95_bar__minus_00_dot_19 KnifeType) + (objectType CellPhone_bar__minus_00_dot_32_bar__plus_00_dot_92_bar__minus_00_dot_19 CellPhoneType) + (objectType Pot_bar__plus_01_dot_98_bar__plus_00_dot_94_bar__plus_00_dot_38 PotType) + (objectType Window_bar__plus_02_dot_22_bar__plus_01_dot_57_bar__minus_00_dot_39 WindowType) + (objectType Cup_bar__plus_00_dot_17_bar__plus_00_dot_76_bar__minus_01_dot_55 CupType) + (objectType 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Cabinet_bar__plus_01_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_15) + (openable Microwave_bar__plus_01_dot_93_bar__plus_00_dot_90_bar__minus_00_dot_77) + (openable Drawer_bar__plus_01_dot_50_bar__plus_00_dot_63_bar__minus_00_dot_02) + (openable Drawer_bar__plus_01_dot_50_bar__plus_00_dot_63_bar__plus_00_dot_61) + (openable Cabinet_bar__plus_01_dot_79_bar__plus_02_dot_02_bar__minus_00_dot_82) + (openable Cabinet_bar__plus_01_dot_71_bar__plus_02_dot_02_bar__minus_01_dot_45) + (openable Drawer_bar__plus_01_dot_50_bar__plus_00_dot_52_bar__plus_01_dot_22) + (openable Drawer_bar__plus_01_dot_50_bar__plus_00_dot_20_bar__plus_01_dot_22) + (openable Fridge_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__plus_00_dot_01) + + (atLocation agent1 loc_bar__minus_11_bar_9_bar_1_bar_30) + + (cleanable Potato_bar__minus_00_dot_21_bar__plus_00_dot_95_bar__plus_00_dot_04) + (cleanable Knife_bar__plus_00_dot_21_bar__plus_00_dot_95_bar__minus_00_dot_19) + (cleanable Pot_bar__plus_01_dot_98_bar__plus_00_dot_94_bar__plus_00_dot_38) + (cleanable Cup_bar__plus_00_dot_17_bar__plus_00_dot_76_bar__minus_01_dot_55) + (cleanable Bowl_bar__minus_00_dot_09_bar__plus_00_dot_76_bar__minus_01_dot_38) + (cleanable Egg_bar__plus_00_dot_11_bar__plus_00_dot_98_bar__plus_00_dot_97) + (cleanable Spoon_bar__plus_01_dot_12_bar__plus_00_dot_91_bar__minus_01_dot_61) + (cleanable ButterKnife_bar__plus_01_dot_12_bar__plus_00_dot_91_bar__minus_01_dot_51) + (cleanable Pan_bar__minus_01_dot_75_bar__plus_01_dot_68_bar__minus_00_dot_18) + (cleanable Tomato_bar__minus_00_dot_21_bar__plus_00_dot_98_bar__plus_00_dot_97) + (cleanable DishSponge_bar__plus_00_dot_89_bar__plus_00_dot_91_bar__minus_01_dot_42) + (cleanable ButterKnife_bar__plus_01_dot_66_bar__plus_00_dot_14_bar__plus_01_dot_22) + (cleanable Kettle_bar__minus_00_dot_11_bar__plus_00_dot_93_bar__plus_00_dot_27) + (cleanable Pan_bar__minus_00_dot_84_bar__plus_00_dot_91_bar__minus_01_dot_71) + (cleanable Egg_bar__minus_00_dot_21_bar__plus_00_dot_98_bar__plus_00_dot_51) + (cleanable Mug_bar__plus_01_dot_12_bar__plus_00_dot_10_bar__minus_01_dot_54) + (cleanable Plate_bar__plus_00_dot_25_bar__plus_00_dot_11_bar__minus_01_dot_41) + (cleanable Egg_bar__plus_00_dot_11_bar__plus_00_dot_98_bar__plus_01_dot_20) + (cleanable Spoon_bar__plus_01_dot_66_bar__plus_00_dot_58_bar__minus_00_dot_17) + (cleanable Mug_bar__minus_01_dot_75_bar__plus_01_dot_02_bar__plus_00_dot_01) + (cleanable Spatula_bar__plus_01_dot_66_bar__plus_00_dot_14_bar__plus_00_dot_67) + (cleanable Pot_bar__plus_00_dot_00_bar__plus_00_dot_93_bar__plus_00_dot_04) + (cleanable Spoon_bar__minus_00_dot_18_bar__plus_00_dot_76_bar__minus_01_dot_38) + (cleanable Potato_bar__minus_00_dot_09_bar__plus_00_dot_78_bar__minus_01_dot_55) + (cleanable Lettuce_bar__plus_00_dot_11_bar__plus_01_dot_00_bar__plus_00_dot_51) + (cleanable Spatula_bar__plus_00_dot_32_bar__plus_00_dot_94_bar__plus_00_dot_04) + (cleanable Fork_bar__plus_01_dot_57_bar__plus_00_dot_91_bar__minus_01_dot_51) + (cleanable Fork_bar__plus_00_dot_21_bar__plus_00_dot_93_bar__plus_00_dot_51) + (cleanable Plate_bar__minus_01_dot_80_bar__plus_01_dot_47_bar__minus_00_dot_08) + (cleanable Ladle_bar__plus_00_dot_00_bar__plus_00_dot_97_bar__plus_00_dot_74) + (cleanable Potato_bar__minus_01_dot_75_bar__plus_01_dot_49_bar__plus_00_dot_30) + (cleanable Plate_bar__minus_00_dot_19_bar__plus_00_dot_11_bar__minus_01_dot_35) + (cleanable Tomato_bar__plus_01_dot_81_bar__plus_00_dot_97_bar__plus_01_dot_33) + (cleanable Apple_bar__minus_00_dot_64_bar__plus_00_dot_96_bar__minus_01_dot_71) + (cleanable Bowl_bar__minus_01_dot_69_bar__plus_00_dot_56_bar__minus_00_dot_18) + (cleanable Tomato_bar__plus_01_dot_64_bar__plus_00_dot_97_bar__plus_01_dot_03) + (cleanable Lettuce_bar__minus_01_dot_67_bar__plus_00_dot_99_bar__minus_01_dot_71) + + (heatable Potato_bar__minus_00_dot_21_bar__plus_00_dot_95_bar__plus_00_dot_04) + (heatable Cup_bar__plus_00_dot_17_bar__plus_00_dot_76_bar__minus_01_dot_55) + (heatable Egg_bar__plus_00_dot_11_bar__plus_00_dot_98_bar__plus_00_dot_97) + (heatable Tomato_bar__minus_00_dot_21_bar__plus_00_dot_98_bar__plus_00_dot_97) + (heatable Bread_bar__plus_00_dot_32_bar__plus_01_dot_01_bar__plus_00_dot_74) + (heatable Egg_bar__minus_00_dot_21_bar__plus_00_dot_98_bar__plus_00_dot_51) + (heatable Mug_bar__plus_01_dot_12_bar__plus_00_dot_10_bar__minus_01_dot_54) + (heatable Plate_bar__plus_00_dot_25_bar__plus_00_dot_11_bar__minus_01_dot_41) + (heatable Egg_bar__plus_00_dot_11_bar__plus_00_dot_98_bar__plus_01_dot_20) + (heatable Mug_bar__minus_01_dot_75_bar__plus_01_dot_02_bar__plus_00_dot_01) + (heatable Potato_bar__minus_00_dot_09_bar__plus_00_dot_78_bar__minus_01_dot_55) + (heatable Bread_bar__minus_00_dot_11_bar__plus_01_dot_01_bar__plus_01_dot_20) + (heatable Plate_bar__minus_01_dot_80_bar__plus_01_dot_47_bar__minus_00_dot_08) + (heatable Potato_bar__minus_01_dot_75_bar__plus_01_dot_49_bar__plus_00_dot_30) + (heatable Plate_bar__minus_00_dot_19_bar__plus_00_dot_11_bar__minus_01_dot_35) + (heatable Tomato_bar__plus_01_dot_81_bar__plus_00_dot_97_bar__plus_01_dot_33) + (heatable Apple_bar__minus_00_dot_64_bar__plus_00_dot_96_bar__minus_01_dot_71) + (heatable Tomato_bar__plus_01_dot_64_bar__plus_00_dot_97_bar__plus_01_dot_03) + (coolable Potato_bar__minus_00_dot_21_bar__plus_00_dot_95_bar__plus_00_dot_04) + (coolable Pot_bar__plus_01_dot_98_bar__plus_00_dot_94_bar__plus_00_dot_38) + (coolable Cup_bar__plus_00_dot_17_bar__plus_00_dot_76_bar__minus_01_dot_55) + (coolable Bowl_bar__minus_00_dot_09_bar__plus_00_dot_76_bar__minus_01_dot_38) + (coolable Egg_bar__plus_00_dot_11_bar__plus_00_dot_98_bar__plus_00_dot_97) + (coolable Pan_bar__minus_01_dot_75_bar__plus_01_dot_68_bar__minus_00_dot_18) + (coolable Tomato_bar__minus_00_dot_21_bar__plus_00_dot_98_bar__plus_00_dot_97) + (coolable Pan_bar__minus_00_dot_84_bar__plus_00_dot_91_bar__minus_01_dot_71) + (coolable Bread_bar__plus_00_dot_32_bar__plus_01_dot_01_bar__plus_00_dot_74) + (coolable Egg_bar__minus_00_dot_21_bar__plus_00_dot_98_bar__plus_00_dot_51) + (coolable Mug_bar__plus_01_dot_12_bar__plus_00_dot_10_bar__minus_01_dot_54) + (coolable Plate_bar__plus_00_dot_25_bar__plus_00_dot_11_bar__minus_01_dot_41) + (coolable Egg_bar__plus_00_dot_11_bar__plus_00_dot_98_bar__plus_01_dot_20) + (coolable Mug_bar__minus_01_dot_75_bar__plus_01_dot_02_bar__plus_00_dot_01) + (coolable Pot_bar__plus_00_dot_00_bar__plus_00_dot_93_bar__plus_00_dot_04) + (coolable Potato_bar__minus_00_dot_09_bar__plus_00_dot_78_bar__minus_01_dot_55) + (coolable Lettuce_bar__plus_00_dot_11_bar__plus_01_dot_00_bar__plus_00_dot_51) + (coolable Bread_bar__minus_00_dot_11_bar__plus_01_dot_01_bar__plus_01_dot_20) + (coolable Plate_bar__minus_01_dot_80_bar__plus_01_dot_47_bar__minus_00_dot_08) + (coolable 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Drawer_bar__plus_01_dot_50_bar__plus_00_dot_60_bar__minus_00_dot_02) + (inReceptacle Pot_bar__plus_01_dot_98_bar__plus_00_dot_94_bar__plus_00_dot_38 StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_38) + (inReceptacle Plate_bar__plus_00_dot_25_bar__plus_00_dot_11_bar__minus_01_dot_41 Cabinet_bar__plus_00_dot_50_bar__plus_00_dot_48_bar__minus_01_dot_15) + (inReceptacle Spatula_bar__plus_01_dot_66_bar__plus_00_dot_14_bar__plus_00_dot_67 Drawer_bar__plus_01_dot_50_bar__plus_00_dot_14_bar__plus_00_dot_60) + (inReceptacle SaltShaker_bar__plus_01_dot_27_bar__plus_00_dot_11_bar__minus_01_dot_35 Cabinet_bar__plus_01_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_15) + (inReceptacle Mug_bar__plus_01_dot_12_bar__plus_00_dot_10_bar__minus_01_dot_54 Cabinet_bar__plus_01_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_15) + (inReceptacle Pot_bar__plus_01_dot_98_bar__plus_00_dot_94_bar__plus_00_dot_38 StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_60) + 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Window_bar__minus_00_dot_01_bar__plus_01_dot_58_bar__minus_01_dot_82 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51) + (inReceptacle Pan_bar__minus_00_dot_84_bar__plus_00_dot_91_bar__minus_01_dot_71 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51) + (inReceptacle Tomato_bar__plus_01_dot_81_bar__plus_00_dot_97_bar__plus_01_dot_33 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51) + (inReceptacle Spoon_bar__plus_01_dot_12_bar__plus_00_dot_91_bar__minus_01_dot_61 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51) + (inReceptacle Apple_bar__minus_00_dot_64_bar__plus_00_dot_96_bar__minus_01_dot_71 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51) + (inReceptacle ButterKnife_bar__plus_01_dot_12_bar__plus_00_dot_91_bar__minus_01_dot_51 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51) + (inReceptacle 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Potato_bar__minus_00_dot_21_bar__plus_00_dot_95_bar__plus_00_dot_04 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51) + (inReceptacle Knife_bar__plus_00_dot_21_bar__plus_00_dot_95_bar__minus_00_dot_19 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51) + (inReceptacle CellPhone_bar__minus_00_dot_32_bar__plus_00_dot_92_bar__minus_00_dot_19 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51) + (inReceptacle Ladle_bar__plus_00_dot_00_bar__plus_00_dot_97_bar__plus_00_dot_74 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51) + (inReceptacle Pot_bar__plus_00_dot_00_bar__plus_00_dot_93_bar__plus_00_dot_04 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51) + (inReceptacle Kettle_bar__minus_00_dot_11_bar__plus_00_dot_93_bar__plus_00_dot_27 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51) + (inReceptacle Egg_bar__plus_00_dot_11_bar__plus_00_dot_98_bar__plus_00_dot_97 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51) + (inReceptacle Egg_bar__minus_00_dot_21_bar__plus_00_dot_98_bar__plus_00_dot_51 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51) + (inReceptacle Bread_bar__plus_00_dot_32_bar__plus_01_dot_01_bar__plus_00_dot_74 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51) + (inReceptacle Lettuce_bar__plus_00_dot_11_bar__plus_01_dot_00_bar__plus_00_dot_51 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51) + (inReceptacle Spatula_bar__plus_00_dot_32_bar__plus_00_dot_94_bar__plus_00_dot_04 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51) + (inReceptacle Tomato_bar__minus_00_dot_21_bar__plus_00_dot_98_bar__plus_00_dot_97 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51) + (inReceptacle Egg_bar__plus_00_dot_11_bar__plus_00_dot_98_bar__plus_01_dot_20 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51) + (inReceptacle ButterKnife_bar__plus_01_dot_66_bar__plus_00_dot_14_bar__plus_01_dot_22 Drawer_bar__plus_01_dot_50_bar__plus_00_dot_20_bar__plus_01_dot_22) + (inReceptacle PepperShaker_bar__minus_01_dot_29_bar__plus_00_dot_11_bar__minus_01_dot_42 Cabinet_bar__minus_01_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_15) + (inReceptacle Pan_bar__minus_01_dot_75_bar__plus_01_dot_68_bar__minus_00_dot_18 Fridge_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__plus_00_dot_01) + (inReceptacle Potato_bar__minus_01_dot_75_bar__plus_01_dot_49_bar__plus_00_dot_30 Fridge_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__plus_00_dot_01) + (inReceptacle Plate_bar__minus_01_dot_80_bar__plus_01_dot_47_bar__minus_00_dot_08 Fridge_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__plus_00_dot_01) + (inReceptacle Bowl_bar__minus_01_dot_69_bar__plus_00_dot_56_bar__minus_00_dot_18 Fridge_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__plus_00_dot_01) 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loc_bar_5_bar_0_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_31_bar__plus_00_dot_60 loc_bar_5_bar_2_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_43_bar__minus_00_dot_02 loc_bar_5_bar_0_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_52_bar__plus_01_dot_22 loc_bar_3_bar_3_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_54_bar__plus_00_dot_60 loc_bar_5_bar_2_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_60_bar__minus_00_dot_02 loc_bar_4_bar_3_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_63_bar__plus_00_dot_61 loc_bar_3_bar_4_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_63_bar__minus_00_dot_02 loc_bar_3_bar_1_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_78_bar__plus_01_dot_22 loc_bar_3_bar_6_bar_1_bar_45) 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"turk_annotations": { + "anns": [ + { + "assignment_id": "A3R19ZA45J8915_3WJ1OXY92D7BNUHV7J5C2YZM0A6A83", + "high_descs": [ + "Walk forward to the wall, make a right, then walk over and face the kitchen island that is on your right.", + "Pick up the egg that is on the kitchen island, in front of the tomato.", + "Turn to the left, walk past the oven, then turn left to face the dishwasher.", + "Heat up the egg in the microwave before taking it back out. ", + "Turn left, walk a few steps, then turn left again to face the kitchen island.", + "Place the egg on the kitchen island, above the oven." + ], + "task_desc": "Place a heated egg on the kitchen island.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A24RGLS3BRZ60J_3TR2532VISLZK91B8ALRBJ6EK1T6JA", + "high_descs": [ + "Move forward and turn right at the island and face it on the right. ", + "Pick up the egg from the right side, but closer to the loaf of bread.", + "Hold the egg and turn to the left and face the microwave on the left.", + "Open the microwave and place the egg inside. Then open the microwave and take the egg out, and shut the door.", + "Hold the egg and turn to the left and then face the island on the left.", + "Place the egg in the front portion of the island, centered and in front of the tea pot." + ], + "task_desc": "Heat an egg and move it to the counter.", + "votes": [ + 0, + 1, + 1 + ] + }, + { + "assignment_id": "ARB8SJAWXUWTD_3VNXK88KKF9VTN33N62MYH8A5Q9V9Y", + "high_descs": [ + "Go to the kitchen island", + "Pick up an egg", + "Go to the microwave", + "Heat the egg", + "Go to the kitchen island", + "Place the egg down" + ], + "task_desc": "Heat an egg and return it to the table", + "votes": [ + 1, + 0, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/valid_seen/pick_heat_then_place_in_recep-Mug-None-SideTable-21/trial_T20190909_090729_088825/game.tw-pddl b/data/alfworld/json_2.1.1/valid_seen/pick_heat_then_place_in_recep-Mug-None-SideTable-21/trial_T20190909_090729_088825/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..3d8ba9eb957f5475119f39de77e3ea452ffe3628 --- /dev/null +++ b/data/alfworld/json_2.1.1/valid_seen/pick_heat_then_place_in_recep-Mug-None-SideTable-21/trial_T20190909_090729_088825/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\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 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_090729_088825)\n(:domain alfred)\n(:objects\nagent1 - agent\nCurtains - object\n SprayBottle - object\n Mirror - object\n HousePlant - object\n Watch - object\n TeddyBear - object\n WateringCan - object\n Bathtub - object\n LightSwitch - object\n Vase - object\n Candle - object\n Bread - object\n Statue - object\n HandTowel - object\n StoveKnob - object\n PaperTowelRoll - object\n Pan - object\n PepperShaker - object\n Painting - object\n CellPhone - object\n Plunger - object\n Spoon - object\n SaltShaker - object\n KeyChain - object\n Footstool - object\n Poster - object\n Television - object\n LaundryHamperLid - object\n Glassbottle - object\n AlarmClock - object\n WineBottle - object\n Bowl - object\n Sink - object\n TissueBox - object\n TennisRacket - object\n ToiletPaper - object\n ScrubBrush - object\n CreditCard - object\n Laptop - object\n Cloth - object\n Cup - object\n Chair - object\n BasketBall - object\n Kettle - object\n PaperTowel - object\n ShowerDoor - object\n BaseballBat - object\n Potato - object\n Pillow - object\n Lettuce - object\n RemoteControl - object\n Window - object\n DishSponge - object\n CD - object\n Boots - object\n Blinds - object\n Pen - object\n Newspaper - object\n Plate - object\n Mug - object\n ShowerGlass - object\n ToiletPaperRoll - object\n SoapBar - object\n FloorLamp - object\n SoapBottle - object\n Pot - object\n Pencil - object\n Spatula - object\n Towel - object\n Fork - object\n Ladle - object\n Knife - object\n Apple - object\n Box - object\n Tomato - object\n ButterKnife - object\n Egg - object\n Book - object\n DeskLamp - object\nCurtainsType - otype\n SprayBottleType - otype\n MirrorType - otype\n HousePlantType - otype\n WatchType - otype\n TeddyBearType - otype\n WateringCanType - otype\n BathtubType - otype\n LightSwitchType - otype\n VaseType - otype\n CandleType - otype\n BreadType - otype\n StatueType - otype\n HandTowelType - otype\n StoveKnobType - otype\n PaperTowelRollType - otype\n PanType - otype\n PepperShakerType - otype\n PaintingType - otype\n CellPhoneType - otype\n PlungerType - otype\n SpoonType - otype\n SaltShakerType - otype\n KeyChainType - otype\n FootstoolType - otype\n PosterType - otype\n TelevisionType - otype\n LaundryHamperLidType - otype\n GlassbottleType - otype\n AlarmClockType - otype\n WineBottleType - otype\n BowlType - otype\n SinkType - otype\n TissueBoxType - otype\n TennisRacketType - otype\n ToiletPaperType - otype\n ScrubBrushType - otype\n CreditCardType - otype\n LaptopType - otype\n ClothType - otype\n CupType - otype\n ChairType - otype\n BasketBallType - otype\n KettleType - otype\n PaperTowelType - otype\n ShowerDoorType - otype\n BaseballBatType - otype\n PotatoType - otype\n PillowType - otype\n LettuceType - otype\n RemoteControlType - otype\n WindowType - otype\n DishSpongeType - otype\n CDType - otype\n BootsType - otype\n BlindsType - otype\n PenType - otype\n NewspaperType - otype\n PlateType - otype\n MugType - otype\n ShowerGlassType - otype\n ToiletPaperRollType - otype\n SoapBarType - otype\n FloorLampType - otype\n SoapBottleType - otype\n PotType - otype\n PencilType - otype\n SpatulaType - otype\n TowelType - otype\n ForkType - otype\n LadleType - otype\n KnifeType - otype\n AppleType - otype\n BoxType - otype\n TomatoType - otype\n ButterKnifeType - otype\n EggType - otype\n BookType - otype\n DeskLampType - otype\nCabinetType - rtype\n ShelfType - rtype\n DiningTableType - rtype\n TowelHolderType - rtype\n PaintingHangerType - rtype\n TVStandType - rtype\n LaundryHamperType - rtype\n OttomanType - rtype\n SafeType - rtype\n CoffeeMachineType - rtype\n CounterTopType - rtype\n ToiletType - rtype\n FridgeType - rtype\n CoffeeTableType - rtype\n SinkBasinType - rtype\n GarbageCanType - rtype\n BathtubBasinType - rtype\n SideTableType - rtype\n CartType - rtype\n BedType - rtype\n DeskType - rtype\n SofaType - rtype\n ArmChairType - rtype\n MicrowaveType - rtype\n HandTowelHolderType - rtype\n ToasterType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n DrawerType - rtype\n DresserType - rtype\n\n\n Apple_bar__plus_00_dot_72_bar__plus_00_dot_83_bar__minus_00_dot_74 - object\n Apple_bar__minus_01_dot_90_bar__plus_00_dot_85_bar__minus_03_dot_71 - object\n Blinds_bar__minus_02_dot_34_bar__plus_02_dot_15_bar__minus_02_dot_44 - object\n Bowl_bar__plus_00_dot_86_bar__plus_01_dot_46_bar__plus_00_dot_47 - object\n Bread_bar__minus_00_dot_05_bar__plus_00_dot_94_bar__plus_00_dot_84 - object\n Bread_bar__minus_00_dot_87_bar__plus_00_dot_93_bar__plus_00_dot_98 - object\n Bread_bar__minus_01_dot_72_bar__plus_00_dot_75_bar__minus_01_dot_31 - object\n ButterKnife_bar__plus_00_dot_76_bar__plus_00_dot_77_bar__minus_00_dot_68 - object\n Chair_bar__minus_01_dot_90_bar__minus_00_dot_03_bar__minus_01_dot_87 - object\n Cup_bar__plus_00_dot_79_bar__plus_00_dot_01_bar__plus_00_dot_01 - object\n DishSponge_bar__plus_00_dot_95_bar__plus_01_dot_46_bar__plus_00_dot_29 - object\n Egg_bar__minus_01_dot_30_bar__plus_00_dot_09_bar__minus_03_dot_68 - object\n Egg_bar__minus_02_dot_05_bar__plus_00_dot_84_bar__minus_03_dot_77 - object\n Faucet_bar__plus_01_dot_03_bar__plus_00_dot_87_bar__minus_00_dot_68 - object\n Fork_bar__plus_00_dot_77_bar__plus_00_dot_76_bar__minus_00_dot_12 - object\n Fork_bar__minus_00_dot_45_bar__plus_00_dot_90_bar__plus_01_dot_27 - object\n Knife_bar__plus_00_dot_67_bar__plus_00_dot_78_bar__minus_00_dot_25 - object\n Knife_bar__plus_00_dot_96_bar__plus_00_dot_69_bar__plus_00_dot_39 - object\n Lettuce_bar__plus_00_dot_71_bar__plus_01_dot_25_bar__minus_01_dot_80 - object\n Lettuce_bar__plus_00_dot_79_bar__plus_01_dot_46_bar__minus_01_dot_88 - object\n LightSwitch_bar__plus_01_dot_10_bar__plus_01_dot_37_bar__minus_03_dot_74 - object\n Mirror_bar__plus_01_dot_09_bar__plus_01_dot_60_bar__minus_00_dot_64 - object\n Mug_bar__plus_00_dot_70_bar__plus_00_dot_94_bar__minus_01_dot_36 - object\n Pan_bar__minus_02_dot_10_bar__plus_00_dot_93_bar__plus_00_dot_79 - object\n PepperShaker_bar__plus_01_dot_02_bar__plus_00_dot_88_bar__minus_00_dot_18 - object\n PepperShaker_bar__minus_00_dot_86_bar__plus_00_dot_90_bar__plus_01_dot_27 - object\n Plate_bar__minus_02_dot_02_bar__plus_00_dot_69_bar__minus_01_dot_45 - object\n Potato_bar__plus_00_dot_79_bar__plus_00_dot_70_bar__minus_02_dot_04 - object\n Pot_bar__minus_01_dot_55_bar__plus_00_dot_93_bar__plus_00_dot_79 - object\n SaltShaker_bar__plus_00_dot_57_bar__plus_00_dot_01_bar__minus_00_dot_70 - object\n Sink_bar__plus_00_dot_75_bar__plus_00_dot_88_bar__minus_00_dot_68 - object\n SoapBottle_bar__plus_00_dot_84_bar__plus_00_dot_66_bar__plus_00_dot_39 - object\n Spatula_bar__plus_00_dot_95_bar__plus_00_dot_90_bar__plus_00_dot_03 - object\n Spoon_bar__plus_00_dot_72_bar__plus_00_dot_76_bar__minus_00_dot_25 - object\n Spoon_bar__plus_00_dot_77_bar__plus_00_dot_76_bar__plus_00_dot_00 - object\n Spoon_bar__plus_00_dot_84_bar__plus_00_dot_67_bar__plus_00_dot_63 - object\n StoveKnob_bar__minus_01_dot_60_bar__plus_00_dot_87_bar__plus_00_dot_52 - object\n StoveKnob_bar__minus_01_dot_75_bar__plus_00_dot_87_bar__plus_00_dot_52 - object\n StoveKnob_bar__minus_01_dot_90_bar__plus_00_dot_87_bar__plus_00_dot_52 - object\n StoveKnob_bar__minus_02_dot_06_bar__plus_00_dot_87_bar__plus_00_dot_52 - object\n Tomato_bar__plus_00_dot_66_bar__plus_00_dot_71_bar__plus_00_dot_39 - object\n Tomato_bar__plus_00_dot_67_bar__plus_01_dot_21_bar__minus_02_dot_04 - object\n Tomato_bar__minus_01_dot_22_bar__plus_00_dot_10_bar__minus_03_dot_61 - object\n Window_bar__minus_02_dot_42_bar__plus_01_dot_64_bar__minus_02_dot_45 - object\n Cabinet_bar__plus_00_dot_51_bar__plus_00_dot_35_bar__plus_00_dot_16 - receptacle\n Cabinet_bar__plus_00_dot_51_bar__plus_00_dot_35_bar__minus_00_dot_43 - receptacle\n Cabinet_bar__plus_00_dot_72_bar__plus_01_dot_82_bar__plus_00_dot_67 - receptacle\n Cabinet_bar__plus_00_dot_72_bar__plus_01_dot_82_bar__minus_00_dot_40 - receptacle\n CoffeeMachine_bar__plus_00_dot_88_bar__plus_00_dot_86_bar__minus_01_dot_26 - receptacle\n CounterTop_bar__plus_00_dot_79_bar__plus_00_dot_92_bar__minus_00_dot_11 - receptacle\n DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95 - receptacle\n DiningTable_bar__minus_01_dot_73_bar__minus_00_dot_03_bar__minus_00_dot_96 - receptacle\n DiningTable_bar__minus_02_dot_17_bar__minus_00_dot_03_bar__minus_03_dot_37 - receptacle\n Drawer_bar__plus_00_dot_71_bar__plus_00_dot_77_bar__minus_00_dot_13 - receptacle\n Fridge_bar__plus_00_dot_68_bar__minus_00_dot_03_bar__minus_01_dot_96 - receptacle\n GarbageCan_bar__minus_01_dot_26_bar__minus_00_dot_03_bar__minus_03_dot_61 - receptacle\n Microwave_bar__minus_02_dot_01_bar__plus_00_dot_69_bar__minus_03_dot_69 - receptacle\n SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45 - receptacle\n Sink_bar__plus_00_dot_75_bar__plus_00_dot_88_bar__minus_00_dot_68_bar_SinkBasin - receptacle\n StoveBurner_bar__minus_01_dot_55_bar__plus_00_dot_89_bar__plus_00_dot_79 - receptacle\n StoveBurner_bar__minus_01_dot_56_bar__plus_00_dot_89_bar__plus_01_dot_05 - receptacle\n StoveBurner_bar__minus_02_dot_10_bar__plus_00_dot_89_bar__plus_00_dot_79 - receptacle\n StoveBurner_bar__minus_02_dot_10_bar__plus_00_dot_89_bar__plus_01_dot_05 - receptacle\n Toaster_bar__minus_00_dot_52_bar__plus_00_dot_89_bar__plus_01_dot_07 - receptacle\n loc_bar__minus_6_bar_0_bar_0_bar_45 - location\n loc_bar__minus_4_bar__minus_5_bar_3_bar_60 - location\n loc_bar_1_bar__minus_3_bar_1_bar_0 - location\n loc_bar__minus_7_bar_0_bar_0_bar_30 - location\n loc_bar__minus_7_bar__minus_11_bar_2_bar_45 - location\n loc_bar_1_bar_1_bar_1_bar__minus_30 - location\n loc_bar__minus_7_bar_0_bar_0_bar_60 - location\n loc_bar__minus_6_bar_0_bar_0_bar_60 - location\n loc_bar__minus_7_bar__minus_11_bar_2_bar_60 - location\n loc_bar_1_bar__minus_2_bar_1_bar_60 - location\n loc_bar__minus_7_bar_0_bar_0_bar_45 - location\n loc_bar_0_bar_1_bar_0_bar_60 - location\n loc_bar__minus_1_bar__minus_8_bar_1_bar_60 - location\n loc_bar__minus_2_bar__minus_1_bar_1_bar_45 - location\n loc_bar__minus_1_bar__minus_1_bar_1_bar_45 - location\n loc_bar__minus_6_bar_0_bar_0_bar_30 - location\n loc_bar__minus_7_bar__minus_10_bar_3_bar_0 - location\n loc_bar_1_bar_0_bar_1_bar_45 - location\n loc_bar_2_bar__minus_13_bar_1_bar_30 - location\n loc_bar_0_bar__minus_5_bar_1_bar_45 - location\n loc_bar__minus_1_bar_1_bar_1_bar_45 - location\n loc_bar__minus_4_bar__minus_13_bar_2_bar_60 - location\n loc_bar__minus_2_bar_1_bar_1_bar_45 - location\n loc_bar_1_bar__minus_3_bar_1_bar_60 - location\n loc_bar__minus_2_bar_1_bar_0_bar_45 - location\n loc_bar__minus_5_bar__minus_7_bar_3_bar_60 - location\n loc_bar_1_bar_0_bar_1_bar__minus_30 - location\n loc_bar__minus_7_bar__minus_10_bar_3_bar__minus_30 - location\n loc_bar_0_bar__minus_1_bar_0_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType CoffeeMachine_bar__plus_00_dot_88_bar__plus_00_dot_86_bar__minus_01_dot_26 CoffeeMachineType)\n (receptacleType Cabinet_bar__plus_00_dot_51_bar__plus_00_dot_35_bar__minus_00_dot_43 CabinetType)\n (receptacleType StoveBurner_bar__minus_01_dot_55_bar__plus_00_dot_89_bar__plus_00_dot_79 StoveBurnerType)\n (receptacleType Fridge_bar__plus_00_dot_68_bar__minus_00_dot_03_bar__minus_01_dot_96 FridgeType)\n (receptacleType SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45 SideTableType)\n (receptacleType Toaster_bar__minus_00_dot_52_bar__plus_00_dot_89_bar__plus_01_dot_07 ToasterType)\n (receptacleType DiningTable_bar__minus_02_dot_17_bar__minus_00_dot_03_bar__minus_03_dot_37 DiningTableType)\n (receptacleType Drawer_bar__plus_00_dot_71_bar__plus_00_dot_77_bar__minus_00_dot_13 DrawerType)\n (receptacleType StoveBurner_bar__minus_02_dot_10_bar__plus_00_dot_89_bar__plus_01_dot_05 StoveBurnerType)\n (receptacleType Cabinet_bar__plus_00_dot_51_bar__plus_00_dot_35_bar__plus_00_dot_16 CabinetType)\n (receptacleType Microwave_bar__minus_02_dot_01_bar__plus_00_dot_69_bar__minus_03_dot_69 MicrowaveType)\n (receptacleType StoveBurner_bar__minus_01_dot_56_bar__plus_00_dot_89_bar__plus_01_dot_05 StoveBurnerType)\n (receptacleType StoveBurner_bar__minus_02_dot_10_bar__plus_00_dot_89_bar__plus_00_dot_79 StoveBurnerType)\n (receptacleType Cabinet_bar__plus_00_dot_72_bar__plus_01_dot_82_bar__minus_00_dot_40 CabinetType)\n (receptacleType Sink_bar__plus_00_dot_75_bar__plus_00_dot_88_bar__minus_00_dot_68_bar_SinkBasin SinkBasinType)\n (receptacleType DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95 DiningTableType)\n (receptacleType GarbageCan_bar__minus_01_dot_26_bar__minus_00_dot_03_bar__minus_03_dot_61 GarbageCanType)\n (receptacleType Cabinet_bar__plus_00_dot_72_bar__plus_01_dot_82_bar__plus_00_dot_67 CabinetType)\n (receptacleType DiningTable_bar__minus_01_dot_73_bar__minus_00_dot_03_bar__minus_00_dot_96 DiningTableType)\n (receptacleType CounterTop_bar__plus_00_dot_79_bar__plus_00_dot_92_bar__minus_00_dot_11 CounterTopType)\n (objectType Pot_bar__minus_01_dot_55_bar__plus_00_dot_93_bar__plus_00_dot_79 PotType)\n (objectType Mug_bar__plus_00_dot_70_bar__plus_00_dot_94_bar__minus_01_dot_36 MugType)\n (objectType Spoon_bar__plus_00_dot_72_bar__plus_00_dot_76_bar__minus_00_dot_25 SpoonType)\n (objectType Cup_bar__plus_00_dot_79_bar__plus_00_dot_01_bar__plus_00_dot_01 CupType)\n (objectType Spoon_bar__plus_00_dot_84_bar__plus_00_dot_67_bar__plus_00_dot_63 SpoonType)\n (objectType StoveKnob_bar__minus_01_dot_90_bar__plus_00_dot_87_bar__plus_00_dot_52 StoveKnobType)\n (objectType Egg_bar__minus_01_dot_30_bar__plus_00_dot_09_bar__minus_03_dot_68 EggType)\n (objectType Apple_bar__plus_00_dot_72_bar__plus_00_dot_83_bar__minus_00_dot_74 AppleType)\n (objectType Bowl_bar__plus_00_dot_86_bar__plus_01_dot_46_bar__plus_00_dot_47 BowlType)\n (objectType Spoon_bar__plus_00_dot_77_bar__plus_00_dot_76_bar__plus_00_dot_00 SpoonType)\n (objectType Knife_bar__plus_00_dot_67_bar__plus_00_dot_78_bar__minus_00_dot_25 KnifeType)\n (objectType Bread_bar__minus_00_dot_87_bar__plus_00_dot_93_bar__plus_00_dot_98 BreadType)\n (objectType Bread_bar__minus_01_dot_72_bar__plus_00_dot_75_bar__minus_01_dot_31 BreadType)\n (objectType StoveKnob_bar__minus_01_dot_60_bar__plus_00_dot_87_bar__plus_00_dot_52 StoveKnobType)\n (objectType Lettuce_bar__plus_00_dot_71_bar__plus_01_dot_25_bar__minus_01_dot_80 LettuceType)\n (objectType Fork_bar__plus_00_dot_77_bar__plus_00_dot_76_bar__minus_00_dot_12 ForkType)\n (objectType Blinds_bar__minus_02_dot_34_bar__plus_02_dot_15_bar__minus_02_dot_44 BlindsType)\n (objectType Potato_bar__plus_00_dot_79_bar__plus_00_dot_70_bar__minus_02_dot_04 PotatoType)\n (objectType Tomato_bar__plus_00_dot_66_bar__plus_00_dot_71_bar__plus_00_dot_39 TomatoType)\n (objectType Spatula_bar__plus_00_dot_95_bar__plus_00_dot_90_bar__plus_00_dot_03 SpatulaType)\n (objectType Window_bar__minus_02_dot_42_bar__plus_01_dot_64_bar__minus_02_dot_45 WindowType)\n (objectType Egg_bar__minus_02_dot_05_bar__plus_00_dot_84_bar__minus_03_dot_77 EggType)\n (objectType StoveKnob_bar__minus_01_dot_75_bar__plus_00_dot_87_bar__plus_00_dot_52 StoveKnobType)\n (objectType PepperShaker_bar__plus_01_dot_02_bar__plus_00_dot_88_bar__minus_00_dot_18 PepperShakerType)\n (objectType PepperShaker_bar__minus_00_dot_86_bar__plus_00_dot_90_bar__plus_01_dot_27 PepperShakerType)\n (objectType Plate_bar__minus_02_dot_02_bar__plus_00_dot_69_bar__minus_01_dot_45 PlateType)\n (objectType Tomato_bar__plus_00_dot_67_bar__plus_01_dot_21_bar__minus_02_dot_04 TomatoType)\n (objectType Knife_bar__plus_00_dot_96_bar__plus_00_dot_69_bar__plus_00_dot_39 KnifeType)\n (objectType SoapBottle_bar__plus_00_dot_84_bar__plus_00_dot_66_bar__plus_00_dot_39 SoapBottleType)\n (objectType Mirror_bar__plus_01_dot_09_bar__plus_01_dot_60_bar__minus_00_dot_64 MirrorType)\n (objectType Apple_bar__minus_01_dot_90_bar__plus_00_dot_85_bar__minus_03_dot_71 AppleType)\n (objectType Fork_bar__minus_00_dot_45_bar__plus_00_dot_90_bar__plus_01_dot_27 ForkType)\n (objectType Chair_bar__minus_01_dot_90_bar__minus_00_dot_03_bar__minus_01_dot_87 ChairType)\n (objectType DishSponge_bar__plus_00_dot_95_bar__plus_01_dot_46_bar__plus_00_dot_29 DishSpongeType)\n (objectType SaltShaker_bar__plus_00_dot_57_bar__plus_00_dot_01_bar__minus_00_dot_70 SaltShakerType)\n (objectType StoveKnob_bar__minus_02_dot_06_bar__plus_00_dot_87_bar__plus_00_dot_52 StoveKnobType)\n (objectType Pan_bar__minus_02_dot_10_bar__plus_00_dot_93_bar__plus_00_dot_79 PanType)\n (objectType Tomato_bar__minus_01_dot_22_bar__plus_00_dot_10_bar__minus_03_dot_61 TomatoType)\n (objectType LightSwitch_bar__plus_01_dot_10_bar__plus_01_dot_37_bar__minus_03_dot_74 LightSwitchType)\n (objectType Lettuce_bar__plus_00_dot_79_bar__plus_01_dot_46_bar__minus_01_dot_88 LettuceType)\n (objectType Bread_bar__minus_00_dot_05_bar__plus_00_dot_94_bar__plus_00_dot_84 BreadType)\n (objectType Sink_bar__plus_00_dot_75_bar__plus_00_dot_88_bar__minus_00_dot_68 SinkType)\n (objectType 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Egg_bar__minus_02_dot_05_bar__plus_00_dot_84_bar__minus_03_dot_77)\n (sliceable Tomato_bar__plus_00_dot_67_bar__plus_01_dot_21_bar__minus_02_dot_04)\n (sliceable Apple_bar__minus_01_dot_90_bar__plus_00_dot_85_bar__minus_03_dot_71)\n (sliceable Tomato_bar__minus_01_dot_22_bar__plus_00_dot_10_bar__minus_03_dot_61)\n (sliceable Lettuce_bar__plus_00_dot_79_bar__plus_01_dot_46_bar__minus_01_dot_88)\n (sliceable Bread_bar__minus_00_dot_05_bar__plus_00_dot_94_bar__plus_00_dot_84)\n \n (inReceptacle Spoon_bar__plus_00_dot_72_bar__plus_00_dot_76_bar__minus_00_dot_25 Drawer_bar__plus_00_dot_71_bar__plus_00_dot_77_bar__minus_00_dot_13)\n (inReceptacle Fork_bar__plus_00_dot_77_bar__plus_00_dot_76_bar__minus_00_dot_12 Drawer_bar__plus_00_dot_71_bar__plus_00_dot_77_bar__minus_00_dot_13)\n (inReceptacle Spoon_bar__plus_00_dot_77_bar__plus_00_dot_76_bar__plus_00_dot_00 Drawer_bar__plus_00_dot_71_bar__plus_00_dot_77_bar__minus_00_dot_13)\n (inReceptacle Knife_bar__plus_00_dot_67_bar__plus_00_dot_78_bar__minus_00_dot_25 Drawer_bar__plus_00_dot_71_bar__plus_00_dot_77_bar__minus_00_dot_13)\n (inReceptacle PepperShaker_bar__plus_01_dot_02_bar__plus_00_dot_88_bar__minus_00_dot_18 CounterTop_bar__plus_00_dot_79_bar__plus_00_dot_92_bar__minus_00_dot_11)\n (inReceptacle Spatula_bar__plus_00_dot_95_bar__plus_00_dot_90_bar__plus_00_dot_03 CounterTop_bar__plus_00_dot_79_bar__plus_00_dot_92_bar__minus_00_dot_11)\n (inReceptacle Pan_bar__minus_02_dot_10_bar__plus_00_dot_93_bar__plus_00_dot_79 StoveBurner_bar__minus_02_dot_10_bar__plus_00_dot_89_bar__plus_00_dot_79)\n (inReceptacle SaltShaker_bar__plus_00_dot_57_bar__plus_00_dot_01_bar__minus_00_dot_70 Cabinet_bar__plus_00_dot_51_bar__plus_00_dot_35_bar__minus_00_dot_43)\n (inReceptacle Pot_bar__minus_01_dot_55_bar__plus_00_dot_93_bar__plus_00_dot_79 StoveBurner_bar__minus_01_dot_55_bar__plus_00_dot_89_bar__plus_00_dot_79)\n (inReceptacle Plate_bar__minus_02_dot_02_bar__plus_00_dot_69_bar__minus_01_dot_45 DiningTable_bar__minus_01_dot_73_bar__minus_00_dot_03_bar__minus_00_dot_96)\n (inReceptacle Bread_bar__minus_01_dot_72_bar__plus_00_dot_75_bar__minus_01_dot_31 DiningTable_bar__minus_01_dot_73_bar__minus_00_dot_03_bar__minus_00_dot_96)\n (inReceptacle SoapBottle_bar__plus_00_dot_84_bar__plus_00_dot_66_bar__plus_00_dot_39 SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45)\n (inReceptacle Spoon_bar__plus_00_dot_84_bar__plus_00_dot_67_bar__plus_00_dot_63 SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45)\n (inReceptacle Tomato_bar__plus_00_dot_66_bar__plus_00_dot_71_bar__plus_00_dot_39 SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45)\n (inReceptacle 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)\n (inReceptacle Cup_bar__plus_00_dot_79_bar__plus_00_dot_01_bar__plus_00_dot_01 Cabinet_bar__plus_00_dot_51_bar__plus_00_dot_35_bar__plus_00_dot_16)\n (inReceptacle Bowl_bar__plus_00_dot_86_bar__plus_01_dot_46_bar__plus_00_dot_47 Cabinet_bar__plus_00_dot_72_bar__plus_01_dot_82_bar__plus_00_dot_67)\n (inReceptacle DishSponge_bar__plus_00_dot_95_bar__plus_01_dot_46_bar__plus_00_dot_29 Cabinet_bar__plus_00_dot_72_bar__plus_01_dot_82_bar__plus_00_dot_67)\n (inReceptacle Fork_bar__minus_00_dot_45_bar__plus_00_dot_90_bar__plus_01_dot_27 DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95)\n (inReceptacle Bread_bar__minus_00_dot_05_bar__plus_00_dot_94_bar__plus_00_dot_84 DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95)\n (inReceptacle Bread_bar__minus_00_dot_87_bar__plus_00_dot_93_bar__plus_00_dot_98 DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95)\n (inReceptacle PepperShaker_bar__minus_00_dot_86_bar__plus_00_dot_90_bar__plus_01_dot_27 DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95)\n (inReceptacle Mug_bar__plus_00_dot_70_bar__plus_00_dot_94_bar__minus_01_dot_36 CoffeeMachine_bar__plus_00_dot_88_bar__plus_00_dot_86_bar__minus_01_dot_26)\n (inReceptacle Egg_bar__minus_01_dot_30_bar__plus_00_dot_09_bar__minus_03_dot_68 GarbageCan_bar__minus_01_dot_26_bar__minus_00_dot_03_bar__minus_03_dot_61)\n (inReceptacle Tomato_bar__minus_01_dot_22_bar__plus_00_dot_10_bar__minus_03_dot_61 GarbageCan_bar__minus_01_dot_26_bar__minus_00_dot_03_bar__minus_03_dot_61)\n (inReceptacle Lettuce_bar__plus_00_dot_79_bar__plus_01_dot_46_bar__minus_01_dot_88 Fridge_bar__plus_00_dot_68_bar__minus_00_dot_03_bar__minus_01_dot_96)\n (inReceptacle Tomato_bar__plus_00_dot_67_bar__plus_01_dot_21_bar__minus_02_dot_04 Fridge_bar__plus_00_dot_68_bar__minus_00_dot_03_bar__minus_01_dot_96)\n (inReceptacle Potato_bar__plus_00_dot_79_bar__plus_00_dot_70_bar__minus_02_dot_04 Fridge_bar__plus_00_dot_68_bar__minus_00_dot_03_bar__minus_01_dot_96)\n (inReceptacle Lettuce_bar__plus_00_dot_71_bar__plus_01_dot_25_bar__minus_01_dot_80 Fridge_bar__plus_00_dot_68_bar__minus_00_dot_03_bar__minus_01_dot_96)\n (inReceptacle Egg_bar__minus_02_dot_05_bar__plus_00_dot_84_bar__minus_03_dot_77 Microwave_bar__minus_02_dot_01_bar__plus_00_dot_69_bar__minus_03_dot_69)\n (inReceptacle Apple_bar__minus_01_dot_90_bar__plus_00_dot_85_bar__minus_03_dot_71 Microwave_bar__minus_02_dot_01_bar__plus_00_dot_69_bar__minus_03_dot_69)\n (inReceptacle ButterKnife_bar__plus_00_dot_76_bar__plus_00_dot_77_bar__minus_00_dot_68 Sink_bar__plus_00_dot_75_bar__plus_00_dot_88_bar__minus_00_dot_68_bar_SinkBasin)\n (inReceptacle Apple_bar__plus_00_dot_72_bar__plus_00_dot_83_bar__minus_00_dot_74 Sink_bar__plus_00_dot_75_bar__plus_00_dot_88_bar__minus_00_dot_68_bar_SinkBasin)\n \n \n (receptacleAtLocation Cabinet_bar__plus_00_dot_51_bar__plus_00_dot_35_bar__plus_00_dot_16 loc_bar__minus_2_bar_1_bar_1_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_51_bar__plus_00_dot_35_bar__minus_00_dot_43 loc_bar__minus_2_bar__minus_1_bar_1_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_72_bar__plus_01_dot_82_bar__plus_00_dot_67 loc_bar_1_bar_1_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_72_bar__plus_01_dot_82_bar__minus_00_dot_40 loc_bar_1_bar_0_bar_1_bar__minus_30)\n (receptacleAtLocation CoffeeMachine_bar__plus_00_dot_88_bar__plus_00_dot_86_bar__minus_01_dot_26 loc_bar_0_bar__minus_5_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_00_dot_79_bar__plus_00_dot_92_bar__minus_00_dot_11 loc_bar_1_bar_0_bar_1_bar_45)\n (receptacleAtLocation DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95 loc_bar_0_bar_1_bar_0_bar_60)\n (receptacleAtLocation DiningTable_bar__minus_01_dot_73_bar__minus_00_dot_03_bar__minus_00_dot_96 loc_bar__minus_4_bar__minus_5_bar_3_bar_60)\n (receptacleAtLocation DiningTable_bar__minus_02_dot_17_bar__minus_00_dot_03_bar__minus_03_dot_37 loc_bar__minus_7_bar__minus_11_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__plus_00_dot_71_bar__plus_00_dot_77_bar__minus_00_dot_13 loc_bar__minus_1_bar__minus_1_bar_1_bar_45)\n (receptacleAtLocation Fridge_bar__plus_00_dot_68_bar__minus_00_dot_03_bar__minus_01_dot_96 loc_bar__minus_1_bar__minus_8_bar_1_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_01_dot_26_bar__minus_00_dot_03_bar__minus_03_dot_61 loc_bar__minus_4_bar__minus_13_bar_2_bar_60)\n (receptacleAtLocation Microwave_bar__minus_02_dot_01_bar__plus_00_dot_69_bar__minus_03_dot_69 loc_bar__minus_7_bar__minus_11_bar_2_bar_45)\n (receptacleAtLocation SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45 loc_bar__minus_1_bar_1_bar_1_bar_45)\n (receptacleAtLocation Sink_bar__plus_00_dot_75_bar__plus_00_dot_88_bar__minus_00_dot_68_bar_SinkBasin loc_bar_1_bar__minus_2_bar_1_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_01_dot_55_bar__plus_00_dot_89_bar__plus_00_dot_79 loc_bar__minus_6_bar_0_bar_0_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_01_dot_56_bar__plus_00_dot_89_bar__plus_01_dot_05 loc_bar__minus_6_bar_0_bar_0_bar_30)\n (receptacleAtLocation StoveBurner_bar__minus_02_dot_10_bar__plus_00_dot_89_bar__plus_00_dot_79 loc_bar__minus_7_bar_0_bar_0_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_02_dot_10_bar__plus_00_dot_89_bar__plus_01_dot_05 loc_bar__minus_7_bar_0_bar_0_bar_30)\n (receptacleAtLocation Toaster_bar__minus_00_dot_52_bar__plus_00_dot_89_bar__plus_01_dot_07 loc_bar__minus_2_bar_1_bar_0_bar_45)\n (objectAtLocation Knife_bar__plus_00_dot_96_bar__plus_00_dot_69_bar__plus_00_dot_39 loc_bar__minus_1_bar_1_bar_1_bar_45)\n (objectAtLocation Spoon_bar__plus_00_dot_84_bar__plus_00_dot_67_bar__plus_00_dot_63 loc_bar__minus_1_bar_1_bar_1_bar_45)\n (objectAtLocation Tomato_bar__minus_01_dot_22_bar__plus_00_dot_10_bar__minus_03_dot_61 loc_bar__minus_4_bar__minus_13_bar_2_bar_60)\n (objectAtLocation Lettuce_bar__plus_00_dot_71_bar__plus_01_dot_25_bar__minus_01_dot_80 loc_bar__minus_1_bar__minus_8_bar_1_bar_60)\n (objectAtLocation Bread_bar__minus_00_dot_87_bar__plus_00_dot_93_bar__plus_00_dot_98 loc_bar_0_bar_1_bar_0_bar_60)\n (objectAtLocation PepperShaker_bar__minus_00_dot_86_bar__plus_00_dot_90_bar__plus_01_dot_27 loc_bar_0_bar_1_bar_0_bar_60)\n (objectAtLocation Egg_bar__minus_02_dot_05_bar__plus_00_dot_84_bar__minus_03_dot_77 loc_bar__minus_7_bar__minus_11_bar_2_bar_45)\n (objectAtLocation Apple_bar__plus_00_dot_72_bar__plus_00_dot_83_bar__minus_00_dot_74 loc_bar_1_bar__minus_2_bar_1_bar_60)\n (objectAtLocation Fork_bar__minus_00_dot_45_bar__plus_00_dot_90_bar__plus_01_dot_27 loc_bar_0_bar_1_bar_0_bar_60)\n (objectAtLocation Bread_bar__minus_01_dot_72_bar__plus_00_dot_75_bar__minus_01_dot_31 loc_bar__minus_4_bar__minus_5_bar_3_bar_60)\n (objectAtLocation Tomato_bar__plus_00_dot_66_bar__plus_00_dot_71_bar__plus_00_dot_39 loc_bar__minus_1_bar_1_bar_1_bar_45)\n (objectAtLocation Spoon_bar__plus_00_dot_77_bar__plus_00_dot_76_bar__plus_00_dot_00 loc_bar__minus_1_bar__minus_1_bar_1_bar_45)\n (objectAtLocation Mirror_bar__plus_01_dot_09_bar__plus_01_dot_60_bar__minus_00_dot_64 loc_bar_1_bar__minus_3_bar_1_bar_0)\n (objectAtLocation Sink_bar__plus_00_dot_75_bar__plus_00_dot_88_bar__minus_00_dot_68 loc_bar_1_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Pot_bar__minus_01_dot_55_bar__plus_00_dot_93_bar__plus_00_dot_79 loc_bar__minus_6_bar_0_bar_0_bar_45)\n (objectAtLocation Plate_bar__minus_02_dot_02_bar__plus_00_dot_69_bar__minus_01_dot_45 loc_bar__minus_4_bar__minus_5_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_01_dot_90_bar__plus_00_dot_87_bar__plus_00_dot_52 loc_bar__minus_7_bar_0_bar_0_bar_60)\n (objectAtLocation StoveKnob_bar__minus_01_dot_75_bar__plus_00_dot_87_bar__plus_00_dot_52 loc_bar__minus_7_bar_0_bar_0_bar_60)\n (objectAtLocation StoveKnob_bar__minus_02_dot_06_bar__plus_00_dot_87_bar__plus_00_dot_52 loc_bar__minus_7_bar_0_bar_0_bar_60)\n (objectAtLocation StoveKnob_bar__minus_01_dot_60_bar__plus_00_dot_87_bar__plus_00_dot_52 loc_bar__minus_6_bar_0_bar_0_bar_60)\n (objectAtLocation Fork_bar__plus_00_dot_77_bar__plus_00_dot_76_bar__minus_00_dot_12 loc_bar__minus_1_bar__minus_1_bar_1_bar_45)\n (objectAtLocation SoapBottle_bar__plus_00_dot_84_bar__plus_00_dot_66_bar__plus_00_dot_39 loc_bar__minus_1_bar_1_bar_1_bar_45)\n (objectAtLocation Apple_bar__minus_01_dot_90_bar__plus_00_dot_85_bar__minus_03_dot_71 loc_bar__minus_7_bar__minus_11_bar_2_bar_45)\n (objectAtLocation Pan_bar__minus_02_dot_10_bar__plus_00_dot_93_bar__plus_00_dot_79 loc_bar__minus_7_bar_0_bar_0_bar_45)\n (objectAtLocation Window_bar__minus_02_dot_42_bar__plus_01_dot_64_bar__minus_02_dot_45 loc_bar__minus_7_bar__minus_10_bar_3_bar_0)\n (objectAtLocation Egg_bar__minus_01_dot_30_bar__plus_00_dot_09_bar__minus_03_dot_68 loc_bar__minus_4_bar__minus_13_bar_2_bar_60)\n (objectAtLocation Spatula_bar__plus_00_dot_95_bar__plus_00_dot_90_bar__plus_00_dot_03 loc_bar_1_bar_0_bar_1_bar_45)\n (objectAtLocation Potato_bar__plus_00_dot_79_bar__plus_00_dot_70_bar__minus_02_dot_04 loc_bar__minus_1_bar__minus_8_bar_1_bar_60)\n (objectAtLocation Cup_bar__plus_00_dot_79_bar__plus_00_dot_01_bar__plus_00_dot_01 loc_bar__minus_2_bar_1_bar_1_bar_45)\n (objectAtLocation SaltShaker_bar__plus_00_dot_57_bar__plus_00_dot_01_bar__minus_00_dot_70 loc_bar__minus_2_bar__minus_1_bar_1_bar_45)\n (objectAtLocation PepperShaker_bar__plus_01_dot_02_bar__plus_00_dot_88_bar__minus_00_dot_18 loc_bar_1_bar_0_bar_1_bar_45)\n (objectAtLocation ButterKnife_bar__plus_00_dot_76_bar__plus_00_dot_77_bar__minus_00_dot_68 loc_bar_1_bar__minus_2_bar_1_bar_60)\n (objectAtLocation DishSponge_bar__plus_00_dot_95_bar__plus_01_dot_46_bar__plus_00_dot_29 loc_bar_1_bar_1_bar_1_bar__minus_30)\n (objectAtLocation Bread_bar__minus_00_dot_05_bar__plus_00_dot_94_bar__plus_00_dot_84 loc_bar_0_bar_1_bar_0_bar_60)\n (objectAtLocation LightSwitch_bar__plus_01_dot_10_bar__plus_01_dot_37_bar__minus_03_dot_74 loc_bar_2_bar__minus_13_bar_1_bar_30)\n (objectAtLocation Lettuce_bar__plus_00_dot_79_bar__plus_01_dot_46_bar__minus_01_dot_88 loc_bar__minus_1_bar__minus_8_bar_1_bar_60)\n (objectAtLocation Chair_bar__minus_01_dot_90_bar__minus_00_dot_03_bar__minus_01_dot_87 loc_bar__minus_5_bar__minus_7_bar_3_bar_60)\n (objectAtLocation Tomato_bar__plus_00_dot_67_bar__plus_01_dot_21_bar__minus_02_dot_04 loc_bar__minus_1_bar__minus_8_bar_1_bar_60)\n (objectAtLocation Spoon_bar__plus_00_dot_72_bar__plus_00_dot_76_bar__minus_00_dot_25 loc_bar__minus_1_bar__minus_1_bar_1_bar_45)\n (objectAtLocation Knife_bar__plus_00_dot_67_bar__plus_00_dot_78_bar__minus_00_dot_25 loc_bar__minus_1_bar__minus_1_bar_1_bar_45)\n (objectAtLocation Mug_bar__plus_00_dot_70_bar__plus_00_dot_94_bar__minus_01_dot_36 loc_bar_0_bar__minus_5_bar_1_bar_45)\n (objectAtLocation Blinds_bar__minus_02_dot_34_bar__plus_02_dot_15_bar__minus_02_dot_44 loc_bar__minus_7_bar__minus_10_bar_3_bar__minus_30)\n (objectAtLocation Bowl_bar__plus_00_dot_86_bar__plus_01_dot_46_bar__plus_00_dot_47 loc_bar_1_bar_1_bar_1_bar__minus_30)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (heatable ?o)\n (objectType ?o MugType)\n (receptacleType ?r SideTableType)\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 sidetable 1", "move mug 1 to sidetable 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/valid_seen/pick_heat_then_place_in_recep-Mug-None-SideTable-21/trial_T20190909_090729_088825/initial_state.pddl b/data/alfworld/json_2.1.1/valid_seen/pick_heat_then_place_in_recep-Mug-None-SideTable-21/trial_T20190909_090729_088825/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..b4f975eefc69c4b4dac6f78633591ad40f29ce30 --- /dev/null +++ b/data/alfworld/json_2.1.1/valid_seen/pick_heat_then_place_in_recep-Mug-None-SideTable-21/trial_T20190909_090729_088825/initial_state.pddl @@ -0,0 +1,812 @@ + +(define (problem plan_trial_T20190909_090729_088825) +(:domain alfred) +(:objects +agent1 - agent +Curtains - object + SprayBottle - object + Mirror - object + HousePlant - object + Watch - object + TeddyBear - object + WateringCan - object + Bathtub - object + LightSwitch - object + Vase - object + Candle - object + Bread - object + Statue - object + HandTowel - object + StoveKnob - object + PaperTowelRoll - object + Pan - object + PepperShaker - object + Painting - object + CellPhone - object + Plunger - object + Spoon - object + SaltShaker - object + KeyChain - object + Footstool - object + Poster - object + Television - object + LaundryHamperLid - object + Glassbottle - object + AlarmClock - object + WineBottle - object + Bowl - object + Sink - object + TissueBox - object + TennisRacket - object + ToiletPaper - object + ScrubBrush - object + CreditCard - object + Laptop - object + Cloth - object + Cup - object + Chair - object + BasketBall - object + Kettle - object + PaperTowel - object + ShowerDoor - object + BaseballBat - object + Potato - object + Pillow - object + Lettuce - object + RemoteControl - object + Window - object + DishSponge - object + CD - object + Boots - object + Blinds - object + Pen - object + Newspaper - object + Plate - object + Mug - object + ShowerGlass - object + ToiletPaperRoll - object + SoapBar - object + FloorLamp - object + SoapBottle - object + Pot - object + Pencil - object + Spatula - object + Towel - object + Fork - object + Ladle - object + Knife - object + Apple - object + Box - object + Tomato - object + ButterKnife - object + Egg - object + Book - object + DeskLamp - object +CurtainsType - otype + SprayBottleType - otype + MirrorType - otype + HousePlantType - otype + WatchType - otype + TeddyBearType - otype + WateringCanType - otype + BathtubType - otype + LightSwitchType - otype + VaseType - otype + CandleType - otype + BreadType - otype + StatueType - otype + HandTowelType - otype + StoveKnobType - otype + PaperTowelRollType - otype + PanType - otype + PepperShakerType - otype + PaintingType - otype + CellPhoneType - otype + PlungerType - otype + SpoonType - otype + SaltShakerType - otype + KeyChainType - otype + FootstoolType - otype + PosterType - otype + TelevisionType - otype + LaundryHamperLidType - otype + GlassbottleType - otype + AlarmClockType - otype + WineBottleType - otype + BowlType - otype + SinkType - otype + TissueBoxType - otype + TennisRacketType - otype + ToiletPaperType - otype + ScrubBrushType - otype + CreditCardType - otype + LaptopType - otype + ClothType - 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Toaster_bar__minus_00_dot_52_bar__plus_00_dot_89_bar__plus_01_dot_07 - receptacle + loc_bar__minus_6_bar_0_bar_0_bar_45 - location + loc_bar__minus_4_bar__minus_5_bar_3_bar_60 - location + loc_bar_1_bar__minus_3_bar_1_bar_0 - location + loc_bar__minus_7_bar_0_bar_0_bar_30 - location + loc_bar__minus_7_bar__minus_11_bar_2_bar_45 - location + loc_bar_1_bar_1_bar_1_bar__minus_30 - location + loc_bar__minus_7_bar_0_bar_0_bar_60 - location + loc_bar__minus_6_bar_0_bar_0_bar_60 - location + loc_bar__minus_7_bar__minus_11_bar_2_bar_60 - location + loc_bar_1_bar__minus_2_bar_1_bar_60 - location + loc_bar__minus_7_bar_0_bar_0_bar_45 - location + loc_bar_0_bar_1_bar_0_bar_60 - location + loc_bar__minus_1_bar__minus_8_bar_1_bar_60 - location + loc_bar__minus_2_bar__minus_1_bar_1_bar_45 - location + loc_bar__minus_1_bar__minus_1_bar_1_bar_45 - location + loc_bar__minus_6_bar_0_bar_0_bar_30 - location + loc_bar__minus_7_bar__minus_10_bar_3_bar_0 - location + loc_bar_1_bar_0_bar_1_bar_45 - location + loc_bar_2_bar__minus_13_bar_1_bar_30 - location + loc_bar_0_bar__minus_5_bar_1_bar_45 - location + loc_bar__minus_1_bar_1_bar_1_bar_45 - location + loc_bar__minus_4_bar__minus_13_bar_2_bar_60 - location + loc_bar__minus_2_bar_1_bar_1_bar_45 - location + loc_bar_1_bar__minus_3_bar_1_bar_60 - location + loc_bar__minus_2_bar_1_bar_0_bar_45 - location + loc_bar__minus_5_bar__minus_7_bar_3_bar_60 - location + loc_bar_1_bar_0_bar_1_bar__minus_30 - location + loc_bar__minus_7_bar__minus_10_bar_3_bar__minus_30 - location + loc_bar_0_bar__minus_1_bar_0_bar_30 - location + ) + + +(:init + + + (receptacleType CoffeeMachine_bar__plus_00_dot_88_bar__plus_00_dot_86_bar__minus_01_dot_26 CoffeeMachineType) + (receptacleType Cabinet_bar__plus_00_dot_51_bar__plus_00_dot_35_bar__minus_00_dot_43 CabinetType) + (receptacleType StoveBurner_bar__minus_01_dot_55_bar__plus_00_dot_89_bar__plus_00_dot_79 StoveBurnerType) + (receptacleType Fridge_bar__plus_00_dot_68_bar__minus_00_dot_03_bar__minus_01_dot_96 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loc_bar__minus_1_bar__minus_1_bar_1_bar_45) + (objectAtLocation Mirror_bar__plus_01_dot_09_bar__plus_01_dot_60_bar__minus_00_dot_64 loc_bar_1_bar__minus_3_bar_1_bar_0) + (objectAtLocation Sink_bar__plus_00_dot_75_bar__plus_00_dot_88_bar__minus_00_dot_68 loc_bar_1_bar__minus_3_bar_1_bar_60) + (objectAtLocation Pot_bar__minus_01_dot_55_bar__plus_00_dot_93_bar__plus_00_dot_79 loc_bar__minus_6_bar_0_bar_0_bar_45) + (objectAtLocation Plate_bar__minus_02_dot_02_bar__plus_00_dot_69_bar__minus_01_dot_45 loc_bar__minus_4_bar__minus_5_bar_3_bar_60) + (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 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loc_bar_1_bar_0_bar_1_bar_45) + (objectAtLocation Potato_bar__plus_00_dot_79_bar__plus_00_dot_70_bar__minus_02_dot_04 loc_bar__minus_1_bar__minus_8_bar_1_bar_60) + (objectAtLocation Cup_bar__plus_00_dot_79_bar__plus_00_dot_01_bar__plus_00_dot_01 loc_bar__minus_2_bar_1_bar_1_bar_45) + (objectAtLocation SaltShaker_bar__plus_00_dot_57_bar__plus_00_dot_01_bar__minus_00_dot_70 loc_bar__minus_2_bar__minus_1_bar_1_bar_45) + (objectAtLocation PepperShaker_bar__plus_01_dot_02_bar__plus_00_dot_88_bar__minus_00_dot_18 loc_bar_1_bar_0_bar_1_bar_45) + (objectAtLocation ButterKnife_bar__plus_00_dot_76_bar__plus_00_dot_77_bar__minus_00_dot_68 loc_bar_1_bar__minus_2_bar_1_bar_60) + (objectAtLocation DishSponge_bar__plus_00_dot_95_bar__plus_01_dot_46_bar__plus_00_dot_29 loc_bar_1_bar_1_bar_1_bar__minus_30) + (objectAtLocation Bread_bar__minus_00_dot_05_bar__plus_00_dot_94_bar__plus_00_dot_84 loc_bar_0_bar_1_bar_0_bar_60) + (objectAtLocation 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loc_bar__minus_7_bar__minus_10_bar_3_bar__minus_30) + (objectAtLocation Bowl_bar__plus_00_dot_86_bar__plus_01_dot_46_bar__plus_00_dot_47 loc_bar_1_bar_1_bar_1_bar__minus_30) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (heatable ?o) + (objectType ?o MugType) + (receptacleType ?r SideTableType) + (isHot ?o) + (inReceptacle ?o ?r) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/valid_seen/pick_heat_then_place_in_recep-Mug-None-SideTable-21/trial_T20190909_090729_088825/traj_data.json b/data/alfworld/json_2.1.1/valid_seen/pick_heat_then_place_in_recep-Mug-None-SideTable-21/trial_T20190909_090729_088825/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..592bb9f9354f537f5c7fdf0a73ec7e0692433cbe --- /dev/null +++ b/data/alfworld/json_2.1.1/valid_seen/pick_heat_then_place_in_recep-Mug-None-SideTable-21/trial_T20190909_090729_088825/traj_data.json @@ -0,0 +1,9746 @@ +{ + 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"high_descs": [ + "Turn around and then face the counter to the right of the sink where the coffee maker is.", + "Pick the mug up from under the coffee maker.", + "Turn around and cross the room and turn left to face the microwave.", + "Put the mug in the microwave and shut the door and then open the door and pick the mug up again.", + "Go left and cross the room and turn to the right to face the small black table next to the counter.", + "Put the mug down on the black table." + ], + "task_desc": "Put a heated mug down on a table.", + "votes": [ + 1, + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "AM2KK02JXXW48_3NAPMVF0ZZ6IIDH8KZKRIGKTDJF72B", + "high_descs": [ + "Turn around, move to the coffee machine on the left.", + "Pick up the mug on the coffee machine. ", + "Turn around, bring the mug to the microwave in the corner to the left.", + "Heat the mug in the microwave.", + "Take the heated mug back across the room to the small black table in the right corner. ", + "Put the heated mug on the small black table, left of the tomato. " + ], + "task_desc": "Put a heated mug on the small black table, left of the tomato. ", + "votes": [ + 1, + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A326O3VWP8TO8N_3YOH7BII0CYFAJMUR3TBOQMQHGEKV3", + "high_descs": [ + "Turn around, walk to the coffee machine and look at it.", + "Pick up the coffee cup from the coffee machine.", + "Turn around and go to the table with the microwave in the corner of the room.", + "Microwave the cup and take it back out of the microwave.", + "Go to the black table on the opposite side of the room.", + "Place the cup to the left of the tomato on the table." + ], + "task_desc": "Put a microwaved cup on a black table.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/valid_seen/pick_heat_then_place_in_recep-Potato-None-SinkBasin-18/trial_T20190909_050524_644477/initial_state.pddl b/data/alfworld/json_2.1.1/valid_seen/pick_heat_then_place_in_recep-Potato-None-SinkBasin-18/trial_T20190909_050524_644477/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..2fbc949b5f5b72ff4a402368533b783e0f5a3451 --- /dev/null +++ b/data/alfworld/json_2.1.1/valid_seen/pick_heat_then_place_in_recep-Potato-None-SinkBasin-18/trial_T20190909_050524_644477/initial_state.pddl @@ -0,0 +1,1147 @@ + +(define (problem plan_trial_T20190909_050524_644477) +(:domain alfred) +(:objects +agent1 - agent +Curtains - object + SprayBottle - object + Mirror - object + HousePlant - object + Watch - object + TeddyBear - object + WateringCan - object + Bathtub - object + LightSwitch - object + Vase - object + Candle - object + Bread - object + Statue - object + HandTowel - object + StoveKnob - object + PaperTowelRoll - object + Pan - object + PepperShaker - object + Painting - object + CellPhone - object + Plunger - object + Spoon - object + SaltShaker - object + KeyChain - object + Footstool - object + Poster - object + Television - object + LaundryHamperLid - object + Glassbottle - object + AlarmClock - object + WineBottle - object + Bowl - object + Sink - object + TissueBox - object + TennisRacket - object + ToiletPaper - object + ScrubBrush - object + CreditCard - object + Laptop - object + Cloth - object + Cup - object + Chair - object + BasketBall - object + Kettle - object + PaperTowel - object + ShowerDoor - object + BaseballBat - object + Potato - object + Pillow - object + Lettuce - object + RemoteControl - object + Window - object + DishSponge - object + CD - object + Boots - object + Blinds - object + Pen - object + Newspaper - object + Plate - object + Mug - object + ShowerGlass - object + ToiletPaperRoll - object + SoapBar - object + FloorLamp - object + SoapBottle - object + Pot - object + Pencil - object + Spatula - object + Towel - object + Fork - object + Ladle - object + Knife - object + Apple - object + Box - object + Tomato - object + ButterKnife - object + Egg - object + Book - object + DeskLamp - object +CurtainsType - otype + SprayBottleType - otype + MirrorType - otype + HousePlantType - otype + WatchType - otype + TeddyBearType - otype + WateringCanType - otype + BathtubType - otype + LightSwitchType - otype + VaseType - otype + CandleType - otype + BreadType - otype + StatueType - otype + HandTowelType - otype + StoveKnobType - otype + PaperTowelRollType - otype + PanType - otype + PepperShakerType - otype + PaintingType - otype + CellPhoneType - otype + PlungerType - otype + SpoonType - otype + SaltShakerType - otype + KeyChainType - otype + FootstoolType - otype + PosterType - otype + TelevisionType - otype + LaundryHamperLidType - otype + GlassbottleType - otype + AlarmClockType - otype + WineBottleType - otype + BowlType - otype + SinkType - otype + TissueBoxType - otype + TennisRacketType - otype + ToiletPaperType - otype + ScrubBrushType - otype + CreditCardType - otype + LaptopType - otype + ClothType - otype + CupType - otype + ChairType - otype + BasketBallType - otype + KettleType - otype + PaperTowelType - otype + ShowerDoorType - otype + BaseballBatType - otype + PotatoType - otype + PillowType - otype + LettuceType - otype + RemoteControlType - otype + WindowType - otype + DishSpongeType - otype + CDType - otype + BootsType - otype + BlindsType - otype + PenType - otype + NewspaperType - otype + PlateType - otype + MugType - otype + ShowerGlassType - otype + ToiletPaperRollType - otype + SoapBarType - otype + FloorLampType - otype + SoapBottleType - otype + PotType - otype + PencilType - otype + SpatulaType - otype + TowelType - otype + ForkType - otype + LadleType - otype + KnifeType - otype + AppleType - otype + BoxType - otype + TomatoType - otype + ButterKnifeType - otype + EggType - otype + BookType - otype + DeskLampType - otype +CabinetType - rtype + ShelfType - rtype + DiningTableType - rtype + TowelHolderType - rtype + PaintingHangerType - rtype + TVStandType - rtype + LaundryHamperType - rtype + OttomanType - rtype + SafeType - rtype + CoffeeMachineType - rtype + CounterTopType - rtype + ToiletType - rtype + FridgeType - 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loc_bar_1_bar_10_bar_1_bar_60 - location + loc_bar_3_bar_16_bar_1_bar_60 - location + loc_bar_3_bar_18_bar_1_bar__minus_30 - location + loc_bar_3_bar_17_bar_1_bar__minus_30 - location + loc_bar_1_bar_13_bar_1_bar_45 - location + loc_bar_3_bar_4_bar_1_bar__minus_30 - location + loc_bar__minus_5_bar_5_bar_1_bar_45 - location + loc_bar_0_bar_7_bar_2_bar_45 - location + loc_bar__minus_6_bar_24_bar_3_bar_15 - location + loc_bar_3_bar_9_bar_1_bar__minus_30 - location + loc_bar_4_bar_24_bar_1_bar_60 - location + loc_bar_3_bar_17_bar_1_bar_60 - location + loc_bar_1_bar_14_bar_1_bar_60 - location + loc_bar_3_bar_9_bar_1_bar__minus_15 - location + loc_bar_1_bar_20_bar_1_bar_45 - location + loc_bar__minus_3_bar_5_bar_1_bar_45 - location + loc_bar_3_bar_9_bar_1_bar_45 - location + loc_bar_3_bar_17_bar_1_bar_45 - location + loc_bar_1_bar_17_bar_1_bar_60 - location + loc_bar_4_bar_26_bar_1_bar_60 - location + loc_bar_1_bar_22_bar_0_bar_60 - location + loc_bar_0_bar_5_bar_1_bar_45 - location + loc_bar_3_bar_15_bar_1_bar_60 - location + loc_bar_1_bar_6_bar_2_bar_30 - location + loc_bar_1_bar_7_bar_2_bar_45 - location + loc_bar_3_bar_4_bar_1_bar_45 - location + loc_bar_1_bar_7_bar_1_bar_60 - location + loc_bar_3_bar_26_bar_3_bar_45 - location + loc_bar_3_bar_19_bar_1_bar_45 - location + loc_bar_3_bar_4_bar_2_bar__minus_30 - location + loc_bar_1_bar_19_bar_0_bar_30 - location + ) + + +(:init + + + (receptacleType Toaster_bar__plus_01_dot_47_bar__plus_00_dot_98_bar__plus_04_dot_72 ToasterType) + (receptacleType Drawer_bar__plus_00_dot_74_bar__plus_00_dot_80_bar__plus_00_dot_52 DrawerType) + (receptacleType Cabinet_bar__minus_00_dot_26_bar__plus_02_dot_13_bar__plus_00_dot_43 CabinetType) + (receptacleType Drawer_bar__plus_01_dot_28_bar__plus_00_dot_80_bar__plus_03_dot_29 DrawerType) + (receptacleType StoveBurner_bar__plus_01_dot_56_bar__plus_00_dot_98_bar__plus_03_dot_85 StoveBurnerType) + (receptacleType Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_04_dot_89 CabinetType) + (receptacleType CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90 CounterTopType) + (receptacleType Cabinet_bar__plus_00_dot_25_bar__plus_02_dot_13_bar__plus_00_dot_43 CabinetType) + (receptacleType Cabinet_bar__plus_01_dot_31_bar__plus_02_dot_46_bar__plus_04_dot_36 CabinetType) + (receptacleType StoveBurner_bar__plus_01_dot_56_bar__plus_00_dot_98_bar__plus_04_dot_29 StoveBurnerType) + (receptacleType Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_03_dot_10 CabinetType) + (receptacleType GarbageCan_bar__plus_02_dot_00_bar__plus_00_dot_00_bar__plus_06_dot_50 GarbageCanType) + (receptacleType StoveBurner_bar__plus_01_dot_32_bar__plus_00_dot_98_bar__plus_04_dot_29 StoveBurnerType) + (receptacleType StoveBurner_bar__plus_01_dot_32_bar__plus_00_dot_98_bar__plus_03_dot_85 StoveBurnerType) + (receptacleType Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_01_dot_71 CabinetType) + (receptacleType 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(objectType PaperTowelRoll_bar__plus_01_dot_49_bar__plus_01_dot_10_bar__plus_00_dot_44 PaperTowelRollType) + (objectType Bowl_bar__plus_01_dot_57_bar__plus_00_dot_14_bar__plus_02_dot_09 BowlType) + (objectType SaltShaker_bar__plus_00_dot_89_bar__plus_00_dot_14_bar__plus_00_dot_42 SaltShakerType) + (objectType Tomato_bar__plus_02_dot_01_bar__plus_01_dot_57_bar__plus_05_dot_25 TomatoType) + (objectType Plate_bar__plus_01_dot_24_bar__plus_00_dot_14_bar__plus_01_dot_86 PlateType) + (objectType Kettle_bar__plus_00_dot_75_bar__plus_00_dot_14_bar__plus_00_dot_58 KettleType) + (objectType Mug_bar__plus_01_dot_97_bar__plus_01_dot_51_bar__plus_05_dot_63 MugType) + (objectType PepperShaker_bar__plus_00_dot_31_bar__plus_00_dot_76_bar__plus_06_dot_60 PepperShakerType) + (objectType Kettle_bar__minus_00_dot_62_bar__plus_00_dot_76_bar__plus_06_dot_35 KettleType) + (objectType Egg_bar__plus_02_dot_14_bar__plus_01_dot_57_bar__plus_05_dot_50 EggType) + (objectType 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0.395155728 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Apple_a939ee5b", + "position": { + "x": 2.05195951, + "y": 1.59014213, + "z": 6.001 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "Kettle_5453e71d", + "position": { + "x": -0.6217506, + "y": 0.7611296, + "z": 6.354039 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "Plate_1f77d579", + "position": { + "x": 1.238817, + "y": 0.141221583, + "z": 1.86424649 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SaltShaker_b7138966", + "position": { + "x": 1.657605, + "y": 0.135627449, + "z": 2.57228041 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Lettuce_6d4d89ae", + "position": { + "x": -0.5356747, + "y": 1.0811137, + "z": 0.486808717 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SoapBottle_33d3f1ac", + "position": { + "x": 1.40633225, + "y": 0.140689611, + "z": 3.14388132 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Spatula_925e7ba3", + "position": { + "x": -0.6113827, + "y": 1.0077, + "z": 0.395208716 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "PaperTowelRoll_bd2376ff", + "position": { + "x": 1.49322724, + "y": 1.09698546, + "z": 0.4407184 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pot_73d89a5b", + "position": { + "x": 1.32, + "y": 0.988599956, + "z": 3.848 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Potato_5b11696a", + "position": { + "x": 1.96668923, + "y": 1.55049694, + "z": 5.501 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "ButterKnife_8d8b47bb", + "position": { + "x": 1.28472257, + "y": 0.981694043, + "z": 1.33948648 + }, + "rotation": { + "x": 0.0, + "y": 14.1857319, + "z": 0.0 + } + }, + { + "objectName": "PepperShaker_cff2324e", + "position": { + "x": 0.213410318, + "y": 0.7550884, + "z": 6.763239 + }, + "rotation": { + "x": 0.0, + "y": 225.000046, + "z": 0.0 + } + }, + { + "objectName": "Pan_08687688", + "position": { + "x": 1.3131808, + "y": 0.9855794, + "z": 4.28467369 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Tomato_8b4d7f57", + "position": { + "x": 2.13723, + "y": 1.56507456, + "z": 5.251 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_6d7ef995", + "position": { + "x": 1.31450844, + "y": 0.99226433, + "z": 1.57757056 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Cup_8e8a26e1", + "position": { + "x": 1.15505934, + "y": 0.136771977, + "z": 2.08601737 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Spoon_cefc2847", + "position": { + "x": -0.345889926, + "y": 0.7725101, + "z": 0.45141685 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_6d84c70f", + "position": { + "x": 1.96668923, + "y": 1.510609, + "z": 5.626 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 1583929050, + "scene_num": 18 + }, + "task_id": "trial_T20190909_050524_644477", + "task_type": "pick_heat_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A1MKCTVKE7J0ZP_308XBLVESLVMO91JC6B8OQEX8SGBRS", + "high_descs": [ + "Turn around and go forward, then turn left to go to the sink.", + "Pick up the potato from the right sink basin.", + "Turn around and step forward, then turn left to go to the microwave.", + "Open the microwave, put the potato inside and heat it up, then take the potato out.", + "Turn around and step forward, then turn right to face the sink.", + "Put the potato in the right sink basin." + ], + "task_desc": "Put a warm potato in the sink.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A2BLQ1GVEHJR8T_3XCC1ODXDO29SF38VO8YJF9WUS0RQ3", + "high_descs": [ + "Turn the opposite direction and go along the counter to your left to the right side of the sink.", + "Get the potato from the sink.", + "Carry the potato to the microwave on your right.", + "Heat the potato in the microwave.", + "Carry the potato back to the sink.", + "Put the potato back in the right side of the sink." + ], + "task_desc": "Put a cooked potato in a kitchen sink.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3T9K2RY06UO14_3YDGXNSEO2LWL51EYIVLPVDM88U48M", + "high_descs": [ + "Turn and go to the sink.", + "Pick up a potato in the sink. ", + "Turn and go to the microwave. ", + "Heat the potato in the microwave.", + "Turn and go to the sink.", + "Put the potato in the sink." + ], + "task_desc": "Put a microwaved potato in the sink.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/valid_seen/pick_heat_then_place_in_recep-PotatoSliced-None-SinkBasin-13/trial_T20190909_115736_122556/initial_state.pddl b/data/alfworld/json_2.1.1/valid_seen/pick_heat_then_place_in_recep-PotatoSliced-None-SinkBasin-13/trial_T20190909_115736_122556/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..a0073bcd0e86b8413874b488c8c158c49767755b --- /dev/null +++ b/data/alfworld/json_2.1.1/valid_seen/pick_heat_then_place_in_recep-PotatoSliced-None-SinkBasin-13/trial_T20190909_115736_122556/initial_state.pddl @@ -0,0 +1,1357 @@ + +(define (problem plan_trial_T20190909_115736_122556) +(:domain alfred) +(:objects +agent1 - agent +Curtains - object + SprayBottle - object + Mirror - object + HousePlant - object + Watch - object + TeddyBear - object + WateringCan - object + Bathtub - object + LightSwitch - object + Vase - object + Candle - object + Bread - object + Statue - object + HandTowel - object + StoveKnob - object + PaperTowelRoll - object + Pan - object + PepperShaker - object + Painting - object + CellPhone - object + Plunger - object + Spoon - object + SaltShaker - object + KeyChain - object + Footstool - object + Poster - object + Television - object + LaundryHamperLid - object + Glassbottle - object + AlarmClock - object + WineBottle - object + Bowl - object + Sink - object + TissueBox - object + TennisRacket - object + ToiletPaper - object + ScrubBrush - object + CreditCard - object + Laptop - object + Cloth - object + Cup - object + Chair - object + BasketBall - object + Kettle - object + PaperTowel - object + ShowerDoor - object + BaseballBat - object + Potato - object + Pillow - object + Lettuce - object + RemoteControl - object + Window - object + DishSponge - object + CD - object + Boots - object + Blinds - object + Pen - object + Newspaper - object + Plate - object + Mug - object + ShowerGlass - object + ToiletPaperRoll - object + SoapBar - object + FloorLamp - object + SoapBottle - object + Pot - object + Pencil - object + Spatula - object + Towel - object + Fork - object + Ladle - object + Knife - object + Apple - object + Box - object + Tomato - object + ButterKnife - object + Egg - object + Book - object + DeskLamp - object +CurtainsType - otype + SprayBottleType - otype + MirrorType - otype + HousePlantType - otype + WatchType - otype + TeddyBearType - otype + WateringCanType - otype + BathtubType - otype + LightSwitchType - otype + VaseType - otype + CandleType - otype + BreadType - otype + StatueType - otype + HandTowelType - otype + StoveKnobType - otype + PaperTowelRollType - otype + PanType - otype + PepperShakerType - otype + PaintingType - otype + CellPhoneType - otype + PlungerType - otype + SpoonType - otype + SaltShakerType - otype + KeyChainType - otype + FootstoolType - otype + PosterType - otype + TelevisionType - otype + LaundryHamperLidType - otype + GlassbottleType - otype + AlarmClockType - otype + WineBottleType - otype + BowlType - otype + SinkType - otype + TissueBoxType - otype + TennisRacketType - otype + ToiletPaperType - otype + ScrubBrushType - otype + CreditCardType - otype + LaptopType - otype + ClothType - otype + CupType - otype + ChairType - otype + BasketBallType - otype + KettleType - otype + PaperTowelType - otype + ShowerDoorType - otype + BaseballBatType - otype + PotatoType - otype + PillowType - otype + LettuceType - otype + RemoteControlType - otype + WindowType - otype + DishSpongeType - otype + CDType - otype + BootsType - otype + BlindsType - otype + PenType - otype + NewspaperType - otype + PlateType - otype + MugType - otype + ShowerGlassType - otype + ToiletPaperRollType - otype + SoapBarType - otype + FloorLampType - otype + SoapBottleType - otype + PotType - otype + PencilType - otype + SpatulaType - otype + TowelType - otype + ForkType - otype + LadleType - otype + KnifeType - otype + AppleType - otype + BoxType - otype + TomatoType - otype + ButterKnifeType - otype + EggType - otype + BookType - otype + DeskLampType - otype +CabinetType - rtype + ShelfType - rtype + DiningTableType - rtype + TowelHolderType - rtype + PaintingHangerType - rtype + TVStandType - rtype + LaundryHamperType - rtype + OttomanType - rtype + SafeType - rtype + CoffeeMachineType - rtype + CounterTopType - rtype + ToiletType - rtype + FridgeType - rtype + CoffeeTableType - rtype + SinkBasinType - rtype + GarbageCanType - rtype + BathtubBasinType - rtype + SideTableType - rtype + CartType - rtype + BedType - rtype + DeskType - rtype + SofaType - rtype + ArmChairType - rtype + MicrowaveType - rtype + HandTowelHolderType - rtype + ToasterType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + DrawerType - rtype + DresserType - rtype + + + Apple_bar__minus_03_dot_14_bar__plus_00_dot_98_bar__plus_05_dot_57 - object + Apple_bar__minus_04_dot_16_bar__plus_00_dot_84_bar__plus_03_dot_22 - object + Apple_bar__minus_04_dot_31_bar__plus_00_dot_98_bar__plus_02_dot_65 - object + Bowl_bar__minus_00_dot_40_bar__plus_01_dot_07_bar__plus_03_dot_73 - object + Bowl_bar__minus_01_dot_98_bar__plus_01_dot_45_bar__plus_01_dot_64 - object + Bowl_bar__minus_04_dot_17_bar__plus_00_dot_07_bar__plus_02_dot_25 - object + Bread_bar__minus_00_dot_41_bar__plus_01_dot_00_bar__plus_05_dot_27 - object + Bread_bar__minus_00_dot_57_bar__plus_01_dot_00_bar__plus_04_dot_94 - object + ButterKnife_bar__minus_01_dot_78_bar__plus_00_dot_92_bar__plus_01_dot_88 - object + ButterKnife_bar__minus_01_dot_78_bar__plus_00_dot_92_bar__plus_02_dot_03 - object + ButterKnife_bar__minus_03_dot_37_bar__plus_00_dot_92_bar__plus_05_dot_41 - object + Cup_bar__minus_00_dot_10_bar__plus_00_dot_92_bar__plus_04_dot_62 - object + Cup_bar__minus_02_dot_53_bar__plus_01_dot_55_bar__plus_01_dot_63 - object + Curtains_bar__minus_04_dot_52_bar__plus_02_dot_25_bar__plus_03_dot_39 - object + DishSponge_bar__minus_04_dot_05_bar__plus_00_dot_08_bar__plus_02_dot_37 - object + DishSponge_bar__minus_04_dot_31_bar__plus_00_dot_92_bar__plus_02_dot_53 - object + Egg_bar__minus_02_dot_03_bar__plus_00_dot_96_bar__plus_01_dot_65 - object + Faucet_bar__minus_04_dot_44_bar__plus_00_dot_91_bar__plus_03_dot_29 - object + Fork_bar__minus_00_dot_26_bar__plus_00_dot_93_bar__plus_04_dot_62 - object + Fork_bar__minus_04_dot_03_bar__plus_00_dot_92_bar__plus_04_dot_12 - object + Fork_bar__minus_04_dot_25_bar__plus_00_dot_76_bar__plus_02_dot_68 - object + Knife_bar__minus_03_dot_85_bar__plus_00_dot_95_bar__plus_05_dot_34 - object + Lettuce_bar__minus_03_dot_49_bar__plus_01_dot_02_bar__plus_05_dot_49 - object + Lettuce_bar__minus_03_dot_75_bar__plus_00_dot_16_bar__plus_06_dot_29 - object + Lettuce_bar__minus_04_dot_23_bar__plus_00_dot_89_bar__plus_03_dot_41 - object + LightSwitch_bar__minus_01_dot_59_bar__plus_01_dot_17_bar__plus_01_dot_51 - object + Mug_bar__minus_00_dot_41_bar__plus_00_dot_96_bar__plus_06_dot_56 - object + Pan_bar__minus_02_dot_45_bar__plus_00_dot_93_bar__plus_02_dot_02 - object + Pan_bar__minus_04_dot_11_bar__plus_00_dot_92_bar__plus_04_dot_64 - object + PaperTowelRoll_bar__minus_00_dot_18_bar__plus_01_dot_03_bar__plus_05_dot_27 - object + Pencil_bar__minus_00_dot_26_bar__plus_00_dot_93_bar__plus_04_dot_62 - object + Pencil_bar__minus_00_dot_53_bar__plus_00_dot_75_bar__plus_05_dot_84 - object + PepperShaker_bar__minus_00_dot_33_bar__plus_00_dot_92_bar__plus_04_dot_94 - object + PepperShaker_bar__minus_03_dot_47_bar__plus_00_dot_08_bar__plus_05_dot_07 - object + Plate_bar__minus_00_dot_49_bar__plus_00_dot_93_bar__plus_04_dot_62 - object + Plate_bar__minus_01_dot_94_bar__plus_00_dot_92_bar__plus_01_dot_95 - object + Potato_bar__minus_00_dot_24_bar__plus_01_dot_10_bar__plus_03_dot_60 - object + Pot_bar__minus_02_dot_47_bar__plus_00_dot_93_bar__plus_01_dot_71 - object + Pot_bar__minus_02_dot_92_bar__plus_00_dot_93_bar__plus_02_dot_01 - object + SaltShaker_bar__minus_00_dot_49_bar__plus_00_dot_92_bar__plus_05_dot_60 - object + Sink_bar__minus_04_dot_19_bar__plus_00_dot_92_bar__plus_03_dot_28 - object + SoapBottle_bar__minus_02_dot_11_bar__plus_00_dot_92_bar__plus_01_dot_88 - object + Spatula_bar__minus_00_dot_18_bar__plus_00_dot_94_bar__plus_05_dot_60 - object + Spoon_bar__minus_01_dot_94_bar__plus_00_dot_92_bar__plus_01_dot_72 - object + Spoon_bar__minus_04_dot_17_bar__plus_00_dot_92_bar__plus_02_dot_30 - object + Spoon_bar__minus_04_dot_31_bar__plus_00_dot_92_bar__plus_02_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_26_bar__plus_01_dot_39_bar__plus_03_dot_97 - object + Tomato_bar__minus_00_dot_34_bar__plus_01_dot_74_bar__plus_03_dot_92 - object + Window_bar__minus_04_dot_87_bar__plus_01_dot_63_bar__plus_03_dot_31 - object + WineBottle_bar__minus_04_dot_05_bar__plus_00_dot_08_bar__plus_04_dot_58 - 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 + Cabinet_bar__minus_00_dot_64_bar__plus_00_dot_39_bar__plus_05_dot_60 - receptacle + Cabinet_bar__minus_00_dot_64_bar__plus_00_dot_39_bar__plus_06_dot_88 - receptacle + Cabinet_bar__minus_01_dot_54_bar__plus_00_dot_39_bar__plus_02_dot_09 - receptacle + Cabinet_bar__minus_01_dot_58_bar__plus_01_dot_93_bar__plus_01_dot_78 - receptacle + Cabinet_bar__minus_03_dot_04_bar__plus_00_dot_39_bar__plus_05_dot_03 - receptacle + Cabinet_bar__minus_03_dot_04_bar__plus_01_dot_94_bar__plus_05_dot_32 - receptacle + Cabinet_bar__minus_03_dot_19_bar__plus_00_dot_39_bar__plus_02_dot_09 - receptacle + Cabinet_bar__minus_03_dot_20_bar__plus_01_dot_93_bar__plus_01_dot_78 - receptacle + Cabinet_bar__minus_03_dot_64_bar__plus_00_dot_39_bar__plus_05_dot_03 - receptacle + Cabinet_bar__minus_03_dot_67_bar__plus_00_dot_39_bar__plus_05_dot_03 - 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CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94 - receptacle + Drawer_bar__minus_00_dot_51_bar__plus_00_dot_78_bar__plus_04_dot_62 - receptacle + Drawer_bar__minus_00_dot_51_bar__plus_00_dot_78_bar__plus_05_dot_27 - receptacle + Drawer_bar__minus_00_dot_51_bar__plus_00_dot_78_bar__plus_05_dot_92 - receptacle + Drawer_bar__minus_00_dot_51_bar__plus_00_dot_78_bar__plus_06_dot_57 - receptacle + Drawer_bar__minus_01_dot_86_bar__plus_00_dot_78_bar__plus_01_dot_96 - receptacle + Drawer_bar__minus_03_dot_19_bar__plus_00_dot_78_bar__plus_05_dot_16 - receptacle + Drawer_bar__minus_03_dot_42_bar__plus_00_dot_78_bar__plus_01_dot_96 - receptacle + Drawer_bar__minus_03_dot_51_bar__plus_00_dot_78_bar__plus_05_dot_16 - receptacle + Drawer_bar__minus_03_dot_80_bar__plus_00_dot_78_bar__plus_01_dot_96 - receptacle + Drawer_bar__minus_03_dot_80_bar__plus_00_dot_78_bar__plus_05_dot_16 - receptacle + Drawer_bar__minus_04_dot_09_bar__plus_00_dot_78_bar__plus_04_dot_66 - receptacle + 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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 + 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_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_4_bar_18_bar_1_bar_60 - 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_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_9_bar_10_bar_2_bar_30 - location + ) + + +(:init + + 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(receptacleType Cabinet_bar__minus_00_dot_64_bar__plus_00_dot_39_bar__plus_04_dot_30 CabinetType) + (receptacleType CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94 CounterTopType) + (receptacleType Cabinet_bar__minus_00_dot_64_bar__plus_00_dot_39_bar__plus_06_dot_88 CabinetType) + (receptacleType Sink_bar__minus_04_dot_19_bar__plus_00_dot_92_bar__plus_03_dot_28_bar_SinkBasin SinkBasinType) + (receptacleType StoveBurner_bar__minus_02_dot_92_bar__plus_00_dot_92_bar__plus_01_dot_71 StoveBurnerType) + (receptacleType Cabinet_bar__minus_03_dot_96_bar__plus_00_dot_39_bar__plus_02_dot_12 CabinetType) + (receptacleType Microwave_bar__minus_02_dot_69_bar__plus_01_dot_43_bar__plus_01_dot_69 MicrowaveType) + (receptacleType Cabinet_bar__minus_03_dot_97_bar__plus_00_dot_39_bar__plus_02_dot_89 CabinetType) + (receptacleType Fridge_bar__minus_00_dot_32_bar_00_dot_00_bar__plus_03_dot_60 FridgeType) + (receptacleType 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Plate_bar__minus_01_dot_94_bar__plus_00_dot_92_bar__plus_01_dot_95) + (cleanable ButterKnife_bar__minus_01_dot_78_bar__plus_00_dot_92_bar__plus_01_dot_88) + (cleanable Tomato_bar__minus_00_dot_26_bar__plus_01_dot_39_bar__plus_03_dot_97) + (cleanable Plate_bar__minus_00_dot_49_bar__plus_00_dot_93_bar__plus_04_dot_62) + (cleanable Apple_bar__minus_03_dot_14_bar__plus_00_dot_98_bar__plus_05_dot_57) + (cleanable Pot_bar__minus_02_dot_92_bar__plus_00_dot_93_bar__plus_02_dot_01) + (cleanable Bowl_bar__minus_00_dot_40_bar__plus_01_dot_07_bar__plus_03_dot_73) + (cleanable Fork_bar__minus_00_dot_26_bar__plus_00_dot_93_bar__plus_04_dot_62) + (cleanable Pan_bar__minus_04_dot_11_bar__plus_00_dot_92_bar__plus_04_dot_64) + (cleanable Cup_bar__minus_02_dot_53_bar__plus_01_dot_55_bar__plus_01_dot_63) + (cleanable Potato_bar__minus_00_dot_24_bar__plus_01_dot_10_bar__plus_03_dot_60) + (cleanable DishSponge_bar__minus_04_dot_31_bar__plus_00_dot_92_bar__plus_02_dot_53) + (cleanable DishSponge_bar__minus_04_dot_05_bar__plus_00_dot_08_bar__plus_02_dot_37) + (cleanable Pan_bar__minus_02_dot_45_bar__plus_00_dot_93_bar__plus_02_dot_02) + (cleanable Spoon_bar__minus_04_dot_17_bar__plus_00_dot_92_bar__plus_02_dot_30) + (cleanable Lettuce_bar__minus_04_dot_23_bar__plus_00_dot_89_bar__plus_03_dot_41) + (cleanable Knife_bar__minus_03_dot_85_bar__plus_00_dot_95_bar__plus_05_dot_34) + (cleanable Apple_bar__minus_04_dot_16_bar__plus_00_dot_84_bar__plus_03_dot_22) + + (heatable Bread_bar__minus_00_dot_41_bar__plus_01_dot_00_bar__plus_05_dot_27) + (heatable Egg_bar__minus_02_dot_03_bar__plus_00_dot_96_bar__plus_01_dot_65) + (heatable Tomato_bar__minus_00_dot_34_bar__plus_01_dot_74_bar__plus_03_dot_92) + (heatable Cup_bar__minus_00_dot_10_bar__plus_00_dot_92_bar__plus_04_dot_62) + (heatable Mug_bar__minus_00_dot_41_bar__plus_00_dot_96_bar__plus_06_dot_56) + (heatable Apple_bar__minus_04_dot_31_bar__plus_00_dot_98_bar__plus_02_dot_65) + (heatable 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Plate_bar__minus_01_dot_94_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 ButterKnife_bar__minus_01_dot_78_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 SoapBottle_bar__minus_02_dot_11_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 ButterKnife_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 Egg_bar__minus_02_dot_03_bar__plus_00_dot_96_bar__plus_01_dot_65 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_96_bar__plus_01_dot_80) + (inReceptacle Spoon_bar__minus_01_dot_94_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 Pot_bar__minus_02_dot_92_bar__plus_00_dot_93_bar__plus_02_dot_01 StoveBurner_bar__minus_02_dot_92_bar__plus_00_dot_92_bar__plus_02_dot_01) + (inReceptacle Pencil_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 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 Plate_bar__minus_00_dot_49_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_10_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 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 Bread_bar__minus_00_dot_57_bar__plus_01_dot_00_bar__plus_04_dot_94 CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__plus_05_dot_60) + (inReceptacle SaltShaker_bar__minus_00_dot_49_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 PaperTowelRoll_bar__minus_00_dot_18_bar__plus_01_dot_03_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 Fork_bar__minus_00_dot_26_bar__plus_00_dot_93_bar__plus_04_dot_62 CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__plus_05_dot_60) + (inReceptacle PepperShaker_bar__minus_00_dot_33_bar__plus_00_dot_92_bar__plus_04_dot_94 CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__plus_05_dot_60) + (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 WineBottle_bar__minus_04_dot_05_bar__plus_00_dot_08_bar__plus_04_dot_58 Cabinet_bar__minus_03_dot_96_bar__plus_00_dot_39_bar__plus_04_dot_34) + (inReceptacle Spoon_bar__minus_04_dot_31_bar__plus_00_dot_92_bar__plus_02_dot_88 CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94) + (inReceptacle DishSponge_bar__minus_04_dot_31_bar__plus_00_dot_92_bar__plus_02_dot_53 CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94) + (inReceptacle Fork_bar__minus_04_dot_03_bar__plus_00_dot_92_bar__plus_04_dot_12 CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94) + (inReceptacle Spoon_bar__minus_04_dot_17_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 Lettuce_bar__minus_03_dot_49_bar__plus_01_dot_02_bar__plus_05_dot_49 CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94) + (inReceptacle ButterKnife_bar__minus_03_dot_37_bar__plus_00_dot_92_bar__plus_05_dot_41 CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94) + (inReceptacle Apple_bar__minus_03_dot_14_bar__plus_00_dot_98_bar__plus_05_dot_57 CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94) + (inReceptacle Knife_bar__minus_03_dot_85_bar__plus_00_dot_95_bar__plus_05_dot_34 CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94) + (inReceptacle Apple_bar__minus_04_dot_31_bar__plus_00_dot_98_bar__plus_02_dot_65 CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94) + (inReceptacle Pan_bar__minus_04_dot_11_bar__plus_00_dot_92_bar__plus_04_dot_64 CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94) + (inReceptacle Bowl_bar__minus_04_dot_17_bar__plus_00_dot_07_bar__plus_02_dot_25 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CoffeeMachine_bar__minus_00_dot_28_bar__plus_00_dot_91_bar__plus_06_dot_56) + (inReceptacle Lettuce_bar__minus_03_dot_75_bar__plus_00_dot_16_bar__plus_06_dot_29 GarbageCan_bar__minus_03_dot_71_bar_00_dot_00_bar__plus_06_dot_38) + (inReceptacleObject Fork_bar__minus_00_dot_26_bar__plus_00_dot_93_bar__plus_04_dot_62 Plate_bar__minus_00_dot_49_bar__plus_00_dot_93_bar__plus_04_dot_62) + (inReceptacle Cup_bar__minus_02_dot_53_bar__plus_01_dot_55_bar__plus_01_dot_63 Microwave_bar__minus_02_dot_69_bar__plus_01_dot_43_bar__plus_01_dot_69) + (inReceptacle Apple_bar__minus_04_dot_16_bar__plus_00_dot_84_bar__plus_03_dot_22 Sink_bar__minus_04_dot_19_bar__plus_00_dot_92_bar__plus_03_dot_28_bar_SinkBasin) + (inReceptacle Lettuce_bar__minus_04_dot_23_bar__plus_00_dot_89_bar__plus_03_dot_41 Sink_bar__minus_04_dot_19_bar__plus_00_dot_92_bar__plus_03_dot_28_bar_SinkBasin) + (inReceptacle Tomato_bar__minus_00_dot_26_bar__plus_01_dot_39_bar__plus_03_dot_97 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(objectAtLocation ButterKnife_bar__minus_03_dot_37_bar__plus_00_dot_92_bar__plus_05_dot_41 loc_bar__minus_15_bar_19_bar_3_bar_60) + (objectAtLocation DishSponge_bar__minus_04_dot_05_bar__plus_00_dot_08_bar__plus_02_dot_37 loc_bar__minus_12_bar_10_bar_3_bar_60) + (objectAtLocation Spoon_bar__minus_01_dot_94_bar__plus_00_dot_92_bar__plus_01_dot_72 loc_bar__minus_8_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) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (sliceable ?o) + (isSliced ?o) + (heatable ?o) + (objectType ?o PotatoType) + (receptacleType ?r SinkBasinType) + (isHot ?o) + (inReceptacle ?o ?r) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/valid_seen/pick_heat_then_place_in_recep-PotatoSliced-None-SinkBasin-13/trial_T20190909_115736_122556/traj_data.json 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-4.31204462, + "y": 0.924629331, + "z": 2.8829937 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "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": 2231222017, + "scene_num": 13 + }, + "task_id": "trial_T20190909_115736_122556", + "task_type": "pick_heat_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A3F51C49T9A34D_3EA3QWIZ4LM9RWSHM58KASJSRFAITM", + "high_descs": [ + "turn to the right twice and to to the end of the counter top and turn to the left and go to the end of the counter top", + "take the knife from the counter top", + "turn to the left and go to the front of the refrigerator and turn to the left and go to the refrigerator", + "open the refrigerator door and slice up the potato on the shelf with the knife and close the refrigerator door", + "turn to the right twice and take a few steps and turn to the left and go to the microwave", + "open the microwave door and put the knife in it and close the microwave door", + "turn to the left twice and take a few step and turn to the right and go to the refrigerator", + "open the refrigerator door and take a potato slice from the shelf and close the refrigerator door", + "turn to the right twice and take a few steps and turn to the left and go to the microwave", + "put the potato slice in the microwave and cook it and when finish cooking take out the potato slice from the microwave", + "turn to the right twice and take a few steps and turn to the left and go to the sink", + "put the potato slice in the sink" + ], + "task_desc": "Place a cooked potato slice in the sink", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A3A0VPWPASCO9J_3FIJLY1B6XVRPDXK4GTF2L53MKEFP4", + "high_descs": [ + "Go to the counter across the room from the stove.", + "Pick up the butter knife on the counter.", + "Go to the fridge.", + "Cut the potato in the fridge.", + "Take the knife to the microwave.", + "Put the knife in the microwave.", + "Go to the fridge.", + "Pick up the potato slice in the fridge.", + "Take the potato slice to the microwave.", + "Cook the potato in the microwave.", + "Take the cooked potato slice to the sink.", + "Put the potato slice in the sink." + ], + "task_desc": "Put a cooked piece of potato in the sink.", + "votes": [ + 0, + 1, + 1 + ] + }, + { + "assignment_id": "ARB80JPV0HQ5O_3R08VXYT7FM4UTFFYJ9Y6N0IHRA7WV", + "high_descs": [ + "Turn right, turn right, walk straight, turn left, walk to the counter", + "Pick up the knife on top of the counter", + "Turn left, walk straight, turn left, walk straight to the fridge", + "Open the fridge, slice the egg inside, close the fridge", + "Turn right, turn right, walk straight to the oven", + "Open the microwave, put the knife inside, close the microwave", + "Turn left, turn left, walk straight, turn right, walk straight to the fridge", + "Open the fridge, take out the sliced egg inside, close the fridge", + "Turn right, turn right, walk straight to the oven", + "Open the microwave, put the sliced egg inside, close the microwave, turn on the microwave. Open the microwave, take out the sliced egg inside, close the microwave.", + "Turn right, turn right, turn left, walk straight to the sink", + "Put the sliced egg in the sink" + ], + "task_desc": "Put a sliced egg inside the sink", + "votes": [ + 1, + 1, + 0 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/valid_seen/pick_heat_then_place_in_recep-Tomato-None-Fridge-24/trial_T20190908_033721_967359/game.tw-pddl b/data/alfworld/json_2.1.1/valid_seen/pick_heat_then_place_in_recep-Tomato-None-Fridge-24/trial_T20190908_033721_967359/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..8dca08e429f3626de817deb9a1140eeded290a34 --- /dev/null +++ b/data/alfworld/json_2.1.1/valid_seen/pick_heat_then_place_in_recep-Tomato-None-Fridge-24/trial_T20190908_033721_967359/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\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 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_033721_967359)\n(:domain alfred)\n(:objects\nagent1 - agent\nCurtains - object\n SprayBottle - object\n Mirror - object\n HousePlant - object\n Watch - object\n TeddyBear - object\n WateringCan - object\n Bathtub - object\n LightSwitch - object\n Vase - object\n Candle - object\n Bread - object\n Statue - object\n HandTowel - object\n StoveKnob - object\n PaperTowelRoll - object\n Pan - object\n PepperShaker - object\n Painting - object\n CellPhone - object\n Plunger - object\n Spoon - object\n SaltShaker - object\n KeyChain - object\n Footstool - object\n Poster - object\n Television - object\n LaundryHamperLid - object\n Glassbottle - object\n AlarmClock - object\n WineBottle - object\n Bowl - object\n Sink - object\n TissueBox - object\n TennisRacket - object\n ToiletPaper - object\n ScrubBrush - object\n CreditCard - object\n Laptop - object\n Cloth - object\n Cup - object\n Chair - object\n BasketBall - object\n Kettle - object\n PaperTowel - object\n ShowerDoor - object\n BaseballBat - object\n Potato - object\n Pillow - object\n Lettuce - object\n RemoteControl - object\n Window - object\n DishSponge - object\n CD - object\n Boots - object\n Blinds - object\n Pen - object\n Newspaper - object\n Plate - object\n Mug - object\n ShowerGlass - object\n ToiletPaperRoll - object\n SoapBar - object\n FloorLamp - object\n SoapBottle - object\n Pot - object\n Pencil - object\n Spatula - object\n Towel - object\n Fork - object\n Ladle - object\n Knife - object\n Apple - object\n Box - object\n Tomato - object\n ButterKnife - object\n Egg - object\n Book - object\n DeskLamp - object\nCurtainsType - otype\n SprayBottleType - otype\n MirrorType - otype\n HousePlantType - otype\n WatchType - otype\n TeddyBearType - otype\n WateringCanType - otype\n BathtubType - otype\n LightSwitchType - otype\n VaseType - otype\n CandleType - otype\n BreadType - otype\n StatueType - otype\n HandTowelType - otype\n StoveKnobType - otype\n PaperTowelRollType - otype\n PanType - otype\n PepperShakerType - otype\n PaintingType - otype\n CellPhoneType - otype\n PlungerType - otype\n SpoonType - otype\n SaltShakerType - otype\n KeyChainType - otype\n FootstoolType - otype\n PosterType - otype\n TelevisionType - otype\n LaundryHamperLidType - otype\n GlassbottleType - otype\n AlarmClockType - otype\n WineBottleType - otype\n BowlType - otype\n SinkType - otype\n TissueBoxType - otype\n TennisRacketType - otype\n ToiletPaperType - otype\n ScrubBrushType - otype\n CreditCardType - otype\n LaptopType - otype\n ClothType - otype\n CupType - otype\n ChairType - otype\n BasketBallType - otype\n KettleType - otype\n PaperTowelType - otype\n ShowerDoorType - otype\n BaseballBatType - otype\n PotatoType - otype\n PillowType - otype\n LettuceType - otype\n RemoteControlType - otype\n WindowType - otype\n DishSpongeType - otype\n CDType - otype\n BootsType - otype\n BlindsType - otype\n PenType - otype\n NewspaperType - otype\n PlateType - otype\n MugType - otype\n ShowerGlassType - otype\n ToiletPaperRollType - otype\n SoapBarType - otype\n FloorLampType - otype\n SoapBottleType - otype\n PotType - otype\n PencilType - otype\n SpatulaType - otype\n TowelType - otype\n ForkType - otype\n LadleType - otype\n KnifeType - otype\n AppleType - otype\n BoxType - otype\n TomatoType - otype\n ButterKnifeType - otype\n EggType - otype\n BookType - otype\n DeskLampType - otype\nCabinetType - rtype\n ShelfType - rtype\n DiningTableType - rtype\n TowelHolderType - rtype\n PaintingHangerType - rtype\n TVStandType - rtype\n LaundryHamperType - rtype\n OttomanType - rtype\n SafeType - rtype\n CoffeeMachineType - rtype\n CounterTopType - rtype\n ToiletType - rtype\n FridgeType - rtype\n CoffeeTableType - rtype\n SinkBasinType - rtype\n GarbageCanType - rtype\n BathtubBasinType - rtype\n SideTableType - rtype\n CartType - rtype\n BedType - rtype\n DeskType - rtype\n SofaType - rtype\n ArmChairType - rtype\n MicrowaveType - rtype\n HandTowelHolderType - rtype\n ToasterType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n DrawerType - rtype\n DresserType - rtype\n\n\n Apple_bar__minus_02_dot_61_bar__plus_01_dot_67_bar__plus_02_dot_39 - object\n Bowl_bar__minus_01_dot_70_bar__plus_01_dot_68_bar__plus_03_dot_86 - object\n Bowl_bar__minus_02_dot_58_bar__plus_01_dot_63_bar__plus_02_dot_69 - 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_14 - 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_35 - object\n Cup_bar__minus_00_dot_92_bar__plus_00_dot_90_bar__plus_01_dot_56 - object\n Cup_bar__minus_02_dot_50_bar__plus_01_dot_63_bar__plus_02_dot_99 - object\n DishSponge_bar__plus_00_dot_74_bar__plus_00_dot_69_bar__plus_02_dot_53 - object\n DishSponge_bar__plus_00_dot_93_bar__plus_00_dot_02_bar__plus_02_dot_95 - object\n Egg_bar__plus_00_dot_93_bar__plus_00_dot_06_bar__plus_02_dot_86 - object\n Egg_bar__plus_01_dot_02_bar__plus_00_dot_86_bar__plus_02_dot_46 - object\n Egg_bar__minus_01_dot_14_bar__plus_00_dot_86_bar__plus_03_dot_84 - 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_16 - object\n Fork_bar__plus_00_dot_74_bar__plus_00_dot_69_bar__plus_01_dot_02 - object\n Knife_bar__minus_02_dot_29_bar__plus_00_dot_82_bar__plus_03_dot_62 - object\n Lettuce_bar__minus_01_dot_32_bar__plus_00_dot_98_bar__plus_01_dot_14 - object\n Lettuce_bar__minus_02_dot_69_bar__plus_01_dot_27_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_01_dot_32_bar__plus_00_dot_90_bar__plus_00_dot_94 - 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_73_bar__plus_00_dot_93_bar__plus_01_dot_03 - object\n PepperShaker_bar__plus_00_dot_95_bar__plus_00_dot_82_bar__plus_02_dot_29 - object\n PepperShaker_bar__minus_01_dot_72_bar__plus_00_dot_82_bar__plus_04_dot_01 - object\n PepperShaker_bar__minus_02_dot_50_bar__plus_00_dot_15_bar__plus_01_dot_60 - object\n Plate_bar__plus_00_dot_74_bar__plus_00_dot_13_bar__plus_02_dot_53 - object\n Potato_bar__minus_00_dot_79_bar__plus_00_dot_94_bar__plus_01_dot_56 - 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 Pot_bar__plus_00_dot_91_bar__plus_00_dot_85_bar__plus_01_dot_77 - object\n SaltShaker_bar__plus_00_dot_65_bar__plus_00_dot_82_bar__plus_01_dot_07 - object\n SaltShaker_bar__plus_00_dot_86_bar__plus_00_dot_12_bar__plus_00_dot_90 - object\n SaltShaker_bar__minus_00_dot_92_bar__plus_00_dot_90_bar__plus_01_dot_35 - 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_12_bar__plus_00_dot_13_bar__plus_03_dot_71 - object\n 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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 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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_8_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_00_dot_82 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_03_dot_18 CabinetType)\n (receptacleType Fridge_bar__minus_02_dot_64_bar__plus_00_dot_00_bar__plus_02_dot_13 FridgeType)\n (receptacleType Toaster_bar__minus_02_dot_25_bar__plus_00_dot_81_bar__plus_03_dot_86 ToasterType)\n (receptacleType Cabinet_bar__minus_01_dot_10_bar__plus_01_dot_93_bar__plus_03_dot_73 CabinetType)\n (receptacleType CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_00_dot_98 CounterTopType)\n (receptacleType Cabinet_bar__minus_02_dot_62_bar__plus_01_dot_93_bar__plus_03_dot_73 CabinetType)\n (receptacleType CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_02_dot_37 CounterTopType)\n (receptacleType Cabinet_bar__minus_02_dot_95_bar__plus_01_dot_93_bar__plus_03_dot_73 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_02_dot_01_bar__plus_02_dot_56 CabinetType)\n (receptacleType Drawer_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_00_dot_98 DrawerType)\n (receptacleType Cabinet_bar__minus_00_dot_42_bar__plus_00_dot_67_bar__plus_03_dot_74 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Lettuce_bar__minus_02_dot_69_bar__plus_01_dot_27_bar__plus_02_dot_17)\n (cleanable ButterKnife_bar__minus_00_dot_52_bar__plus_00_dot_90_bar__plus_01_dot_14)\n (cleanable Tomato_bar__minus_00_dot_66_bar__plus_00_dot_97_bar__plus_01_dot_56)\n (cleanable Spoon_bar__minus_01_dot_91_bar__plus_00_dot_70_bar__plus_03_dot_77)\n (cleanable Fork_bar__plus_00_dot_70_bar__plus_00_dot_69_bar__plus_02_dot_16)\n (cleanable Spoon_bar__minus_01_dot_05_bar__plus_00_dot_90_bar__plus_01_dot_45)\n (cleanable Egg_bar__plus_00_dot_93_bar__plus_00_dot_06_bar__plus_02_dot_86)\n (cleanable DishSponge_bar__plus_00_dot_93_bar__plus_00_dot_02_bar__plus_02_dot_95)\n (cleanable Knife_bar__minus_02_dot_29_bar__plus_00_dot_82_bar__plus_03_dot_62)\n (cleanable Mug_bar__minus_01_dot_32_bar__plus_00_dot_90_bar__plus_00_dot_94)\n (cleanable Egg_bar__minus_01_dot_14_bar__plus_00_dot_86_bar__plus_03_dot_84)\n (cleanable Bowl_bar__minus_01_dot_70_bar__plus_01_dot_68_bar__plus_03_dot_86)\n (cleanable Pot_bar__plus_00_dot_91_bar__plus_00_dot_85_bar__plus_01_dot_77)\n (cleanable Pot_bar__plus_00_dot_91_bar__plus_00_dot_85_bar__plus_01_dot_38)\n (cleanable Pan_bar__minus_02_dot_67_bar__plus_00_dot_81_bar__plus_03_dot_74)\n (cleanable Potato_bar__minus_00_dot_79_bar__plus_00_dot_94_bar__plus_01_dot_56)\n (cleanable Bowl_bar__minus_02_dot_58_bar__plus_01_dot_63_bar__plus_02_dot_69)\n (cleanable Pot_bar__plus_00_dot_64_bar__plus_00_dot_85_bar__plus_01_dot_77)\n (cleanable Plate_bar__plus_00_dot_74_bar__plus_00_dot_13_bar__plus_02_dot_53)\n (cleanable DishSponge_bar__plus_00_dot_74_bar__plus_00_dot_69_bar__plus_02_dot_53)\n (cleanable Spoon_bar__minus_01_dot_42_bar__plus_00_dot_70_bar__plus_03_dot_77)\n (cleanable Lettuce_bar__minus_01_dot_32_bar__plus_00_dot_98_bar__plus_01_dot_14)\n (cleanable Tomato_bar__minus_00_dot_66_bar__plus_00_dot_97_bar__plus_01_dot_25)\n (cleanable Fork_bar__plus_00_dot_74_bar__plus_00_dot_69_bar__plus_01_dot_02)\n (cleanable Cup_bar__minus_00_dot_92_bar__plus_00_dot_90_bar__plus_01_dot_56)\n (cleanable Egg_bar__plus_01_dot_02_bar__plus_00_dot_86_bar__plus_02_dot_46)\n (cleanable Tomato_bar__minus_01_dot_32_bar__plus_00_dot_97_bar__plus_01_dot_56)\n \n (heatable Cup_bar__minus_02_dot_50_bar__plus_01_dot_63_bar__plus_02_dot_99)\n (heatable Apple_bar__minus_02_dot_61_bar__plus_01_dot_67_bar__plus_02_dot_39)\n (heatable Cup_bar__minus_00_dot_52_bar__plus_00_dot_90_bar__plus_01_dot_35)\n (heatable Tomato_bar__minus_00_dot_66_bar__plus_00_dot_97_bar__plus_01_dot_56)\n (heatable Egg_bar__plus_00_dot_93_bar__plus_00_dot_06_bar__plus_02_dot_86)\n (heatable Mug_bar__minus_01_dot_32_bar__plus_00_dot_90_bar__plus_00_dot_94)\n (heatable Egg_bar__minus_01_dot_14_bar__plus_00_dot_86_bar__plus_03_dot_84)\n (heatable Bread_bar__plus_00_dot_83_bar__plus_00_dot_86_bar__plus_02_dot_45)\n (heatable Potato_bar__minus_00_dot_79_bar__plus_00_dot_94_bar__plus_01_dot_56)\n (heatable Plate_bar__plus_00_dot_74_bar__plus_00_dot_13_bar__plus_02_dot_53)\n (heatable Tomato_bar__minus_00_dot_66_bar__plus_00_dot_97_bar__plus_01_dot_25)\n (heatable Cup_bar__minus_00_dot_92_bar__plus_00_dot_90_bar__plus_01_dot_56)\n (heatable Egg_bar__plus_01_dot_02_bar__plus_00_dot_86_bar__plus_02_dot_46)\n (heatable Tomato_bar__minus_01_dot_32_bar__plus_00_dot_97_bar__plus_01_dot_56)\n (coolable Cup_bar__minus_02_dot_50_bar__plus_01_dot_63_bar__plus_02_dot_99)\n (coolable Apple_bar__minus_02_dot_61_bar__plus_01_dot_67_bar__plus_02_dot_39)\n (coolable Cup_bar__minus_00_dot_52_bar__plus_00_dot_90_bar__plus_01_dot_35)\n (coolable Lettuce_bar__minus_02_dot_69_bar__plus_01_dot_27_bar__plus_02_dot_17)\n (coolable Tomato_bar__minus_00_dot_66_bar__plus_00_dot_97_bar__plus_01_dot_56)\n (coolable Egg_bar__plus_00_dot_93_bar__plus_00_dot_06_bar__plus_02_dot_86)\n (coolable Mug_bar__minus_01_dot_32_bar__plus_00_dot_90_bar__plus_00_dot_94)\n (coolable Egg_bar__minus_01_dot_14_bar__plus_00_dot_86_bar__plus_03_dot_84)\n (coolable Bowl_bar__minus_01_dot_70_bar__plus_01_dot_68_bar__plus_03_dot_86)\n (coolable Pot_bar__plus_00_dot_91_bar__plus_00_dot_85_bar__plus_01_dot_77)\n (coolable Pot_bar__plus_00_dot_91_bar__plus_00_dot_85_bar__plus_01_dot_38)\n (coolable Bread_bar__plus_00_dot_83_bar__plus_00_dot_86_bar__plus_02_dot_45)\n (coolable Pan_bar__minus_02_dot_67_bar__plus_00_dot_81_bar__plus_03_dot_74)\n (coolable Potato_bar__minus_00_dot_79_bar__plus_00_dot_94_bar__plus_01_dot_56)\n (coolable Bowl_bar__minus_02_dot_58_bar__plus_01_dot_63_bar__plus_02_dot_69)\n (coolable Pot_bar__plus_00_dot_64_bar__plus_00_dot_85_bar__plus_01_dot_77)\n (coolable Plate_bar__plus_00_dot_74_bar__plus_00_dot_13_bar__plus_02_dot_53)\n (coolable Lettuce_bar__minus_01_dot_32_bar__plus_00_dot_98_bar__plus_01_dot_14)\n (coolable Tomato_bar__minus_00_dot_66_bar__plus_00_dot_97_bar__plus_01_dot_25)\n (coolable Cup_bar__minus_00_dot_92_bar__plus_00_dot_90_bar__plus_01_dot_56)\n (coolable Egg_bar__plus_01_dot_02_bar__plus_00_dot_86_bar__plus_02_dot_46)\n (coolable Tomato_bar__minus_01_dot_32_bar__plus_00_dot_97_bar__plus_01_dot_56)\n \n \n \n \n \n (sliceable Apple_bar__minus_02_dot_61_bar__plus_01_dot_67_bar__plus_02_dot_39)\n (sliceable Lettuce_bar__minus_02_dot_69_bar__plus_01_dot_27_bar__plus_02_dot_17)\n (sliceable Tomato_bar__minus_00_dot_66_bar__plus_00_dot_97_bar__plus_01_dot_56)\n (sliceable Egg_bar__plus_00_dot_93_bar__plus_00_dot_06_bar__plus_02_dot_86)\n (sliceable Egg_bar__minus_01_dot_14_bar__plus_00_dot_86_bar__plus_03_dot_84)\n (sliceable Bread_bar__plus_00_dot_83_bar__plus_00_dot_86_bar__plus_02_dot_45)\n (sliceable Potato_bar__minus_00_dot_79_bar__plus_00_dot_94_bar__plus_01_dot_56)\n (sliceable Lettuce_bar__minus_01_dot_32_bar__plus_00_dot_98_bar__plus_01_dot_14)\n (sliceable Tomato_bar__minus_00_dot_66_bar__plus_00_dot_97_bar__plus_01_dot_25)\n (sliceable Egg_bar__plus_01_dot_02_bar__plus_00_dot_86_bar__plus_02_dot_46)\n (sliceable Tomato_bar__minus_01_dot_32_bar__plus_00_dot_97_bar__plus_01_dot_56)\n \n (inReceptacle Fork_bar__plus_00_dot_70_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 Bowl_bar__minus_01_dot_70_bar__plus_01_dot_68_bar__plus_03_dot_86 Cabinet_bar__minus_01_dot_96_bar__plus_01_dot_93_bar__plus_03_dot_73)\n (inReceptacle DishSponge_bar__plus_00_dot_74_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 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 PaperTowelRoll_bar__plus_00_dot_73_bar__plus_00_dot_93_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_00_dot_65_bar__plus_00_dot_82_bar__plus_01_dot_07 CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_00_dot_98)\n (inReceptacle SaltShaker_bar__plus_00_dot_86_bar__plus_00_dot_12_bar__plus_00_dot_90 Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_39_bar__plus_00_dot_82)\n (inReceptacle SoapBottle_bar__minus_02_dot_48_bar__plus_01_dot_04_bar__plus_01_dot_22 Cabinet_bar__minus_02_dot_38_bar__plus_01_dot_41_bar__plus_01_dot_68)\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 Spatula_bar__plus_00_dot_65_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 PepperShaker_bar__plus_00_dot_95_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)\n (inReceptacle Egg_bar__plus_01_dot_02_bar__plus_00_dot_86_bar__plus_02_dot_46 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 PepperShaker_bar__minus_02_dot_50_bar__plus_00_dot_15_bar__plus_01_dot_60 Cabinet_bar__minus_02_dot_38_bar__plus_00_dot_64_bar__plus_01_dot_68)\n (inReceptacle Fork_bar__plus_00_dot_74_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)\n (inReceptacle Bowl_bar__minus_02_dot_58_bar__plus_01_dot_63_bar__plus_02_dot_69 Cabinet_bar__minus_02_dot_38_bar__plus_01_dot_69_bar__plus_02_dot_57)\n (inReceptacle Cup_bar__minus_02_dot_50_bar__plus_01_dot_63_bar__plus_02_dot_99 Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_03_dot_18)\n (inReceptacle Spoon_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 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 Tomato_bar__minus_00_dot_66_bar__plus_00_dot_97_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_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)\n (inReceptacle Cup_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 Potato_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 ButterKnife_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 Mug_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 Tomato_bar__minus_01_dot_32_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)\n (inReceptacle Tomato_bar__minus_00_dot_66_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)\n (inReceptacle SaltShaker_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 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 PepperShaker_bar__minus_01_dot_72_bar__plus_00_dot_82_bar__plus_04_dot_01 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 Knife_bar__minus_02_dot_29_bar__plus_00_dot_82_bar__plus_03_dot_62 CounterTop_bar__minus_02_dot_08_bar__plus_00_dot_86_bar__plus_03_dot_80)\n (inReceptacle Egg_bar__minus_01_dot_14_bar__plus_00_dot_86_bar__plus_03_dot_84 CounterTop_bar__minus_02_dot_08_bar__plus_00_dot_86_bar__plus_03_dot_80)\n (inReceptacle SoapBottle_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 Lettuce_bar__minus_02_dot_69_bar__plus_01_dot_27_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_61_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 Egg_bar__plus_00_dot_93_bar__plus_00_dot_06_bar__plus_02_dot_86 GarbageCan_bar__plus_00_dot_93_bar__plus_00_dot_00_bar__plus_02_dot_92)\n (inReceptacle DishSponge_bar__plus_00_dot_93_bar__plus_00_dot_02_bar__plus_02_dot_95 GarbageCan_bar__plus_00_dot_93_bar__plus_00_dot_00_bar__plus_02_dot_92)\n (inReceptacle Spoon_bar__minus_01_dot_42_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 (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_70_bar__plus_01_dot_68_bar__plus_03_dot_86 loc_bar__minus_6_bar_13_bar_0_bar__minus_30)\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 Lettuce_bar__minus_02_dot_69_bar__plus_01_dot_27_bar__plus_02_dot_17 loc_bar__minus_7_bar_9_bar_3_bar_60)\n (objectAtLocation DishSponge_bar__plus_00_dot_93_bar__plus_00_dot_02_bar__plus_02_dot_95 loc_bar_2_bar_12_bar_1_bar_60)\n (objectAtLocation Tomato_bar__minus_00_dot_66_bar__plus_00_dot_97_bar__plus_01_dot_25 loc_bar__minus_4_bar_8_bar_2_bar_60)\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 PepperShaker_bar__minus_02_dot_50_bar__plus_00_dot_15_bar__plus_01_dot_60 loc_bar__minus_5_bar_8_bar_3_bar_45)\n (objectAtLocation SaltShaker_bar__plus_00_dot_86_bar__plus_00_dot_12_bar__plus_00_dot_90 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 Cup_bar__minus_02_dot_50_bar__plus_01_dot_63_bar__plus_02_dot_99 loc_bar__minus_7_bar_12_bar_3_bar__minus_30)\n (objectAtLocation Egg_bar__plus_00_dot_93_bar__plus_00_dot_06_bar__plus_02_dot_86 loc_bar_2_bar_12_bar_1_bar_60)\n (objectAtLocation SoapBottle_bar__minus_02_dot_48_bar__plus_01_dot_04_bar__plus_01_dot_22 loc_bar__minus_7_bar_6_bar_3_bar_15)\n (objectAtLocation Fork_bar__plus_00_dot_74_bar__plus_00_dot_69_bar__plus_01_dot_02 loc_bar_0_bar_7_bar_2_bar_45)\n (objectAtLocation SaltShaker_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 PepperShaker_bar__plus_00_dot_95_bar__plus_00_dot_82_bar__plus_02_dot_29 loc_bar_1_bar_10_bar_1_bar_45)\n (objectAtLocation Tomato_bar__minus_01_dot_32_bar__plus_00_dot_97_bar__plus_01_dot_56 loc_bar__minus_4_bar_8_bar_2_bar_60)\n (objectAtLocation Cup_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 Egg_bar__plus_01_dot_02_bar__plus_00_dot_86_bar__plus_02_dot_46 loc_bar_1_bar_10_bar_1_bar_45)\n (objectAtLocation Spoon_bar__minus_01_dot_42_bar__plus_00_dot_70_bar__plus_03_dot_77 loc_bar__minus_6_bar_13_bar_0_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 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__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 Fork_bar__plus_00_dot_70_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_65_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_73_bar__plus_00_dot_93_bar__plus_01_dot_03 loc_bar_0_bar_5_bar_1_bar_45)\n (objectAtLocation Potato_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 SoapBottle_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 Egg_bar__minus_01_dot_14_bar__plus_00_dot_86_bar__plus_03_dot_84 loc_bar__minus_7_bar_12_bar_0_bar_45)\n (objectAtLocation Cup_bar__minus_00_dot_92_bar__plus_00_dot_90_bar__plus_01_dot_56 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_65_bar__plus_00_dot_82_bar__plus_01_dot_07 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_01_dot_72_bar__plus_00_dot_82_bar__plus_04_dot_01 loc_bar__minus_7_bar_12_bar_0_bar_45)\n (objectAtLocation ButterKnife_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 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_00_dot_66_bar__plus_00_dot_97_bar__plus_01_dot_56 loc_bar__minus_4_bar_8_bar_2_bar_60)\n (objectAtLocation DishSponge_bar__plus_00_dot_74_bar__plus_00_dot_69_bar__plus_02_dot_53 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__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 Apple_bar__minus_02_dot_61_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_02_dot_29_bar__plus_00_dot_82_bar__plus_03_dot_62 loc_bar__minus_7_bar_12_bar_0_bar_45)\n (objectAtLocation Mug_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 Bowl_bar__minus_02_dot_58_bar__plus_01_dot_63_bar__plus_02_dot_69 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 TomatoType)\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 tomato 3 from diningtable 1", "go to microwave 1", "heat tomato 3 with microwave 1", "go to fridge 1", "open fridge 1", "move tomato 3 to fridge 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/valid_seen/pick_heat_then_place_in_recep-Tomato-None-Fridge-24/trial_T20190908_033721_967359/initial_state.pddl b/data/alfworld/json_2.1.1/valid_seen/pick_heat_then_place_in_recep-Tomato-None-Fridge-24/trial_T20190908_033721_967359/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..96577e5d9eb8a096603fdd29249dfb687b37afba --- /dev/null +++ b/data/alfworld/json_2.1.1/valid_seen/pick_heat_then_place_in_recep-Tomato-None-Fridge-24/trial_T20190908_033721_967359/initial_state.pddl @@ -0,0 +1,1155 @@ + +(define (problem plan_trial_T20190908_033721_967359) +(:domain alfred) +(:objects +agent1 - agent +Curtains - object + SprayBottle - object + Mirror - object + HousePlant - object + Watch - object + TeddyBear - object + WateringCan - object + Bathtub - object + LightSwitch - object + Vase - object + Candle - object + Bread - object + Statue - object + HandTowel - object + StoveKnob - object + PaperTowelRoll - object + Pan - object + PepperShaker - object + Painting - object + CellPhone - object + Plunger - object + Spoon - object + SaltShaker - object + KeyChain - object + Footstool - object + Poster - object + Television - object + LaundryHamperLid - object + Glassbottle - object + AlarmClock - object + WineBottle - object + Bowl - object + Sink - object + TissueBox - object + TennisRacket - object + ToiletPaper - object + ScrubBrush - object + CreditCard - object + Laptop - object + Cloth - object + Cup - object + Chair - object + BasketBall - object + Kettle - object + PaperTowel - object + ShowerDoor - object + BaseballBat - object + Potato - object + Pillow - object + Lettuce - object + RemoteControl - object + Window - object + DishSponge - object + CD - object + Boots - object + Blinds - object + Pen - object + Newspaper - object + Plate - object + Mug - object + ShowerGlass - object + ToiletPaperRoll - object + SoapBar - object + FloorLamp - object + SoapBottle - object + Pot - object + Pencil - object + Spatula - object + Towel - object + Fork - object + Ladle - object + Knife - object + Apple - object + Box - object + Tomato - object + ButterKnife - object + Egg - object + Book - object + DeskLamp - object +CurtainsType - otype + SprayBottleType - otype + MirrorType - otype + HousePlantType - otype + WatchType - otype + TeddyBearType - otype + WateringCanType - otype + BathtubType - otype + LightSwitchType - otype + VaseType - otype + CandleType - otype + BreadType - otype + StatueType - otype + HandTowelType - otype + StoveKnobType - otype + PaperTowelRollType - otype + PanType - otype + PepperShakerType - otype + PaintingType - otype + CellPhoneType - otype + PlungerType - otype + SpoonType - otype + SaltShakerType - otype + KeyChainType - otype + FootstoolType - otype + PosterType - otype + TelevisionType - otype + LaundryHamperLidType - otype + GlassbottleType - otype + AlarmClockType - otype + WineBottleType - otype + BowlType - otype + SinkType - otype + TissueBoxType - otype + TennisRacketType - otype + ToiletPaperType - otype + ScrubBrushType - otype + CreditCardType - otype + LaptopType - otype + ClothType - otype + CupType - otype + ChairType - otype + BasketBallType - otype + KettleType - otype + PaperTowelType - otype + ShowerDoorType - otype + BaseballBatType - otype + PotatoType - otype + PillowType - otype + LettuceType - otype + RemoteControlType - otype + WindowType - otype + DishSpongeType - otype + CDType - otype + BootsType - otype + BlindsType - otype + PenType - otype + NewspaperType - otype + PlateType - otype + MugType - otype + ShowerGlassType - otype + ToiletPaperRollType - otype + SoapBarType - otype + FloorLampType - otype + SoapBottleType - otype + PotType - otype + PencilType - otype + SpatulaType - otype + TowelType - otype + ForkType - otype + LadleType - otype + KnifeType - otype + AppleType - otype + BoxType - otype + TomatoType - otype + ButterKnifeType - otype + EggType - otype + BookType - otype + DeskLampType - otype +CabinetType - rtype + ShelfType - rtype + DiningTableType - rtype + TowelHolderType - rtype + PaintingHangerType - rtype + TVStandType - rtype + LaundryHamperType - rtype + OttomanType - rtype + SafeType - rtype + CoffeeMachineType - rtype + CounterTopType - rtype + ToiletType - rtype + FridgeType - rtype + CoffeeTableType - rtype + SinkBasinType - rtype + GarbageCanType - rtype + BathtubBasinType - rtype + SideTableType - rtype + CartType - rtype + BedType - rtype + DeskType - rtype + SofaType - rtype + ArmChairType - rtype + MicrowaveType - rtype + HandTowelHolderType - rtype + ToasterType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + DrawerType - rtype + DresserType - rtype + + + Apple_bar__minus_02_dot_61_bar__plus_01_dot_67_bar__plus_02_dot_39 - object + Bowl_bar__minus_01_dot_70_bar__plus_01_dot_68_bar__plus_03_dot_86 - object + Bowl_bar__minus_02_dot_58_bar__plus_01_dot_63_bar__plus_02_dot_69 - object + Bread_bar__plus_00_dot_83_bar__plus_00_dot_86_bar__plus_02_dot_45 - object + ButterKnife_bar__minus_00_dot_52_bar__plus_00_dot_90_bar__plus_01_dot_14 - 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_35 - object + Cup_bar__minus_00_dot_92_bar__plus_00_dot_90_bar__plus_01_dot_56 - object + Cup_bar__minus_02_dot_50_bar__plus_01_dot_63_bar__plus_02_dot_99 - object + DishSponge_bar__plus_00_dot_74_bar__plus_00_dot_69_bar__plus_02_dot_53 - object + DishSponge_bar__plus_00_dot_93_bar__plus_00_dot_02_bar__plus_02_dot_95 - object + Egg_bar__plus_00_dot_93_bar__plus_00_dot_06_bar__plus_02_dot_86 - object + Egg_bar__plus_01_dot_02_bar__plus_00_dot_86_bar__plus_02_dot_46 - object + Egg_bar__minus_01_dot_14_bar__plus_00_dot_86_bar__plus_03_dot_84 - 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_16 - object + Fork_bar__plus_00_dot_74_bar__plus_00_dot_69_bar__plus_01_dot_02 - object + Knife_bar__minus_02_dot_29_bar__plus_00_dot_82_bar__plus_03_dot_62 - object + Lettuce_bar__minus_01_dot_32_bar__plus_00_dot_98_bar__plus_01_dot_14 - object + Lettuce_bar__minus_02_dot_69_bar__plus_01_dot_27_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_01_dot_32_bar__plus_00_dot_90_bar__plus_00_dot_94 - object + Pan_bar__minus_02_dot_67_bar__plus_00_dot_81_bar__plus_03_dot_74 - object + PaperTowelRoll_bar__plus_00_dot_73_bar__plus_00_dot_93_bar__plus_01_dot_03 - object + PepperShaker_bar__plus_00_dot_95_bar__plus_00_dot_82_bar__plus_02_dot_29 - object + PepperShaker_bar__minus_01_dot_72_bar__plus_00_dot_82_bar__plus_04_dot_01 - object + PepperShaker_bar__minus_02_dot_50_bar__plus_00_dot_15_bar__plus_01_dot_60 - object + Plate_bar__plus_00_dot_74_bar__plus_00_dot_13_bar__plus_02_dot_53 - object + Potato_bar__minus_00_dot_79_bar__plus_00_dot_94_bar__plus_01_dot_56 - 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 + 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_07 - object + SaltShaker_bar__plus_00_dot_86_bar__plus_00_dot_12_bar__plus_00_dot_90 - object + SaltShaker_bar__minus_00_dot_92_bar__plus_00_dot_90_bar__plus_01_dot_35 - object + Sink_bar__minus_01_dot_70_bar__plus_00_dot_73_bar__plus_03_dot_83 - object + SoapBottle_bar__minus_02_dot_12_bar__plus_00_dot_13_bar__plus_03_dot_71 - object + SoapBottle_bar__minus_02_dot_48_bar__plus_01_dot_04_bar__plus_01_dot_22 - object + Spatula_bar__plus_00_dot_65_bar__plus_00_dot_84_bar__plus_02_dot_11 - object + Spoon_bar__minus_01_dot_05_bar__plus_00_dot_90_bar__plus_01_dot_45 - object + Spoon_bar__minus_01_dot_42_bar__plus_00_dot_70_bar__plus_03_dot_77 - object + Spoon_bar__minus_01_dot_91_bar__plus_00_dot_70_bar__plus_03_dot_77 - 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_00_dot_66_bar__plus_00_dot_97_bar__plus_01_dot_25 - object + Tomato_bar__minus_00_dot_66_bar__plus_00_dot_97_bar__plus_01_dot_56 - object + Tomato_bar__minus_01_dot_32_bar__plus_00_dot_97_bar__plus_01_dot_56 - 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 - 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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_1_bar_8_bar_0_bar_30 - location + ) + + +(:init + + + (receptacleType Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_39_bar__plus_00_dot_82 CabinetType) + (receptacleType Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_03_dot_18 CabinetType) + (receptacleType Fridge_bar__minus_02_dot_64_bar__plus_00_dot_00_bar__plus_02_dot_13 FridgeType) + (receptacleType Toaster_bar__minus_02_dot_25_bar__plus_00_dot_81_bar__plus_03_dot_86 ToasterType) + (receptacleType Cabinet_bar__minus_01_dot_10_bar__plus_01_dot_93_bar__plus_03_dot_73 CabinetType) + (receptacleType CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_00_dot_98 CounterTopType) + (receptacleType Cabinet_bar__minus_02_dot_62_bar__plus_01_dot_93_bar__plus_03_dot_73 CabinetType) + (receptacleType CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_02_dot_37 CounterTopType) + (receptacleType Cabinet_bar__minus_02_dot_95_bar__plus_01_dot_93_bar__plus_03_dot_73 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_02_dot_01_bar__plus_02_dot_56 CabinetType) + (receptacleType Drawer_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_00_dot_98 DrawerType) + (receptacleType Cabinet_bar__minus_00_dot_42_bar__plus_00_dot_67_bar__plus_03_dot_74 CabinetType) + (receptacleType Cabinet_bar__minus_01_dot_98_bar__plus_01_dot_78_bar__plus_03_dot_73 CabinetType) + (receptacleType Cabinet_bar__minus_02_dot_43_bar__plus_00_dot_44_bar__plus_03_dot_17 CabinetType) + (receptacleType Cabinet_bar__minus_01_dot_99_bar__plus_00_dot_39_bar__plus_03_dot_51 CabinetType) + (receptacleType Sink_bar__minus_01_dot_70_bar__plus_00_dot_73_bar__plus_03_dot_83_bar_SinkBasin SinkBasinType) + (receptacleType Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_39_bar__plus_02_dot_36 CabinetType) + (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_02_dot_01_bar__plus_01_dot_06 CabinetType) + (receptacleType Cabinet_bar__minus_01_dot_97_bar__plus_00_dot_39_bar__plus_03_dot_52 CabinetType) + (receptacleType Drawer_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_02_dot_53 DrawerType) + (receptacleType StoveBurner_bar__plus_00_dot_64_bar__plus_00_dot_84_bar__plus_01_dot_38 StoveBurnerType) + (receptacleType Cabinet_bar__minus_00_dot_42_bar__plus_01_dot_70_bar__plus_03_dot_74 CabinetType) + (receptacleType CoffeeMachine_bar__minus_01_dot_00_bar__plus_00_dot_89_bar__plus_01_dot_03 CoffeeMachineType) + (receptacleType GarbageCan_bar__plus_00_dot_93_bar__plus_00_dot_00_bar__plus_02_dot_92 GarbageCanType) + (receptacleType StoveBurner_bar__plus_00_dot_91_bar__plus_00_dot_84_bar__plus_01_dot_77 StoveBurnerType) + (receptacleType StoveBurner_bar__plus_00_dot_91_bar__plus_00_dot_84_bar__plus_01_dot_38 StoveBurnerType) + (receptacleType Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_39_bar__plus_02_dot_69 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_00_dot_64_bar__plus_01_dot_68 CabinetType) + (receptacleType Drawer_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_02_dot_20 DrawerType) + (receptacleType Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_01_dot_69 CabinetType) + (receptacleType Cabinet_bar__minus_01_dot_14_bar__plus_00_dot_39_bar__plus_03_dot_52 CabinetType) + (receptacleType StoveBurner_bar__plus_00_dot_64_bar__plus_00_dot_84_bar__plus_01_dot_77 StoveBurnerType) + (receptacleType Drawer_bar__minus_02_dot_11_bar__plus_00_dot_71_bar__plus_03_dot_66 DrawerType) + (receptacleType Cabinet_bar__minus_02_dot_38_bar__plus_01_dot_93_bar__plus_01_dot_69 CabinetType) + (receptacleType CounterTop_bar__minus_02_dot_08_bar__plus_00_dot_86_bar__plus_03_dot_80 CounterTopType) + (receptacleType Cabinet_bar__minus_01_dot_96_bar__plus_01_dot_93_bar__plus_03_dot_73 CabinetType) + (receptacleType Microwave_bar__minus_01_dot_53_bar__plus_01_dot_25_bar__plus_03_dot_88 MicrowaveType) + (receptacleType DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32 DiningTableType) + (objectType PepperShaker_bar__minus_01_dot_72_bar__plus_00_dot_82_bar__plus_04_dot_01 PepperShakerType) + (objectType Cup_bar__minus_02_dot_50_bar__plus_01_dot_63_bar__plus_02_dot_99 CupType) + (objectType ButterKnife_bar__minus_02_dot_17_bar__plus_00_dot_81_bar__plus_03_dot_55 ButterKnifeType) + (objectType Apple_bar__minus_02_dot_61_bar__plus_01_dot_67_bar__plus_02_dot_39 AppleType) + (objectType Spatula_bar__plus_00_dot_65_bar__plus_00_dot_84_bar__plus_02_dot_11 SpatulaType) + (objectType Cup_bar__minus_00_dot_52_bar__plus_00_dot_90_bar__plus_01_dot_35 CupType) + (objectType Sink_bar__minus_01_dot_70_bar__plus_00_dot_73_bar__plus_03_dot_83 SinkType) + (objectType Lettuce_bar__minus_02_dot_69_bar__plus_01_dot_27_bar__plus_02_dot_17 LettuceType) + (objectType ButterKnife_bar__minus_00_dot_52_bar__plus_00_dot_90_bar__plus_01_dot_14 ButterKnifeType) + (objectType Tomato_bar__minus_00_dot_66_bar__plus_00_dot_97_bar__plus_01_dot_56 TomatoType) + (objectType Spoon_bar__minus_01_dot_91_bar__plus_00_dot_70_bar__plus_03_dot_77 SpoonType) + (objectType PepperShaker_bar__minus_02_dot_50_bar__plus_00_dot_15_bar__plus_01_dot_60 PepperShakerType) + (objectType Fork_bar__plus_00_dot_70_bar__plus_00_dot_69_bar__plus_02_dot_16 ForkType) + (objectType Spoon_bar__minus_01_dot_05_bar__plus_00_dot_90_bar__plus_01_dot_45 SpoonType) + (objectType Window_bar__minus_01_dot_13_bar__plus_01_dot_67_bar__plus_00_dot_81 WindowType) + (objectType Egg_bar__plus_00_dot_93_bar__plus_00_dot_06_bar__plus_02_dot_86 EggType) + (objectType StoveKnob_bar__plus_01_dot_10_bar__plus_01_dot_00_bar__plus_01_dot_48 StoveKnobType) + (objectType Chair_bar__minus_00_dot_87_bar__plus_00_dot_49_bar__plus_01_dot_50 ChairType) + (objectType DishSponge_bar__plus_00_dot_93_bar__plus_00_dot_02_bar__plus_02_dot_95 DishSpongeType) + (objectType 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Cup_bar__minus_00_dot_52_bar__plus_00_dot_90_bar__plus_01_dot_35) + (cleanable Lettuce_bar__minus_02_dot_69_bar__plus_01_dot_27_bar__plus_02_dot_17) + (cleanable ButterKnife_bar__minus_00_dot_52_bar__plus_00_dot_90_bar__plus_01_dot_14) + (cleanable Tomato_bar__minus_00_dot_66_bar__plus_00_dot_97_bar__plus_01_dot_56) + (cleanable Spoon_bar__minus_01_dot_91_bar__plus_00_dot_70_bar__plus_03_dot_77) + (cleanable Fork_bar__plus_00_dot_70_bar__plus_00_dot_69_bar__plus_02_dot_16) + (cleanable Spoon_bar__minus_01_dot_05_bar__plus_00_dot_90_bar__plus_01_dot_45) + (cleanable Egg_bar__plus_00_dot_93_bar__plus_00_dot_06_bar__plus_02_dot_86) + (cleanable DishSponge_bar__plus_00_dot_93_bar__plus_00_dot_02_bar__plus_02_dot_95) + (cleanable Knife_bar__minus_02_dot_29_bar__plus_00_dot_82_bar__plus_03_dot_62) + (cleanable Mug_bar__minus_01_dot_32_bar__plus_00_dot_90_bar__plus_00_dot_94) + (cleanable Egg_bar__minus_01_dot_14_bar__plus_00_dot_86_bar__plus_03_dot_84) + (cleanable Bowl_bar__minus_01_dot_70_bar__plus_01_dot_68_bar__plus_03_dot_86) + (cleanable Pot_bar__plus_00_dot_91_bar__plus_00_dot_85_bar__plus_01_dot_77) + (cleanable Pot_bar__plus_00_dot_91_bar__plus_00_dot_85_bar__plus_01_dot_38) + (cleanable Pan_bar__minus_02_dot_67_bar__plus_00_dot_81_bar__plus_03_dot_74) + (cleanable Potato_bar__minus_00_dot_79_bar__plus_00_dot_94_bar__plus_01_dot_56) + (cleanable Bowl_bar__minus_02_dot_58_bar__plus_01_dot_63_bar__plus_02_dot_69) + (cleanable Pot_bar__plus_00_dot_64_bar__plus_00_dot_85_bar__plus_01_dot_77) + (cleanable Plate_bar__plus_00_dot_74_bar__plus_00_dot_13_bar__plus_02_dot_53) + (cleanable DishSponge_bar__plus_00_dot_74_bar__plus_00_dot_69_bar__plus_02_dot_53) + (cleanable Spoon_bar__minus_01_dot_42_bar__plus_00_dot_70_bar__plus_03_dot_77) + (cleanable Lettuce_bar__minus_01_dot_32_bar__plus_00_dot_98_bar__plus_01_dot_14) + (cleanable Tomato_bar__minus_00_dot_66_bar__plus_00_dot_97_bar__plus_01_dot_25) + (cleanable Fork_bar__plus_00_dot_74_bar__plus_00_dot_69_bar__plus_01_dot_02) + (cleanable Cup_bar__minus_00_dot_92_bar__plus_00_dot_90_bar__plus_01_dot_56) + (cleanable Egg_bar__plus_01_dot_02_bar__plus_00_dot_86_bar__plus_02_dot_46) + (cleanable Tomato_bar__minus_01_dot_32_bar__plus_00_dot_97_bar__plus_01_dot_56) + + (heatable Cup_bar__minus_02_dot_50_bar__plus_01_dot_63_bar__plus_02_dot_99) + (heatable Apple_bar__minus_02_dot_61_bar__plus_01_dot_67_bar__plus_02_dot_39) + (heatable Cup_bar__minus_00_dot_52_bar__plus_00_dot_90_bar__plus_01_dot_35) + (heatable Tomato_bar__minus_00_dot_66_bar__plus_00_dot_97_bar__plus_01_dot_56) + (heatable Egg_bar__plus_00_dot_93_bar__plus_00_dot_06_bar__plus_02_dot_86) + (heatable Mug_bar__minus_01_dot_32_bar__plus_00_dot_90_bar__plus_00_dot_94) + (heatable Egg_bar__minus_01_dot_14_bar__plus_00_dot_86_bar__plus_03_dot_84) + (heatable Bread_bar__plus_00_dot_83_bar__plus_00_dot_86_bar__plus_02_dot_45) + (heatable Potato_bar__minus_00_dot_79_bar__plus_00_dot_94_bar__plus_01_dot_56) + (heatable Plate_bar__plus_00_dot_74_bar__plus_00_dot_13_bar__plus_02_dot_53) + (heatable Tomato_bar__minus_00_dot_66_bar__plus_00_dot_97_bar__plus_01_dot_25) + (heatable Cup_bar__minus_00_dot_92_bar__plus_00_dot_90_bar__plus_01_dot_56) + (heatable Egg_bar__plus_01_dot_02_bar__plus_00_dot_86_bar__plus_02_dot_46) + (heatable Tomato_bar__minus_01_dot_32_bar__plus_00_dot_97_bar__plus_01_dot_56) + (coolable Cup_bar__minus_02_dot_50_bar__plus_01_dot_63_bar__plus_02_dot_99) + (coolable Apple_bar__minus_02_dot_61_bar__plus_01_dot_67_bar__plus_02_dot_39) + (coolable Cup_bar__minus_00_dot_52_bar__plus_00_dot_90_bar__plus_01_dot_35) + (coolable Lettuce_bar__minus_02_dot_69_bar__plus_01_dot_27_bar__plus_02_dot_17) + (coolable Tomato_bar__minus_00_dot_66_bar__plus_00_dot_97_bar__plus_01_dot_56) + (coolable Egg_bar__plus_00_dot_93_bar__plus_00_dot_06_bar__plus_02_dot_86) + (coolable Mug_bar__minus_01_dot_32_bar__plus_00_dot_90_bar__plus_00_dot_94) + (coolable Egg_bar__minus_01_dot_14_bar__plus_00_dot_86_bar__plus_03_dot_84) + (coolable Bowl_bar__minus_01_dot_70_bar__plus_01_dot_68_bar__plus_03_dot_86) + (coolable Pot_bar__plus_00_dot_91_bar__plus_00_dot_85_bar__plus_01_dot_77) + (coolable Pot_bar__plus_00_dot_91_bar__plus_00_dot_85_bar__plus_01_dot_38) + (coolable Bread_bar__plus_00_dot_83_bar__plus_00_dot_86_bar__plus_02_dot_45) + (coolable Pan_bar__minus_02_dot_67_bar__plus_00_dot_81_bar__plus_03_dot_74) + (coolable Potato_bar__minus_00_dot_79_bar__plus_00_dot_94_bar__plus_01_dot_56) + (coolable Bowl_bar__minus_02_dot_58_bar__plus_01_dot_63_bar__plus_02_dot_69) + (coolable Pot_bar__plus_00_dot_64_bar__plus_00_dot_85_bar__plus_01_dot_77) + (coolable Plate_bar__plus_00_dot_74_bar__plus_00_dot_13_bar__plus_02_dot_53) + (coolable Lettuce_bar__minus_01_dot_32_bar__plus_00_dot_98_bar__plus_01_dot_14) + (coolable Tomato_bar__minus_00_dot_66_bar__plus_00_dot_97_bar__plus_01_dot_25) + (coolable Cup_bar__minus_00_dot_92_bar__plus_00_dot_90_bar__plus_01_dot_56) + (coolable Egg_bar__plus_01_dot_02_bar__plus_00_dot_86_bar__plus_02_dot_46) + (coolable Tomato_bar__minus_01_dot_32_bar__plus_00_dot_97_bar__plus_01_dot_56) + + + + + + (sliceable Apple_bar__minus_02_dot_61_bar__plus_01_dot_67_bar__plus_02_dot_39) + (sliceable Lettuce_bar__minus_02_dot_69_bar__plus_01_dot_27_bar__plus_02_dot_17) + (sliceable Tomato_bar__minus_00_dot_66_bar__plus_00_dot_97_bar__plus_01_dot_56) + (sliceable Egg_bar__plus_00_dot_93_bar__plus_00_dot_06_bar__plus_02_dot_86) + (sliceable Egg_bar__minus_01_dot_14_bar__plus_00_dot_86_bar__plus_03_dot_84) + (sliceable Bread_bar__plus_00_dot_83_bar__plus_00_dot_86_bar__plus_02_dot_45) + (sliceable Potato_bar__minus_00_dot_79_bar__plus_00_dot_94_bar__plus_01_dot_56) + (sliceable Lettuce_bar__minus_01_dot_32_bar__plus_00_dot_98_bar__plus_01_dot_14) + (sliceable Tomato_bar__minus_00_dot_66_bar__plus_00_dot_97_bar__plus_01_dot_25) + (sliceable Egg_bar__plus_01_dot_02_bar__plus_00_dot_86_bar__plus_02_dot_46) + (sliceable Tomato_bar__minus_01_dot_32_bar__plus_00_dot_97_bar__plus_01_dot_56) + + (inReceptacle Fork_bar__plus_00_dot_70_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 Bowl_bar__minus_01_dot_70_bar__plus_01_dot_68_bar__plus_03_dot_86 Cabinet_bar__minus_01_dot_96_bar__plus_01_dot_93_bar__plus_03_dot_73) + (inReceptacle DishSponge_bar__plus_00_dot_74_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) + (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 PaperTowelRoll_bar__plus_00_dot_73_bar__plus_00_dot_93_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_00_dot_65_bar__plus_00_dot_82_bar__plus_01_dot_07 CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_00_dot_98) + (inReceptacle SaltShaker_bar__plus_00_dot_86_bar__plus_00_dot_12_bar__plus_00_dot_90 Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_39_bar__plus_00_dot_82) + (inReceptacle SoapBottle_bar__minus_02_dot_48_bar__plus_01_dot_04_bar__plus_01_dot_22 Cabinet_bar__minus_02_dot_38_bar__plus_01_dot_41_bar__plus_01_dot_68) + (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 Spatula_bar__plus_00_dot_65_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 PepperShaker_bar__plus_00_dot_95_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 Egg_bar__plus_01_dot_02_bar__plus_00_dot_86_bar__plus_02_dot_46 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 PepperShaker_bar__minus_02_dot_50_bar__plus_00_dot_15_bar__plus_01_dot_60 Cabinet_bar__minus_02_dot_38_bar__plus_00_dot_64_bar__plus_01_dot_68) + (inReceptacle Fork_bar__plus_00_dot_74_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 Bowl_bar__minus_02_dot_58_bar__plus_01_dot_63_bar__plus_02_dot_69 Cabinet_bar__minus_02_dot_38_bar__plus_01_dot_69_bar__plus_02_dot_57) + (inReceptacle Cup_bar__minus_02_dot_50_bar__plus_01_dot_63_bar__plus_02_dot_99 Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_03_dot_18) + (inReceptacle Spoon_bar__minus_01_dot_05_bar__plus_00_dot_90_bar__plus_01_dot_45 DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32) + (inReceptacle 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) + (inReceptacle Tomato_bar__minus_00_dot_66_bar__plus_00_dot_97_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_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 Cup_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 Potato_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 ButterKnife_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 Mug_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 Tomato_bar__minus_01_dot_32_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 Tomato_bar__minus_00_dot_66_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 SaltShaker_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 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 PepperShaker_bar__minus_01_dot_72_bar__plus_00_dot_82_bar__plus_04_dot_01 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 Knife_bar__minus_02_dot_29_bar__plus_00_dot_82_bar__plus_03_dot_62 CounterTop_bar__minus_02_dot_08_bar__plus_00_dot_86_bar__plus_03_dot_80) + (inReceptacle Egg_bar__minus_01_dot_14_bar__plus_00_dot_86_bar__plus_03_dot_84 CounterTop_bar__minus_02_dot_08_bar__plus_00_dot_86_bar__plus_03_dot_80) + (inReceptacle SoapBottle_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 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Sink_bar__minus_01_dot_70_bar__plus_00_dot_73_bar__plus_03_dot_83_bar_SinkBasin) + + + (receptacleAtLocation Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_39_bar__plus_00_dot_82 loc_bar_0_bar_5_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_39_bar__plus_02_dot_36 loc_bar__minus_1_bar_11_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_39_bar__plus_02_dot_69 loc_bar__minus_1_bar_12_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__minus_00_dot_42_bar__plus_00_dot_67_bar__plus_03_dot_74 loc_bar__minus_3_bar_12_bar_0_bar_60) + (receptacleAtLocation Cabinet_bar__minus_00_dot_42_bar__plus_01_dot_70_bar__plus_03_dot_74 loc_bar__minus_3_bar_13_bar_0_bar_0) + (receptacleAtLocation Cabinet_bar__minus_01_dot_10_bar__plus_01_dot_93_bar__plus_03_dot_73 loc_bar__minus_6_bar_13_bar_0_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_01_dot_14_bar__plus_00_dot_39_bar__plus_03_dot_52 loc_bar__minus_3_bar_10_bar_0_bar_45) + 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}, + { + "objectName": "Egg_ace268e1", + "position": { + "x": 0.9315196, + "y": 0.0604299344, + "z": 2.85955787 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Cup_45eb0ae6", + "position": { + "x": -2.50219512, + "y": 1.63422668, + "z": 2.98940873 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "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": 0.859734058, + "y": 0.121948123, + "z": 0.9032492 + }, + "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": -2.501377, + "y": 0.1539855, + "z": 1.5970341 + }, + "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": -0.6570292, + "y": 0.969194233, + "z": 1.24653721 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_a0957e87", + "position": { + "x": 0.9315196, + "y": 0.0238121189, + "z": 2.94796038 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Lettuce_6dc531a2", + "position": { + "x": -2.69420981, + "y": 1.26675558, + "z": 2.165714 + }, + "rotation": { + "x": 0.0, + "y": 90.00001, + "z": 0.0 + } + }, + { + "objectName": "Spoon_ac730c84", + "position": { + "x": -1.90968859, + "y": 0.6985743, + "z": 3.7747 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 1.40334191e-14 + } + }, + { + "objectName": "Apple_21fad42f", + "position": { + "x": -2.61205983, + "y": 1.6683619, + "z": 2.38994384 + }, + "rotation": { + "x": 0.0, + "y": 90.00001, + "z": 0.0 + } + }, + { + "objectName": "Knife_b53567ce", + "position": { + "x": -2.291005, + "y": 0.819215238, + "z": 3.61599422 + }, + "rotation": { + "x": 89.97203, + "y": 0.0265246946, + "z": 0.0 + } + }, + { + "objectName": "Mug_2e53b233", + "position": { + "x": -1.31763232, + "y": 0.895620763, + "z": 0.9374153 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Bowl_f44f174d", + "position": { + "x": -1.69768572, + "y": 1.68180025, + "z": 3.85847259 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 2945489005, + "scene_num": 24 + }, + "task_id": "trial_T20190908_033721_967359", + "task_type": "pick_heat_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A2BLQ1GVEHJR8T_32Q90QCQ1V2QNJEA05FKN0E2M8WKEU", + "high_descs": [ + "Turn left and go around the end of the white table on your left and turn to face back toward the stove.", + "Pick up the tomato from the corner of the table.", + "Carry the tomato around the table to the microwave above the stove.", + "Heat the tomato in the microwave.", + "Go to the refrigerator that is behind you to the left.", + "Put the tomato on the center of the shelf that is second from the top in the refrigerator." + ], + "task_desc": "Put a cooked tomato into the refrigerator.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1ELPYAFO7MANS_3BDCF01OG0BZDUDJL63F93JXTKPLYW", + "high_descs": [ + "Turn left and walk to the far end of the table.", + "Pick up the tomato on the table.", + "Turn left and walk to the microwave.", + "Heat the tomato in the microwave.", + "Turn around and veer right to the fridge.", + "Place the tomato in the fridge on the fourth shelf to the bottom." + ], + "task_desc": "Place a heated tomato in a fridge.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AJQGWGESKQT4Y_3LOTDFNYAAG9OX8NKUITTTTXLGNFW6", + "high_descs": [ + "Go left and the turn to the left to stand at the end of the white table near the lettuce.", + "Pick the tomato up from the corner of the white table.", + "Turn around and cross the room to face the microwave.", + "Put the tomato in the microwave and turn it on and then take the tomato out and shut the door.", + "Turn around and then turn right to face the fridge.", + "Put the tomato in the fridge and shut the door." + ], + "task_desc": "Put a heated tomato in the fridge.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/valid_seen/pick_two_obj_and_place-Box-None-CoffeeTable-213/trial_T20190906_200927_069627/game.tw-pddl b/data/alfworld/json_2.1.1/valid_seen/pick_two_obj_and_place-Box-None-CoffeeTable-213/trial_T20190906_200927_069627/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..fc86c9c39f81f2ec77de9d855b6998fd5b6887b2 --- /dev/null +++ b/data/alfworld/json_2.1.1/valid_seen/pick_two_obj_and_place-Box-None-CoffeeTable-213/trial_T20190906_200927_069627/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\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 box 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_T20190906_200927_069627)\n(:domain alfred)\n(:objects\nagent1 - agent\nCurtains - object\n SprayBottle - object\n Mirror - object\n HousePlant - object\n Watch - object\n TeddyBear - object\n WateringCan - object\n Bathtub - object\n LightSwitch - object\n Vase - object\n Candle - object\n Bread - object\n Statue - object\n HandTowel - object\n StoveKnob - object\n PaperTowelRoll - object\n Pan - object\n PepperShaker - object\n Painting - object\n CellPhone - object\n Plunger - object\n Spoon - object\n SaltShaker - object\n KeyChain - object\n Footstool - object\n Poster - object\n Television - object\n LaundryHamperLid - object\n Glassbottle - object\n AlarmClock - object\n WineBottle - object\n Bowl - object\n Sink - object\n TissueBox - object\n TennisRacket - object\n ToiletPaper - object\n ScrubBrush - object\n CreditCard - object\n Laptop - object\n Cloth - object\n Cup - object\n Chair - object\n BasketBall - object\n Kettle - object\n PaperTowel - object\n ShowerDoor - object\n BaseballBat - object\n Potato - object\n Pillow - object\n Lettuce - object\n RemoteControl - object\n Window - object\n DishSponge - object\n CD - object\n Boots - object\n Blinds - object\n Pen - object\n Newspaper - object\n Plate - object\n Mug - object\n ShowerGlass - object\n ToiletPaperRoll - object\n SoapBar - object\n FloorLamp - object\n SoapBottle - object\n Pot - object\n Pencil - object\n Spatula - object\n Towel - object\n Fork - object\n Ladle - object\n Knife - object\n Apple - object\n Box - object\n Tomato - object\n ButterKnife - object\n Egg - object\n Book - object\n DeskLamp - object\nCurtainsType - otype\n SprayBottleType - otype\n MirrorType - otype\n HousePlantType - otype\n WatchType - otype\n TeddyBearType - otype\n WateringCanType - otype\n BathtubType - otype\n LightSwitchType - otype\n VaseType - otype\n CandleType - otype\n BreadType - otype\n StatueType - otype\n HandTowelType - otype\n StoveKnobType - otype\n PaperTowelRollType - otype\n PanType - otype\n PepperShakerType - otype\n PaintingType - otype\n CellPhoneType - otype\n PlungerType - otype\n SpoonType - otype\n SaltShakerType - otype\n KeyChainType - otype\n FootstoolType - otype\n PosterType - otype\n TelevisionType - otype\n LaundryHamperLidType - otype\n GlassbottleType - otype\n AlarmClockType - otype\n WineBottleType - otype\n BowlType - otype\n SinkType - otype\n TissueBoxType - otype\n TennisRacketType - otype\n ToiletPaperType - otype\n ScrubBrushType - otype\n CreditCardType - otype\n LaptopType - otype\n ClothType - otype\n CupType - otype\n ChairType - otype\n BasketBallType - otype\n KettleType - otype\n PaperTowelType - otype\n ShowerDoorType - otype\n BaseballBatType - otype\n PotatoType - otype\n PillowType - otype\n LettuceType - otype\n RemoteControlType - otype\n WindowType - otype\n DishSpongeType - otype\n CDType - otype\n BootsType - otype\n BlindsType - otype\n PenType - otype\n NewspaperType - otype\n PlateType - otype\n MugType - otype\n ShowerGlassType - otype\n ToiletPaperRollType - otype\n SoapBarType - otype\n FloorLampType - otype\n SoapBottleType - otype\n PotType - otype\n PencilType - otype\n SpatulaType - otype\n TowelType - otype\n ForkType - otype\n LadleType - otype\n KnifeType - otype\n AppleType - otype\n BoxType - otype\n TomatoType - otype\n ButterKnifeType - otype\n EggType - otype\n BookType - otype\n DeskLampType - otype\nCabinetType - rtype\n ShelfType - rtype\n DiningTableType - rtype\n TowelHolderType - rtype\n PaintingHangerType - rtype\n TVStandType - rtype\n LaundryHamperType - rtype\n OttomanType - rtype\n SafeType - rtype\n CoffeeMachineType - rtype\n CounterTopType - rtype\n ToiletType - rtype\n FridgeType - rtype\n CoffeeTableType - rtype\n SinkBasinType - rtype\n GarbageCanType - rtype\n BathtubBasinType - rtype\n SideTableType - rtype\n CartType - rtype\n BedType - rtype\n DeskType - rtype\n SofaType - rtype\n ArmChairType - rtype\n MicrowaveType - rtype\n HandTowelHolderType - rtype\n ToasterType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n DrawerType - rtype\n DresserType - rtype\n\n\n Book_bar__plus_08_dot_27_bar__plus_00_dot_40_bar__minus_00_dot_08 - object\n Book_bar__plus_10_dot_65_bar__plus_00_dot_59_bar__plus_00_dot_77 - object\n Book_bar__plus_14_dot_25_bar__plus_00_dot_14_bar__plus_01_dot_68 - object\n Box_bar__plus_11_dot_02_bar__plus_00_dot_71_bar__plus_03_dot_16 - object\n Box_bar__plus_14_dot_23_bar__plus_01_dot_00_bar__plus_00_dot_52 - object\n Box_bar__plus_14_dot_33_bar__plus_01_dot_00_bar__plus_01_dot_83 - object\n Chair_bar__plus_08_dot_16_bar__plus_00_dot_00_bar__plus_01_dot_50 - object\n CreditCard_bar__plus_14_dot_53_bar__plus_00_dot_75_bar__plus_00_dot_52 - object\n FloorLamp_bar__plus_07_dot_86_bar__plus_00_dot_00_bar__plus_03_dot_40 - object\n HousePlant_bar__plus_11_dot_37_bar__plus_00_dot_48_bar__minus_01_dot_14 - object\n KeyChain_bar__plus_14_dot_58_bar__plus_00_dot_52_bar__minus_00_dot_78 - object\n Laptop_bar__plus_09_dot_40_bar__plus_00_dot_43_bar__plus_03_dot_14 - object\n Laptop_bar__plus_11_dot_23_bar__plus_00_dot_59_bar__plus_01_dot_14 - object\n Laptop_bar__plus_11_dot_66_bar__plus_00_dot_45_bar__plus_03_dot_16 - object\n LightSwitch_bar__plus_12_dot_98_bar__plus_01_dot_40_bar__plus_03_dot_77 - object\n Painting_bar__plus_07_dot_49_bar__plus_01_dot_78_bar__plus_01_dot_12 - object\n Painting_bar__plus_07_dot_49_bar__plus_01_dot_84_bar__plus_02_dot_79 - object\n Painting_bar__plus_07_dot_49_bar__plus_01_dot_84_bar__minus_00_dot_50 - object\n Painting_bar__plus_14_dot_76_bar__plus_01_dot_75_bar__plus_01_dot_13 - object\n Pillow_bar__plus_12_dot_05_bar__plus_00_dot_52_bar__plus_03_dot_23 - object\n RemoteControl_bar__plus_11_dot_43_bar__plus_00_dot_59_bar__plus_00_dot_86 - object\n Statue_bar__plus_09_dot_69_bar__plus_00_dot_44_bar__plus_03_dot_14 - object\n Statue_bar__plus_14_dot_23_bar__plus_00_dot_76_bar__plus_01_dot_04 - object\n Television_bar__plus_14_dot_45_bar__plus_01_dot_24_bar__plus_00_dot_93 - object\n Watch_bar__plus_11_dot_23_bar__plus_00_dot_59_bar__plus_00_dot_68 - object\n Watch_bar__plus_14_dot_15_bar__plus_00_dot_55_bar__plus_01_dot_45 - object\n Watch_bar__plus_14_dot_31_bar__plus_00_dot_35_bar__plus_02_dot_25 - object\n Window_bar__plus_10_dot_23_bar__plus_01_dot_69_bar__minus_01_dot_59 - object\n Window_bar__plus_12_dot_03_bar__plus_01_dot_69_bar__minus_01_dot_60 - object\n ArmChair_bar__plus_08_dot_23_bar__plus_00_dot_00_bar__plus_00_dot_77 - receptacle\n ArmChair_bar__plus_08_dot_23_bar__plus_00_dot_00_bar__minus_00_dot_08 - receptacle\n CoffeeTable_bar__plus_10_dot_82_bar__plus_00_dot_01_bar__plus_00_dot_95 - receptacle\n DiningTable_bar__plus_09_dot_50_bar__minus_00_dot_02_bar__plus_03_dot_27 - receptacle\n Drawer_bar__plus_14_dot_18_bar__plus_00_dot_19_bar__plus_00_dot_54 - receptacle\n Drawer_bar__plus_14_dot_18_bar__plus_00_dot_19_bar__plus_01_dot_05 - receptacle\n Drawer_bar__plus_14_dot_18_bar__plus_00_dot_19_bar__plus_01_dot_56 - receptacle\n Drawer_bar__plus_14_dot_18_bar__plus_00_dot_19_bar__plus_02_dot_07 - receptacle\n Drawer_bar__plus_14_dot_18_bar__plus_00_dot_39_bar__plus_00_dot_54 - receptacle\n Drawer_bar__plus_14_dot_18_bar__plus_00_dot_39_bar__plus_01_dot_05 - receptacle\n Drawer_bar__plus_14_dot_18_bar__plus_00_dot_39_bar__plus_01_dot_56 - receptacle\n Drawer_bar__plus_14_dot_18_bar__plus_00_dot_39_bar__plus_02_dot_07 - receptacle\n Drawer_bar__plus_14_dot_18_bar__plus_00_dot_60_bar__plus_00_dot_54 - receptacle\n Drawer_bar__plus_14_dot_18_bar__plus_00_dot_60_bar__plus_01_dot_05 - receptacle\n Drawer_bar__plus_14_dot_18_bar__plus_00_dot_60_bar__plus_01_dot_56 - receptacle\n Drawer_bar__plus_14_dot_18_bar__plus_00_dot_60_bar__plus_02_dot_07 - receptacle\n Dresser_bar__plus_14_dot_33_bar__plus_00_dot_02_bar__plus_01_dot_32 - receptacle\n GarbageCan_bar__plus_07_dot_79_bar__plus_00_dot_00_bar__minus_01_dot_15 - receptacle\n SideTable_bar__plus_11_dot_38_bar__plus_00_dot_00_bar__minus_01_dot_16 - receptacle\n SideTable_bar__plus_12_dot_31_bar__plus_00_dot_01_bar__minus_01_dot_16 - receptacle\n SideTable_bar__plus_14_dot_62_bar__plus_00_dot_00_bar__minus_00_dot_78 - receptacle\n Sofa_bar__plus_11_dot_45_bar__minus_00_dot_07_bar__plus_03_dot_20 - receptacle\n loc_bar_53_bar_6_bar_1_bar_45 - location\n loc_bar_43_bar_8_bar_2_bar_60 - location\n loc_bar_52_bar_4_bar_1_bar_45 - location\n loc_bar_53_bar_4_bar_1_bar_45 - location\n loc_bar_41_bar__minus_4_bar_2_bar_0 - location\n loc_bar_52_bar_0_bar_1_bar_45 - location\n loc_bar_53_bar_10_bar_1_bar_45 - location\n loc_bar_36_bar_3_bar_3_bar_60 - location\n loc_bar_38_bar_9_bar_0_bar_60 - location\n loc_bar_46_bar_8_bar_0_bar_60 - location\n loc_bar_35_bar_4_bar_3_bar_0 - location\n loc_bar_52_bar_6_bar_1_bar_45 - location\n loc_bar_53_bar_7_bar_1_bar_60 - location\n loc_bar_55_bar__minus_1_bar_1_bar_60 - location\n loc_bar_51_bar__minus_1_bar_2_bar_60 - location\n loc_bar_54_bar_5_bar_1_bar_60 - location\n loc_bar_32_bar_11_bar_3_bar__minus_15 - location\n loc_bar_53_bar_3_bar_1_bar_60 - location\n loc_bar_53_bar_8_bar_1_bar_45 - location\n loc_bar_52_bar_13_bar_0_bar_30 - location\n loc_bar_42_bar__minus_3_bar_1_bar_60 - location\n loc_bar_32_bar__minus_3_bar_3_bar__minus_15 - location\n loc_bar_53_bar_5_bar_1_bar_60 - location\n loc_bar_32_bar_11_bar_0_bar_60 - location\n loc_bar_47_bar__minus_3_bar_2_bar_0 - location\n loc_bar_36_bar_0_bar_3_bar_60 - location\n loc_bar_32_bar__minus_3_bar_2_bar_60 - location\n loc_bar_35_bar_6_bar_3_bar_60 - location\n loc_bar_52_bar_2_bar_1_bar_45 - location\n loc_bar_54_bar_5_bar_1_bar_0 - location\n loc_bar_46_bar__minus_1_bar_3_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType SideTable_bar__plus_11_dot_38_bar__plus_00_dot_00_bar__minus_01_dot_16 SideTableType)\n (receptacleType Drawer_bar__plus_14_dot_18_bar__plus_00_dot_19_bar__plus_01_dot_05 DrawerType)\n (receptacleType Drawer_bar__plus_14_dot_18_bar__plus_00_dot_60_bar__plus_02_dot_07 DrawerType)\n (receptacleType DiningTable_bar__plus_09_dot_50_bar__minus_00_dot_02_bar__plus_03_dot_27 DiningTableType)\n (receptacleType SideTable_bar__plus_14_dot_62_bar__plus_00_dot_00_bar__minus_00_dot_78 SideTableType)\n (receptacleType Drawer_bar__plus_14_dot_18_bar__plus_00_dot_39_bar__plus_01_dot_05 DrawerType)\n (receptacleType Sofa_bar__plus_11_dot_45_bar__minus_00_dot_07_bar__plus_03_dot_20 SofaType)\n (receptacleType Drawer_bar__plus_14_dot_18_bar__plus_00_dot_19_bar__plus_01_dot_56 DrawerType)\n (receptacleType Drawer_bar__plus_14_dot_18_bar__plus_00_dot_39_bar__plus_02_dot_07 DrawerType)\n (receptacleType GarbageCan_bar__plus_07_dot_79_bar__plus_00_dot_00_bar__minus_01_dot_15 GarbageCanType)\n (receptacleType CoffeeTable_bar__plus_10_dot_82_bar__plus_00_dot_01_bar__plus_00_dot_95 CoffeeTableType)\n (receptacleType ArmChair_bar__plus_08_dot_23_bar__plus_00_dot_00_bar__minus_00_dot_08 ArmChairType)\n (receptacleType SideTable_bar__plus_12_dot_31_bar__plus_00_dot_01_bar__minus_01_dot_16 SideTableType)\n (receptacleType Drawer_bar__plus_14_dot_18_bar__plus_00_dot_19_bar__plus_02_dot_07 DrawerType)\n (receptacleType Drawer_bar__plus_14_dot_18_bar__plus_00_dot_19_bar__plus_00_dot_54 DrawerType)\n (receptacleType Drawer_bar__plus_14_dot_18_bar__plus_00_dot_60_bar__plus_00_dot_54 DrawerType)\n (receptacleType Drawer_bar__plus_14_dot_18_bar__plus_00_dot_60_bar__plus_01_dot_56 DrawerType)\n (receptacleType Dresser_bar__plus_14_dot_33_bar__plus_00_dot_02_bar__plus_01_dot_32 DresserType)\n (receptacleType Drawer_bar__plus_14_dot_18_bar__plus_00_dot_60_bar__plus_01_dot_05 DrawerType)\n (receptacleType Drawer_bar__plus_14_dot_18_bar__plus_00_dot_39_bar__plus_00_dot_54 DrawerType)\n (receptacleType Drawer_bar__plus_14_dot_18_bar__plus_00_dot_39_bar__plus_01_dot_56 DrawerType)\n (receptacleType ArmChair_bar__plus_08_dot_23_bar__plus_00_dot_00_bar__plus_00_dot_77 ArmChairType)\n (objectType Book_bar__plus_14_dot_25_bar__plus_00_dot_14_bar__plus_01_dot_68 BookType)\n (objectType Statue_bar__plus_09_dot_69_bar__plus_00_dot_44_bar__plus_03_dot_14 StatueType)\n (objectType Watch_bar__plus_14_dot_31_bar__plus_00_dot_35_bar__plus_02_dot_25 WatchType)\n (objectType KeyChain_bar__plus_14_dot_58_bar__plus_00_dot_52_bar__minus_00_dot_78 KeyChainType)\n (objectType Watch_bar__plus_11_dot_23_bar__plus_00_dot_59_bar__plus_00_dot_68 WatchType)\n (objectType Book_bar__plus_10_dot_65_bar__plus_00_dot_59_bar__plus_00_dot_77 BookType)\n (objectType Pillow_bar__plus_12_dot_05_bar__plus_00_dot_52_bar__plus_03_dot_23 PillowType)\n (objectType Laptop_bar__plus_11_dot_66_bar__plus_00_dot_45_bar__plus_03_dot_16 LaptopType)\n (objectType Watch_bar__plus_14_dot_15_bar__plus_00_dot_55_bar__plus_01_dot_45 WatchType)\n (objectType LightSwitch_bar__plus_12_dot_98_bar__plus_01_dot_40_bar__plus_03_dot_77 LightSwitchType)\n (objectType Painting_bar__plus_07_dot_49_bar__plus_01_dot_84_bar__plus_02_dot_79 PaintingType)\n (objectType Television_bar__plus_14_dot_45_bar__plus_01_dot_24_bar__plus_00_dot_93 TelevisionType)\n (objectType Window_bar__plus_10_dot_23_bar__plus_01_dot_69_bar__minus_01_dot_59 WindowType)\n (objectType Painting_bar__plus_07_dot_49_bar__plus_01_dot_78_bar__plus_01_dot_12 PaintingType)\n (objectType CreditCard_bar__plus_14_dot_53_bar__plus_00_dot_75_bar__plus_00_dot_52 CreditCardType)\n (objectType Box_bar__plus_14_dot_33_bar__plus_01_dot_00_bar__plus_01_dot_83 BoxType)\n (objectType Painting_bar__plus_14_dot_76_bar__plus_01_dot_75_bar__plus_01_dot_13 PaintingType)\n (objectType RemoteControl_bar__plus_11_dot_43_bar__plus_00_dot_59_bar__plus_00_dot_86 RemoteControlType)\n (objectType HousePlant_bar__plus_11_dot_37_bar__plus_00_dot_48_bar__minus_01_dot_14 HousePlantType)\n (objectType Laptop_bar__plus_11_dot_23_bar__plus_00_dot_59_bar__plus_01_dot_14 LaptopType)\n (objectType Laptop_bar__plus_09_dot_40_bar__plus_00_dot_43_bar__plus_03_dot_14 LaptopType)\n (objectType Window_bar__plus_12_dot_03_bar__plus_01_dot_69_bar__minus_01_dot_60 WindowType)\n (objectType FloorLamp_bar__plus_07_dot_86_bar__plus_00_dot_00_bar__plus_03_dot_40 FloorLampType)\n (objectType Statue_bar__plus_14_dot_23_bar__plus_00_dot_76_bar__plus_01_dot_04 StatueType)\n (objectType Book_bar__plus_08_dot_27_bar__plus_00_dot_40_bar__minus_00_dot_08 BookType)\n (objectType Box_bar__plus_11_dot_02_bar__plus_00_dot_71_bar__plus_03_dot_16 BoxType)\n (objectType Box_bar__plus_14_dot_23_bar__plus_01_dot_00_bar__plus_00_dot_52 BoxType)\n (objectType Chair_bar__plus_08_dot_16_bar__plus_00_dot_00_bar__plus_01_dot_50 ChairType)\n (objectType Painting_bar__plus_07_dot_49_bar__plus_01_dot_84_bar__minus_00_dot_50 PaintingType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType WatchType)\n (canContain SideTableType RemoteControlType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType StatueType)\n (canContain SideTableType BoxType)\n (canContain SideTableType BookType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType WatchType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType BookType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType WatchType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType BookType)\n (canContain DiningTableType KeyChainType)\n (canContain DiningTableType WatchType)\n (canContain DiningTableType RemoteControlType)\n (canContain DiningTableType CreditCardType)\n (canContain DiningTableType LaptopType)\n (canContain DiningTableType StatueType)\n (canContain DiningTableType BoxType)\n (canContain DiningTableType BookType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType WatchType)\n (canContain SideTableType RemoteControlType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType StatueType)\n (canContain SideTableType BoxType)\n (canContain SideTableType BookType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType WatchType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType BookType)\n (canContain SofaType PillowType)\n (canContain SofaType RemoteControlType)\n (canContain SofaType KeyChainType)\n (canContain SofaType LaptopType)\n (canContain SofaType CreditCardType)\n (canContain SofaType BoxType)\n (canContain SofaType BookType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType WatchType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType BookType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType WatchType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType BookType)\n (canContain CoffeeTableType KeyChainType)\n (canContain CoffeeTableType WatchType)\n (canContain CoffeeTableType RemoteControlType)\n (canContain CoffeeTableType CreditCardType)\n (canContain CoffeeTableType LaptopType)\n (canContain CoffeeTableType StatueType)\n (canContain CoffeeTableType BoxType)\n (canContain CoffeeTableType BookType)\n (canContain ArmChairType PillowType)\n (canContain ArmChairType RemoteControlType)\n (canContain ArmChairType KeyChainType)\n (canContain ArmChairType LaptopType)\n (canContain ArmChairType CreditCardType)\n (canContain ArmChairType BoxType)\n (canContain ArmChairType BookType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType WatchType)\n (canContain SideTableType RemoteControlType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType StatueType)\n (canContain SideTableType BoxType)\n (canContain SideTableType BookType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType WatchType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType BookType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType WatchType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType BookType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType WatchType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType BookType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType WatchType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType BookType)\n (canContain DresserType KeyChainType)\n (canContain DresserType WatchType)\n (canContain DresserType RemoteControlType)\n (canContain DresserType CreditCardType)\n (canContain DresserType LaptopType)\n (canContain DresserType StatueType)\n (canContain DresserType BoxType)\n (canContain DresserType BookType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType WatchType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType BookType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType WatchType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType BookType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType WatchType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType BookType)\n (canContain ArmChairType PillowType)\n (canContain ArmChairType RemoteControlType)\n (canContain ArmChairType KeyChainType)\n (canContain ArmChairType LaptopType)\n (canContain ArmChairType CreditCardType)\n (canContain ArmChairType BoxType)\n (canContain ArmChairType BookType)\n (pickupable Book_bar__plus_14_dot_25_bar__plus_00_dot_14_bar__plus_01_dot_68)\n (pickupable Statue_bar__plus_09_dot_69_bar__plus_00_dot_44_bar__plus_03_dot_14)\n (pickupable Watch_bar__plus_14_dot_31_bar__plus_00_dot_35_bar__plus_02_dot_25)\n (pickupable KeyChain_bar__plus_14_dot_58_bar__plus_00_dot_52_bar__minus_00_dot_78)\n (pickupable Watch_bar__plus_11_dot_23_bar__plus_00_dot_59_bar__plus_00_dot_68)\n (pickupable Book_bar__plus_10_dot_65_bar__plus_00_dot_59_bar__plus_00_dot_77)\n (pickupable Pillow_bar__plus_12_dot_05_bar__plus_00_dot_52_bar__plus_03_dot_23)\n (pickupable Laptop_bar__plus_11_dot_66_bar__plus_00_dot_45_bar__plus_03_dot_16)\n (pickupable Watch_bar__plus_14_dot_15_bar__plus_00_dot_55_bar__plus_01_dot_45)\n (pickupable CreditCard_bar__plus_14_dot_53_bar__plus_00_dot_75_bar__plus_00_dot_52)\n (pickupable Box_bar__plus_14_dot_33_bar__plus_01_dot_00_bar__plus_01_dot_83)\n (pickupable RemoteControl_bar__plus_11_dot_43_bar__plus_00_dot_59_bar__plus_00_dot_86)\n (pickupable Laptop_bar__plus_11_dot_23_bar__plus_00_dot_59_bar__plus_01_dot_14)\n (pickupable Laptop_bar__plus_09_dot_40_bar__plus_00_dot_43_bar__plus_03_dot_14)\n (pickupable Statue_bar__plus_14_dot_23_bar__plus_00_dot_76_bar__plus_01_dot_04)\n (pickupable Book_bar__plus_08_dot_27_bar__plus_00_dot_40_bar__minus_00_dot_08)\n (pickupable Box_bar__plus_11_dot_02_bar__plus_00_dot_71_bar__plus_03_dot_16)\n (pickupable Box_bar__plus_14_dot_23_bar__plus_01_dot_00_bar__plus_00_dot_52)\n (isReceptacleObject Box_bar__plus_14_dot_33_bar__plus_01_dot_00_bar__plus_01_dot_83)\n (isReceptacleObject Box_bar__plus_11_dot_02_bar__plus_00_dot_71_bar__plus_03_dot_16)\n (isReceptacleObject Box_bar__plus_14_dot_23_bar__plus_01_dot_00_bar__plus_00_dot_52)\n (openable Drawer_bar__plus_14_dot_18_bar__plus_00_dot_19_bar__plus_01_dot_05)\n (openable Drawer_bar__plus_14_dot_18_bar__plus_00_dot_60_bar__plus_02_dot_07)\n (openable Drawer_bar__plus_14_dot_18_bar__plus_00_dot_39_bar__plus_01_dot_05)\n (openable Drawer_bar__plus_14_dot_18_bar__plus_00_dot_19_bar__plus_01_dot_56)\n (openable Drawer_bar__plus_14_dot_18_bar__plus_00_dot_39_bar__plus_02_dot_07)\n (openable Drawer_bar__plus_14_dot_18_bar__plus_00_dot_19_bar__plus_02_dot_07)\n (openable Drawer_bar__plus_14_dot_18_bar__plus_00_dot_19_bar__plus_00_dot_54)\n (openable Drawer_bar__plus_14_dot_18_bar__plus_00_dot_60_bar__plus_00_dot_54)\n (openable Drawer_bar__plus_14_dot_18_bar__plus_00_dot_60_bar__plus_01_dot_56)\n (openable Drawer_bar__plus_14_dot_18_bar__plus_00_dot_60_bar__plus_01_dot_05)\n (openable Drawer_bar__plus_14_dot_18_bar__plus_00_dot_39_bar__plus_00_dot_54)\n (openable Drawer_bar__plus_14_dot_18_bar__plus_00_dot_39_bar__plus_01_dot_56)\n \n (atLocation agent1 loc_bar_46_bar__minus_1_bar_3_bar_30)\n \n \n \n \n \n \n \n (toggleable FloorLamp_bar__plus_07_dot_86_bar__plus_00_dot_00_bar__plus_03_dot_40)\n \n \n \n \n (inReceptacle Box_bar__plus_11_dot_02_bar__plus_00_dot_71_bar__plus_03_dot_16 Sofa_bar__plus_11_dot_45_bar__minus_00_dot_07_bar__plus_03_dot_20)\n (inReceptacle Laptop_bar__plus_11_dot_66_bar__plus_00_dot_45_bar__plus_03_dot_16 Sofa_bar__plus_11_dot_45_bar__minus_00_dot_07_bar__plus_03_dot_20)\n (inReceptacle Pillow_bar__plus_12_dot_05_bar__plus_00_dot_52_bar__plus_03_dot_23 Sofa_bar__plus_11_dot_45_bar__minus_00_dot_07_bar__plus_03_dot_20)\n (inReceptacle Statue_bar__plus_09_dot_69_bar__plus_00_dot_44_bar__plus_03_dot_14 DiningTable_bar__plus_09_dot_50_bar__minus_00_dot_02_bar__plus_03_dot_27)\n (inReceptacle Laptop_bar__plus_09_dot_40_bar__plus_00_dot_43_bar__plus_03_dot_14 DiningTable_bar__plus_09_dot_50_bar__minus_00_dot_02_bar__plus_03_dot_27)\n (inReceptacle KeyChain_bar__plus_14_dot_58_bar__plus_00_dot_52_bar__minus_00_dot_78 SideTable_bar__plus_14_dot_62_bar__plus_00_dot_00_bar__minus_00_dot_78)\n (inReceptacle Statue_bar__plus_14_dot_23_bar__plus_00_dot_76_bar__plus_01_dot_04 Dresser_bar__plus_14_dot_33_bar__plus_00_dot_02_bar__plus_01_dot_32)\n (inReceptacle Box_bar__plus_14_dot_23_bar__plus_01_dot_00_bar__plus_00_dot_52 Dresser_bar__plus_14_dot_33_bar__plus_00_dot_02_bar__plus_01_dot_32)\n (inReceptacle CreditCard_bar__plus_14_dot_53_bar__plus_00_dot_75_bar__plus_00_dot_52 Dresser_bar__plus_14_dot_33_bar__plus_00_dot_02_bar__plus_01_dot_32)\n (inReceptacle Television_bar__plus_14_dot_45_bar__plus_01_dot_24_bar__plus_00_dot_93 Dresser_bar__plus_14_dot_33_bar__plus_00_dot_02_bar__plus_01_dot_32)\n (inReceptacle Box_bar__plus_14_dot_33_bar__plus_01_dot_00_bar__plus_01_dot_83 Dresser_bar__plus_14_dot_33_bar__plus_00_dot_02_bar__plus_01_dot_32)\n (inReceptacle Watch_bar__plus_14_dot_15_bar__plus_00_dot_55_bar__plus_01_dot_45 Drawer_bar__plus_14_dot_18_bar__plus_00_dot_60_bar__plus_01_dot_56)\n (inReceptacle Book_bar__plus_14_dot_25_bar__plus_00_dot_14_bar__plus_01_dot_68 Drawer_bar__plus_14_dot_18_bar__plus_00_dot_19_bar__plus_01_dot_56)\n (inReceptacle RemoteControl_bar__plus_11_dot_43_bar__plus_00_dot_59_bar__plus_00_dot_86 CoffeeTable_bar__plus_10_dot_82_bar__plus_00_dot_01_bar__plus_00_dot_95)\n (inReceptacle Watch_bar__plus_11_dot_23_bar__plus_00_dot_59_bar__plus_00_dot_68 CoffeeTable_bar__plus_10_dot_82_bar__plus_00_dot_01_bar__plus_00_dot_95)\n (inReceptacle Book_bar__plus_10_dot_65_bar__plus_00_dot_59_bar__plus_00_dot_77 CoffeeTable_bar__plus_10_dot_82_bar__plus_00_dot_01_bar__plus_00_dot_95)\n (inReceptacle Laptop_bar__plus_11_dot_23_bar__plus_00_dot_59_bar__plus_01_dot_14 CoffeeTable_bar__plus_10_dot_82_bar__plus_00_dot_01_bar__plus_00_dot_95)\n (inReceptacle Book_bar__plus_08_dot_27_bar__plus_00_dot_40_bar__minus_00_dot_08 ArmChair_bar__plus_08_dot_23_bar__plus_00_dot_00_bar__minus_00_dot_08)\n (inReceptacle Watch_bar__plus_14_dot_31_bar__plus_00_dot_35_bar__plus_02_dot_25 Drawer_bar__plus_14_dot_18_bar__plus_00_dot_39_bar__plus_02_dot_07)\n (inReceptacle HousePlant_bar__plus_11_dot_37_bar__plus_00_dot_48_bar__minus_01_dot_14 SideTable_bar__plus_11_dot_38_bar__plus_00_dot_00_bar__minus_01_dot_16)\n \n \n (receptacleAtLocation ArmChair_bar__plus_08_dot_23_bar__plus_00_dot_00_bar__plus_00_dot_77 loc_bar_36_bar_3_bar_3_bar_60)\n (receptacleAtLocation ArmChair_bar__plus_08_dot_23_bar__plus_00_dot_00_bar__minus_00_dot_08 loc_bar_36_bar_0_bar_3_bar_60)\n (receptacleAtLocation CoffeeTable_bar__plus_10_dot_82_bar__plus_00_dot_01_bar__plus_00_dot_95 loc_bar_43_bar_8_bar_2_bar_60)\n (receptacleAtLocation DiningTable_bar__plus_09_dot_50_bar__minus_00_dot_02_bar__plus_03_dot_27 loc_bar_38_bar_9_bar_0_bar_60)\n (receptacleAtLocation Drawer_bar__plus_14_dot_18_bar__plus_00_dot_19_bar__plus_00_dot_54 loc_bar_52_bar_0_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_14_dot_18_bar__plus_00_dot_19_bar__plus_01_dot_05 loc_bar_52_bar_2_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_14_dot_18_bar__plus_00_dot_19_bar__plus_01_dot_56 loc_bar_52_bar_4_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_14_dot_18_bar__plus_00_dot_19_bar__plus_02_dot_07 loc_bar_52_bar_6_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_14_dot_18_bar__plus_00_dot_39_bar__plus_00_dot_54 loc_bar_53_bar_3_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_14_dot_18_bar__plus_00_dot_39_bar__plus_01_dot_05 loc_bar_53_bar_3_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_14_dot_18_bar__plus_00_dot_39_bar__plus_01_dot_56 loc_bar_53_bar_5_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_14_dot_18_bar__plus_00_dot_39_bar__plus_02_dot_07 loc_bar_53_bar_7_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_14_dot_18_bar__plus_00_dot_60_bar__plus_00_dot_54 loc_bar_53_bar_4_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_14_dot_18_bar__plus_00_dot_60_bar__plus_01_dot_05 loc_bar_53_bar_6_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_14_dot_18_bar__plus_00_dot_60_bar__plus_01_dot_56 loc_bar_53_bar_8_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_14_dot_18_bar__plus_00_dot_60_bar__plus_02_dot_07 loc_bar_53_bar_10_bar_1_bar_45)\n (receptacleAtLocation Dresser_bar__plus_14_dot_33_bar__plus_00_dot_02_bar__plus_01_dot_32 loc_bar_54_bar_5_bar_1_bar_60)\n (receptacleAtLocation GarbageCan_bar__plus_07_dot_79_bar__plus_00_dot_00_bar__minus_01_dot_15 loc_bar_32_bar__minus_3_bar_2_bar_60)\n (receptacleAtLocation SideTable_bar__plus_11_dot_38_bar__plus_00_dot_00_bar__minus_01_dot_16 loc_bar_42_bar__minus_3_bar_1_bar_60)\n (receptacleAtLocation SideTable_bar__plus_12_dot_31_bar__plus_00_dot_01_bar__minus_01_dot_16 loc_bar_51_bar__minus_1_bar_2_bar_60)\n (receptacleAtLocation SideTable_bar__plus_14_dot_62_bar__plus_00_dot_00_bar__minus_00_dot_78 loc_bar_55_bar__minus_1_bar_1_bar_60)\n (receptacleAtLocation Sofa_bar__plus_11_dot_45_bar__minus_00_dot_07_bar__plus_03_dot_20 loc_bar_46_bar_8_bar_0_bar_60)\n (objectAtLocation Watch_bar__plus_14_dot_15_bar__plus_00_dot_55_bar__plus_01_dot_45 loc_bar_53_bar_8_bar_1_bar_45)\n (objectAtLocation Laptop_bar__plus_11_dot_23_bar__plus_00_dot_59_bar__plus_01_dot_14 loc_bar_43_bar_8_bar_2_bar_60)\n (objectAtLocation Statue_bar__plus_14_dot_23_bar__plus_00_dot_76_bar__plus_01_dot_04 loc_bar_54_bar_5_bar_1_bar_60)\n (objectAtLocation Box_bar__plus_11_dot_02_bar__plus_00_dot_71_bar__plus_03_dot_16 loc_bar_46_bar_8_bar_0_bar_60)\n (objectAtLocation Book_bar__plus_08_dot_27_bar__plus_00_dot_40_bar__minus_00_dot_08 loc_bar_36_bar_0_bar_3_bar_60)\n (objectAtLocation Laptop_bar__plus_11_dot_66_bar__plus_00_dot_45_bar__plus_03_dot_16 loc_bar_46_bar_8_bar_0_bar_60)\n (objectAtLocation Box_bar__plus_14_dot_33_bar__plus_01_dot_00_bar__plus_01_dot_83 loc_bar_54_bar_5_bar_1_bar_60)\n (objectAtLocation Book_bar__plus_10_dot_65_bar__plus_00_dot_59_bar__plus_00_dot_77 loc_bar_43_bar_8_bar_2_bar_60)\n (objectAtLocation Watch_bar__plus_14_dot_31_bar__plus_00_dot_35_bar__plus_02_dot_25 loc_bar_53_bar_7_bar_1_bar_60)\n (objectAtLocation Book_bar__plus_14_dot_25_bar__plus_00_dot_14_bar__plus_01_dot_68 loc_bar_52_bar_4_bar_1_bar_45)\n (objectAtLocation Chair_bar__plus_08_dot_16_bar__plus_00_dot_00_bar__plus_01_dot_50 loc_bar_35_bar_6_bar_3_bar_60)\n (objectAtLocation Box_bar__plus_14_dot_23_bar__plus_01_dot_00_bar__plus_00_dot_52 loc_bar_54_bar_5_bar_1_bar_60)\n (objectAtLocation FloorLamp_bar__plus_07_dot_86_bar__plus_00_dot_00_bar__plus_03_dot_40 loc_bar_32_bar_11_bar_0_bar_60)\n (objectAtLocation CreditCard_bar__plus_14_dot_53_bar__plus_00_dot_75_bar__plus_00_dot_52 loc_bar_54_bar_5_bar_1_bar_60)\n (objectAtLocation KeyChain_bar__plus_14_dot_58_bar__plus_00_dot_52_bar__minus_00_dot_78 loc_bar_55_bar__minus_1_bar_1_bar_60)\n (objectAtLocation Painting_bar__plus_07_dot_49_bar__plus_01_dot_84_bar__minus_00_dot_50 loc_bar_32_bar__minus_3_bar_3_bar__minus_15)\n (objectAtLocation Painting_bar__plus_07_dot_49_bar__plus_01_dot_84_bar__plus_02_dot_79 loc_bar_32_bar_11_bar_3_bar__minus_15)\n (objectAtLocation Television_bar__plus_14_dot_45_bar__plus_01_dot_24_bar__plus_00_dot_93 loc_bar_54_bar_5_bar_1_bar_60)\n (objectAtLocation Pillow_bar__plus_12_dot_05_bar__plus_00_dot_52_bar__plus_03_dot_23 loc_bar_46_bar_8_bar_0_bar_60)\n (objectAtLocation Statue_bar__plus_09_dot_69_bar__plus_00_dot_44_bar__plus_03_dot_14 loc_bar_38_bar_9_bar_0_bar_60)\n (objectAtLocation LightSwitch_bar__plus_12_dot_98_bar__plus_01_dot_40_bar__plus_03_dot_77 loc_bar_52_bar_13_bar_0_bar_30)\n (objectAtLocation Painting_bar__plus_07_dot_49_bar__plus_01_dot_78_bar__plus_01_dot_12 loc_bar_35_bar_4_bar_3_bar_0)\n (objectAtLocation Painting_bar__plus_14_dot_76_bar__plus_01_dot_75_bar__plus_01_dot_13 loc_bar_54_bar_5_bar_1_bar_0)\n (objectAtLocation Laptop_bar__plus_09_dot_40_bar__plus_00_dot_43_bar__plus_03_dot_14 loc_bar_38_bar_9_bar_0_bar_60)\n (objectAtLocation RemoteControl_bar__plus_11_dot_43_bar__plus_00_dot_59_bar__plus_00_dot_86 loc_bar_43_bar_8_bar_2_bar_60)\n (objectAtLocation Watch_bar__plus_11_dot_23_bar__plus_00_dot_59_bar__plus_00_dot_68 loc_bar_43_bar_8_bar_2_bar_60)\n (objectAtLocation HousePlant_bar__plus_11_dot_37_bar__plus_00_dot_48_bar__minus_01_dot_14 loc_bar_42_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Window_bar__plus_12_dot_03_bar__plus_01_dot_69_bar__minus_01_dot_60 loc_bar_47_bar__minus_3_bar_2_bar_0)\n (objectAtLocation Window_bar__plus_10_dot_23_bar__plus_01_dot_69_bar__minus_01_dot_59 loc_bar_41_bar__minus_4_bar_2_bar_0)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o1 - object)\n (and\n (objectType ?o1 BoxType)\n (receptacleType ?r CoffeeTableType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 BoxType)\n (receptacleType ?r CoffeeTableType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to sofa 1", "take box 3 from sofa 1", "go to coffeetable 1", "move box 3 to coffeetable 1", "go to dresser 1", "take box 2 from dresser 1", "go to coffeetable 1", "move box 2 to coffeetable 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/valid_seen/pick_two_obj_and_place-Box-None-CoffeeTable-213/trial_T20190906_200927_069627/initial_state.pddl b/data/alfworld/json_2.1.1/valid_seen/pick_two_obj_and_place-Box-None-CoffeeTable-213/trial_T20190906_200927_069627/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..d739079b1cad2cf89fbd6f635d38230a268af351 --- /dev/null +++ b/data/alfworld/json_2.1.1/valid_seen/pick_two_obj_and_place-Box-None-CoffeeTable-213/trial_T20190906_200927_069627/initial_state.pddl @@ -0,0 +1,609 @@ + +(define (problem plan_trial_T20190906_200927_069627) +(:domain alfred) +(:objects +agent1 - agent +Curtains - object + SprayBottle - object + Mirror - object + HousePlant - object + Watch - object + TeddyBear - object + WateringCan - object + Bathtub - object + LightSwitch - object + Vase - object + Candle - object + Bread - object + Statue - object + HandTowel - object + StoveKnob - object + PaperTowelRoll - object + Pan - object + PepperShaker - object + Painting - object + CellPhone - object + Plunger - object + Spoon - object + SaltShaker - object + KeyChain - object + Footstool - object + Poster - object + Television - object + LaundryHamperLid - object + Glassbottle - object + AlarmClock - object + WineBottle - object + Bowl - object + Sink - object + TissueBox - object + TennisRacket - object + ToiletPaper - object + ScrubBrush - object + CreditCard - object + Laptop - object + Cloth - object + Cup - object + Chair - object + BasketBall - object + Kettle - object + PaperTowel - object + ShowerDoor - object + BaseballBat - object + Potato - object + Pillow - object + Lettuce - object + RemoteControl - object + Window - object + DishSponge - object + CD - object + Boots - object + Blinds - object + Pen - object + Newspaper - object + Plate - object + Mug - object + ShowerGlass - object + ToiletPaperRoll - object + SoapBar - object + FloorLamp - object + SoapBottle - object + Pot - object + Pencil - object + Spatula - object + Towel - object + Fork - object + Ladle - object + Knife - object + Apple - object + Box - object + Tomato - object + ButterKnife - object + Egg - object + Book - object + DeskLamp - object +CurtainsType - otype + SprayBottleType - otype + MirrorType - otype + HousePlantType - otype + WatchType - otype + TeddyBearType - otype + WateringCanType - otype + BathtubType - otype + LightSwitchType - otype + VaseType - otype + CandleType - otype + BreadType - otype + StatueType - otype + HandTowelType - otype + StoveKnobType - otype + PaperTowelRollType - otype + PanType - otype + PepperShakerType - otype + PaintingType - otype + CellPhoneType - otype + PlungerType - otype + SpoonType - otype + SaltShakerType - otype + KeyChainType - otype + FootstoolType - otype + PosterType - otype + TelevisionType - otype + LaundryHamperLidType - otype + GlassbottleType - otype + AlarmClockType - otype + WineBottleType - otype + BowlType - otype + SinkType - otype + TissueBoxType - otype + TennisRacketType - otype + ToiletPaperType - otype + ScrubBrushType - otype + CreditCardType - otype + LaptopType - otype + ClothType - otype + CupType - otype + ChairType - otype + BasketBallType - otype + KettleType - otype + PaperTowelType - otype + ShowerDoorType - otype + BaseballBatType - otype + PotatoType - otype + PillowType - otype + LettuceType - otype + RemoteControlType - otype + WindowType - otype + DishSpongeType - otype + CDType - otype + BootsType - otype + BlindsType - otype + PenType - otype + NewspaperType - otype + PlateType - otype + MugType - otype + ShowerGlassType - otype + ToiletPaperRollType - otype + SoapBarType - otype + FloorLampType - otype + SoapBottleType - otype + PotType - otype + PencilType - otype + SpatulaType - otype + TowelType - otype + ForkType - otype + LadleType - otype + KnifeType - otype + AppleType - otype + BoxType - otype + TomatoType - otype + ButterKnifeType - otype + EggType - otype + BookType - otype + DeskLampType - otype +CabinetType - rtype + ShelfType - rtype + DiningTableType - rtype + TowelHolderType - rtype + PaintingHangerType - rtype + TVStandType - rtype + LaundryHamperType - rtype + OttomanType - rtype + SafeType - rtype + CoffeeMachineType - rtype + CounterTopType - rtype + ToiletType - rtype + FridgeType - rtype + CoffeeTableType - rtype + SinkBasinType - rtype + GarbageCanType - rtype + BathtubBasinType - rtype + SideTableType - rtype + CartType - rtype + BedType - rtype + DeskType - rtype + SofaType - rtype + ArmChairType - rtype + MicrowaveType - rtype + HandTowelHolderType - rtype + ToasterType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + DrawerType - rtype + DresserType - rtype + + + Book_bar__plus_08_dot_27_bar__plus_00_dot_40_bar__minus_00_dot_08 - object + Book_bar__plus_10_dot_65_bar__plus_00_dot_59_bar__plus_00_dot_77 - object + Book_bar__plus_14_dot_25_bar__plus_00_dot_14_bar__plus_01_dot_68 - object + Box_bar__plus_11_dot_02_bar__plus_00_dot_71_bar__plus_03_dot_16 - object + Box_bar__plus_14_dot_23_bar__plus_01_dot_00_bar__plus_00_dot_52 - object + Box_bar__plus_14_dot_33_bar__plus_01_dot_00_bar__plus_01_dot_83 - object + Chair_bar__plus_08_dot_16_bar__plus_00_dot_00_bar__plus_01_dot_50 - object + CreditCard_bar__plus_14_dot_53_bar__plus_00_dot_75_bar__plus_00_dot_52 - object + FloorLamp_bar__plus_07_dot_86_bar__plus_00_dot_00_bar__plus_03_dot_40 - object + HousePlant_bar__plus_11_dot_37_bar__plus_00_dot_48_bar__minus_01_dot_14 - object + KeyChain_bar__plus_14_dot_58_bar__plus_00_dot_52_bar__minus_00_dot_78 - object + Laptop_bar__plus_09_dot_40_bar__plus_00_dot_43_bar__plus_03_dot_14 - object + Laptop_bar__plus_11_dot_23_bar__plus_00_dot_59_bar__plus_01_dot_14 - object + Laptop_bar__plus_11_dot_66_bar__plus_00_dot_45_bar__plus_03_dot_16 - object + LightSwitch_bar__plus_12_dot_98_bar__plus_01_dot_40_bar__plus_03_dot_77 - object + Painting_bar__plus_07_dot_49_bar__plus_01_dot_78_bar__plus_01_dot_12 - object + Painting_bar__plus_07_dot_49_bar__plus_01_dot_84_bar__plus_02_dot_79 - object + Painting_bar__plus_07_dot_49_bar__plus_01_dot_84_bar__minus_00_dot_50 - object + Painting_bar__plus_14_dot_76_bar__plus_01_dot_75_bar__plus_01_dot_13 - object + Pillow_bar__plus_12_dot_05_bar__plus_00_dot_52_bar__plus_03_dot_23 - object + RemoteControl_bar__plus_11_dot_43_bar__plus_00_dot_59_bar__plus_00_dot_86 - object + Statue_bar__plus_09_dot_69_bar__plus_00_dot_44_bar__plus_03_dot_14 - object + Statue_bar__plus_14_dot_23_bar__plus_00_dot_76_bar__plus_01_dot_04 - object + Television_bar__plus_14_dot_45_bar__plus_01_dot_24_bar__plus_00_dot_93 - object + Watch_bar__plus_11_dot_23_bar__plus_00_dot_59_bar__plus_00_dot_68 - object + Watch_bar__plus_14_dot_15_bar__plus_00_dot_55_bar__plus_01_dot_45 - object + Watch_bar__plus_14_dot_31_bar__plus_00_dot_35_bar__plus_02_dot_25 - object + Window_bar__plus_10_dot_23_bar__plus_01_dot_69_bar__minus_01_dot_59 - object + Window_bar__plus_12_dot_03_bar__plus_01_dot_69_bar__minus_01_dot_60 - object + ArmChair_bar__plus_08_dot_23_bar__plus_00_dot_00_bar__plus_00_dot_77 - receptacle + ArmChair_bar__plus_08_dot_23_bar__plus_00_dot_00_bar__minus_00_dot_08 - receptacle + CoffeeTable_bar__plus_10_dot_82_bar__plus_00_dot_01_bar__plus_00_dot_95 - receptacle + DiningTable_bar__plus_09_dot_50_bar__minus_00_dot_02_bar__plus_03_dot_27 - receptacle + Drawer_bar__plus_14_dot_18_bar__plus_00_dot_19_bar__plus_00_dot_54 - receptacle + Drawer_bar__plus_14_dot_18_bar__plus_00_dot_19_bar__plus_01_dot_05 - receptacle + Drawer_bar__plus_14_dot_18_bar__plus_00_dot_19_bar__plus_01_dot_56 - receptacle + Drawer_bar__plus_14_dot_18_bar__plus_00_dot_19_bar__plus_02_dot_07 - receptacle + Drawer_bar__plus_14_dot_18_bar__plus_00_dot_39_bar__plus_00_dot_54 - receptacle + Drawer_bar__plus_14_dot_18_bar__plus_00_dot_39_bar__plus_01_dot_05 - receptacle + Drawer_bar__plus_14_dot_18_bar__plus_00_dot_39_bar__plus_01_dot_56 - receptacle + Drawer_bar__plus_14_dot_18_bar__plus_00_dot_39_bar__plus_02_dot_07 - receptacle + Drawer_bar__plus_14_dot_18_bar__plus_00_dot_60_bar__plus_00_dot_54 - receptacle + Drawer_bar__plus_14_dot_18_bar__plus_00_dot_60_bar__plus_01_dot_05 - receptacle + Drawer_bar__plus_14_dot_18_bar__plus_00_dot_60_bar__plus_01_dot_56 - receptacle + Drawer_bar__plus_14_dot_18_bar__plus_00_dot_60_bar__plus_02_dot_07 - receptacle + Dresser_bar__plus_14_dot_33_bar__plus_00_dot_02_bar__plus_01_dot_32 - receptacle + GarbageCan_bar__plus_07_dot_79_bar__plus_00_dot_00_bar__minus_01_dot_15 - receptacle + SideTable_bar__plus_11_dot_38_bar__plus_00_dot_00_bar__minus_01_dot_16 - receptacle + SideTable_bar__plus_12_dot_31_bar__plus_00_dot_01_bar__minus_01_dot_16 - receptacle + SideTable_bar__plus_14_dot_62_bar__plus_00_dot_00_bar__minus_00_dot_78 - receptacle + Sofa_bar__plus_11_dot_45_bar__minus_00_dot_07_bar__plus_03_dot_20 - receptacle + loc_bar_53_bar_6_bar_1_bar_45 - location + loc_bar_43_bar_8_bar_2_bar_60 - location + loc_bar_52_bar_4_bar_1_bar_45 - location + loc_bar_53_bar_4_bar_1_bar_45 - location + loc_bar_41_bar__minus_4_bar_2_bar_0 - location + loc_bar_52_bar_0_bar_1_bar_45 - location + loc_bar_53_bar_10_bar_1_bar_45 - location + loc_bar_36_bar_3_bar_3_bar_60 - location + loc_bar_38_bar_9_bar_0_bar_60 - location + loc_bar_46_bar_8_bar_0_bar_60 - location + loc_bar_35_bar_4_bar_3_bar_0 - location + loc_bar_52_bar_6_bar_1_bar_45 - location + loc_bar_53_bar_7_bar_1_bar_60 - location + loc_bar_55_bar__minus_1_bar_1_bar_60 - location + loc_bar_51_bar__minus_1_bar_2_bar_60 - location + loc_bar_54_bar_5_bar_1_bar_60 - location + loc_bar_32_bar_11_bar_3_bar__minus_15 - location + loc_bar_53_bar_3_bar_1_bar_60 - location + loc_bar_53_bar_8_bar_1_bar_45 - location + loc_bar_52_bar_13_bar_0_bar_30 - location + loc_bar_42_bar__minus_3_bar_1_bar_60 - location + loc_bar_32_bar__minus_3_bar_3_bar__minus_15 - location + loc_bar_53_bar_5_bar_1_bar_60 - location + loc_bar_32_bar_11_bar_0_bar_60 - location + loc_bar_47_bar__minus_3_bar_2_bar_0 - location + loc_bar_36_bar_0_bar_3_bar_60 - location + loc_bar_32_bar__minus_3_bar_2_bar_60 - location + loc_bar_35_bar_6_bar_3_bar_60 - location + loc_bar_52_bar_2_bar_1_bar_45 - location + loc_bar_54_bar_5_bar_1_bar_0 - location + loc_bar_46_bar__minus_1_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType SideTable_bar__plus_11_dot_38_bar__plus_00_dot_00_bar__minus_01_dot_16 SideTableType) + (receptacleType Drawer_bar__plus_14_dot_18_bar__plus_00_dot_19_bar__plus_01_dot_05 DrawerType) + (receptacleType Drawer_bar__plus_14_dot_18_bar__plus_00_dot_60_bar__plus_02_dot_07 DrawerType) + (receptacleType DiningTable_bar__plus_09_dot_50_bar__minus_00_dot_02_bar__plus_03_dot_27 DiningTableType) + (receptacleType SideTable_bar__plus_14_dot_62_bar__plus_00_dot_00_bar__minus_00_dot_78 SideTableType) + (receptacleType Drawer_bar__plus_14_dot_18_bar__plus_00_dot_39_bar__plus_01_dot_05 DrawerType) + (receptacleType Sofa_bar__plus_11_dot_45_bar__minus_00_dot_07_bar__plus_03_dot_20 SofaType) + (receptacleType Drawer_bar__plus_14_dot_18_bar__plus_00_dot_19_bar__plus_01_dot_56 DrawerType) + (receptacleType Drawer_bar__plus_14_dot_18_bar__plus_00_dot_39_bar__plus_02_dot_07 DrawerType) + (receptacleType GarbageCan_bar__plus_07_dot_79_bar__plus_00_dot_00_bar__minus_01_dot_15 GarbageCanType) + (receptacleType CoffeeTable_bar__plus_10_dot_82_bar__plus_00_dot_01_bar__plus_00_dot_95 CoffeeTableType) + (receptacleType ArmChair_bar__plus_08_dot_23_bar__plus_00_dot_00_bar__minus_00_dot_08 ArmChairType) + (receptacleType SideTable_bar__plus_12_dot_31_bar__plus_00_dot_01_bar__minus_01_dot_16 SideTableType) + (receptacleType Drawer_bar__plus_14_dot_18_bar__plus_00_dot_19_bar__plus_02_dot_07 DrawerType) + (receptacleType Drawer_bar__plus_14_dot_18_bar__plus_00_dot_19_bar__plus_00_dot_54 DrawerType) + (receptacleType Drawer_bar__plus_14_dot_18_bar__plus_00_dot_60_bar__plus_00_dot_54 DrawerType) + (receptacleType Drawer_bar__plus_14_dot_18_bar__plus_00_dot_60_bar__plus_01_dot_56 DrawerType) + (receptacleType Dresser_bar__plus_14_dot_33_bar__plus_00_dot_02_bar__plus_01_dot_32 DresserType) + (receptacleType Drawer_bar__plus_14_dot_18_bar__plus_00_dot_60_bar__plus_01_dot_05 DrawerType) + (receptacleType Drawer_bar__plus_14_dot_18_bar__plus_00_dot_39_bar__plus_00_dot_54 DrawerType) + (receptacleType Drawer_bar__plus_14_dot_18_bar__plus_00_dot_39_bar__plus_01_dot_56 DrawerType) + (receptacleType ArmChair_bar__plus_08_dot_23_bar__plus_00_dot_00_bar__plus_00_dot_77 ArmChairType) + (objectType Book_bar__plus_14_dot_25_bar__plus_00_dot_14_bar__plus_01_dot_68 BookType) + (objectType Statue_bar__plus_09_dot_69_bar__plus_00_dot_44_bar__plus_03_dot_14 StatueType) + (objectType Watch_bar__plus_14_dot_31_bar__plus_00_dot_35_bar__plus_02_dot_25 WatchType) + (objectType KeyChain_bar__plus_14_dot_58_bar__plus_00_dot_52_bar__minus_00_dot_78 KeyChainType) + (objectType Watch_bar__plus_11_dot_23_bar__plus_00_dot_59_bar__plus_00_dot_68 WatchType) + (objectType Book_bar__plus_10_dot_65_bar__plus_00_dot_59_bar__plus_00_dot_77 BookType) + (objectType Pillow_bar__plus_12_dot_05_bar__plus_00_dot_52_bar__plus_03_dot_23 PillowType) + (objectType Laptop_bar__plus_11_dot_66_bar__plus_00_dot_45_bar__plus_03_dot_16 LaptopType) + (objectType Watch_bar__plus_14_dot_15_bar__plus_00_dot_55_bar__plus_01_dot_45 WatchType) + (objectType LightSwitch_bar__plus_12_dot_98_bar__plus_01_dot_40_bar__plus_03_dot_77 LightSwitchType) + (objectType Painting_bar__plus_07_dot_49_bar__plus_01_dot_84_bar__plus_02_dot_79 PaintingType) + (objectType Television_bar__plus_14_dot_45_bar__plus_01_dot_24_bar__plus_00_dot_93 TelevisionType) + (objectType Window_bar__plus_10_dot_23_bar__plus_01_dot_69_bar__minus_01_dot_59 WindowType) + (objectType Painting_bar__plus_07_dot_49_bar__plus_01_dot_78_bar__plus_01_dot_12 PaintingType) + (objectType CreditCard_bar__plus_14_dot_53_bar__plus_00_dot_75_bar__plus_00_dot_52 CreditCardType) + (objectType Box_bar__plus_14_dot_33_bar__plus_01_dot_00_bar__plus_01_dot_83 BoxType) + (objectType Painting_bar__plus_14_dot_76_bar__plus_01_dot_75_bar__plus_01_dot_13 PaintingType) + (objectType RemoteControl_bar__plus_11_dot_43_bar__plus_00_dot_59_bar__plus_00_dot_86 RemoteControlType) + (objectType HousePlant_bar__plus_11_dot_37_bar__plus_00_dot_48_bar__minus_01_dot_14 HousePlantType) + (objectType Laptop_bar__plus_11_dot_23_bar__plus_00_dot_59_bar__plus_01_dot_14 LaptopType) + (objectType Laptop_bar__plus_09_dot_40_bar__plus_00_dot_43_bar__plus_03_dot_14 LaptopType) + (objectType Window_bar__plus_12_dot_03_bar__plus_01_dot_69_bar__minus_01_dot_60 WindowType) + (objectType FloorLamp_bar__plus_07_dot_86_bar__plus_00_dot_00_bar__plus_03_dot_40 FloorLampType) + (objectType Statue_bar__plus_14_dot_23_bar__plus_00_dot_76_bar__plus_01_dot_04 StatueType) + (objectType Book_bar__plus_08_dot_27_bar__plus_00_dot_40_bar__minus_00_dot_08 BookType) + (objectType Box_bar__plus_11_dot_02_bar__plus_00_dot_71_bar__plus_03_dot_16 BoxType) + (objectType Box_bar__plus_14_dot_23_bar__plus_01_dot_00_bar__plus_00_dot_52 BoxType) + (objectType Chair_bar__plus_08_dot_16_bar__plus_00_dot_00_bar__plus_01_dot_50 ChairType) + (objectType Painting_bar__plus_07_dot_49_bar__plus_01_dot_84_bar__minus_00_dot_50 PaintingType) + (canContain SideTableType KeyChainType) + (canContain SideTableType WatchType) + (canContain SideTableType RemoteControlType) + (canContain SideTableType CreditCardType) + (canContain SideTableType LaptopType) + (canContain SideTableType StatueType) + (canContain SideTableType BoxType) + (canContain SideTableType BookType) + (canContain DrawerType KeyChainType) + (canContain DrawerType WatchType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType CreditCardType) + (canContain DrawerType BookType) + (canContain DrawerType KeyChainType) + (canContain DrawerType WatchType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType CreditCardType) + (canContain DrawerType BookType) + (canContain DiningTableType KeyChainType) + (canContain DiningTableType WatchType) + (canContain DiningTableType RemoteControlType) + (canContain DiningTableType CreditCardType) + (canContain DiningTableType LaptopType) + (canContain DiningTableType StatueType) + (canContain DiningTableType BoxType) + (canContain DiningTableType BookType) + (canContain SideTableType KeyChainType) + (canContain SideTableType WatchType) + (canContain SideTableType RemoteControlType) + (canContain SideTableType CreditCardType) + (canContain SideTableType LaptopType) + (canContain SideTableType StatueType) + (canContain SideTableType BoxType) + (canContain SideTableType BookType) + (canContain DrawerType KeyChainType) + (canContain DrawerType WatchType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType CreditCardType) + (canContain DrawerType BookType) + (canContain SofaType PillowType) + (canContain SofaType RemoteControlType) + (canContain SofaType KeyChainType) + (canContain SofaType LaptopType) + (canContain SofaType CreditCardType) + (canContain SofaType BoxType) + (canContain SofaType BookType) + (canContain DrawerType KeyChainType) + (canContain DrawerType WatchType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType CreditCardType) + (canContain DrawerType BookType) + (canContain DrawerType KeyChainType) + (canContain DrawerType WatchType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType CreditCardType) + (canContain DrawerType BookType) + (canContain CoffeeTableType KeyChainType) + (canContain CoffeeTableType WatchType) + (canContain CoffeeTableType RemoteControlType) + (canContain CoffeeTableType CreditCardType) + (canContain CoffeeTableType LaptopType) + (canContain CoffeeTableType StatueType) + (canContain CoffeeTableType BoxType) + (canContain CoffeeTableType BookType) + (canContain ArmChairType PillowType) + (canContain ArmChairType RemoteControlType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType CreditCardType) + (canContain ArmChairType BoxType) + (canContain ArmChairType BookType) + (canContain SideTableType KeyChainType) + (canContain SideTableType WatchType) + (canContain SideTableType RemoteControlType) + (canContain SideTableType CreditCardType) + (canContain SideTableType LaptopType) + (canContain SideTableType StatueType) + (canContain SideTableType BoxType) + (canContain SideTableType BookType) + (canContain DrawerType KeyChainType) + (canContain DrawerType WatchType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType CreditCardType) + (canContain DrawerType BookType) + (canContain DrawerType KeyChainType) + (canContain DrawerType WatchType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType CreditCardType) + (canContain DrawerType BookType) + (canContain DrawerType KeyChainType) + (canContain DrawerType WatchType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType CreditCardType) + (canContain DrawerType BookType) + (canContain DrawerType KeyChainType) + (canContain DrawerType WatchType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType CreditCardType) + (canContain DrawerType BookType) + (canContain DresserType KeyChainType) + (canContain DresserType WatchType) + (canContain DresserType RemoteControlType) + (canContain DresserType CreditCardType) + (canContain DresserType LaptopType) + (canContain DresserType StatueType) + (canContain DresserType BoxType) + (canContain DresserType BookType) + (canContain DrawerType KeyChainType) + (canContain DrawerType WatchType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType CreditCardType) + (canContain DrawerType BookType) + (canContain DrawerType KeyChainType) + (canContain DrawerType WatchType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType CreditCardType) + (canContain DrawerType BookType) + (canContain DrawerType KeyChainType) + (canContain DrawerType WatchType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType CreditCardType) + (canContain DrawerType BookType) + (canContain ArmChairType PillowType) + (canContain ArmChairType RemoteControlType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType CreditCardType) + (canContain ArmChairType BoxType) + (canContain ArmChairType BookType) + (pickupable Book_bar__plus_14_dot_25_bar__plus_00_dot_14_bar__plus_01_dot_68) + (pickupable Statue_bar__plus_09_dot_69_bar__plus_00_dot_44_bar__plus_03_dot_14) + (pickupable Watch_bar__plus_14_dot_31_bar__plus_00_dot_35_bar__plus_02_dot_25) + (pickupable KeyChain_bar__plus_14_dot_58_bar__plus_00_dot_52_bar__minus_00_dot_78) + (pickupable Watch_bar__plus_11_dot_23_bar__plus_00_dot_59_bar__plus_00_dot_68) + (pickupable Book_bar__plus_10_dot_65_bar__plus_00_dot_59_bar__plus_00_dot_77) + (pickupable Pillow_bar__plus_12_dot_05_bar__plus_00_dot_52_bar__plus_03_dot_23) + (pickupable Laptop_bar__plus_11_dot_66_bar__plus_00_dot_45_bar__plus_03_dot_16) + (pickupable Watch_bar__plus_14_dot_15_bar__plus_00_dot_55_bar__plus_01_dot_45) + (pickupable CreditCard_bar__plus_14_dot_53_bar__plus_00_dot_75_bar__plus_00_dot_52) + (pickupable Box_bar__plus_14_dot_33_bar__plus_01_dot_00_bar__plus_01_dot_83) + (pickupable RemoteControl_bar__plus_11_dot_43_bar__plus_00_dot_59_bar__plus_00_dot_86) + (pickupable Laptop_bar__plus_11_dot_23_bar__plus_00_dot_59_bar__plus_01_dot_14) + (pickupable Laptop_bar__plus_09_dot_40_bar__plus_00_dot_43_bar__plus_03_dot_14) + (pickupable Statue_bar__plus_14_dot_23_bar__plus_00_dot_76_bar__plus_01_dot_04) + (pickupable Book_bar__plus_08_dot_27_bar__plus_00_dot_40_bar__minus_00_dot_08) + (pickupable Box_bar__plus_11_dot_02_bar__plus_00_dot_71_bar__plus_03_dot_16) + (pickupable Box_bar__plus_14_dot_23_bar__plus_01_dot_00_bar__plus_00_dot_52) + (isReceptacleObject Box_bar__plus_14_dot_33_bar__plus_01_dot_00_bar__plus_01_dot_83) + (isReceptacleObject Box_bar__plus_11_dot_02_bar__plus_00_dot_71_bar__plus_03_dot_16) + (isReceptacleObject Box_bar__plus_14_dot_23_bar__plus_01_dot_00_bar__plus_00_dot_52) + (openable Drawer_bar__plus_14_dot_18_bar__plus_00_dot_19_bar__plus_01_dot_05) + (openable Drawer_bar__plus_14_dot_18_bar__plus_00_dot_60_bar__plus_02_dot_07) + (openable Drawer_bar__plus_14_dot_18_bar__plus_00_dot_39_bar__plus_01_dot_05) + (openable Drawer_bar__plus_14_dot_18_bar__plus_00_dot_19_bar__plus_01_dot_56) + (openable Drawer_bar__plus_14_dot_18_bar__plus_00_dot_39_bar__plus_02_dot_07) + (openable Drawer_bar__plus_14_dot_18_bar__plus_00_dot_19_bar__plus_02_dot_07) + (openable Drawer_bar__plus_14_dot_18_bar__plus_00_dot_19_bar__plus_00_dot_54) + (openable Drawer_bar__plus_14_dot_18_bar__plus_00_dot_60_bar__plus_00_dot_54) + (openable Drawer_bar__plus_14_dot_18_bar__plus_00_dot_60_bar__plus_01_dot_56) + (openable Drawer_bar__plus_14_dot_18_bar__plus_00_dot_60_bar__plus_01_dot_05) + (openable Drawer_bar__plus_14_dot_18_bar__plus_00_dot_39_bar__plus_00_dot_54) + (openable Drawer_bar__plus_14_dot_18_bar__plus_00_dot_39_bar__plus_01_dot_56) + + (atLocation agent1 loc_bar_46_bar__minus_1_bar_3_bar_30) + + + + + + + + (toggleable FloorLamp_bar__plus_07_dot_86_bar__plus_00_dot_00_bar__plus_03_dot_40) + + + + + (inReceptacle Box_bar__plus_11_dot_02_bar__plus_00_dot_71_bar__plus_03_dot_16 Sofa_bar__plus_11_dot_45_bar__minus_00_dot_07_bar__plus_03_dot_20) + (inReceptacle Laptop_bar__plus_11_dot_66_bar__plus_00_dot_45_bar__plus_03_dot_16 Sofa_bar__plus_11_dot_45_bar__minus_00_dot_07_bar__plus_03_dot_20) + (inReceptacle Pillow_bar__plus_12_dot_05_bar__plus_00_dot_52_bar__plus_03_dot_23 Sofa_bar__plus_11_dot_45_bar__minus_00_dot_07_bar__plus_03_dot_20) + (inReceptacle Statue_bar__plus_09_dot_69_bar__plus_00_dot_44_bar__plus_03_dot_14 DiningTable_bar__plus_09_dot_50_bar__minus_00_dot_02_bar__plus_03_dot_27) + (inReceptacle Laptop_bar__plus_09_dot_40_bar__plus_00_dot_43_bar__plus_03_dot_14 DiningTable_bar__plus_09_dot_50_bar__minus_00_dot_02_bar__plus_03_dot_27) + (inReceptacle KeyChain_bar__plus_14_dot_58_bar__plus_00_dot_52_bar__minus_00_dot_78 SideTable_bar__plus_14_dot_62_bar__plus_00_dot_00_bar__minus_00_dot_78) + (inReceptacle Statue_bar__plus_14_dot_23_bar__plus_00_dot_76_bar__plus_01_dot_04 Dresser_bar__plus_14_dot_33_bar__plus_00_dot_02_bar__plus_01_dot_32) + (inReceptacle Box_bar__plus_14_dot_23_bar__plus_01_dot_00_bar__plus_00_dot_52 Dresser_bar__plus_14_dot_33_bar__plus_00_dot_02_bar__plus_01_dot_32) + (inReceptacle CreditCard_bar__plus_14_dot_53_bar__plus_00_dot_75_bar__plus_00_dot_52 Dresser_bar__plus_14_dot_33_bar__plus_00_dot_02_bar__plus_01_dot_32) + (inReceptacle Television_bar__plus_14_dot_45_bar__plus_01_dot_24_bar__plus_00_dot_93 Dresser_bar__plus_14_dot_33_bar__plus_00_dot_02_bar__plus_01_dot_32) + (inReceptacle Box_bar__plus_14_dot_33_bar__plus_01_dot_00_bar__plus_01_dot_83 Dresser_bar__plus_14_dot_33_bar__plus_00_dot_02_bar__plus_01_dot_32) + (inReceptacle Watch_bar__plus_14_dot_15_bar__plus_00_dot_55_bar__plus_01_dot_45 Drawer_bar__plus_14_dot_18_bar__plus_00_dot_60_bar__plus_01_dot_56) + (inReceptacle Book_bar__plus_14_dot_25_bar__plus_00_dot_14_bar__plus_01_dot_68 Drawer_bar__plus_14_dot_18_bar__plus_00_dot_19_bar__plus_01_dot_56) + (inReceptacle RemoteControl_bar__plus_11_dot_43_bar__plus_00_dot_59_bar__plus_00_dot_86 CoffeeTable_bar__plus_10_dot_82_bar__plus_00_dot_01_bar__plus_00_dot_95) + (inReceptacle Watch_bar__plus_11_dot_23_bar__plus_00_dot_59_bar__plus_00_dot_68 CoffeeTable_bar__plus_10_dot_82_bar__plus_00_dot_01_bar__plus_00_dot_95) + (inReceptacle Book_bar__plus_10_dot_65_bar__plus_00_dot_59_bar__plus_00_dot_77 CoffeeTable_bar__plus_10_dot_82_bar__plus_00_dot_01_bar__plus_00_dot_95) + (inReceptacle Laptop_bar__plus_11_dot_23_bar__plus_00_dot_59_bar__plus_01_dot_14 CoffeeTable_bar__plus_10_dot_82_bar__plus_00_dot_01_bar__plus_00_dot_95) + (inReceptacle Book_bar__plus_08_dot_27_bar__plus_00_dot_40_bar__minus_00_dot_08 ArmChair_bar__plus_08_dot_23_bar__plus_00_dot_00_bar__minus_00_dot_08) + (inReceptacle Watch_bar__plus_14_dot_31_bar__plus_00_dot_35_bar__plus_02_dot_25 Drawer_bar__plus_14_dot_18_bar__plus_00_dot_39_bar__plus_02_dot_07) + (inReceptacle HousePlant_bar__plus_11_dot_37_bar__plus_00_dot_48_bar__minus_01_dot_14 SideTable_bar__plus_11_dot_38_bar__plus_00_dot_00_bar__minus_01_dot_16) + + + (receptacleAtLocation ArmChair_bar__plus_08_dot_23_bar__plus_00_dot_00_bar__plus_00_dot_77 loc_bar_36_bar_3_bar_3_bar_60) + (receptacleAtLocation ArmChair_bar__plus_08_dot_23_bar__plus_00_dot_00_bar__minus_00_dot_08 loc_bar_36_bar_0_bar_3_bar_60) + (receptacleAtLocation CoffeeTable_bar__plus_10_dot_82_bar__plus_00_dot_01_bar__plus_00_dot_95 loc_bar_43_bar_8_bar_2_bar_60) + (receptacleAtLocation DiningTable_bar__plus_09_dot_50_bar__minus_00_dot_02_bar__plus_03_dot_27 loc_bar_38_bar_9_bar_0_bar_60) + (receptacleAtLocation Drawer_bar__plus_14_dot_18_bar__plus_00_dot_19_bar__plus_00_dot_54 loc_bar_52_bar_0_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_14_dot_18_bar__plus_00_dot_19_bar__plus_01_dot_05 loc_bar_52_bar_2_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_14_dot_18_bar__plus_00_dot_19_bar__plus_01_dot_56 loc_bar_52_bar_4_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_14_dot_18_bar__plus_00_dot_19_bar__plus_02_dot_07 loc_bar_52_bar_6_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_14_dot_18_bar__plus_00_dot_39_bar__plus_00_dot_54 loc_bar_53_bar_3_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_14_dot_18_bar__plus_00_dot_39_bar__plus_01_dot_05 loc_bar_53_bar_3_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_14_dot_18_bar__plus_00_dot_39_bar__plus_01_dot_56 loc_bar_53_bar_5_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_14_dot_18_bar__plus_00_dot_39_bar__plus_02_dot_07 loc_bar_53_bar_7_bar_1_bar_60) + (receptacleAtLocation 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(receptacleAtLocation SideTable_bar__plus_14_dot_62_bar__plus_00_dot_00_bar__minus_00_dot_78 loc_bar_55_bar__minus_1_bar_1_bar_60) + (receptacleAtLocation Sofa_bar__plus_11_dot_45_bar__minus_00_dot_07_bar__plus_03_dot_20 loc_bar_46_bar_8_bar_0_bar_60) + (objectAtLocation Watch_bar__plus_14_dot_15_bar__plus_00_dot_55_bar__plus_01_dot_45 loc_bar_53_bar_8_bar_1_bar_45) + (objectAtLocation Laptop_bar__plus_11_dot_23_bar__plus_00_dot_59_bar__plus_01_dot_14 loc_bar_43_bar_8_bar_2_bar_60) + (objectAtLocation Statue_bar__plus_14_dot_23_bar__plus_00_dot_76_bar__plus_01_dot_04 loc_bar_54_bar_5_bar_1_bar_60) + (objectAtLocation Box_bar__plus_11_dot_02_bar__plus_00_dot_71_bar__plus_03_dot_16 loc_bar_46_bar_8_bar_0_bar_60) + (objectAtLocation Book_bar__plus_08_dot_27_bar__plus_00_dot_40_bar__minus_00_dot_08 loc_bar_36_bar_0_bar_3_bar_60) + (objectAtLocation Laptop_bar__plus_11_dot_66_bar__plus_00_dot_45_bar__plus_03_dot_16 loc_bar_46_bar_8_bar_0_bar_60) + (objectAtLocation Box_bar__plus_14_dot_33_bar__plus_01_dot_00_bar__plus_01_dot_83 loc_bar_54_bar_5_bar_1_bar_60) + (objectAtLocation Book_bar__plus_10_dot_65_bar__plus_00_dot_59_bar__plus_00_dot_77 loc_bar_43_bar_8_bar_2_bar_60) + (objectAtLocation Watch_bar__plus_14_dot_31_bar__plus_00_dot_35_bar__plus_02_dot_25 loc_bar_53_bar_7_bar_1_bar_60) + (objectAtLocation Book_bar__plus_14_dot_25_bar__plus_00_dot_14_bar__plus_01_dot_68 loc_bar_52_bar_4_bar_1_bar_45) + (objectAtLocation Chair_bar__plus_08_dot_16_bar__plus_00_dot_00_bar__plus_01_dot_50 loc_bar_35_bar_6_bar_3_bar_60) + (objectAtLocation Box_bar__plus_14_dot_23_bar__plus_01_dot_00_bar__plus_00_dot_52 loc_bar_54_bar_5_bar_1_bar_60) + (objectAtLocation FloorLamp_bar__plus_07_dot_86_bar__plus_00_dot_00_bar__plus_03_dot_40 loc_bar_32_bar_11_bar_0_bar_60) + (objectAtLocation CreditCard_bar__plus_14_dot_53_bar__plus_00_dot_75_bar__plus_00_dot_52 loc_bar_54_bar_5_bar_1_bar_60) + (objectAtLocation KeyChain_bar__plus_14_dot_58_bar__plus_00_dot_52_bar__minus_00_dot_78 loc_bar_55_bar__minus_1_bar_1_bar_60) + (objectAtLocation Painting_bar__plus_07_dot_49_bar__plus_01_dot_84_bar__minus_00_dot_50 loc_bar_32_bar__minus_3_bar_3_bar__minus_15) + (objectAtLocation Painting_bar__plus_07_dot_49_bar__plus_01_dot_84_bar__plus_02_dot_79 loc_bar_32_bar_11_bar_3_bar__minus_15) + (objectAtLocation Television_bar__plus_14_dot_45_bar__plus_01_dot_24_bar__plus_00_dot_93 loc_bar_54_bar_5_bar_1_bar_60) + (objectAtLocation Pillow_bar__plus_12_dot_05_bar__plus_00_dot_52_bar__plus_03_dot_23 loc_bar_46_bar_8_bar_0_bar_60) + (objectAtLocation Statue_bar__plus_09_dot_69_bar__plus_00_dot_44_bar__plus_03_dot_14 loc_bar_38_bar_9_bar_0_bar_60) + (objectAtLocation LightSwitch_bar__plus_12_dot_98_bar__plus_01_dot_40_bar__plus_03_dot_77 loc_bar_52_bar_13_bar_0_bar_30) + (objectAtLocation Painting_bar__plus_07_dot_49_bar__plus_01_dot_78_bar__plus_01_dot_12 loc_bar_35_bar_4_bar_3_bar_0) + (objectAtLocation 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], + "object_toggles": [], + "random_seed": 781895171, + "scene_num": 213 + }, + "task_id": "trial_T20190906_200927_069627", + "task_type": "pick_two_obj_and_place", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A1RLO9LNUJIW5S_33M4IA01QJILGNIMLUE9C1LNW3UXRV", + "high_descs": [ + "Turn around and take a half a step then turn left and walk to the couch then move so you are facing the left side of the couch in front of you.", + "Pick up the cardboard box in front of you.", + "Turn around and walk to the coffee table that's in front of you.", + "Put the box to the right of the laptop.", + "Turn left and walk until you clear the coffee table to your right then turn right and walk to the half circle table then turn left and walk until you can't anymore then turn left.", + "Pick up the cardboard box on the tv stand.", + "Walk back to to where you put the first box.", + "Put this box to the right of the other box." + ], + "task_desc": "Put two cardboard boxes on the coffee table.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1ELPYAFO7MANS_3E7TUJ2EGF31EHHJ0DDBR9I1AVV9DT", + "high_descs": [ + "Turn right and walk to the couch.", + "Pick up the empty box on the couch.", + "Turn around and face the coffee table.", + "Place the box on the table to the right of the laptop. ", + "Turn left and veer right to the right side of the TV stand.", + "Pick up the box to the right of the TV.", + "Turn around and walk back to the coffee table.", + "Place the box to the right of the other box." + ], + "task_desc": "Place two empty boxes on a coffee table.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3JZLYQ606HJJR_3WJEQKOXABJLR5BCCQ7GM2SCRKTA1A", + "high_descs": [ + "Move across the room to the pink sofa.", + "Pick up the box that is on the sofa. ", + "Turn around and move forward to the long, short brown table. ", + "Put the box on the table on the right side of the computer.", + "Move across the room to the table that the TV is on. ", + "Pick up the box that is near the TV.", + "Move across the room to the long, short brown table.", + "Place the box on the table next to the other box." + ], + "task_desc": "Gather boxes to be placed on the coffee table. ", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/valid_seen/pick_two_obj_and_place-CD-None-Drawer-304/trial_T20190907_230232_832893/game.tw-pddl b/data/alfworld/json_2.1.1/valid_seen/pick_two_obj_and_place-CD-None-Drawer-304/trial_T20190907_230232_832893/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..b4abebed946de61b5c40369adb6677cad5620dea --- /dev/null +++ b/data/alfworld/json_2.1.1/valid_seen/pick_two_obj_and_place-CD-None-Drawer-304/trial_T20190907_230232_832893/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\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 cd in drawer.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190907_230232_832893)\n(:domain alfred)\n(:objects\nagent1 - agent\nCurtains - object\n SprayBottle - object\n Mirror - object\n HousePlant - object\n Watch - object\n TeddyBear - object\n WateringCan - object\n Bathtub - object\n LightSwitch - object\n Vase - object\n Candle - object\n Bread - object\n Statue - object\n HandTowel - object\n StoveKnob - object\n PaperTowelRoll - object\n Pan - object\n PepperShaker - object\n Painting - object\n CellPhone - object\n Plunger - object\n Spoon - object\n SaltShaker - object\n KeyChain - object\n Footstool - object\n Poster - object\n Television - object\n LaundryHamperLid - object\n Glassbottle - object\n AlarmClock - object\n WineBottle - object\n Bowl - object\n Sink - object\n TissueBox - object\n TennisRacket - object\n ToiletPaper - object\n ScrubBrush - object\n CreditCard - object\n Laptop - object\n Cloth - object\n Cup - object\n Chair - object\n BasketBall - object\n Kettle - object\n PaperTowel - object\n ShowerDoor - object\n BaseballBat - object\n Potato - object\n Pillow - object\n Lettuce - object\n RemoteControl - object\n Window - object\n DishSponge - object\n CD - object\n Boots - object\n Blinds - object\n Pen - object\n Newspaper - object\n Plate - object\n Mug - object\n ShowerGlass - object\n ToiletPaperRoll - object\n SoapBar - object\n FloorLamp - object\n SoapBottle - object\n Pot - object\n Pencil - object\n Spatula - object\n Towel - object\n Fork - object\n Ladle - object\n Knife - object\n Apple - object\n Box - object\n Tomato - object\n ButterKnife - object\n Egg - object\n Book - object\n DeskLamp - object\nCurtainsType - otype\n SprayBottleType - otype\n MirrorType - otype\n HousePlantType - otype\n WatchType - otype\n TeddyBearType - otype\n WateringCanType - otype\n BathtubType - otype\n LightSwitchType - otype\n VaseType - otype\n CandleType - otype\n BreadType - otype\n StatueType - otype\n HandTowelType - otype\n StoveKnobType - otype\n PaperTowelRollType - otype\n PanType - otype\n PepperShakerType - otype\n PaintingType - otype\n CellPhoneType - otype\n PlungerType - otype\n SpoonType - otype\n SaltShakerType - otype\n KeyChainType - otype\n FootstoolType - otype\n PosterType - otype\n TelevisionType - otype\n LaundryHamperLidType - otype\n GlassbottleType - otype\n AlarmClockType - otype\n WineBottleType - otype\n BowlType - otype\n SinkType - otype\n TissueBoxType - otype\n TennisRacketType - otype\n ToiletPaperType - otype\n ScrubBrushType - otype\n CreditCardType - otype\n LaptopType - otype\n ClothType - otype\n CupType - otype\n ChairType - otype\n BasketBallType - otype\n KettleType - otype\n PaperTowelType - otype\n ShowerDoorType - otype\n BaseballBatType - otype\n PotatoType - otype\n PillowType - otype\n LettuceType - otype\n RemoteControlType - otype\n WindowType - otype\n DishSpongeType - otype\n CDType - otype\n BootsType - otype\n BlindsType - otype\n PenType - otype\n NewspaperType - otype\n PlateType - otype\n MugType - otype\n ShowerGlassType - otype\n ToiletPaperRollType - otype\n SoapBarType - otype\n FloorLampType - otype\n SoapBottleType - otype\n PotType - otype\n PencilType - otype\n SpatulaType - otype\n TowelType - otype\n ForkType - otype\n LadleType - otype\n KnifeType - otype\n AppleType - otype\n BoxType - otype\n TomatoType - otype\n ButterKnifeType - otype\n EggType - otype\n BookType - otype\n DeskLampType - otype\nCabinetType - rtype\n ShelfType - rtype\n DiningTableType - rtype\n TowelHolderType - rtype\n PaintingHangerType - rtype\n TVStandType - rtype\n LaundryHamperType - rtype\n OttomanType - rtype\n SafeType - rtype\n CoffeeMachineType - rtype\n CounterTopType - rtype\n ToiletType - rtype\n FridgeType - rtype\n CoffeeTableType - rtype\n SinkBasinType - rtype\n GarbageCanType - rtype\n BathtubBasinType - rtype\n SideTableType - rtype\n CartType - rtype\n BedType - rtype\n DeskType - rtype\n SofaType - rtype\n ArmChairType - rtype\n MicrowaveType - rtype\n HandTowelHolderType - rtype\n ToasterType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n DrawerType - rtype\n DresserType - rtype\n\n\n AlarmClock_bar__minus_00_dot_81_bar__plus_01_dot_54_bar__minus_01_dot_67 - object\n AlarmClock_bar__minus_01_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_61 - object\n BasketBall_bar__minus_01_dot_66_bar__plus_00_dot_13_bar__minus_00_dot_09 - object\n Blinds_bar__plus_01_dot_06_bar__plus_02_dot_38_bar__minus_02_dot_09 - object\n Book_bar__minus_01_dot_24_bar__plus_00_dot_42_bar__minus_01_dot_35 - object\n Book_bar__minus_01_dot_41_bar__plus_00_dot_74_bar__minus_01_dot_39 - object\n Bowl_bar__minus_01_dot_18_bar__plus_01_dot_53_bar__minus_01_dot_59 - object\n Bowl_bar__minus_01_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_28 - object\n Box_bar__plus_01_dot_56_bar__plus_00_dot_29_bar__minus_01_dot_07 - object\n CD_bar__minus_00_dot_62_bar__plus_01_dot_54_bar__minus_01_dot_59 - object\n CD_bar__minus_01_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_69 - object\n CD_bar__minus_01_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_20 - object\n CellPhone_bar__minus_01_dot_24_bar__plus_00_dot_74_bar__minus_01_dot_39 - object\n CellPhone_bar__minus_01_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_44 - object\n CellPhone_bar__minus_01_dot_60_bar__plus_00_dot_98_bar__minus_01_dot_36 - object\n Chair_bar__plus_00_dot_89_bar__plus_00_dot_01_bar__minus_01_dot_44 - object\n Chair_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__minus_01_dot_21 - object\n CreditCard_bar__minus_01_dot_33_bar__plus_00_dot_10_bar__minus_01_dot_44 - object\n DeskLamp_bar__minus_00_dot_35_bar__plus_01_dot_53_bar__minus_01_dot_56 - object\n KeyChain_bar__minus_01_dot_24_bar__plus_00_dot_10_bar__minus_01_dot_48 - object\n KeyChain_bar__minus_01_dot_41_bar__plus_00_dot_10_bar__minus_01_dot_30 - object\n Laptop_bar__minus_01_dot_30_bar__plus_00_dot_89_bar__plus_00_dot_58 - object\n LaundryHamperLid_bar_00_dot_00_bar__plus_00_dot_48_bar__plus_02_dot_52 - object\n LightSwitch_bar__plus_00_dot_40_bar__plus_01_dot_20_bar__plus_02_dot_73 - object\n Mirror_bar__plus_01_dot_91_bar__plus_01_dot_39_bar__plus_00_dot_97 - object\n Mug_bar__minus_00_dot_39_bar__plus_00_dot_98_bar__minus_01_dot_28 - object\n Pencil_bar__minus_00_dot_59_bar__plus_00_dot_99_bar__minus_01_dot_69 - object\n Pen_bar__minus_00_dot_59_bar__plus_00_dot_99_bar__minus_01_dot_20 - object\n Pen_bar__minus_01_dot_38_bar__plus_01_dot_54_bar__minus_01_dot_59 - object\n Pen_bar__minus_01_dot_41_bar__plus_00_dot_43_bar__minus_01_dot_35 - object\n Pillow_bar__minus_01_dot_03_bar__plus_00_dot_95_bar__plus_01_dot_16 - object\n Pillow_bar__minus_01_dot_16_bar__plus_00_dot_95_bar__plus_02_dot_33 - object\n Statue_bar__minus_01_dot_50_bar__plus_01_dot_53_bar__minus_01_dot_59 - object\n Window_bar__plus_01_dot_01_bar__plus_01_dot_52_bar__minus_02_dot_09 - object\n Bed_bar__minus_01_dot_31_bar__plus_00_dot_69_bar__plus_01_dot_47 - receptacle\n Bed_bar__minus_01_dot_31_bar__plus_01_dot_93_bar__plus_01_dot_47 - receptacle\n Desk_bar__minus_00_dot_88_bar__plus_00_dot_00_bar__minus_01_dot_41 - receptacle\n Drawer_bar__minus_01_dot_41_bar__plus_00_dot_22_bar__minus_01_dot_34 - receptacle\n Drawer_bar__minus_01_dot_41_bar__plus_00_dot_54_bar__minus_01_dot_34 - receptacle\n Drawer_bar__minus_01_dot_41_bar__plus_00_dot_83_bar__minus_01_dot_34 - receptacle\n GarbageCan_bar__minus_00_dot_04_bar__plus_00_dot_01_bar__minus_01_dot_53 - receptacle\n LaundryHamper_bar__plus_00_dot_00_bar__plus_00_dot_01_bar__plus_02_dot_52 - receptacle\n Shelf_bar__minus_01_dot_03_bar__plus_01_dot_53_bar__minus_01_dot_59 - receptacle\n loc_bar_4_bar__minus_3_bar_2_bar_60 - location\n loc_bar__minus_5_bar__minus_1_bar_3_bar_60 - location\n loc_bar_4_bar__minus_3_bar_2_bar_0 - location\n loc_bar_2_bar_9_bar_0_bar_45 - location\n loc_bar_5_bar__minus_3_bar_2_bar_60 - location\n loc_bar__minus_4_bar__minus_3_bar_2_bar_60 - location\n loc_bar__minus_5_bar__minus_3_bar_2_bar_60 - location\n loc_bar_0_bar__minus_4_bar_2_bar_60 - location\n loc_bar_5_bar_4_bar_1_bar_15 - location\n loc_bar__minus_4_bar__minus_3_bar_2_bar_15 - location\n loc_bar__minus_1_bar_6_bar_3_bar_45 - location\n loc_bar_4_bar__minus_3_bar_2_bar__minus_30 - location\n loc_bar_2_bar_6_bar_3_bar__minus_15 - location\n loc_bar_0_bar_8_bar_0_bar_60 - location\n loc_bar__minus_5_bar__minus_2_bar_0_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Drawer_bar__minus_01_dot_41_bar__plus_00_dot_83_bar__minus_01_dot_34 DrawerType)\n (receptacleType Bed_bar__minus_01_dot_31_bar__plus_01_dot_93_bar__plus_01_dot_47 BedType)\n (receptacleType LaundryHamper_bar__plus_00_dot_00_bar__plus_00_dot_01_bar__plus_02_dot_52 LaundryHamperType)\n (receptacleType Bed_bar__minus_01_dot_31_bar__plus_00_dot_69_bar__plus_01_dot_47 BedType)\n (receptacleType Drawer_bar__minus_01_dot_41_bar__plus_00_dot_22_bar__minus_01_dot_34 DrawerType)\n (receptacleType Shelf_bar__minus_01_dot_03_bar__plus_01_dot_53_bar__minus_01_dot_59 ShelfType)\n (receptacleType GarbageCan_bar__minus_00_dot_04_bar__plus_00_dot_01_bar__minus_01_dot_53 GarbageCanType)\n (receptacleType Desk_bar__minus_00_dot_88_bar__plus_00_dot_00_bar__minus_01_dot_41 DeskType)\n (receptacleType Drawer_bar__minus_01_dot_41_bar__plus_00_dot_54_bar__minus_01_dot_34 DrawerType)\n (objectType Mug_bar__minus_00_dot_39_bar__plus_00_dot_98_bar__minus_01_dot_28 MugType)\n (objectType Pillow_bar__minus_01_dot_16_bar__plus_00_dot_95_bar__plus_02_dot_33 PillowType)\n (objectType CellPhone_bar__minus_01_dot_24_bar__plus_00_dot_74_bar__minus_01_dot_39 CellPhoneType)\n (objectType Chair_bar__plus_00_dot_89_bar__plus_00_dot_01_bar__minus_01_dot_44 ChairType)\n (objectType Book_bar__minus_01_dot_41_bar__plus_00_dot_74_bar__minus_01_dot_39 BookType)\n (objectType Chair_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__minus_01_dot_21 ChairType)\n (objectType DeskLamp_bar__minus_00_dot_35_bar__plus_01_dot_53_bar__minus_01_dot_56 DeskLampType)\n (objectType Bowl_bar__minus_01_dot_18_bar__plus_01_dot_53_bar__minus_01_dot_59 BowlType)\n (objectType Pillow_bar__minus_01_dot_03_bar__plus_00_dot_95_bar__plus_01_dot_16 PillowType)\n (objectType CellPhone_bar__minus_01_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_44 CellPhoneType)\n (objectType Book_bar__minus_01_dot_24_bar__plus_00_dot_42_bar__minus_01_dot_35 BookType)\n (objectType Bowl_bar__minus_01_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_28 BowlType)\n (objectType CD_bar__minus_01_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_69 CDType)\n (objectType Pen_bar__minus_01_dot_41_bar__plus_00_dot_43_bar__minus_01_dot_35 PenType)\n (objectType CellPhone_bar__minus_01_dot_60_bar__plus_00_dot_98_bar__minus_01_dot_36 CellPhoneType)\n (objectType BasketBall_bar__minus_01_dot_66_bar__plus_00_dot_13_bar__minus_00_dot_09 BasketBallType)\n (objectType KeyChain_bar__minus_01_dot_41_bar__plus_00_dot_10_bar__minus_01_dot_30 KeyChainType)\n (objectType Window_bar__plus_01_dot_01_bar__plus_01_dot_52_bar__minus_02_dot_09 WindowType)\n (objectType CreditCard_bar__minus_01_dot_33_bar__plus_00_dot_10_bar__minus_01_dot_44 CreditCardType)\n (objectType Pen_bar__minus_00_dot_59_bar__plus_00_dot_99_bar__minus_01_dot_20 PenType)\n (objectType AlarmClock_bar__minus_01_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_61 AlarmClockType)\n (objectType CD_bar__minus_00_dot_62_bar__plus_01_dot_54_bar__minus_01_dot_59 CDType)\n (objectType Statue_bar__minus_01_dot_50_bar__plus_01_dot_53_bar__minus_01_dot_59 StatueType)\n (objectType CD_bar__minus_01_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_20 CDType)\n (objectType LaundryHamperLid_bar_00_dot_00_bar__plus_00_dot_48_bar__plus_02_dot_52 LaundryHamperLidType)\n (objectType Pen_bar__minus_01_dot_38_bar__plus_01_dot_54_bar__minus_01_dot_59 PenType)\n (objectType LightSwitch_bar__plus_00_dot_40_bar__plus_01_dot_20_bar__plus_02_dot_73 LightSwitchType)\n (objectType Laptop_bar__minus_01_dot_30_bar__plus_00_dot_89_bar__plus_00_dot_58 LaptopType)\n (objectType Box_bar__plus_01_dot_56_bar__plus_00_dot_29_bar__minus_01_dot_07 BoxType)\n (objectType Pencil_bar__minus_00_dot_59_bar__plus_00_dot_99_bar__minus_01_dot_69 PencilType)\n (objectType KeyChain_bar__minus_01_dot_24_bar__plus_00_dot_10_bar__minus_01_dot_48 KeyChainType)\n (objectType Blinds_bar__plus_01_dot_06_bar__plus_02_dot_38_bar__minus_02_dot_09 BlindsType)\n (objectType AlarmClock_bar__minus_00_dot_81_bar__plus_01_dot_54_bar__minus_01_dot_67 AlarmClockType)\n (objectType Mirror_bar__plus_01_dot_91_bar__plus_01_dot_39_bar__plus_00_dot_97 MirrorType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CDType)\n (canContain DrawerType PencilType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain BedType CellPhoneType)\n (canContain BedType BasketBallType)\n (canContain BedType BookType)\n (canContain BedType PillowType)\n (canContain BedType LaptopType)\n (canContain BedType CellPhoneType)\n (canContain BedType BasketBallType)\n (canContain BedType BookType)\n (canContain BedType PillowType)\n (canContain BedType LaptopType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CDType)\n (canContain DrawerType PencilType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType AlarmClockType)\n (canContain ShelfType BowlType)\n (canContain ShelfType CDType)\n (canContain ShelfType PencilType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType PenType)\n (canContain ShelfType StatueType)\n (canContain ShelfType BoxType)\n (canContain ShelfType MugType)\n (canContain ShelfType BookType)\n (canContain GarbageCanType CDType)\n (canContain GarbageCanType PencilType)\n (canContain GarbageCanType PenType)\n (canContain DeskType CellPhoneType)\n (canContain DeskType BasketBallType)\n (canContain DeskType KeyChainType)\n (canContain DeskType AlarmClockType)\n (canContain DeskType BowlType)\n (canContain DeskType CDType)\n (canContain DeskType PencilType)\n (canContain DeskType CreditCardType)\n (canContain DeskType PenType)\n (canContain DeskType LaptopType)\n (canContain DeskType StatueType)\n (canContain DeskType BoxType)\n (canContain DeskType MugType)\n (canContain DeskType BookType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CDType)\n (canContain DrawerType PencilType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (pickupable Mug_bar__minus_00_dot_39_bar__plus_00_dot_98_bar__minus_01_dot_28)\n (pickupable Pillow_bar__minus_01_dot_16_bar__plus_00_dot_95_bar__plus_02_dot_33)\n (pickupable CellPhone_bar__minus_01_dot_24_bar__plus_00_dot_74_bar__minus_01_dot_39)\n (pickupable Book_bar__minus_01_dot_41_bar__plus_00_dot_74_bar__minus_01_dot_39)\n (pickupable Bowl_bar__minus_01_dot_18_bar__plus_01_dot_53_bar__minus_01_dot_59)\n (pickupable Pillow_bar__minus_01_dot_03_bar__plus_00_dot_95_bar__plus_01_dot_16)\n (pickupable CellPhone_bar__minus_01_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_44)\n (pickupable Book_bar__minus_01_dot_24_bar__plus_00_dot_42_bar__minus_01_dot_35)\n (pickupable Bowl_bar__minus_01_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_28)\n (pickupable CD_bar__minus_01_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_69)\n (pickupable Pen_bar__minus_01_dot_41_bar__plus_00_dot_43_bar__minus_01_dot_35)\n (pickupable CellPhone_bar__minus_01_dot_60_bar__plus_00_dot_98_bar__minus_01_dot_36)\n (pickupable BasketBall_bar__minus_01_dot_66_bar__plus_00_dot_13_bar__minus_00_dot_09)\n (pickupable KeyChain_bar__minus_01_dot_41_bar__plus_00_dot_10_bar__minus_01_dot_30)\n (pickupable CreditCard_bar__minus_01_dot_33_bar__plus_00_dot_10_bar__minus_01_dot_44)\n (pickupable Pen_bar__minus_00_dot_59_bar__plus_00_dot_99_bar__minus_01_dot_20)\n (pickupable AlarmClock_bar__minus_01_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_61)\n (pickupable CD_bar__minus_00_dot_62_bar__plus_01_dot_54_bar__minus_01_dot_59)\n (pickupable Statue_bar__minus_01_dot_50_bar__plus_01_dot_53_bar__minus_01_dot_59)\n (pickupable CD_bar__minus_01_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_20)\n (pickupable Pen_bar__minus_01_dot_38_bar__plus_01_dot_54_bar__minus_01_dot_59)\n (pickupable Laptop_bar__minus_01_dot_30_bar__plus_00_dot_89_bar__plus_00_dot_58)\n (pickupable Box_bar__plus_01_dot_56_bar__plus_00_dot_29_bar__minus_01_dot_07)\n (pickupable Pencil_bar__minus_00_dot_59_bar__plus_00_dot_99_bar__minus_01_dot_69)\n (pickupable KeyChain_bar__minus_01_dot_24_bar__plus_00_dot_10_bar__minus_01_dot_48)\n (pickupable AlarmClock_bar__minus_00_dot_81_bar__plus_01_dot_54_bar__minus_01_dot_67)\n (isReceptacleObject Mug_bar__minus_00_dot_39_bar__plus_00_dot_98_bar__minus_01_dot_28)\n (isReceptacleObject Bowl_bar__minus_01_dot_18_bar__plus_01_dot_53_bar__minus_01_dot_59)\n (isReceptacleObject Bowl_bar__minus_01_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_28)\n (isReceptacleObject Box_bar__plus_01_dot_56_bar__plus_00_dot_29_bar__minus_01_dot_07)\n \n \n (atLocation agent1 loc_bar__minus_5_bar__minus_2_bar_0_bar_30)\n \n (cleanable Mug_bar__minus_00_dot_39_bar__plus_00_dot_98_bar__minus_01_dot_28)\n (cleanable Bowl_bar__minus_01_dot_18_bar__plus_01_dot_53_bar__minus_01_dot_59)\n (cleanable Bowl_bar__minus_01_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_28)\n \n (heatable Mug_bar__minus_00_dot_39_bar__plus_00_dot_98_bar__minus_01_dot_28)\n (coolable Mug_bar__minus_00_dot_39_bar__plus_00_dot_98_bar__minus_01_dot_28)\n (coolable Bowl_bar__minus_01_dot_18_bar__plus_01_dot_53_bar__minus_01_dot_59)\n (coolable Bowl_bar__minus_01_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_28)\n \n \n (toggleable DeskLamp_bar__minus_00_dot_35_bar__plus_01_dot_53_bar__minus_01_dot_56)\n \n \n \n \n (inReceptacle Pen_bar__minus_01_dot_41_bar__plus_00_dot_43_bar__minus_01_dot_35 Drawer_bar__minus_01_dot_41_bar__plus_00_dot_54_bar__minus_01_dot_34)\n (inReceptacle Book_bar__minus_01_dot_24_bar__plus_00_dot_42_bar__minus_01_dot_35 Drawer_bar__minus_01_dot_41_bar__plus_00_dot_54_bar__minus_01_dot_34)\n (inReceptacle Laptop_bar__minus_01_dot_30_bar__plus_00_dot_89_bar__plus_00_dot_58 Bed_bar__minus_01_dot_31_bar__plus_00_dot_69_bar__plus_01_dot_47)\n (inReceptacle Pillow_bar__minus_01_dot_16_bar__plus_00_dot_95_bar__plus_02_dot_33 Bed_bar__minus_01_dot_31_bar__plus_00_dot_69_bar__plus_01_dot_47)\n (inReceptacle Pillow_bar__minus_01_dot_03_bar__plus_00_dot_95_bar__plus_01_dot_16 Bed_bar__minus_01_dot_31_bar__plus_00_dot_69_bar__plus_01_dot_47)\n (inReceptacle Mug_bar__minus_00_dot_39_bar__plus_00_dot_98_bar__minus_01_dot_28 Desk_bar__minus_00_dot_88_bar__plus_00_dot_00_bar__minus_01_dot_41)\n (inReceptacle Pen_bar__minus_00_dot_59_bar__plus_00_dot_99_bar__minus_01_dot_20 Desk_bar__minus_00_dot_88_bar__plus_00_dot_00_bar__minus_01_dot_41)\n (inReceptacle AlarmClock_bar__minus_01_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_61 Desk_bar__minus_00_dot_88_bar__plus_00_dot_00_bar__minus_01_dot_41)\n (inReceptacle CD_bar__minus_01_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_20 Desk_bar__minus_00_dot_88_bar__plus_00_dot_00_bar__minus_01_dot_41)\n (inReceptacle CellPhone_bar__minus_01_dot_60_bar__plus_00_dot_98_bar__minus_01_dot_36 Desk_bar__minus_00_dot_88_bar__plus_00_dot_00_bar__minus_01_dot_41)\n (inReceptacle Pencil_bar__minus_00_dot_59_bar__plus_00_dot_99_bar__minus_01_dot_69 Desk_bar__minus_00_dot_88_bar__plus_00_dot_00_bar__minus_01_dot_41)\n (inReceptacle CellPhone_bar__minus_01_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_44 Desk_bar__minus_00_dot_88_bar__plus_00_dot_00_bar__minus_01_dot_41)\n (inReceptacle Bowl_bar__minus_01_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_28 Desk_bar__minus_00_dot_88_bar__plus_00_dot_00_bar__minus_01_dot_41)\n (inReceptacle CD_bar__minus_01_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_69 Desk_bar__minus_00_dot_88_bar__plus_00_dot_00_bar__minus_01_dot_41)\n (inReceptacle Book_bar__minus_01_dot_41_bar__plus_00_dot_74_bar__minus_01_dot_39 Drawer_bar__minus_01_dot_41_bar__plus_00_dot_83_bar__minus_01_dot_34)\n (inReceptacle CellPhone_bar__minus_01_dot_24_bar__plus_00_dot_74_bar__minus_01_dot_39 Drawer_bar__minus_01_dot_41_bar__plus_00_dot_83_bar__minus_01_dot_34)\n (inReceptacle KeyChain_bar__minus_01_dot_24_bar__plus_00_dot_10_bar__minus_01_dot_48 Drawer_bar__minus_01_dot_41_bar__plus_00_dot_22_bar__minus_01_dot_34)\n (inReceptacle CreditCard_bar__minus_01_dot_33_bar__plus_00_dot_10_bar__minus_01_dot_44 Drawer_bar__minus_01_dot_41_bar__plus_00_dot_22_bar__minus_01_dot_34)\n (inReceptacle KeyChain_bar__minus_01_dot_41_bar__plus_00_dot_10_bar__minus_01_dot_30 Drawer_bar__minus_01_dot_41_bar__plus_00_dot_22_bar__minus_01_dot_34)\n (inReceptacle CD_bar__minus_00_dot_62_bar__plus_01_dot_54_bar__minus_01_dot_59 Shelf_bar__minus_01_dot_03_bar__plus_01_dot_53_bar__minus_01_dot_59)\n (inReceptacle DeskLamp_bar__minus_00_dot_35_bar__plus_01_dot_53_bar__minus_01_dot_56 Shelf_bar__minus_01_dot_03_bar__plus_01_dot_53_bar__minus_01_dot_59)\n (inReceptacle Statue_bar__minus_01_dot_50_bar__plus_01_dot_53_bar__minus_01_dot_59 Shelf_bar__minus_01_dot_03_bar__plus_01_dot_53_bar__minus_01_dot_59)\n (inReceptacle Bowl_bar__minus_01_dot_18_bar__plus_01_dot_53_bar__minus_01_dot_59 Shelf_bar__minus_01_dot_03_bar__plus_01_dot_53_bar__minus_01_dot_59)\n (inReceptacle AlarmClock_bar__minus_00_dot_81_bar__plus_01_dot_54_bar__minus_01_dot_67 Shelf_bar__minus_01_dot_03_bar__plus_01_dot_53_bar__minus_01_dot_59)\n (inReceptacle Pen_bar__minus_01_dot_38_bar__plus_01_dot_54_bar__minus_01_dot_59 Shelf_bar__minus_01_dot_03_bar__plus_01_dot_53_bar__minus_01_dot_59)\n \n \n (receptacleAtLocation Bed_bar__minus_01_dot_31_bar__plus_00_dot_69_bar__plus_01_dot_47 loc_bar__minus_1_bar_6_bar_3_bar_45)\n (receptacleAtLocation Bed_bar__minus_01_dot_31_bar__plus_01_dot_93_bar__plus_01_dot_47 loc_bar_2_bar_6_bar_3_bar__minus_15)\n (receptacleAtLocation Desk_bar__minus_00_dot_88_bar__plus_00_dot_00_bar__minus_01_dot_41 loc_bar__minus_5_bar__minus_3_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_41_bar__plus_00_dot_22_bar__minus_01_dot_34 loc_bar__minus_5_bar__minus_3_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_41_bar__plus_00_dot_54_bar__minus_01_dot_34 loc_bar__minus_5_bar__minus_3_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_41_bar__plus_00_dot_83_bar__minus_01_dot_34 loc_bar__minus_5_bar__minus_3_bar_2_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_00_dot_04_bar__plus_00_dot_01_bar__minus_01_dot_53 loc_bar_0_bar__minus_4_bar_2_bar_60)\n (receptacleAtLocation LaundryHamper_bar__plus_00_dot_00_bar__plus_00_dot_01_bar__plus_02_dot_52 loc_bar_0_bar_8_bar_0_bar_60)\n (receptacleAtLocation Shelf_bar__minus_01_dot_03_bar__plus_01_dot_53_bar__minus_01_dot_59 loc_bar__minus_4_bar__minus_3_bar_2_bar_15)\n (objectAtLocation AlarmClock_bar__minus_00_dot_81_bar__plus_01_dot_54_bar__minus_01_dot_67 loc_bar__minus_4_bar__minus_3_bar_2_bar_15)\n (objectAtLocation CD_bar__minus_00_dot_62_bar__plus_01_dot_54_bar__minus_01_dot_59 loc_bar__minus_4_bar__minus_3_bar_2_bar_15)\n (objectAtLocation CellPhone_bar__minus_01_dot_24_bar__plus_00_dot_74_bar__minus_01_dot_39 loc_bar__minus_5_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Bowl_bar__minus_01_dot_18_bar__plus_01_dot_53_bar__minus_01_dot_59 loc_bar__minus_4_bar__minus_3_bar_2_bar_15)\n (objectAtLocation KeyChain_bar__minus_01_dot_41_bar__plus_00_dot_10_bar__minus_01_dot_30 loc_bar__minus_5_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Pillow_bar__minus_01_dot_16_bar__plus_00_dot_95_bar__plus_02_dot_33 loc_bar__minus_1_bar_6_bar_3_bar_45)\n (objectAtLocation Pen_bar__minus_00_dot_59_bar__plus_00_dot_99_bar__minus_01_dot_20 loc_bar__minus_5_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Book_bar__minus_01_dot_24_bar__plus_00_dot_42_bar__minus_01_dot_35 loc_bar__minus_5_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Pen_bar__minus_01_dot_41_bar__plus_00_dot_43_bar__minus_01_dot_35 loc_bar__minus_5_bar__minus_3_bar_2_bar_60)\n (objectAtLocation CellPhone_bar__minus_01_dot_60_bar__plus_00_dot_98_bar__minus_01_dot_36 loc_bar__minus_5_bar__minus_3_bar_2_bar_60)\n (objectAtLocation CD_bar__minus_01_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_20 loc_bar__minus_5_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Mirror_bar__plus_01_dot_91_bar__plus_01_dot_39_bar__plus_00_dot_97 loc_bar_5_bar_4_bar_1_bar_15)\n (objectAtLocation Book_bar__minus_01_dot_41_bar__plus_00_dot_74_bar__minus_01_dot_39 loc_bar__minus_5_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Box_bar__plus_01_dot_56_bar__plus_00_dot_29_bar__minus_01_dot_07 loc_bar_5_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Chair_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__minus_01_dot_21 loc_bar__minus_4_bar__minus_3_bar_2_bar_60)\n (objectAtLocation LaundryHamperLid_bar_00_dot_00_bar__plus_00_dot_48_bar__plus_02_dot_52 loc_bar_0_bar_8_bar_0_bar_60)\n (objectAtLocation Chair_bar__plus_00_dot_89_bar__plus_00_dot_01_bar__minus_01_dot_44 loc_bar_4_bar__minus_3_bar_2_bar_60)\n (objectAtLocation BasketBall_bar__minus_01_dot_66_bar__plus_00_dot_13_bar__minus_00_dot_09 loc_bar__minus_5_bar__minus_1_bar_3_bar_60)\n (objectAtLocation Pen_bar__minus_01_dot_38_bar__plus_01_dot_54_bar__minus_01_dot_59 loc_bar__minus_4_bar__minus_3_bar_2_bar_15)\n (objectAtLocation Pencil_bar__minus_00_dot_59_bar__plus_00_dot_99_bar__minus_01_dot_69 loc_bar__minus_5_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Laptop_bar__minus_01_dot_30_bar__plus_00_dot_89_bar__plus_00_dot_58 loc_bar__minus_1_bar_6_bar_3_bar_45)\n (objectAtLocation Pillow_bar__minus_01_dot_03_bar__plus_00_dot_95_bar__plus_01_dot_16 loc_bar__minus_1_bar_6_bar_3_bar_45)\n (objectAtLocation DeskLamp_bar__minus_00_dot_35_bar__plus_01_dot_53_bar__minus_01_dot_56 loc_bar__minus_4_bar__minus_3_bar_2_bar_15)\n (objectAtLocation KeyChain_bar__minus_01_dot_24_bar__plus_00_dot_10_bar__minus_01_dot_48 loc_bar__minus_5_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Bowl_bar__minus_01_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_28 loc_bar__minus_5_bar__minus_3_bar_2_bar_60)\n (objectAtLocation CreditCard_bar__minus_01_dot_33_bar__plus_00_dot_10_bar__minus_01_dot_44 loc_bar__minus_5_bar__minus_3_bar_2_bar_60)\n (objectAtLocation CellPhone_bar__minus_01_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_44 loc_bar__minus_5_bar__minus_3_bar_2_bar_60)\n (objectAtLocation CD_bar__minus_01_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_69 loc_bar__minus_5_bar__minus_3_bar_2_bar_60)\n (objectAtLocation AlarmClock_bar__minus_01_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_61 loc_bar__minus_5_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Window_bar__plus_01_dot_01_bar__plus_01_dot_52_bar__minus_02_dot_09 loc_bar_4_bar__minus_3_bar_2_bar_0)\n (objectAtLocation LightSwitch_bar__plus_00_dot_40_bar__plus_01_dot_20_bar__plus_02_dot_73 loc_bar_2_bar_9_bar_0_bar_45)\n (objectAtLocation Mug_bar__minus_00_dot_39_bar__plus_00_dot_98_bar__minus_01_dot_28 loc_bar__minus_5_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Statue_bar__minus_01_dot_50_bar__plus_01_dot_53_bar__minus_01_dot_59 loc_bar__minus_4_bar__minus_3_bar_2_bar_15)\n (objectAtLocation Blinds_bar__plus_01_dot_06_bar__plus_02_dot_38_bar__minus_02_dot_09 loc_bar_4_bar__minus_3_bar_2_bar__minus_30)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o1 - object)\n (and\n (objectType ?o1 CDType)\n (receptacleType ?r DrawerType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 CDType)\n (receptacleType ?r DrawerType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to desk 1", "take cd 2 from desk 1", "move cd 2 to drawer 3", "take cd 1 from desk 1", "move cd 1 to drawer 3"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/valid_seen/pick_two_obj_and_place-CD-None-Drawer-304/trial_T20190907_230232_832893/initial_state.pddl b/data/alfworld/json_2.1.1/valid_seen/pick_two_obj_and_place-CD-None-Drawer-304/trial_T20190907_230232_832893/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..c8b60415e6d9bc5c323564c8787e5a1b3fbf6700 --- /dev/null +++ b/data/alfworld/json_2.1.1/valid_seen/pick_two_obj_and_place-CD-None-Drawer-304/trial_T20190907_230232_832893/initial_state.pddl @@ -0,0 +1,507 @@ + +(define (problem plan_trial_T20190907_230232_832893) +(:domain alfred) +(:objects +agent1 - agent +Curtains - object + SprayBottle - object + Mirror - object + HousePlant - object + Watch - object + TeddyBear - object + WateringCan - object + Bathtub - object + LightSwitch - object + Vase - object + Candle - object + Bread - object + Statue - object + HandTowel - object + StoveKnob - object + PaperTowelRoll - object + Pan - object + PepperShaker - object + Painting - object + CellPhone - object + Plunger - object + Spoon - object + SaltShaker - object + KeyChain - object + Footstool - object + Poster - object + Television - object + LaundryHamperLid - object + Glassbottle - object + AlarmClock - object + WineBottle - object + Bowl - object + Sink - object + TissueBox - object + TennisRacket - object + ToiletPaper - object + ScrubBrush - object + CreditCard - object + Laptop - object + Cloth - object + Cup - object + Chair - object + BasketBall - object + Kettle - object + PaperTowel - object + ShowerDoor - object + BaseballBat - object + Potato - object + Pillow - object + Lettuce - object + RemoteControl - object + Window - object + DishSponge - object + CD - object + Boots - object + Blinds - object + Pen - object + Newspaper - object + Plate - object + Mug - object + ShowerGlass - object + ToiletPaperRoll - object + SoapBar - object + FloorLamp - object + SoapBottle - object + Pot - object + Pencil - object + Spatula - object + Towel - object + Fork - object + Ladle - object + Knife - object + Apple - object + Box - object + Tomato - object + ButterKnife - object + Egg - object + Book - object + DeskLamp - object +CurtainsType - otype + SprayBottleType - otype + MirrorType - otype + HousePlantType - otype + WatchType - otype + TeddyBearType - otype + WateringCanType - otype + BathtubType - otype + LightSwitchType - otype + VaseType - otype + CandleType - otype + BreadType - otype + StatueType - otype + HandTowelType - otype + StoveKnobType - otype + PaperTowelRollType - otype + PanType - otype + PepperShakerType - otype + PaintingType - otype + CellPhoneType - otype + PlungerType - otype + SpoonType - otype + SaltShakerType - otype + KeyChainType - otype + FootstoolType - otype + PosterType - otype + TelevisionType - otype + LaundryHamperLidType - otype + GlassbottleType - otype + AlarmClockType - otype + WineBottleType - otype + BowlType - otype + SinkType - otype + TissueBoxType - otype + TennisRacketType - otype + ToiletPaperType - otype + ScrubBrushType - otype + CreditCardType - otype + LaptopType - otype + ClothType - otype + CupType - otype + ChairType - otype + BasketBallType - otype + KettleType - otype + PaperTowelType - otype + ShowerDoorType - otype + BaseballBatType - otype + PotatoType - otype + PillowType - otype + LettuceType - otype + RemoteControlType - otype + WindowType - otype + DishSpongeType - otype + CDType - otype + BootsType - otype + BlindsType - otype + PenType - otype + NewspaperType - otype + PlateType - otype + MugType - otype + ShowerGlassType - otype + ToiletPaperRollType - otype + SoapBarType - otype + FloorLampType - otype + SoapBottleType - otype + PotType - otype + PencilType - otype + SpatulaType - otype + TowelType - otype + ForkType - otype + LadleType - otype + KnifeType - otype + AppleType - otype + BoxType - otype + TomatoType - otype + ButterKnifeType - otype + EggType - otype + BookType - otype + DeskLampType - otype +CabinetType - rtype + ShelfType - rtype + DiningTableType - rtype + TowelHolderType - rtype + PaintingHangerType - rtype + TVStandType - rtype + LaundryHamperType - rtype + OttomanType - rtype + SafeType - rtype + CoffeeMachineType - rtype + CounterTopType - rtype + ToiletType - rtype + FridgeType - rtype + CoffeeTableType - rtype + SinkBasinType - rtype + GarbageCanType - rtype + BathtubBasinType - rtype + SideTableType - rtype + CartType - rtype + BedType - rtype + DeskType - rtype + SofaType - rtype + ArmChairType - rtype + MicrowaveType - rtype + HandTowelHolderType - rtype + ToasterType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + DrawerType - rtype + DresserType - rtype + + + AlarmClock_bar__minus_00_dot_81_bar__plus_01_dot_54_bar__minus_01_dot_67 - object + AlarmClock_bar__minus_01_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_61 - object + BasketBall_bar__minus_01_dot_66_bar__plus_00_dot_13_bar__minus_00_dot_09 - object + Blinds_bar__plus_01_dot_06_bar__plus_02_dot_38_bar__minus_02_dot_09 - object + Book_bar__minus_01_dot_24_bar__plus_00_dot_42_bar__minus_01_dot_35 - object + Book_bar__minus_01_dot_41_bar__plus_00_dot_74_bar__minus_01_dot_39 - object + Bowl_bar__minus_01_dot_18_bar__plus_01_dot_53_bar__minus_01_dot_59 - object + Bowl_bar__minus_01_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_28 - object + Box_bar__plus_01_dot_56_bar__plus_00_dot_29_bar__minus_01_dot_07 - object + CD_bar__minus_00_dot_62_bar__plus_01_dot_54_bar__minus_01_dot_59 - object + CD_bar__minus_01_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_69 - object + CD_bar__minus_01_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_20 - object + CellPhone_bar__minus_01_dot_24_bar__plus_00_dot_74_bar__minus_01_dot_39 - object + CellPhone_bar__minus_01_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_44 - object + CellPhone_bar__minus_01_dot_60_bar__plus_00_dot_98_bar__minus_01_dot_36 - object + Chair_bar__plus_00_dot_89_bar__plus_00_dot_01_bar__minus_01_dot_44 - object + Chair_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__minus_01_dot_21 - object + CreditCard_bar__minus_01_dot_33_bar__plus_00_dot_10_bar__minus_01_dot_44 - object + DeskLamp_bar__minus_00_dot_35_bar__plus_01_dot_53_bar__minus_01_dot_56 - object + KeyChain_bar__minus_01_dot_24_bar__plus_00_dot_10_bar__minus_01_dot_48 - object + KeyChain_bar__minus_01_dot_41_bar__plus_00_dot_10_bar__minus_01_dot_30 - object + Laptop_bar__minus_01_dot_30_bar__plus_00_dot_89_bar__plus_00_dot_58 - object + LaundryHamperLid_bar_00_dot_00_bar__plus_00_dot_48_bar__plus_02_dot_52 - object + LightSwitch_bar__plus_00_dot_40_bar__plus_01_dot_20_bar__plus_02_dot_73 - object + Mirror_bar__plus_01_dot_91_bar__plus_01_dot_39_bar__plus_00_dot_97 - object + Mug_bar__minus_00_dot_39_bar__plus_00_dot_98_bar__minus_01_dot_28 - object + Pencil_bar__minus_00_dot_59_bar__plus_00_dot_99_bar__minus_01_dot_69 - object + Pen_bar__minus_00_dot_59_bar__plus_00_dot_99_bar__minus_01_dot_20 - object + Pen_bar__minus_01_dot_38_bar__plus_01_dot_54_bar__minus_01_dot_59 - object + Pen_bar__minus_01_dot_41_bar__plus_00_dot_43_bar__minus_01_dot_35 - object + Pillow_bar__minus_01_dot_03_bar__plus_00_dot_95_bar__plus_01_dot_16 - object + Pillow_bar__minus_01_dot_16_bar__plus_00_dot_95_bar__plus_02_dot_33 - object + Statue_bar__minus_01_dot_50_bar__plus_01_dot_53_bar__minus_01_dot_59 - object + Window_bar__plus_01_dot_01_bar__plus_01_dot_52_bar__minus_02_dot_09 - object + Bed_bar__minus_01_dot_31_bar__plus_00_dot_69_bar__plus_01_dot_47 - receptacle + Bed_bar__minus_01_dot_31_bar__plus_01_dot_93_bar__plus_01_dot_47 - receptacle + Desk_bar__minus_00_dot_88_bar__plus_00_dot_00_bar__minus_01_dot_41 - receptacle + Drawer_bar__minus_01_dot_41_bar__plus_00_dot_22_bar__minus_01_dot_34 - receptacle + Drawer_bar__minus_01_dot_41_bar__plus_00_dot_54_bar__minus_01_dot_34 - receptacle + Drawer_bar__minus_01_dot_41_bar__plus_00_dot_83_bar__minus_01_dot_34 - receptacle + GarbageCan_bar__minus_00_dot_04_bar__plus_00_dot_01_bar__minus_01_dot_53 - receptacle + LaundryHamper_bar__plus_00_dot_00_bar__plus_00_dot_01_bar__plus_02_dot_52 - receptacle + Shelf_bar__minus_01_dot_03_bar__plus_01_dot_53_bar__minus_01_dot_59 - receptacle + loc_bar_4_bar__minus_3_bar_2_bar_60 - location + loc_bar__minus_5_bar__minus_1_bar_3_bar_60 - location + loc_bar_4_bar__minus_3_bar_2_bar_0 - location + loc_bar_2_bar_9_bar_0_bar_45 - location + loc_bar_5_bar__minus_3_bar_2_bar_60 - location + loc_bar__minus_4_bar__minus_3_bar_2_bar_60 - location + loc_bar__minus_5_bar__minus_3_bar_2_bar_60 - location + loc_bar_0_bar__minus_4_bar_2_bar_60 - location + loc_bar_5_bar_4_bar_1_bar_15 - location + loc_bar__minus_4_bar__minus_3_bar_2_bar_15 - location + loc_bar__minus_1_bar_6_bar_3_bar_45 - location + loc_bar_4_bar__minus_3_bar_2_bar__minus_30 - location + loc_bar_2_bar_6_bar_3_bar__minus_15 - location + loc_bar_0_bar_8_bar_0_bar_60 - location + loc_bar__minus_5_bar__minus_2_bar_0_bar_30 - location + ) + + +(:init + + + (receptacleType Drawer_bar__minus_01_dot_41_bar__plus_00_dot_83_bar__minus_01_dot_34 DrawerType) + (receptacleType Bed_bar__minus_01_dot_31_bar__plus_01_dot_93_bar__plus_01_dot_47 BedType) + (receptacleType LaundryHamper_bar__plus_00_dot_00_bar__plus_00_dot_01_bar__plus_02_dot_52 LaundryHamperType) + (receptacleType Bed_bar__minus_01_dot_31_bar__plus_00_dot_69_bar__plus_01_dot_47 BedType) + (receptacleType Drawer_bar__minus_01_dot_41_bar__plus_00_dot_22_bar__minus_01_dot_34 DrawerType) + (receptacleType Shelf_bar__minus_01_dot_03_bar__plus_01_dot_53_bar__minus_01_dot_59 ShelfType) + (receptacleType GarbageCan_bar__minus_00_dot_04_bar__plus_00_dot_01_bar__minus_01_dot_53 GarbageCanType) + (receptacleType Desk_bar__minus_00_dot_88_bar__plus_00_dot_00_bar__minus_01_dot_41 DeskType) + (receptacleType Drawer_bar__minus_01_dot_41_bar__plus_00_dot_54_bar__minus_01_dot_34 DrawerType) + (objectType Mug_bar__minus_00_dot_39_bar__plus_00_dot_98_bar__minus_01_dot_28 MugType) + (objectType Pillow_bar__minus_01_dot_16_bar__plus_00_dot_95_bar__plus_02_dot_33 PillowType) + (objectType CellPhone_bar__minus_01_dot_24_bar__plus_00_dot_74_bar__minus_01_dot_39 CellPhoneType) + (objectType Chair_bar__plus_00_dot_89_bar__plus_00_dot_01_bar__minus_01_dot_44 ChairType) + (objectType Book_bar__minus_01_dot_41_bar__plus_00_dot_74_bar__minus_01_dot_39 BookType) + (objectType Chair_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__minus_01_dot_21 ChairType) + (objectType DeskLamp_bar__minus_00_dot_35_bar__plus_01_dot_53_bar__minus_01_dot_56 DeskLampType) + (objectType Bowl_bar__minus_01_dot_18_bar__plus_01_dot_53_bar__minus_01_dot_59 BowlType) + (objectType Pillow_bar__minus_01_dot_03_bar__plus_00_dot_95_bar__plus_01_dot_16 PillowType) + (objectType CellPhone_bar__minus_01_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_44 CellPhoneType) + (objectType Book_bar__minus_01_dot_24_bar__plus_00_dot_42_bar__minus_01_dot_35 BookType) + (objectType Bowl_bar__minus_01_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_28 BowlType) + (objectType CD_bar__minus_01_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_69 CDType) + (objectType Pen_bar__minus_01_dot_41_bar__plus_00_dot_43_bar__minus_01_dot_35 PenType) + (objectType CellPhone_bar__minus_01_dot_60_bar__plus_00_dot_98_bar__minus_01_dot_36 CellPhoneType) + (objectType BasketBall_bar__minus_01_dot_66_bar__plus_00_dot_13_bar__minus_00_dot_09 BasketBallType) + (objectType KeyChain_bar__minus_01_dot_41_bar__plus_00_dot_10_bar__minus_01_dot_30 KeyChainType) + (objectType Window_bar__plus_01_dot_01_bar__plus_01_dot_52_bar__minus_02_dot_09 WindowType) + (objectType CreditCard_bar__minus_01_dot_33_bar__plus_00_dot_10_bar__minus_01_dot_44 CreditCardType) + (objectType Pen_bar__minus_00_dot_59_bar__plus_00_dot_99_bar__minus_01_dot_20 PenType) + (objectType AlarmClock_bar__minus_01_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_61 AlarmClockType) + (objectType CD_bar__minus_00_dot_62_bar__plus_01_dot_54_bar__minus_01_dot_59 CDType) + (objectType Statue_bar__minus_01_dot_50_bar__plus_01_dot_53_bar__minus_01_dot_59 StatueType) + (objectType CD_bar__minus_01_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_20 CDType) + (objectType LaundryHamperLid_bar_00_dot_00_bar__plus_00_dot_48_bar__plus_02_dot_52 LaundryHamperLidType) + (objectType Pen_bar__minus_01_dot_38_bar__plus_01_dot_54_bar__minus_01_dot_59 PenType) + (objectType LightSwitch_bar__plus_00_dot_40_bar__plus_01_dot_20_bar__plus_02_dot_73 LightSwitchType) + (objectType Laptop_bar__minus_01_dot_30_bar__plus_00_dot_89_bar__plus_00_dot_58 LaptopType) + (objectType Box_bar__plus_01_dot_56_bar__plus_00_dot_29_bar__minus_01_dot_07 BoxType) + (objectType Pencil_bar__minus_00_dot_59_bar__plus_00_dot_99_bar__minus_01_dot_69 PencilType) + (objectType KeyChain_bar__minus_01_dot_24_bar__plus_00_dot_10_bar__minus_01_dot_48 KeyChainType) + (objectType Blinds_bar__plus_01_dot_06_bar__plus_02_dot_38_bar__minus_02_dot_09 BlindsType) + (objectType AlarmClock_bar__minus_00_dot_81_bar__plus_01_dot_54_bar__minus_01_dot_67 AlarmClockType) + (objectType Mirror_bar__plus_01_dot_91_bar__plus_01_dot_39_bar__plus_00_dot_97 MirrorType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CDType) + (canContain DrawerType PencilType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain BedType CellPhoneType) + (canContain BedType BasketBallType) + (canContain BedType BookType) + (canContain BedType PillowType) + (canContain BedType LaptopType) + (canContain BedType CellPhoneType) + (canContain BedType BasketBallType) + (canContain BedType BookType) + (canContain BedType PillowType) + (canContain BedType LaptopType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CDType) + (canContain DrawerType PencilType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain ShelfType CellPhoneType) + (canContain ShelfType KeyChainType) + (canContain ShelfType AlarmClockType) + (canContain ShelfType BowlType) + (canContain ShelfType CDType) + (canContain ShelfType PencilType) + (canContain ShelfType CreditCardType) + (canContain ShelfType PenType) + (canContain ShelfType StatueType) + (canContain ShelfType BoxType) + (canContain ShelfType MugType) + (canContain ShelfType BookType) + (canContain GarbageCanType CDType) + (canContain GarbageCanType PencilType) + (canContain GarbageCanType PenType) + (canContain DeskType CellPhoneType) + (canContain DeskType BasketBallType) + (canContain DeskType KeyChainType) + (canContain DeskType AlarmClockType) + (canContain DeskType BowlType) + (canContain DeskType CDType) + (canContain DeskType PencilType) + (canContain DeskType CreditCardType) + (canContain DeskType PenType) + (canContain DeskType LaptopType) + (canContain DeskType StatueType) + (canContain DeskType BoxType) + (canContain DeskType MugType) + (canContain DeskType BookType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CDType) + (canContain DrawerType PencilType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (pickupable Mug_bar__minus_00_dot_39_bar__plus_00_dot_98_bar__minus_01_dot_28) + (pickupable Pillow_bar__minus_01_dot_16_bar__plus_00_dot_95_bar__plus_02_dot_33) + (pickupable CellPhone_bar__minus_01_dot_24_bar__plus_00_dot_74_bar__minus_01_dot_39) + (pickupable Book_bar__minus_01_dot_41_bar__plus_00_dot_74_bar__minus_01_dot_39) + (pickupable Bowl_bar__minus_01_dot_18_bar__plus_01_dot_53_bar__minus_01_dot_59) + (pickupable Pillow_bar__minus_01_dot_03_bar__plus_00_dot_95_bar__plus_01_dot_16) + (pickupable CellPhone_bar__minus_01_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_44) + (pickupable Book_bar__minus_01_dot_24_bar__plus_00_dot_42_bar__minus_01_dot_35) + (pickupable Bowl_bar__minus_01_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_28) + (pickupable CD_bar__minus_01_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_69) + (pickupable Pen_bar__minus_01_dot_41_bar__plus_00_dot_43_bar__minus_01_dot_35) + (pickupable CellPhone_bar__minus_01_dot_60_bar__plus_00_dot_98_bar__minus_01_dot_36) + (pickupable BasketBall_bar__minus_01_dot_66_bar__plus_00_dot_13_bar__minus_00_dot_09) + (pickupable KeyChain_bar__minus_01_dot_41_bar__plus_00_dot_10_bar__minus_01_dot_30) + (pickupable CreditCard_bar__minus_01_dot_33_bar__plus_00_dot_10_bar__minus_01_dot_44) + (pickupable Pen_bar__minus_00_dot_59_bar__plus_00_dot_99_bar__minus_01_dot_20) + (pickupable AlarmClock_bar__minus_01_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_61) + (pickupable CD_bar__minus_00_dot_62_bar__plus_01_dot_54_bar__minus_01_dot_59) + (pickupable Statue_bar__minus_01_dot_50_bar__plus_01_dot_53_bar__minus_01_dot_59) + (pickupable CD_bar__minus_01_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_20) + (pickupable Pen_bar__minus_01_dot_38_bar__plus_01_dot_54_bar__minus_01_dot_59) + (pickupable Laptop_bar__minus_01_dot_30_bar__plus_00_dot_89_bar__plus_00_dot_58) + (pickupable Box_bar__plus_01_dot_56_bar__plus_00_dot_29_bar__minus_01_dot_07) + (pickupable Pencil_bar__minus_00_dot_59_bar__plus_00_dot_99_bar__minus_01_dot_69) + (pickupable KeyChain_bar__minus_01_dot_24_bar__plus_00_dot_10_bar__minus_01_dot_48) + (pickupable AlarmClock_bar__minus_00_dot_81_bar__plus_01_dot_54_bar__minus_01_dot_67) 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(toggleable DeskLamp_bar__minus_00_dot_35_bar__plus_01_dot_53_bar__minus_01_dot_56) + + + + + (inReceptacle Pen_bar__minus_01_dot_41_bar__plus_00_dot_43_bar__minus_01_dot_35 Drawer_bar__minus_01_dot_41_bar__plus_00_dot_54_bar__minus_01_dot_34) + (inReceptacle Book_bar__minus_01_dot_24_bar__plus_00_dot_42_bar__minus_01_dot_35 Drawer_bar__minus_01_dot_41_bar__plus_00_dot_54_bar__minus_01_dot_34) + (inReceptacle Laptop_bar__minus_01_dot_30_bar__plus_00_dot_89_bar__plus_00_dot_58 Bed_bar__minus_01_dot_31_bar__plus_00_dot_69_bar__plus_01_dot_47) + (inReceptacle Pillow_bar__minus_01_dot_16_bar__plus_00_dot_95_bar__plus_02_dot_33 Bed_bar__minus_01_dot_31_bar__plus_00_dot_69_bar__plus_01_dot_47) + (inReceptacle Pillow_bar__minus_01_dot_03_bar__plus_00_dot_95_bar__plus_01_dot_16 Bed_bar__minus_01_dot_31_bar__plus_00_dot_69_bar__plus_01_dot_47) + (inReceptacle Mug_bar__minus_00_dot_39_bar__plus_00_dot_98_bar__minus_01_dot_28 Desk_bar__minus_00_dot_88_bar__plus_00_dot_00_bar__minus_01_dot_41) + (inReceptacle Pen_bar__minus_00_dot_59_bar__plus_00_dot_99_bar__minus_01_dot_20 Desk_bar__minus_00_dot_88_bar__plus_00_dot_00_bar__minus_01_dot_41) + (inReceptacle AlarmClock_bar__minus_01_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_61 Desk_bar__minus_00_dot_88_bar__plus_00_dot_00_bar__minus_01_dot_41) + (inReceptacle CD_bar__minus_01_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_20 Desk_bar__minus_00_dot_88_bar__plus_00_dot_00_bar__minus_01_dot_41) + (inReceptacle CellPhone_bar__minus_01_dot_60_bar__plus_00_dot_98_bar__minus_01_dot_36 Desk_bar__minus_00_dot_88_bar__plus_00_dot_00_bar__minus_01_dot_41) + (inReceptacle Pencil_bar__minus_00_dot_59_bar__plus_00_dot_99_bar__minus_01_dot_69 Desk_bar__minus_00_dot_88_bar__plus_00_dot_00_bar__minus_01_dot_41) + (inReceptacle CellPhone_bar__minus_01_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_44 Desk_bar__minus_00_dot_88_bar__plus_00_dot_00_bar__minus_01_dot_41) + (inReceptacle Bowl_bar__minus_01_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_28 Desk_bar__minus_00_dot_88_bar__plus_00_dot_00_bar__minus_01_dot_41) + (inReceptacle CD_bar__minus_01_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_69 Desk_bar__minus_00_dot_88_bar__plus_00_dot_00_bar__minus_01_dot_41) + (inReceptacle Book_bar__minus_01_dot_41_bar__plus_00_dot_74_bar__minus_01_dot_39 Drawer_bar__minus_01_dot_41_bar__plus_00_dot_83_bar__minus_01_dot_34) + (inReceptacle CellPhone_bar__minus_01_dot_24_bar__plus_00_dot_74_bar__minus_01_dot_39 Drawer_bar__minus_01_dot_41_bar__plus_00_dot_83_bar__minus_01_dot_34) + (inReceptacle KeyChain_bar__minus_01_dot_24_bar__plus_00_dot_10_bar__minus_01_dot_48 Drawer_bar__minus_01_dot_41_bar__plus_00_dot_22_bar__minus_01_dot_34) + (inReceptacle CreditCard_bar__minus_01_dot_33_bar__plus_00_dot_10_bar__minus_01_dot_44 Drawer_bar__minus_01_dot_41_bar__plus_00_dot_22_bar__minus_01_dot_34) + (inReceptacle KeyChain_bar__minus_01_dot_41_bar__plus_00_dot_10_bar__minus_01_dot_30 Drawer_bar__minus_01_dot_41_bar__plus_00_dot_22_bar__minus_01_dot_34) + (inReceptacle CD_bar__minus_00_dot_62_bar__plus_01_dot_54_bar__minus_01_dot_59 Shelf_bar__minus_01_dot_03_bar__plus_01_dot_53_bar__minus_01_dot_59) + (inReceptacle DeskLamp_bar__minus_00_dot_35_bar__plus_01_dot_53_bar__minus_01_dot_56 Shelf_bar__minus_01_dot_03_bar__plus_01_dot_53_bar__minus_01_dot_59) + (inReceptacle Statue_bar__minus_01_dot_50_bar__plus_01_dot_53_bar__minus_01_dot_59 Shelf_bar__minus_01_dot_03_bar__plus_01_dot_53_bar__minus_01_dot_59) + (inReceptacle Bowl_bar__minus_01_dot_18_bar__plus_01_dot_53_bar__minus_01_dot_59 Shelf_bar__minus_01_dot_03_bar__plus_01_dot_53_bar__minus_01_dot_59) + (inReceptacle AlarmClock_bar__minus_00_dot_81_bar__plus_01_dot_54_bar__minus_01_dot_67 Shelf_bar__minus_01_dot_03_bar__plus_01_dot_53_bar__minus_01_dot_59) + (inReceptacle Pen_bar__minus_01_dot_38_bar__plus_01_dot_54_bar__minus_01_dot_59 Shelf_bar__minus_01_dot_03_bar__plus_01_dot_53_bar__minus_01_dot_59) + + + (receptacleAtLocation Bed_bar__minus_01_dot_31_bar__plus_00_dot_69_bar__plus_01_dot_47 loc_bar__minus_1_bar_6_bar_3_bar_45) + (receptacleAtLocation Bed_bar__minus_01_dot_31_bar__plus_01_dot_93_bar__plus_01_dot_47 loc_bar_2_bar_6_bar_3_bar__minus_15) + (receptacleAtLocation Desk_bar__minus_00_dot_88_bar__plus_00_dot_00_bar__minus_01_dot_41 loc_bar__minus_5_bar__minus_3_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__minus_01_dot_41_bar__plus_00_dot_22_bar__minus_01_dot_34 loc_bar__minus_5_bar__minus_3_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__minus_01_dot_41_bar__plus_00_dot_54_bar__minus_01_dot_34 loc_bar__minus_5_bar__minus_3_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__minus_01_dot_41_bar__plus_00_dot_83_bar__minus_01_dot_34 loc_bar__minus_5_bar__minus_3_bar_2_bar_60) + (receptacleAtLocation GarbageCan_bar__minus_00_dot_04_bar__plus_00_dot_01_bar__minus_01_dot_53 loc_bar_0_bar__minus_4_bar_2_bar_60) + (receptacleAtLocation LaundryHamper_bar__plus_00_dot_00_bar__plus_00_dot_01_bar__plus_02_dot_52 loc_bar_0_bar_8_bar_0_bar_60) + (receptacleAtLocation Shelf_bar__minus_01_dot_03_bar__plus_01_dot_53_bar__minus_01_dot_59 loc_bar__minus_4_bar__minus_3_bar_2_bar_15) + (objectAtLocation AlarmClock_bar__minus_00_dot_81_bar__plus_01_dot_54_bar__minus_01_dot_67 loc_bar__minus_4_bar__minus_3_bar_2_bar_15) + (objectAtLocation CD_bar__minus_00_dot_62_bar__plus_01_dot_54_bar__minus_01_dot_59 loc_bar__minus_4_bar__minus_3_bar_2_bar_15) + (objectAtLocation CellPhone_bar__minus_01_dot_24_bar__plus_00_dot_74_bar__minus_01_dot_39 loc_bar__minus_5_bar__minus_3_bar_2_bar_60) + (objectAtLocation Bowl_bar__minus_01_dot_18_bar__plus_01_dot_53_bar__minus_01_dot_59 loc_bar__minus_4_bar__minus_3_bar_2_bar_15) + (objectAtLocation KeyChain_bar__minus_01_dot_41_bar__plus_00_dot_10_bar__minus_01_dot_30 loc_bar__minus_5_bar__minus_3_bar_2_bar_60) + (objectAtLocation Pillow_bar__minus_01_dot_16_bar__plus_00_dot_95_bar__plus_02_dot_33 loc_bar__minus_1_bar_6_bar_3_bar_45) + (objectAtLocation Pen_bar__minus_00_dot_59_bar__plus_00_dot_99_bar__minus_01_dot_20 loc_bar__minus_5_bar__minus_3_bar_2_bar_60) + (objectAtLocation Book_bar__minus_01_dot_24_bar__plus_00_dot_42_bar__minus_01_dot_35 loc_bar__minus_5_bar__minus_3_bar_2_bar_60) + (objectAtLocation Pen_bar__minus_01_dot_41_bar__plus_00_dot_43_bar__minus_01_dot_35 loc_bar__minus_5_bar__minus_3_bar_2_bar_60) + (objectAtLocation CellPhone_bar__minus_01_dot_60_bar__plus_00_dot_98_bar__minus_01_dot_36 loc_bar__minus_5_bar__minus_3_bar_2_bar_60) + (objectAtLocation CD_bar__minus_01_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_20 loc_bar__minus_5_bar__minus_3_bar_2_bar_60) + (objectAtLocation Mirror_bar__plus_01_dot_91_bar__plus_01_dot_39_bar__plus_00_dot_97 loc_bar_5_bar_4_bar_1_bar_15) + (objectAtLocation Book_bar__minus_01_dot_41_bar__plus_00_dot_74_bar__minus_01_dot_39 loc_bar__minus_5_bar__minus_3_bar_2_bar_60) + (objectAtLocation Box_bar__plus_01_dot_56_bar__plus_00_dot_29_bar__minus_01_dot_07 loc_bar_5_bar__minus_3_bar_2_bar_60) + (objectAtLocation Chair_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__minus_01_dot_21 loc_bar__minus_4_bar__minus_3_bar_2_bar_60) + (objectAtLocation LaundryHamperLid_bar_00_dot_00_bar__plus_00_dot_48_bar__plus_02_dot_52 loc_bar_0_bar_8_bar_0_bar_60) + (objectAtLocation Chair_bar__plus_00_dot_89_bar__plus_00_dot_01_bar__minus_01_dot_44 loc_bar_4_bar__minus_3_bar_2_bar_60) + (objectAtLocation BasketBall_bar__minus_01_dot_66_bar__plus_00_dot_13_bar__minus_00_dot_09 loc_bar__minus_5_bar__minus_1_bar_3_bar_60) + (objectAtLocation Pen_bar__minus_01_dot_38_bar__plus_01_dot_54_bar__minus_01_dot_59 loc_bar__minus_4_bar__minus_3_bar_2_bar_15) + (objectAtLocation Pencil_bar__minus_00_dot_59_bar__plus_00_dot_99_bar__minus_01_dot_69 loc_bar__minus_5_bar__minus_3_bar_2_bar_60) + (objectAtLocation Laptop_bar__minus_01_dot_30_bar__plus_00_dot_89_bar__plus_00_dot_58 loc_bar__minus_1_bar_6_bar_3_bar_45) + (objectAtLocation Pillow_bar__minus_01_dot_03_bar__plus_00_dot_95_bar__plus_01_dot_16 loc_bar__minus_1_bar_6_bar_3_bar_45) + (objectAtLocation DeskLamp_bar__minus_00_dot_35_bar__plus_01_dot_53_bar__minus_01_dot_56 loc_bar__minus_4_bar__minus_3_bar_2_bar_15) + (objectAtLocation KeyChain_bar__minus_01_dot_24_bar__plus_00_dot_10_bar__minus_01_dot_48 loc_bar__minus_5_bar__minus_3_bar_2_bar_60) + (objectAtLocation Bowl_bar__minus_01_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_28 loc_bar__minus_5_bar__minus_3_bar_2_bar_60) + (objectAtLocation CreditCard_bar__minus_01_dot_33_bar__plus_00_dot_10_bar__minus_01_dot_44 loc_bar__minus_5_bar__minus_3_bar_2_bar_60) + (objectAtLocation CellPhone_bar__minus_01_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_44 loc_bar__minus_5_bar__minus_3_bar_2_bar_60) + (objectAtLocation CD_bar__minus_01_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_69 loc_bar__minus_5_bar__minus_3_bar_2_bar_60) + (objectAtLocation AlarmClock_bar__minus_01_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_61 loc_bar__minus_5_bar__minus_3_bar_2_bar_60) + (objectAtLocation Window_bar__plus_01_dot_01_bar__plus_01_dot_52_bar__minus_02_dot_09 loc_bar_4_bar__minus_3_bar_2_bar_0) + (objectAtLocation LightSwitch_bar__plus_00_dot_40_bar__plus_01_dot_20_bar__plus_02_dot_73 loc_bar_2_bar_9_bar_0_bar_45) + (objectAtLocation Mug_bar__minus_00_dot_39_bar__plus_00_dot_98_bar__minus_01_dot_28 loc_bar__minus_5_bar__minus_3_bar_2_bar_60) + (objectAtLocation Statue_bar__minus_01_dot_50_bar__plus_01_dot_53_bar__minus_01_dot_59 loc_bar__minus_4_bar__minus_3_bar_2_bar_15) + (objectAtLocation Blinds_bar__plus_01_dot_06_bar__plus_02_dot_38_bar__minus_02_dot_09 loc_bar_4_bar__minus_3_bar_2_bar__minus_30) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o1 - object) + (and + (objectType ?o1 CDType) + (receptacleType ?r DrawerType) + (inReceptacle ?o1 ?r) + (exists (?o2 - object) + (and + (not (= ?o1 ?o2)) + (objectType ?o2 CDType) + (receptacleType ?r DrawerType) + (inReceptacle ?o2 ?r) + ) + ) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/valid_seen/pick_two_obj_and_place-CD-None-Drawer-304/trial_T20190907_230232_832893/traj_data.json b/data/alfworld/json_2.1.1/valid_seen/pick_two_obj_and_place-CD-None-Drawer-304/trial_T20190907_230232_832893/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..25efc877f224c35ae90b319cc899a8ec736faaad --- /dev/null +++ b/data/alfworld/json_2.1.1/valid_seen/pick_two_obj_and_place-CD-None-Drawer-304/trial_T20190907_230232_832893/traj_data.json @@ -0,0 +1,4933 @@ +{ + "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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"x": -0.387528062, + "y": 0.9795, + "z": -1.28130066 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Statue_f17ac2ff", + "position": { + "x": -1.50339, + "y": 1.528718, + "z": -1.590862 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 2371950931, + "scene_num": 304 + }, + "task_id": "trial_T20190907_230232_832893", + "task_type": "pick_two_obj_and_place", + "turk_annotations": { + "anns": [ + { + "assignment_id": "AFU00NU09CFXE_3E4GGUZ1TB8YS32U7LKJLZ5DP3T2KT", + "high_descs": [ + "Turn around and face the desk behind you.", + "Pick up the CD that's directly to the left of the small clock.", + "Move back a step with the CD, so you have enough space to open a desk drawer.", + "Open the bottom drawer and place the CD in the front left corner, and then close the drawer.", + "Step back closer to the desk again.", + "Pick up the remaining CD from the desk.", + "Move back once again away from the desk, so you have room to open a drawer.", + "Open the bottom desk drawer and place the CD inside behind the one you previously put there." + ], + "task_desc": "Move two CDs to the bottom drawer of the desk.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A36DK84J5YJ942_3LO69W1SU6UZR3SJR0H923CTOPBGL7", + "high_descs": [ + "move to the desk at the foot of the bed", + "pick up a CD from the desk", + "move to the middle of the desk at the foot of the bed", + "put the CD in the bottom drawer", + "move to the desk at the foot of the bed", + "pick up a CD from the desk", + "move to the middle of the desk at the foot of the bed", + "put the CD in the bottom drawer" + ], + "task_desc": "Put two CDs in the bottom drawer of the desk at the foot of the bed.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "AUTYWXILTACCR_3KWTYT0873K1B63ZA4YIY6L4YGIL5F", + "high_descs": [ + "Turn around to face the desk", + "Grab the cd on the back of the desk to the left of the clock.", + "Back up a bit from the desk and open the bottom drawer.", + "Place the cd in the outer left corner of the drawer.", + "Approach the front of the desk again.", + "Grab the CD nearest the edge of the desk.", + "Return to the bottom drawer of the desk.", + "Place the CD in the drawer, behind the other one." + ], + "task_desc": "Place two CD's in a desk drawer.", + "votes": [ + 1, + 1, + 0 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/valid_seen/pick_two_obj_and_place-Knife-None-Drawer-18/trial_T20190907_065232_689984/game.tw-pddl b/data/alfworld/json_2.1.1/valid_seen/pick_two_obj_and_place-Knife-None-Drawer-18/trial_T20190907_065232_689984/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..f18a8bee0683acbac6314999745e519acf615443 --- /dev/null +++ b/data/alfworld/json_2.1.1/valid_seen/pick_two_obj_and_place-Knife-None-Drawer-18/trial_T20190907_065232_689984/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\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 knife and put them in drawer.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190907_065232_689984)\n(:domain alfred)\n(:objects\nagent1 - agent\nCurtains - object\n SprayBottle - object\n Mirror - object\n HousePlant - object\n Watch - object\n TeddyBear - object\n WateringCan - object\n Bathtub - object\n LightSwitch - object\n Vase - object\n Candle - object\n Bread - object\n Statue - object\n HandTowel - object\n StoveKnob - object\n PaperTowelRoll - object\n Pan - object\n PepperShaker - object\n Painting - object\n CellPhone - object\n Plunger - object\n Spoon - object\n SaltShaker - object\n KeyChain - object\n Footstool - object\n Poster - object\n Television - object\n LaundryHamperLid - object\n Glassbottle - object\n AlarmClock - object\n WineBottle - object\n Bowl - object\n Sink - object\n TissueBox - object\n TennisRacket - object\n ToiletPaper - object\n ScrubBrush - object\n CreditCard - object\n Laptop - object\n Cloth - object\n Cup - object\n Chair - object\n BasketBall - object\n Kettle - object\n PaperTowel - object\n ShowerDoor - object\n BaseballBat - object\n Potato - object\n Pillow - object\n Lettuce - object\n RemoteControl - object\n Window - object\n DishSponge - object\n CD - object\n Boots - object\n Blinds - object\n Pen - object\n Newspaper - object\n Plate - object\n Mug - object\n ShowerGlass - object\n ToiletPaperRoll - object\n SoapBar - object\n FloorLamp - object\n SoapBottle - object\n Pot - object\n Pencil - object\n Spatula - object\n Towel - object\n Fork - object\n Ladle - object\n Knife - object\n Apple - object\n Box - object\n Tomato - object\n ButterKnife - object\n Egg - object\n Book - object\n DeskLamp - object\nCurtainsType - otype\n SprayBottleType - otype\n MirrorType - otype\n HousePlantType - otype\n WatchType - otype\n TeddyBearType - otype\n WateringCanType - otype\n BathtubType - otype\n LightSwitchType - otype\n VaseType - otype\n CandleType - otype\n BreadType - otype\n StatueType - otype\n HandTowelType - otype\n StoveKnobType - otype\n PaperTowelRollType - otype\n PanType - otype\n PepperShakerType - otype\n PaintingType - otype\n CellPhoneType - otype\n PlungerType - otype\n SpoonType - otype\n SaltShakerType - otype\n KeyChainType - otype\n FootstoolType - otype\n PosterType - otype\n TelevisionType - otype\n LaundryHamperLidType - otype\n GlassbottleType - otype\n AlarmClockType - otype\n WineBottleType - otype\n BowlType - otype\n SinkType - otype\n TissueBoxType - otype\n TennisRacketType - otype\n ToiletPaperType - otype\n ScrubBrushType - otype\n CreditCardType - otype\n LaptopType - otype\n ClothType - otype\n CupType - otype\n ChairType - otype\n BasketBallType - otype\n KettleType - otype\n PaperTowelType - otype\n ShowerDoorType - otype\n BaseballBatType - otype\n PotatoType - otype\n PillowType - otype\n LettuceType - otype\n RemoteControlType - otype\n WindowType - otype\n DishSpongeType - otype\n CDType - otype\n BootsType - otype\n BlindsType - otype\n PenType - otype\n NewspaperType - otype\n PlateType - otype\n MugType - otype\n ShowerGlassType - otype\n ToiletPaperRollType - otype\n SoapBarType - otype\n FloorLampType - otype\n SoapBottleType - otype\n PotType - otype\n PencilType - otype\n SpatulaType - otype\n TowelType - otype\n ForkType - otype\n LadleType - otype\n KnifeType - otype\n AppleType - otype\n BoxType - otype\n TomatoType - otype\n ButterKnifeType - otype\n EggType - otype\n BookType - otype\n DeskLampType - otype\nCabinetType - rtype\n ShelfType - rtype\n DiningTableType - rtype\n TowelHolderType - rtype\n PaintingHangerType - rtype\n TVStandType - rtype\n LaundryHamperType - rtype\n OttomanType - rtype\n SafeType - rtype\n CoffeeMachineType - rtype\n CounterTopType - rtype\n ToiletType - rtype\n FridgeType - rtype\n CoffeeTableType - rtype\n SinkBasinType - rtype\n GarbageCanType - rtype\n BathtubBasinType - rtype\n SideTableType - rtype\n CartType - rtype\n BedType - rtype\n DeskType - rtype\n SofaType - rtype\n ArmChairType - rtype\n MicrowaveType - rtype\n HandTowelHolderType - rtype\n ToasterType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n DrawerType - rtype\n DresserType - rtype\n\n\n Apple_bar__minus_00_dot_31_bar__plus_00_dot_83_bar__plus_06_dot_54 - object\n Blinds_bar__plus_01_dot_74_bar__plus_02_dot_56_bar__plus_02_dot_31 - object\n Bowl_bar__plus_00_dot_08_bar__plus_00_dot_76_bar__plus_06_dot_06 - object\n 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CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90)\n (inReceptacle SaltShaker_bar__plus_01_dot_31_bar__plus_00_dot_99_bar__plus_03_dot_32 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90)\n (inReceptacle Potato_bar__plus_01_dot_40_bar__plus_01_dot_03_bar__plus_00_dot_67 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90)\n (inReceptacle Bread_bar__plus_01_dot_10_bar__plus_01_dot_05_bar__plus_00_dot_43 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90)\n (inReceptacle Kettle_bar__plus_01_dot_59_bar__plus_00_dot_98_bar__plus_03_dot_25 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90)\n (inReceptacle Mug_bar__plus_01_dot_38_bar__plus_01_dot_04_bar__plus_00_dot_85 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90)\n (inReceptacle PaperTowelRoll_bar__plus_00_dot_85_bar__plus_01_dot_10_bar__plus_00_dot_30 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90)\n (inReceptacle Cup_bar__plus_01_dot_14_bar__plus_00_dot_99_bar__plus_04_dot_76 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_04_dot_72)\n (inReceptacle Plate_bar__plus_01_dot_50_bar__plus_01_dot_58_bar__plus_04_dot_69 Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_04_dot_89)\n (inReceptacle PepperShaker_bar__plus_00_dot_75_bar__plus_00_dot_14_bar__plus_00_dot_66 Cabinet_bar__plus_00_dot_44_bar__plus_00_dot_42_bar__plus_00_dot_74)\n (inReceptacle Bowl_bar__plus_01_dot_14_bar__plus_01_dot_58_bar__plus_00_dot_30 Cabinet_bar__plus_01_dot_27_bar__plus_02_dot_13_bar__plus_00_dot_43)\n (inReceptacle Plate_bar__plus_00_dot_06_bar__plus_00_dot_14_bar__plus_00_dot_43 Cabinet_bar__minus_00_dot_17_bar__plus_00_dot_42_bar__plus_00_dot_74)\n (inReceptacle SaltShaker_bar__plus_01_dot_54_bar__plus_01_dot_57_bar__plus_01_dot_47 Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_01_dot_53)\n (inReceptacle Mug_bar__plus_00_dot_32_bar__plus_01_dot_57_bar__plus_00_dot_34 Cabinet_bar__plus_00_dot_25_bar__plus_02_dot_13_bar__plus_00_dot_43)\n (inReceptacle Mug_bar__plus_00_dot_06_bar__plus_01_dot_09_bar__plus_00_dot_21 Microwave_bar__plus_00_dot_11_bar__plus_00_dot_98_bar__plus_00_dot_26)\n (inReceptacle Egg_bar__plus_00_dot_27_bar__plus_01_dot_15_bar__plus_00_dot_18 Microwave_bar__plus_00_dot_11_bar__plus_00_dot_98_bar__plus_00_dot_26)\n (inReceptacle Mug_bar__plus_01_dot_38_bar__plus_01_dot_04_bar__plus_00_dot_85 CoffeeMachine_bar__plus_01_dot_55_bar__plus_00_dot_98_bar__plus_00_dot_95)\n (inReceptacle Egg_bar__plus_01_dot_97_bar__plus_01_dot_57_bar__plus_05_dot_63 Fridge_bar__plus_02_dot_04_bar__plus_00_dot_00_bar__plus_05_dot_63)\n (inReceptacle Tomato_bar__plus_02_dot_14_bar__plus_01_dot_57_bar__plus_05_dot_25 Fridge_bar__plus_02_dot_04_bar__plus_00_dot_00_bar__plus_05_dot_63)\n (inReceptacle Lettuce_bar__plus_02_dot_05_bar__plus_01_dot_60_bar__plus_06_dot_00 Fridge_bar__plus_02_dot_04_bar__plus_00_dot_00_bar__plus_05_dot_63)\n (inReceptacleObject Pot_bar__plus_01_dot_32_bar__plus_00_dot_99_bar__plus_04_dot_29 Pot_bar__plus_01_dot_56_bar__plus_00_dot_99_bar__plus_04_dot_29)\n (inReceptacle Cup_bar__plus_01_dot_44_bar__plus_00_dot_89_bar__plus_01_dot_98 Sink_bar__plus_01_dot_39_bar__plus_01_dot_01_bar__plus_02_dot_33_bar_SinkBasin)\n (inReceptacle Spatula_bar__plus_01_dot_44_bar__plus_00_dot_91_bar__plus_02_dot_24 Sink_bar__plus_01_dot_39_bar__plus_01_dot_01_bar__plus_02_dot_33_bar_SinkBasin)\n (inReceptacle Tomato_bar__plus_01_dot_44_bar__plus_00_dot_94_bar__plus_02_dot_47 Sink_bar__plus_01_dot_39_bar__plus_01_dot_01_bar__plus_02_dot_33_bar_SinkBasin)\n (inReceptacle DishSponge_bar__plus_01_dot_28_bar__plus_00_dot_89_bar__plus_02_dot_03 Sink_bar__plus_01_dot_39_bar__plus_01_dot_01_bar__plus_02_dot_33_bar_SinkBasin)\n \n \n (receptacleAtLocation Cabinet_bar__plus_00_dot_25_bar__plus_02_dot_13_bar__plus_00_dot_43 loc_bar_2_bar_4_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_44_bar__plus_00_dot_42_bar__plus_00_dot_74 loc_bar_1_bar_7_bar_2_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_01_dot_71 loc_bar_1_bar_7_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_02_dot_94 loc_bar_1_bar_10_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_02_dot_99 loc_bar_1_bar_14_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_04_dot_55 loc_bar_1_bar_17_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_27_bar__plus_02_dot_13_bar__plus_00_dot_43 loc_bar_3_bar_4_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_31_bar__plus_02_dot_46_bar__plus_03_dot_61 loc_bar_3_bar_14_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_31_bar__plus_02_dot_46_bar__plus_04_dot_36 loc_bar_3_bar_17_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_00_dot_52 loc_bar_3_bar_4_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_01_dot_53 loc_bar_3_bar_5_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_03_dot_10 loc_bar_3_bar_14_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_04_dot_89 loc_bar_3_bar_18_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_17_bar__plus_00_dot_42_bar__plus_00_dot_74 loc_bar__minus_1_bar_7_bar_2_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_26_bar__plus_02_dot_13_bar__plus_00_dot_43 loc_bar_0_bar_4_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_78_bar__plus_00_dot_42_bar__plus_00_dot_74 loc_bar_0_bar_7_bar_2_bar_45)\n (receptacleAtLocation CoffeeMachine_bar__plus_01_dot_55_bar__plus_00_dot_98_bar__plus_00_dot_95 loc_bar_3_bar_4_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90 loc_bar_3_bar_4_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_04_dot_72 loc_bar_3_bar_19_bar_1_bar_45)\n (receptacleAtLocation DiningTable_bar__minus_00_dot_16_bar__plus_00_dot_67_bar__plus_06_dot_47 loc_bar_3_bar_26_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_12_bar__plus_00_dot_80_bar__plus_00_dot_52 loc_bar__minus_3_bar_5_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_74_bar__plus_00_dot_80_bar__plus_00_dot_52 loc_bar_0_bar_5_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_01_dot_28_bar__plus_00_dot_80_bar__plus_03_dot_29 loc_bar_1_bar_13_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_01_dot_28_bar__plus_00_dot_81_bar__plus_04_dot_72 loc_bar_1_bar_20_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_48_bar__plus_00_dot_80_bar__plus_00_dot_52 loc_bar__minus_5_bar_5_bar_1_bar_45)\n (receptacleAtLocation Fridge_bar__plus_02_dot_04_bar__plus_00_dot_00_bar__plus_05_dot_63 loc_bar_4_bar_22_bar_1_bar_60)\n (receptacleAtLocation GarbageCan_bar__plus_02_dot_00_bar__plus_00_dot_00_bar__plus_06_dot_50 loc_bar_4_bar_24_bar_1_bar_60)\n (receptacleAtLocation Microwave_bar__plus_00_dot_11_bar__plus_00_dot_98_bar__plus_00_dot_26 loc_bar_1_bar_6_bar_2_bar_30)\n (receptacleAtLocation Safe_bar__plus_02_dot_05_bar__minus_00_dot_01_bar__plus_07_dot_06 loc_bar_4_bar_26_bar_1_bar_60)\n (receptacleAtLocation Sink_bar__plus_01_dot_39_bar__plus_01_dot_01_bar__plus_02_dot_33_bar_SinkBasin loc_bar_3_bar_9_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_32_bar__plus_00_dot_98_bar__plus_03_dot_85 loc_bar_3_bar_15_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_32_bar__plus_00_dot_98_bar__plus_04_dot_29 loc_bar_3_bar_17_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_56_bar__plus_00_dot_98_bar__plus_03_dot_85 loc_bar_3_bar_15_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_56_bar__plus_00_dot_98_bar__plus_04_dot_29 loc_bar_3_bar_17_bar_1_bar_45)\n (receptacleAtLocation Toaster_bar__plus_01_dot_47_bar__plus_00_dot_98_bar__plus_04_dot_72 loc_bar_3_bar_19_bar_1_bar_45)\n (objectAtLocation Mug_bar__plus_00_dot_06_bar__plus_01_dot_09_bar__plus_00_dot_21 loc_bar_1_bar_6_bar_2_bar_30)\n (objectAtLocation Cup_bar__plus_01_dot_14_bar__plus_00_dot_99_bar__plus_04_dot_76 loc_bar_3_bar_19_bar_1_bar_45)\n (objectAtLocation DishSponge_bar__minus_00_dot_18_bar__plus_00_dot_76_bar__plus_06_dot_24 loc_bar_3_bar_26_bar_3_bar_45)\n (objectAtLocation Tomato_bar__plus_01_dot_44_bar__plus_00_dot_94_bar__plus_02_dot_47 loc_bar_3_bar_9_bar_1_bar_45)\n (objectAtLocation Pan_bar__plus_01_dot_31_bar__plus_00_dot_99_bar__plus_04_dot_28 loc_bar_3_bar_17_bar_1_bar_45)\n (objectAtLocation PepperShaker_bar__plus_00_dot_10_bar__plus_00_dot_76_bar__plus_06_dot_31 loc_bar_3_bar_26_bar_3_bar_45)\n (objectAtLocation Pot_bar__plus_01_dot_32_bar__plus_00_dot_99_bar__plus_04_dot_29 loc_bar_3_bar_17_bar_1_bar_45)\n (objectAtLocation Spatula_bar__plus_01_dot_44_bar__plus_00_dot_91_bar__plus_02_dot_24 loc_bar_3_bar_9_bar_1_bar_45)\n (objectAtLocation Lettuce_bar__plus_02_dot_05_bar__plus_01_dot_60_bar__plus_06_dot_00 loc_bar_4_bar_22_bar_1_bar_60)\n (objectAtLocation SaltShaker_bar__plus_01_dot_54_bar__plus_01_dot_57_bar__plus_01_dot_47 loc_bar_3_bar_5_bar_1_bar__minus_30)\n (objectAtLocation Plate_bar__plus_00_dot_06_bar__plus_00_dot_14_bar__plus_00_dot_43 loc_bar__minus_1_bar_7_bar_2_bar_45)\n (objectAtLocation Kettle_bar__plus_01_dot_59_bar__plus_00_dot_98_bar__plus_03_dot_25 loc_bar_3_bar_4_bar_1_bar_45)\n (objectAtLocation Fork_bar_00_dot_00_bar__plus_00_dot_76_bar__plus_06_dot_60 loc_bar_3_bar_26_bar_3_bar_45)\n (objectAtLocation Knife_bar__minus_00_dot_33_bar__plus_00_dot_79_bar__plus_06_dot_22 loc_bar_3_bar_26_bar_3_bar_45)\n (objectAtLocation Egg_bar__plus_00_dot_27_bar__plus_01_dot_15_bar__plus_00_dot_18 loc_bar_1_bar_6_bar_2_bar_30)\n (objectAtLocation Bread_bar__plus_01_dot_10_bar__plus_01_dot_05_bar__plus_00_dot_43 loc_bar_3_bar_4_bar_1_bar_45)\n (objectAtLocation Bowl_bar__plus_00_dot_08_bar__plus_00_dot_76_bar__plus_06_dot_06 loc_bar_3_bar_26_bar_3_bar_45)\n (objectAtLocation Mug_bar__plus_01_dot_38_bar__plus_01_dot_04_bar__plus_00_dot_85 loc_bar_3_bar_4_bar_1_bar_45)\n (objectAtLocation Bowl_bar__plus_01_dot_14_bar__plus_01_dot_58_bar__plus_00_dot_30 loc_bar_3_bar_4_bar_2_bar__minus_30)\n (objectAtLocation Cup_bar__plus_01_dot_44_bar__plus_00_dot_89_bar__plus_01_dot_98 loc_bar_3_bar_9_bar_1_bar_45)\n (objectAtLocation Fork_bar__plus_01_dot_24_bar__plus_00_dot_77_bar__plus_03_dot_36 loc_bar_1_bar_13_bar_1_bar_45)\n (objectAtLocation Kettle_bar__plus_01_dot_32_bar__plus_00_dot_99_bar__plus_03_dot_85 loc_bar_3_bar_15_bar_1_bar_45)\n (objectAtLocation DishSponge_bar__plus_01_dot_28_bar__plus_00_dot_89_bar__plus_02_dot_03 loc_bar_3_bar_9_bar_1_bar_45)\n (objectAtLocation Sink_bar__plus_01_dot_39_bar__plus_01_dot_01_bar__plus_02_dot_33 loc_bar_3_bar_9_bar_1_bar_45)\n (objectAtLocation Bowl_bar__plus_01_dot_49_bar__plus_00_dot_14_bar__plus_02_dot_01 loc_bar_1_bar_7_bar_1_bar_60)\n (objectAtLocation Bread_bar__plus_00_dot_15_bar__plus_00_dot_83_bar__plus_06_dot_48 loc_bar_3_bar_26_bar_3_bar_45)\n (objectAtLocation Egg_bar__plus_01_dot_97_bar__plus_01_dot_57_bar__plus_05_dot_63 loc_bar_4_bar_22_bar_1_bar_60)\n (objectAtLocation Knife_bar__minus_00_dot_38_bar__plus_00_dot_79_bar__plus_06_dot_70 loc_bar_3_bar_26_bar_3_bar_45)\n (objectAtLocation Fork_bar__plus_00_dot_31_bar__plus_00_dot_76_bar__plus_06_dot_60 loc_bar_3_bar_26_bar_3_bar_45)\n (objectAtLocation Apple_bar__minus_00_dot_31_bar__plus_00_dot_83_bar__plus_06_dot_54 loc_bar_3_bar_26_bar_3_bar_45)\n (objectAtLocation Kettle_bar__minus_00_dot_53_bar__plus_00_dot_76_bar__plus_06_dot_20 loc_bar_3_bar_26_bar_3_bar_45)\n (objectAtLocation Plate_bar__plus_01_dot_50_bar__plus_01_dot_58_bar__plus_04_dot_69 loc_bar_3_bar_18_bar_1_bar__minus_30)\n (objectAtLocation HousePlant_bar__minus_00_dot_17_bar__plus_00_dot_75_bar__plus_06_dot_44 loc_bar_3_bar_26_bar_3_bar_45)\n (objectAtLocation SaltShaker_bar__plus_01_dot_31_bar__plus_00_dot_99_bar__plus_03_dot_32 loc_bar_3_bar_4_bar_1_bar_45)\n (objectAtLocation Lettuce_bar__minus_00_dot_16_bar__plus_00_dot_85_bar__plus_06_dot_79 loc_bar_3_bar_26_bar_3_bar_45)\n (objectAtLocation Window_bar__minus_02_dot_07_bar__plus_01_dot_92_bar__plus_03_dot_63 loc_bar__minus_6_bar_15_bar_3_bar__minus_30)\n (objectAtLocation Window_bar__plus_01_dot_76_bar__plus_02_dot_01_bar__plus_02_dot_30 loc_bar_3_bar_9_bar_1_bar__minus_15)\n (objectAtLocation SoapBottle_bar__plus_01_dot_54_bar__plus_02_dot_21_bar__plus_04_dot_13 loc_bar_3_bar_17_bar_1_bar__minus_30)\n (objectAtLocation Spatula_bar__plus_00_dot_21_bar__plus_00_dot_78_bar__plus_06_dot_76 loc_bar_3_bar_26_bar_3_bar_45)\n (objectAtLocation PaperTowelRoll_bar__plus_00_dot_85_bar__plus_01_dot_10_bar__plus_00_dot_30 loc_bar_3_bar_4_bar_1_bar_45)\n (objectAtLocation Pot_bar__plus_01_dot_56_bar__plus_00_dot_99_bar__plus_04_dot_29 loc_bar_3_bar_17_bar_1_bar_45)\n (objectAtLocation Potato_bar__plus_01_dot_40_bar__plus_01_dot_03_bar__plus_00_dot_67 loc_bar_3_bar_4_bar_1_bar_45)\n (objectAtLocation ButterKnife_bar__minus_00_dot_22_bar__plus_00_dot_76_bar__plus_06_dot_94 loc_bar_3_bar_26_bar_3_bar_45)\n (objectAtLocation StoveKnob_bar__plus_01_dot_14_bar__plus_00_dot_93_bar__plus_03_dot_99 loc_bar_3_bar_16_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_14_bar__plus_00_dot_93_bar__plus_04_dot_31 loc_bar_3_bar_17_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_14_bar__plus_00_dot_93_bar__plus_04_dot_14 loc_bar_3_bar_17_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_14_bar__plus_00_dot_93_bar__plus_03_dot_82 loc_bar_3_bar_15_bar_1_bar_60)\n (objectAtLocation PepperShaker_bar__plus_00_dot_75_bar__plus_00_dot_14_bar__plus_00_dot_66 loc_bar_1_bar_7_bar_2_bar_45)\n (objectAtLocation Pan_bar__plus_01_dot_56_bar__plus_00_dot_99_bar__plus_03_dot_85 loc_bar_3_bar_4_bar_1_bar_45)\n (objectAtLocation Tomato_bar__plus_02_dot_14_bar__plus_01_dot_57_bar__plus_05_dot_25 loc_bar_4_bar_22_bar_1_bar_60)\n (objectAtLocation DishSponge_bar__minus_00_dot_24_bar__plus_00_dot_76_bar__plus_06_dot_13 loc_bar_3_bar_26_bar_3_bar_45)\n (objectAtLocation Cup_bar__plus_00_dot_30_bar__plus_00_dot_76_bar__plus_06_dot_28 loc_bar_3_bar_26_bar_3_bar_45)\n (objectAtLocation LightSwitch_bar__minus_02_dot_00_bar__plus_01_dot_55_bar__plus_06_dot_05 loc_bar__minus_6_bar_24_bar_3_bar_15)\n (objectAtLocation Chair_bar__plus_00_dot_29_bar__plus_00_dot_02_bar__plus_06_dot_14 loc_bar_1_bar_22_bar_0_bar_60)\n (objectAtLocation Spoon_bar__minus_00_dot_03_bar__plus_00_dot_76_bar__plus_06_dot_17 loc_bar_3_bar_26_bar_3_bar_45)\n (objectAtLocation Mug_bar__plus_00_dot_32_bar__plus_01_dot_57_bar__plus_00_dot_34 loc_bar_2_bar_4_bar_2_bar__minus_30)\n (objectAtLocation Blinds_bar__plus_01_dot_74_bar__plus_02_dot_56_bar__plus_02_dot_31 loc_bar_3_bar_9_bar_1_bar__minus_30)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o1 - object)\n (and\n (objectType ?o1 KnifeType)\n (receptacleType ?r DrawerType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 KnifeType)\n (receptacleType ?r DrawerType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to diningtable 1", "take knife 2 from diningtable 1", "go to drawer 3", "open drawer 3", "move knife 2 to drawer 3", "go to diningtable 1", "take knife 1 from diningtable 1", "go to drawer 3", "move knife 1 to drawer 3"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/valid_seen/pick_two_obj_and_place-Knife-None-Drawer-18/trial_T20190907_065232_689984/initial_state.pddl b/data/alfworld/json_2.1.1/valid_seen/pick_two_obj_and_place-Knife-None-Drawer-18/trial_T20190907_065232_689984/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..0e65ebcd6ad15f1af082fc3dda6abc0946263290 --- /dev/null +++ b/data/alfworld/json_2.1.1/valid_seen/pick_two_obj_and_place-Knife-None-Drawer-18/trial_T20190907_065232_689984/initial_state.pddl @@ -0,0 +1,1126 @@ + +(define (problem plan_trial_T20190907_065232_689984) +(:domain alfred) +(:objects +agent1 - agent +Curtains - object + SprayBottle - object + Mirror - object + HousePlant - object + Watch - object + TeddyBear - object + WateringCan - object + Bathtub - object + LightSwitch - object + Vase - object + Candle - object + Bread - object + Statue - object + HandTowel - object + StoveKnob - object + PaperTowelRoll - object + Pan - object + PepperShaker - object + Painting - object + CellPhone - object + Plunger - object + Spoon - object + SaltShaker - object + KeyChain - object + Footstool - object + Poster - object + Television - object + LaundryHamperLid - object + Glassbottle - object + AlarmClock - object + WineBottle - object + Bowl - object + Sink - object + TissueBox - object + TennisRacket - object + ToiletPaper - object + ScrubBrush - object + CreditCard - object + Laptop - object + Cloth - object + Cup - object + Chair - object + BasketBall - object + Kettle - object + PaperTowel - object + ShowerDoor - object + BaseballBat - object + Potato - object + Pillow - object + Lettuce - object + RemoteControl - object + Window - object + DishSponge - object + CD - object + Boots - object + Blinds - object + Pen - object + Newspaper - object + Plate - object + Mug - object + ShowerGlass - object + ToiletPaperRoll - object + SoapBar - object + FloorLamp - object + SoapBottle - object + Pot - object + Pencil - object + Spatula - object + Towel - object + Fork - object + Ladle - object + Knife - object + Apple - object + Box - object + Tomato - object + ButterKnife - object + Egg - object + Book - object + DeskLamp - object +CurtainsType - otype + SprayBottleType - otype + MirrorType - otype + HousePlantType - otype + WatchType - otype + TeddyBearType - otype + WateringCanType - otype + BathtubType - otype + LightSwitchType - otype + VaseType - otype + CandleType - otype + BreadType - otype + StatueType - otype + HandTowelType - otype + StoveKnobType - otype + PaperTowelRollType - otype + PanType - otype + PepperShakerType - otype + PaintingType - otype + CellPhoneType - otype + PlungerType - otype + SpoonType - otype + SaltShakerType - otype + KeyChainType - otype + FootstoolType - otype + PosterType - otype + TelevisionType - otype + LaundryHamperLidType - otype + GlassbottleType - otype + AlarmClockType - otype + WineBottleType - otype + BowlType - otype + SinkType - otype + TissueBoxType - otype + TennisRacketType - otype + ToiletPaperType - otype + ScrubBrushType - otype + CreditCardType - otype + LaptopType - otype + ClothType - otype + CupType - otype + ChairType - otype + BasketBallType - otype + KettleType - otype + PaperTowelType - otype + ShowerDoorType - otype + BaseballBatType - otype + PotatoType - otype + PillowType - otype + LettuceType - otype + RemoteControlType - otype + WindowType - otype + DishSpongeType - otype + CDType - otype + BootsType - otype + BlindsType - otype + PenType - otype + NewspaperType - otype + PlateType - otype + MugType - otype + ShowerGlassType - otype + ToiletPaperRollType - otype + SoapBarType - otype + FloorLampType - otype + SoapBottleType - otype + PotType - otype + PencilType - otype + SpatulaType - otype + TowelType - otype + ForkType - otype + LadleType - otype + KnifeType - otype + AppleType - otype + BoxType - otype + TomatoType - otype + ButterKnifeType - otype + EggType - otype + BookType - otype + DeskLampType - otype +CabinetType - rtype + ShelfType - rtype + DiningTableType - rtype + TowelHolderType - rtype + PaintingHangerType - rtype + TVStandType - rtype + LaundryHamperType - rtype + OttomanType - rtype + SafeType - rtype + CoffeeMachineType - rtype + CounterTopType - rtype + ToiletType - rtype + FridgeType - rtype + CoffeeTableType - rtype + SinkBasinType - rtype + GarbageCanType - rtype + BathtubBasinType - rtype + SideTableType - rtype + CartType - rtype + BedType - rtype + DeskType - rtype + SofaType - rtype + ArmChairType - rtype + MicrowaveType - rtype + HandTowelHolderType - rtype + ToasterType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + DrawerType - rtype + DresserType - rtype + + + Apple_bar__minus_00_dot_31_bar__plus_00_dot_83_bar__plus_06_dot_54 - object + Blinds_bar__plus_01_dot_74_bar__plus_02_dot_56_bar__plus_02_dot_31 - object + Bowl_bar__plus_00_dot_08_bar__plus_00_dot_76_bar__plus_06_dot_06 - object + Bowl_bar__plus_01_dot_14_bar__plus_01_dot_58_bar__plus_00_dot_30 - object + 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StoveKnob_bar__plus_01_dot_14_bar__plus_00_dot_93_bar__plus_04_dot_31 - object + Tomato_bar__plus_01_dot_44_bar__plus_00_dot_94_bar__plus_02_dot_47 - object + Tomato_bar__plus_02_dot_14_bar__plus_01_dot_57_bar__plus_05_dot_25 - object + Window_bar__plus_01_dot_76_bar__plus_02_dot_01_bar__plus_02_dot_30 - object + Window_bar__minus_02_dot_07_bar__plus_01_dot_92_bar__plus_03_dot_63 - object + Cabinet_bar__plus_00_dot_25_bar__plus_02_dot_13_bar__plus_00_dot_43 - receptacle + Cabinet_bar__plus_00_dot_44_bar__plus_00_dot_42_bar__plus_00_dot_74 - receptacle + Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_01_dot_71 - receptacle + Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_02_dot_94 - receptacle + Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_02_dot_99 - receptacle + Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_04_dot_55 - receptacle + Cabinet_bar__plus_01_dot_27_bar__plus_02_dot_13_bar__plus_00_dot_43 - receptacle + 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location + loc_bar_1_bar_13_bar_1_bar_45 - location + loc_bar_3_bar_4_bar_1_bar__minus_30 - location + loc_bar__minus_5_bar_5_bar_1_bar_45 - location + loc_bar_0_bar_7_bar_2_bar_45 - location + loc_bar__minus_6_bar_24_bar_3_bar_15 - location + loc_bar_3_bar_9_bar_1_bar__minus_30 - location + loc_bar_4_bar_24_bar_1_bar_60 - location + loc_bar_3_bar_17_bar_1_bar_60 - location + loc_bar_1_bar_14_bar_1_bar_60 - location + loc_bar_3_bar_9_bar_1_bar__minus_15 - location + loc_bar_1_bar_20_bar_1_bar_45 - location + loc_bar__minus_3_bar_5_bar_1_bar_45 - location + loc_bar_3_bar_9_bar_1_bar_45 - location + loc_bar_3_bar_17_bar_1_bar_45 - location + loc_bar_1_bar_17_bar_1_bar_60 - location + loc_bar_4_bar_26_bar_1_bar_60 - location + loc_bar_1_bar_22_bar_0_bar_60 - location + loc_bar_0_bar_5_bar_1_bar_45 - location + loc_bar_3_bar_15_bar_1_bar_60 - location + loc_bar_1_bar_6_bar_2_bar_30 - location + loc_bar_1_bar_7_bar_2_bar_45 - location + loc_bar_3_bar_4_bar_1_bar_45 - location + loc_bar_1_bar_7_bar_1_bar_60 - location + loc_bar_3_bar_26_bar_3_bar_45 - location + loc_bar_3_bar_19_bar_1_bar_45 - location + loc_bar_3_bar_4_bar_2_bar__minus_30 - location + loc_bar_3_bar_23_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType Toaster_bar__plus_01_dot_47_bar__plus_00_dot_98_bar__plus_04_dot_72 ToasterType) + (receptacleType Drawer_bar__plus_00_dot_74_bar__plus_00_dot_80_bar__plus_00_dot_52 DrawerType) + (receptacleType Cabinet_bar__minus_00_dot_26_bar__plus_02_dot_13_bar__plus_00_dot_43 CabinetType) + (receptacleType Drawer_bar__plus_01_dot_28_bar__plus_00_dot_80_bar__plus_03_dot_29 DrawerType) + (receptacleType StoveBurner_bar__plus_01_dot_56_bar__plus_00_dot_98_bar__plus_03_dot_85 StoveBurnerType) + (receptacleType Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_04_dot_89 CabinetType) + (receptacleType CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90 CounterTopType) + (receptacleType Cabinet_bar__plus_00_dot_25_bar__plus_02_dot_13_bar__plus_00_dot_43 CabinetType) + (receptacleType Cabinet_bar__plus_01_dot_31_bar__plus_02_dot_46_bar__plus_04_dot_36 CabinetType) + (receptacleType StoveBurner_bar__plus_01_dot_56_bar__plus_00_dot_98_bar__plus_04_dot_29 StoveBurnerType) + (receptacleType Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_03_dot_10 CabinetType) + (receptacleType GarbageCan_bar__plus_02_dot_00_bar__plus_00_dot_00_bar__plus_06_dot_50 GarbageCanType) + (receptacleType StoveBurner_bar__plus_01_dot_32_bar__plus_00_dot_98_bar__plus_04_dot_29 StoveBurnerType) + (receptacleType StoveBurner_bar__plus_01_dot_32_bar__plus_00_dot_98_bar__plus_03_dot_85 StoveBurnerType) + (receptacleType Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_01_dot_71 CabinetType) + (receptacleType Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_04_dot_55 CabinetType) + (receptacleType Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_01_dot_53 CabinetType) + (receptacleType Sink_bar__plus_01_dot_39_bar__plus_01_dot_01_bar__plus_02_dot_33_bar_SinkBasin SinkBasinType) + (receptacleType Drawer_bar__plus_01_dot_28_bar__plus_00_dot_81_bar__plus_04_dot_72 DrawerType) + (receptacleType Safe_bar__plus_02_dot_05_bar__minus_00_dot_01_bar__plus_07_dot_06 SafeType) + (receptacleType Cabinet_bar__plus_01_dot_27_bar__plus_02_dot_13_bar__plus_00_dot_43 CabinetType) + (receptacleType DiningTable_bar__minus_00_dot_16_bar__plus_00_dot_67_bar__plus_06_dot_47 DiningTableType) + (receptacleType Drawer_bar__plus_00_dot_12_bar__plus_00_dot_80_bar__plus_00_dot_52 DrawerType) + (receptacleType CoffeeMachine_bar__plus_01_dot_55_bar__plus_00_dot_98_bar__plus_00_dot_95 CoffeeMachineType) + (receptacleType Cabinet_bar__minus_00_dot_17_bar__plus_00_dot_42_bar__plus_00_dot_74 CabinetType) + (receptacleType CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_04_dot_72 CounterTopType) + (receptacleType 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"A16184N1RO5OJV_3180JW2OT7TVGGFZ7JM5IR8CUBMJ5O", + "high_descs": [ + "Walk to the other side of the black round table to face the tea pot. ", + "Pick up the yellow knife next to the green sponge on top of the table. ", + "Walk to the right and go to the first cabinet that has a toaster on top of it. ", + "Open the drawer of the cabinet, put the knife in it and close the drawer. ", + "Turn around, walk straight to the wall, turn right to go back to the black round table. ", + "Pick up another yellow knife next to the apple. ", + "Go back to the drawer of the cabinet with a toaster on top of it. ", + "Open the drawer, put the other knife next to the first knife and close the drawer. " + ], + "task_desc": "Put 2 yellow knives from the round black table to the drawer of the cabinet with a toaster. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A36DK84J5YJ942_3R6BYFZZPATODXDDUZEFVC74U3WFX8", + "high_descs": [ + "Move to the dining table in front of you.", + "Pick up a knife from the table.", + "Move to the left side of the counter to the left of the stove.", + "Open the drawer and place the knife inside.", + "Move to the dining table to the left of you.", + "Pick up a knife from the table.", + "Move to the left side of the counter to the left of the stove.", + "Open the drawer and place the knife inside." + ], + "task_desc": "Put two knives from the dining table in the drawer to the left of the stove.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "ACSS93E03ZUGX_3ITXP059PZ0WMIDAJFZDB2I481XSJE", + "high_descs": [ + "Turn right to face the black table.", + "Pick the knife up off of the black table.", + "Turn around, go to the left and open the drawer at the end of the counter.", + "Place the knife in the drawer and close it.", + "Turn around and head right to face the other side of the black table.", + "Pick the yellow knife up off of the black table.", + "Turn to the right then to the left to face the drawer at the end of the counter.", + "Open the drawer and place the knife inside of it." + ], + "task_desc": "Place both knives inside of the drawer at the end of the counter.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A2JBNDG0U9IA6I_3M81GAB8A30ERJ0L3JXRIEKQIA7BQV", + "high_descs": [ + "Turn to the left then walk straight and face the right black round table", + "Pick up the yellow handled knife from the table", + "Turn around walk straight then turn left at the counter next to the refrigerator and face it", + "Open the top drawer and place the knife inside", + "Turn around walk straight then turn right and face the black round table", + "Pick up the yellow handled knife from the table", + "Turn right then walk straight and then turn left and face the counter left of the refrigerator", + "Open the top drawer and place the knife inside" + ], + "task_desc": "Putting away yellow handled knives in the drawer", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1OWHPMKE7YAGL_3O6CYIULEGIY7F5DFJDSFTU0VW5UW9", + "high_descs": [ + "Back up, turn to the left, turn to the right, go to the dining table.", + "Pick up the big knife that is on the table between the teapot and sponges. ", + "Turn around and go forward, turn left and go to the drawer between the fridge and stove. ", + "Open the drawer, put the knife in the drawer and close the drawer. ", + "Turn around, go to the wall, hang a right, go to the wall, turn right to the dining table. ", + "Pick up the big knife that is in front of the lettuce on the table. ", + "Turn right and go forward, turn left and go to the drawer between the fridge and stove. ", + "Open the drawer, put the knife in the drawer, close the drawer." + ], + "task_desc": "Put two knives in a drawer. ", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/valid_seen/pick_two_obj_and_place-Newspaper-None-Drawer-224/trial_T20190911_101248_326533/game.tw-pddl b/data/alfworld/json_2.1.1/valid_seen/pick_two_obj_and_place-Newspaper-None-Drawer-224/trial_T20190911_101248_326533/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..2dd678d95f6ea6dda8ed071bfdf5298ffdc2f53c --- /dev/null +++ b/data/alfworld/json_2.1.1/valid_seen/pick_two_obj_and_place-Newspaper-None-Drawer-224/trial_T20190911_101248_326533/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\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 newspaper 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_T20190911_101248_326533)\n(:domain alfred)\n(:objects\nagent1 - agent\nCurtains - object\n SprayBottle - object\n Mirror - object\n HousePlant - object\n Watch - object\n TeddyBear - object\n WateringCan - object\n Bathtub - object\n LightSwitch - object\n Vase - object\n Candle - object\n Bread - object\n Statue - object\n HandTowel - object\n StoveKnob - object\n PaperTowelRoll - object\n Pan - object\n PepperShaker - object\n Painting - object\n CellPhone - object\n Plunger - object\n Spoon - object\n SaltShaker - object\n KeyChain - object\n Footstool - object\n Poster - object\n Television - object\n LaundryHamperLid - object\n Glassbottle - object\n AlarmClock - object\n WineBottle - object\n Bowl - object\n Sink - object\n TissueBox - object\n TennisRacket - object\n ToiletPaper - object\n ScrubBrush - object\n CreditCard - object\n Laptop - object\n Cloth - object\n Cup - object\n Chair - object\n BasketBall - object\n Kettle - object\n PaperTowel - object\n ShowerDoor - object\n BaseballBat - object\n Potato - object\n Pillow - object\n Lettuce - object\n RemoteControl - object\n Window - object\n DishSponge - object\n CD - object\n Boots - object\n Blinds - object\n Pen - object\n Newspaper - object\n Plate - object\n Mug - object\n ShowerGlass - object\n ToiletPaperRoll - object\n SoapBar - object\n FloorLamp - object\n SoapBottle - object\n Pot - object\n Pencil - object\n Spatula - object\n Towel - object\n Fork - object\n Ladle - object\n Knife - object\n Apple - object\n Box - object\n Tomato - object\n ButterKnife - object\n Egg - object\n Book - object\n DeskLamp - object\nCurtainsType - otype\n SprayBottleType - otype\n MirrorType - otype\n HousePlantType - otype\n WatchType - otype\n TeddyBearType - otype\n WateringCanType - otype\n BathtubType - otype\n LightSwitchType - otype\n VaseType - otype\n CandleType - otype\n BreadType - otype\n StatueType - otype\n HandTowelType - otype\n StoveKnobType - otype\n PaperTowelRollType - otype\n PanType - otype\n PepperShakerType - otype\n PaintingType - otype\n CellPhoneType - otype\n PlungerType - otype\n SpoonType - otype\n SaltShakerType - otype\n KeyChainType - otype\n FootstoolType - otype\n PosterType - otype\n TelevisionType - otype\n LaundryHamperLidType - otype\n GlassbottleType - otype\n AlarmClockType - otype\n WineBottleType - otype\n BowlType - otype\n SinkType - otype\n TissueBoxType - otype\n TennisRacketType - otype\n ToiletPaperType - otype\n ScrubBrushType - otype\n CreditCardType - otype\n LaptopType - otype\n ClothType - otype\n CupType - otype\n ChairType - otype\n BasketBallType - otype\n KettleType - otype\n PaperTowelType - otype\n ShowerDoorType - otype\n BaseballBatType - otype\n PotatoType - otype\n PillowType - otype\n LettuceType - otype\n RemoteControlType - otype\n WindowType - otype\n DishSpongeType - otype\n CDType - otype\n BootsType - otype\n BlindsType - otype\n PenType - otype\n NewspaperType - otype\n PlateType - otype\n MugType - otype\n ShowerGlassType - otype\n ToiletPaperRollType - otype\n SoapBarType - otype\n FloorLampType - otype\n SoapBottleType - otype\n PotType - otype\n PencilType - otype\n SpatulaType - otype\n TowelType - otype\n ForkType - otype\n LadleType - otype\n KnifeType - otype\n AppleType - otype\n BoxType - otype\n TomatoType - otype\n ButterKnifeType - otype\n EggType - otype\n BookType - otype\n DeskLampType - otype\nCabinetType - rtype\n ShelfType - rtype\n DiningTableType - rtype\n TowelHolderType - rtype\n PaintingHangerType - rtype\n TVStandType - rtype\n LaundryHamperType - rtype\n OttomanType - rtype\n SafeType - rtype\n CoffeeMachineType - rtype\n CounterTopType - rtype\n ToiletType - rtype\n FridgeType - rtype\n CoffeeTableType - rtype\n SinkBasinType - rtype\n GarbageCanType - rtype\n BathtubBasinType - rtype\n SideTableType - rtype\n CartType - rtype\n BedType - rtype\n DeskType - rtype\n SofaType - rtype\n ArmChairType - rtype\n MicrowaveType - rtype\n HandTowelHolderType - rtype\n ToasterType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n DrawerType - rtype\n DresserType - rtype\n\n\n Book_bar__plus_00_dot_12_bar__plus_00_dot_90_bar__plus_01_dot_07 - object\n Box_bar__minus_00_dot_11_bar__plus_01_dot_10_bar__plus_01_dot_22 - object\n Box_bar__minus_03_dot_38_bar__plus_00_dot_78_bar__minus_00_dot_42 - object\n CellPhone_bar__plus_03_dot_10_bar__plus_00_dot_08_bar__minus_00_dot_57 - object\n Chair_bar__plus_01_dot_05_bar__plus_00_dot_00_bar__minus_02_dot_31 - object\n Chair_bar__plus_01_dot_63_bar__plus_00_dot_02_bar__plus_02_dot_21 - object\n Chair_bar__plus_02_dot_04_bar__plus_00_dot_00_bar__minus_02_dot_35 - object\n Chair_bar__plus_03_dot_14_bar__plus_00_dot_02_bar__minus_01_dot_63 - object\n CreditCard_bar__plus_03_dot_16_bar__plus_00_dot_59_bar__plus_00_dot_50 - object\n CreditCard_bar__minus_02_dot_74_bar__plus_00_dot_56_bar__plus_01_dot_60 - object\n DeskLamp_bar__plus_03_dot_14_bar__plus_00_dot_59_bar__plus_01_dot_47 - object\n FloorLamp_bar__plus_03_dot_10_bar__plus_00_dot_02_bar__minus_02_dot_34 - object\n HousePlant_bar__plus_00_dot_49_bar__plus_00_dot_87_bar__minus_01_dot_58 - object\n KeyChain_bar__minus_00_dot_05_bar__plus_00_dot_66_bar__plus_01_dot_41 - object\n KeyChain_bar__minus_02_dot_81_bar__plus_00_dot_56_bar__plus_01_dot_60 - object\n KeyChain_bar__minus_03_dot_30_bar__plus_00_dot_59_bar__minus_00_dot_62 - object\n Laptop_bar__minus_02_dot_78_bar__plus_00_dot_37_bar__minus_01_dot_87 - object\n LightSwitch_bar__minus_00_dot_93_bar__plus_01_dot_32_bar__plus_02_dot_85 - object\n Newspaper_bar__minus_00_dot_02_bar__plus_00_dot_92_bar__plus_02_dot_19 - object\n Newspaper_bar__minus_02_dot_89_bar__plus_00_dot_57_bar__plus_01_dot_81 - object\n Painting_bar__plus_03_dot_37_bar__plus_01_dot_79_bar__minus_00_dot_95 - object\n Painting_bar__minus_01_dot_56_bar__plus_01_dot_41_bar__minus_02_dot_32 - object\n Painting_bar__minus_03_dot_49_bar__plus_01_dot_39_bar__minus_00_dot_51 - object\n Pillow_bar__minus_02_dot_89_bar__plus_00_dot_62_bar__plus_00_dot_82 - object\n RemoteControl_bar__plus_00_dot_16_bar__plus_00_dot_91_bar__plus_02_dot_43 - object\n RemoteControl_bar__minus_00_dot_20_bar__plus_00_dot_91_bar__plus_01_dot_46 - object\n Statue_bar__plus_03_dot_12_bar__plus_00_dot_60_bar__minus_00_dot_51 - object\n Statue_bar__plus_03_dot_16_bar__plus_00_dot_60_bar__plus_00_dot_30 - object\n Television_bar__plus_00_dot_07_bar__plus_01_dot_39_bar__plus_01_dot_70 - object\n Vase_bar__minus_01_dot_05_bar__plus_01_dot_20_bar__minus_02_dot_15 - object\n Vase_bar__minus_02_dot_17_bar__plus_01_dot_20_bar__minus_02_dot_18 - object\n WateringCan_bar__plus_02_dot_89_bar__plus_00_dot_01_bar__minus_01_dot_92 - object\n Window_bar__plus_01_dot_13_bar__plus_01_dot_22_bar__minus_02_dot_74 - object\n Window_bar__plus_02_dot_01_bar__plus_01_dot_22_bar__minus_02_dot_74 - object\n Window_bar__plus_02_dot_90_bar__plus_01_dot_22_bar__minus_02_dot_74 - object\n Window_bar__minus_00_dot_19_bar__plus_01_dot_16_bar__minus_02_dot_56 - object\n Window_bar__minus_02_dot_97_bar__plus_01_dot_16_bar__minus_02_dot_56 - object\n Window_bar__minus_03_dot_37_bar__plus_01_dot_18_bar__minus_01_dot_54 - object\n ArmChair_bar__minus_02_dot_86_bar__plus_00_dot_02_bar__minus_02_dot_04 - receptacle\n Cabinet_bar__plus_00_dot_33_bar__plus_00_dot_51_bar__minus_02_dot_02 - receptacle\n Drawer_bar__plus_02_dot_99_bar__plus_00_dot_09_bar__plus_00_dot_37 - receptacle\n Drawer_bar__plus_02_dot_99_bar__plus_00_dot_09_bar__plus_01_dot_40 - receptacle\n Drawer_bar__plus_02_dot_99_bar__plus_00_dot_09_bar__minus_00_dot_57 - receptacle\n Drawer_bar__plus_02_dot_99_bar__plus_00_dot_34_bar__plus_00_dot_37 - receptacle\n Drawer_bar__plus_02_dot_99_bar__plus_00_dot_34_bar__plus_01_dot_40 - receptacle\n Drawer_bar__plus_02_dot_99_bar__plus_00_dot_34_bar__minus_00_dot_57 - receptacle\n Drawer_bar__minus_00_dot_16_bar__plus_00_dot_22_bar__plus_00_dot_99 - receptacle\n Drawer_bar__minus_00_dot_16_bar__plus_00_dot_22_bar__plus_01_dot_47 - receptacle\n Drawer_bar__minus_00_dot_16_bar__plus_00_dot_22_bar__plus_01_dot_94 - receptacle\n Drawer_bar__minus_00_dot_16_bar__plus_00_dot_22_bar__plus_02_dot_42 - receptacle\n Drawer_bar__minus_00_dot_16_bar__plus_00_dot_47_bar__plus_00_dot_99 - receptacle\n Drawer_bar__minus_00_dot_16_bar__plus_00_dot_47_bar__plus_01_dot_47 - receptacle\n Drawer_bar__minus_00_dot_16_bar__plus_00_dot_47_bar__plus_01_dot_94 - receptacle\n Drawer_bar__minus_00_dot_16_bar__plus_00_dot_47_bar__plus_02_dot_42 - receptacle\n Drawer_bar__minus_00_dot_16_bar__plus_00_dot_72_bar__plus_00_dot_99 - receptacle\n Drawer_bar__minus_00_dot_16_bar__plus_00_dot_72_bar__plus_01_dot_47 - receptacle\n Drawer_bar__minus_00_dot_16_bar__plus_00_dot_72_bar__plus_01_dot_94 - receptacle\n Drawer_bar__minus_00_dot_16_bar__plus_00_dot_72_bar__plus_02_dot_42 - receptacle\n Drawer_bar__minus_00_dot_17_bar__plus_00_dot_45_bar__minus_02_dot_04 - receptacle\n Drawer_bar__minus_03_dot_13_bar__plus_00_dot_09_bar__minus_00_dot_49 - receptacle\n Drawer_bar__minus_03_dot_13_bar__plus_00_dot_34_bar__minus_00_dot_49 - receptacle\n Dresser_bar__minus_00_dot_02_bar__plus_00_dot_01_bar__plus_01_dot_72 - receptacle\n GarbageCan_bar__plus_03_dot_16_bar__plus_00_dot_02_bar__plus_00_dot_89 - receptacle\n SideTable_bar__plus_03_dot_16_bar__plus_00_dot_02_bar__plus_00_dot_37 - receptacle\n SideTable_bar__plus_03_dot_16_bar__plus_00_dot_02_bar__plus_01_dot_40 - receptacle\n SideTable_bar__plus_03_dot_16_bar__plus_00_dot_02_bar__minus_00_dot_57 - receptacle\n SideTable_bar__minus_00_dot_17_bar__plus_00_dot_01_bar__minus_02_dot_24 - receptacle\n SideTable_bar__minus_03_dot_30_bar__plus_00_dot_02_bar__minus_00_dot_49 - receptacle\n Sofa_bar__minus_02_dot_96_bar__plus_00_dot_08_bar__plus_01_dot_39 - receptacle\n loc_bar_9_bar_6_bar_2_bar_60 - location\n loc_bar_10_bar__minus_7_bar_1_bar_60 - location\n loc_bar_10_bar_5_bar_2_bar_60 - location\n loc_bar_10_bar__minus_9_bar_3_bar_60 - location\n loc_bar__minus_1_bar__minus_7_bar_2_bar_30 - location\n loc_bar_11_bar_4_bar_1_bar_60 - location\n loc_bar__minus_12_bar__minus_5_bar_3_bar_60 - location\n loc_bar__minus_5_bar_2_bar_1_bar_60 - location\n loc_bar__minus_4_bar_5_bar_1_bar_45 - location\n loc_bar_4_bar__minus_6_bar_3_bar_60 - location\n loc_bar__minus_4_bar_9_bar_0_bar_30 - location\n loc_bar_10_bar__minus_8_bar_1_bar_60 - location\n loc_bar__minus_11_bar__minus_2_bar_3_bar_15 - location\n loc_bar__minus_10_bar_0_bar_3_bar_60 - location\n loc_bar_7_bar_7_bar_0_bar_60 - location\n loc_bar_11_bar_5_bar_1_bar_60 - location\n loc_bar_10_bar__minus_9_bar_1_bar_60 - location\n loc_bar__minus_5_bar_6_bar_1_bar_60 - location\n loc_bar__minus_5_bar_8_bar_1_bar_45 - location\n loc_bar__minus_2_bar__minus_7_bar_3_bar_45 - location\n loc_bar_11_bar__minus_4_bar_1_bar__minus_15 - location\n loc_bar_10_bar_2_bar_2_bar_45 - location\n loc_bar_10_bar__minus_7_bar_0_bar_60 - location\n loc_bar__minus_4_bar_7_bar_1_bar_45 - location\n loc_bar__minus_7_bar_6_bar_3_bar_60 - location\n loc_bar__minus_5_bar_8_bar_1_bar_60 - location\n loc_bar__minus_4_bar_8_bar_1_bar_45 - location\n loc_bar__minus_5_bar_4_bar_1_bar_45 - location\n loc_bar__minus_12_bar__minus_5_bar_2_bar_15 - location\n loc_bar__minus_10_bar__minus_6_bar_2_bar_30 - location\n loc_bar__minus_3_bar__minus_5_bar_2_bar_60 - location\n loc_bar_10_bar__minus_9_bar_3_bar_45 - location\n loc_bar_0_bar__minus_7_bar_1_bar_60 - location\n loc_bar_11_bar_2_bar_0_bar_60 - location\n loc_bar_10_bar__minus_9_bar_2_bar_45 - location\n loc_bar_11_bar__minus_3_bar_0_bar_60 - location\n loc_bar_4_bar__minus_7_bar_2_bar_60 - location\n loc_bar__minus_4_bar_9_bar_1_bar_45 - location\n loc_bar__minus_5_bar_6_bar_1_bar_45 - location\n loc_bar_9_bar_2_bar_2_bar_60 - location\n loc_bar_6_bar__minus_8_bar_2_bar_30 - location\n loc_bar__minus_10_bar__minus_6_bar_0_bar_60 - location\n loc_bar_0_bar__minus_4_bar_2_bar_45 - location\n loc_bar__minus_6_bar__minus_5_bar_2_bar_15 - location\n loc_bar__minus_5_bar_2_bar_1_bar_45 - location\n loc_bar__minus_3_bar_8_bar_1_bar_60 - location\n loc_bar__minus_9_bar__minus_3_bar_2_bar_45 - location\n loc_bar__minus_9_bar_5_bar_1_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Drawer_bar__plus_02_dot_99_bar__plus_00_dot_09_bar__minus_00_dot_57 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_16_bar__plus_00_dot_47_bar__plus_01_dot_94 DrawerType)\n (receptacleType Drawer_bar__plus_02_dot_99_bar__plus_00_dot_34_bar__plus_00_dot_37 DrawerType)\n (receptacleType Cabinet_bar__plus_00_dot_33_bar__plus_00_dot_51_bar__minus_02_dot_02 CabinetType)\n (receptacleType Drawer_bar__minus_00_dot_16_bar__plus_00_dot_72_bar__plus_01_dot_94 DrawerType)\n (receptacleType SideTable_bar__plus_03_dot_16_bar__plus_00_dot_02_bar__plus_01_dot_40 SideTableType)\n (receptacleType ArmChair_bar__minus_02_dot_86_bar__plus_00_dot_02_bar__minus_02_dot_04 ArmChairType)\n (receptacleType Drawer_bar__minus_00_dot_16_bar__plus_00_dot_22_bar__plus_00_dot_99 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_16_bar__plus_00_dot_22_bar__plus_02_dot_42 DrawerType)\n (receptacleType Sofa_bar__minus_02_dot_96_bar__plus_00_dot_08_bar__plus_01_dot_39 SofaType)\n (receptacleType GarbageCan_bar__plus_03_dot_16_bar__plus_00_dot_02_bar__plus_00_dot_89 GarbageCanType)\n (receptacleType Drawer_bar__minus_00_dot_17_bar__plus_00_dot_45_bar__minus_02_dot_04 DrawerType)\n (receptacleType SideTable_bar__plus_03_dot_16_bar__plus_00_dot_02_bar__minus_00_dot_57 SideTableType)\n (receptacleType SideTable_bar__minus_03_dot_30_bar__plus_00_dot_02_bar__minus_00_dot_49 SideTableType)\n (receptacleType Drawer_bar__plus_02_dot_99_bar__plus_00_dot_09_bar__plus_01_dot_40 DrawerType)\n (receptacleType SideTable_bar__plus_03_dot_16_bar__plus_00_dot_02_bar__plus_00_dot_37 SideTableType)\n (receptacleType Drawer_bar__minus_00_dot_16_bar__plus_00_dot_47_bar__plus_00_dot_99 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_16_bar__plus_00_dot_72_bar__plus_00_dot_99 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_16_bar__plus_00_dot_72_bar__plus_01_dot_47 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_16_bar__plus_00_dot_22_bar__plus_01_dot_47 DrawerType)\n (receptacleType Drawer_bar__minus_03_dot_13_bar__plus_00_dot_34_bar__minus_00_dot_49 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_16_bar__plus_00_dot_47_bar__plus_01_dot_47 DrawerType)\n (receptacleType Drawer_bar__plus_02_dot_99_bar__plus_00_dot_09_bar__plus_00_dot_37 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_16_bar__plus_00_dot_72_bar__plus_02_dot_42 DrawerType)\n (receptacleType Drawer_bar__plus_02_dot_99_bar__plus_00_dot_34_bar__minus_00_dot_57 DrawerType)\n (receptacleType Dresser_bar__minus_00_dot_02_bar__plus_00_dot_01_bar__plus_01_dot_72 DresserType)\n (receptacleType Drawer_bar__plus_02_dot_99_bar__plus_00_dot_34_bar__plus_01_dot_40 DrawerType)\n (receptacleType Drawer_bar__minus_03_dot_13_bar__plus_00_dot_09_bar__minus_00_dot_49 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_16_bar__plus_00_dot_22_bar__plus_01_dot_94 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_16_bar__plus_00_dot_47_bar__plus_02_dot_42 DrawerType)\n (receptacleType SideTable_bar__minus_00_dot_17_bar__plus_00_dot_01_bar__minus_02_dot_24 SideTableType)\n (objectType Painting_bar__plus_03_dot_37_bar__plus_01_dot_79_bar__minus_00_dot_95 PaintingType)\n (objectType Chair_bar__plus_03_dot_14_bar__plus_00_dot_02_bar__minus_01_dot_63 ChairType)\n (objectType KeyChain_bar__minus_02_dot_81_bar__plus_00_dot_56_bar__plus_01_dot_60 KeyChainType)\n (objectType Window_bar__minus_00_dot_19_bar__plus_01_dot_16_bar__minus_02_dot_56 WindowType)\n (objectType Laptop_bar__minus_02_dot_78_bar__plus_00_dot_37_bar__minus_01_dot_87 LaptopType)\n (objectType Vase_bar__minus_01_dot_05_bar__plus_01_dot_20_bar__minus_02_dot_15 VaseType)\n (objectType Pillow_bar__minus_02_dot_89_bar__plus_00_dot_62_bar__plus_00_dot_82 PillowType)\n (objectType Window_bar__plus_02_dot_01_bar__plus_01_dot_22_bar__minus_02_dot_74 WindowType)\n (objectType Window_bar__plus_01_dot_13_bar__plus_01_dot_22_bar__minus_02_dot_74 WindowType)\n (objectType Chair_bar__plus_02_dot_04_bar__plus_00_dot_00_bar__minus_02_dot_35 ChairType)\n (objectType CreditCard_bar__minus_02_dot_74_bar__plus_00_dot_56_bar__plus_01_dot_60 CreditCardType)\n (objectType Book_bar__plus_00_dot_12_bar__plus_00_dot_90_bar__plus_01_dot_07 BookType)\n (objectType CreditCard_bar__plus_03_dot_16_bar__plus_00_dot_59_bar__plus_00_dot_50 CreditCardType)\n (objectType Newspaper_bar__minus_00_dot_02_bar__plus_00_dot_92_bar__plus_02_dot_19 NewspaperType)\n (objectType FloorLamp_bar__plus_03_dot_10_bar__plus_00_dot_02_bar__minus_02_dot_34 FloorLampType)\n (objectType Statue_bar__plus_03_dot_12_bar__plus_00_dot_60_bar__minus_00_dot_51 StatueType)\n (objectType KeyChain_bar__minus_03_dot_30_bar__plus_00_dot_59_bar__minus_00_dot_62 KeyChainType)\n (objectType Chair_bar__plus_01_dot_63_bar__plus_00_dot_02_bar__plus_02_dot_21 ChairType)\n (objectType WateringCan_bar__plus_02_dot_89_bar__plus_00_dot_01_bar__minus_01_dot_92 WateringCanType)\n (objectType Newspaper_bar__minus_02_dot_89_bar__plus_00_dot_57_bar__plus_01_dot_81 NewspaperType)\n (objectType Painting_bar__minus_03_dot_49_bar__plus_01_dot_39_bar__minus_00_dot_51 PaintingType)\n (objectType DeskLamp_bar__plus_03_dot_14_bar__plus_00_dot_59_bar__plus_01_dot_47 DeskLampType)\n (objectType Vase_bar__minus_02_dot_17_bar__plus_01_dot_20_bar__minus_02_dot_18 VaseType)\n (objectType Chair_bar__plus_01_dot_05_bar__plus_00_dot_00_bar__minus_02_dot_31 ChairType)\n (objectType Television_bar__plus_00_dot_07_bar__plus_01_dot_39_bar__plus_01_dot_70 TelevisionType)\n (objectType Box_bar__minus_00_dot_11_bar__plus_01_dot_10_bar__plus_01_dot_22 BoxType)\n (objectType LightSwitch_bar__minus_00_dot_93_bar__plus_01_dot_32_bar__plus_02_dot_85 LightSwitchType)\n (objectType RemoteControl_bar__minus_00_dot_20_bar__plus_00_dot_91_bar__plus_01_dot_46 RemoteControlType)\n (objectType Box_bar__minus_03_dot_38_bar__plus_00_dot_78_bar__minus_00_dot_42 BoxType)\n (objectType Window_bar__minus_03_dot_37_bar__plus_01_dot_18_bar__minus_01_dot_54 WindowType)\n (objectType HousePlant_bar__plus_00_dot_49_bar__plus_00_dot_87_bar__minus_01_dot_58 HousePlantType)\n (objectType Window_bar__minus_02_dot_97_bar__plus_01_dot_16_bar__minus_02_dot_56 WindowType)\n (objectType KeyChain_bar__minus_00_dot_05_bar__plus_00_dot_66_bar__plus_01_dot_41 KeyChainType)\n (objectType RemoteControl_bar__plus_00_dot_16_bar__plus_00_dot_91_bar__plus_02_dot_43 RemoteControlType)\n (objectType Window_bar__plus_02_dot_90_bar__plus_01_dot_22_bar__minus_02_dot_74 WindowType)\n (objectType Painting_bar__minus_01_dot_56_bar__plus_01_dot_41_bar__minus_02_dot_32 PaintingType)\n (objectType CellPhone_bar__plus_03_dot_10_bar__plus_00_dot_08_bar__minus_00_dot_57 CellPhoneType)\n (objectType Statue_bar__plus_03_dot_16_bar__plus_00_dot_60_bar__plus_00_dot_30 StatueType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType WateringCanType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType NewspaperType)\n (canContain DrawerType BookType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType WateringCanType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType NewspaperType)\n (canContain DrawerType BookType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType WateringCanType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType NewspaperType)\n (canContain DrawerType BookType)\n (canContain CabinetType WateringCanType)\n (canContain CabinetType VaseType)\n (canContain CabinetType NewspaperType)\n (canContain CabinetType BoxType)\n (canContain CabinetType BookType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType WateringCanType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType NewspaperType)\n (canContain DrawerType BookType)\n (canContain SideTableType CellPhoneType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType RemoteControlType)\n (canContain SideTableType WateringCanType)\n (canContain SideTableType VaseType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType NewspaperType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType StatueType)\n (canContain SideTableType BoxType)\n (canContain SideTableType BookType)\n (canContain ArmChairType CellPhoneType)\n (canContain ArmChairType PillowType)\n (canContain ArmChairType RemoteControlType)\n (canContain ArmChairType KeyChainType)\n (canContain ArmChairType LaptopType)\n (canContain ArmChairType CreditCardType)\n (canContain ArmChairType BoxType)\n (canContain ArmChairType NewspaperType)\n (canContain ArmChairType BookType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType WateringCanType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType NewspaperType)\n (canContain DrawerType BookType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType WateringCanType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType NewspaperType)\n (canContain DrawerType BookType)\n (canContain SofaType CellPhoneType)\n (canContain SofaType PillowType)\n (canContain SofaType RemoteControlType)\n (canContain SofaType KeyChainType)\n (canContain SofaType LaptopType)\n (canContain SofaType CreditCardType)\n (canContain SofaType BoxType)\n (canContain SofaType NewspaperType)\n (canContain SofaType BookType)\n (canContain GarbageCanType NewspaperType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType WateringCanType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType NewspaperType)\n (canContain DrawerType BookType)\n (canContain SideTableType CellPhoneType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType RemoteControlType)\n (canContain SideTableType WateringCanType)\n (canContain SideTableType VaseType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType NewspaperType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType StatueType)\n (canContain SideTableType BoxType)\n (canContain SideTableType BookType)\n (canContain SideTableType CellPhoneType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType RemoteControlType)\n (canContain SideTableType WateringCanType)\n (canContain SideTableType VaseType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType NewspaperType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType StatueType)\n (canContain SideTableType BoxType)\n (canContain SideTableType BookType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType WateringCanType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType NewspaperType)\n (canContain DrawerType BookType)\n (canContain SideTableType CellPhoneType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType RemoteControlType)\n (canContain SideTableType WateringCanType)\n (canContain SideTableType VaseType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType NewspaperType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType StatueType)\n (canContain SideTableType BoxType)\n (canContain SideTableType BookType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType WateringCanType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType NewspaperType)\n (canContain DrawerType BookType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType WateringCanType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType NewspaperType)\n (canContain DrawerType BookType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType WateringCanType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType NewspaperType)\n (canContain DrawerType BookType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType WateringCanType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType NewspaperType)\n (canContain DrawerType BookType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType WateringCanType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType NewspaperType)\n (canContain DrawerType BookType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType WateringCanType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType NewspaperType)\n (canContain DrawerType BookType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType WateringCanType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType NewspaperType)\n (canContain DrawerType BookType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType WateringCanType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType NewspaperType)\n (canContain DrawerType BookType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType WateringCanType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType NewspaperType)\n (canContain DrawerType BookType)\n (canContain DresserType CellPhoneType)\n (canContain DresserType KeyChainType)\n (canContain DresserType RemoteControlType)\n (canContain DresserType WateringCanType)\n (canContain DresserType VaseType)\n (canContain DresserType CreditCardType)\n (canContain DresserType NewspaperType)\n (canContain DresserType LaptopType)\n (canContain DresserType StatueType)\n (canContain DresserType BoxType)\n (canContain DresserType BookType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType WateringCanType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType NewspaperType)\n (canContain DrawerType BookType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType WateringCanType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType NewspaperType)\n (canContain DrawerType BookType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType WateringCanType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType NewspaperType)\n (canContain DrawerType BookType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType WateringCanType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType NewspaperType)\n (canContain DrawerType BookType)\n (canContain SideTableType CellPhoneType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType RemoteControlType)\n (canContain SideTableType WateringCanType)\n (canContain SideTableType VaseType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType NewspaperType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType StatueType)\n (canContain SideTableType BoxType)\n (canContain SideTableType BookType)\n (pickupable KeyChain_bar__minus_02_dot_81_bar__plus_00_dot_56_bar__plus_01_dot_60)\n (pickupable Laptop_bar__minus_02_dot_78_bar__plus_00_dot_37_bar__minus_01_dot_87)\n (pickupable Vase_bar__minus_01_dot_05_bar__plus_01_dot_20_bar__minus_02_dot_15)\n (pickupable Pillow_bar__minus_02_dot_89_bar__plus_00_dot_62_bar__plus_00_dot_82)\n (pickupable CreditCard_bar__minus_02_dot_74_bar__plus_00_dot_56_bar__plus_01_dot_60)\n (pickupable Book_bar__plus_00_dot_12_bar__plus_00_dot_90_bar__plus_01_dot_07)\n (pickupable CreditCard_bar__plus_03_dot_16_bar__plus_00_dot_59_bar__plus_00_dot_50)\n (pickupable Newspaper_bar__minus_00_dot_02_bar__plus_00_dot_92_bar__plus_02_dot_19)\n (pickupable Statue_bar__plus_03_dot_12_bar__plus_00_dot_60_bar__minus_00_dot_51)\n (pickupable KeyChain_bar__minus_03_dot_30_bar__plus_00_dot_59_bar__minus_00_dot_62)\n (pickupable WateringCan_bar__plus_02_dot_89_bar__plus_00_dot_01_bar__minus_01_dot_92)\n (pickupable Newspaper_bar__minus_02_dot_89_bar__plus_00_dot_57_bar__plus_01_dot_81)\n (pickupable Vase_bar__minus_02_dot_17_bar__plus_01_dot_20_bar__minus_02_dot_18)\n (pickupable Box_bar__minus_00_dot_11_bar__plus_01_dot_10_bar__plus_01_dot_22)\n (pickupable RemoteControl_bar__minus_00_dot_20_bar__plus_00_dot_91_bar__plus_01_dot_46)\n (pickupable Box_bar__minus_03_dot_38_bar__plus_00_dot_78_bar__minus_00_dot_42)\n (pickupable KeyChain_bar__minus_00_dot_05_bar__plus_00_dot_66_bar__plus_01_dot_41)\n (pickupable RemoteControl_bar__plus_00_dot_16_bar__plus_00_dot_91_bar__plus_02_dot_43)\n (pickupable CellPhone_bar__plus_03_dot_10_bar__plus_00_dot_08_bar__minus_00_dot_57)\n (pickupable Statue_bar__plus_03_dot_16_bar__plus_00_dot_60_bar__plus_00_dot_30)\n (isReceptacleObject Box_bar__minus_00_dot_11_bar__plus_01_dot_10_bar__plus_01_dot_22)\n (isReceptacleObject Box_bar__minus_03_dot_38_bar__plus_00_dot_78_bar__minus_00_dot_42)\n (openable Drawer_bar__plus_02_dot_99_bar__plus_00_dot_09_bar__minus_00_dot_57)\n (openable Drawer_bar__minus_00_dot_16_bar__plus_00_dot_47_bar__plus_01_dot_94)\n (openable Drawer_bar__plus_02_dot_99_bar__plus_00_dot_34_bar__plus_00_dot_37)\n (openable Drawer_bar__minus_00_dot_16_bar__plus_00_dot_72_bar__plus_01_dot_94)\n (openable Drawer_bar__minus_00_dot_16_bar__plus_00_dot_22_bar__plus_00_dot_99)\n (openable Drawer_bar__minus_00_dot_16_bar__plus_00_dot_22_bar__plus_02_dot_42)\n (openable Drawer_bar__minus_00_dot_17_bar__plus_00_dot_45_bar__minus_02_dot_04)\n (openable Drawer_bar__minus_00_dot_16_bar__plus_00_dot_47_bar__plus_00_dot_99)\n (openable Drawer_bar__minus_00_dot_16_bar__plus_00_dot_72_bar__plus_00_dot_99)\n (openable Drawer_bar__minus_00_dot_16_bar__plus_00_dot_72_bar__plus_01_dot_47)\n (openable Drawer_bar__minus_00_dot_16_bar__plus_00_dot_22_bar__plus_01_dot_47)\n (openable Drawer_bar__minus_03_dot_13_bar__plus_00_dot_34_bar__minus_00_dot_49)\n (openable Drawer_bar__minus_00_dot_16_bar__plus_00_dot_47_bar__plus_01_dot_47)\n (openable Drawer_bar__plus_02_dot_99_bar__plus_00_dot_09_bar__plus_00_dot_37)\n (openable Drawer_bar__minus_00_dot_16_bar__plus_00_dot_72_bar__plus_02_dot_42)\n (openable Drawer_bar__plus_02_dot_99_bar__plus_00_dot_34_bar__minus_00_dot_57)\n (openable Drawer_bar__minus_03_dot_13_bar__plus_00_dot_09_bar__minus_00_dot_49)\n (openable Drawer_bar__minus_00_dot_16_bar__plus_00_dot_22_bar__plus_01_dot_94)\n (openable Drawer_bar__minus_00_dot_16_bar__plus_00_dot_47_bar__plus_02_dot_42)\n \n (atLocation agent1 loc_bar__minus_9_bar_5_bar_1_bar_30)\n \n \n \n \n \n \n \n (toggleable FloorLamp_bar__plus_03_dot_10_bar__plus_00_dot_02_bar__minus_02_dot_34)\n (toggleable DeskLamp_bar__plus_03_dot_14_bar__plus_00_dot_59_bar__plus_01_dot_47)\n \n \n \n \n (inReceptacle DeskLamp_bar__plus_03_dot_14_bar__plus_00_dot_59_bar__plus_01_dot_47 SideTable_bar__plus_03_dot_16_bar__plus_00_dot_02_bar__plus_01_dot_40)\n (inReceptacle Laptop_bar__minus_02_dot_78_bar__plus_00_dot_37_bar__minus_01_dot_87 ArmChair_bar__minus_02_dot_86_bar__plus_00_dot_02_bar__minus_02_dot_04)\n (inReceptacle CreditCard_bar__minus_02_dot_74_bar__plus_00_dot_56_bar__plus_01_dot_60 Sofa_bar__minus_02_dot_96_bar__plus_00_dot_08_bar__plus_01_dot_39)\n (inReceptacle KeyChain_bar__minus_02_dot_81_bar__plus_00_dot_56_bar__plus_01_dot_60 Sofa_bar__minus_02_dot_96_bar__plus_00_dot_08_bar__plus_01_dot_39)\n (inReceptacle Newspaper_bar__minus_02_dot_89_bar__plus_00_dot_57_bar__plus_01_dot_81 Sofa_bar__minus_02_dot_96_bar__plus_00_dot_08_bar__plus_01_dot_39)\n (inReceptacle Pillow_bar__minus_02_dot_89_bar__plus_00_dot_62_bar__plus_00_dot_82 Sofa_bar__minus_02_dot_96_bar__plus_00_dot_08_bar__plus_01_dot_39)\n (inReceptacle Television_bar__plus_00_dot_07_bar__plus_01_dot_39_bar__plus_01_dot_70 Dresser_bar__minus_00_dot_02_bar__plus_00_dot_01_bar__plus_01_dot_72)\n (inReceptacle Book_bar__plus_00_dot_12_bar__plus_00_dot_90_bar__plus_01_dot_07 Dresser_bar__minus_00_dot_02_bar__plus_00_dot_01_bar__plus_01_dot_72)\n (inReceptacle RemoteControl_bar__plus_00_dot_16_bar__plus_00_dot_91_bar__plus_02_dot_43 Dresser_bar__minus_00_dot_02_bar__plus_00_dot_01_bar__plus_01_dot_72)\n (inReceptacle Newspaper_bar__minus_00_dot_02_bar__plus_00_dot_92_bar__plus_02_dot_19 Dresser_bar__minus_00_dot_02_bar__plus_00_dot_01_bar__plus_01_dot_72)\n (inReceptacle Box_bar__minus_00_dot_11_bar__plus_01_dot_10_bar__plus_01_dot_22 Dresser_bar__minus_00_dot_02_bar__plus_00_dot_01_bar__plus_01_dot_72)\n (inReceptacle RemoteControl_bar__minus_00_dot_20_bar__plus_00_dot_91_bar__plus_01_dot_46 Dresser_bar__minus_00_dot_02_bar__plus_00_dot_01_bar__plus_01_dot_72)\n (inReceptacle CellPhone_bar__plus_03_dot_10_bar__plus_00_dot_08_bar__minus_00_dot_57 Drawer_bar__plus_02_dot_99_bar__plus_00_dot_09_bar__minus_00_dot_57)\n (inReceptacle Statue_bar__plus_03_dot_12_bar__plus_00_dot_60_bar__minus_00_dot_51 SideTable_bar__plus_03_dot_16_bar__plus_00_dot_02_bar__minus_00_dot_57)\n (inReceptacle KeyChain_bar__minus_00_dot_05_bar__plus_00_dot_66_bar__plus_01_dot_41 Drawer_bar__minus_00_dot_16_bar__plus_00_dot_72_bar__plus_01_dot_47)\n (inReceptacle CreditCard_bar__plus_03_dot_16_bar__plus_00_dot_59_bar__plus_00_dot_50 SideTable_bar__plus_03_dot_16_bar__plus_00_dot_02_bar__plus_00_dot_37)\n (inReceptacle Statue_bar__plus_03_dot_16_bar__plus_00_dot_60_bar__plus_00_dot_30 SideTable_bar__plus_03_dot_16_bar__plus_00_dot_02_bar__plus_00_dot_37)\n (inReceptacle Box_bar__minus_03_dot_38_bar__plus_00_dot_78_bar__minus_00_dot_42 SideTable_bar__minus_03_dot_30_bar__plus_00_dot_02_bar__minus_00_dot_49)\n (inReceptacle KeyChain_bar__minus_03_dot_30_bar__plus_00_dot_59_bar__minus_00_dot_62 SideTable_bar__minus_03_dot_30_bar__plus_00_dot_02_bar__minus_00_dot_49)\n \n \n (receptacleAtLocation ArmChair_bar__minus_02_dot_86_bar__plus_00_dot_02_bar__minus_02_dot_04 loc_bar__minus_9_bar__minus_3_bar_2_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_33_bar__plus_00_dot_51_bar__minus_02_dot_02 loc_bar_0_bar__minus_7_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_02_dot_99_bar__plus_00_dot_09_bar__plus_00_dot_37 loc_bar_9_bar_6_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__plus_02_dot_99_bar__plus_00_dot_09_bar__plus_01_dot_40 loc_bar_11_bar_5_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_02_dot_99_bar__plus_00_dot_09_bar__minus_00_dot_57 loc_bar_9_bar_2_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__plus_02_dot_99_bar__plus_00_dot_34_bar__plus_00_dot_37 loc_bar_10_bar_5_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__plus_02_dot_99_bar__plus_00_dot_34_bar__plus_01_dot_40 loc_bar_11_bar_5_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_02_dot_99_bar__plus_00_dot_34_bar__minus_00_dot_57 loc_bar_10_bar_2_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_16_bar__plus_00_dot_22_bar__plus_00_dot_99 loc_bar__minus_5_bar_2_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_16_bar__plus_00_dot_22_bar__plus_01_dot_47 loc_bar__minus_5_bar_8_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_16_bar__plus_00_dot_22_bar__plus_01_dot_94 loc_bar__minus_5_bar_6_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_16_bar__plus_00_dot_22_bar__plus_02_dot_42 loc_bar__minus_5_bar_8_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_16_bar__plus_00_dot_47_bar__plus_00_dot_99 loc_bar__minus_5_bar_2_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_16_bar__plus_00_dot_47_bar__plus_01_dot_47 loc_bar__minus_5_bar_4_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_16_bar__plus_00_dot_47_bar__plus_01_dot_94 loc_bar__minus_5_bar_6_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_16_bar__plus_00_dot_47_bar__plus_02_dot_42 loc_bar__minus_5_bar_8_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_16_bar__plus_00_dot_72_bar__plus_00_dot_99 loc_bar__minus_4_bar_5_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_16_bar__plus_00_dot_72_bar__plus_01_dot_47 loc_bar__minus_4_bar_7_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_16_bar__plus_00_dot_72_bar__plus_01_dot_94 loc_bar__minus_4_bar_9_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_16_bar__plus_00_dot_72_bar__plus_02_dot_42 loc_bar__minus_4_bar_8_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_17_bar__plus_00_dot_45_bar__minus_02_dot_04 loc_bar_0_bar__minus_4_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_03_dot_13_bar__plus_00_dot_09_bar__minus_00_dot_49 loc_bar__minus_10_bar__minus_6_bar_0_bar_60)\n (receptacleAtLocation Drawer_bar__minus_03_dot_13_bar__plus_00_dot_34_bar__minus_00_dot_49 loc_bar__minus_10_bar__minus_6_bar_0_bar_60)\n (receptacleAtLocation Dresser_bar__minus_00_dot_02_bar__plus_00_dot_01_bar__plus_01_dot_72 loc_bar__minus_3_bar_8_bar_1_bar_60)\n (receptacleAtLocation GarbageCan_bar__plus_03_dot_16_bar__plus_00_dot_02_bar__plus_00_dot_89 loc_bar_11_bar_4_bar_1_bar_60)\n (receptacleAtLocation SideTable_bar__plus_03_dot_16_bar__plus_00_dot_02_bar__plus_00_dot_37 loc_bar_11_bar__minus_3_bar_0_bar_60)\n (receptacleAtLocation SideTable_bar__plus_03_dot_16_bar__plus_00_dot_02_bar__plus_01_dot_40 loc_bar_11_bar_2_bar_0_bar_60)\n (receptacleAtLocation SideTable_bar__plus_03_dot_16_bar__plus_00_dot_02_bar__minus_00_dot_57 loc_bar_10_bar__minus_7_bar_0_bar_60)\n (receptacleAtLocation SideTable_bar__minus_00_dot_17_bar__plus_00_dot_01_bar__minus_02_dot_24 loc_bar__minus_3_bar__minus_5_bar_2_bar_60)\n (receptacleAtLocation SideTable_bar__minus_03_dot_30_bar__plus_00_dot_02_bar__minus_00_dot_49 loc_bar__minus_10_bar_0_bar_3_bar_60)\n (receptacleAtLocation Sofa_bar__minus_02_dot_96_bar__plus_00_dot_08_bar__plus_01_dot_39 loc_bar__minus_7_bar_6_bar_3_bar_60)\n (objectAtLocation KeyChain_bar__minus_02_dot_81_bar__plus_00_dot_56_bar__plus_01_dot_60 loc_bar__minus_7_bar_6_bar_3_bar_60)\n (objectAtLocation RemoteControl_bar__plus_00_dot_16_bar__plus_00_dot_91_bar__plus_02_dot_43 loc_bar__minus_3_bar_8_bar_1_bar_60)\n (objectAtLocation Newspaper_bar__minus_02_dot_89_bar__plus_00_dot_57_bar__plus_01_dot_81 loc_bar__minus_7_bar_6_bar_3_bar_60)\n (objectAtLocation CreditCard_bar__minus_02_dot_74_bar__plus_00_dot_56_bar__plus_01_dot_60 loc_bar__minus_7_bar_6_bar_3_bar_60)\n (objectAtLocation Statue_bar__plus_03_dot_16_bar__plus_00_dot_60_bar__plus_00_dot_30 loc_bar_11_bar__minus_3_bar_0_bar_60)\n (objectAtLocation Box_bar__minus_00_dot_11_bar__plus_01_dot_10_bar__plus_01_dot_22 loc_bar__minus_3_bar_8_bar_1_bar_60)\n (objectAtLocation KeyChain_bar__minus_03_dot_30_bar__plus_00_dot_59_bar__minus_00_dot_62 loc_bar__minus_10_bar_0_bar_3_bar_60)\n (objectAtLocation Book_bar__plus_00_dot_12_bar__plus_00_dot_90_bar__plus_01_dot_07 loc_bar__minus_3_bar_8_bar_1_bar_60)\n (objectAtLocation Chair_bar__plus_01_dot_63_bar__plus_00_dot_02_bar__plus_02_dot_21 loc_bar_7_bar_7_bar_0_bar_60)\n (objectAtLocation Box_bar__minus_03_dot_38_bar__plus_00_dot_78_bar__minus_00_dot_42 loc_bar__minus_10_bar_0_bar_3_bar_60)\n (objectAtLocation Chair_bar__plus_01_dot_05_bar__plus_00_dot_00_bar__minus_02_dot_31 loc_bar_4_bar__minus_7_bar_2_bar_60)\n (objectAtLocation Chair_bar__plus_03_dot_14_bar__plus_00_dot_02_bar__minus_01_dot_63 loc_bar_10_bar__minus_7_bar_1_bar_60)\n (objectAtLocation Chair_bar__plus_02_dot_04_bar__plus_00_dot_00_bar__minus_02_dot_35 loc_bar_10_bar__minus_9_bar_3_bar_60)\n (objectAtLocation Statue_bar__plus_03_dot_12_bar__plus_00_dot_60_bar__minus_00_dot_51 loc_bar_10_bar__minus_7_bar_0_bar_60)\n (objectAtLocation CreditCard_bar__plus_03_dot_16_bar__plus_00_dot_59_bar__plus_00_dot_50 loc_bar_11_bar__minus_3_bar_0_bar_60)\n (objectAtLocation Laptop_bar__minus_02_dot_78_bar__plus_00_dot_37_bar__minus_01_dot_87 loc_bar__minus_9_bar__minus_3_bar_2_bar_45)\n (objectAtLocation DeskLamp_bar__plus_03_dot_14_bar__plus_00_dot_59_bar__plus_01_dot_47 loc_bar_11_bar_2_bar_0_bar_60)\n (objectAtLocation LightSwitch_bar__minus_00_dot_93_bar__plus_01_dot_32_bar__plus_02_dot_85 loc_bar__minus_4_bar_9_bar_0_bar_30)\n (objectAtLocation WateringCan_bar__plus_02_dot_89_bar__plus_00_dot_01_bar__minus_01_dot_92 loc_bar_10_bar__minus_8_bar_1_bar_60)\n (objectAtLocation Newspaper_bar__minus_00_dot_02_bar__plus_00_dot_92_bar__plus_02_dot_19 loc_bar__minus_3_bar_8_bar_1_bar_60)\n (objectAtLocation Vase_bar__minus_02_dot_17_bar__plus_01_dot_20_bar__minus_02_dot_18 loc_bar__minus_10_bar__minus_6_bar_2_bar_30)\n (objectAtLocation CellPhone_bar__plus_03_dot_10_bar__plus_00_dot_08_bar__minus_00_dot_57 loc_bar_9_bar_2_bar_2_bar_60)\n (objectAtLocation RemoteControl_bar__minus_00_dot_20_bar__plus_00_dot_91_bar__plus_01_dot_46 loc_bar__minus_3_bar_8_bar_1_bar_60)\n (objectAtLocation Vase_bar__minus_01_dot_05_bar__plus_01_dot_20_bar__minus_02_dot_15 loc_bar__minus_2_bar__minus_7_bar_3_bar_45)\n (objectAtLocation HousePlant_bar__plus_00_dot_49_bar__plus_00_dot_87_bar__minus_01_dot_58 loc_bar_4_bar__minus_6_bar_3_bar_60)\n (objectAtLocation Television_bar__plus_00_dot_07_bar__plus_01_dot_39_bar__plus_01_dot_70 loc_bar__minus_3_bar_8_bar_1_bar_60)\n (objectAtLocation Pillow_bar__minus_02_dot_89_bar__plus_00_dot_62_bar__plus_00_dot_82 loc_bar__minus_7_bar_6_bar_3_bar_60)\n (objectAtLocation KeyChain_bar__minus_00_dot_05_bar__plus_00_dot_66_bar__plus_01_dot_41 loc_bar__minus_4_bar_7_bar_1_bar_45)\n (objectAtLocation Painting_bar__minus_01_dot_56_bar__plus_01_dot_41_bar__minus_02_dot_32 loc_bar__minus_6_bar__minus_5_bar_2_bar_15)\n (objectAtLocation Painting_bar__plus_03_dot_37_bar__plus_01_dot_79_bar__minus_00_dot_95 loc_bar_11_bar__minus_4_bar_1_bar__minus_15)\n (objectAtLocation Painting_bar__minus_03_dot_49_bar__plus_01_dot_39_bar__minus_00_dot_51 loc_bar__minus_11_bar__minus_2_bar_3_bar_15)\n (objectAtLocation FloorLamp_bar__plus_03_dot_10_bar__plus_00_dot_02_bar__minus_02_dot_34 loc_bar_10_bar__minus_9_bar_1_bar_60)\n (objectAtLocation Window_bar__plus_01_dot_13_bar__plus_01_dot_22_bar__minus_02_dot_74 loc_bar_6_bar__minus_8_bar_2_bar_30)\n (objectAtLocation Window_bar__minus_03_dot_37_bar__plus_01_dot_18_bar__minus_01_dot_54 loc_bar__minus_12_bar__minus_5_bar_3_bar_60)\n (objectAtLocation Window_bar__plus_02_dot_90_bar__plus_01_dot_22_bar__minus_02_dot_74 loc_bar_10_bar__minus_9_bar_2_bar_45)\n (objectAtLocation Window_bar__plus_02_dot_01_bar__plus_01_dot_22_bar__minus_02_dot_74 loc_bar_10_bar__minus_9_bar_3_bar_45)\n (objectAtLocation Window_bar__minus_00_dot_19_bar__plus_01_dot_16_bar__minus_02_dot_56 loc_bar__minus_1_bar__minus_7_bar_2_bar_30)\n (objectAtLocation Window_bar__minus_02_dot_97_bar__plus_01_dot_16_bar__minus_02_dot_56 loc_bar__minus_12_bar__minus_5_bar_2_bar_15)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o1 - object)\n (and\n (objectType ?o1 NewspaperType)\n (receptacleType ?r DrawerType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 NewspaperType)\n (receptacleType ?r DrawerType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to dresser 1", "take newspaper 2 from dresser 1", "go to drawer 4", "move newspaper 2 to drawer 4", "go to sofa 1", "take newspaper 1 from sofa 1", "go to drawer 4", "move newspaper 1 to drawer 4"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/valid_seen/pick_two_obj_and_place-Newspaper-None-Drawer-224/trial_T20190911_101248_326533/initial_state.pddl b/data/alfworld/json_2.1.1/valid_seen/pick_two_obj_and_place-Newspaper-None-Drawer-224/trial_T20190911_101248_326533/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..a034bef85a1a9e55c81adaf7aeaf9d02f789837d --- /dev/null +++ b/data/alfworld/json_2.1.1/valid_seen/pick_two_obj_and_place-Newspaper-None-Drawer-224/trial_T20190911_101248_326533/initial_state.pddl @@ -0,0 +1,796 @@ + +(define (problem plan_trial_T20190911_101248_326533) +(:domain alfred) +(:objects +agent1 - agent +Curtains - object + SprayBottle - object + Mirror - object + HousePlant - object + Watch - object + TeddyBear - object + WateringCan - object + Bathtub - object + LightSwitch - object + Vase - object + Candle - object + Bread - object + Statue - object + HandTowel - object + StoveKnob - object + PaperTowelRoll - object + Pan - object + PepperShaker - object + Painting - object + CellPhone - object + Plunger - object + Spoon - object + SaltShaker - object + KeyChain - object + Footstool - object + Poster - object + Television - object + LaundryHamperLid - object + Glassbottle - object + AlarmClock - object + WineBottle - object + Bowl - object + Sink - object + TissueBox - object + TennisRacket - object + ToiletPaper - object + ScrubBrush - object + CreditCard - object + Laptop - object + Cloth - object + Cup - object + Chair - object + BasketBall - object + Kettle - object + PaperTowel - object + ShowerDoor - object + BaseballBat - object + Potato - object + Pillow - object + Lettuce - object + RemoteControl - object + Window - object + DishSponge - object + CD - object + Boots - object + Blinds - object + Pen - object + Newspaper - object + Plate - object + Mug - object + ShowerGlass - object + ToiletPaperRoll - object + SoapBar - object + FloorLamp - object + SoapBottle - object + Pot - object + Pencil - object + Spatula - object + Towel - object + Fork - object + Ladle - object + Knife - object + Apple - object + Box - object + Tomato - object + ButterKnife - object + Egg - object + Book - object + DeskLamp - object +CurtainsType - otype + SprayBottleType - otype + MirrorType - otype + HousePlantType - otype + WatchType - otype + TeddyBearType - otype + WateringCanType - otype + BathtubType - otype + LightSwitchType - otype + VaseType - otype + CandleType - otype + BreadType - otype + StatueType - otype + HandTowelType - otype + StoveKnobType - otype + PaperTowelRollType - otype + PanType - otype + PepperShakerType - otype + PaintingType - otype + CellPhoneType - otype + PlungerType - otype + SpoonType - otype + SaltShakerType - otype + KeyChainType - otype + FootstoolType - otype + PosterType - otype + TelevisionType - otype + LaundryHamperLidType - otype + GlassbottleType - otype + AlarmClockType - otype + WineBottleType - otype + BowlType - otype + SinkType - otype + TissueBoxType - otype + TennisRacketType - otype + ToiletPaperType - otype + ScrubBrushType - otype + CreditCardType - otype + LaptopType - otype + ClothType - otype + CupType - otype + ChairType - otype + BasketBallType - otype + KettleType - otype + PaperTowelType - otype + ShowerDoorType - otype + BaseballBatType - otype + PotatoType - otype + PillowType - otype + LettuceType - otype + RemoteControlType - otype + WindowType - otype + DishSpongeType - otype + CDType - otype + BootsType - otype + BlindsType - otype + PenType - otype + NewspaperType - otype + PlateType - otype + MugType - otype + ShowerGlassType - otype + ToiletPaperRollType - otype + SoapBarType - otype + FloorLampType - otype + SoapBottleType - otype + PotType - otype + PencilType - otype + SpatulaType - otype + TowelType - otype + ForkType - otype + LadleType - otype + KnifeType - otype + AppleType - otype + BoxType - otype + TomatoType - otype + ButterKnifeType - otype + EggType - otype + BookType - otype + DeskLampType - otype +CabinetType - rtype + ShelfType - rtype + DiningTableType - rtype + TowelHolderType - rtype + PaintingHangerType - rtype + TVStandType - rtype + LaundryHamperType - rtype + OttomanType - rtype + SafeType - rtype + CoffeeMachineType - rtype + CounterTopType - rtype + ToiletType - rtype + FridgeType - rtype + CoffeeTableType - rtype + SinkBasinType - rtype + GarbageCanType - rtype + BathtubBasinType - rtype + SideTableType - rtype + CartType - rtype + BedType - rtype + DeskType - rtype + SofaType - rtype + ArmChairType - rtype + MicrowaveType - rtype + HandTowelHolderType - rtype + ToasterType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + DrawerType - rtype + DresserType - rtype + + + Book_bar__plus_00_dot_12_bar__plus_00_dot_90_bar__plus_01_dot_07 - object + Box_bar__minus_00_dot_11_bar__plus_01_dot_10_bar__plus_01_dot_22 - object + Box_bar__minus_03_dot_38_bar__plus_00_dot_78_bar__minus_00_dot_42 - object + 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(canContain SideTableType LaptopType) + (canContain SideTableType StatueType) + (canContain SideTableType BoxType) + (canContain SideTableType BookType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType WateringCanType) + (canContain DrawerType CreditCardType) + (canContain DrawerType NewspaperType) + (canContain DrawerType BookType) + (canContain SideTableType CellPhoneType) + (canContain SideTableType KeyChainType) + (canContain SideTableType RemoteControlType) + (canContain SideTableType WateringCanType) + (canContain SideTableType VaseType) + (canContain SideTableType CreditCardType) + (canContain SideTableType NewspaperType) + (canContain SideTableType LaptopType) + (canContain SideTableType StatueType) + (canContain SideTableType BoxType) + (canContain SideTableType BookType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType 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DrawerType BookType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType WateringCanType) + (canContain DrawerType CreditCardType) + (canContain DrawerType NewspaperType) + (canContain DrawerType BookType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType WateringCanType) + (canContain DrawerType CreditCardType) + (canContain DrawerType NewspaperType) + (canContain DrawerType BookType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType WateringCanType) + (canContain DrawerType CreditCardType) + (canContain DrawerType NewspaperType) + (canContain DrawerType BookType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType WateringCanType) + (canContain DrawerType CreditCardType) + (canContain DrawerType NewspaperType) + (canContain DrawerType BookType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType WateringCanType) + (canContain DrawerType CreditCardType) + (canContain DrawerType NewspaperType) + (canContain DrawerType BookType) + (canContain DresserType CellPhoneType) + (canContain DresserType KeyChainType) + (canContain DresserType RemoteControlType) + (canContain DresserType WateringCanType) + (canContain DresserType VaseType) + (canContain DresserType CreditCardType) + (canContain DresserType NewspaperType) + (canContain DresserType LaptopType) + (canContain DresserType StatueType) + (canContain DresserType BoxType) + (canContain DresserType BookType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType WateringCanType) + (canContain DrawerType CreditCardType) + (canContain DrawerType NewspaperType) + (canContain DrawerType BookType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType WateringCanType) + (canContain DrawerType CreditCardType) + (canContain DrawerType NewspaperType) + (canContain DrawerType BookType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType WateringCanType) + (canContain DrawerType CreditCardType) + (canContain DrawerType NewspaperType) + (canContain DrawerType BookType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType WateringCanType) + (canContain DrawerType CreditCardType) + (canContain DrawerType NewspaperType) + (canContain DrawerType BookType) + (canContain SideTableType CellPhoneType) + (canContain SideTableType KeyChainType) + (canContain SideTableType RemoteControlType) + (canContain SideTableType WateringCanType) + (canContain SideTableType VaseType) + (canContain SideTableType CreditCardType) + (canContain SideTableType NewspaperType) + (canContain SideTableType LaptopType) + (canContain SideTableType StatueType) + (canContain SideTableType BoxType) + (canContain SideTableType BookType) + (pickupable KeyChain_bar__minus_02_dot_81_bar__plus_00_dot_56_bar__plus_01_dot_60) + (pickupable Laptop_bar__minus_02_dot_78_bar__plus_00_dot_37_bar__minus_01_dot_87) + (pickupable Vase_bar__minus_01_dot_05_bar__plus_01_dot_20_bar__minus_02_dot_15) + (pickupable Pillow_bar__minus_02_dot_89_bar__plus_00_dot_62_bar__plus_00_dot_82) + (pickupable CreditCard_bar__minus_02_dot_74_bar__plus_00_dot_56_bar__plus_01_dot_60) + (pickupable Book_bar__plus_00_dot_12_bar__plus_00_dot_90_bar__plus_01_dot_07) + (pickupable CreditCard_bar__plus_03_dot_16_bar__plus_00_dot_59_bar__plus_00_dot_50) + (pickupable Newspaper_bar__minus_00_dot_02_bar__plus_00_dot_92_bar__plus_02_dot_19) + (pickupable Statue_bar__plus_03_dot_12_bar__plus_00_dot_60_bar__minus_00_dot_51) + (pickupable KeyChain_bar__minus_03_dot_30_bar__plus_00_dot_59_bar__minus_00_dot_62) + (pickupable WateringCan_bar__plus_02_dot_89_bar__plus_00_dot_01_bar__minus_01_dot_92) + (pickupable Newspaper_bar__minus_02_dot_89_bar__plus_00_dot_57_bar__plus_01_dot_81) + (pickupable Vase_bar__minus_02_dot_17_bar__plus_01_dot_20_bar__minus_02_dot_18) + (pickupable Box_bar__minus_00_dot_11_bar__plus_01_dot_10_bar__plus_01_dot_22) + (pickupable RemoteControl_bar__minus_00_dot_20_bar__plus_00_dot_91_bar__plus_01_dot_46) + (pickupable Box_bar__minus_03_dot_38_bar__plus_00_dot_78_bar__minus_00_dot_42) + (pickupable KeyChain_bar__minus_00_dot_05_bar__plus_00_dot_66_bar__plus_01_dot_41) + (pickupable RemoteControl_bar__plus_00_dot_16_bar__plus_00_dot_91_bar__plus_02_dot_43) + (pickupable CellPhone_bar__plus_03_dot_10_bar__plus_00_dot_08_bar__minus_00_dot_57) + (pickupable Statue_bar__plus_03_dot_16_bar__plus_00_dot_60_bar__plus_00_dot_30) + (isReceptacleObject Box_bar__minus_00_dot_11_bar__plus_01_dot_10_bar__plus_01_dot_22) + (isReceptacleObject Box_bar__minus_03_dot_38_bar__plus_00_dot_78_bar__minus_00_dot_42) + (openable Drawer_bar__plus_02_dot_99_bar__plus_00_dot_09_bar__minus_00_dot_57) + (openable Drawer_bar__minus_00_dot_16_bar__plus_00_dot_47_bar__plus_01_dot_94) + (openable Drawer_bar__plus_02_dot_99_bar__plus_00_dot_34_bar__plus_00_dot_37) + (openable Drawer_bar__minus_00_dot_16_bar__plus_00_dot_72_bar__plus_01_dot_94) + (openable Drawer_bar__minus_00_dot_16_bar__plus_00_dot_22_bar__plus_00_dot_99) + (openable Drawer_bar__minus_00_dot_16_bar__plus_00_dot_22_bar__plus_02_dot_42) + (openable Drawer_bar__minus_00_dot_17_bar__plus_00_dot_45_bar__minus_02_dot_04) + (openable Drawer_bar__minus_00_dot_16_bar__plus_00_dot_47_bar__plus_00_dot_99) + (openable Drawer_bar__minus_00_dot_16_bar__plus_00_dot_72_bar__plus_00_dot_99) + (openable Drawer_bar__minus_00_dot_16_bar__plus_00_dot_72_bar__plus_01_dot_47) + (openable Drawer_bar__minus_00_dot_16_bar__plus_00_dot_22_bar__plus_01_dot_47) + (openable Drawer_bar__minus_03_dot_13_bar__plus_00_dot_34_bar__minus_00_dot_49) + (openable Drawer_bar__minus_00_dot_16_bar__plus_00_dot_47_bar__plus_01_dot_47) + (openable Drawer_bar__plus_02_dot_99_bar__plus_00_dot_09_bar__plus_00_dot_37) + (openable Drawer_bar__minus_00_dot_16_bar__plus_00_dot_72_bar__plus_02_dot_42) + (openable Drawer_bar__plus_02_dot_99_bar__plus_00_dot_34_bar__minus_00_dot_57) + (openable Drawer_bar__minus_03_dot_13_bar__plus_00_dot_09_bar__minus_00_dot_49) + (openable Drawer_bar__minus_00_dot_16_bar__plus_00_dot_22_bar__plus_01_dot_94) + (openable Drawer_bar__minus_00_dot_16_bar__plus_00_dot_47_bar__plus_02_dot_42) + + (atLocation agent1 loc_bar__minus_9_bar_5_bar_1_bar_30) + + + + + + + + (toggleable FloorLamp_bar__plus_03_dot_10_bar__plus_00_dot_02_bar__minus_02_dot_34) + (toggleable DeskLamp_bar__plus_03_dot_14_bar__plus_00_dot_59_bar__plus_01_dot_47) + + + + + (inReceptacle DeskLamp_bar__plus_03_dot_14_bar__plus_00_dot_59_bar__plus_01_dot_47 SideTable_bar__plus_03_dot_16_bar__plus_00_dot_02_bar__plus_01_dot_40) + (inReceptacle Laptop_bar__minus_02_dot_78_bar__plus_00_dot_37_bar__minus_01_dot_87 ArmChair_bar__minus_02_dot_86_bar__plus_00_dot_02_bar__minus_02_dot_04) + (inReceptacle CreditCard_bar__minus_02_dot_74_bar__plus_00_dot_56_bar__plus_01_dot_60 Sofa_bar__minus_02_dot_96_bar__plus_00_dot_08_bar__plus_01_dot_39) + (inReceptacle KeyChain_bar__minus_02_dot_81_bar__plus_00_dot_56_bar__plus_01_dot_60 Sofa_bar__minus_02_dot_96_bar__plus_00_dot_08_bar__plus_01_dot_39) + (inReceptacle Newspaper_bar__minus_02_dot_89_bar__plus_00_dot_57_bar__plus_01_dot_81 Sofa_bar__minus_02_dot_96_bar__plus_00_dot_08_bar__plus_01_dot_39) + (inReceptacle Pillow_bar__minus_02_dot_89_bar__plus_00_dot_62_bar__plus_00_dot_82 Sofa_bar__minus_02_dot_96_bar__plus_00_dot_08_bar__plus_01_dot_39) + (inReceptacle Television_bar__plus_00_dot_07_bar__plus_01_dot_39_bar__plus_01_dot_70 Dresser_bar__minus_00_dot_02_bar__plus_00_dot_01_bar__plus_01_dot_72) + (inReceptacle Book_bar__plus_00_dot_12_bar__plus_00_dot_90_bar__plus_01_dot_07 Dresser_bar__minus_00_dot_02_bar__plus_00_dot_01_bar__plus_01_dot_72) + (inReceptacle RemoteControl_bar__plus_00_dot_16_bar__plus_00_dot_91_bar__plus_02_dot_43 Dresser_bar__minus_00_dot_02_bar__plus_00_dot_01_bar__plus_01_dot_72) + (inReceptacle Newspaper_bar__minus_00_dot_02_bar__plus_00_dot_92_bar__plus_02_dot_19 Dresser_bar__minus_00_dot_02_bar__plus_00_dot_01_bar__plus_01_dot_72) + (inReceptacle Box_bar__minus_00_dot_11_bar__plus_01_dot_10_bar__plus_01_dot_22 Dresser_bar__minus_00_dot_02_bar__plus_00_dot_01_bar__plus_01_dot_72) + (inReceptacle RemoteControl_bar__minus_00_dot_20_bar__plus_00_dot_91_bar__plus_01_dot_46 Dresser_bar__minus_00_dot_02_bar__plus_00_dot_01_bar__plus_01_dot_72) + (inReceptacle CellPhone_bar__plus_03_dot_10_bar__plus_00_dot_08_bar__minus_00_dot_57 Drawer_bar__plus_02_dot_99_bar__plus_00_dot_09_bar__minus_00_dot_57) + (inReceptacle Statue_bar__plus_03_dot_12_bar__plus_00_dot_60_bar__minus_00_dot_51 SideTable_bar__plus_03_dot_16_bar__plus_00_dot_02_bar__minus_00_dot_57) + (inReceptacle KeyChain_bar__minus_00_dot_05_bar__plus_00_dot_66_bar__plus_01_dot_41 Drawer_bar__minus_00_dot_16_bar__plus_00_dot_72_bar__plus_01_dot_47) + (inReceptacle CreditCard_bar__plus_03_dot_16_bar__plus_00_dot_59_bar__plus_00_dot_50 SideTable_bar__plus_03_dot_16_bar__plus_00_dot_02_bar__plus_00_dot_37) + (inReceptacle Statue_bar__plus_03_dot_16_bar__plus_00_dot_60_bar__plus_00_dot_30 SideTable_bar__plus_03_dot_16_bar__plus_00_dot_02_bar__plus_00_dot_37) + (inReceptacle Box_bar__minus_03_dot_38_bar__plus_00_dot_78_bar__minus_00_dot_42 SideTable_bar__minus_03_dot_30_bar__plus_00_dot_02_bar__minus_00_dot_49) + (inReceptacle KeyChain_bar__minus_03_dot_30_bar__plus_00_dot_59_bar__minus_00_dot_62 SideTable_bar__minus_03_dot_30_bar__plus_00_dot_02_bar__minus_00_dot_49) + + + (receptacleAtLocation ArmChair_bar__minus_02_dot_86_bar__plus_00_dot_02_bar__minus_02_dot_04 loc_bar__minus_9_bar__minus_3_bar_2_bar_45) + (receptacleAtLocation Cabinet_bar__plus_00_dot_33_bar__plus_00_dot_51_bar__minus_02_dot_02 loc_bar_0_bar__minus_7_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_02_dot_99_bar__plus_00_dot_09_bar__plus_00_dot_37 loc_bar_9_bar_6_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__plus_02_dot_99_bar__plus_00_dot_09_bar__plus_01_dot_40 loc_bar_11_bar_5_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_02_dot_99_bar__plus_00_dot_09_bar__minus_00_dot_57 loc_bar_9_bar_2_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__plus_02_dot_99_bar__plus_00_dot_34_bar__plus_00_dot_37 loc_bar_10_bar_5_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__plus_02_dot_99_bar__plus_00_dot_34_bar__plus_01_dot_40 loc_bar_11_bar_5_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_02_dot_99_bar__plus_00_dot_34_bar__minus_00_dot_57 loc_bar_10_bar_2_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_16_bar__plus_00_dot_22_bar__plus_00_dot_99 loc_bar__minus_5_bar_2_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__minus_00_dot_16_bar__plus_00_dot_22_bar__plus_01_dot_47 loc_bar__minus_5_bar_8_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__minus_00_dot_16_bar__plus_00_dot_22_bar__plus_01_dot_94 loc_bar__minus_5_bar_6_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__minus_00_dot_16_bar__plus_00_dot_22_bar__plus_02_dot_42 loc_bar__minus_5_bar_8_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__minus_00_dot_16_bar__plus_00_dot_47_bar__plus_00_dot_99 loc_bar__minus_5_bar_2_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_16_bar__plus_00_dot_47_bar__plus_01_dot_47 loc_bar__minus_5_bar_4_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_16_bar__plus_00_dot_47_bar__plus_01_dot_94 loc_bar__minus_5_bar_6_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_16_bar__plus_00_dot_47_bar__plus_02_dot_42 loc_bar__minus_5_bar_8_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_16_bar__plus_00_dot_72_bar__plus_00_dot_99 loc_bar__minus_4_bar_5_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_16_bar__plus_00_dot_72_bar__plus_01_dot_47 loc_bar__minus_4_bar_7_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_16_bar__plus_00_dot_72_bar__plus_01_dot_94 loc_bar__minus_4_bar_9_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_16_bar__plus_00_dot_72_bar__plus_02_dot_42 loc_bar__minus_4_bar_8_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_17_bar__plus_00_dot_45_bar__minus_02_dot_04 loc_bar_0_bar__minus_4_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_03_dot_13_bar__plus_00_dot_09_bar__minus_00_dot_49 loc_bar__minus_10_bar__minus_6_bar_0_bar_60) + (receptacleAtLocation Drawer_bar__minus_03_dot_13_bar__plus_00_dot_34_bar__minus_00_dot_49 loc_bar__minus_10_bar__minus_6_bar_0_bar_60) + (receptacleAtLocation Dresser_bar__minus_00_dot_02_bar__plus_00_dot_01_bar__plus_01_dot_72 loc_bar__minus_3_bar_8_bar_1_bar_60) + (receptacleAtLocation GarbageCan_bar__plus_03_dot_16_bar__plus_00_dot_02_bar__plus_00_dot_89 loc_bar_11_bar_4_bar_1_bar_60) + (receptacleAtLocation SideTable_bar__plus_03_dot_16_bar__plus_00_dot_02_bar__plus_00_dot_37 loc_bar_11_bar__minus_3_bar_0_bar_60) + (receptacleAtLocation SideTable_bar__plus_03_dot_16_bar__plus_00_dot_02_bar__plus_01_dot_40 loc_bar_11_bar_2_bar_0_bar_60) + (receptacleAtLocation SideTable_bar__plus_03_dot_16_bar__plus_00_dot_02_bar__minus_00_dot_57 loc_bar_10_bar__minus_7_bar_0_bar_60) + (receptacleAtLocation 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loc_bar_11_bar__minus_3_bar_0_bar_60) + (objectAtLocation Box_bar__minus_00_dot_11_bar__plus_01_dot_10_bar__plus_01_dot_22 loc_bar__minus_3_bar_8_bar_1_bar_60) + (objectAtLocation KeyChain_bar__minus_03_dot_30_bar__plus_00_dot_59_bar__minus_00_dot_62 loc_bar__minus_10_bar_0_bar_3_bar_60) + (objectAtLocation Book_bar__plus_00_dot_12_bar__plus_00_dot_90_bar__plus_01_dot_07 loc_bar__minus_3_bar_8_bar_1_bar_60) + (objectAtLocation Chair_bar__plus_01_dot_63_bar__plus_00_dot_02_bar__plus_02_dot_21 loc_bar_7_bar_7_bar_0_bar_60) + (objectAtLocation Box_bar__minus_03_dot_38_bar__plus_00_dot_78_bar__minus_00_dot_42 loc_bar__minus_10_bar_0_bar_3_bar_60) + (objectAtLocation Chair_bar__plus_01_dot_05_bar__plus_00_dot_00_bar__minus_02_dot_31 loc_bar_4_bar__minus_7_bar_2_bar_60) + (objectAtLocation Chair_bar__plus_03_dot_14_bar__plus_00_dot_02_bar__minus_01_dot_63 loc_bar_10_bar__minus_7_bar_1_bar_60) + (objectAtLocation Chair_bar__plus_02_dot_04_bar__plus_00_dot_00_bar__minus_02_dot_35 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"trial_T20190911_101248_326533", + "task_type": "pick_two_obj_and_place", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A1GVTH5YS3WOK0_3R8YZBNQ9KZRP7XVQ2LBDCYUZSUQ7I", + "high_descs": [ + "Turn left, walk to the wall, and then turn right to the tv cabinet.", + "Pick up the newsletter to the left of the tv.", + "Take a few steps backwards from where you are.", + "Pull out the third bottom drawer from your left side and place the newsletter in it.", + "Turn around and head towards the sofa.", + "Pick up the newsletter on the sofa.", + "Turn around and head towards the third bottom drawer from your left side.", + "Place the newsletter in the drawer and close it." + ], + "task_desc": "Place the two newsletters in a tv drawer.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A2BLQ1GVEHJR8T_3UXUOQ9OKHEZ2RQE16OPNCJPVAE7AY", + "high_descs": [ + "Go to the left side of the desk that is in front of you.", + "Pick up the newspaper from the desk.", + "Back away from the desk a little bit and look down at the drawers.", + "Put the newspaper in the third bottom drawer from the left.", + "Turn the opposite direction and go to the right side of the loveseat.", + "Pick up the newspaper from the loveseat.", + "Turn around and return to the desk.", + "Put the newspaper in the third bottom drawer from the left, on top of the first newspaper." + ], + "task_desc": "Put two newspapers away in a drawer.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A36DK84J5YJ942_3TS1AR6UQTVUYI7MCMAH1DUGSQ4F7W", + "high_descs": [ + "move to the dresser in front of the couch", + "pick up a paper from the dresser", + "move to the front of the dresser in front of the couch", + "put the paper in a drawer in the dresser", + "move to couch behind you", + "pick up the paper from the couch", + "move to the front of the dresser in front of the couch", + "put the paper in a drawer in the dresser" + ], + "task_desc": "Put two papers in a drawer.", + "votes": [ + 1, + 1, + 0 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/valid_seen/pick_two_obj_and_place-SoapBar-None-GarbageCan-418/trial_T20190909_055538_380023/game.tw-pddl b/data/alfworld/json_2.1.1/valid_seen/pick_two_obj_and_place-SoapBar-None-GarbageCan-418/trial_T20190909_055538_380023/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..27d4dd3980044adb14795c93ac249597fb084956 --- /dev/null +++ b/data/alfworld/json_2.1.1/valid_seen/pick_two_obj_and_place-SoapBar-None-GarbageCan-418/trial_T20190909_055538_380023/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\n\\n#task#\"\n }\n ],\n\n \"notImplemented\": [\n {\n \"rhs\": \"TODO\"\n }\n ],\n\n \"task\": [\n {\n \"rhs\": \"Your task is to: put two soapbar in 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_055538_380023)\n(:domain alfred)\n(:objects\nagent1 - agent\nCurtains - object\n SprayBottle - object\n Mirror - object\n HousePlant - object\n Watch - object\n TeddyBear - object\n WateringCan - object\n Bathtub - object\n LightSwitch - object\n Vase - object\n Candle - object\n Bread - object\n Statue - object\n HandTowel - object\n StoveKnob - object\n PaperTowelRoll - object\n Pan - object\n PepperShaker - object\n Painting - object\n CellPhone - object\n Plunger - object\n Spoon - object\n SaltShaker - object\n KeyChain - object\n Footstool - object\n Poster - object\n Television - object\n LaundryHamperLid - object\n Glassbottle - object\n AlarmClock - object\n WineBottle - object\n Bowl - object\n Sink - object\n TissueBox - object\n TennisRacket - object\n ToiletPaper - object\n ScrubBrush - object\n CreditCard - object\n Laptop - object\n Cloth - object\n Cup - object\n Chair - object\n BasketBall - object\n Kettle - object\n PaperTowel - object\n ShowerDoor - object\n BaseballBat - object\n Potato - object\n Pillow - object\n Lettuce - object\n RemoteControl - object\n Window - object\n DishSponge - object\n CD - object\n Boots - object\n Blinds - object\n Pen - object\n Newspaper - object\n Plate - object\n Mug - object\n ShowerGlass - object\n ToiletPaperRoll - object\n SoapBar - object\n FloorLamp - object\n SoapBottle - object\n Pot - object\n Pencil - object\n Spatula - object\n Towel - object\n Fork - object\n Ladle - object\n Knife - object\n Apple - object\n Box - object\n Tomato - object\n ButterKnife - object\n Egg - object\n Book - object\n DeskLamp - object\nCurtainsType - otype\n SprayBottleType - otype\n MirrorType - otype\n HousePlantType - otype\n WatchType - otype\n TeddyBearType - otype\n WateringCanType - otype\n BathtubType - otype\n LightSwitchType - otype\n VaseType - otype\n CandleType - otype\n BreadType - otype\n StatueType - otype\n HandTowelType - otype\n StoveKnobType - otype\n PaperTowelRollType - otype\n PanType - otype\n PepperShakerType - otype\n PaintingType - otype\n CellPhoneType - otype\n PlungerType - otype\n SpoonType - otype\n SaltShakerType - otype\n KeyChainType - otype\n FootstoolType - otype\n PosterType - otype\n TelevisionType - otype\n LaundryHamperLidType - otype\n GlassbottleType - otype\n AlarmClockType - otype\n WineBottleType - otype\n BowlType - otype\n SinkType - otype\n TissueBoxType - otype\n TennisRacketType - otype\n ToiletPaperType - otype\n ScrubBrushType - otype\n CreditCardType - otype\n LaptopType - otype\n ClothType - otype\n CupType - otype\n ChairType - otype\n BasketBallType - otype\n KettleType - otype\n PaperTowelType - otype\n ShowerDoorType - otype\n BaseballBatType - otype\n PotatoType - otype\n PillowType - otype\n LettuceType - otype\n RemoteControlType - otype\n WindowType - otype\n DishSpongeType - otype\n CDType - otype\n BootsType - otype\n BlindsType - otype\n PenType - otype\n NewspaperType - otype\n PlateType - otype\n MugType - otype\n ShowerGlassType - otype\n ToiletPaperRollType - otype\n SoapBarType - otype\n FloorLampType - otype\n SoapBottleType - otype\n PotType - otype\n PencilType - otype\n SpatulaType - otype\n TowelType - otype\n ForkType - otype\n LadleType - otype\n KnifeType - otype\n AppleType - otype\n BoxType - otype\n TomatoType - otype\n ButterKnifeType - otype\n EggType - otype\n BookType - otype\n DeskLampType - otype\nCabinetType - rtype\n ShelfType - rtype\n DiningTableType - rtype\n TowelHolderType - rtype\n PaintingHangerType - rtype\n TVStandType - rtype\n LaundryHamperType - rtype\n OttomanType - rtype\n SafeType - rtype\n CoffeeMachineType - rtype\n CounterTopType - rtype\n ToiletType - rtype\n FridgeType - rtype\n CoffeeTableType - rtype\n SinkBasinType - rtype\n GarbageCanType - rtype\n BathtubBasinType - rtype\n SideTableType - rtype\n CartType - rtype\n BedType - rtype\n DeskType - rtype\n SofaType - rtype\n ArmChairType - rtype\n MicrowaveType - rtype\n HandTowelHolderType - rtype\n ToasterType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n DrawerType - rtype\n DresserType - rtype\n\n\n Candle_bar__minus_00_dot_22_bar__plus_01_dot_05_bar__minus_02_dot_92 - object\n Candle_bar__minus_02_dot_62_bar__plus_00_dot_82_bar__minus_03_dot_47 - object\n Cloth_bar__minus_02_dot_69_bar__plus_00_dot_07_bar__minus_03_dot_02 - object\n Cloth_bar__minus_02_dot_76_bar__plus_00_dot_07_bar__minus_03_dot_63 - object\n Cloth_bar__minus_02_dot_80_bar__plus_00_dot_81_bar__minus_03_dot_71 - 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 HandTowel_bar__minus_02_dot_96_bar__plus_01_dot_58_bar__minus_03_dot_55 - object\n LightSwitch_bar__minus_01_dot_95_bar__plus_01_dot_50_bar__plus_00_dot_00 - object\n Mirror_bar__minus_03_dot_00_bar__plus_01_dot_66_bar__minus_03_dot_07 - object\n Plunger_bar__minus_00_dot_13_bar__plus_00_dot_00_bar__minus_03_dot_49 - object\n ScrubBrush_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_03_dot_34 - object\n ShowerDoor_bar__minus_01_dot_18_bar__plus_01_dot_09_bar__minus_01_dot_22 - object\n ShowerGlass_bar__minus_00_dot_60_bar__plus_01_dot_10_bar__minus_01_dot_12 - object\n Sink_bar__minus_02_dot_66_bar__plus_00_dot_79_bar__minus_03_dot_07 - object\n SoapBar_bar__minus_02_dot_44_bar__plus_00_dot_81_bar__minus_03_dot_59 - object\n SoapBar_bar__minus_02_dot_67_bar__plus_00_dot_87_bar__minus_03_dot_10 - 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_88_bar__plus_00_dot_81_bar__minus_02_dot_26 - object\n SoapBottle_bar__minus_02_dot_53_bar__plus_00_dot_81_bar__minus_02_dot_46 - 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_10_bar__plus_01_dot_05_bar__minus_02_dot_92 - object\n SprayBottle_bar__minus_00_dot_19_bar__plus_01_dot_05_bar__minus_03_dot_05 - object\n SprayBottle_bar__minus_02_dot_44_bar__plus_00_dot_81_bar__minus_02_dot_59 - 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_10_bar__plus_01_dot_04_bar__minus_03_dot_25 - 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_5_bar_3_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType GarbageCan_bar__minus_00_dot_35_bar__plus_00_dot_00_bar__minus_03_dot_85 GarbageCanType)\n (receptacleType ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_94_bar__minus_02_dot_54 ToiletPaperHangerType)\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_25 CabinetType)\n (receptacleType HandTowelHolder_bar__minus_03_dot_00_bar__plus_01_dot_69_bar__minus_03_dot_55 HandTowelHolderType)\n (receptacleType Sink_bar__minus_02_dot_66_bar__plus_00_dot_79_bar__minus_03_dot_07_bar_SinkBasin SinkBasinType)\n (receptacleType CounterTop_bar__minus_02_dot_63_bar__plus_00_dot_84_bar__minus_03_dot_04 CounterTopType)\n (receptacleType TowelHolder_bar__minus_01_dot_19_bar__plus_01_dot_37_bar__minus_00_dot_63 TowelHolderType)\n (receptacleType HandTowelHolder_bar__minus_03_dot_00_bar__plus_01_dot_69_bar__minus_02_dot_57 HandTowelHolderType)\n (receptacleType Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_81 CabinetType)\n (objectType SprayBottle_bar__minus_00_dot_10_bar__plus_01_dot_05_bar__minus_02_dot_92 SprayBottleType)\n (objectType SoapBar_bar__minus_02_dot_88_bar__plus_00_dot_81_bar__minus_02_dot_26 SoapBarType)\n (objectType LightSwitch_bar__minus_01_dot_95_bar__plus_01_dot_50_bar__plus_00_dot_00 LightSwitchType)\n (objectType Towel_bar__minus_01_dot_29_bar__plus_01_dot_39_bar__minus_00_dot_63 TowelType)\n (objectType ToiletPaper_bar__minus_00_dot_09_bar__plus_00_dot_84_bar__minus_02_dot_62 ToiletPaperType)\n (objectType SoapBottle_bar__minus_02_dot_62_bar__plus_00_dot_81_bar__minus_03_dot_71 SoapBottleType)\n (objectType Mirror_bar__minus_03_dot_00_bar__plus_01_dot_66_bar__minus_03_dot_07 MirrorType)\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_69_bar__plus_00_dot_07_bar__minus_03_dot_02 ClothType)\n (objectType ToiletPaper_bar__minus_00_dot_10_bar__plus_01_dot_04_bar__minus_03_dot_25 ToiletPaperType)\n (objectType HandTowel_bar__minus_02_dot_96_bar__plus_01_dot_58_bar__minus_03_dot_55 HandTowelType)\n (objectType ShowerGlass_bar__minus_00_dot_60_bar__plus_01_dot_10_bar__minus_01_dot_12 ShowerGlassType)\n (objectType SoapBar_bar__minus_02_dot_70_bar__plus_00_dot_87_bar__minus_03_dot_01 SoapBarType)\n (objectType SoapBar_bar__minus_02_dot_67_bar__plus_00_dot_87_bar__minus_03_dot_10 SoapBarType)\n (objectType SoapBottle_bar__minus_02_dot_53_bar__plus_00_dot_81_bar__minus_02_dot_46 SoapBottleType)\n (objectType SprayBottle_bar__minus_02_dot_44_bar__plus_00_dot_81_bar__minus_02_dot_59 SprayBottleType)\n (objectType Candle_bar__minus_02_dot_62_bar__plus_00_dot_82_bar__minus_03_dot_47 CandleType)\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_44_bar__plus_00_dot_81_bar__minus_03_dot_59 SoapBarType)\n (objectType Cloth_bar__minus_02_dot_76_bar__plus_00_dot_07_bar__minus_03_dot_63 ClothType)\n (objectType ScrubBrush_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_03_dot_34 ScrubBrushType)\n (objectType HandTowel_bar__minus_02_dot_96_bar__plus_01_dot_58_bar__minus_02_dot_57 HandTowelType)\n (objectType ShowerDoor_bar__minus_01_dot_18_bar__plus_01_dot_09_bar__minus_01_dot_22 ShowerDoorType)\n (objectType SprayBottle_bar__minus_00_dot_19_bar__plus_01_dot_05_bar__minus_03_dot_05 SprayBottleType)\n (objectType Cloth_bar__minus_02_dot_80_bar__plus_00_dot_81_bar__minus_03_dot_71 ClothType)\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_02_dot_92 CandleType)\n (canContain GarbageCanType SprayBottleType)\n (canContain GarbageCanType SoapBarType)\n (canContain GarbageCanType SoapBottleType)\n (canContain GarbageCanType ToiletPaperType)\n (canContain GarbageCanType ClothType)\n (canContain GarbageCanType HandTowelType)\n (canContain ToiletPaperHangerType ToiletPaperType)\n (canContain ToiletType ClothType)\n (canContain ToiletType SoapBarType)\n (canContain ToiletType HandTowelType)\n (canContain ToiletType ToiletPaperType)\n (canContain ToiletType SoapBottleType)\n (canContain ToiletType SprayBottleType)\n (canContain ToiletType CandleType)\n (canContain CabinetType PlungerType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType CandleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType CandleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain HandTowelHolderType HandTowelType)\n (canContain SinkBasinType SoapBarType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType HandTowelType)\n (canContain CounterTopType SprayBottleType)\n (canContain CounterTopType SoapBarType)\n (canContain CounterTopType SoapBottleType)\n (canContain CounterTopType ToiletPaperType)\n (canContain CounterTopType CandleType)\n (canContain CounterTopType ClothType)\n (canContain CounterTopType HandTowelType)\n (canContain TowelHolderType TowelType)\n (canContain HandTowelHolderType HandTowelType)\n (canContain CabinetType PlungerType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType CandleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (pickupable SprayBottle_bar__minus_00_dot_10_bar__plus_01_dot_05_bar__minus_02_dot_92)\n (pickupable SoapBar_bar__minus_02_dot_88_bar__plus_00_dot_81_bar__minus_02_dot_26)\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 SoapBottle_bar__minus_02_dot_62_bar__plus_00_dot_81_bar__minus_03_dot_71)\n (pickupable Cloth_bar__minus_02_dot_69_bar__plus_00_dot_07_bar__minus_03_dot_02)\n (pickupable ToiletPaper_bar__minus_00_dot_10_bar__plus_01_dot_04_bar__minus_03_dot_25)\n (pickupable HandTowel_bar__minus_02_dot_96_bar__plus_01_dot_58_bar__minus_03_dot_55)\n (pickupable SoapBar_bar__minus_02_dot_70_bar__plus_00_dot_87_bar__minus_03_dot_01)\n (pickupable SoapBar_bar__minus_02_dot_67_bar__plus_00_dot_87_bar__minus_03_dot_10)\n (pickupable SoapBottle_bar__minus_02_dot_53_bar__plus_00_dot_81_bar__minus_02_dot_46)\n (pickupable SprayBottle_bar__minus_02_dot_44_bar__plus_00_dot_81_bar__minus_02_dot_59)\n (pickupable Candle_bar__minus_02_dot_62_bar__plus_00_dot_82_bar__minus_03_dot_47)\n (pickupable SoapBar_bar__minus_02_dot_44_bar__plus_00_dot_81_bar__minus_03_dot_59)\n (pickupable Cloth_bar__minus_02_dot_76_bar__plus_00_dot_07_bar__minus_03_dot_63)\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 SprayBottle_bar__minus_00_dot_19_bar__plus_01_dot_05_bar__minus_03_dot_05)\n (pickupable Cloth_bar__minus_02_dot_80_bar__plus_00_dot_81_bar__minus_03_dot_71)\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_02_dot_92)\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_25)\n (openable Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_81)\n \n (atLocation agent1 loc_bar__minus_7_bar__minus_5_bar_3_bar_30)\n \n (cleanable SoapBar_bar__minus_02_dot_88_bar__plus_00_dot_81_bar__minus_02_dot_26)\n (cleanable Cloth_bar__minus_02_dot_69_bar__plus_00_dot_07_bar__minus_03_dot_02)\n (cleanable SoapBar_bar__minus_02_dot_70_bar__plus_00_dot_87_bar__minus_03_dot_01)\n (cleanable SoapBar_bar__minus_02_dot_67_bar__plus_00_dot_87_bar__minus_03_dot_10)\n (cleanable SoapBar_bar__minus_02_dot_44_bar__plus_00_dot_81_bar__minus_03_dot_59)\n (cleanable Cloth_bar__minus_02_dot_76_bar__plus_00_dot_07_bar__minus_03_dot_63)\n (cleanable Cloth_bar__minus_02_dot_80_bar__plus_00_dot_81_bar__minus_03_dot_71)\n \n \n \n \n \n \n \n \n \n \n (inReceptacle Cloth_bar__minus_02_dot_69_bar__plus_00_dot_07_bar__minus_03_dot_02 Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_25)\n (inReceptacle Cloth_bar__minus_02_dot_76_bar__plus_00_dot_07_bar__minus_03_dot_63 Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_81)\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_44_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 SoapBar_bar__minus_02_dot_88_bar__plus_00_dot_81_bar__minus_02_dot_26 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_71 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_02_dot_46 CounterTop_bar__minus_02_dot_63_bar__plus_00_dot_84_bar__minus_03_dot_04)\n (inReceptacle SprayBottle_bar__minus_02_dot_44_bar__plus_00_dot_81_bar__minus_02_dot_59 CounterTop_bar__minus_02_dot_63_bar__plus_00_dot_84_bar__minus_03_dot_04)\n (inReceptacle Candle_bar__minus_02_dot_62_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 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_03_dot_55 HandTowelHolder_bar__minus_03_dot_00_bar__plus_01_dot_69_bar__minus_03_dot_55)\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_67_bar__plus_00_dot_87_bar__minus_03_dot_10 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 SprayBottle_bar__minus_00_dot_19_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 SprayBottle_bar__minus_00_dot_10_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 Candle_bar__minus_00_dot_22_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 ToiletPaper_bar__minus_00_dot_10_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 \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_44_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_02_dot_53_bar__plus_00_dot_81_bar__minus_02_dot_46 loc_bar__minus_7_bar__minus_12_bar_3_bar_45)\n (objectAtLocation SoapBar_bar__minus_02_dot_44_bar__plus_00_dot_81_bar__minus_03_dot_59 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_03_dot_55 loc_bar__minus_8_bar__minus_14_bar_3_bar_0)\n (objectAtLocation Cloth_bar__minus_02_dot_69_bar__plus_00_dot_07_bar__minus_03_dot_02 loc_bar__minus_5_bar__minus_14_bar_3_bar_45)\n (objectAtLocation Candle_bar__minus_00_dot_22_bar__plus_01_dot_05_bar__minus_02_dot_92 loc_bar__minus_3_bar__minus_14_bar_0_bar_60)\n (objectAtLocation SprayBottle_bar__minus_00_dot_19_bar__plus_01_dot_05_bar__minus_03_dot_05 loc_bar__minus_3_bar__minus_14_bar_0_bar_60)\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 SoapBar_bar__minus_02_dot_67_bar__plus_00_dot_87_bar__minus_03_dot_10 loc_bar__minus_8_bar__minus_12_bar_3_bar_45)\n (objectAtLocation Cloth_bar__minus_02_dot_80_bar__plus_00_dot_81_bar__minus_03_dot_71 loc_bar__minus_7_bar__minus_12_bar_3_bar_45)\n (objectAtLocation Mirror_bar__minus_03_dot_00_bar__plus_01_dot_66_bar__minus_03_dot_07 loc_bar__minus_8_bar__minus_12_bar_3_bar_0)\n (objectAtLocation Sink_bar__minus_02_dot_66_bar__plus_00_dot_79_bar__minus_03_dot_07 loc_bar__minus_8_bar__minus_12_bar_3_bar_60)\n (objectAtLocation ShowerGlass_bar__minus_00_dot_60_bar__plus_01_dot_10_bar__minus_01_dot_12 loc_bar__minus_7_bar__minus_4_bar_1_bar_30)\n (objectAtLocation ShowerDoor_bar__minus_01_dot_18_bar__plus_01_dot_09_bar__minus_01_dot_22 loc_bar__minus_7_bar__minus_5_bar_1_bar_45)\n (objectAtLocation Candle_bar__minus_02_dot_62_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_76_bar__plus_00_dot_07_bar__minus_03_dot_63 loc_bar__minus_5_bar__minus_12_bar_3_bar_45)\n (objectAtLocation HandTowel_bar__minus_02_dot_96_bar__plus_01_dot_58_bar__minus_02_dot_57 loc_bar__minus_8_bar__minus_10_bar_3_bar_0)\n (objectAtLocation Plunger_bar__minus_00_dot_13_bar__plus_00_dot_00_bar__minus_03_dot_49 loc_bar__minus_3_bar__minus_14_bar_1_bar_60)\n (objectAtLocation SoapBar_bar__minus_02_dot_88_bar__plus_00_dot_81_bar__minus_02_dot_26 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_10_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_10_bar__plus_01_dot_05_bar__minus_02_dot_92 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 (?o1 - object)\n (and\n (objectType ?o1 SoapBarType)\n (receptacleType ?r GarbageCanType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 SoapBarType)\n (receptacleType ?r GarbageCanType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 1", "take soapbar 4 from countertop 1", "go to garbagecan 1", "move soapbar 4 to garbagecan 1", "go to countertop 1", "take soapbar 1 from countertop 1", "go to garbagecan 1", "move soapbar 1 to garbagecan 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/valid_seen/pick_two_obj_and_place-SoapBar-None-GarbageCan-418/trial_T20190909_055538_380023/initial_state.pddl b/data/alfworld/json_2.1.1/valid_seen/pick_two_obj_and_place-SoapBar-None-GarbageCan-418/trial_T20190909_055538_380023/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..dc4e718f48aa79597e6bb0cfd1aa3e238b5abeae --- /dev/null +++ b/data/alfworld/json_2.1.1/valid_seen/pick_two_obj_and_place-SoapBar-None-GarbageCan-418/trial_T20190909_055538_380023/initial_state.pddl @@ -0,0 +1,477 @@ + +(define (problem plan_trial_T20190909_055538_380023) +(:domain alfred) +(:objects +agent1 - agent +Curtains - object + SprayBottle - object + Mirror - object + HousePlant - object + Watch - object + TeddyBear - object + WateringCan - object + Bathtub - object + LightSwitch - object + Vase - object + Candle - object + Bread - object + Statue - object + HandTowel - object + StoveKnob - object + PaperTowelRoll - object + Pan - object + PepperShaker - object + Painting - object + CellPhone - object + Plunger - object + Spoon - object + SaltShaker - object + KeyChain - object + Footstool - object + Poster - object + Television - object + LaundryHamperLid - object + Glassbottle - object + AlarmClock - object + WineBottle - object + Bowl - object + Sink - object + TissueBox - object + TennisRacket - object + ToiletPaper - object + ScrubBrush - object + CreditCard - object + Laptop - object + Cloth - object + Cup - object + Chair - object + BasketBall - object + Kettle - object + PaperTowel - object + ShowerDoor - object + BaseballBat - object + Potato - object + Pillow - object + Lettuce - object + RemoteControl - object + Window - object + DishSponge - object + CD - object + Boots - object + Blinds - object + Pen - object + Newspaper - object + Plate - object + Mug - object + ShowerGlass - object + ToiletPaperRoll - object + SoapBar - object + FloorLamp - object + SoapBottle - object + Pot - object + Pencil - object + Spatula - object + Towel - object + Fork - object + Ladle - object + Knife - object + Apple - object + Box - object + Tomato - object + ButterKnife - object + Egg - object + Book - object + DeskLamp - object +CurtainsType - otype + SprayBottleType - otype + MirrorType - otype + HousePlantType - otype + WatchType - otype + TeddyBearType - otype + WateringCanType - otype + BathtubType - otype + LightSwitchType - otype + VaseType - otype + CandleType - otype + BreadType - otype + StatueType - otype + HandTowelType - otype + StoveKnobType - otype + PaperTowelRollType - otype + PanType - otype + PepperShakerType - otype + PaintingType - otype + CellPhoneType - otype + PlungerType - otype + SpoonType - otype + SaltShakerType - otype + KeyChainType - otype + FootstoolType - otype + PosterType - otype + TelevisionType - otype + LaundryHamperLidType - otype + GlassbottleType - otype + AlarmClockType - otype + WineBottleType - otype + BowlType - otype + SinkType - otype + TissueBoxType - otype + TennisRacketType - otype + ToiletPaperType - otype + ScrubBrushType - otype + CreditCardType - otype + LaptopType - otype + ClothType - otype + CupType - otype + ChairType - otype + BasketBallType - otype + KettleType - otype + PaperTowelType - otype + ShowerDoorType - otype + BaseballBatType - otype + PotatoType - otype + PillowType - otype + LettuceType - otype + RemoteControlType - otype + WindowType - otype + DishSpongeType - otype + CDType - otype + BootsType - otype + BlindsType - otype + PenType - otype + NewspaperType - otype + PlateType - otype + MugType - otype + ShowerGlassType - otype + ToiletPaperRollType - otype + SoapBarType - otype + FloorLampType - otype + SoapBottleType - otype + PotType - otype + PencilType - otype + SpatulaType - otype + TowelType - otype + ForkType - otype + LadleType - otype + KnifeType - otype + AppleType - otype + BoxType - otype + TomatoType - otype + ButterKnifeType - otype + EggType - otype + BookType - otype + DeskLampType - otype +CabinetType - rtype + ShelfType - rtype + DiningTableType - rtype + TowelHolderType - rtype + PaintingHangerType - rtype + TVStandType - rtype + LaundryHamperType - rtype + OttomanType - rtype + SafeType - rtype + CoffeeMachineType - rtype + CounterTopType - rtype + ToiletType - rtype + FridgeType - rtype + CoffeeTableType - rtype + SinkBasinType - rtype + GarbageCanType - rtype + BathtubBasinType - rtype + SideTableType - rtype + CartType - rtype + BedType - rtype + DeskType - rtype + SofaType - rtype + ArmChairType - rtype + MicrowaveType - rtype + HandTowelHolderType - rtype + ToasterType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + DrawerType - rtype + DresserType - rtype + + + Candle_bar__minus_00_dot_22_bar__plus_01_dot_05_bar__minus_02_dot_92 - object + Candle_bar__minus_02_dot_62_bar__plus_00_dot_82_bar__minus_03_dot_47 - object + Cloth_bar__minus_02_dot_69_bar__plus_00_dot_07_bar__minus_03_dot_02 - object + Cloth_bar__minus_02_dot_76_bar__plus_00_dot_07_bar__minus_03_dot_63 - object + Cloth_bar__minus_02_dot_80_bar__plus_00_dot_81_bar__minus_03_dot_71 - 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 + HandTowel_bar__minus_02_dot_96_bar__plus_01_dot_58_bar__minus_03_dot_55 - object + LightSwitch_bar__minus_01_dot_95_bar__plus_01_dot_50_bar__plus_00_dot_00 - object + Mirror_bar__minus_03_dot_00_bar__plus_01_dot_66_bar__minus_03_dot_07 - object + Plunger_bar__minus_00_dot_13_bar__plus_00_dot_00_bar__minus_03_dot_49 - object + ScrubBrush_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_03_dot_34 - object + ShowerDoor_bar__minus_01_dot_18_bar__plus_01_dot_09_bar__minus_01_dot_22 - object + ShowerGlass_bar__minus_00_dot_60_bar__plus_01_dot_10_bar__minus_01_dot_12 - object + Sink_bar__minus_02_dot_66_bar__plus_00_dot_79_bar__minus_03_dot_07 - object + SoapBar_bar__minus_02_dot_44_bar__plus_00_dot_81_bar__minus_03_dot_59 - object + SoapBar_bar__minus_02_dot_67_bar__plus_00_dot_87_bar__minus_03_dot_10 - object + SoapBar_bar__minus_02_dot_70_bar__plus_00_dot_87_bar__minus_03_dot_01 - object + SoapBar_bar__minus_02_dot_88_bar__plus_00_dot_81_bar__minus_02_dot_26 - object + SoapBottle_bar__minus_02_dot_53_bar__plus_00_dot_81_bar__minus_02_dot_46 - object + SoapBottle_bar__minus_02_dot_62_bar__plus_00_dot_81_bar__minus_03_dot_71 - object + SprayBottle_bar__minus_00_dot_10_bar__plus_01_dot_05_bar__minus_02_dot_92 - object + SprayBottle_bar__minus_00_dot_19_bar__plus_01_dot_05_bar__minus_03_dot_05 - object + SprayBottle_bar__minus_02_dot_44_bar__plus_00_dot_81_bar__minus_02_dot_59 - object + ToiletPaper_bar__minus_00_dot_09_bar__plus_00_dot_84_bar__minus_02_dot_62 - object + ToiletPaper_bar__minus_00_dot_10_bar__plus_01_dot_04_bar__minus_03_dot_25 - 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_5_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType GarbageCan_bar__minus_00_dot_35_bar__plus_00_dot_00_bar__minus_03_dot_85 GarbageCanType) + (receptacleType ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_94_bar__minus_02_dot_54 ToiletPaperHangerType) + (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_25 CabinetType) + (receptacleType HandTowelHolder_bar__minus_03_dot_00_bar__plus_01_dot_69_bar__minus_03_dot_55 HandTowelHolderType) + (receptacleType Sink_bar__minus_02_dot_66_bar__plus_00_dot_79_bar__minus_03_dot_07_bar_SinkBasin SinkBasinType) + (receptacleType CounterTop_bar__minus_02_dot_63_bar__plus_00_dot_84_bar__minus_03_dot_04 CounterTopType) + (receptacleType TowelHolder_bar__minus_01_dot_19_bar__plus_01_dot_37_bar__minus_00_dot_63 TowelHolderType) + (receptacleType HandTowelHolder_bar__minus_03_dot_00_bar__plus_01_dot_69_bar__minus_02_dot_57 HandTowelHolderType) + (receptacleType Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_81 CabinetType) + (objectType SprayBottle_bar__minus_00_dot_10_bar__plus_01_dot_05_bar__minus_02_dot_92 SprayBottleType) + (objectType SoapBar_bar__minus_02_dot_88_bar__plus_00_dot_81_bar__minus_02_dot_26 SoapBarType) + (objectType LightSwitch_bar__minus_01_dot_95_bar__plus_01_dot_50_bar__plus_00_dot_00 LightSwitchType) + (objectType Towel_bar__minus_01_dot_29_bar__plus_01_dot_39_bar__minus_00_dot_63 TowelType) + (objectType ToiletPaper_bar__minus_00_dot_09_bar__plus_00_dot_84_bar__minus_02_dot_62 ToiletPaperType) + (objectType SoapBottle_bar__minus_02_dot_62_bar__plus_00_dot_81_bar__minus_03_dot_71 SoapBottleType) + (objectType Mirror_bar__minus_03_dot_00_bar__plus_01_dot_66_bar__minus_03_dot_07 MirrorType) + (objectType Window_bar__minus_00_dot_57_bar__plus_01_dot_71_bar__minus_04_dot_00 WindowType) + (objectType Cloth_bar__minus_02_dot_69_bar__plus_00_dot_07_bar__minus_03_dot_02 ClothType) + (objectType ToiletPaper_bar__minus_00_dot_10_bar__plus_01_dot_04_bar__minus_03_dot_25 ToiletPaperType) + (objectType HandTowel_bar__minus_02_dot_96_bar__plus_01_dot_58_bar__minus_03_dot_55 HandTowelType) + (objectType ShowerGlass_bar__minus_00_dot_60_bar__plus_01_dot_10_bar__minus_01_dot_12 ShowerGlassType) + (objectType SoapBar_bar__minus_02_dot_70_bar__plus_00_dot_87_bar__minus_03_dot_01 SoapBarType) + (objectType SoapBar_bar__minus_02_dot_67_bar__plus_00_dot_87_bar__minus_03_dot_10 SoapBarType) + (objectType SoapBottle_bar__minus_02_dot_53_bar__plus_00_dot_81_bar__minus_02_dot_46 SoapBottleType) + (objectType SprayBottle_bar__minus_02_dot_44_bar__plus_00_dot_81_bar__minus_02_dot_59 SprayBottleType) + (objectType Candle_bar__minus_02_dot_62_bar__plus_00_dot_82_bar__minus_03_dot_47 CandleType) + (objectType Sink_bar__minus_02_dot_66_bar__plus_00_dot_79_bar__minus_03_dot_07 SinkType) + (objectType SoapBar_bar__minus_02_dot_44_bar__plus_00_dot_81_bar__minus_03_dot_59 SoapBarType) + (objectType Cloth_bar__minus_02_dot_76_bar__plus_00_dot_07_bar__minus_03_dot_63 ClothType) + (objectType ScrubBrush_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_03_dot_34 ScrubBrushType) + (objectType HandTowel_bar__minus_02_dot_96_bar__plus_01_dot_58_bar__minus_02_dot_57 HandTowelType) + (objectType ShowerDoor_bar__minus_01_dot_18_bar__plus_01_dot_09_bar__minus_01_dot_22 ShowerDoorType) + (objectType SprayBottle_bar__minus_00_dot_19_bar__plus_01_dot_05_bar__minus_03_dot_05 SprayBottleType) + (objectType Cloth_bar__minus_02_dot_80_bar__plus_00_dot_81_bar__minus_03_dot_71 ClothType) + (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_02_dot_92 CandleType) + (canContain GarbageCanType SprayBottleType) + (canContain GarbageCanType SoapBarType) + (canContain GarbageCanType SoapBottleType) + (canContain GarbageCanType ToiletPaperType) + (canContain GarbageCanType ClothType) + (canContain GarbageCanType HandTowelType) + (canContain ToiletPaperHangerType ToiletPaperType) + (canContain ToiletType ClothType) + (canContain ToiletType SoapBarType) + (canContain ToiletType HandTowelType) + (canContain ToiletType ToiletPaperType) + (canContain ToiletType SoapBottleType) + (canContain ToiletType SprayBottleType) + (canContain ToiletType CandleType) + (canContain CabinetType PlungerType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType SoapBarType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType ToiletPaperType) + (canContain CabinetType CandleType) + (canContain CabinetType ClothType) + (canContain CabinetType HandTowelType) + (canContain CabinetType PlungerType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType SoapBarType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType ToiletPaperType) + (canContain CabinetType CandleType) + (canContain CabinetType ClothType) + (canContain CabinetType HandTowelType) + (canContain HandTowelHolderType HandTowelType) + (canContain SinkBasinType SoapBarType) + (canContain SinkBasinType ClothType) + (canContain SinkBasinType HandTowelType) + (canContain CounterTopType SprayBottleType) + (canContain CounterTopType SoapBarType) + (canContain CounterTopType SoapBottleType) + (canContain CounterTopType ToiletPaperType) + (canContain CounterTopType CandleType) + (canContain CounterTopType ClothType) + (canContain CounterTopType HandTowelType) + (canContain TowelHolderType TowelType) + (canContain HandTowelHolderType HandTowelType) + (canContain CabinetType PlungerType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType SoapBarType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType ToiletPaperType) + (canContain CabinetType CandleType) + (canContain CabinetType ClothType) + (canContain CabinetType HandTowelType) + (pickupable SprayBottle_bar__minus_00_dot_10_bar__plus_01_dot_05_bar__minus_02_dot_92) + (pickupable SoapBar_bar__minus_02_dot_88_bar__plus_00_dot_81_bar__minus_02_dot_26) + (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 SoapBottle_bar__minus_02_dot_62_bar__plus_00_dot_81_bar__minus_03_dot_71) + (pickupable Cloth_bar__minus_02_dot_69_bar__plus_00_dot_07_bar__minus_03_dot_02) + (pickupable ToiletPaper_bar__minus_00_dot_10_bar__plus_01_dot_04_bar__minus_03_dot_25) + (pickupable HandTowel_bar__minus_02_dot_96_bar__plus_01_dot_58_bar__minus_03_dot_55) + (pickupable SoapBar_bar__minus_02_dot_70_bar__plus_00_dot_87_bar__minus_03_dot_01) + (pickupable SoapBar_bar__minus_02_dot_67_bar__plus_00_dot_87_bar__minus_03_dot_10) + (pickupable SoapBottle_bar__minus_02_dot_53_bar__plus_00_dot_81_bar__minus_02_dot_46) + (pickupable SprayBottle_bar__minus_02_dot_44_bar__plus_00_dot_81_bar__minus_02_dot_59) + (pickupable Candle_bar__minus_02_dot_62_bar__plus_00_dot_82_bar__minus_03_dot_47) + (pickupable SoapBar_bar__minus_02_dot_44_bar__plus_00_dot_81_bar__minus_03_dot_59) + (pickupable Cloth_bar__minus_02_dot_76_bar__plus_00_dot_07_bar__minus_03_dot_63) + (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 SprayBottle_bar__minus_00_dot_19_bar__plus_01_dot_05_bar__minus_03_dot_05) + (pickupable Cloth_bar__minus_02_dot_80_bar__plus_00_dot_81_bar__minus_03_dot_71) + (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_02_dot_92) + + (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_25) + (openable Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_81) + + (atLocation agent1 loc_bar__minus_7_bar__minus_5_bar_3_bar_30) + + (cleanable SoapBar_bar__minus_02_dot_88_bar__plus_00_dot_81_bar__minus_02_dot_26) + (cleanable Cloth_bar__minus_02_dot_69_bar__plus_00_dot_07_bar__minus_03_dot_02) + (cleanable SoapBar_bar__minus_02_dot_70_bar__plus_00_dot_87_bar__minus_03_dot_01) + (cleanable SoapBar_bar__minus_02_dot_67_bar__plus_00_dot_87_bar__minus_03_dot_10) + (cleanable SoapBar_bar__minus_02_dot_44_bar__plus_00_dot_81_bar__minus_03_dot_59) + (cleanable Cloth_bar__minus_02_dot_76_bar__plus_00_dot_07_bar__minus_03_dot_63) + (cleanable Cloth_bar__minus_02_dot_80_bar__plus_00_dot_81_bar__minus_03_dot_71) + + + + + + + + + + + (inReceptacle Cloth_bar__minus_02_dot_69_bar__plus_00_dot_07_bar__minus_03_dot_02 Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_25) + (inReceptacle Cloth_bar__minus_02_dot_76_bar__plus_00_dot_07_bar__minus_03_dot_63 Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_81) + (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_44_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 SoapBar_bar__minus_02_dot_88_bar__plus_00_dot_81_bar__minus_02_dot_26 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_71 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_02_dot_46 CounterTop_bar__minus_02_dot_63_bar__plus_00_dot_84_bar__minus_03_dot_04) + (inReceptacle SprayBottle_bar__minus_02_dot_44_bar__plus_00_dot_81_bar__minus_02_dot_59 CounterTop_bar__minus_02_dot_63_bar__plus_00_dot_84_bar__minus_03_dot_04) + (inReceptacle Candle_bar__minus_02_dot_62_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 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_03_dot_55 HandTowelHolder_bar__minus_03_dot_00_bar__plus_01_dot_69_bar__minus_03_dot_55) + (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_67_bar__plus_00_dot_87_bar__minus_03_dot_10 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 SprayBottle_bar__minus_00_dot_19_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 SprayBottle_bar__minus_00_dot_10_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 Candle_bar__minus_00_dot_22_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 ToiletPaper_bar__minus_00_dot_10_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) + + + (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_44_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_02_dot_53_bar__plus_00_dot_81_bar__minus_02_dot_46 loc_bar__minus_7_bar__minus_12_bar_3_bar_45) + (objectAtLocation SoapBar_bar__minus_02_dot_44_bar__plus_00_dot_81_bar__minus_03_dot_59 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_03_dot_55 loc_bar__minus_8_bar__minus_14_bar_3_bar_0) + (objectAtLocation Cloth_bar__minus_02_dot_69_bar__plus_00_dot_07_bar__minus_03_dot_02 loc_bar__minus_5_bar__minus_14_bar_3_bar_45) + (objectAtLocation Candle_bar__minus_00_dot_22_bar__plus_01_dot_05_bar__minus_02_dot_92 loc_bar__minus_3_bar__minus_14_bar_0_bar_60) + (objectAtLocation SprayBottle_bar__minus_00_dot_19_bar__plus_01_dot_05_bar__minus_03_dot_05 loc_bar__minus_3_bar__minus_14_bar_0_bar_60) + (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 SoapBar_bar__minus_02_dot_67_bar__plus_00_dot_87_bar__minus_03_dot_10 loc_bar__minus_8_bar__minus_12_bar_3_bar_45) + (objectAtLocation Cloth_bar__minus_02_dot_80_bar__plus_00_dot_81_bar__minus_03_dot_71 loc_bar__minus_7_bar__minus_12_bar_3_bar_45) + (objectAtLocation Mirror_bar__minus_03_dot_00_bar__plus_01_dot_66_bar__minus_03_dot_07 loc_bar__minus_8_bar__minus_12_bar_3_bar_0) + (objectAtLocation Sink_bar__minus_02_dot_66_bar__plus_00_dot_79_bar__minus_03_dot_07 loc_bar__minus_8_bar__minus_12_bar_3_bar_60) + (objectAtLocation ShowerGlass_bar__minus_00_dot_60_bar__plus_01_dot_10_bar__minus_01_dot_12 loc_bar__minus_7_bar__minus_4_bar_1_bar_30) + (objectAtLocation ShowerDoor_bar__minus_01_dot_18_bar__plus_01_dot_09_bar__minus_01_dot_22 loc_bar__minus_7_bar__minus_5_bar_1_bar_45) + (objectAtLocation Candle_bar__minus_02_dot_62_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_76_bar__plus_00_dot_07_bar__minus_03_dot_63 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_88_bar__plus_00_dot_81_bar__minus_02_dot_26 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_10_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_10_bar__plus_01_dot_05_bar__minus_02_dot_92 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 (?o1 - object) + (and + (objectType ?o1 SoapBarType) + (receptacleType ?r GarbageCanType) + (inReceptacle ?o1 ?r) + (exists (?o2 - object) + (and + (not (= ?o1 ?o2)) + (objectType ?o2 SoapBarType) + (receptacleType ?r GarbageCanType) + (inReceptacle ?o2 ?r) + ) + ) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/valid_seen/pick_two_obj_and_place-SoapBar-None-GarbageCan-418/trial_T20190909_055538_380023/traj_data.json b/data/alfworld/json_2.1.1/valid_seen/pick_two_obj_and_place-SoapBar-None-GarbageCan-418/trial_T20190909_055538_380023/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..a9b4848bafbb8ad9eddd7b9d7b2a97de3133479d --- /dev/null +++ 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+ "z": -1.25 + }, + "object_poses": [ + { + "objectName": "Cloth_57ecd3c7", + "position": { + "x": -2.764503, + "y": 0.06674749, + "z": -3.63083076 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Cloth_57ecd3c7", + "position": { + "x": -2.79661942, + "y": 0.806804, + "z": -3.7072804 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SoapBar_cc56b620", + "position": { + "x": -2.88477778, + "y": 0.806569636, + "z": -2.26348734 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SoapBar_cc56b620", + "position": { + "x": -2.6691, + "y": 0.87252593, + "z": -3.09817362 + }, + "rotation": { + "x": 1.40334208e-14, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "SoapBar_cc56b620", + "position": { + "x": -2.700886, + "y": 0.87252593, + "z": -3.00750875 + }, + "rotation": { + "x": 1.40334208e-14, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Candle_f876c62f", + "position": { + 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"ToiletPaper_1963f6ed", + "position": { + "x": -0.09907669, + "y": 1.04234052, + "z": -3.2456522 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + }, + { + "objectName": "Towel_c13c7186", + "position": { + "x": -1.29189992, + "y": 1.386, + "z": -0.63 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "SoapBottle_94c9196d", + "position": { + "x": -2.532148, + "y": 0.80856204, + "z": -2.45983648 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SprayBottle_ea8e94da", + "position": { + "x": -2.44399023, + "y": 0.807904, + "z": -2.59073567 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "ScrubBrush_d4414847", + "position": { + "x": -0.325021982, + "y": 0.0006431546, + "z": -3.342877 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 2405523662, + "scene_num": 418 + }, + "task_id": "trial_T20190909_055538_380023", + "task_type": "pick_two_obj_and_place", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A3PPLDHC3CG0YN_3483FV8BEHAZED331PFZC2KXI0M26I", + "high_descs": [ + "Turn left and walk to the sink on the right. ", + "Pick up the bar of soap to the right in the sink. ", + "Turn around and walk to the black bin to the right of the toilet. ", + "Put the soap inside of the black bin. ", + "Turn around and walk back over to the sink. ", + "Pick up the bar of soap from the sink. ", + "Turn around and walk back to the black bin. ", + "Put the bar of soap inside the black bin and to the right of the first bar of soap. " + ], + "task_desc": "To move two bars of soap to the black bin. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3F7G1FSFWQPLE_36U2A8VAG4QWEDHZWEGVVPQKY9GYKD", + "high_descs": [ + "Turn left and walk towards the wall, then hang a right and walk up to the sink.", + "Pick up the rightmost bar of soap out of the sink basin.", + "Turn left and walk over to the wall, then hang a left and walk up to the small black bin on the ground.", + "Put the bar of soap in the small black bin.", + "Walk back over to the sink behind you.", + "Pick up the bar of soap out of the sink.", + "Turn left and walk over to the wall, then turn left and walk up to the small black bin in the corner of the room.", + "Put the bar of soap into the small black bin." + ], + "task_desc": "Move two bars of soap from the sink to a small black bin.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A20FCMWP43CVIU_3A4NIXBJ79Q742A3YB4LGUGSE0ZML8", + "high_descs": [ + "walk to face bathroom sink", + "pick up pink soap bar from sink", + "walk to face trash bin next to toilet", + "put soap bar in bin", + "walk to face bathroom sink", + "pick up pink soap bar from sink", + "walk to face trash bin next to toilet", + "put soap bar in bin" + ], + "task_desc": "put two soap bars in bin", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/valid_seen/pick_two_obj_and_place-SoapBar-None-GarbageCan-418/trial_T20190909_055649_717880/game.tw-pddl b/data/alfworld/json_2.1.1/valid_seen/pick_two_obj_and_place-SoapBar-None-GarbageCan-418/trial_T20190909_055649_717880/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..f6b8c492b719e9aaefeebe649b418acf00913670 --- /dev/null +++ b/data/alfworld/json_2.1.1/valid_seen/pick_two_obj_and_place-SoapBar-None-GarbageCan-418/trial_T20190909_055649_717880/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\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 soapbar and put them 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_055649_717880)\n(:domain alfred)\n(:objects\nagent1 - agent\nCurtains - object\n SprayBottle - object\n Mirror - object\n HousePlant - object\n Watch - object\n TeddyBear - object\n WateringCan - object\n Bathtub - object\n LightSwitch - object\n Vase - object\n Candle - object\n Bread - object\n Statue - object\n HandTowel - object\n StoveKnob - object\n PaperTowelRoll - object\n Pan - object\n PepperShaker - object\n Painting - object\n CellPhone - object\n Plunger - object\n Spoon - object\n SaltShaker - object\n KeyChain - object\n Footstool - object\n Poster - object\n Television - object\n LaundryHamperLid - object\n Glassbottle - object\n AlarmClock - object\n WineBottle - object\n Bowl - object\n Sink - object\n TissueBox - object\n TennisRacket - object\n ToiletPaper - object\n ScrubBrush - object\n CreditCard - object\n Laptop - object\n Cloth - object\n Cup - object\n Chair - object\n BasketBall - object\n Kettle - object\n PaperTowel - object\n ShowerDoor - object\n BaseballBat - object\n Potato - object\n Pillow - object\n Lettuce - object\n RemoteControl - object\n Window - object\n DishSponge - object\n CD - object\n Boots - object\n Blinds - object\n Pen - object\n Newspaper - object\n Plate - object\n Mug - object\n ShowerGlass - object\n ToiletPaperRoll - object\n SoapBar - object\n FloorLamp - object\n SoapBottle - object\n Pot - object\n Pencil - object\n Spatula - object\n Towel - object\n Fork - object\n Ladle - object\n Knife - object\n Apple - object\n Box - object\n Tomato - object\n ButterKnife - object\n Egg - object\n Book - object\n DeskLamp - object\nCurtainsType - otype\n SprayBottleType - otype\n MirrorType - otype\n HousePlantType - otype\n WatchType - otype\n TeddyBearType - otype\n WateringCanType - otype\n BathtubType - otype\n LightSwitchType - otype\n VaseType - otype\n CandleType - otype\n BreadType - otype\n StatueType - otype\n HandTowelType - otype\n StoveKnobType - otype\n PaperTowelRollType - otype\n PanType - otype\n PepperShakerType - otype\n PaintingType - otype\n CellPhoneType - otype\n PlungerType - otype\n SpoonType - otype\n SaltShakerType - otype\n KeyChainType - otype\n FootstoolType - otype\n PosterType - otype\n TelevisionType - otype\n LaundryHamperLidType - otype\n GlassbottleType - otype\n AlarmClockType - otype\n WineBottleType - otype\n BowlType - otype\n SinkType - otype\n TissueBoxType - otype\n TennisRacketType - otype\n ToiletPaperType - otype\n ScrubBrushType - otype\n CreditCardType - otype\n LaptopType - otype\n ClothType - otype\n CupType - otype\n ChairType - otype\n BasketBallType - otype\n KettleType - otype\n PaperTowelType - otype\n ShowerDoorType - otype\n BaseballBatType - otype\n PotatoType - otype\n PillowType - otype\n LettuceType - otype\n RemoteControlType - otype\n WindowType - otype\n DishSpongeType - otype\n CDType - otype\n BootsType - otype\n BlindsType - otype\n PenType - otype\n NewspaperType - otype\n PlateType - otype\n MugType - otype\n ShowerGlassType - otype\n ToiletPaperRollType - otype\n SoapBarType - otype\n FloorLampType - otype\n SoapBottleType - otype\n PotType - otype\n PencilType - otype\n SpatulaType - otype\n TowelType - otype\n ForkType - otype\n LadleType - otype\n KnifeType - otype\n AppleType - otype\n BoxType - otype\n TomatoType - otype\n ButterKnifeType - otype\n EggType - otype\n BookType - otype\n DeskLampType - otype\nCabinetType - rtype\n ShelfType - rtype\n DiningTableType - rtype\n TowelHolderType - rtype\n PaintingHangerType - rtype\n TVStandType - rtype\n LaundryHamperType - rtype\n OttomanType - rtype\n SafeType - rtype\n CoffeeMachineType - rtype\n CounterTopType - rtype\n ToiletType - rtype\n FridgeType - rtype\n CoffeeTableType - rtype\n SinkBasinType - rtype\n GarbageCanType - rtype\n BathtubBasinType - rtype\n SideTableType - rtype\n CartType - rtype\n BedType - rtype\n DeskType - rtype\n SofaType - rtype\n ArmChairType - rtype\n MicrowaveType - rtype\n HandTowelHolderType - rtype\n ToasterType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n DrawerType - rtype\n DresserType - rtype\n\n\n Candle_bar__minus_02_dot_80_bar__plus_00_dot_82_bar__minus_03_dot_53 - object\n Cloth_bar__minus_02_dot_44_bar__plus_00_dot_81_bar__minus_02_dot_53 - object\n Cloth_bar__minus_02_dot_54_bar__plus_00_dot_07_bar__minus_02_dot_96 - 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 HandTowel_bar__minus_02_dot_96_bar__plus_01_dot_58_bar__minus_03_dot_55 - object\n LightSwitch_bar__minus_01_dot_95_bar__plus_01_dot_50_bar__plus_00_dot_00 - object\n Mirror_bar__minus_03_dot_00_bar__plus_01_dot_66_bar__minus_03_dot_07 - object\n Plunger_bar__minus_00_dot_13_bar__plus_00_dot_00_bar__minus_03_dot_49 - object\n ScrubBrush_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_03_dot_34 - object\n ShowerDoor_bar__minus_01_dot_18_bar__plus_01_dot_09_bar__minus_01_dot_22 - object\n ShowerGlass_bar__minus_00_dot_60_bar__plus_01_dot_10_bar__minus_01_dot_12 - object\n Sink_bar__minus_02_dot_66_bar__plus_00_dot_79_bar__minus_03_dot_07 - object\n SoapBar_bar__minus_02_dot_36_bar__plus_00_dot_81_bar__minus_02_dot_26 - object\n SoapBar_bar__minus_02_dot_71_bar__plus_00_dot_81_bar__minus_03_dot_82 - object\n SoapBar_bar__minus_02_dot_73_bar__plus_00_dot_87_bar__minus_03_dot_04 - object\n SoapBottle_bar__minus_00_dot_16_bar__plus_01_dot_05_bar__minus_03_dot_05 - object\n SoapBottle_bar__minus_02_dot_39_bar__plus_00_dot_07_bar__minus_03_dot_57 - object\n SprayBottle_bar__minus_02_dot_76_bar__plus_00_dot_07_bar__minus_03_dot_76 - object\n SprayBottle_bar__minus_02_dot_88_bar__plus_00_dot_81_bar__minus_02_dot_66 - object\n ToiletPaper_bar__minus_02_dot_46_bar__plus_00_dot_06_bar__minus_02_dot_38 - object\n ToiletPaper_bar__minus_02_dot_69_bar__plus_00_dot_06_bar__minus_03_dot_44 - object\n ToiletPaper_bar__minus_02_dot_71_bar__plus_00_dot_80_bar__minus_02_dot_39 - 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_11_bar_1_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType GarbageCan_bar__minus_00_dot_35_bar__plus_00_dot_00_bar__minus_03_dot_85 GarbageCanType)\n (receptacleType ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_94_bar__minus_02_dot_54 ToiletPaperHangerType)\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_25 CabinetType)\n (receptacleType HandTowelHolder_bar__minus_03_dot_00_bar__plus_01_dot_69_bar__minus_03_dot_55 HandTowelHolderType)\n (receptacleType Sink_bar__minus_02_dot_66_bar__plus_00_dot_79_bar__minus_03_dot_07_bar_SinkBasin SinkBasinType)\n (receptacleType CounterTop_bar__minus_02_dot_63_bar__plus_00_dot_84_bar__minus_03_dot_04 CounterTopType)\n (receptacleType TowelHolder_bar__minus_01_dot_19_bar__plus_01_dot_37_bar__minus_00_dot_63 TowelHolderType)\n (receptacleType HandTowelHolder_bar__minus_03_dot_00_bar__plus_01_dot_69_bar__minus_02_dot_57 HandTowelHolderType)\n (receptacleType Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_81 CabinetType)\n (objectType SoapBottle_bar__minus_00_dot_16_bar__plus_01_dot_05_bar__minus_03_dot_05 SoapBottleType)\n (objectType SoapBar_bar__minus_02_dot_73_bar__plus_00_dot_87_bar__minus_03_dot_04 SoapBarType)\n (objectType LightSwitch_bar__minus_01_dot_95_bar__plus_01_dot_50_bar__plus_00_dot_00 LightSwitchType)\n (objectType Towel_bar__minus_01_dot_29_bar__plus_01_dot_39_bar__minus_00_dot_63 TowelType)\n (objectType Mirror_bar__minus_03_dot_00_bar__plus_01_dot_66_bar__minus_03_dot_07 MirrorType)\n (objectType Window_bar__minus_00_dot_57_bar__plus_01_dot_71_bar__minus_04_dot_00 WindowType)\n (objectType HandTowel_bar__minus_02_dot_96_bar__plus_01_dot_58_bar__minus_03_dot_55 HandTowelType)\n (objectType ShowerGlass_bar__minus_00_dot_60_bar__plus_01_dot_10_bar__minus_01_dot_12 ShowerGlassType)\n (objectType ToiletPaper_bar__minus_02_dot_71_bar__plus_00_dot_80_bar__minus_02_dot_39 ToiletPaperType)\n (objectType ToiletPaper_bar__minus_02_dot_46_bar__plus_00_dot_06_bar__minus_02_dot_38 ToiletPaperType)\n (objectType SprayBottle_bar__minus_02_dot_88_bar__plus_00_dot_81_bar__minus_02_dot_66 SprayBottleType)\n (objectType SprayBottle_bar__minus_02_dot_76_bar__plus_00_dot_07_bar__minus_03_dot_76 SprayBottleType)\n (objectType SoapBar_bar__minus_02_dot_71_bar__plus_00_dot_81_bar__minus_03_dot_82 SoapBarType)\n (objectType Sink_bar__minus_02_dot_66_bar__plus_00_dot_79_bar__minus_03_dot_07 SinkType)\n (objectType ScrubBrush_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_03_dot_34 ScrubBrushType)\n (objectType HandTowel_bar__minus_02_dot_96_bar__plus_01_dot_58_bar__minus_02_dot_57 HandTowelType)\n (objectType Cloth_bar__minus_02_dot_44_bar__plus_00_dot_81_bar__minus_02_dot_53 ClothType)\n (objectType ToiletPaper_bar__minus_02_dot_69_bar__plus_00_dot_06_bar__minus_03_dot_44 ToiletPaperType)\n (objectType SoapBottle_bar__minus_02_dot_39_bar__plus_00_dot_07_bar__minus_03_dot_57 SoapBottleType)\n (objectType ShowerDoor_bar__minus_01_dot_18_bar__plus_01_dot_09_bar__minus_01_dot_22 ShowerDoorType)\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_80_bar__plus_00_dot_82_bar__minus_03_dot_53 CandleType)\n (objectType SoapBar_bar__minus_02_dot_36_bar__plus_00_dot_81_bar__minus_02_dot_26 SoapBarType)\n (objectType Cloth_bar__minus_02_dot_54_bar__plus_00_dot_07_bar__minus_02_dot_96 ClothType)\n (canContain GarbageCanType SprayBottleType)\n (canContain GarbageCanType SoapBarType)\n (canContain GarbageCanType SoapBottleType)\n (canContain GarbageCanType ToiletPaperType)\n (canContain GarbageCanType ClothType)\n (canContain GarbageCanType HandTowelType)\n (canContain ToiletPaperHangerType ToiletPaperType)\n (canContain ToiletType ClothType)\n (canContain ToiletType SoapBarType)\n (canContain ToiletType HandTowelType)\n (canContain ToiletType ToiletPaperType)\n (canContain ToiletType SoapBottleType)\n (canContain ToiletType SprayBottleType)\n (canContain ToiletType CandleType)\n (canContain CabinetType PlungerType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType CandleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType CandleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain HandTowelHolderType HandTowelType)\n (canContain SinkBasinType SoapBarType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType HandTowelType)\n (canContain CounterTopType SprayBottleType)\n (canContain CounterTopType SoapBarType)\n (canContain CounterTopType SoapBottleType)\n (canContain CounterTopType ToiletPaperType)\n (canContain CounterTopType CandleType)\n (canContain CounterTopType ClothType)\n (canContain CounterTopType HandTowelType)\n (canContain TowelHolderType TowelType)\n (canContain HandTowelHolderType HandTowelType)\n (canContain CabinetType PlungerType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType CandleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (pickupable SoapBottle_bar__minus_00_dot_16_bar__plus_01_dot_05_bar__minus_03_dot_05)\n (pickupable SoapBar_bar__minus_02_dot_73_bar__plus_00_dot_87_bar__minus_03_dot_04)\n (pickupable Towel_bar__minus_01_dot_29_bar__plus_01_dot_39_bar__minus_00_dot_63)\n (pickupable HandTowel_bar__minus_02_dot_96_bar__plus_01_dot_58_bar__minus_03_dot_55)\n (pickupable ToiletPaper_bar__minus_02_dot_71_bar__plus_00_dot_80_bar__minus_02_dot_39)\n (pickupable ToiletPaper_bar__minus_02_dot_46_bar__plus_00_dot_06_bar__minus_02_dot_38)\n (pickupable SprayBottle_bar__minus_02_dot_88_bar__plus_00_dot_81_bar__minus_02_dot_66)\n (pickupable SprayBottle_bar__minus_02_dot_76_bar__plus_00_dot_07_bar__minus_03_dot_76)\n (pickupable SoapBar_bar__minus_02_dot_71_bar__plus_00_dot_81_bar__minus_03_dot_82)\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 Cloth_bar__minus_02_dot_44_bar__plus_00_dot_81_bar__minus_02_dot_53)\n (pickupable ToiletPaper_bar__minus_02_dot_69_bar__plus_00_dot_06_bar__minus_03_dot_44)\n (pickupable SoapBottle_bar__minus_02_dot_39_bar__plus_00_dot_07_bar__minus_03_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_02_dot_80_bar__plus_00_dot_82_bar__minus_03_dot_53)\n (pickupable SoapBar_bar__minus_02_dot_36_bar__plus_00_dot_81_bar__minus_02_dot_26)\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_25)\n (openable Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_81)\n \n (atLocation agent1 loc_bar__minus_7_bar__minus_11_bar_1_bar_30)\n \n (cleanable SoapBar_bar__minus_02_dot_73_bar__plus_00_dot_87_bar__minus_03_dot_04)\n (cleanable SoapBar_bar__minus_02_dot_71_bar__plus_00_dot_81_bar__minus_03_dot_82)\n (cleanable Cloth_bar__minus_02_dot_44_bar__plus_00_dot_81_bar__minus_02_dot_53)\n (cleanable SoapBar_bar__minus_02_dot_36_bar__plus_00_dot_81_bar__minus_02_dot_26)\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 ToiletPaper_bar__minus_02_dot_46_bar__plus_00_dot_06_bar__minus_02_dot_38 Cabinet_bar__minus_02_dot_30_bar__plus_00_dot_35_bar__minus_02_dot_25)\n (inReceptacle SoapBottle_bar__minus_02_dot_39_bar__plus_00_dot_07_bar__minus_03_dot_57 Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_81)\n (inReceptacle SprayBottle_bar__minus_02_dot_76_bar__plus_00_dot_07_bar__minus_03_dot_76 Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_81)\n (inReceptacle ToiletPaper_bar__minus_02_dot_69_bar__plus_00_dot_06_bar__minus_03_dot_44 Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_81)\n (inReceptacle Candle_bar__minus_02_dot_80_bar__plus_00_dot_82_bar__minus_03_dot_53 CounterTop_bar__minus_02_dot_63_bar__plus_00_dot_84_bar__minus_03_dot_04)\n (inReceptacle Cloth_bar__minus_02_dot_44_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 ToiletPaper_bar__minus_02_dot_71_bar__plus_00_dot_80_bar__minus_02_dot_39 CounterTop_bar__minus_02_dot_63_bar__plus_00_dot_84_bar__minus_03_dot_04)\n (inReceptacle SoapBar_bar__minus_02_dot_36_bar__plus_00_dot_81_bar__minus_02_dot_26 CounterTop_bar__minus_02_dot_63_bar__plus_00_dot_84_bar__minus_03_dot_04)\n (inReceptacle SprayBottle_bar__minus_02_dot_88_bar__plus_00_dot_81_bar__minus_02_dot_66 CounterTop_bar__minus_02_dot_63_bar__plus_00_dot_84_bar__minus_03_dot_04)\n (inReceptacle SoapBar_bar__minus_02_dot_71_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 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_03_dot_55 HandTowelHolder_bar__minus_03_dot_00_bar__plus_01_dot_69_bar__minus_03_dot_55)\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_73_bar__plus_00_dot_87_bar__minus_03_dot_04 Sink_bar__minus_02_dot_66_bar__plus_00_dot_79_bar__minus_03_dot_07_bar_SinkBasin)\n (inReceptacle SoapBottle_bar__minus_00_dot_16_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 \n \n (receptacleAtLocation Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_25 loc_bar__minus_5_bar__minus_14_bar_3_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_81 loc_bar__minus_5_bar__minus_12_bar_3_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_30_bar__plus_00_dot_35_bar__minus_02_dot_25 loc_bar__minus_5_bar__minus_12_bar_3_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_02_dot_63_bar__plus_00_dot_84_bar__minus_03_dot_04 loc_bar__minus_7_bar__minus_12_bar_3_bar_45)\n (receptacleAtLocation GarbageCan_bar__minus_00_dot_35_bar__plus_00_dot_00_bar__minus_03_dot_85 loc_bar__minus_3_bar__minus_14_bar_1_bar_60)\n (receptacleAtLocation HandTowelHolder_bar__minus_03_dot_00_bar__plus_01_dot_69_bar__minus_02_dot_57 loc_bar__minus_8_bar__minus_10_bar_3_bar_0)\n (receptacleAtLocation HandTowelHolder_bar__minus_03_dot_00_bar__plus_01_dot_69_bar__minus_03_dot_55 loc_bar__minus_8_bar__minus_14_bar_3_bar_0)\n (receptacleAtLocation Sink_bar__minus_02_dot_66_bar__plus_00_dot_79_bar__minus_03_dot_07_bar_SinkBasin loc_bar__minus_8_bar__minus_12_bar_3_bar_45)\n (receptacleAtLocation ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_94_bar__minus_02_dot_54 loc_bar__minus_5_bar__minus_11_bar_1_bar_30)\n (receptacleAtLocation Toilet_bar__minus_00_dot_45_bar__plus_00_dot_00_bar__minus_03_dot_05 loc_bar__minus_3_bar__minus_14_bar_0_bar_60)\n (receptacleAtLocation TowelHolder_bar__minus_01_dot_19_bar__plus_01_dot_37_bar__minus_00_dot_63 loc_bar__minus_7_bar__minus_3_bar_1_bar_30)\n (objectAtLocation SprayBottle_bar__minus_02_dot_76_bar__plus_00_dot_07_bar__minus_03_dot_76 loc_bar__minus_5_bar__minus_12_bar_3_bar_45)\n (objectAtLocation SoapBottle_bar__minus_00_dot_16_bar__plus_01_dot_05_bar__minus_03_dot_05 loc_bar__minus_3_bar__minus_14_bar_0_bar_60)\n (objectAtLocation ToiletPaper_bar__minus_02_dot_46_bar__plus_00_dot_06_bar__minus_02_dot_38 loc_bar__minus_5_bar__minus_12_bar_3_bar_45)\n (objectAtLocation SoapBar_bar__minus_02_dot_36_bar__plus_00_dot_81_bar__minus_02_dot_26 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 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 SoapBar_bar__minus_02_dot_73_bar__plus_00_dot_87_bar__minus_03_dot_04 loc_bar__minus_8_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_80_bar__plus_00_dot_82_bar__minus_03_dot_53 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_53 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_03_dot_55 loc_bar__minus_8_bar__minus_14_bar_3_bar_0)\n (objectAtLocation Plunger_bar__minus_00_dot_13_bar__plus_00_dot_00_bar__minus_03_dot_49 loc_bar__minus_3_bar__minus_14_bar_1_bar_60)\n (objectAtLocation SoapBar_bar__minus_02_dot_71_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_02_dot_71_bar__plus_00_dot_80_bar__minus_02_dot_39 loc_bar__minus_7_bar__minus_12_bar_3_bar_45)\n (objectAtLocation ToiletPaper_bar__minus_02_dot_69_bar__plus_00_dot_06_bar__minus_03_dot_44 loc_bar__minus_5_bar__minus_12_bar_3_bar_45)\n (objectAtLocation Window_bar__minus_00_dot_57_bar__plus_01_dot_71_bar__minus_04_dot_00 loc_bar__minus_3_bar__minus_14_bar_2_bar_0)\n (objectAtLocation Towel_bar__minus_01_dot_29_bar__plus_01_dot_39_bar__minus_00_dot_63 loc_bar__minus_7_bar__minus_3_bar_1_bar_30)\n (objectAtLocation SoapBottle_bar__minus_02_dot_39_bar__plus_00_dot_07_bar__minus_03_dot_57 loc_bar__minus_5_bar__minus_12_bar_3_bar_45)\n (objectAtLocation SprayBottle_bar__minus_02_dot_88_bar__plus_00_dot_81_bar__minus_02_dot_66 loc_bar__minus_7_bar__minus_12_bar_3_bar_45)\n (objectAtLocation ScrubBrush_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_03_dot_34 loc_bar__minus_3_bar__minus_14_bar_1_bar_60)\n (objectAtLocation LightSwitch_bar__minus_01_dot_95_bar__plus_01_dot_50_bar__plus_00_dot_00 loc_bar__minus_7_bar__minus_2_bar_0_bar_15)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o1 - object)\n (and\n (objectType ?o1 SoapBarType)\n (receptacleType ?r GarbageCanType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 SoapBarType)\n (receptacleType ?r GarbageCanType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 1", "take soapbar 3 from countertop 1", "go to garbagecan 1", "move soapbar 3 to garbagecan 1", "go to countertop 1", "take soapbar 2 from countertop 1", "go to garbagecan 1", "move soapbar 2 to garbagecan 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/valid_seen/pick_two_obj_and_place-SoapBar-None-GarbageCan-418/trial_T20190909_055649_717880/initial_state.pddl b/data/alfworld/json_2.1.1/valid_seen/pick_two_obj_and_place-SoapBar-None-GarbageCan-418/trial_T20190909_055649_717880/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..adcbb1b548d2568f3b8005d1ddda7788fae817cc --- /dev/null +++ b/data/alfworld/json_2.1.1/valid_seen/pick_two_obj_and_place-SoapBar-None-GarbageCan-418/trial_T20190909_055649_717880/initial_state.pddl @@ -0,0 +1,460 @@ + +(define (problem plan_trial_T20190909_055649_717880) +(:domain alfred) +(:objects +agent1 - agent +Curtains - object + SprayBottle - object + Mirror - object + HousePlant - object + Watch - object + TeddyBear - object + WateringCan - object + Bathtub - object + LightSwitch - object + Vase - object + Candle - object + Bread - object + Statue - object + HandTowel - object + StoveKnob - object + PaperTowelRoll - object + Pan - object + PepperShaker - object + Painting - object + CellPhone - object + Plunger - object + Spoon - object + SaltShaker - object + KeyChain - object + Footstool - object + Poster - object + Television - object + LaundryHamperLid - object + Glassbottle - object + AlarmClock - object + WineBottle - object + Bowl - object + Sink - object + TissueBox - object + TennisRacket - object + ToiletPaper - object + ScrubBrush - object + CreditCard - object + Laptop - object + Cloth - object + Cup - object + Chair - object + BasketBall - object + Kettle - object + PaperTowel - object + ShowerDoor - object + BaseballBat - object + Potato - object + Pillow - object + Lettuce - object + RemoteControl - object + Window - object + DishSponge - object + CD - object + Boots - object + Blinds - object + Pen - object + Newspaper - object + Plate - object + Mug - object + ShowerGlass - object + ToiletPaperRoll - object + SoapBar - object + FloorLamp - object + SoapBottle - object + Pot - object + Pencil - object + Spatula - object + Towel - object + Fork - object + Ladle - object + Knife - object + Apple - object + Box - object + Tomato - object + ButterKnife - object + Egg - object + Book - object + DeskLamp - object +CurtainsType - otype + SprayBottleType - otype + MirrorType - otype + HousePlantType - otype + WatchType - otype + TeddyBearType - otype + WateringCanType - otype + BathtubType - otype + LightSwitchType - otype + VaseType - otype + CandleType - otype + BreadType - otype + StatueType - otype + HandTowelType - otype + StoveKnobType - otype + PaperTowelRollType - otype + PanType - otype + PepperShakerType - otype + PaintingType - otype + CellPhoneType - otype + PlungerType - otype + SpoonType - otype + SaltShakerType - otype + KeyChainType - otype + FootstoolType - otype + PosterType - otype + TelevisionType - otype + LaundryHamperLidType - otype + GlassbottleType - otype + AlarmClockType - otype + WineBottleType - otype + BowlType - otype + SinkType - otype + TissueBoxType - otype + TennisRacketType - otype + ToiletPaperType - otype + ScrubBrushType - otype + CreditCardType - otype + LaptopType - otype + ClothType - otype + CupType - otype + ChairType - otype + BasketBallType - otype + KettleType - otype + PaperTowelType - otype + ShowerDoorType - otype + BaseballBatType - otype + PotatoType - otype + PillowType - otype + LettuceType - otype + RemoteControlType - otype + WindowType - otype + DishSpongeType - otype + CDType - otype + BootsType - otype + BlindsType - otype + PenType - otype + NewspaperType - otype + PlateType - otype + MugType - otype + ShowerGlassType - otype + ToiletPaperRollType - otype + SoapBarType - otype + FloorLampType - otype + SoapBottleType - otype + PotType - otype + PencilType - otype + SpatulaType - otype + TowelType - otype + ForkType - otype + LadleType - otype + KnifeType - otype + AppleType - otype + BoxType - otype + TomatoType - otype + ButterKnifeType - otype + EggType - otype + BookType - otype + DeskLampType - otype +CabinetType - rtype + ShelfType - rtype + DiningTableType - rtype + TowelHolderType - rtype + PaintingHangerType - rtype + TVStandType - rtype + LaundryHamperType - rtype + OttomanType - rtype + SafeType - rtype + CoffeeMachineType - rtype + CounterTopType - rtype + ToiletType - rtype + FridgeType - rtype + CoffeeTableType - rtype + SinkBasinType - rtype + GarbageCanType - rtype + BathtubBasinType - rtype + SideTableType - rtype + CartType - rtype + BedType - rtype + DeskType - rtype + SofaType - rtype + ArmChairType - rtype + MicrowaveType - rtype + HandTowelHolderType - rtype + ToasterType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + DrawerType - rtype + DresserType - rtype + + + Candle_bar__minus_02_dot_80_bar__plus_00_dot_82_bar__minus_03_dot_53 - object + Cloth_bar__minus_02_dot_44_bar__plus_00_dot_81_bar__minus_02_dot_53 - object + Cloth_bar__minus_02_dot_54_bar__plus_00_dot_07_bar__minus_02_dot_96 - 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 + HandTowel_bar__minus_02_dot_96_bar__plus_01_dot_58_bar__minus_03_dot_55 - object + LightSwitch_bar__minus_01_dot_95_bar__plus_01_dot_50_bar__plus_00_dot_00 - object + Mirror_bar__minus_03_dot_00_bar__plus_01_dot_66_bar__minus_03_dot_07 - object + Plunger_bar__minus_00_dot_13_bar__plus_00_dot_00_bar__minus_03_dot_49 - object + ScrubBrush_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_03_dot_34 - object + ShowerDoor_bar__minus_01_dot_18_bar__plus_01_dot_09_bar__minus_01_dot_22 - object + ShowerGlass_bar__minus_00_dot_60_bar__plus_01_dot_10_bar__minus_01_dot_12 - object + Sink_bar__minus_02_dot_66_bar__plus_00_dot_79_bar__minus_03_dot_07 - object + SoapBar_bar__minus_02_dot_36_bar__plus_00_dot_81_bar__minus_02_dot_26 - object + SoapBar_bar__minus_02_dot_71_bar__plus_00_dot_81_bar__minus_03_dot_82 - object + SoapBar_bar__minus_02_dot_73_bar__plus_00_dot_87_bar__minus_03_dot_04 - object + SoapBottle_bar__minus_00_dot_16_bar__plus_01_dot_05_bar__minus_03_dot_05 - object + SoapBottle_bar__minus_02_dot_39_bar__plus_00_dot_07_bar__minus_03_dot_57 - object + SprayBottle_bar__minus_02_dot_76_bar__plus_00_dot_07_bar__minus_03_dot_76 - object + SprayBottle_bar__minus_02_dot_88_bar__plus_00_dot_81_bar__minus_02_dot_66 - object + ToiletPaper_bar__minus_02_dot_46_bar__plus_00_dot_06_bar__minus_02_dot_38 - object + ToiletPaper_bar__minus_02_dot_69_bar__plus_00_dot_06_bar__minus_03_dot_44 - object + ToiletPaper_bar__minus_02_dot_71_bar__plus_00_dot_80_bar__minus_02_dot_39 - 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_11_bar_1_bar_30 - location + ) + + +(:init + + + (receptacleType GarbageCan_bar__minus_00_dot_35_bar__plus_00_dot_00_bar__minus_03_dot_85 GarbageCanType) + (receptacleType ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_94_bar__minus_02_dot_54 ToiletPaperHangerType) + (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_25 CabinetType) + (receptacleType HandTowelHolder_bar__minus_03_dot_00_bar__plus_01_dot_69_bar__minus_03_dot_55 HandTowelHolderType) + (receptacleType Sink_bar__minus_02_dot_66_bar__plus_00_dot_79_bar__minus_03_dot_07_bar_SinkBasin SinkBasinType) + (receptacleType CounterTop_bar__minus_02_dot_63_bar__plus_00_dot_84_bar__minus_03_dot_04 CounterTopType) + (receptacleType TowelHolder_bar__minus_01_dot_19_bar__plus_01_dot_37_bar__minus_00_dot_63 TowelHolderType) + (receptacleType HandTowelHolder_bar__minus_03_dot_00_bar__plus_01_dot_69_bar__minus_02_dot_57 HandTowelHolderType) + (receptacleType Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_81 CabinetType) + (objectType SoapBottle_bar__minus_00_dot_16_bar__plus_01_dot_05_bar__minus_03_dot_05 SoapBottleType) + (objectType SoapBar_bar__minus_02_dot_73_bar__plus_00_dot_87_bar__minus_03_dot_04 SoapBarType) + (objectType LightSwitch_bar__minus_01_dot_95_bar__plus_01_dot_50_bar__plus_00_dot_00 LightSwitchType) + (objectType Towel_bar__minus_01_dot_29_bar__plus_01_dot_39_bar__minus_00_dot_63 TowelType) + (objectType Mirror_bar__minus_03_dot_00_bar__plus_01_dot_66_bar__minus_03_dot_07 MirrorType) + (objectType Window_bar__minus_00_dot_57_bar__plus_01_dot_71_bar__minus_04_dot_00 WindowType) + (objectType HandTowel_bar__minus_02_dot_96_bar__plus_01_dot_58_bar__minus_03_dot_55 HandTowelType) + (objectType ShowerGlass_bar__minus_00_dot_60_bar__plus_01_dot_10_bar__minus_01_dot_12 ShowerGlassType) + (objectType ToiletPaper_bar__minus_02_dot_71_bar__plus_00_dot_80_bar__minus_02_dot_39 ToiletPaperType) + (objectType ToiletPaper_bar__minus_02_dot_46_bar__plus_00_dot_06_bar__minus_02_dot_38 ToiletPaperType) + (objectType SprayBottle_bar__minus_02_dot_88_bar__plus_00_dot_81_bar__minus_02_dot_66 SprayBottleType) + (objectType SprayBottle_bar__minus_02_dot_76_bar__plus_00_dot_07_bar__minus_03_dot_76 SprayBottleType) + (objectType SoapBar_bar__minus_02_dot_71_bar__plus_00_dot_81_bar__minus_03_dot_82 SoapBarType) + (objectType Sink_bar__minus_02_dot_66_bar__plus_00_dot_79_bar__minus_03_dot_07 SinkType) + (objectType ScrubBrush_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_03_dot_34 ScrubBrushType) + (objectType HandTowel_bar__minus_02_dot_96_bar__plus_01_dot_58_bar__minus_02_dot_57 HandTowelType) + (objectType Cloth_bar__minus_02_dot_44_bar__plus_00_dot_81_bar__minus_02_dot_53 ClothType) + (objectType ToiletPaper_bar__minus_02_dot_69_bar__plus_00_dot_06_bar__minus_03_dot_44 ToiletPaperType) + (objectType SoapBottle_bar__minus_02_dot_39_bar__plus_00_dot_07_bar__minus_03_dot_57 SoapBottleType) + (objectType ShowerDoor_bar__minus_01_dot_18_bar__plus_01_dot_09_bar__minus_01_dot_22 ShowerDoorType) + (objectType Plunger_bar__minus_00_dot_13_bar__plus_00_dot_00_bar__minus_03_dot_49 PlungerType) + (objectType Candle_bar__minus_02_dot_80_bar__plus_00_dot_82_bar__minus_03_dot_53 CandleType) + (objectType SoapBar_bar__minus_02_dot_36_bar__plus_00_dot_81_bar__minus_02_dot_26 SoapBarType) + (objectType Cloth_bar__minus_02_dot_54_bar__plus_00_dot_07_bar__minus_02_dot_96 ClothType) + (canContain GarbageCanType SprayBottleType) + (canContain GarbageCanType SoapBarType) + (canContain GarbageCanType SoapBottleType) + (canContain GarbageCanType ToiletPaperType) + (canContain GarbageCanType ClothType) + (canContain GarbageCanType HandTowelType) + (canContain ToiletPaperHangerType ToiletPaperType) + (canContain ToiletType ClothType) + (canContain ToiletType SoapBarType) + (canContain ToiletType HandTowelType) + (canContain ToiletType ToiletPaperType) + (canContain ToiletType SoapBottleType) + (canContain ToiletType SprayBottleType) + (canContain ToiletType CandleType) + (canContain CabinetType PlungerType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType SoapBarType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType ToiletPaperType) + (canContain CabinetType CandleType) + (canContain CabinetType ClothType) + (canContain CabinetType HandTowelType) + (canContain CabinetType PlungerType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType SoapBarType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType ToiletPaperType) + (canContain CabinetType CandleType) + (canContain CabinetType ClothType) + (canContain CabinetType HandTowelType) + (canContain HandTowelHolderType HandTowelType) + (canContain SinkBasinType SoapBarType) + (canContain SinkBasinType ClothType) + (canContain SinkBasinType HandTowelType) + (canContain CounterTopType SprayBottleType) + (canContain CounterTopType SoapBarType) + (canContain CounterTopType SoapBottleType) + (canContain CounterTopType ToiletPaperType) + (canContain CounterTopType CandleType) + (canContain CounterTopType ClothType) + (canContain CounterTopType HandTowelType) + (canContain TowelHolderType TowelType) + (canContain HandTowelHolderType HandTowelType) + (canContain CabinetType PlungerType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType SoapBarType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType ToiletPaperType) + (canContain CabinetType CandleType) + (canContain CabinetType ClothType) + (canContain CabinetType HandTowelType) + (pickupable SoapBottle_bar__minus_00_dot_16_bar__plus_01_dot_05_bar__minus_03_dot_05) + (pickupable SoapBar_bar__minus_02_dot_73_bar__plus_00_dot_87_bar__minus_03_dot_04) + (pickupable Towel_bar__minus_01_dot_29_bar__plus_01_dot_39_bar__minus_00_dot_63) + (pickupable HandTowel_bar__minus_02_dot_96_bar__plus_01_dot_58_bar__minus_03_dot_55) + (pickupable ToiletPaper_bar__minus_02_dot_71_bar__plus_00_dot_80_bar__minus_02_dot_39) + (pickupable ToiletPaper_bar__minus_02_dot_46_bar__plus_00_dot_06_bar__minus_02_dot_38) + (pickupable SprayBottle_bar__minus_02_dot_88_bar__plus_00_dot_81_bar__minus_02_dot_66) + (pickupable SprayBottle_bar__minus_02_dot_76_bar__plus_00_dot_07_bar__minus_03_dot_76) + (pickupable SoapBar_bar__minus_02_dot_71_bar__plus_00_dot_81_bar__minus_03_dot_82) + (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 Cloth_bar__minus_02_dot_44_bar__plus_00_dot_81_bar__minus_02_dot_53) + (pickupable ToiletPaper_bar__minus_02_dot_69_bar__plus_00_dot_06_bar__minus_03_dot_44) + (pickupable SoapBottle_bar__minus_02_dot_39_bar__plus_00_dot_07_bar__minus_03_dot_57) + (pickupable Plunger_bar__minus_00_dot_13_bar__plus_00_dot_00_bar__minus_03_dot_49) + (pickupable Candle_bar__minus_02_dot_80_bar__plus_00_dot_82_bar__minus_03_dot_53) + (pickupable SoapBar_bar__minus_02_dot_36_bar__plus_00_dot_81_bar__minus_02_dot_26) + (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_25) + (openable Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_81) + + (atLocation agent1 loc_bar__minus_7_bar__minus_11_bar_1_bar_30) + + (cleanable SoapBar_bar__minus_02_dot_73_bar__plus_00_dot_87_bar__minus_03_dot_04) + (cleanable SoapBar_bar__minus_02_dot_71_bar__plus_00_dot_81_bar__minus_03_dot_82) + (cleanable Cloth_bar__minus_02_dot_44_bar__plus_00_dot_81_bar__minus_02_dot_53) + (cleanable SoapBar_bar__minus_02_dot_36_bar__plus_00_dot_81_bar__minus_02_dot_26) + (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 ToiletPaper_bar__minus_02_dot_46_bar__plus_00_dot_06_bar__minus_02_dot_38 Cabinet_bar__minus_02_dot_30_bar__plus_00_dot_35_bar__minus_02_dot_25) + (inReceptacle SoapBottle_bar__minus_02_dot_39_bar__plus_00_dot_07_bar__minus_03_dot_57 Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_81) + (inReceptacle SprayBottle_bar__minus_02_dot_76_bar__plus_00_dot_07_bar__minus_03_dot_76 Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_81) + (inReceptacle ToiletPaper_bar__minus_02_dot_69_bar__plus_00_dot_06_bar__minus_03_dot_44 Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_81) + (inReceptacle Candle_bar__minus_02_dot_80_bar__plus_00_dot_82_bar__minus_03_dot_53 CounterTop_bar__minus_02_dot_63_bar__plus_00_dot_84_bar__minus_03_dot_04) + (inReceptacle Cloth_bar__minus_02_dot_44_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 ToiletPaper_bar__minus_02_dot_71_bar__plus_00_dot_80_bar__minus_02_dot_39 CounterTop_bar__minus_02_dot_63_bar__plus_00_dot_84_bar__minus_03_dot_04) + (inReceptacle SoapBar_bar__minus_02_dot_36_bar__plus_00_dot_81_bar__minus_02_dot_26 CounterTop_bar__minus_02_dot_63_bar__plus_00_dot_84_bar__minus_03_dot_04) + (inReceptacle SprayBottle_bar__minus_02_dot_88_bar__plus_00_dot_81_bar__minus_02_dot_66 CounterTop_bar__minus_02_dot_63_bar__plus_00_dot_84_bar__minus_03_dot_04) + (inReceptacle SoapBar_bar__minus_02_dot_71_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 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_03_dot_55 HandTowelHolder_bar__minus_03_dot_00_bar__plus_01_dot_69_bar__minus_03_dot_55) + (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_73_bar__plus_00_dot_87_bar__minus_03_dot_04 Sink_bar__minus_02_dot_66_bar__plus_00_dot_79_bar__minus_03_dot_07_bar_SinkBasin) + (inReceptacle SoapBottle_bar__minus_00_dot_16_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) + + + (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_03_dot_76 loc_bar__minus_5_bar__minus_12_bar_3_bar_45) + (objectAtLocation SoapBottle_bar__minus_00_dot_16_bar__plus_01_dot_05_bar__minus_03_dot_05 loc_bar__minus_3_bar__minus_14_bar_0_bar_60) + (objectAtLocation ToiletPaper_bar__minus_02_dot_46_bar__plus_00_dot_06_bar__minus_02_dot_38 loc_bar__minus_5_bar__minus_12_bar_3_bar_45) + (objectAtLocation SoapBar_bar__minus_02_dot_36_bar__plus_00_dot_81_bar__minus_02_dot_26 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 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 SoapBar_bar__minus_02_dot_73_bar__plus_00_dot_87_bar__minus_03_dot_04 loc_bar__minus_8_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_80_bar__plus_00_dot_82_bar__minus_03_dot_53 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_53 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_03_dot_55 loc_bar__minus_8_bar__minus_14_bar_3_bar_0) + (objectAtLocation Plunger_bar__minus_00_dot_13_bar__plus_00_dot_00_bar__minus_03_dot_49 loc_bar__minus_3_bar__minus_14_bar_1_bar_60) + (objectAtLocation SoapBar_bar__minus_02_dot_71_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_02_dot_71_bar__plus_00_dot_80_bar__minus_02_dot_39 loc_bar__minus_7_bar__minus_12_bar_3_bar_45) + (objectAtLocation ToiletPaper_bar__minus_02_dot_69_bar__plus_00_dot_06_bar__minus_03_dot_44 loc_bar__minus_5_bar__minus_12_bar_3_bar_45) + (objectAtLocation Window_bar__minus_00_dot_57_bar__plus_01_dot_71_bar__minus_04_dot_00 loc_bar__minus_3_bar__minus_14_bar_2_bar_0) + (objectAtLocation Towel_bar__minus_01_dot_29_bar__plus_01_dot_39_bar__minus_00_dot_63 loc_bar__minus_7_bar__minus_3_bar_1_bar_30) + (objectAtLocation SoapBottle_bar__minus_02_dot_39_bar__plus_00_dot_07_bar__minus_03_dot_57 loc_bar__minus_5_bar__minus_12_bar_3_bar_45) + (objectAtLocation SprayBottle_bar__minus_02_dot_88_bar__plus_00_dot_81_bar__minus_02_dot_66 loc_bar__minus_7_bar__minus_12_bar_3_bar_45) + (objectAtLocation ScrubBrush_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_03_dot_34 loc_bar__minus_3_bar__minus_14_bar_1_bar_60) + (objectAtLocation LightSwitch_bar__minus_01_dot_95_bar__plus_01_dot_50_bar__plus_00_dot_00 loc_bar__minus_7_bar__minus_2_bar_0_bar_15) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o1 - object) + (and + (objectType ?o1 SoapBarType) + (receptacleType ?r GarbageCanType) + (inReceptacle ?o1 ?r) + (exists (?o2 - object) + (and + (not (= ?o1 ?o2)) + (objectType ?o2 SoapBarType) + (receptacleType ?r GarbageCanType) + (inReceptacle ?o2 ?r) + ) + ) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/valid_seen/pick_two_obj_and_place-SoapBar-None-GarbageCan-418/trial_T20190909_055649_717880/traj_data.json b/data/alfworld/json_2.1.1/valid_seen/pick_two_obj_and_place-SoapBar-None-GarbageCan-418/trial_T20190909_055649_717880/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..6b4a93785bc1fa46a1582f9b7d1bcf8a6003b97d --- /dev/null +++ b/data/alfworld/json_2.1.1/valid_seen/pick_two_obj_and_place-SoapBar-None-GarbageCan-418/trial_T20190909_055649_717880/traj_data.json @@ -0,0 +1,3144 @@ +{ + "images": [ + { + "high_idx": 0, + "image_name": "000000000.png", + "low_idx": 0 + }, + { + "high_idx": 0, + 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trash bin", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A17TKHT8FEVH0R_3WYGZ5XF3Z6ZIR5QX8O6D32JHPYSK9", + "high_descs": [ + "Turn around and go to the left of the sink", + "Grab the bar of soap off of the counter", + "Turn around and go to the trash can", + "Put the soap in the trash can", + "Turn around and go to the sink", + "Grab the bar of soap out of the sink", + "Turn around and go to the trash can", + "Put the soap in the trash can" + ], + "task_desc": "Putting two bars of soap in the trash can", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/valid_seen/pick_two_obj_and_place-SoapBottle-None-Drawer-415/trial_T20190907_161729_798002/initial_state.pddl b/data/alfworld/json_2.1.1/valid_seen/pick_two_obj_and_place-SoapBottle-None-Drawer-415/trial_T20190907_161729_798002/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..cb32a3d9b52516d53851ee282db035a3f324ddb9 --- /dev/null +++ b/data/alfworld/json_2.1.1/valid_seen/pick_two_obj_and_place-SoapBottle-None-Drawer-415/trial_T20190907_161729_798002/initial_state.pddl @@ -0,0 +1,495 @@ + +(define (problem plan_trial_T20190907_161729_798002) +(:domain alfred) +(:objects +agent1 - agent +Curtains - object + SprayBottle - object + Mirror - object + HousePlant - object + Watch - object + TeddyBear - object + WateringCan - object + Bathtub - object + LightSwitch - object + Vase - object + Candle - object + Bread - object + Statue - object + HandTowel - object + StoveKnob - object + PaperTowelRoll - object + Pan - object + PepperShaker - object + Painting - object + CellPhone - object + Plunger - object + Spoon - object + SaltShaker - object + KeyChain - object + Footstool - object + Poster - object + Television - object + LaundryHamperLid - object + Glassbottle - object + AlarmClock - object + WineBottle - object + Bowl - object + Sink - object + TissueBox - object + TennisRacket - object + ToiletPaper - object + ScrubBrush - object + CreditCard - object + Laptop - object + Cloth - object + Cup - object + Chair - object + BasketBall - object + Kettle - object + PaperTowel - object + ShowerDoor - object + BaseballBat - object + Potato - object + Pillow - object + Lettuce - object + RemoteControl - object + Window - object + DishSponge - object + CD - object + Boots - object + Blinds - object + Pen - object + Newspaper - object + Plate - object + Mug - object + ShowerGlass - object + ToiletPaperRoll - object + SoapBar - object + FloorLamp - object + SoapBottle - object + Pot - object + Pencil - object + Spatula - object + Towel - object + Fork - object + Ladle - object + Knife - object + Apple - object + Box - object + Tomato - object + ButterKnife - object + Egg - object + Book - object + DeskLamp - object +CurtainsType - otype + SprayBottleType - otype + MirrorType - otype + HousePlantType - otype + WatchType - otype + TeddyBearType - otype + WateringCanType - otype + BathtubType - otype + LightSwitchType - otype + VaseType - otype + CandleType - otype + BreadType - otype + StatueType - otype + HandTowelType - otype + StoveKnobType - otype + PaperTowelRollType - otype + PanType - otype + PepperShakerType - otype + PaintingType - otype + CellPhoneType - otype + PlungerType - otype + SpoonType - otype + SaltShakerType - otype + KeyChainType - otype + FootstoolType - otype + PosterType - otype + TelevisionType - otype + LaundryHamperLidType - otype + GlassbottleType - otype + AlarmClockType - otype + WineBottleType - otype + BowlType - otype + SinkType - otype + TissueBoxType - otype + TennisRacketType - otype + ToiletPaperType - otype + ScrubBrushType - otype + CreditCardType - otype + LaptopType - otype + ClothType - otype + CupType - otype + ChairType - otype + BasketBallType - otype + KettleType - otype + PaperTowelType - otype + ShowerDoorType - otype + BaseballBatType - otype + PotatoType - otype + PillowType - otype + LettuceType - otype + RemoteControlType - otype + WindowType - otype + DishSpongeType - otype + CDType - otype + BootsType - otype + BlindsType - otype + PenType - otype + NewspaperType - otype + PlateType - otype + MugType - otype + ShowerGlassType - otype + ToiletPaperRollType - otype + SoapBarType - otype + FloorLampType - otype + SoapBottleType - otype + PotType - otype + PencilType - otype + SpatulaType - otype + TowelType - otype + ForkType - otype + LadleType - otype + KnifeType - otype + AppleType - otype + BoxType - otype + TomatoType - otype + ButterKnifeType - otype + EggType - otype + BookType - otype + DeskLampType - otype +CabinetType - rtype + ShelfType - rtype + DiningTableType - rtype + TowelHolderType - rtype + PaintingHangerType - rtype + TVStandType - rtype + LaundryHamperType - rtype + OttomanType - rtype + SafeType - rtype + CoffeeMachineType - rtype + CounterTopType - rtype + ToiletType - rtype + FridgeType - rtype + CoffeeTableType - rtype + SinkBasinType - rtype + GarbageCanType - rtype + BathtubBasinType - rtype + SideTableType - rtype + CartType - rtype + BedType - rtype + DeskType - rtype + SofaType - rtype + ArmChairType - rtype + MicrowaveType - rtype + HandTowelHolderType - rtype + ToasterType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + DrawerType - rtype + DresserType - rtype + + + Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83 - object + Candle_bar__minus_00_dot_09_bar__plus_01_dot_04_bar__minus_00_dot_68 - object + Cloth_bar__minus_02_dot_52_bar__plus_00_dot_09_bar__minus_00_dot_82 - object + Cloth_bar__minus_02_dot_77_bar__plus_01_dot_00_bar__minus_03_dot_45 - object + Faucet_bar__minus_00_dot_04_bar__plus_01_dot_02_bar__minus_02_dot_08 - object + HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_48_bar__minus_02_dot_66 - object + LightSwitch_bar__minus_00_dot_36_bar__plus_01_dot_33_bar__minus_04_dot_00 - object + Mirror_bar__minus_02_dot_98_bar__plus_01_dot_57_bar__minus_02_dot_90 - object + Plunger_bar__minus_00_dot_37_bar_00_dot_00_bar__minus_00_dot_10 - object + ScrubBrush_bar__minus_00_dot_14_bar_00_dot_00_bar__minus_00_dot_11 - object + ShowerCurtain_bar__minus_02_dot_19_bar__plus_01_dot_92_bar__minus_01_dot_56 - object + ShowerHead_bar__minus_02_dot_58_bar__plus_01_dot_20_bar__minus_00_dot_06 - object + Sink_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_02_dot_08 - object + SoapBar_bar__minus_02_dot_54_bar__plus_00_dot_36_bar__minus_02_dot_71 - object + SoapBar_bar__minus_02_dot_65_bar__plus_00_dot_08_bar__minus_00_dot_39 - object + SoapBottle_bar__minus_00_dot_15_bar__plus_01_dot_16_bar__minus_03_dot_20 - object + SoapBottle_bar__minus_00_dot_15_bar__plus_01_dot_17_bar__minus_03_dot_50 - object + SoapBottle_bar__minus_02_dot_84_bar__plus_00_dot_99_bar__minus_02_dot_13 - object + SprayBottle_bar__minus_00_dot_12_bar__plus_01_dot_16_bar__minus_03_dot_60 - object + SprayBottle_bar__minus_02_dot_62_bar__plus_00_dot_99_bar__minus_02_dot_39 - object + ToiletPaper_bar__minus_00_dot_10_bar__plus_00_dot_87_bar__minus_01_dot_03 - object + ToiletPaper_bar__minus_00_dot_19_bar__plus_00_dot_88_bar__minus_03_dot_47 - object + ToiletPaper_bar__minus_02_dot_69_bar__plus_00_dot_99_bar__minus_02_dot_66 - object + Towel_bar__minus_01_dot_34_bar__plus_01_dot_19_bar__minus_00_dot_11 - object + Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83_bar_BathtubBasin - receptacle + CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92 - receptacle + Drawer_bar__minus_00_dot_19_bar__plus_00_dot_16_bar__minus_03_dot_40 - receptacle + Drawer_bar__minus_00_dot_19_bar__plus_00_dot_42_bar__minus_03_dot_40 - receptacle + Drawer_bar__minus_00_dot_19_bar__plus_00_dot_68_bar__minus_03_dot_40 - receptacle + Drawer_bar__minus_00_dot_19_bar__plus_00_dot_94_bar__minus_03_dot_40 - receptacle + Dresser_bar__minus_00_dot_21_bar__plus_00_dot_81_bar__minus_03_dot_40 - receptacle + GarbageCan_bar__minus_00_dot_23_bar_00_dot_00_bar__minus_02_dot_80 - receptacle + HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_01_dot_55 - receptacle + HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_02_dot_66 - receptacle + Shelf_bar__minus_02_dot_54_bar__plus_00_dot_13_bar__minus_02_dot_92 - receptacle + Shelf_bar__minus_02_dot_58_bar__plus_00_dot_40_bar__minus_02_dot_92 - receptacle + Sink_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_02_dot_08_bar_SinkBasin - receptacle + ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_87_bar__minus_00_dot_97 - receptacle + Toilet_bar__minus_00_dot_41_bar_00_dot_00_bar__minus_00_dot_55 - receptacle + TowelHolder_bar__minus_01_dot_34_bar__plus_01_dot_18_bar__plus_00_dot_00 - receptacle + loc_bar__minus_5_bar__minus_12_bar_1_bar_45 - location + loc_bar__minus_3_bar__minus_11_bar_1_bar_0 - location + loc_bar__minus_3_bar__minus_6_bar_2_bar_60 - location + loc_bar__minus_2_bar__minus_4_bar_0_bar_60 - location + loc_bar__minus_2_bar__minus_13_bar_2_bar_30 - location + loc_bar__minus_2_bar__minus_5_bar_0_bar_60 - location + loc_bar__minus_8_bar__minus_12_bar_3_bar_60 - location + loc_bar__minus_6_bar__minus_11_bar_1_bar_45 - location + loc_bar__minus_5_bar__minus_11_bar_1_bar_60 - location + loc_bar__minus_3_bar__minus_13_bar_1_bar_60 - location + loc_bar__minus_6_bar__minus_2_bar_3_bar_60 - location + loc_bar__minus_2_bar__minus_4_bar_1_bar_60 - location + loc_bar__minus_4_bar__minus_8_bar_1_bar_60 - location + loc_bar__minus_3_bar__minus_6_bar_1_bar_0 - location + loc_bar__minus_5_bar__minus_11_bar_3_bar_45 - location + loc_bar__minus_5_bar__minus_9_bar_1_bar_60 - location + loc_bar__minus_8_bar__minus_11_bar_3_bar_45 - location + loc_bar__minus_5_bar__minus_2_bar_0_bar_45 - location + loc_bar__minus_4_bar__minus_13_bar_1_bar_45 - location + loc_bar__minus_7_bar__minus_3_bar_3_bar_60 - location + loc_bar__minus_6_bar__minus_6_bar_1_bar_30 - location + ) + + +(:init + + + (receptacleType Drawer_bar__minus_00_dot_19_bar__plus_00_dot_94_bar__minus_03_dot_40 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_19_bar__plus_00_dot_16_bar__minus_03_dot_40 DrawerType) + (receptacleType TowelHolder_bar__minus_01_dot_34_bar__plus_01_dot_18_bar__plus_00_dot_00 TowelHolderType) + (receptacleType GarbageCan_bar__minus_00_dot_23_bar_00_dot_00_bar__minus_02_dot_80 GarbageCanType) + (receptacleType Shelf_bar__minus_02_dot_58_bar__plus_00_dot_40_bar__minus_02_dot_92 ShelfType) + (receptacleType HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_01_dot_55 HandTowelHolderType) + (receptacleType CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92 CounterTopType) + (receptacleType Sink_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_02_dot_08_bar_SinkBasin SinkBasinType) + (receptacleType Toilet_bar__minus_00_dot_41_bar_00_dot_00_bar__minus_00_dot_55 ToiletType) + (receptacleType Shelf_bar__minus_02_dot_54_bar__plus_00_dot_13_bar__minus_02_dot_92 ShelfType) + (receptacleType Dresser_bar__minus_00_dot_21_bar__plus_00_dot_81_bar__minus_03_dot_40 DresserType) + (receptacleType Drawer_bar__minus_00_dot_19_bar__plus_00_dot_68_bar__minus_03_dot_40 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_19_bar__plus_00_dot_42_bar__minus_03_dot_40 DrawerType) + (receptacleType ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_87_bar__minus_00_dot_97 ToiletPaperHangerType) + (receptacleType Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83_bar_BathtubBasin BathtubBasinType) + (receptacleType HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_02_dot_66 HandTowelHolderType) + (objectType ToiletPaper_bar__minus_00_dot_19_bar__plus_00_dot_88_bar__minus_03_dot_47 ToiletPaperType) + (objectType HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_48_bar__minus_02_dot_66 HandTowelType) + (objectType SprayBottle_bar__minus_00_dot_12_bar__plus_01_dot_16_bar__minus_03_dot_60 SprayBottleType) + (objectType SoapBar_bar__minus_02_dot_54_bar__plus_00_dot_36_bar__minus_02_dot_71 SoapBarType) + (objectType LightSwitch_bar__minus_00_dot_36_bar__plus_01_dot_33_bar__minus_04_dot_00 LightSwitchType) + (objectType SoapBottle_bar__minus_02_dot_84_bar__plus_00_dot_99_bar__minus_02_dot_13 SoapBottleType) + (objectType ToiletPaper_bar__minus_02_dot_69_bar__plus_00_dot_99_bar__minus_02_dot_66 ToiletPaperType) + (objectType SprayBottle_bar__minus_02_dot_62_bar__plus_00_dot_99_bar__minus_02_dot_39 SprayBottleType) + (objectType Cloth_bar__minus_02_dot_77_bar__plus_01_dot_00_bar__minus_03_dot_45 ClothType) + (objectType Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83 BathtubType) + (objectType Mirror_bar__minus_02_dot_98_bar__plus_01_dot_57_bar__minus_02_dot_90 MirrorType) + (objectType ToiletPaper_bar__minus_00_dot_10_bar__plus_00_dot_87_bar__minus_01_dot_03 ToiletPaperType) + (objectType Sink_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_02_dot_08 SinkType) + (objectType SoapBar_bar__minus_02_dot_65_bar__plus_00_dot_08_bar__minus_00_dot_39 SoapBarType) + (objectType SoapBottle_bar__minus_00_dot_15_bar__plus_01_dot_17_bar__minus_03_dot_50 SoapBottleType) + (objectType ScrubBrush_bar__minus_00_dot_14_bar_00_dot_00_bar__minus_00_dot_11 ScrubBrushType) + (objectType Plunger_bar__minus_00_dot_37_bar_00_dot_00_bar__minus_00_dot_10 PlungerType) + (objectType Candle_bar__minus_00_dot_09_bar__plus_01_dot_04_bar__minus_00_dot_68 CandleType) + (objectType Cloth_bar__minus_02_dot_52_bar__plus_00_dot_09_bar__minus_00_dot_82 ClothType) + (objectType SoapBottle_bar__minus_00_dot_15_bar__plus_01_dot_16_bar__minus_03_dot_20 SoapBottleType) + (objectType Towel_bar__minus_01_dot_34_bar__plus_01_dot_19_bar__minus_00_dot_11 TowelType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType CandleType) + (canContain DrawerType ClothType) + (canContain DrawerType HandTowelType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType CandleType) + (canContain DrawerType ClothType) + (canContain DrawerType HandTowelType) + (canContain TowelHolderType TowelType) + (canContain GarbageCanType SprayBottleType) + (canContain GarbageCanType SoapBarType) + (canContain GarbageCanType SoapBottleType) + (canContain GarbageCanType ToiletPaperType) + (canContain GarbageCanType ClothType) + (canContain GarbageCanType HandTowelType) + (canContain ShelfType SprayBottleType) + (canContain ShelfType SoapBarType) + (canContain ShelfType SoapBottleType) + (canContain ShelfType ToiletPaperType) + (canContain ShelfType CandleType) + (canContain ShelfType ClothType) + (canContain ShelfType HandTowelType) + (canContain HandTowelHolderType HandTowelType) + (canContain CounterTopType SprayBottleType) + (canContain CounterTopType SoapBarType) + (canContain CounterTopType SoapBottleType) + (canContain CounterTopType ToiletPaperType) + (canContain CounterTopType CandleType) + (canContain CounterTopType ClothType) + (canContain CounterTopType HandTowelType) + (canContain SinkBasinType SoapBarType) + (canContain SinkBasinType ClothType) + (canContain SinkBasinType HandTowelType) + (canContain ToiletType ClothType) + (canContain ToiletType SoapBarType) + (canContain ToiletType HandTowelType) + (canContain ToiletType ToiletPaperType) + (canContain ToiletType SoapBottleType) + (canContain ToiletType SprayBottleType) + (canContain ToiletType CandleType) + (canContain ShelfType SprayBottleType) + (canContain ShelfType SoapBarType) + (canContain ShelfType SoapBottleType) + (canContain ShelfType ToiletPaperType) + (canContain ShelfType CandleType) + (canContain ShelfType ClothType) + (canContain ShelfType HandTowelType) + (canContain DresserType SprayBottleType) + (canContain DresserType ToiletPaperType) + (canContain DresserType CandleType) + (canContain DresserType ClothType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType CandleType) + (canContain DrawerType ClothType) + (canContain DrawerType HandTowelType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType CandleType) + (canContain DrawerType ClothType) + (canContain DrawerType HandTowelType) + (canContain ToiletPaperHangerType ToiletPaperType) + (canContain BathtubBasinType HandTowelType) + (canContain BathtubBasinType SoapBarType) + (canContain BathtubBasinType ClothType) + (canContain HandTowelHolderType HandTowelType) + (pickupable ToiletPaper_bar__minus_00_dot_19_bar__plus_00_dot_88_bar__minus_03_dot_47) + (pickupable HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_48_bar__minus_02_dot_66) + (pickupable SprayBottle_bar__minus_00_dot_12_bar__plus_01_dot_16_bar__minus_03_dot_60) + (pickupable SoapBar_bar__minus_02_dot_54_bar__plus_00_dot_36_bar__minus_02_dot_71) + (pickupable SoapBottle_bar__minus_02_dot_84_bar__plus_00_dot_99_bar__minus_02_dot_13) + (pickupable ToiletPaper_bar__minus_02_dot_69_bar__plus_00_dot_99_bar__minus_02_dot_66) + (pickupable SprayBottle_bar__minus_02_dot_62_bar__plus_00_dot_99_bar__minus_02_dot_39) + (pickupable Cloth_bar__minus_02_dot_77_bar__plus_01_dot_00_bar__minus_03_dot_45) + (pickupable ToiletPaper_bar__minus_00_dot_10_bar__plus_00_dot_87_bar__minus_01_dot_03) + (pickupable SoapBar_bar__minus_02_dot_65_bar__plus_00_dot_08_bar__minus_00_dot_39) + (pickupable SoapBottle_bar__minus_00_dot_15_bar__plus_01_dot_17_bar__minus_03_dot_50) + (pickupable ScrubBrush_bar__minus_00_dot_14_bar_00_dot_00_bar__minus_00_dot_11) + (pickupable Plunger_bar__minus_00_dot_37_bar_00_dot_00_bar__minus_00_dot_10) + (pickupable Candle_bar__minus_00_dot_09_bar__plus_01_dot_04_bar__minus_00_dot_68) + (pickupable Cloth_bar__minus_02_dot_52_bar__plus_00_dot_09_bar__minus_00_dot_82) + (pickupable SoapBottle_bar__minus_00_dot_15_bar__plus_01_dot_16_bar__minus_03_dot_20) + (pickupable Towel_bar__minus_01_dot_34_bar__plus_01_dot_19_bar__minus_00_dot_11) + + (openable Drawer_bar__minus_00_dot_19_bar__plus_00_dot_94_bar__minus_03_dot_40) + (openable Drawer_bar__minus_00_dot_19_bar__plus_00_dot_16_bar__minus_03_dot_40) + (openable Drawer_bar__minus_00_dot_19_bar__plus_00_dot_68_bar__minus_03_dot_40) + (openable Drawer_bar__minus_00_dot_19_bar__plus_00_dot_42_bar__minus_03_dot_40) + + (atLocation agent1 loc_bar__minus_6_bar__minus_6_bar_1_bar_30) + + (cleanable SoapBar_bar__minus_02_dot_54_bar__plus_00_dot_36_bar__minus_02_dot_71) + (cleanable Cloth_bar__minus_02_dot_77_bar__plus_01_dot_00_bar__minus_03_dot_45) + (cleanable SoapBar_bar__minus_02_dot_65_bar__plus_00_dot_08_bar__minus_00_dot_39) + (cleanable Cloth_bar__minus_02_dot_52_bar__plus_00_dot_09_bar__minus_00_dot_82) + + + + + + + + + + + (inReceptacle ToiletPaper_bar__minus_00_dot_19_bar__plus_00_dot_88_bar__minus_03_dot_47 Drawer_bar__minus_00_dot_19_bar__plus_00_dot_94_bar__minus_03_dot_40) + (inReceptacle SoapBottle_bar__minus_00_dot_15_bar__plus_01_dot_17_bar__minus_03_dot_50 Dresser_bar__minus_00_dot_21_bar__plus_00_dot_81_bar__minus_03_dot_40) + (inReceptacle SoapBottle_bar__minus_00_dot_15_bar__plus_01_dot_16_bar__minus_03_dot_20 Dresser_bar__minus_00_dot_21_bar__plus_00_dot_81_bar__minus_03_dot_40) + (inReceptacle SprayBottle_bar__minus_00_dot_12_bar__plus_01_dot_16_bar__minus_03_dot_60 Dresser_bar__minus_00_dot_21_bar__plus_00_dot_81_bar__minus_03_dot_40) + (inReceptacle SoapBar_bar__minus_02_dot_54_bar__plus_00_dot_36_bar__minus_02_dot_71 Shelf_bar__minus_02_dot_58_bar__plus_00_dot_40_bar__minus_02_dot_92) + (inReceptacle ToiletPaper_bar__minus_02_dot_69_bar__plus_00_dot_99_bar__minus_02_dot_66 CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92) + (inReceptacle SprayBottle_bar__minus_02_dot_62_bar__plus_00_dot_99_bar__minus_02_dot_39 CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92) + (inReceptacle Cloth_bar__minus_02_dot_77_bar__plus_01_dot_00_bar__minus_03_dot_45 CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92) + (inReceptacle SoapBottle_bar__minus_02_dot_84_bar__plus_00_dot_99_bar__minus_02_dot_13 CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92) + (inReceptacle Mirror_bar__minus_02_dot_98_bar__plus_01_dot_57_bar__minus_02_dot_90 CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92) + (inReceptacle Towel_bar__minus_01_dot_34_bar__plus_01_dot_19_bar__minus_00_dot_11 TowelHolder_bar__minus_01_dot_34_bar__plus_01_dot_18_bar__plus_00_dot_00) + (inReceptacle HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_48_bar__minus_02_dot_66 HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_02_dot_66) + (inReceptacle SoapBar_bar__minus_02_dot_65_bar__plus_00_dot_08_bar__minus_00_dot_39 Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83_bar_BathtubBasin) + (inReceptacle Cloth_bar__minus_02_dot_52_bar__plus_00_dot_09_bar__minus_00_dot_82 Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83_bar_BathtubBasin) + (inReceptacle ToiletPaper_bar__minus_00_dot_10_bar__plus_00_dot_87_bar__minus_01_dot_03 ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_87_bar__minus_00_dot_97) + (inReceptacle Candle_bar__minus_00_dot_09_bar__plus_01_dot_04_bar__minus_00_dot_68 Toilet_bar__minus_00_dot_41_bar_00_dot_00_bar__minus_00_dot_55) + + + (receptacleAtLocation Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83_bar_BathtubBasin loc_bar__minus_6_bar__minus_2_bar_3_bar_60) + (receptacleAtLocation CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92 loc_bar__minus_8_bar__minus_11_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_19_bar__plus_00_dot_16_bar__minus_03_dot_40 loc_bar__minus_5_bar__minus_11_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__minus_00_dot_19_bar__plus_00_dot_42_bar__minus_03_dot_40 loc_bar__minus_6_bar__minus_11_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_19_bar__plus_00_dot_68_bar__minus_03_dot_40 loc_bar__minus_5_bar__minus_12_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_19_bar__plus_00_dot_94_bar__minus_03_dot_40 loc_bar__minus_4_bar__minus_13_bar_1_bar_45) + (receptacleAtLocation Dresser_bar__minus_00_dot_21_bar__plus_00_dot_81_bar__minus_03_dot_40 loc_bar__minus_3_bar__minus_13_bar_1_bar_60) + (receptacleAtLocation GarbageCan_bar__minus_00_dot_23_bar_00_dot_00_bar__minus_02_dot_80 loc_bar__minus_5_bar__minus_9_bar_1_bar_60) + (receptacleAtLocation HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_01_dot_55 loc_bar__minus_3_bar__minus_6_bar_1_bar_0) + (receptacleAtLocation HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_02_dot_66 loc_bar__minus_3_bar__minus_11_bar_1_bar_0) + (receptacleAtLocation Shelf_bar__minus_02_dot_54_bar__plus_00_dot_13_bar__minus_02_dot_92 loc_bar__minus_8_bar__minus_12_bar_3_bar_60) + (receptacleAtLocation Shelf_bar__minus_02_dot_58_bar__plus_00_dot_40_bar__minus_02_dot_92 loc_bar__minus_5_bar__minus_11_bar_3_bar_45) + (receptacleAtLocation Sink_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_02_dot_08_bar_SinkBasin loc_bar__minus_3_bar__minus_6_bar_2_bar_60) + (receptacleAtLocation ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_87_bar__minus_00_dot_97 loc_bar__minus_2_bar__minus_4_bar_1_bar_60) + (receptacleAtLocation Toilet_bar__minus_00_dot_41_bar_00_dot_00_bar__minus_00_dot_55 loc_bar__minus_2_bar__minus_5_bar_0_bar_60) + (receptacleAtLocation TowelHolder_bar__minus_01_dot_34_bar__plus_01_dot_18_bar__plus_00_dot_00 loc_bar__minus_5_bar__minus_2_bar_0_bar_45) + (objectAtLocation SprayBottle_bar__minus_02_dot_62_bar__plus_00_dot_99_bar__minus_02_dot_39 loc_bar__minus_8_bar__minus_11_bar_3_bar_45) + (objectAtLocation Cloth_bar__minus_02_dot_77_bar__plus_01_dot_00_bar__minus_03_dot_45 loc_bar__minus_8_bar__minus_11_bar_3_bar_45) + (objectAtLocation SoapBottle_bar__minus_00_dot_15_bar__plus_01_dot_17_bar__minus_03_dot_50 loc_bar__minus_3_bar__minus_13_bar_1_bar_60) + (objectAtLocation ToiletPaper_bar__minus_02_dot_69_bar__plus_00_dot_99_bar__minus_02_dot_66 loc_bar__minus_8_bar__minus_11_bar_3_bar_45) + (objectAtLocation SoapBar_bar__minus_02_dot_54_bar__plus_00_dot_36_bar__minus_02_dot_71 loc_bar__minus_5_bar__minus_11_bar_3_bar_45) + (objectAtLocation SoapBottle_bar__minus_00_dot_15_bar__plus_01_dot_16_bar__minus_03_dot_20 loc_bar__minus_3_bar__minus_13_bar_1_bar_60) + (objectAtLocation Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83 loc_bar__minus_7_bar__minus_3_bar_3_bar_60) + (objectAtLocation Sink_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_02_dot_08 loc_bar__minus_4_bar__minus_8_bar_1_bar_60) + (objectAtLocation Mirror_bar__minus_02_dot_98_bar__plus_01_dot_57_bar__minus_02_dot_90 loc_bar__minus_8_bar__minus_11_bar_3_bar_45) + (objectAtLocation HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_48_bar__minus_02_dot_66 loc_bar__minus_3_bar__minus_11_bar_1_bar_0) + (objectAtLocation SoapBar_bar__minus_02_dot_65_bar__plus_00_dot_08_bar__minus_00_dot_39 loc_bar__minus_6_bar__minus_2_bar_3_bar_60) + (objectAtLocation ToiletPaper_bar__minus_00_dot_10_bar__plus_00_dot_87_bar__minus_01_dot_03 loc_bar__minus_2_bar__minus_4_bar_1_bar_60) + (objectAtLocation 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Candle_bar__minus_00_dot_09_bar__plus_01_dot_04_bar__minus_00_dot_68 loc_bar__minus_2_bar__minus_5_bar_0_bar_60) + (objectAtLocation SprayBottle_bar__minus_00_dot_12_bar__plus_01_dot_16_bar__minus_03_dot_60 loc_bar__minus_3_bar__minus_13_bar_1_bar_60) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o1 - object) + (and + (objectType ?o1 SoapBottleType) + (receptacleType ?r DrawerType) + (inReceptacle ?o1 ?r) + (exists (?o2 - object) + (and + (not (= ?o1 ?o2)) + (objectType ?o2 SoapBottleType) + (receptacleType ?r DrawerType) + (inReceptacle ?o2 ?r) + ) + ) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/valid_seen/pick_two_obj_and_place-SoapBottle-None-Drawer-415/trial_T20190907_161729_798002/traj_data.json b/data/alfworld/json_2.1.1/valid_seen/pick_two_obj_and_place-SoapBottle-None-Drawer-415/trial_T20190907_161729_798002/traj_data.json new file mode 100644 index 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"z": 0.0 + } + }, + { + "objectName": "SoapBar_096cb92b", + "position": { + "x": -2.544428, + "y": 0.357569754, + "z": -2.71429825 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "ToiletPaper_b548d64b", + "position": { + "x": -0.103500023, + "y": 0.866393864, + "z": -1.03366709 + }, + "rotation": { + "x": 0.0, + "y": 270.000031, + "z": 270.0 + } + }, + { + "objectName": "ToiletPaper_90be43f0", + "position": { + "x": -2.69439244, + "y": 0.989500046, + "z": -2.65714025 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Towel_f66c2b38", + "position": { + "x": -1.33899987, + "y": 1.19300008, + "z": -0.1069 + }, + "rotation": { + "x": 0.0, + "y": 179.999969, + "z": 0.0 + } + }, + { + "objectName": "SoapBottle_201a1dc1", + "position": { + "x": -0.14832513, + "y": 1.16676509, + "z": -3.49716139 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "ScrubBrush_525406ff", + "position": { + "x": -0.136, + "y": -0.0002756752, + "z": -0.105 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Cloth_925ae57e", + "position": { + "x": -2.76805568, + "y": 0.997712, + "z": -3.45472 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Plunger_cb0776d8", + "position": { + "x": -0.370999247, + "y": -0.000738665462, + "z": -0.09700089 + }, + "rotation": { + "x": -0.00118371623, + "y": 0.0004447984, + "z": 0.000782377669 + } + }, + { + "objectName": "Candle_7c60a913", + "position": { + "x": -0.08800036, + "y": 1.04317713, + "z": -0.675701439 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + }, + { + "objectName": "SprayBottle_c604c576", + "position": { + "x": -2.62072921, + "y": 0.993904054, + "z": -2.39128041 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 1559686171, + "scene_num": 415 + }, + "task_id": "trial_T20190907_161729_798002", + "task_type": "pick_two_obj_and_place", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A36DK84J5YJ942_3PS7W85Z82J8V6DGM3DQWD0NEFQT90", + "high_descs": [ + "Move to the dresser to the right of the sink", + "Pick up a dispenser from the dresser", + "Move to the right of the sink to the left of the dresser", + "Place the dispenser in the bottom drawer and close it", + "Move to the shelf behind you", + "Pick up a dispenser from the shelf", + "Move to the right of the sink to the left of the dresser", + "Place the dispenser in the bottom drawer and close it" + ], + "task_desc": "Put two dispensers in the bottom drawer of the dresser.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A20FCMWP43CVIU_3SITXWYCNYQY0G1XPXSJCMGJFBABX4", + "high_descs": [ + "turn to the right, walk straight until white dresser drawers are on left side, turn left and face dresser", + "pick up silver bottle with brown pump from on top of dresser", + "back up and face sink, garbage can, and dresser ", + "open bottom dresser drawer, place bottle inside, close drawer", + "turn around, face open white shelves underneath a mirror", + "pick up silver bottle with brown pump from on top of shelves", + "turn around, face sink, garbage can, and dresser ", + "open bottom dresser drawer, put bottle inside to the left of the other bottle, close drawer" + ], + "task_desc": "get two silver bottles with brown pumps, put them in dresser drawer", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3F7G1FSFWQPLE_3X1FV8S5J082N84D54JFPCAVFEAVGK", + "high_descs": [ + "Turn right and begin walking across the room, then hang a left and walk up to the tall white dresser.", + "Pick up the rightmost bottle of lotion off of the white dresser.", + "Turn around walk across the room, then hang a right and walk forward then turn right to face the tall white dresser.", + "Open the bottom drawer of the tall white dresser and put the bottle of lotion inside all the way to the right.", + "Turn left and take a step forward, then turn left again and walk up to the white table.", + "Pick up the bottle of lotion off of the table.", + "Turn left and take a step forward, then turn left again and walk up to the tall white dresser.", + "Open the bottom drawer of the dresser and put the bottle of lotion inside to the left of the bottle that's already in there." + ], + "task_desc": "Move two bottles of lotion into a drawer.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/valid_seen/pick_two_obj_and_place-SprayBottle-None-Toilet-429/trial_T20190907_033843_707544/game.tw-pddl b/data/alfworld/json_2.1.1/valid_seen/pick_two_obj_and_place-SprayBottle-None-Toilet-429/trial_T20190907_033843_707544/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..06c56ab1c780b54efcd28678cfde86cf05f087fa --- /dev/null +++ b/data/alfworld/json_2.1.1/valid_seen/pick_two_obj_and_place-SprayBottle-None-Toilet-429/trial_T20190907_033843_707544/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\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 spraybottle in toilet.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190907_033843_707544)\n(:domain alfred)\n(:objects\nagent1 - agent\nCurtains - object\n SprayBottle - object\n Mirror - object\n HousePlant - object\n Watch - object\n TeddyBear - object\n WateringCan - object\n Bathtub - object\n LightSwitch - object\n Vase - object\n Candle - object\n Bread - object\n Statue - object\n HandTowel - object\n StoveKnob - object\n PaperTowelRoll - object\n Pan - object\n PepperShaker - object\n Painting - object\n CellPhone - object\n Plunger - object\n Spoon - object\n SaltShaker - object\n KeyChain - object\n Footstool - object\n Poster - object\n Television - object\n LaundryHamperLid - object\n Glassbottle - object\n AlarmClock - object\n WineBottle - object\n Bowl - object\n Sink - object\n TissueBox - object\n TennisRacket - object\n ToiletPaper - object\n ScrubBrush - object\n CreditCard - object\n Laptop - object\n Cloth - object\n Cup - object\n Chair - object\n BasketBall - object\n Kettle - object\n PaperTowel - object\n ShowerDoor - object\n BaseballBat - object\n Potato - object\n Pillow - object\n Lettuce - object\n RemoteControl - object\n Window - object\n DishSponge - object\n CD - object\n Boots - object\n Blinds - object\n Pen - object\n Newspaper - object\n Plate - object\n Mug - object\n ShowerGlass - object\n ToiletPaperRoll - object\n SoapBar - object\n FloorLamp - object\n SoapBottle - object\n Pot - object\n Pencil - object\n Spatula - object\n Towel - object\n Fork - object\n Ladle - object\n Knife - object\n Apple - object\n Box - object\n Tomato - object\n ButterKnife - object\n Egg - object\n Book - object\n DeskLamp - object\nCurtainsType - otype\n SprayBottleType - otype\n MirrorType - otype\n HousePlantType - otype\n WatchType - otype\n TeddyBearType - otype\n WateringCanType - otype\n BathtubType - otype\n LightSwitchType - otype\n VaseType - otype\n CandleType - otype\n BreadType - otype\n StatueType - otype\n HandTowelType - otype\n StoveKnobType - otype\n PaperTowelRollType - otype\n PanType - otype\n PepperShakerType - otype\n PaintingType - otype\n CellPhoneType - otype\n PlungerType - otype\n SpoonType - otype\n SaltShakerType - otype\n KeyChainType - otype\n FootstoolType - otype\n PosterType - otype\n TelevisionType - otype\n LaundryHamperLidType - otype\n GlassbottleType - otype\n AlarmClockType - otype\n WineBottleType - otype\n BowlType - otype\n SinkType - otype\n TissueBoxType - otype\n TennisRacketType - otype\n ToiletPaperType - otype\n ScrubBrushType - otype\n CreditCardType - otype\n LaptopType - otype\n ClothType - otype\n CupType - otype\n ChairType - otype\n BasketBallType - otype\n KettleType - otype\n PaperTowelType - otype\n ShowerDoorType - otype\n BaseballBatType - otype\n PotatoType - otype\n PillowType - otype\n LettuceType - otype\n RemoteControlType - otype\n WindowType - otype\n DishSpongeType - otype\n CDType - otype\n BootsType - otype\n BlindsType - otype\n PenType - otype\n NewspaperType - otype\n PlateType - otype\n MugType - otype\n ShowerGlassType - otype\n ToiletPaperRollType - otype\n SoapBarType - otype\n FloorLampType - otype\n SoapBottleType - otype\n PotType - otype\n PencilType - otype\n SpatulaType - otype\n TowelType - otype\n ForkType - otype\n LadleType - otype\n KnifeType - otype\n AppleType - otype\n BoxType - otype\n TomatoType - otype\n ButterKnifeType - otype\n EggType - otype\n BookType - otype\n DeskLampType - otype\nCabinetType - rtype\n ShelfType - rtype\n DiningTableType - rtype\n TowelHolderType - rtype\n PaintingHangerType - rtype\n TVStandType - rtype\n LaundryHamperType - rtype\n OttomanType - rtype\n SafeType - rtype\n CoffeeMachineType - rtype\n CounterTopType - rtype\n ToiletType - rtype\n FridgeType - rtype\n CoffeeTableType - rtype\n SinkBasinType - rtype\n GarbageCanType - rtype\n BathtubBasinType - rtype\n SideTableType - rtype\n CartType - rtype\n BedType - rtype\n DeskType - rtype\n SofaType - rtype\n ArmChairType - rtype\n MicrowaveType - rtype\n HandTowelHolderType - rtype\n ToasterType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n DrawerType - rtype\n DresserType - rtype\n\n\n Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12 - object\n Candle_bar__plus_00_dot_73_bar__plus_00_dot_82_bar__minus_00_dot_93 - object\n Candle_bar__plus_00_dot_77_bar__plus_00_dot_82_bar__minus_02_dot_08 - object\n Candle_bar__plus_00_dot_82_bar__plus_00_dot_82_bar__minus_01_dot_98 - object\n Cloth_bar__minus_01_dot_64_bar__plus_00_dot_04_bar__minus_02_dot_40 - object\n Cloth_bar__minus_01_dot_64_bar__plus_00_dot_04_bar__minus_02_dot_68 - object\n Cloth_bar__minus_02_dot_09_bar__plus_00_dot_04_bar__minus_03_dot_54 - 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_66_bar__plus_00_dot_82_bar__minus_00_dot_08 - object\n SoapBottle_bar__plus_00_dot_84_bar__plus_00_dot_82_bar__minus_00_dot_62 - object\n SoapBottle_bar__minus_01_dot_56_bar__plus_00_dot_82_bar__minus_00_dot_17 - object\n SprayBottle_bar__plus_00_dot_74_bar__plus_00_dot_82_bar__minus_01_dot_98 - object\n SprayBottle_bar__plus_00_dot_87_bar__plus_00_dot_82_bar__minus_00_dot_83 - object\n SprayBottle_bar__minus_01_dot_35_bar__plus_00_dot_82_bar__minus_00_dot_14 - object\n SprayBottle_bar__minus_01_dot_35_bar__plus_00_dot_82_bar__minus_00_dot_22 - object\n TissueBox_bar__plus_00_dot_82_bar__plus_00_dot_82_bar__minus_01_dot_77 - object\n TissueBox_bar__plus_00_dot_83_bar__plus_00_dot_81_bar__minus_00_dot_36 - 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_56_bar__plus_00_dot_08_bar__minus_03_dot_78 - object\n Towel_bar__minus_01_dot_53_bar__plus_01_dot_69_bar__minus_00_dot_11 - object\n Window_bar__minus_00_dot_54_bar__plus_01_dot_63_bar__minus_04_dot_00 - object\n Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12_bar_BathtubBasin - receptacle\n GarbageCan_bar__minus_00_dot_51_bar_00_dot_00_bar__minus_03_dot_76 - receptacle\n HandTowelHolder_bar__minus_02_dot_17_bar__plus_01_dot_60_bar__plus_00_dot_00 - receptacle\n Shelf_bar__plus_00_dot_81_bar__plus_00_dot_81_bar__minus_00_dot_61 - receptacle\n Shelf_bar__plus_00_dot_82_bar__plus_00_dot_81_bar__minus_01_dot_76 - receptacle\n Shelf_bar__minus_01_dot_57_bar__plus_00_dot_81_bar__minus_00_dot_14 - receptacle\n Sink_bar__minus_02_dot_17_bar__plus_00_dot_30_bar__minus_00_dot_66_bar_SinkBasin - receptacle\n ToiletPaperHanger_bar__plus_00_dot_46_bar__plus_00_dot_84_bar__minus_03_dot_98 - receptacle\n Toilet_bar__plus_00_dot_00_bar_00_dot_00_bar__minus_03_dot_44 - receptacle\n TowelHolder_bar__minus_01_dot_53_bar__plus_01_dot_67_bar__plus_00_dot_00 - receptacle\n loc_bar__minus_5_bar__minus_3_bar_0_bar_60 - location\n loc_bar_1_bar__minus_2_bar_0_bar_30 - location\n loc_bar_1_bar__minus_7_bar_1_bar_60 - location\n loc_bar_1_bar__minus_4_bar_1_bar_60 - location\n loc_bar_1_bar__minus_11_bar_2_bar_60 - location\n loc_bar__minus_2_bar__minus_13_bar_2_bar_0 - location\n loc_bar__minus_4_bar__minus_12_bar_3_bar_60 - location\n loc_bar__minus_6_bar__minus_3_bar_0_bar_0 - location\n loc_bar__minus_5_bar__minus_4_bar_2_bar_45 - location\n loc_bar__minus_6_bar__minus_3_bar_3_bar_60 - location\n loc_bar__minus_2_bar__minus_13_bar_2_bar_60 - location\n loc_bar_1_bar__minus_11_bar_2_bar_30 - location\n loc_bar__minus_6_bar__minus_3_bar_3_bar_45 - location\n loc_bar__minus_2_bar__minus_13_bar_1_bar_60 - location\n loc_bar__minus_4_bar__minus_10_bar_3_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Shelf_bar__plus_00_dot_81_bar__plus_00_dot_81_bar__minus_00_dot_61 ShelfType)\n (receptacleType Sink_bar__minus_02_dot_17_bar__plus_00_dot_30_bar__minus_00_dot_66_bar_SinkBasin SinkBasinType)\n (receptacleType HandTowelHolder_bar__minus_02_dot_17_bar__plus_01_dot_60_bar__plus_00_dot_00 HandTowelHolderType)\n (receptacleType Shelf_bar__plus_00_dot_82_bar__plus_00_dot_81_bar__minus_01_dot_76 ShelfType)\n (receptacleType Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12_bar_BathtubBasin BathtubBasinType)\n (receptacleType GarbageCan_bar__minus_00_dot_51_bar_00_dot_00_bar__minus_03_dot_76 GarbageCanType)\n (receptacleType Toilet_bar__plus_00_dot_00_bar_00_dot_00_bar__minus_03_dot_44 ToiletType)\n (receptacleType Shelf_bar__minus_01_dot_57_bar__plus_00_dot_81_bar__minus_00_dot_14 ShelfType)\n (receptacleType ToiletPaperHanger_bar__plus_00_dot_46_bar__plus_00_dot_84_bar__minus_03_dot_98 ToiletPaperHangerType)\n (receptacleType TowelHolder_bar__minus_01_dot_53_bar__plus_01_dot_67_bar__plus_00_dot_00 TowelHolderType)\n (objectType Candle_bar__plus_00_dot_82_bar__plus_00_dot_82_bar__minus_01_dot_98 CandleType)\n (objectType ScrubBrush_bar__plus_00_dot_68_bar_00_dot_00_bar__minus_03_dot_91 ScrubBrushType)\n (objectType SprayBottle_bar__minus_01_dot_35_bar__plus_00_dot_82_bar__minus_00_dot_22 SprayBottleType)\n (objectType SoapBottle_bar__plus_00_dot_84_bar__plus_00_dot_82_bar__minus_00_dot_62 SoapBottleType)\n (objectType HandTowel_bar__minus_02_dot_17_bar__plus_01_dot_50_bar__minus_00_dot_04 HandTowelType)\n (objectType SprayBottle_bar__plus_00_dot_74_bar__plus_00_dot_82_bar__minus_01_dot_98 SprayBottleType)\n (objectType TissueBox_bar__minus_01_dot_76_bar__plus_00_dot_82_bar__minus_00_dot_19 TissueBoxType)\n (objectType TissueBox_bar__plus_00_dot_82_bar__plus_00_dot_82_bar__minus_01_dot_77 TissueBoxType)\n (objectType Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12 BathtubType)\n (objectType Window_bar__minus_00_dot_54_bar__plus_01_dot_63_bar__minus_04_dot_00 WindowType)\n (objectType TissueBox_bar__plus_00_dot_83_bar__plus_00_dot_81_bar__minus_00_dot_36 TissueBoxType)\n (objectType SoapBar_bar__minus_01_dot_66_bar__plus_00_dot_82_bar__minus_00_dot_08 SoapBarType)\n (objectType Cloth_bar__minus_01_dot_64_bar__plus_00_dot_04_bar__minus_02_dot_68 ClothType)\n (objectType ToiletPaper_bar__plus_00_dot_41_bar__plus_00_dot_73_bar__minus_03_dot_89 ToiletPaperType)\n (objectType Candle_bar__plus_00_dot_73_bar__plus_00_dot_82_bar__minus_00_dot_93 CandleType)\n (objectType SprayBottle_bar__minus_01_dot_35_bar__plus_00_dot_82_bar__minus_00_dot_14 SprayBottleType)\n (objectType Mirror_bar__minus_02_dot_50_bar__plus_01_dot_42_bar__minus_00_dot_70 MirrorType)\n (objectType ToiletPaper_bar__minus_00_dot_56_bar__plus_00_dot_08_bar__minus_03_dot_78 ToiletPaperType)\n (objectType Cloth_bar__minus_02_dot_09_bar__plus_00_dot_04_bar__minus_03_dot_54 ClothType)\n (objectType Candle_bar__plus_00_dot_77_bar__plus_00_dot_82_bar__minus_02_dot_08 CandleType)\n (objectType LightSwitch_bar__plus_00_dot_32_bar__plus_01_dot_33_bar__plus_00_dot_00 LightSwitchType)\n (objectType Plunger_bar__plus_00_dot_85_bar_00_dot_00_bar__minus_03_dot_91 PlungerType)\n (objectType Towel_bar__minus_01_dot_53_bar__plus_01_dot_69_bar__minus_00_dot_11 TowelType)\n (objectType Cloth_bar__minus_01_dot_64_bar__plus_00_dot_04_bar__minus_02_dot_40 ClothType)\n (objectType SprayBottle_bar__plus_00_dot_87_bar__plus_00_dot_82_bar__minus_00_dot_83 SprayBottleType)\n (objectType Sink_bar__minus_02_dot_17_bar__plus_00_dot_30_bar__minus_00_dot_66 SinkType)\n (objectType SoapBottle_bar__minus_01_dot_56_bar__plus_00_dot_82_bar__minus_00_dot_17 SoapBottleType)\n (canContain ShelfType SprayBottleType)\n (canContain ShelfType SoapBarType)\n (canContain ShelfType SoapBottleType)\n (canContain ShelfType TissueBoxType)\n (canContain ShelfType ToiletPaperType)\n (canContain ShelfType CandleType)\n (canContain ShelfType ClothType)\n (canContain ShelfType HandTowelType)\n (canContain SinkBasinType SoapBarType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType HandTowelType)\n (canContain HandTowelHolderType HandTowelType)\n (canContain ShelfType SprayBottleType)\n (canContain ShelfType SoapBarType)\n (canContain ShelfType SoapBottleType)\n (canContain ShelfType TissueBoxType)\n (canContain ShelfType ToiletPaperType)\n (canContain ShelfType CandleType)\n (canContain ShelfType ClothType)\n (canContain ShelfType HandTowelType)\n (canContain BathtubBasinType HandTowelType)\n (canContain BathtubBasinType SoapBarType)\n (canContain BathtubBasinType ClothType)\n (canContain GarbageCanType SprayBottleType)\n (canContain GarbageCanType SoapBarType)\n (canContain GarbageCanType SoapBottleType)\n (canContain GarbageCanType TissueBoxType)\n (canContain GarbageCanType ToiletPaperType)\n (canContain GarbageCanType ClothType)\n (canContain GarbageCanType HandTowelType)\n (canContain ToiletType ClothType)\n (canContain ToiletType SoapBarType)\n (canContain ToiletType HandTowelType)\n (canContain ToiletType ToiletPaperType)\n (canContain ToiletType SoapBottleType)\n (canContain ToiletType SprayBottleType)\n (canContain ToiletType TissueBoxType)\n (canContain ToiletType CandleType)\n (canContain ShelfType SprayBottleType)\n (canContain ShelfType SoapBarType)\n (canContain ShelfType SoapBottleType)\n (canContain ShelfType TissueBoxType)\n (canContain ShelfType ToiletPaperType)\n (canContain ShelfType CandleType)\n (canContain ShelfType ClothType)\n (canContain ShelfType HandTowelType)\n (canContain ToiletPaperHangerType ToiletPaperType)\n (canContain TowelHolderType TowelType)\n (pickupable Candle_bar__plus_00_dot_82_bar__plus_00_dot_82_bar__minus_01_dot_98)\n (pickupable ScrubBrush_bar__plus_00_dot_68_bar_00_dot_00_bar__minus_03_dot_91)\n (pickupable SprayBottle_bar__minus_01_dot_35_bar__plus_00_dot_82_bar__minus_00_dot_22)\n (pickupable SoapBottle_bar__plus_00_dot_84_bar__plus_00_dot_82_bar__minus_00_dot_62)\n (pickupable HandTowel_bar__minus_02_dot_17_bar__plus_01_dot_50_bar__minus_00_dot_04)\n (pickupable SprayBottle_bar__plus_00_dot_74_bar__plus_00_dot_82_bar__minus_01_dot_98)\n (pickupable TissueBox_bar__minus_01_dot_76_bar__plus_00_dot_82_bar__minus_00_dot_19)\n (pickupable TissueBox_bar__plus_00_dot_82_bar__plus_00_dot_82_bar__minus_01_dot_77)\n (pickupable TissueBox_bar__plus_00_dot_83_bar__plus_00_dot_81_bar__minus_00_dot_36)\n (pickupable SoapBar_bar__minus_01_dot_66_bar__plus_00_dot_82_bar__minus_00_dot_08)\n (pickupable Cloth_bar__minus_01_dot_64_bar__plus_00_dot_04_bar__minus_02_dot_68)\n (pickupable ToiletPaper_bar__plus_00_dot_41_bar__plus_00_dot_73_bar__minus_03_dot_89)\n (pickupable Candle_bar__plus_00_dot_73_bar__plus_00_dot_82_bar__minus_00_dot_93)\n (pickupable SprayBottle_bar__minus_01_dot_35_bar__plus_00_dot_82_bar__minus_00_dot_14)\n (pickupable ToiletPaper_bar__minus_00_dot_56_bar__plus_00_dot_08_bar__minus_03_dot_78)\n (pickupable Cloth_bar__minus_02_dot_09_bar__plus_00_dot_04_bar__minus_03_dot_54)\n (pickupable Candle_bar__plus_00_dot_77_bar__plus_00_dot_82_bar__minus_02_dot_08)\n (pickupable Plunger_bar__plus_00_dot_85_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 Cloth_bar__minus_01_dot_64_bar__plus_00_dot_04_bar__minus_02_dot_40)\n (pickupable SprayBottle_bar__plus_00_dot_87_bar__plus_00_dot_82_bar__minus_00_dot_83)\n (pickupable SoapBottle_bar__minus_01_dot_56_bar__plus_00_dot_82_bar__minus_00_dot_17)\n \n \n \n (atLocation agent1 loc_bar__minus_4_bar__minus_10_bar_3_bar_30)\n \n (cleanable SoapBar_bar__minus_01_dot_66_bar__plus_00_dot_82_bar__minus_00_dot_08)\n (cleanable Cloth_bar__minus_01_dot_64_bar__plus_00_dot_04_bar__minus_02_dot_68)\n (cleanable Cloth_bar__minus_02_dot_09_bar__plus_00_dot_04_bar__minus_03_dot_54)\n (cleanable Cloth_bar__minus_01_dot_64_bar__plus_00_dot_04_bar__minus_02_dot_40)\n \n \n \n \n \n \n \n \n \n \n (inReceptacle Towel_bar__minus_01_dot_53_bar__plus_01_dot_69_bar__minus_00_dot_11 TowelHolder_bar__minus_01_dot_53_bar__plus_01_dot_67_bar__plus_00_dot_00)\n (inReceptacle Candle_bar__plus_00_dot_77_bar__plus_00_dot_82_bar__minus_02_dot_08 Shelf_bar__plus_00_dot_82_bar__plus_00_dot_81_bar__minus_01_dot_76)\n (inReceptacle SprayBottle_bar__plus_00_dot_74_bar__plus_00_dot_82_bar__minus_01_dot_98 Shelf_bar__plus_00_dot_82_bar__plus_00_dot_81_bar__minus_01_dot_76)\n (inReceptacle Candle_bar__plus_00_dot_82_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_82_bar__plus_00_dot_82_bar__minus_01_dot_77 Shelf_bar__plus_00_dot_82_bar__plus_00_dot_81_bar__minus_01_dot_76)\n (inReceptacle SprayBottle_bar__plus_00_dot_87_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__plus_00_dot_84_bar__plus_00_dot_82_bar__minus_00_dot_62 Shelf_bar__plus_00_dot_81_bar__plus_00_dot_81_bar__minus_00_dot_61)\n (inReceptacle Candle_bar__plus_00_dot_73_bar__plus_00_dot_82_bar__minus_00_dot_93 Shelf_bar__plus_00_dot_81_bar__plus_00_dot_81_bar__minus_00_dot_61)\n (inReceptacle TissueBox_bar__plus_00_dot_83_bar__plus_00_dot_81_bar__minus_00_dot_36 Shelf_bar__plus_00_dot_81_bar__plus_00_dot_81_bar__minus_00_dot_61)\n (inReceptacle SprayBottle_bar__minus_01_dot_35_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 SprayBottle_bar__minus_01_dot_35_bar__plus_00_dot_82_bar__minus_00_dot_22 Shelf_bar__minus_01_dot_57_bar__plus_00_dot_81_bar__minus_00_dot_14)\n (inReceptacle 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 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_56_bar__plus_00_dot_82_bar__minus_00_dot_17 Shelf_bar__minus_01_dot_57_bar__plus_00_dot_81_bar__minus_00_dot_14)\n (inReceptacle HandTowel_bar__minus_02_dot_17_bar__plus_01_dot_50_bar__minus_00_dot_04 HandTowelHolder_bar__minus_02_dot_17_bar__plus_01_dot_60_bar__plus_00_dot_00)\n (inReceptacle Cloth_bar__minus_01_dot_64_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 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_02_dot_09_bar__plus_00_dot_04_bar__minus_03_dot_54 Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12_bar_BathtubBasin)\n (inReceptacle ToiletPaper_bar__minus_00_dot_56_bar__plus_00_dot_08_bar__minus_03_dot_78 GarbageCan_bar__minus_00_dot_51_bar_00_dot_00_bar__minus_03_dot_76)\n \n \n (receptacleAtLocation Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12_bar_BathtubBasin loc_bar__minus_5_bar__minus_4_bar_2_bar_45)\n (receptacleAtLocation GarbageCan_bar__minus_00_dot_51_bar_00_dot_00_bar__minus_03_dot_76 loc_bar__minus_2_bar__minus_13_bar_2_bar_60)\n (receptacleAtLocation HandTowelHolder_bar__minus_02_dot_17_bar__plus_01_dot_60_bar__plus_00_dot_00 loc_bar__minus_6_bar__minus_3_bar_0_bar_0)\n (receptacleAtLocation Shelf_bar__plus_00_dot_81_bar__plus_00_dot_81_bar__minus_00_dot_61 loc_bar_1_bar__minus_4_bar_1_bar_60)\n (receptacleAtLocation Shelf_bar__plus_00_dot_82_bar__plus_00_dot_81_bar__minus_01_dot_76 loc_bar_1_bar__minus_7_bar_1_bar_60)\n (receptacleAtLocation Shelf_bar__minus_01_dot_57_bar__plus_00_dot_81_bar__minus_00_dot_14 loc_bar__minus_5_bar__minus_3_bar_0_bar_60)\n (receptacleAtLocation Sink_bar__minus_02_dot_17_bar__plus_00_dot_30_bar__minus_00_dot_66_bar_SinkBasin loc_bar__minus_6_bar__minus_3_bar_3_bar_45)\n (receptacleAtLocation ToiletPaperHanger_bar__plus_00_dot_46_bar__plus_00_dot_84_bar__minus_03_dot_98 loc_bar_1_bar__minus_11_bar_2_bar_30)\n (receptacleAtLocation Toilet_bar__plus_00_dot_00_bar_00_dot_00_bar__minus_03_dot_44 loc_bar__minus_2_bar__minus_13_bar_1_bar_60)\n (receptacleAtLocation TowelHolder_bar__minus_01_dot_53_bar__plus_01_dot_67_bar__plus_00_dot_00 loc_bar__minus_6_bar__minus_3_bar_0_bar_0)\n (objectAtLocation TissueBox_bar__plus_00_dot_83_bar__plus_00_dot_81_bar__minus_00_dot_36 loc_bar_1_bar__minus_4_bar_1_bar_60)\n (objectAtLocation SprayBottle_bar__plus_00_dot_87_bar__plus_00_dot_82_bar__minus_00_dot_83 loc_bar_1_bar__minus_4_bar_1_bar_60)\n (objectAtLocation Candle_bar__plus_00_dot_73_bar__plus_00_dot_82_bar__minus_00_dot_93 loc_bar_1_bar__minus_4_bar_1_bar_60)\n (objectAtLocation 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_56_bar__plus_00_dot_82_bar__minus_00_dot_17 loc_bar__minus_5_bar__minus_3_bar_0_bar_60)\n (objectAtLocation SprayBottle_bar__minus_01_dot_35_bar__plus_00_dot_82_bar__minus_00_dot_14 loc_bar__minus_5_bar__minus_3_bar_0_bar_60)\n (objectAtLocation SprayBottle_bar__plus_00_dot_74_bar__plus_00_dot_82_bar__minus_01_dot_98 loc_bar_1_bar__minus_7_bar_1_bar_60)\n (objectAtLocation Candle_bar__plus_00_dot_82_bar__plus_00_dot_82_bar__minus_01_dot_98 loc_bar_1_bar__minus_7_bar_1_bar_60)\n (objectAtLocation TissueBox_bar__plus_00_dot_82_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_40 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_84_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_02_dot_09_bar__plus_00_dot_04_bar__minus_03_dot_54 loc_bar__minus_5_bar__minus_4_bar_2_bar_45)\n (objectAtLocation Candle_bar__plus_00_dot_77_bar__plus_00_dot_82_bar__minus_02_dot_08 loc_bar_1_bar__minus_7_bar_1_bar_60)\n (objectAtLocation HandTowel_bar__minus_02_dot_17_bar__plus_01_dot_50_bar__minus_00_dot_04 loc_bar__minus_6_bar__minus_3_bar_0_bar_0)\n (objectAtLocation Towel_bar__minus_01_dot_53_bar__plus_01_dot_69_bar__minus_00_dot_11 loc_bar__minus_6_bar__minus_3_bar_0_bar_0)\n (objectAtLocation SoapBar_bar__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 ToiletPaper_bar__minus_00_dot_56_bar__plus_00_dot_08_bar__minus_03_dot_78 loc_bar__minus_2_bar__minus_13_bar_2_bar_60)\n (objectAtLocation Plunger_bar__plus_00_dot_85_bar_00_dot_00_bar__minus_03_dot_91 loc_bar_1_bar__minus_11_bar_2_bar_60)\n (objectAtLocation SprayBottle_bar__minus_01_dot_35_bar__plus_00_dot_82_bar__minus_00_dot_22 loc_bar__minus_5_bar__minus_3_bar_0_bar_60)\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 ToiletPaper_bar__plus_00_dot_41_bar__plus_00_dot_73_bar__minus_03_dot_89 loc_bar_1_bar__minus_11_bar_2_bar_60)\n (objectAtLocation LightSwitch_bar__plus_00_dot_32_bar__plus_01_dot_33_bar__plus_00_dot_00 loc_bar_1_bar__minus_2_bar_0_bar_30)\n (objectAtLocation Window_bar__minus_00_dot_54_bar__plus_01_dot_63_bar__minus_04_dot_00 loc_bar__minus_2_bar__minus_13_bar_2_bar_0)\n (objectAtLocation ScrubBrush_bar__plus_00_dot_68_bar_00_dot_00_bar__minus_03_dot_91 loc_bar_1_bar__minus_11_bar_2_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o1 - object)\n (and\n (objectType ?o1 SprayBottleType)\n (receptacleType ?r ToiletType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 SprayBottleType)\n (receptacleType ?r ToiletType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to shelf 2", "take spraybottle 1 from shelf 2", "go to toilet 1", "move spraybottle 1 to toilet 1", "go to shelf 1", "take spraybottle 2 from shelf 1", "go to toilet 1", "move spraybottle 2 to toilet 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/valid_seen/pick_two_obj_and_place-SprayBottle-None-Toilet-429/trial_T20190907_033843_707544/initial_state.pddl b/data/alfworld/json_2.1.1/valid_seen/pick_two_obj_and_place-SprayBottle-None-Toilet-429/trial_T20190907_033843_707544/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..6a876823100b777ea8756de811cfd904e6a9db9a --- /dev/null +++ b/data/alfworld/json_2.1.1/valid_seen/pick_two_obj_and_place-SprayBottle-None-Toilet-429/trial_T20190907_033843_707544/initial_state.pddl @@ -0,0 +1,466 @@ + +(define (problem plan_trial_T20190907_033843_707544) +(:domain alfred) +(:objects +agent1 - agent +Curtains - object + SprayBottle - object + Mirror - object + HousePlant - object + Watch - object + TeddyBear - object + WateringCan - object + Bathtub - object + LightSwitch - object + Vase - object + Candle - object + Bread - object + Statue - object + HandTowel - object + StoveKnob - object + PaperTowelRoll - object + Pan - object + PepperShaker - object + Painting - object + CellPhone - object + Plunger - object + Spoon - object + SaltShaker - object + KeyChain - object + Footstool - object + Poster - object + Television - object + LaundryHamperLid - object + Glassbottle - object + AlarmClock - object + WineBottle - object + Bowl - object + Sink - object + TissueBox - object + TennisRacket - object + ToiletPaper - object + ScrubBrush - object + CreditCard - object + Laptop - object + Cloth - object + Cup - object + Chair - object + BasketBall - object + Kettle - object + PaperTowel - object + ShowerDoor - object + BaseballBat - object + Potato - object + Pillow - object + Lettuce - object + RemoteControl - object + Window - object + DishSponge - object + CD - object + Boots - object + Blinds - object + Pen - object + Newspaper - object + Plate - object + Mug - object + ShowerGlass - object + ToiletPaperRoll - object + SoapBar - object + FloorLamp - object + SoapBottle - object + Pot - object + Pencil - object + Spatula - object + Towel - object + Fork - object + Ladle - object + Knife - object + Apple - object + Box - object + Tomato - object + ButterKnife - object + Egg - object + Book - object + DeskLamp - object +CurtainsType - otype + SprayBottleType - otype + MirrorType - otype + HousePlantType - otype + WatchType - otype + TeddyBearType - otype + WateringCanType - otype + BathtubType - otype + LightSwitchType - otype + VaseType - otype + CandleType - otype + BreadType - otype + StatueType - otype + HandTowelType - otype + StoveKnobType - otype + PaperTowelRollType - otype + PanType - otype + PepperShakerType - otype + PaintingType - otype + CellPhoneType - otype + PlungerType - otype + SpoonType - otype + SaltShakerType - otype + KeyChainType - otype + FootstoolType - otype + PosterType - otype + TelevisionType - otype + LaundryHamperLidType - otype + GlassbottleType - otype + AlarmClockType - otype + WineBottleType - otype + BowlType - otype + SinkType - otype + TissueBoxType - otype + TennisRacketType - otype + ToiletPaperType - otype + ScrubBrushType - otype + CreditCardType - otype + LaptopType - otype + ClothType - otype + CupType - otype + ChairType - otype + BasketBallType - otype + KettleType - otype + PaperTowelType - otype + ShowerDoorType - otype + BaseballBatType - otype + PotatoType - otype + PillowType - otype + LettuceType - otype + RemoteControlType - otype + WindowType - otype + DishSpongeType - otype + CDType - otype + BootsType - otype + BlindsType - otype + PenType - otype + NewspaperType - otype + PlateType - otype + MugType - otype + ShowerGlassType - otype + ToiletPaperRollType - otype + SoapBarType - otype + FloorLampType - otype + SoapBottleType - otype + PotType - otype + PencilType - otype + SpatulaType - otype + TowelType - otype + ForkType - otype + LadleType - otype + KnifeType - otype + AppleType - otype + BoxType - otype + TomatoType - otype + ButterKnifeType - otype + EggType - otype + BookType - otype + DeskLampType - otype +CabinetType - rtype + ShelfType - rtype + DiningTableType - rtype + TowelHolderType - rtype + PaintingHangerType - rtype + TVStandType - rtype + LaundryHamperType - rtype + OttomanType - rtype + SafeType - rtype + CoffeeMachineType - rtype + CounterTopType - rtype + ToiletType - rtype + FridgeType - rtype + CoffeeTableType - rtype + SinkBasinType - rtype + GarbageCanType - rtype + BathtubBasinType - rtype + SideTableType - rtype + CartType - rtype + BedType - rtype + DeskType - rtype + SofaType - rtype + ArmChairType - rtype + MicrowaveType - rtype + HandTowelHolderType - rtype + ToasterType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + DrawerType - rtype + DresserType - rtype + + + Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12 - object + Candle_bar__plus_00_dot_73_bar__plus_00_dot_82_bar__minus_00_dot_93 - object + Candle_bar__plus_00_dot_77_bar__plus_00_dot_82_bar__minus_02_dot_08 - object + Candle_bar__plus_00_dot_82_bar__plus_00_dot_82_bar__minus_01_dot_98 - object + Cloth_bar__minus_01_dot_64_bar__plus_00_dot_04_bar__minus_02_dot_40 - object + Cloth_bar__minus_01_dot_64_bar__plus_00_dot_04_bar__minus_02_dot_68 - object + Cloth_bar__minus_02_dot_09_bar__plus_00_dot_04_bar__minus_03_dot_54 - object + Faucet_bar__minus_01_dot_91_bar__plus_00_dot_67_bar__minus_03_dot_86 - object + Faucet_bar__minus_02_dot_43_bar__plus_00_dot_98_bar__minus_00_dot_66 - object + HandTowel_bar__minus_02_dot_17_bar__plus_01_dot_50_bar__minus_00_dot_04 - object + LightSwitch_bar__plus_00_dot_32_bar__plus_01_dot_33_bar__plus_00_dot_00 - object + Mirror_bar__minus_02_dot_50_bar__plus_01_dot_42_bar__minus_00_dot_70 - object + Plunger_bar__plus_00_dot_85_bar_00_dot_00_bar__minus_03_dot_91 - object + ScrubBrush_bar__plus_00_dot_68_bar_00_dot_00_bar__minus_03_dot_91 - object + ShowerCurtain_bar__minus_01_dot_32_bar__plus_01_dot_78_bar__minus_03_dot_86 - object + Sink_bar__minus_02_dot_17_bar__plus_00_dot_30_bar__minus_00_dot_66 - object + SoapBar_bar__minus_01_dot_66_bar__plus_00_dot_82_bar__minus_00_dot_08 - object + SoapBottle_bar__plus_00_dot_84_bar__plus_00_dot_82_bar__minus_00_dot_62 - object + SoapBottle_bar__minus_01_dot_56_bar__plus_00_dot_82_bar__minus_00_dot_17 - object + SprayBottle_bar__plus_00_dot_74_bar__plus_00_dot_82_bar__minus_01_dot_98 - object + SprayBottle_bar__plus_00_dot_87_bar__plus_00_dot_82_bar__minus_00_dot_83 - object + SprayBottle_bar__minus_01_dot_35_bar__plus_00_dot_82_bar__minus_00_dot_14 - object + SprayBottle_bar__minus_01_dot_35_bar__plus_00_dot_82_bar__minus_00_dot_22 - object + TissueBox_bar__plus_00_dot_82_bar__plus_00_dot_82_bar__minus_01_dot_77 - object + TissueBox_bar__plus_00_dot_83_bar__plus_00_dot_81_bar__minus_00_dot_36 - object + 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_56_bar__plus_00_dot_08_bar__minus_03_dot_78 - object + Towel_bar__minus_01_dot_53_bar__plus_01_dot_69_bar__minus_00_dot_11 - object + Window_bar__minus_00_dot_54_bar__plus_01_dot_63_bar__minus_04_dot_00 - object + Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12_bar_BathtubBasin - receptacle + GarbageCan_bar__minus_00_dot_51_bar_00_dot_00_bar__minus_03_dot_76 - receptacle + HandTowelHolder_bar__minus_02_dot_17_bar__plus_01_dot_60_bar__plus_00_dot_00 - receptacle + Shelf_bar__plus_00_dot_81_bar__plus_00_dot_81_bar__minus_00_dot_61 - receptacle + Shelf_bar__plus_00_dot_82_bar__plus_00_dot_81_bar__minus_01_dot_76 - receptacle + Shelf_bar__minus_01_dot_57_bar__plus_00_dot_81_bar__minus_00_dot_14 - receptacle + Sink_bar__minus_02_dot_17_bar__plus_00_dot_30_bar__minus_00_dot_66_bar_SinkBasin - receptacle + ToiletPaperHanger_bar__plus_00_dot_46_bar__plus_00_dot_84_bar__minus_03_dot_98 - receptacle + Toilet_bar__plus_00_dot_00_bar_00_dot_00_bar__minus_03_dot_44 - receptacle + TowelHolder_bar__minus_01_dot_53_bar__plus_01_dot_67_bar__plus_00_dot_00 - receptacle + loc_bar__minus_5_bar__minus_3_bar_0_bar_60 - location + loc_bar_1_bar__minus_2_bar_0_bar_30 - location + loc_bar_1_bar__minus_7_bar_1_bar_60 - location + loc_bar_1_bar__minus_4_bar_1_bar_60 - location + loc_bar_1_bar__minus_11_bar_2_bar_60 - location + loc_bar__minus_2_bar__minus_13_bar_2_bar_0 - location + loc_bar__minus_4_bar__minus_12_bar_3_bar_60 - location + loc_bar__minus_6_bar__minus_3_bar_0_bar_0 - location + loc_bar__minus_5_bar__minus_4_bar_2_bar_45 - location + loc_bar__minus_6_bar__minus_3_bar_3_bar_60 - location + loc_bar__minus_2_bar__minus_13_bar_2_bar_60 - location + loc_bar_1_bar__minus_11_bar_2_bar_30 - location + loc_bar__minus_6_bar__minus_3_bar_3_bar_45 - location + loc_bar__minus_2_bar__minus_13_bar_1_bar_60 - location + loc_bar__minus_4_bar__minus_10_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType Shelf_bar__plus_00_dot_81_bar__plus_00_dot_81_bar__minus_00_dot_61 ShelfType) + (receptacleType Sink_bar__minus_02_dot_17_bar__plus_00_dot_30_bar__minus_00_dot_66_bar_SinkBasin SinkBasinType) + (receptacleType HandTowelHolder_bar__minus_02_dot_17_bar__plus_01_dot_60_bar__plus_00_dot_00 HandTowelHolderType) + (receptacleType Shelf_bar__plus_00_dot_82_bar__plus_00_dot_81_bar__minus_01_dot_76 ShelfType) + (receptacleType Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12_bar_BathtubBasin BathtubBasinType) + (receptacleType GarbageCan_bar__minus_00_dot_51_bar_00_dot_00_bar__minus_03_dot_76 GarbageCanType) + (receptacleType Toilet_bar__plus_00_dot_00_bar_00_dot_00_bar__minus_03_dot_44 ToiletType) + (receptacleType Shelf_bar__minus_01_dot_57_bar__plus_00_dot_81_bar__minus_00_dot_14 ShelfType) + (receptacleType ToiletPaperHanger_bar__plus_00_dot_46_bar__plus_00_dot_84_bar__minus_03_dot_98 ToiletPaperHangerType) + (receptacleType TowelHolder_bar__minus_01_dot_53_bar__plus_01_dot_67_bar__plus_00_dot_00 TowelHolderType) + (objectType Candle_bar__plus_00_dot_82_bar__plus_00_dot_82_bar__minus_01_dot_98 CandleType) + (objectType ScrubBrush_bar__plus_00_dot_68_bar_00_dot_00_bar__minus_03_dot_91 ScrubBrushType) + (objectType SprayBottle_bar__minus_01_dot_35_bar__plus_00_dot_82_bar__minus_00_dot_22 SprayBottleType) + (objectType SoapBottle_bar__plus_00_dot_84_bar__plus_00_dot_82_bar__minus_00_dot_62 SoapBottleType) + (objectType HandTowel_bar__minus_02_dot_17_bar__plus_01_dot_50_bar__minus_00_dot_04 HandTowelType) + (objectType SprayBottle_bar__plus_00_dot_74_bar__plus_00_dot_82_bar__minus_01_dot_98 SprayBottleType) + (objectType TissueBox_bar__minus_01_dot_76_bar__plus_00_dot_82_bar__minus_00_dot_19 TissueBoxType) + (objectType TissueBox_bar__plus_00_dot_82_bar__plus_00_dot_82_bar__minus_01_dot_77 TissueBoxType) + (objectType Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12 BathtubType) + (objectType Window_bar__minus_00_dot_54_bar__plus_01_dot_63_bar__minus_04_dot_00 WindowType) + (objectType TissueBox_bar__plus_00_dot_83_bar__plus_00_dot_81_bar__minus_00_dot_36 TissueBoxType) + (objectType SoapBar_bar__minus_01_dot_66_bar__plus_00_dot_82_bar__minus_00_dot_08 SoapBarType) + (objectType Cloth_bar__minus_01_dot_64_bar__plus_00_dot_04_bar__minus_02_dot_68 ClothType) + (objectType ToiletPaper_bar__plus_00_dot_41_bar__plus_00_dot_73_bar__minus_03_dot_89 ToiletPaperType) + (objectType Candle_bar__plus_00_dot_73_bar__plus_00_dot_82_bar__minus_00_dot_93 CandleType) + (objectType SprayBottle_bar__minus_01_dot_35_bar__plus_00_dot_82_bar__minus_00_dot_14 SprayBottleType) + (objectType Mirror_bar__minus_02_dot_50_bar__plus_01_dot_42_bar__minus_00_dot_70 MirrorType) + (objectType ToiletPaper_bar__minus_00_dot_56_bar__plus_00_dot_08_bar__minus_03_dot_78 ToiletPaperType) + (objectType Cloth_bar__minus_02_dot_09_bar__plus_00_dot_04_bar__minus_03_dot_54 ClothType) + (objectType Candle_bar__plus_00_dot_77_bar__plus_00_dot_82_bar__minus_02_dot_08 CandleType) + (objectType LightSwitch_bar__plus_00_dot_32_bar__plus_01_dot_33_bar__plus_00_dot_00 LightSwitchType) + (objectType Plunger_bar__plus_00_dot_85_bar_00_dot_00_bar__minus_03_dot_91 PlungerType) + (objectType Towel_bar__minus_01_dot_53_bar__plus_01_dot_69_bar__minus_00_dot_11 TowelType) + (objectType Cloth_bar__minus_01_dot_64_bar__plus_00_dot_04_bar__minus_02_dot_40 ClothType) + (objectType SprayBottle_bar__plus_00_dot_87_bar__plus_00_dot_82_bar__minus_00_dot_83 SprayBottleType) + (objectType Sink_bar__minus_02_dot_17_bar__plus_00_dot_30_bar__minus_00_dot_66 SinkType) + (objectType SoapBottle_bar__minus_01_dot_56_bar__plus_00_dot_82_bar__minus_00_dot_17 SoapBottleType) + (canContain ShelfType SprayBottleType) + (canContain ShelfType SoapBarType) + (canContain ShelfType SoapBottleType) + (canContain ShelfType TissueBoxType) + (canContain ShelfType ToiletPaperType) + (canContain ShelfType CandleType) + (canContain ShelfType ClothType) + (canContain ShelfType HandTowelType) + (canContain SinkBasinType SoapBarType) + (canContain SinkBasinType ClothType) + (canContain SinkBasinType HandTowelType) + (canContain HandTowelHolderType HandTowelType) + (canContain ShelfType SprayBottleType) + (canContain ShelfType SoapBarType) + (canContain ShelfType SoapBottleType) + (canContain ShelfType TissueBoxType) + (canContain ShelfType ToiletPaperType) + (canContain ShelfType CandleType) + (canContain ShelfType ClothType) + (canContain ShelfType HandTowelType) + (canContain BathtubBasinType HandTowelType) + (canContain BathtubBasinType SoapBarType) + (canContain BathtubBasinType ClothType) + (canContain GarbageCanType SprayBottleType) + (canContain GarbageCanType SoapBarType) + (canContain GarbageCanType SoapBottleType) + (canContain GarbageCanType TissueBoxType) + (canContain GarbageCanType ToiletPaperType) + (canContain GarbageCanType ClothType) + (canContain GarbageCanType HandTowelType) + (canContain ToiletType ClothType) + (canContain ToiletType SoapBarType) + (canContain ToiletType HandTowelType) + (canContain ToiletType ToiletPaperType) + (canContain ToiletType SoapBottleType) + (canContain ToiletType SprayBottleType) + (canContain ToiletType TissueBoxType) + (canContain ToiletType CandleType) + (canContain ShelfType SprayBottleType) + (canContain ShelfType SoapBarType) + (canContain ShelfType SoapBottleType) + (canContain ShelfType TissueBoxType) + (canContain ShelfType ToiletPaperType) + (canContain ShelfType CandleType) + (canContain ShelfType ClothType) + (canContain ShelfType HandTowelType) + (canContain ToiletPaperHangerType ToiletPaperType) + (canContain TowelHolderType TowelType) + (pickupable Candle_bar__plus_00_dot_82_bar__plus_00_dot_82_bar__minus_01_dot_98) + (pickupable ScrubBrush_bar__plus_00_dot_68_bar_00_dot_00_bar__minus_03_dot_91) + (pickupable SprayBottle_bar__minus_01_dot_35_bar__plus_00_dot_82_bar__minus_00_dot_22) + (pickupable SoapBottle_bar__plus_00_dot_84_bar__plus_00_dot_82_bar__minus_00_dot_62) + (pickupable HandTowel_bar__minus_02_dot_17_bar__plus_01_dot_50_bar__minus_00_dot_04) + (pickupable SprayBottle_bar__plus_00_dot_74_bar__plus_00_dot_82_bar__minus_01_dot_98) + (pickupable TissueBox_bar__minus_01_dot_76_bar__plus_00_dot_82_bar__minus_00_dot_19) + (pickupable TissueBox_bar__plus_00_dot_82_bar__plus_00_dot_82_bar__minus_01_dot_77) + (pickupable TissueBox_bar__plus_00_dot_83_bar__plus_00_dot_81_bar__minus_00_dot_36) + (pickupable SoapBar_bar__minus_01_dot_66_bar__plus_00_dot_82_bar__minus_00_dot_08) + (pickupable Cloth_bar__minus_01_dot_64_bar__plus_00_dot_04_bar__minus_02_dot_68) + (pickupable ToiletPaper_bar__plus_00_dot_41_bar__plus_00_dot_73_bar__minus_03_dot_89) + (pickupable Candle_bar__plus_00_dot_73_bar__plus_00_dot_82_bar__minus_00_dot_93) + (pickupable SprayBottle_bar__minus_01_dot_35_bar__plus_00_dot_82_bar__minus_00_dot_14) + (pickupable ToiletPaper_bar__minus_00_dot_56_bar__plus_00_dot_08_bar__minus_03_dot_78) + (pickupable Cloth_bar__minus_02_dot_09_bar__plus_00_dot_04_bar__minus_03_dot_54) + (pickupable Candle_bar__plus_00_dot_77_bar__plus_00_dot_82_bar__minus_02_dot_08) + (pickupable Plunger_bar__plus_00_dot_85_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 Cloth_bar__minus_01_dot_64_bar__plus_00_dot_04_bar__minus_02_dot_40) + (pickupable SprayBottle_bar__plus_00_dot_87_bar__plus_00_dot_82_bar__minus_00_dot_83) + (pickupable SoapBottle_bar__minus_01_dot_56_bar__plus_00_dot_82_bar__minus_00_dot_17) + + + + (atLocation agent1 loc_bar__minus_4_bar__minus_10_bar_3_bar_30) + + (cleanable SoapBar_bar__minus_01_dot_66_bar__plus_00_dot_82_bar__minus_00_dot_08) + (cleanable Cloth_bar__minus_01_dot_64_bar__plus_00_dot_04_bar__minus_02_dot_68) + (cleanable Cloth_bar__minus_02_dot_09_bar__plus_00_dot_04_bar__minus_03_dot_54) + (cleanable Cloth_bar__minus_01_dot_64_bar__plus_00_dot_04_bar__minus_02_dot_40) + + + + + + + + + + + (inReceptacle Towel_bar__minus_01_dot_53_bar__plus_01_dot_69_bar__minus_00_dot_11 TowelHolder_bar__minus_01_dot_53_bar__plus_01_dot_67_bar__plus_00_dot_00) + (inReceptacle Candle_bar__plus_00_dot_77_bar__plus_00_dot_82_bar__minus_02_dot_08 Shelf_bar__plus_00_dot_82_bar__plus_00_dot_81_bar__minus_01_dot_76) + (inReceptacle SprayBottle_bar__plus_00_dot_74_bar__plus_00_dot_82_bar__minus_01_dot_98 Shelf_bar__plus_00_dot_82_bar__plus_00_dot_81_bar__minus_01_dot_76) + (inReceptacle Candle_bar__plus_00_dot_82_bar__plus_00_dot_82_bar__minus_01_dot_98 Shelf_bar__plus_00_dot_82_bar__plus_00_dot_81_bar__minus_01_dot_76) + (inReceptacle TissueBox_bar__plus_00_dot_82_bar__plus_00_dot_82_bar__minus_01_dot_77 Shelf_bar__plus_00_dot_82_bar__plus_00_dot_81_bar__minus_01_dot_76) + (inReceptacle SprayBottle_bar__plus_00_dot_87_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__plus_00_dot_84_bar__plus_00_dot_82_bar__minus_00_dot_62 Shelf_bar__plus_00_dot_81_bar__plus_00_dot_81_bar__minus_00_dot_61) + (inReceptacle Candle_bar__plus_00_dot_73_bar__plus_00_dot_82_bar__minus_00_dot_93 Shelf_bar__plus_00_dot_81_bar__plus_00_dot_81_bar__minus_00_dot_61) + (inReceptacle TissueBox_bar__plus_00_dot_83_bar__plus_00_dot_81_bar__minus_00_dot_36 Shelf_bar__plus_00_dot_81_bar__plus_00_dot_81_bar__minus_00_dot_61) + (inReceptacle SprayBottle_bar__minus_01_dot_35_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 SprayBottle_bar__minus_01_dot_35_bar__plus_00_dot_82_bar__minus_00_dot_22 Shelf_bar__minus_01_dot_57_bar__plus_00_dot_81_bar__minus_00_dot_14) + (inReceptacle 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 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_56_bar__plus_00_dot_82_bar__minus_00_dot_17 Shelf_bar__minus_01_dot_57_bar__plus_00_dot_81_bar__minus_00_dot_14) + (inReceptacle HandTowel_bar__minus_02_dot_17_bar__plus_01_dot_50_bar__minus_00_dot_04 HandTowelHolder_bar__minus_02_dot_17_bar__plus_01_dot_60_bar__plus_00_dot_00) + (inReceptacle Cloth_bar__minus_01_dot_64_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 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_02_dot_09_bar__plus_00_dot_04_bar__minus_03_dot_54 Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12_bar_BathtubBasin) + (inReceptacle ToiletPaper_bar__minus_00_dot_56_bar__plus_00_dot_08_bar__minus_03_dot_78 GarbageCan_bar__minus_00_dot_51_bar_00_dot_00_bar__minus_03_dot_76) + + + (receptacleAtLocation Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12_bar_BathtubBasin loc_bar__minus_5_bar__minus_4_bar_2_bar_45) + (receptacleAtLocation GarbageCan_bar__minus_00_dot_51_bar_00_dot_00_bar__minus_03_dot_76 loc_bar__minus_2_bar__minus_13_bar_2_bar_60) + (receptacleAtLocation HandTowelHolder_bar__minus_02_dot_17_bar__plus_01_dot_60_bar__plus_00_dot_00 loc_bar__minus_6_bar__minus_3_bar_0_bar_0) + (receptacleAtLocation Shelf_bar__plus_00_dot_81_bar__plus_00_dot_81_bar__minus_00_dot_61 loc_bar_1_bar__minus_4_bar_1_bar_60) + (receptacleAtLocation Shelf_bar__plus_00_dot_82_bar__plus_00_dot_81_bar__minus_01_dot_76 loc_bar_1_bar__minus_7_bar_1_bar_60) + (receptacleAtLocation 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"z": -0.3587439 + }, + "rotation": { + "x": 0.0, + "y": 266.215729, + "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": 851735218, + "scene_num": 429 + }, + "task_id": "trial_T20190907_033843_707544", + "task_type": "pick_two_obj_and_place", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A3MLUEOP3CCLXL_37TD41K0AKQ9E4749NIROY59IC3SC5", + "high_descs": [ + "Turn right and walk to the long stand that is along the wall across the room", + "Pick up the spray bottle that is closest to the wall.", + "Turn around and cross the room then turn left to face the side of the toilet", + "Place the spray bottle on the back of the toilet", + "Turn around and cross the room then turn right and walk to the long stand along the wall, the stand that is on the left", + "Pick up the yellow spray bottle.", + "Turn around and walk to the long stand and then turn left and walk across the room then turn left to face the side of the toilet", + "Place the spray bottle on the back to the toilet to the left of the other spray bottle" + ], + "task_desc": "Place spray bottles on the back of a toilet", + "votes": [ + 1, + 1, + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A3T9K2RY06UO14_3A7Y0R2P2R54IZZ9DP50AAZWNBIJXM", + "high_descs": [ + "Turn right and go to the cabinet by the sink. ", + "Pick up a spray bottle on the cabinet. ", + "Turn around and go to the toilet.", + "Put the spray bottle on the toilet. ", + "Turn around and go to the cabinet by the door. ", + "Pick up a spray bottle on the cabinet. ", + "Turn around and go to the toilet.", + "Put the spray bottle on the toilet. " + ], + "task_desc": "Move two spray bottles to the toilet. ", + "votes": [ + 1, + 1, + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A2CT57W84KXX25_3GLB5JMZF0CGTR4REJJLJQ4OFZAGDU", + "high_descs": [ + "Turn around in the bathroom", + "Walk over to the counter ", + "Grab the yellow spray bottle and walk it over to the toilet", + "Put the yellow spray bottle on the back of the toilet", + "turn around and go back to the counter", + "look at the other spray bottle", + "Pick that spray bottle up and carry it to the toilet", + "Place that spray bottle on the back of the toilet with the other one" + ], + "task_desc": "Gather cleaning supplies up", + "votes": [ + 1, + 1, + 0, + 1, + 1, + 1, + 0, + 1 + ] + }, + { + "assignment_id": "A1ZE52NWZPN85P_3JWH6J9I9VUTOMNTNR5AEKPLDXVNBR", + "high_descs": [ + "Head to your right until you are standing directly in front of two yellow bottles", + "Pick up a yellow bottle off of the counter", + "Turn around and walk towards the toilet, then face left", + "Place the yellow bottle on top of the toilet", + "Turn around and then head to your right", + "Pick up a yellow bottle off of the counter", + "Return to where you were standing facing the toilet", + "Place the second yellow bottle on top of the toilet" + ], + "task_desc": "Place two yellow bottles on top of a toilet", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1ZE52NWZPN85P_3WS1NTTKE1TGG772RNP8MYKTK4Q0FT", + "high_descs": [ + "Turn to your right until you are facing the two yellow bottles", + "Pick up a yellow bottle off of the side counter", + "Head backwards and then face the toilet on your left", + "Put a yellow bottle on top of the toilet tank", + "Turn to your left and when you reach the wall, turn to your right and approach the other side counter", + "Pick up a yellow bottle off of the side counter", + "Head back to the right side of the toilet", + "Put the other yellow bottle on top of the toilet tank" + ], + "task_desc": "Put two yellow bottles on top of the toilet", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/valid_seen/pick_two_obj_and_place-TissueBox-None-Toilet-426/trial_T20190909_044602_338962/game.tw-pddl b/data/alfworld/json_2.1.1/valid_seen/pick_two_obj_and_place-TissueBox-None-Toilet-426/trial_T20190909_044602_338962/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..b18cb39ab41337284c02ea1b22e3701c954ce5e5 --- /dev/null +++ b/data/alfworld/json_2.1.1/valid_seen/pick_two_obj_and_place-TissueBox-None-Toilet-426/trial_T20190909_044602_338962/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\n\\n#task#\"\n }\n ],\n\n \"notImplemented\": [\n {\n \"rhs\": \"TODO\"\n }\n ],\n\n \"task\": [\n {\n \"rhs\": \"Your task is to: find two tissuebox and put them in 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_044602_338962)\n(:domain alfred)\n(:objects\nagent1 - agent\nCurtains - object\n SprayBottle - object\n Mirror - object\n HousePlant - object\n Watch - object\n TeddyBear - object\n WateringCan - object\n Bathtub - object\n LightSwitch - object\n Vase - object\n Candle - object\n Bread - object\n Statue - object\n HandTowel - object\n StoveKnob - object\n PaperTowelRoll - object\n Pan - object\n PepperShaker - object\n Painting - object\n CellPhone - object\n Plunger - object\n Spoon - object\n SaltShaker - object\n KeyChain - object\n Footstool - object\n Poster - object\n Television - object\n LaundryHamperLid - object\n Glassbottle - object\n AlarmClock - object\n WineBottle - object\n Bowl - object\n Sink - object\n TissueBox - object\n TennisRacket - object\n ToiletPaper - object\n ScrubBrush - object\n CreditCard - object\n Laptop - object\n Cloth - object\n Cup - object\n Chair - object\n BasketBall - object\n Kettle - object\n PaperTowel - object\n ShowerDoor - object\n BaseballBat - object\n Potato - object\n Pillow - object\n Lettuce - object\n RemoteControl - object\n Window - object\n DishSponge - object\n CD - object\n Boots - object\n Blinds - object\n Pen - object\n Newspaper - object\n Plate - object\n Mug - object\n ShowerGlass - object\n ToiletPaperRoll - object\n SoapBar - object\n FloorLamp - object\n SoapBottle - object\n Pot - object\n Pencil - object\n Spatula - object\n Towel - object\n Fork - object\n Ladle - object\n Knife - object\n Apple - object\n Box - object\n Tomato - object\n ButterKnife - object\n Egg - object\n Book - object\n DeskLamp - object\nCurtainsType - otype\n SprayBottleType - otype\n MirrorType - otype\n HousePlantType - otype\n WatchType - otype\n TeddyBearType - otype\n WateringCanType - otype\n BathtubType - otype\n LightSwitchType - otype\n VaseType - otype\n CandleType - otype\n BreadType - otype\n StatueType - otype\n HandTowelType - otype\n StoveKnobType - otype\n PaperTowelRollType - otype\n PanType - otype\n PepperShakerType - otype\n PaintingType - otype\n CellPhoneType - otype\n PlungerType - otype\n SpoonType - otype\n SaltShakerType - otype\n KeyChainType - otype\n FootstoolType - otype\n PosterType - otype\n TelevisionType - otype\n LaundryHamperLidType - otype\n GlassbottleType - otype\n AlarmClockType - otype\n WineBottleType - otype\n BowlType - otype\n SinkType - otype\n TissueBoxType - otype\n TennisRacketType - otype\n ToiletPaperType - otype\n ScrubBrushType - otype\n CreditCardType - otype\n LaptopType - otype\n ClothType - otype\n CupType - otype\n ChairType - otype\n BasketBallType - otype\n KettleType - otype\n PaperTowelType - otype\n ShowerDoorType - otype\n BaseballBatType - otype\n PotatoType - otype\n PillowType - otype\n LettuceType - otype\n RemoteControlType - otype\n WindowType - otype\n DishSpongeType - otype\n CDType - otype\n BootsType - otype\n BlindsType - otype\n PenType - otype\n NewspaperType - otype\n PlateType - otype\n MugType - otype\n ShowerGlassType - otype\n ToiletPaperRollType - otype\n SoapBarType - otype\n FloorLampType - otype\n SoapBottleType - otype\n PotType - otype\n PencilType - otype\n SpatulaType - otype\n TowelType - otype\n ForkType - otype\n LadleType - otype\n KnifeType - otype\n AppleType - otype\n BoxType - otype\n TomatoType - otype\n ButterKnifeType - otype\n EggType - otype\n BookType - otype\n DeskLampType - otype\nCabinetType - rtype\n ShelfType - rtype\n DiningTableType - rtype\n TowelHolderType - rtype\n PaintingHangerType - rtype\n TVStandType - rtype\n LaundryHamperType - rtype\n OttomanType - rtype\n SafeType - rtype\n CoffeeMachineType - rtype\n CounterTopType - rtype\n ToiletType - rtype\n FridgeType - rtype\n CoffeeTableType - rtype\n SinkBasinType - rtype\n GarbageCanType - rtype\n BathtubBasinType - rtype\n SideTableType - rtype\n CartType - rtype\n BedType - rtype\n DeskType - rtype\n SofaType - rtype\n ArmChairType - rtype\n MicrowaveType - rtype\n HandTowelHolderType - rtype\n ToasterType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n DrawerType - rtype\n DresserType - rtype\n\n\n Bathtub_bar__minus_03_dot_50_bar__plus_00_dot_15_bar__plus_00_dot_94 - object\n Candle_bar__minus_01_dot_32_bar__plus_00_dot_51_bar__plus_00_dot_18 - object\n Candle_bar__minus_02_dot_35_bar__plus_00_dot_95_bar__plus_02_dot_58 - object\n Cloth_bar__minus_03_dot_45_bar__plus_00_dot_22_bar__plus_00_dot_75 - object\n Faucet_bar__minus_00_dot_46_bar__plus_00_dot_97_bar__plus_03_dot_21 - object\n Faucet_bar__minus_03_dot_54_bar__plus_01_dot_82_bar__plus_01_dot_82 - object\n HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_68_bar__plus_02_dot_96 - object\n LightSwitch_bar__plus_00_dot_00_bar__plus_01_dot_37_bar__plus_01_dot_99 - object\n Mirror_bar__minus_00_dot_50_bar__plus_01_dot_74_bar__plus_03_dot_30 - object\n Plunger_bar__minus_02_dot_31_bar__plus_00_dot_00_bar__plus_03_dot_23 - object\n ScrubBrush_bar__minus_02_dot_19_bar__plus_00_dot_00_bar__plus_03_dot_03 - object\n ShowerCurtain_bar__minus_03_dot_32_bar__plus_02_dot_57_bar__plus_00_dot_27 - object\n Sink_bar__minus_00_dot_46_bar__minus_00_dot_01_bar__plus_03_dot_05 - object\n SoapBar_bar__minus_00_dot_54_bar__plus_00_dot_90_bar__plus_02_dot_90 - object\n SoapBottle_bar__minus_01_dot_07_bar__plus_00_dot_81_bar__plus_00_dot_16 - object\n SprayBottle_bar__minus_00_dot_54_bar__plus_00_dot_81_bar__plus_00_dot_42 - object\n SprayBottle_bar__minus_00_dot_81_bar__plus_00_dot_81_bar__plus_00_dot_22 - object\n TissueBox_bar__minus_00_dot_81_bar__plus_00_dot_51_bar__plus_00_dot_24 - object\n TissueBox_bar__minus_01_dot_33_bar__plus_00_dot_81_bar__plus_00_dot_29 - object\n TissueBox_bar__minus_01_dot_59_bar__plus_00_dot_81_bar__plus_00_dot_29 - object\n TissueBox_bar__minus_01_dot_85_bar__plus_00_dot_81_bar__plus_00_dot_42 - object\n ToiletPaper_bar__minus_01_dot_38_bar__plus_00_dot_20_bar__plus_00_dot_35 - object\n ToiletPaper_bar__minus_02_dot_25_bar__plus_00_dot_95_bar__plus_02_dot_67 - object\n Towel_bar__minus_02_dot_55_bar__plus_01_dot_60_bar__plus_00_dot_11 - object\n Window_bar__minus_04_dot_08_bar__plus_01_dot_74_bar__plus_01_dot_16 - object\n Bathtub_bar__minus_03_dot_50_bar__plus_00_dot_15_bar__plus_00_dot_94_bar_BathtubBasin - receptacle\n CounterTop_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_34 - receptacle\n Drawer_bar__minus_00_dot_29_bar__plus_00_dot_31_bar__plus_00_dot_31 - receptacle\n Drawer_bar__minus_00_dot_29_bar__plus_00_dot_61_bar__plus_00_dot_31 - receptacle\n Drawer_bar__minus_00_dot_81_bar__plus_00_dot_31_bar__plus_00_dot_31 - receptacle\n Drawer_bar__minus_00_dot_81_bar__plus_00_dot_61_bar__plus_00_dot_31 - receptacle\n Drawer_bar__minus_01_dot_32_bar__plus_00_dot_31_bar__plus_00_dot_31 - receptacle\n Drawer_bar__minus_01_dot_32_bar__plus_00_dot_61_bar__plus_00_dot_31 - receptacle\n Drawer_bar__minus_01_dot_84_bar__plus_00_dot_31_bar__plus_00_dot_31 - receptacle\n Drawer_bar__minus_01_dot_84_bar__plus_00_dot_61_bar__plus_00_dot_31 - receptacle\n GarbageCan_bar__minus_00_dot_85_bar__plus_00_dot_00_bar__plus_03_dot_15 - receptacle\n HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_78_bar__plus_02_dot_96 - receptacle\n Sink_bar__minus_00_dot_46_bar__minus_00_dot_01_bar__plus_03_dot_05_bar_SinkBasin - receptacle\n ToiletPaperHanger_bar__minus_01_dot_63_bar__plus_00_dot_84_bar__plus_03_dot_31 - receptacle\n Toilet_bar__minus_01_dot_84_bar__plus_00_dot_00_bar__plus_02_dot_50 - receptacle\n TowelHolder_bar__minus_02_dot_55_bar__plus_00_dot_86_bar__plus_00_dot_00 - receptacle\n TowelHolder_bar__minus_02_dot_55_bar__plus_01_dot_58_bar__plus_00_dot_00 - receptacle\n loc_bar__minus_3_bar_10_bar_0_bar_0 - location\n loc_bar__minus_10_bar_3_bar_2_bar_0 - location\n loc_bar__minus_7_bar_6_bar_0_bar_60 - location\n loc_bar__minus_5_bar_6_bar_2_bar_45 - location\n loc_bar__minus_6_bar_5_bar_2_bar_45 - location\n loc_bar__minus_2_bar_5_bar_2_bar_45 - location\n loc_bar__minus_5_bar_11_bar_3_bar_60 - location\n loc_bar__minus_5_bar_4_bar_2_bar_60 - location\n loc_bar__minus_3_bar_6_bar_2_bar_45 - location\n loc_bar__minus_11_bar_4_bar_3_bar_60 - location\n loc_bar__minus_5_bar_9_bar_0_bar_60 - location\n loc_bar__minus_3_bar_4_bar_3_bar_60 - location\n loc_bar__minus_4_bar_11_bar_1_bar_60 - location\n loc_bar__minus_5_bar_11_bar_0_bar_60 - location\n loc_bar__minus_2_bar_9_bar_0_bar__minus_15 - location\n loc_bar__minus_2_bar_9_bar_0_bar_60 - location\n loc_bar__minus_11_bar_5_bar_3_bar_0 - location\n loc_bar__minus_4_bar_5_bar_2_bar_45 - location\n loc_bar__minus_2_bar_8_bar_1_bar_30 - location\n loc_bar__minus_3_bar_5_bar_2_bar_45 - location\n loc_bar__minus_10_bar_3_bar_2_bar_45 - location\n loc_bar__minus_4_bar_11_bar_2_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Drawer_bar__minus_00_dot_29_bar__plus_00_dot_61_bar__plus_00_dot_31 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_84_bar__plus_00_dot_31_bar__plus_00_dot_31 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_84_bar__plus_00_dot_61_bar__plus_00_dot_31 DrawerType)\n (receptacleType CounterTop_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_34 CounterTopType)\n (receptacleType ToiletPaperHanger_bar__minus_01_dot_63_bar__plus_00_dot_84_bar__plus_03_dot_31 ToiletPaperHangerType)\n (receptacleType Drawer_bar__minus_00_dot_81_bar__plus_00_dot_31_bar__plus_00_dot_31 DrawerType)\n (receptacleType TowelHolder_bar__minus_02_dot_55_bar__plus_01_dot_58_bar__plus_00_dot_00 TowelHolderType)\n (receptacleType GarbageCan_bar__minus_00_dot_85_bar__plus_00_dot_00_bar__plus_03_dot_15 GarbageCanType)\n (receptacleType HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_78_bar__plus_02_dot_96 HandTowelHolderType)\n (receptacleType Drawer_bar__minus_00_dot_29_bar__plus_00_dot_31_bar__plus_00_dot_31 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_32_bar__plus_00_dot_31_bar__plus_00_dot_31 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_32_bar__plus_00_dot_61_bar__plus_00_dot_31 DrawerType)\n (receptacleType Toilet_bar__minus_01_dot_84_bar__plus_00_dot_00_bar__plus_02_dot_50 ToiletType)\n (receptacleType Sink_bar__minus_00_dot_46_bar__minus_00_dot_01_bar__plus_03_dot_05_bar_SinkBasin SinkBasinType)\n (receptacleType Bathtub_bar__minus_03_dot_50_bar__plus_00_dot_15_bar__plus_00_dot_94_bar_BathtubBasin BathtubBasinType)\n (receptacleType TowelHolder_bar__minus_02_dot_55_bar__plus_00_dot_86_bar__plus_00_dot_00 TowelHolderType)\n (receptacleType Drawer_bar__minus_00_dot_81_bar__plus_00_dot_61_bar__plus_00_dot_31 DrawerType)\n (objectType SoapBar_bar__minus_00_dot_54_bar__plus_00_dot_90_bar__plus_02_dot_90 SoapBarType)\n (objectType ToiletPaper_bar__minus_01_dot_38_bar__plus_00_dot_20_bar__plus_00_dot_35 ToiletPaperType)\n (objectType Bathtub_bar__minus_03_dot_50_bar__plus_00_dot_15_bar__plus_00_dot_94 BathtubType)\n (objectType TissueBox_bar__minus_01_dot_33_bar__plus_00_dot_81_bar__plus_00_dot_29 TissueBoxType)\n (objectType Mirror_bar__minus_00_dot_50_bar__plus_01_dot_74_bar__plus_03_dot_30 MirrorType)\n (objectType Candle_bar__minus_01_dot_32_bar__plus_00_dot_51_bar__plus_00_dot_18 CandleType)\n (objectType Towel_bar__minus_02_dot_55_bar__plus_01_dot_60_bar__plus_00_dot_11 TowelType)\n (objectType TissueBox_bar__minus_00_dot_81_bar__plus_00_dot_51_bar__plus_00_dot_24 TissueBoxType)\n (objectType LightSwitch_bar__plus_00_dot_00_bar__plus_01_dot_37_bar__plus_01_dot_99 LightSwitchType)\n (objectType SprayBottle_bar__minus_00_dot_54_bar__plus_00_dot_81_bar__plus_00_dot_42 SprayBottleType)\n (objectType ScrubBrush_bar__minus_02_dot_19_bar__plus_00_dot_00_bar__plus_03_dot_03 ScrubBrushType)\n (objectType ToiletPaper_bar__minus_02_dot_25_bar__plus_00_dot_95_bar__plus_02_dot_67 ToiletPaperType)\n (objectType Plunger_bar__minus_02_dot_31_bar__plus_00_dot_00_bar__plus_03_dot_23 PlungerType)\n (objectType SoapBottle_bar__minus_01_dot_07_bar__plus_00_dot_81_bar__plus_00_dot_16 SoapBottleType)\n (objectType Cloth_bar__minus_03_dot_45_bar__plus_00_dot_22_bar__plus_00_dot_75 ClothType)\n (objectType Candle_bar__minus_02_dot_35_bar__plus_00_dot_95_bar__plus_02_dot_58 CandleType)\n (objectType TissueBox_bar__minus_01_dot_59_bar__plus_00_dot_81_bar__plus_00_dot_29 TissueBoxType)\n (objectType TissueBox_bar__minus_01_dot_85_bar__plus_00_dot_81_bar__plus_00_dot_42 TissueBoxType)\n (objectType Window_bar__minus_04_dot_08_bar__plus_01_dot_74_bar__plus_01_dot_16 WindowType)\n (objectType SprayBottle_bar__minus_00_dot_81_bar__plus_00_dot_81_bar__plus_00_dot_22 SprayBottleType)\n (objectType HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_68_bar__plus_02_dot_96 HandTowelType)\n (objectType Sink_bar__minus_00_dot_46_bar__minus_00_dot_01_bar__plus_03_dot_05 SinkType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType CandleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType HandTowelType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType CandleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType HandTowelType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType CandleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType HandTowelType)\n (canContain CounterTopType SprayBottleType)\n (canContain CounterTopType SoapBarType)\n (canContain CounterTopType SoapBottleType)\n (canContain CounterTopType TissueBoxType)\n (canContain CounterTopType ToiletPaperType)\n (canContain CounterTopType CandleType)\n (canContain CounterTopType ClothType)\n (canContain CounterTopType HandTowelType)\n (canContain ToiletPaperHangerType ToiletPaperType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType CandleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType HandTowelType)\n (canContain TowelHolderType TowelType)\n (canContain GarbageCanType SprayBottleType)\n (canContain GarbageCanType SoapBarType)\n (canContain GarbageCanType SoapBottleType)\n (canContain GarbageCanType TissueBoxType)\n (canContain GarbageCanType ToiletPaperType)\n (canContain GarbageCanType ClothType)\n (canContain GarbageCanType HandTowelType)\n (canContain HandTowelHolderType HandTowelType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType CandleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType HandTowelType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType CandleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType HandTowelType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType CandleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType HandTowelType)\n (canContain ToiletType ClothType)\n (canContain ToiletType SoapBarType)\n (canContain ToiletType HandTowelType)\n (canContain ToiletType ToiletPaperType)\n (canContain ToiletType SoapBottleType)\n (canContain ToiletType SprayBottleType)\n (canContain ToiletType TissueBoxType)\n (canContain ToiletType CandleType)\n (canContain SinkBasinType SoapBarType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType HandTowelType)\n (canContain BathtubBasinType HandTowelType)\n (canContain BathtubBasinType SoapBarType)\n (canContain BathtubBasinType ClothType)\n (canContain TowelHolderType TowelType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType CandleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType HandTowelType)\n (pickupable SoapBar_bar__minus_00_dot_54_bar__plus_00_dot_90_bar__plus_02_dot_90)\n (pickupable ToiletPaper_bar__minus_01_dot_38_bar__plus_00_dot_20_bar__plus_00_dot_35)\n (pickupable TissueBox_bar__minus_01_dot_33_bar__plus_00_dot_81_bar__plus_00_dot_29)\n (pickupable Candle_bar__minus_01_dot_32_bar__plus_00_dot_51_bar__plus_00_dot_18)\n (pickupable Towel_bar__minus_02_dot_55_bar__plus_01_dot_60_bar__plus_00_dot_11)\n (pickupable TissueBox_bar__minus_00_dot_81_bar__plus_00_dot_51_bar__plus_00_dot_24)\n (pickupable SprayBottle_bar__minus_00_dot_54_bar__plus_00_dot_81_bar__plus_00_dot_42)\n (pickupable ScrubBrush_bar__minus_02_dot_19_bar__plus_00_dot_00_bar__plus_03_dot_03)\n (pickupable ToiletPaper_bar__minus_02_dot_25_bar__plus_00_dot_95_bar__plus_02_dot_67)\n (pickupable Plunger_bar__minus_02_dot_31_bar__plus_00_dot_00_bar__plus_03_dot_23)\n (pickupable SoapBottle_bar__minus_01_dot_07_bar__plus_00_dot_81_bar__plus_00_dot_16)\n (pickupable Cloth_bar__minus_03_dot_45_bar__plus_00_dot_22_bar__plus_00_dot_75)\n (pickupable Candle_bar__minus_02_dot_35_bar__plus_00_dot_95_bar__plus_02_dot_58)\n (pickupable TissueBox_bar__minus_01_dot_59_bar__plus_00_dot_81_bar__plus_00_dot_29)\n (pickupable TissueBox_bar__minus_01_dot_85_bar__plus_00_dot_81_bar__plus_00_dot_42)\n (pickupable SprayBottle_bar__minus_00_dot_81_bar__plus_00_dot_81_bar__plus_00_dot_22)\n (pickupable HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_68_bar__plus_02_dot_96)\n \n (openable Drawer_bar__minus_00_dot_29_bar__plus_00_dot_61_bar__plus_00_dot_31)\n (openable Drawer_bar__minus_01_dot_84_bar__plus_00_dot_31_bar__plus_00_dot_31)\n (openable Drawer_bar__minus_01_dot_84_bar__plus_00_dot_61_bar__plus_00_dot_31)\n (openable Drawer_bar__minus_00_dot_81_bar__plus_00_dot_31_bar__plus_00_dot_31)\n (openable Drawer_bar__minus_00_dot_29_bar__plus_00_dot_31_bar__plus_00_dot_31)\n (openable Drawer_bar__minus_01_dot_32_bar__plus_00_dot_61_bar__plus_00_dot_31)\n (openable Drawer_bar__minus_00_dot_81_bar__plus_00_dot_61_bar__plus_00_dot_31)\n \n (atLocation agent1 loc_bar__minus_4_bar_11_bar_2_bar_30)\n \n (cleanable SoapBar_bar__minus_00_dot_54_bar__plus_00_dot_90_bar__plus_02_dot_90)\n (cleanable Cloth_bar__minus_03_dot_45_bar__plus_00_dot_22_bar__plus_00_dot_75)\n \n \n \n \n \n \n \n \n \n \n (inReceptacle ToiletPaper_bar__minus_01_dot_38_bar__plus_00_dot_20_bar__plus_00_dot_35 Drawer_bar__minus_01_dot_32_bar__plus_00_dot_31_bar__plus_00_dot_31)\n (inReceptacle TissueBox_bar__minus_00_dot_81_bar__plus_00_dot_51_bar__plus_00_dot_24 Drawer_bar__minus_00_dot_81_bar__plus_00_dot_61_bar__plus_00_dot_31)\n (inReceptacle TissueBox_bar__minus_01_dot_85_bar__plus_00_dot_81_bar__plus_00_dot_42 CounterTop_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_34)\n (inReceptacle SoapBottle_bar__minus_01_dot_07_bar__plus_00_dot_81_bar__plus_00_dot_16 CounterTop_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_34)\n (inReceptacle SprayBottle_bar__minus_00_dot_81_bar__plus_00_dot_81_bar__plus_00_dot_22 CounterTop_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_34)\n (inReceptacle SprayBottle_bar__minus_00_dot_54_bar__plus_00_dot_81_bar__plus_00_dot_42 CounterTop_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_34)\n (inReceptacle TissueBox_bar__minus_01_dot_33_bar__plus_00_dot_81_bar__plus_00_dot_29 CounterTop_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_34)\n (inReceptacle TissueBox_bar__minus_01_dot_59_bar__plus_00_dot_81_bar__plus_00_dot_29 CounterTop_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_34)\n (inReceptacle Candle_bar__minus_01_dot_32_bar__plus_00_dot_51_bar__plus_00_dot_18 Drawer_bar__minus_01_dot_32_bar__plus_00_dot_61_bar__plus_00_dot_31)\n (inReceptacle Towel_bar__minus_02_dot_55_bar__plus_01_dot_60_bar__plus_00_dot_11 TowelHolder_bar__minus_02_dot_55_bar__plus_01_dot_58_bar__plus_00_dot_00)\n (inReceptacle HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_68_bar__plus_02_dot_96 HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_78_bar__plus_02_dot_96)\n (inReceptacle ToiletPaper_bar__minus_02_dot_25_bar__plus_00_dot_95_bar__plus_02_dot_67 Toilet_bar__minus_01_dot_84_bar__plus_00_dot_00_bar__plus_02_dot_50)\n (inReceptacle Candle_bar__minus_02_dot_35_bar__plus_00_dot_95_bar__plus_02_dot_58 Toilet_bar__minus_01_dot_84_bar__plus_00_dot_00_bar__plus_02_dot_50)\n (inReceptacle SoapBar_bar__minus_00_dot_54_bar__plus_00_dot_90_bar__plus_02_dot_90 Sink_bar__minus_00_dot_46_bar__minus_00_dot_01_bar__plus_03_dot_05_bar_SinkBasin)\n (inReceptacle Cloth_bar__minus_03_dot_45_bar__plus_00_dot_22_bar__plus_00_dot_75 Bathtub_bar__minus_03_dot_50_bar__plus_00_dot_15_bar__plus_00_dot_94_bar_BathtubBasin)\n \n \n (receptacleAtLocation Bathtub_bar__minus_03_dot_50_bar__plus_00_dot_15_bar__plus_00_dot_94_bar_BathtubBasin loc_bar__minus_11_bar_4_bar_3_bar_60)\n (receptacleAtLocation CounterTop_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_34 loc_bar__minus_3_bar_4_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_29_bar__plus_00_dot_31_bar__plus_00_dot_31 loc_bar__minus_3_bar_6_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_29_bar__plus_00_dot_61_bar__plus_00_dot_31 loc_bar__minus_3_bar_5_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_81_bar__plus_00_dot_31_bar__plus_00_dot_31 loc_bar__minus_5_bar_6_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_81_bar__plus_00_dot_61_bar__plus_00_dot_31 loc_bar__minus_2_bar_5_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_32_bar__plus_00_dot_31_bar__plus_00_dot_31 loc_bar__minus_5_bar_4_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_32_bar__plus_00_dot_61_bar__plus_00_dot_31 loc_bar__minus_4_bar_5_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_84_bar__plus_00_dot_31_bar__plus_00_dot_31 loc_bar__minus_5_bar_6_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_84_bar__plus_00_dot_61_bar__plus_00_dot_31 loc_bar__minus_6_bar_5_bar_2_bar_45)\n (receptacleAtLocation GarbageCan_bar__minus_00_dot_85_bar__plus_00_dot_00_bar__plus_03_dot_15 loc_bar__minus_5_bar_9_bar_0_bar_60)\n (receptacleAtLocation HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_78_bar__plus_02_dot_96 loc_bar__minus_2_bar_9_bar_0_bar__minus_15)\n (receptacleAtLocation Sink_bar__minus_00_dot_46_bar__minus_00_dot_01_bar__plus_03_dot_05_bar_SinkBasin loc_bar__minus_4_bar_11_bar_1_bar_60)\n (receptacleAtLocation ToiletPaperHanger_bar__minus_01_dot_63_bar__plus_00_dot_84_bar__plus_03_dot_31 loc_bar__minus_5_bar_11_bar_0_bar_60)\n (receptacleAtLocation Toilet_bar__minus_01_dot_84_bar__plus_00_dot_00_bar__plus_02_dot_50 loc_bar__minus_7_bar_6_bar_0_bar_60)\n (receptacleAtLocation TowelHolder_bar__minus_02_dot_55_bar__plus_00_dot_86_bar__plus_00_dot_00 loc_bar__minus_10_bar_3_bar_2_bar_45)\n (receptacleAtLocation TowelHolder_bar__minus_02_dot_55_bar__plus_01_dot_58_bar__plus_00_dot_00 loc_bar__minus_10_bar_3_bar_2_bar_0)\n (objectAtLocation TissueBox_bar__minus_01_dot_59_bar__plus_00_dot_81_bar__plus_00_dot_29 loc_bar__minus_3_bar_4_bar_3_bar_60)\n (objectAtLocation SprayBottle_bar__minus_00_dot_81_bar__plus_00_dot_81_bar__plus_00_dot_22 loc_bar__minus_3_bar_4_bar_3_bar_60)\n (objectAtLocation Candle_bar__minus_01_dot_32_bar__plus_00_dot_51_bar__plus_00_dot_18 loc_bar__minus_4_bar_5_bar_2_bar_45)\n (objectAtLocation TissueBox_bar__minus_00_dot_81_bar__plus_00_dot_51_bar__plus_00_dot_24 loc_bar__minus_2_bar_5_bar_2_bar_45)\n (objectAtLocation TissueBox_bar__minus_01_dot_85_bar__plus_00_dot_81_bar__plus_00_dot_42 loc_bar__minus_3_bar_4_bar_3_bar_60)\n (objectAtLocation Sink_bar__minus_00_dot_46_bar__minus_00_dot_01_bar__plus_03_dot_05 loc_bar__minus_2_bar_9_bar_0_bar_60)\n (objectAtLocation Mirror_bar__minus_00_dot_50_bar__plus_01_dot_74_bar__plus_03_dot_30 loc_bar__minus_3_bar_10_bar_0_bar_0)\n (objectAtLocation Bathtub_bar__minus_03_dot_50_bar__plus_00_dot_15_bar__plus_00_dot_94 loc_bar__minus_11_bar_4_bar_3_bar_60)\n (objectAtLocation Towel_bar__minus_02_dot_55_bar__plus_01_dot_60_bar__plus_00_dot_11 loc_bar__minus_10_bar_3_bar_2_bar_0)\n (objectAtLocation Cloth_bar__minus_03_dot_45_bar__plus_00_dot_22_bar__plus_00_dot_75 loc_bar__minus_11_bar_4_bar_3_bar_60)\n (objectAtLocation Candle_bar__minus_02_dot_35_bar__plus_00_dot_95_bar__plus_02_dot_58 loc_bar__minus_7_bar_6_bar_0_bar_60)\n (objectAtLocation HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_68_bar__plus_02_dot_96 loc_bar__minus_2_bar_9_bar_0_bar__minus_15)\n (objectAtLocation SoapBar_bar__minus_00_dot_54_bar__plus_00_dot_90_bar__plus_02_dot_90 loc_bar__minus_4_bar_11_bar_1_bar_60)\n (objectAtLocation ToiletPaper_bar__minus_02_dot_25_bar__plus_00_dot_95_bar__plus_02_dot_67 loc_bar__minus_7_bar_6_bar_0_bar_60)\n (objectAtLocation Plunger_bar__minus_02_dot_31_bar__plus_00_dot_00_bar__plus_03_dot_23 loc_bar__minus_5_bar_11_bar_3_bar_60)\n (objectAtLocation SprayBottle_bar__minus_00_dot_54_bar__plus_00_dot_81_bar__plus_00_dot_42 loc_bar__minus_3_bar_4_bar_3_bar_60)\n (objectAtLocation TissueBox_bar__minus_01_dot_33_bar__plus_00_dot_81_bar__plus_00_dot_29 loc_bar__minus_3_bar_4_bar_3_bar_60)\n (objectAtLocation ToiletPaper_bar__minus_01_dot_38_bar__plus_00_dot_20_bar__plus_00_dot_35 loc_bar__minus_5_bar_4_bar_2_bar_60)\n (objectAtLocation LightSwitch_bar__plus_00_dot_00_bar__plus_01_dot_37_bar__plus_01_dot_99 loc_bar__minus_2_bar_8_bar_1_bar_30)\n (objectAtLocation Window_bar__minus_04_dot_08_bar__plus_01_dot_74_bar__plus_01_dot_16 loc_bar__minus_11_bar_5_bar_3_bar_0)\n (objectAtLocation ScrubBrush_bar__minus_02_dot_19_bar__plus_00_dot_00_bar__plus_03_dot_03 loc_bar__minus_5_bar_11_bar_3_bar_60)\n (objectAtLocation SoapBottle_bar__minus_01_dot_07_bar__plus_00_dot_81_bar__plus_00_dot_16 loc_bar__minus_3_bar_4_bar_3_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 ToiletType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 TissueBoxType)\n (receptacleType ?r ToiletType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 1", "take tissuebox 3 from countertop 1", "go to toilet 1", "move tissuebox 3 to toilet 1", "go to countertop 1", "take tissuebox 2 from countertop 1", "go to toilet 1", "move tissuebox 2 to toilet 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/valid_seen/pick_two_obj_and_place-TissueBox-None-Toilet-426/trial_T20190909_044602_338962/initial_state.pddl b/data/alfworld/json_2.1.1/valid_seen/pick_two_obj_and_place-TissueBox-None-Toilet-426/trial_T20190909_044602_338962/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..ded66f281aae91d0efe9889fd7d1b49310f6c691 --- /dev/null +++ b/data/alfworld/json_2.1.1/valid_seen/pick_two_obj_and_place-TissueBox-None-Toilet-426/trial_T20190909_044602_338962/initial_state.pddl @@ -0,0 +1,523 @@ + +(define (problem plan_trial_T20190909_044602_338962) +(:domain alfred) +(:objects +agent1 - agent +Curtains - object + SprayBottle - object + Mirror - object + HousePlant - object + Watch - object + TeddyBear - object + WateringCan - object + Bathtub - object + LightSwitch - object + Vase - object + Candle - object + Bread - object + Statue - object + HandTowel - object + StoveKnob - object + PaperTowelRoll - object + Pan - object + PepperShaker - object + Painting - object + CellPhone - object + Plunger - object + Spoon - object + SaltShaker - object + KeyChain - object + Footstool - object + Poster - object + Television - object + LaundryHamperLid - object + Glassbottle - object + AlarmClock - object + WineBottle - object + Bowl - object + Sink - object + TissueBox - object + TennisRacket - object + ToiletPaper - object + ScrubBrush - object + CreditCard - object + Laptop - object + Cloth - object + Cup - object + Chair - object + BasketBall - object + Kettle - object + PaperTowel - object + ShowerDoor - object + BaseballBat - object + Potato - object + Pillow - object + Lettuce - object + RemoteControl - object + Window - object + DishSponge - object + CD - object + Boots - object + Blinds - object + Pen - object + Newspaper - object + Plate - object + Mug - object + ShowerGlass - object + ToiletPaperRoll - object + SoapBar - object + FloorLamp - object + SoapBottle - object + Pot - object + Pencil - object + Spatula - object + Towel - object + Fork - object + Ladle - object + Knife - object + Apple - object + Box - object + Tomato - object + ButterKnife - object + Egg - object + Book - object + DeskLamp - object +CurtainsType - otype + SprayBottleType - otype + MirrorType - otype + HousePlantType - otype + WatchType - otype + TeddyBearType - otype + WateringCanType - otype + BathtubType - otype + LightSwitchType - otype + VaseType - otype + CandleType - otype + BreadType - otype + StatueType - otype + HandTowelType - otype + StoveKnobType - otype + PaperTowelRollType - otype + PanType - otype + PepperShakerType - otype + PaintingType - otype + CellPhoneType - otype + PlungerType - otype + SpoonType - otype + SaltShakerType - otype + KeyChainType - otype + FootstoolType - otype + PosterType - otype + TelevisionType - otype + LaundryHamperLidType - otype + GlassbottleType - otype + AlarmClockType - otype + WineBottleType - otype + BowlType - otype + SinkType - otype + TissueBoxType - otype + TennisRacketType - otype + ToiletPaperType - otype + ScrubBrushType - otype + CreditCardType - otype + LaptopType - otype + ClothType - otype + CupType - otype + ChairType - otype + BasketBallType - otype + KettleType - otype + PaperTowelType - otype + ShowerDoorType - otype + BaseballBatType - otype + PotatoType - otype + PillowType - otype + LettuceType - otype + RemoteControlType - otype + WindowType - otype + DishSpongeType - otype + CDType - otype + BootsType - otype + BlindsType - otype + PenType - otype + NewspaperType - otype + PlateType - otype + MugType - otype + ShowerGlassType - otype + ToiletPaperRollType - otype + SoapBarType - otype + FloorLampType - otype + SoapBottleType - otype + PotType - otype + PencilType - otype + SpatulaType - otype + TowelType - otype + ForkType - otype + LadleType - otype + KnifeType - otype + AppleType - otype + BoxType - otype + TomatoType - otype + ButterKnifeType - otype + EggType - otype + BookType - otype + DeskLampType - otype +CabinetType - rtype + ShelfType - rtype + DiningTableType - rtype + TowelHolderType - rtype + PaintingHangerType - rtype + TVStandType - rtype + LaundryHamperType - rtype + OttomanType - rtype + SafeType - rtype + CoffeeMachineType - rtype + CounterTopType - rtype + ToiletType - rtype + FridgeType - rtype + CoffeeTableType - rtype + SinkBasinType - rtype + GarbageCanType - rtype + BathtubBasinType - rtype + SideTableType - rtype + CartType - rtype + BedType - rtype + DeskType - rtype + SofaType - rtype + ArmChairType - rtype + MicrowaveType - rtype + HandTowelHolderType - rtype + ToasterType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + DrawerType - rtype + DresserType - rtype + + + Bathtub_bar__minus_03_dot_50_bar__plus_00_dot_15_bar__plus_00_dot_94 - object + Candle_bar__minus_01_dot_32_bar__plus_00_dot_51_bar__plus_00_dot_18 - object + Candle_bar__minus_02_dot_35_bar__plus_00_dot_95_bar__plus_02_dot_58 - object + Cloth_bar__minus_03_dot_45_bar__plus_00_dot_22_bar__plus_00_dot_75 - object + Faucet_bar__minus_00_dot_46_bar__plus_00_dot_97_bar__plus_03_dot_21 - object + Faucet_bar__minus_03_dot_54_bar__plus_01_dot_82_bar__plus_01_dot_82 - object + HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_68_bar__plus_02_dot_96 - object + LightSwitch_bar__plus_00_dot_00_bar__plus_01_dot_37_bar__plus_01_dot_99 - object + Mirror_bar__minus_00_dot_50_bar__plus_01_dot_74_bar__plus_03_dot_30 - object + Plunger_bar__minus_02_dot_31_bar__plus_00_dot_00_bar__plus_03_dot_23 - object + ScrubBrush_bar__minus_02_dot_19_bar__plus_00_dot_00_bar__plus_03_dot_03 - object + ShowerCurtain_bar__minus_03_dot_32_bar__plus_02_dot_57_bar__plus_00_dot_27 - object + Sink_bar__minus_00_dot_46_bar__minus_00_dot_01_bar__plus_03_dot_05 - object + SoapBar_bar__minus_00_dot_54_bar__plus_00_dot_90_bar__plus_02_dot_90 - object + SoapBottle_bar__minus_01_dot_07_bar__plus_00_dot_81_bar__plus_00_dot_16 - object + SprayBottle_bar__minus_00_dot_54_bar__plus_00_dot_81_bar__plus_00_dot_42 - object + SprayBottle_bar__minus_00_dot_81_bar__plus_00_dot_81_bar__plus_00_dot_22 - object + TissueBox_bar__minus_00_dot_81_bar__plus_00_dot_51_bar__plus_00_dot_24 - object + TissueBox_bar__minus_01_dot_33_bar__plus_00_dot_81_bar__plus_00_dot_29 - object + TissueBox_bar__minus_01_dot_59_bar__plus_00_dot_81_bar__plus_00_dot_29 - object + TissueBox_bar__minus_01_dot_85_bar__plus_00_dot_81_bar__plus_00_dot_42 - object + ToiletPaper_bar__minus_01_dot_38_bar__plus_00_dot_20_bar__plus_00_dot_35 - object + ToiletPaper_bar__minus_02_dot_25_bar__plus_00_dot_95_bar__plus_02_dot_67 - object + Towel_bar__minus_02_dot_55_bar__plus_01_dot_60_bar__plus_00_dot_11 - object + Window_bar__minus_04_dot_08_bar__plus_01_dot_74_bar__plus_01_dot_16 - object + Bathtub_bar__minus_03_dot_50_bar__plus_00_dot_15_bar__plus_00_dot_94_bar_BathtubBasin - receptacle + CounterTop_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_34 - receptacle + Drawer_bar__minus_00_dot_29_bar__plus_00_dot_31_bar__plus_00_dot_31 - receptacle + Drawer_bar__minus_00_dot_29_bar__plus_00_dot_61_bar__plus_00_dot_31 - receptacle + Drawer_bar__minus_00_dot_81_bar__plus_00_dot_31_bar__plus_00_dot_31 - receptacle + Drawer_bar__minus_00_dot_81_bar__plus_00_dot_61_bar__plus_00_dot_31 - receptacle + Drawer_bar__minus_01_dot_32_bar__plus_00_dot_31_bar__plus_00_dot_31 - receptacle + Drawer_bar__minus_01_dot_32_bar__plus_00_dot_61_bar__plus_00_dot_31 - receptacle + Drawer_bar__minus_01_dot_84_bar__plus_00_dot_31_bar__plus_00_dot_31 - receptacle + Drawer_bar__minus_01_dot_84_bar__plus_00_dot_61_bar__plus_00_dot_31 - receptacle + GarbageCan_bar__minus_00_dot_85_bar__plus_00_dot_00_bar__plus_03_dot_15 - receptacle + HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_78_bar__plus_02_dot_96 - receptacle + Sink_bar__minus_00_dot_46_bar__minus_00_dot_01_bar__plus_03_dot_05_bar_SinkBasin - receptacle + ToiletPaperHanger_bar__minus_01_dot_63_bar__plus_00_dot_84_bar__plus_03_dot_31 - receptacle + Toilet_bar__minus_01_dot_84_bar__plus_00_dot_00_bar__plus_02_dot_50 - receptacle + TowelHolder_bar__minus_02_dot_55_bar__plus_00_dot_86_bar__plus_00_dot_00 - receptacle + TowelHolder_bar__minus_02_dot_55_bar__plus_01_dot_58_bar__plus_00_dot_00 - receptacle + loc_bar__minus_3_bar_10_bar_0_bar_0 - location + loc_bar__minus_10_bar_3_bar_2_bar_0 - location + loc_bar__minus_7_bar_6_bar_0_bar_60 - location + loc_bar__minus_5_bar_6_bar_2_bar_45 - location + loc_bar__minus_6_bar_5_bar_2_bar_45 - location + loc_bar__minus_2_bar_5_bar_2_bar_45 - location + loc_bar__minus_5_bar_11_bar_3_bar_60 - location + loc_bar__minus_5_bar_4_bar_2_bar_60 - location + loc_bar__minus_3_bar_6_bar_2_bar_45 - location + loc_bar__minus_11_bar_4_bar_3_bar_60 - location + loc_bar__minus_5_bar_9_bar_0_bar_60 - location + loc_bar__minus_3_bar_4_bar_3_bar_60 - location + loc_bar__minus_4_bar_11_bar_1_bar_60 - location + loc_bar__minus_5_bar_11_bar_0_bar_60 - location + loc_bar__minus_2_bar_9_bar_0_bar__minus_15 - location + loc_bar__minus_2_bar_9_bar_0_bar_60 - location + loc_bar__minus_11_bar_5_bar_3_bar_0 - location + loc_bar__minus_4_bar_5_bar_2_bar_45 - location + loc_bar__minus_2_bar_8_bar_1_bar_30 - location + loc_bar__minus_3_bar_5_bar_2_bar_45 - location + loc_bar__minus_10_bar_3_bar_2_bar_45 - location + loc_bar__minus_4_bar_11_bar_2_bar_30 - location + ) + + +(:init + + + (receptacleType Drawer_bar__minus_00_dot_29_bar__plus_00_dot_61_bar__plus_00_dot_31 DrawerType) + (receptacleType Drawer_bar__minus_01_dot_84_bar__plus_00_dot_31_bar__plus_00_dot_31 DrawerType) + (receptacleType Drawer_bar__minus_01_dot_84_bar__plus_00_dot_61_bar__plus_00_dot_31 DrawerType) + (receptacleType CounterTop_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_34 CounterTopType) + (receptacleType ToiletPaperHanger_bar__minus_01_dot_63_bar__plus_00_dot_84_bar__plus_03_dot_31 ToiletPaperHangerType) + (receptacleType Drawer_bar__minus_00_dot_81_bar__plus_00_dot_31_bar__plus_00_dot_31 DrawerType) + (receptacleType TowelHolder_bar__minus_02_dot_55_bar__plus_01_dot_58_bar__plus_00_dot_00 TowelHolderType) + (receptacleType GarbageCan_bar__minus_00_dot_85_bar__plus_00_dot_00_bar__plus_03_dot_15 GarbageCanType) + (receptacleType HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_78_bar__plus_02_dot_96 HandTowelHolderType) + (receptacleType Drawer_bar__minus_00_dot_29_bar__plus_00_dot_31_bar__plus_00_dot_31 DrawerType) + (receptacleType Drawer_bar__minus_01_dot_32_bar__plus_00_dot_31_bar__plus_00_dot_31 DrawerType) + (receptacleType Drawer_bar__minus_01_dot_32_bar__plus_00_dot_61_bar__plus_00_dot_31 DrawerType) + (receptacleType Toilet_bar__minus_01_dot_84_bar__plus_00_dot_00_bar__plus_02_dot_50 ToiletType) + (receptacleType Sink_bar__minus_00_dot_46_bar__minus_00_dot_01_bar__plus_03_dot_05_bar_SinkBasin SinkBasinType) + (receptacleType Bathtub_bar__minus_03_dot_50_bar__plus_00_dot_15_bar__plus_00_dot_94_bar_BathtubBasin BathtubBasinType) + (receptacleType TowelHolder_bar__minus_02_dot_55_bar__plus_00_dot_86_bar__plus_00_dot_00 TowelHolderType) + (receptacleType Drawer_bar__minus_00_dot_81_bar__plus_00_dot_61_bar__plus_00_dot_31 DrawerType) + (objectType SoapBar_bar__minus_00_dot_54_bar__plus_00_dot_90_bar__plus_02_dot_90 SoapBarType) + (objectType ToiletPaper_bar__minus_01_dot_38_bar__plus_00_dot_20_bar__plus_00_dot_35 ToiletPaperType) + (objectType Bathtub_bar__minus_03_dot_50_bar__plus_00_dot_15_bar__plus_00_dot_94 BathtubType) + (objectType TissueBox_bar__minus_01_dot_33_bar__plus_00_dot_81_bar__plus_00_dot_29 TissueBoxType) + (objectType Mirror_bar__minus_00_dot_50_bar__plus_01_dot_74_bar__plus_03_dot_30 MirrorType) + (objectType Candle_bar__minus_01_dot_32_bar__plus_00_dot_51_bar__plus_00_dot_18 CandleType) + (objectType Towel_bar__minus_02_dot_55_bar__plus_01_dot_60_bar__plus_00_dot_11 TowelType) + (objectType TissueBox_bar__minus_00_dot_81_bar__plus_00_dot_51_bar__plus_00_dot_24 TissueBoxType) + (objectType LightSwitch_bar__plus_00_dot_00_bar__plus_01_dot_37_bar__plus_01_dot_99 LightSwitchType) + (objectType SprayBottle_bar__minus_00_dot_54_bar__plus_00_dot_81_bar__plus_00_dot_42 SprayBottleType) + (objectType ScrubBrush_bar__minus_02_dot_19_bar__plus_00_dot_00_bar__plus_03_dot_03 ScrubBrushType) + (objectType ToiletPaper_bar__minus_02_dot_25_bar__plus_00_dot_95_bar__plus_02_dot_67 ToiletPaperType) + (objectType Plunger_bar__minus_02_dot_31_bar__plus_00_dot_00_bar__plus_03_dot_23 PlungerType) + (objectType SoapBottle_bar__minus_01_dot_07_bar__plus_00_dot_81_bar__plus_00_dot_16 SoapBottleType) + (objectType Cloth_bar__minus_03_dot_45_bar__plus_00_dot_22_bar__plus_00_dot_75 ClothType) + (objectType Candle_bar__minus_02_dot_35_bar__plus_00_dot_95_bar__plus_02_dot_58 CandleType) + (objectType TissueBox_bar__minus_01_dot_59_bar__plus_00_dot_81_bar__plus_00_dot_29 TissueBoxType) + (objectType TissueBox_bar__minus_01_dot_85_bar__plus_00_dot_81_bar__plus_00_dot_42 TissueBoxType) + (objectType Window_bar__minus_04_dot_08_bar__plus_01_dot_74_bar__plus_01_dot_16 WindowType) + (objectType SprayBottle_bar__minus_00_dot_81_bar__plus_00_dot_81_bar__plus_00_dot_22 SprayBottleType) + (objectType HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_68_bar__plus_02_dot_96 HandTowelType) + (objectType Sink_bar__minus_00_dot_46_bar__minus_00_dot_01_bar__plus_03_dot_05 SinkType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType CandleType) + (canContain DrawerType ClothType) + (canContain DrawerType HandTowelType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType CandleType) + (canContain DrawerType ClothType) + (canContain DrawerType HandTowelType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType CandleType) + (canContain DrawerType ClothType) + (canContain DrawerType HandTowelType) + (canContain CounterTopType SprayBottleType) + (canContain CounterTopType SoapBarType) + (canContain CounterTopType SoapBottleType) + (canContain CounterTopType TissueBoxType) + (canContain CounterTopType ToiletPaperType) + (canContain CounterTopType CandleType) + (canContain CounterTopType ClothType) + (canContain CounterTopType HandTowelType) + (canContain ToiletPaperHangerType ToiletPaperType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType CandleType) + (canContain DrawerType ClothType) + (canContain DrawerType HandTowelType) + (canContain TowelHolderType TowelType) + (canContain GarbageCanType SprayBottleType) + (canContain GarbageCanType SoapBarType) + (canContain GarbageCanType SoapBottleType) + (canContain GarbageCanType TissueBoxType) + (canContain GarbageCanType ToiletPaperType) + (canContain GarbageCanType ClothType) + (canContain GarbageCanType HandTowelType) + (canContain HandTowelHolderType HandTowelType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType CandleType) + (canContain DrawerType ClothType) + (canContain DrawerType HandTowelType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType CandleType) + (canContain DrawerType ClothType) + (canContain DrawerType HandTowelType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType CandleType) + (canContain DrawerType ClothType) + (canContain DrawerType HandTowelType) + (canContain ToiletType ClothType) + (canContain ToiletType SoapBarType) + (canContain ToiletType HandTowelType) + (canContain ToiletType ToiletPaperType) + (canContain ToiletType SoapBottleType) + (canContain ToiletType SprayBottleType) + (canContain ToiletType TissueBoxType) + (canContain ToiletType CandleType) + (canContain SinkBasinType SoapBarType) + (canContain SinkBasinType ClothType) + (canContain SinkBasinType HandTowelType) + (canContain BathtubBasinType HandTowelType) + (canContain BathtubBasinType SoapBarType) + (canContain BathtubBasinType ClothType) + (canContain TowelHolderType TowelType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType CandleType) + (canContain DrawerType ClothType) + (canContain DrawerType HandTowelType) + (pickupable SoapBar_bar__minus_00_dot_54_bar__plus_00_dot_90_bar__plus_02_dot_90) + (pickupable ToiletPaper_bar__minus_01_dot_38_bar__plus_00_dot_20_bar__plus_00_dot_35) + (pickupable TissueBox_bar__minus_01_dot_33_bar__plus_00_dot_81_bar__plus_00_dot_29) + (pickupable Candle_bar__minus_01_dot_32_bar__plus_00_dot_51_bar__plus_00_dot_18) + (pickupable Towel_bar__minus_02_dot_55_bar__plus_01_dot_60_bar__plus_00_dot_11) + (pickupable TissueBox_bar__minus_00_dot_81_bar__plus_00_dot_51_bar__plus_00_dot_24) + (pickupable SprayBottle_bar__minus_00_dot_54_bar__plus_00_dot_81_bar__plus_00_dot_42) + (pickupable ScrubBrush_bar__minus_02_dot_19_bar__plus_00_dot_00_bar__plus_03_dot_03) + (pickupable ToiletPaper_bar__minus_02_dot_25_bar__plus_00_dot_95_bar__plus_02_dot_67) + (pickupable Plunger_bar__minus_02_dot_31_bar__plus_00_dot_00_bar__plus_03_dot_23) + (pickupable SoapBottle_bar__minus_01_dot_07_bar__plus_00_dot_81_bar__plus_00_dot_16) + (pickupable Cloth_bar__minus_03_dot_45_bar__plus_00_dot_22_bar__plus_00_dot_75) + (pickupable Candle_bar__minus_02_dot_35_bar__plus_00_dot_95_bar__plus_02_dot_58) + (pickupable TissueBox_bar__minus_01_dot_59_bar__plus_00_dot_81_bar__plus_00_dot_29) + (pickupable TissueBox_bar__minus_01_dot_85_bar__plus_00_dot_81_bar__plus_00_dot_42) + (pickupable SprayBottle_bar__minus_00_dot_81_bar__plus_00_dot_81_bar__plus_00_dot_22) + (pickupable HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_68_bar__plus_02_dot_96) + + (openable Drawer_bar__minus_00_dot_29_bar__plus_00_dot_61_bar__plus_00_dot_31) + (openable Drawer_bar__minus_01_dot_84_bar__plus_00_dot_31_bar__plus_00_dot_31) + (openable Drawer_bar__minus_01_dot_84_bar__plus_00_dot_61_bar__plus_00_dot_31) + (openable Drawer_bar__minus_00_dot_81_bar__plus_00_dot_31_bar__plus_00_dot_31) + (openable Drawer_bar__minus_00_dot_29_bar__plus_00_dot_31_bar__plus_00_dot_31) + (openable Drawer_bar__minus_01_dot_32_bar__plus_00_dot_61_bar__plus_00_dot_31) + (openable Drawer_bar__minus_00_dot_81_bar__plus_00_dot_61_bar__plus_00_dot_31) + + (atLocation agent1 loc_bar__minus_4_bar_11_bar_2_bar_30) + + (cleanable SoapBar_bar__minus_00_dot_54_bar__plus_00_dot_90_bar__plus_02_dot_90) + (cleanable Cloth_bar__minus_03_dot_45_bar__plus_00_dot_22_bar__plus_00_dot_75) + + + + + + + + + + + (inReceptacle ToiletPaper_bar__minus_01_dot_38_bar__plus_00_dot_20_bar__plus_00_dot_35 Drawer_bar__minus_01_dot_32_bar__plus_00_dot_31_bar__plus_00_dot_31) + (inReceptacle TissueBox_bar__minus_00_dot_81_bar__plus_00_dot_51_bar__plus_00_dot_24 Drawer_bar__minus_00_dot_81_bar__plus_00_dot_61_bar__plus_00_dot_31) + (inReceptacle TissueBox_bar__minus_01_dot_85_bar__plus_00_dot_81_bar__plus_00_dot_42 CounterTop_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_34) + (inReceptacle SoapBottle_bar__minus_01_dot_07_bar__plus_00_dot_81_bar__plus_00_dot_16 CounterTop_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_34) + (inReceptacle SprayBottle_bar__minus_00_dot_81_bar__plus_00_dot_81_bar__plus_00_dot_22 CounterTop_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_34) + (inReceptacle SprayBottle_bar__minus_00_dot_54_bar__plus_00_dot_81_bar__plus_00_dot_42 CounterTop_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_34) + (inReceptacle TissueBox_bar__minus_01_dot_33_bar__plus_00_dot_81_bar__plus_00_dot_29 CounterTop_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_34) + (inReceptacle TissueBox_bar__minus_01_dot_59_bar__plus_00_dot_81_bar__plus_00_dot_29 CounterTop_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_34) + (inReceptacle Candle_bar__minus_01_dot_32_bar__plus_00_dot_51_bar__plus_00_dot_18 Drawer_bar__minus_01_dot_32_bar__plus_00_dot_61_bar__plus_00_dot_31) + (inReceptacle Towel_bar__minus_02_dot_55_bar__plus_01_dot_60_bar__plus_00_dot_11 TowelHolder_bar__minus_02_dot_55_bar__plus_01_dot_58_bar__plus_00_dot_00) + (inReceptacle HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_68_bar__plus_02_dot_96 HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_78_bar__plus_02_dot_96) + (inReceptacle ToiletPaper_bar__minus_02_dot_25_bar__plus_00_dot_95_bar__plus_02_dot_67 Toilet_bar__minus_01_dot_84_bar__plus_00_dot_00_bar__plus_02_dot_50) + (inReceptacle Candle_bar__minus_02_dot_35_bar__plus_00_dot_95_bar__plus_02_dot_58 Toilet_bar__minus_01_dot_84_bar__plus_00_dot_00_bar__plus_02_dot_50) + (inReceptacle SoapBar_bar__minus_00_dot_54_bar__plus_00_dot_90_bar__plus_02_dot_90 Sink_bar__minus_00_dot_46_bar__minus_00_dot_01_bar__plus_03_dot_05_bar_SinkBasin) + (inReceptacle Cloth_bar__minus_03_dot_45_bar__plus_00_dot_22_bar__plus_00_dot_75 Bathtub_bar__minus_03_dot_50_bar__plus_00_dot_15_bar__plus_00_dot_94_bar_BathtubBasin) + + + (receptacleAtLocation Bathtub_bar__minus_03_dot_50_bar__plus_00_dot_15_bar__plus_00_dot_94_bar_BathtubBasin loc_bar__minus_11_bar_4_bar_3_bar_60) + (receptacleAtLocation CounterTop_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_34 loc_bar__minus_3_bar_4_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_00_dot_29_bar__plus_00_dot_31_bar__plus_00_dot_31 loc_bar__minus_3_bar_6_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_29_bar__plus_00_dot_61_bar__plus_00_dot_31 loc_bar__minus_3_bar_5_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_81_bar__plus_00_dot_31_bar__plus_00_dot_31 loc_bar__minus_5_bar_6_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_81_bar__plus_00_dot_61_bar__plus_00_dot_31 loc_bar__minus_2_bar_5_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_32_bar__plus_00_dot_31_bar__plus_00_dot_31 loc_bar__minus_5_bar_4_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__minus_01_dot_32_bar__plus_00_dot_61_bar__plus_00_dot_31 loc_bar__minus_4_bar_5_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_84_bar__plus_00_dot_31_bar__plus_00_dot_31 loc_bar__minus_5_bar_6_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_84_bar__plus_00_dot_61_bar__plus_00_dot_31 loc_bar__minus_6_bar_5_bar_2_bar_45) + (receptacleAtLocation GarbageCan_bar__minus_00_dot_85_bar__plus_00_dot_00_bar__plus_03_dot_15 loc_bar__minus_5_bar_9_bar_0_bar_60) + (receptacleAtLocation HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_78_bar__plus_02_dot_96 loc_bar__minus_2_bar_9_bar_0_bar__minus_15) + (receptacleAtLocation Sink_bar__minus_00_dot_46_bar__minus_00_dot_01_bar__plus_03_dot_05_bar_SinkBasin loc_bar__minus_4_bar_11_bar_1_bar_60) + (receptacleAtLocation ToiletPaperHanger_bar__minus_01_dot_63_bar__plus_00_dot_84_bar__plus_03_dot_31 loc_bar__minus_5_bar_11_bar_0_bar_60) + (receptacleAtLocation Toilet_bar__minus_01_dot_84_bar__plus_00_dot_00_bar__plus_02_dot_50 loc_bar__minus_7_bar_6_bar_0_bar_60) + (receptacleAtLocation TowelHolder_bar__minus_02_dot_55_bar__plus_00_dot_86_bar__plus_00_dot_00 loc_bar__minus_10_bar_3_bar_2_bar_45) + (receptacleAtLocation TowelHolder_bar__minus_02_dot_55_bar__plus_01_dot_58_bar__plus_00_dot_00 loc_bar__minus_10_bar_3_bar_2_bar_0) + (objectAtLocation TissueBox_bar__minus_01_dot_59_bar__plus_00_dot_81_bar__plus_00_dot_29 loc_bar__minus_3_bar_4_bar_3_bar_60) + (objectAtLocation SprayBottle_bar__minus_00_dot_81_bar__plus_00_dot_81_bar__plus_00_dot_22 loc_bar__minus_3_bar_4_bar_3_bar_60) + (objectAtLocation Candle_bar__minus_01_dot_32_bar__plus_00_dot_51_bar__plus_00_dot_18 loc_bar__minus_4_bar_5_bar_2_bar_45) + (objectAtLocation TissueBox_bar__minus_00_dot_81_bar__plus_00_dot_51_bar__plus_00_dot_24 loc_bar__minus_2_bar_5_bar_2_bar_45) + (objectAtLocation TissueBox_bar__minus_01_dot_85_bar__plus_00_dot_81_bar__plus_00_dot_42 loc_bar__minus_3_bar_4_bar_3_bar_60) + (objectAtLocation Sink_bar__minus_00_dot_46_bar__minus_00_dot_01_bar__plus_03_dot_05 loc_bar__minus_2_bar_9_bar_0_bar_60) + (objectAtLocation Mirror_bar__minus_00_dot_50_bar__plus_01_dot_74_bar__plus_03_dot_30 loc_bar__minus_3_bar_10_bar_0_bar_0) + (objectAtLocation Bathtub_bar__minus_03_dot_50_bar__plus_00_dot_15_bar__plus_00_dot_94 loc_bar__minus_11_bar_4_bar_3_bar_60) + (objectAtLocation Towel_bar__minus_02_dot_55_bar__plus_01_dot_60_bar__plus_00_dot_11 loc_bar__minus_10_bar_3_bar_2_bar_0) + (objectAtLocation Cloth_bar__minus_03_dot_45_bar__plus_00_dot_22_bar__plus_00_dot_75 loc_bar__minus_11_bar_4_bar_3_bar_60) + (objectAtLocation Candle_bar__minus_02_dot_35_bar__plus_00_dot_95_bar__plus_02_dot_58 loc_bar__minus_7_bar_6_bar_0_bar_60) + (objectAtLocation HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_68_bar__plus_02_dot_96 loc_bar__minus_2_bar_9_bar_0_bar__minus_15) + (objectAtLocation SoapBar_bar__minus_00_dot_54_bar__plus_00_dot_90_bar__plus_02_dot_90 loc_bar__minus_4_bar_11_bar_1_bar_60) + (objectAtLocation ToiletPaper_bar__minus_02_dot_25_bar__plus_00_dot_95_bar__plus_02_dot_67 loc_bar__minus_7_bar_6_bar_0_bar_60) + (objectAtLocation Plunger_bar__minus_02_dot_31_bar__plus_00_dot_00_bar__plus_03_dot_23 loc_bar__minus_5_bar_11_bar_3_bar_60) + (objectAtLocation SprayBottle_bar__minus_00_dot_54_bar__plus_00_dot_81_bar__plus_00_dot_42 loc_bar__minus_3_bar_4_bar_3_bar_60) + (objectAtLocation TissueBox_bar__minus_01_dot_33_bar__plus_00_dot_81_bar__plus_00_dot_29 loc_bar__minus_3_bar_4_bar_3_bar_60) + (objectAtLocation ToiletPaper_bar__minus_01_dot_38_bar__plus_00_dot_20_bar__plus_00_dot_35 loc_bar__minus_5_bar_4_bar_2_bar_60) + (objectAtLocation LightSwitch_bar__plus_00_dot_00_bar__plus_01_dot_37_bar__plus_01_dot_99 loc_bar__minus_2_bar_8_bar_1_bar_30) + (objectAtLocation Window_bar__minus_04_dot_08_bar__plus_01_dot_74_bar__plus_01_dot_16 loc_bar__minus_11_bar_5_bar_3_bar_0) + (objectAtLocation ScrubBrush_bar__minus_02_dot_19_bar__plus_00_dot_00_bar__plus_03_dot_03 loc_bar__minus_5_bar_11_bar_3_bar_60) + (objectAtLocation SoapBottle_bar__minus_01_dot_07_bar__plus_00_dot_81_bar__plus_00_dot_16 loc_bar__minus_3_bar_4_bar_3_bar_60) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o1 - object) + (and + (objectType ?o1 TissueBoxType) + (receptacleType ?r ToiletType) + (inReceptacle ?o1 ?r) + (exists (?o2 - object) + (and + (not (= ?o1 ?o2)) + (objectType ?o2 TissueBoxType) + (receptacleType ?r ToiletType) + (inReceptacle ?o2 ?r) + ) + ) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/valid_seen/pick_two_obj_and_place-Watch-None-Dresser-205/trial_T20190907_182211_592010/game.tw-pddl b/data/alfworld/json_2.1.1/valid_seen/pick_two_obj_and_place-Watch-None-Dresser-205/trial_T20190907_182211_592010/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..215d1e3e13f3a586900188f8047220e6534cfe9b --- /dev/null +++ b/data/alfworld/json_2.1.1/valid_seen/pick_two_obj_and_place-Watch-None-Dresser-205/trial_T20190907_182211_592010/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\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 watch 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_T20190907_182211_592010)\n(:domain alfred)\n(:objects\nagent1 - agent\nCurtains - object\n SprayBottle - object\n Mirror - object\n HousePlant - object\n Watch - object\n TeddyBear - object\n WateringCan - object\n Bathtub - object\n LightSwitch - object\n Vase - object\n Candle - object\n Bread - object\n Statue - object\n HandTowel - object\n StoveKnob - object\n PaperTowelRoll - object\n Pan - object\n PepperShaker - object\n Painting - object\n CellPhone - object\n Plunger - object\n Spoon - object\n SaltShaker - object\n KeyChain - object\n Footstool - object\n Poster - object\n Television - object\n LaundryHamperLid - object\n Glassbottle - object\n AlarmClock - object\n WineBottle - object\n Bowl - object\n Sink - object\n TissueBox - object\n TennisRacket - object\n ToiletPaper - object\n ScrubBrush - object\n CreditCard - object\n Laptop - object\n Cloth - object\n Cup - object\n Chair - object\n BasketBall - object\n Kettle - object\n PaperTowel - object\n ShowerDoor - object\n BaseballBat - object\n Potato - object\n Pillow - object\n Lettuce - object\n RemoteControl - object\n Window - object\n DishSponge - object\n CD - object\n Boots - object\n Blinds - object\n Pen - object\n Newspaper - object\n Plate - object\n Mug - object\n ShowerGlass - object\n ToiletPaperRoll - object\n SoapBar - object\n FloorLamp - object\n SoapBottle - object\n Pot - object\n Pencil - object\n Spatula - object\n Towel - object\n Fork - object\n Ladle - object\n Knife - object\n Apple - object\n Box - object\n Tomato - object\n ButterKnife - object\n Egg - object\n Book - object\n DeskLamp - object\nCurtainsType - otype\n SprayBottleType - otype\n MirrorType - otype\n HousePlantType - otype\n WatchType - otype\n TeddyBearType - otype\n WateringCanType - otype\n BathtubType - otype\n LightSwitchType - otype\n VaseType - otype\n CandleType - otype\n BreadType - otype\n StatueType - otype\n HandTowelType - otype\n StoveKnobType - otype\n PaperTowelRollType - otype\n PanType - otype\n PepperShakerType - otype\n PaintingType - otype\n CellPhoneType - otype\n PlungerType - otype\n SpoonType - otype\n SaltShakerType - otype\n KeyChainType - otype\n FootstoolType - otype\n PosterType - otype\n TelevisionType - otype\n LaundryHamperLidType - otype\n GlassbottleType - otype\n AlarmClockType - otype\n WineBottleType - otype\n BowlType - otype\n SinkType - otype\n TissueBoxType - otype\n TennisRacketType - otype\n ToiletPaperType - otype\n ScrubBrushType - otype\n CreditCardType - otype\n LaptopType - otype\n ClothType - otype\n CupType - otype\n ChairType - otype\n BasketBallType - otype\n KettleType - otype\n PaperTowelType - otype\n ShowerDoorType - otype\n BaseballBatType - otype\n PotatoType - otype\n PillowType - otype\n LettuceType - otype\n RemoteControlType - otype\n WindowType - otype\n DishSpongeType - otype\n CDType - otype\n BootsType - otype\n BlindsType - otype\n PenType - otype\n NewspaperType - otype\n PlateType - otype\n MugType - otype\n ShowerGlassType - otype\n ToiletPaperRollType - otype\n SoapBarType - otype\n FloorLampType - otype\n SoapBottleType - otype\n PotType - otype\n PencilType - otype\n SpatulaType - otype\n TowelType - otype\n ForkType - otype\n LadleType - otype\n KnifeType - otype\n AppleType - otype\n BoxType - otype\n TomatoType - otype\n ButterKnifeType - otype\n EggType - otype\n BookType - otype\n DeskLampType - otype\nCabinetType - rtype\n ShelfType - rtype\n DiningTableType - rtype\n TowelHolderType - rtype\n PaintingHangerType - rtype\n TVStandType - rtype\n LaundryHamperType - rtype\n OttomanType - rtype\n SafeType - rtype\n CoffeeMachineType - rtype\n CounterTopType - rtype\n ToiletType - rtype\n FridgeType - rtype\n CoffeeTableType - rtype\n SinkBasinType - rtype\n GarbageCanType - rtype\n BathtubBasinType - rtype\n SideTableType - rtype\n CartType - rtype\n BedType - rtype\n DeskType - rtype\n SofaType - rtype\n ArmChairType - rtype\n MicrowaveType - rtype\n HandTowelHolderType - rtype\n ToasterType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n DrawerType - rtype\n DresserType - rtype\n\n\n Box_bar__minus_01_dot_61_bar__plus_00_dot_15_bar__plus_06_dot_85 - object\n Chair_bar__minus_01_dot_08_bar__plus_00_dot_00_bar__plus_01_dot_29 - object\n Chair_bar__minus_01_dot_55_bar__plus_00_dot_00_bar__plus_01_dot_78 - object\n Chair_bar__minus_01_dot_63_bar__plus_00_dot_00_bar__plus_00_dot_78 - object\n Chair_bar__minus_02_dot_15_bar__plus_00_dot_00_bar__plus_01_dot_29 - object\n CreditCard_bar__minus_03_dot_05_bar__plus_00_dot_07_bar__plus_06_dot_70 - object\n CreditCard_bar__minus_03_dot_66_bar__plus_00_dot_40_bar__plus_03_dot_81 - object\n Curtains_bar__minus_00_dot_04_bar__plus_02_dot_15_bar__plus_01_dot_00 - object\n DeskLamp_bar__minus_00_dot_26_bar__plus_00_dot_62_bar__plus_03_dot_31 - object\n FloorLamp_bar__minus_04_dot_72_bar__plus_00_dot_00_bar__plus_03_dot_69 - object\n HousePlant_bar__minus_00_dot_17_bar__plus_00_dot_62_bar__plus_03_dot_99 - object\n KeyChain_bar__minus_02_dot_99_bar__plus_00_dot_38_bar__plus_06_dot_72 - object\n KeyChain_bar__minus_04_dot_30_bar__plus_00_dot_48_bar__plus_05_dot_56 - object\n Laptop_bar__minus_01_dot_68_bar__plus_00_dot_75_bar__plus_01_dot_49 - object\n Laptop_bar__minus_01_dot_87_bar__plus_00_dot_75_bar__plus_00_dot_99 - object\n Laptop_bar__minus_02_dot_49_bar__plus_00_dot_46_bar__plus_03_dot_63 - object\n LightSwitch_bar__minus_03_dot_48_bar__plus_01_dot_47_bar__plus_00_dot_00 - object\n Painting_bar__minus_00_dot_02_bar__plus_02_dot_06_bar__plus_05_dot_38 - object\n Pillow_bar__minus_04_dot_34_bar__plus_00_dot_47_bar__plus_04_dot_40 - object\n RemoteControl_bar__minus_01_dot_31_bar__plus_00_dot_76_bar__plus_01_dot_41 - object\n RemoteControl_bar__minus_02_dot_49_bar__plus_00_dot_40_bar__plus_03_dot_70 - object\n RemoteControl_bar__minus_04_dot_12_bar__plus_00_dot_49_bar__plus_03_dot_63 - object\n Statue_bar__minus_01_dot_17_bar__plus_00_dot_76_bar__plus_01_dot_13 - object\n Statue_bar__minus_01_dot_17_bar__plus_00_dot_76_bar__plus_01_dot_70 - object\n Statue_bar__minus_01_dot_94_bar__plus_00_dot_85_bar__plus_06_dot_70 - object\n Television_bar__minus_03_dot_19_bar__plus_01_dot_18_bar__plus_06_dot_78 - object\n Watch_bar__minus_01_dot_73_bar__plus_00_dot_76_bar__plus_01_dot_70 - object\n Watch_bar__minus_01_dot_87_bar__plus_00_dot_76_bar__plus_01_dot_27 - object\n WateringCan_bar__minus_00_dot_21_bar_00_dot_00_bar__plus_03_dot_23 - object\n Window_bar__minus_00_dot_01_bar__plus_01_dot_34_bar__plus_01_dot_73 - object\n ArmChair_bar__minus_02_dot_45_bar__plus_00_dot_01_bar__plus_03_dot_50 - receptacle\n ArmChair_bar__minus_03_dot_55_bar__plus_00_dot_00_bar__plus_03_dot_58 - receptacle\n DiningTable_bar__minus_01_dot_59_bar__plus_00_dot_31_bar__plus_01_dot_27 - receptacle\n Drawer_bar__minus_02_dot_93_bar__plus_00_dot_16_bar__plus_06_dot_71 - receptacle\n Drawer_bar__minus_02_dot_93_bar__plus_00_dot_47_bar__plus_06_dot_71 - receptacle\n Drawer_bar__minus_03_dot_48_bar__plus_00_dot_16_bar__plus_06_dot_71 - receptacle\n Drawer_bar__minus_03_dot_48_bar__plus_00_dot_47_bar__plus_06_dot_71 - receptacle\n Dresser_bar__minus_03_dot_20_bar__minus_00_dot_01_bar__plus_06_dot_79 - receptacle\n GarbageCan_bar__minus_00_dot_26_bar__plus_00_dot_00_bar__plus_06_dot_80 - receptacle\n Ottoman_bar__minus_02_dot_43_bar__plus_00_dot_03_bar__plus_04_dot_41 - receptacle\n SideTable_bar__minus_00_dot_24_bar__plus_00_dot_00_bar__plus_03_dot_52 - receptacle\n SideTable_bar__minus_02_dot_07_bar_00_dot_00_bar__plus_06_dot_70 - receptacle\n SideTable_bar__minus_04_dot_19_bar_00_dot_00_bar__plus_03_dot_59 - receptacle\n Sofa_bar__minus_04_dot_43_bar__plus_00_dot_01_bar__plus_05_dot_06 - receptacle\n loc_bar__minus_15_bar_18_bar_2_bar_60 - location\n loc_bar__minus_12_bar_23_bar_0_bar_45 - location\n loc_bar__minus_18_bar_12_bar_0_bar_60 - location\n loc_bar__minus_13_bar_24_bar_0_bar_60 - location\n loc_bar__minus_7_bar_24_bar_0_bar_60 - location\n loc_bar__minus_10_bar_23_bar_0_bar_45 - location\n loc_bar__minus_11_bar_5_bar_1_bar_60 - location\n loc_bar__minus_3_bar_26_bar_1_bar_60 - location\n loc_bar__minus_6_bar_9_bar_2_bar_60 - location\n loc_bar__minus_4_bar_14_bar_1_bar_60 - location\n loc_bar__minus_13_bar_21_bar_3_bar_60 - location\n loc_bar__minus_9_bar_2_bar_1_bar_60 - location\n loc_bar__minus_3_bar_3_bar_1_bar__minus_30 - location\n loc_bar__minus_10_bar_20_bar_2_bar_60 - location\n loc_bar__minus_10_bar_11_bar_0_bar_60 - location\n loc_bar__minus_12_bar_22_bar_0_bar_45 - location\n loc_bar__minus_2_bar_6_bar_3_bar_60 - location\n loc_bar__minus_6_bar_25_bar_0_bar_60 - location\n loc_bar__minus_14_bar_2_bar_2_bar_15 - location\n loc_bar__minus_14_bar_22_bar_0_bar_45 - location\n loc_bar__minus_15_bar_11_bar_0_bar_60 - location\n loc_bar__minus_3_bar_22_bar_1_bar__minus_30 - location\n loc_bar__minus_2_bar_7_bar_1_bar_30 - location\n loc_bar__minus_3_bar_13_bar_1_bar_60 - location\n loc_bar__minus_10_bar_10_bar_0_bar_60 - location\n loc_bar__minus_14_bar_19_bar_1_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Ottoman_bar__minus_02_dot_43_bar__plus_00_dot_03_bar__plus_04_dot_41 OttomanType)\n (receptacleType Drawer_bar__minus_03_dot_48_bar__plus_00_dot_16_bar__plus_06_dot_71 DrawerType)\n (receptacleType ArmChair_bar__minus_03_dot_55_bar__plus_00_dot_00_bar__plus_03_dot_58 ArmChairType)\n (receptacleType GarbageCan_bar__minus_00_dot_26_bar__plus_00_dot_00_bar__plus_06_dot_80 GarbageCanType)\n (receptacleType SideTable_bar__minus_00_dot_24_bar__plus_00_dot_00_bar__plus_03_dot_52 SideTableType)\n (receptacleType Drawer_bar__minus_03_dot_48_bar__plus_00_dot_47_bar__plus_06_dot_71 DrawerType)\n (receptacleType DiningTable_bar__minus_01_dot_59_bar__plus_00_dot_31_bar__plus_01_dot_27 DiningTableType)\n (receptacleType SideTable_bar__minus_04_dot_19_bar_00_dot_00_bar__plus_03_dot_59 SideTableType)\n (receptacleType Drawer_bar__minus_02_dot_93_bar__plus_00_dot_47_bar__plus_06_dot_71 DrawerType)\n (receptacleType Drawer_bar__minus_02_dot_93_bar__plus_00_dot_16_bar__plus_06_dot_71 DrawerType)\n (receptacleType Dresser_bar__minus_03_dot_20_bar__minus_00_dot_01_bar__plus_06_dot_79 DresserType)\n (receptacleType ArmChair_bar__minus_02_dot_45_bar__plus_00_dot_01_bar__plus_03_dot_50 ArmChairType)\n (receptacleType SideTable_bar__minus_02_dot_07_bar_00_dot_00_bar__plus_06_dot_70 SideTableType)\n (receptacleType Sofa_bar__minus_04_dot_43_bar__plus_00_dot_01_bar__plus_05_dot_06 SofaType)\n (objectType Chair_bar__minus_01_dot_08_bar__plus_00_dot_00_bar__plus_01_dot_29 ChairType)\n (objectType FloorLamp_bar__minus_04_dot_72_bar__plus_00_dot_00_bar__plus_03_dot_69 FloorLampType)\n (objectType Laptop_bar__minus_01_dot_87_bar__plus_00_dot_75_bar__plus_00_dot_99 LaptopType)\n (objectType Curtains_bar__minus_00_dot_04_bar__plus_02_dot_15_bar__plus_01_dot_00 CurtainsType)\n (objectType WateringCan_bar__minus_00_dot_21_bar_00_dot_00_bar__plus_03_dot_23 WateringCanType)\n (objectType RemoteControl_bar__minus_04_dot_12_bar__plus_00_dot_49_bar__plus_03_dot_63 RemoteControlType)\n (objectType Chair_bar__minus_01_dot_63_bar__plus_00_dot_00_bar__plus_00_dot_78 ChairType)\n (objectType KeyChain_bar__minus_04_dot_30_bar__plus_00_dot_48_bar__plus_05_dot_56 KeyChainType)\n (objectType RemoteControl_bar__minus_02_dot_49_bar__plus_00_dot_40_bar__plus_03_dot_70 RemoteControlType)\n (objectType LightSwitch_bar__minus_03_dot_48_bar__plus_01_dot_47_bar__plus_00_dot_00 LightSwitchType)\n (objectType Laptop_bar__minus_01_dot_68_bar__plus_00_dot_75_bar__plus_01_dot_49 LaptopType)\n (objectType Laptop_bar__minus_02_dot_49_bar__plus_00_dot_46_bar__plus_03_dot_63 LaptopType)\n (objectType Pillow_bar__minus_04_dot_34_bar__plus_00_dot_47_bar__plus_04_dot_40 PillowType)\n (objectType Statue_bar__minus_01_dot_17_bar__plus_00_dot_76_bar__plus_01_dot_70 StatueType)\n (objectType Statue_bar__minus_01_dot_17_bar__plus_00_dot_76_bar__plus_01_dot_13 StatueType)\n (objectType RemoteControl_bar__minus_01_dot_31_bar__plus_00_dot_76_bar__plus_01_dot_41 RemoteControlType)\n (objectType Statue_bar__minus_01_dot_94_bar__plus_00_dot_85_bar__plus_06_dot_70 StatueType)\n (objectType Painting_bar__minus_00_dot_02_bar__plus_02_dot_06_bar__plus_05_dot_38 PaintingType)\n (objectType Chair_bar__minus_02_dot_15_bar__plus_00_dot_00_bar__plus_01_dot_29 ChairType)\n (objectType Watch_bar__minus_01_dot_87_bar__plus_00_dot_76_bar__plus_01_dot_27 WatchType)\n (objectType CreditCard_bar__minus_03_dot_05_bar__plus_00_dot_07_bar__plus_06_dot_70 CreditCardType)\n (objectType Watch_bar__minus_01_dot_73_bar__plus_00_dot_76_bar__plus_01_dot_70 WatchType)\n (objectType DeskLamp_bar__minus_00_dot_26_bar__plus_00_dot_62_bar__plus_03_dot_31 DeskLampType)\n (objectType Window_bar__minus_00_dot_01_bar__plus_01_dot_34_bar__plus_01_dot_73 WindowType)\n (objectType KeyChain_bar__minus_02_dot_99_bar__plus_00_dot_38_bar__plus_06_dot_72 KeyChainType)\n (objectType CreditCard_bar__minus_03_dot_66_bar__plus_00_dot_40_bar__plus_03_dot_81 CreditCardType)\n (objectType Television_bar__minus_03_dot_19_bar__plus_01_dot_18_bar__plus_06_dot_78 TelevisionType)\n (objectType HousePlant_bar__minus_00_dot_17_bar__plus_00_dot_62_bar__plus_03_dot_99 HousePlantType)\n (objectType Chair_bar__minus_01_dot_55_bar__plus_00_dot_00_bar__plus_01_dot_78 ChairType)\n (objectType Box_bar__minus_01_dot_61_bar__plus_00_dot_15_bar__plus_06_dot_85 BoxType)\n (canContain OttomanType PillowType)\n (canContain OttomanType RemoteControlType)\n (canContain OttomanType KeyChainType)\n (canContain OttomanType LaptopType)\n (canContain OttomanType CreditCardType)\n (canContain OttomanType BoxType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType WatchType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType WateringCanType)\n (canContain DrawerType CreditCardType)\n (canContain ArmChairType PillowType)\n (canContain ArmChairType RemoteControlType)\n (canContain ArmChairType KeyChainType)\n (canContain ArmChairType LaptopType)\n (canContain ArmChairType CreditCardType)\n (canContain ArmChairType BoxType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType WatchType)\n (canContain SideTableType RemoteControlType)\n (canContain SideTableType WateringCanType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType StatueType)\n (canContain SideTableType BoxType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType WatchType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType WateringCanType)\n (canContain DrawerType CreditCardType)\n (canContain DiningTableType KeyChainType)\n (canContain DiningTableType WatchType)\n (canContain DiningTableType RemoteControlType)\n (canContain DiningTableType WateringCanType)\n (canContain DiningTableType CreditCardType)\n (canContain DiningTableType LaptopType)\n (canContain DiningTableType StatueType)\n (canContain DiningTableType BoxType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType WatchType)\n (canContain SideTableType RemoteControlType)\n (canContain SideTableType WateringCanType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType StatueType)\n (canContain SideTableType BoxType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType WatchType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType WateringCanType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType WatchType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType WateringCanType)\n (canContain DrawerType CreditCardType)\n (canContain DresserType KeyChainType)\n (canContain DresserType WatchType)\n (canContain DresserType RemoteControlType)\n (canContain DresserType WateringCanType)\n (canContain DresserType CreditCardType)\n (canContain DresserType LaptopType)\n (canContain DresserType StatueType)\n (canContain DresserType BoxType)\n (canContain ArmChairType PillowType)\n (canContain ArmChairType RemoteControlType)\n (canContain ArmChairType KeyChainType)\n (canContain ArmChairType LaptopType)\n (canContain ArmChairType CreditCardType)\n (canContain ArmChairType BoxType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType WatchType)\n (canContain SideTableType RemoteControlType)\n (canContain SideTableType WateringCanType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType StatueType)\n (canContain SideTableType BoxType)\n (canContain SofaType PillowType)\n (canContain SofaType RemoteControlType)\n (canContain SofaType KeyChainType)\n (canContain SofaType LaptopType)\n (canContain SofaType CreditCardType)\n (canContain SofaType BoxType)\n (pickupable Laptop_bar__minus_01_dot_87_bar__plus_00_dot_75_bar__plus_00_dot_99)\n (pickupable WateringCan_bar__minus_00_dot_21_bar_00_dot_00_bar__plus_03_dot_23)\n (pickupable RemoteControl_bar__minus_04_dot_12_bar__plus_00_dot_49_bar__plus_03_dot_63)\n (pickupable KeyChain_bar__minus_04_dot_30_bar__plus_00_dot_48_bar__plus_05_dot_56)\n (pickupable RemoteControl_bar__minus_02_dot_49_bar__plus_00_dot_40_bar__plus_03_dot_70)\n (pickupable Laptop_bar__minus_01_dot_68_bar__plus_00_dot_75_bar__plus_01_dot_49)\n (pickupable Laptop_bar__minus_02_dot_49_bar__plus_00_dot_46_bar__plus_03_dot_63)\n (pickupable Pillow_bar__minus_04_dot_34_bar__plus_00_dot_47_bar__plus_04_dot_40)\n (pickupable Statue_bar__minus_01_dot_17_bar__plus_00_dot_76_bar__plus_01_dot_70)\n (pickupable Statue_bar__minus_01_dot_17_bar__plus_00_dot_76_bar__plus_01_dot_13)\n (pickupable RemoteControl_bar__minus_01_dot_31_bar__plus_00_dot_76_bar__plus_01_dot_41)\n (pickupable Statue_bar__minus_01_dot_94_bar__plus_00_dot_85_bar__plus_06_dot_70)\n (pickupable Watch_bar__minus_01_dot_87_bar__plus_00_dot_76_bar__plus_01_dot_27)\n (pickupable CreditCard_bar__minus_03_dot_05_bar__plus_00_dot_07_bar__plus_06_dot_70)\n (pickupable Watch_bar__minus_01_dot_73_bar__plus_00_dot_76_bar__plus_01_dot_70)\n (pickupable KeyChain_bar__minus_02_dot_99_bar__plus_00_dot_38_bar__plus_06_dot_72)\n (pickupable CreditCard_bar__minus_03_dot_66_bar__plus_00_dot_40_bar__plus_03_dot_81)\n (pickupable Box_bar__minus_01_dot_61_bar__plus_00_dot_15_bar__plus_06_dot_85)\n (isReceptacleObject Box_bar__minus_01_dot_61_bar__plus_00_dot_15_bar__plus_06_dot_85)\n (openable Drawer_bar__minus_03_dot_48_bar__plus_00_dot_16_bar__plus_06_dot_71)\n (openable Drawer_bar__minus_03_dot_48_bar__plus_00_dot_47_bar__plus_06_dot_71)\n (openable Drawer_bar__minus_02_dot_93_bar__plus_00_dot_47_bar__plus_06_dot_71)\n (openable Drawer_bar__minus_02_dot_93_bar__plus_00_dot_16_bar__plus_06_dot_71)\n \n (atLocation agent1 loc_bar__minus_14_bar_19_bar_1_bar_30)\n \n \n \n \n \n \n \n (toggleable FloorLamp_bar__minus_04_dot_72_bar__plus_00_dot_00_bar__plus_03_dot_69)\n (toggleable DeskLamp_bar__minus_00_dot_26_bar__plus_00_dot_62_bar__plus_03_dot_31)\n \n \n \n \n (inReceptacle CreditCard_bar__minus_03_dot_66_bar__plus_00_dot_40_bar__plus_03_dot_81 ArmChair_bar__minus_03_dot_55_bar__plus_00_dot_00_bar__plus_03_dot_58)\n (inReceptacle CreditCard_bar__minus_03_dot_05_bar__plus_00_dot_07_bar__plus_06_dot_70 Drawer_bar__minus_02_dot_93_bar__plus_00_dot_16_bar__plus_06_dot_71)\n (inReceptacle Statue_bar__minus_01_dot_17_bar__plus_00_dot_76_bar__plus_01_dot_70 DiningTable_bar__minus_01_dot_59_bar__plus_00_dot_31_bar__plus_01_dot_27)\n (inReceptacle Watch_bar__minus_01_dot_87_bar__plus_00_dot_76_bar__plus_01_dot_27 DiningTable_bar__minus_01_dot_59_bar__plus_00_dot_31_bar__plus_01_dot_27)\n (inReceptacle Statue_bar__minus_01_dot_17_bar__plus_00_dot_76_bar__plus_01_dot_13 DiningTable_bar__minus_01_dot_59_bar__plus_00_dot_31_bar__plus_01_dot_27)\n (inReceptacle Watch_bar__minus_01_dot_73_bar__plus_00_dot_76_bar__plus_01_dot_70 DiningTable_bar__minus_01_dot_59_bar__plus_00_dot_31_bar__plus_01_dot_27)\n (inReceptacle Laptop_bar__minus_01_dot_87_bar__plus_00_dot_75_bar__plus_00_dot_99 DiningTable_bar__minus_01_dot_59_bar__plus_00_dot_31_bar__plus_01_dot_27)\n (inReceptacle Laptop_bar__minus_01_dot_68_bar__plus_00_dot_75_bar__plus_01_dot_49 DiningTable_bar__minus_01_dot_59_bar__plus_00_dot_31_bar__plus_01_dot_27)\n (inReceptacle RemoteControl_bar__minus_01_dot_31_bar__plus_00_dot_76_bar__plus_01_dot_41 DiningTable_bar__minus_01_dot_59_bar__plus_00_dot_31_bar__plus_01_dot_27)\n (inReceptacle Statue_bar__minus_01_dot_94_bar__plus_00_dot_85_bar__plus_06_dot_70 SideTable_bar__minus_02_dot_07_bar_00_dot_00_bar__plus_06_dot_70)\n (inReceptacle HousePlant_bar__minus_00_dot_17_bar__plus_00_dot_62_bar__plus_03_dot_99 SideTable_bar__minus_00_dot_24_bar__plus_00_dot_00_bar__plus_03_dot_52)\n (inReceptacle DeskLamp_bar__minus_00_dot_26_bar__plus_00_dot_62_bar__plus_03_dot_31 SideTable_bar__minus_00_dot_24_bar__plus_00_dot_00_bar__plus_03_dot_52)\n (inReceptacle KeyChain_bar__minus_02_dot_99_bar__plus_00_dot_38_bar__plus_06_dot_72 Drawer_bar__minus_02_dot_93_bar__plus_00_dot_47_bar__plus_06_dot_71)\n (inReceptacle Television_bar__minus_03_dot_19_bar__plus_01_dot_18_bar__plus_06_dot_78 Dresser_bar__minus_03_dot_20_bar__minus_00_dot_01_bar__plus_06_dot_79)\n (inReceptacle Laptop_bar__minus_02_dot_49_bar__plus_00_dot_46_bar__plus_03_dot_63 ArmChair_bar__minus_02_dot_45_bar__plus_00_dot_01_bar__plus_03_dot_50)\n (inReceptacle KeyChain_bar__minus_04_dot_30_bar__plus_00_dot_48_bar__plus_05_dot_56 Sofa_bar__minus_04_dot_43_bar__plus_00_dot_01_bar__plus_05_dot_06)\n (inReceptacle Pillow_bar__minus_04_dot_34_bar__plus_00_dot_47_bar__plus_04_dot_40 Sofa_bar__minus_04_dot_43_bar__plus_00_dot_01_bar__plus_05_dot_06)\n (inReceptacle RemoteControl_bar__minus_04_dot_12_bar__plus_00_dot_49_bar__plus_03_dot_63 SideTable_bar__minus_04_dot_19_bar_00_dot_00_bar__plus_03_dot_59)\n \n \n (receptacleAtLocation ArmChair_bar__minus_02_dot_45_bar__plus_00_dot_01_bar__plus_03_dot_50 loc_bar__minus_10_bar_10_bar_0_bar_60)\n (receptacleAtLocation ArmChair_bar__minus_03_dot_55_bar__plus_00_dot_00_bar__plus_03_dot_58 loc_bar__minus_15_bar_18_bar_2_bar_60)\n (receptacleAtLocation DiningTable_bar__minus_01_dot_59_bar__plus_00_dot_31_bar__plus_01_dot_27 loc_bar__minus_6_bar_9_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_02_dot_93_bar__plus_00_dot_16_bar__plus_06_dot_71 loc_bar__minus_14_bar_22_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__minus_02_dot_93_bar__plus_00_dot_47_bar__plus_06_dot_71 loc_bar__minus_10_bar_23_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__minus_03_dot_48_bar__plus_00_dot_16_bar__plus_06_dot_71 loc_bar__minus_12_bar_22_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__minus_03_dot_48_bar__plus_00_dot_47_bar__plus_06_dot_71 loc_bar__minus_12_bar_23_bar_0_bar_45)\n (receptacleAtLocation Dresser_bar__minus_03_dot_20_bar__minus_00_dot_01_bar__plus_06_dot_79 loc_bar__minus_13_bar_24_bar_0_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_00_dot_26_bar__plus_00_dot_00_bar__plus_06_dot_80 loc_bar__minus_3_bar_26_bar_1_bar_60)\n (receptacleAtLocation Ottoman_bar__minus_02_dot_43_bar__plus_00_dot_03_bar__plus_04_dot_41 loc_bar__minus_10_bar_20_bar_2_bar_60)\n (receptacleAtLocation SideTable_bar__minus_00_dot_24_bar__plus_00_dot_00_bar__plus_03_dot_52 loc_bar__minus_4_bar_14_bar_1_bar_60)\n (receptacleAtLocation SideTable_bar__minus_02_dot_07_bar_00_dot_00_bar__plus_06_dot_70 loc_bar__minus_7_bar_24_bar_0_bar_60)\n (receptacleAtLocation SideTable_bar__minus_04_dot_19_bar_00_dot_00_bar__plus_03_dot_59 loc_bar__minus_15_bar_11_bar_0_bar_60)\n (receptacleAtLocation Sofa_bar__minus_04_dot_43_bar__plus_00_dot_01_bar__plus_05_dot_06 loc_bar__minus_13_bar_21_bar_3_bar_60)\n (objectAtLocation RemoteControl_bar__minus_01_dot_31_bar__plus_00_dot_76_bar__plus_01_dot_41 loc_bar__minus_6_bar_9_bar_2_bar_60)\n (objectAtLocation KeyChain_bar__minus_04_dot_30_bar__plus_00_dot_48_bar__plus_05_dot_56 loc_bar__minus_13_bar_21_bar_3_bar_60)\n (objectAtLocation CreditCard_bar__minus_03_dot_66_bar__plus_00_dot_40_bar__plus_03_dot_81 loc_bar__minus_15_bar_18_bar_2_bar_60)\n (objectAtLocation Laptop_bar__minus_01_dot_68_bar__plus_00_dot_75_bar__plus_01_dot_49 loc_bar__minus_6_bar_9_bar_2_bar_60)\n (objectAtLocation Watch_bar__minus_01_dot_87_bar__plus_00_dot_76_bar__plus_01_dot_27 loc_bar__minus_6_bar_9_bar_2_bar_60)\n (objectAtLocation Statue_bar__minus_01_dot_17_bar__plus_00_dot_76_bar__plus_01_dot_70 loc_bar__minus_6_bar_9_bar_2_bar_60)\n (objectAtLocation Laptop_bar__minus_01_dot_87_bar__plus_00_dot_75_bar__plus_00_dot_99 loc_bar__minus_6_bar_9_bar_2_bar_60)\n (objectAtLocation RemoteControl_bar__minus_04_dot_12_bar__plus_00_dot_49_bar__plus_03_dot_63 loc_bar__minus_15_bar_11_bar_0_bar_60)\n (objectAtLocation Statue_bar__minus_01_dot_17_bar__plus_00_dot_76_bar__plus_01_dot_13 loc_bar__minus_6_bar_9_bar_2_bar_60)\n (objectAtLocation Curtains_bar__minus_00_dot_04_bar__plus_02_dot_15_bar__plus_01_dot_00 loc_bar__minus_3_bar_3_bar_1_bar__minus_30)\n (objectAtLocation Box_bar__minus_01_dot_61_bar__plus_00_dot_15_bar__plus_06_dot_85 loc_bar__minus_6_bar_25_bar_0_bar_60)\n (objectAtLocation Chair_bar__minus_01_dot_63_bar__plus_00_dot_00_bar__plus_00_dot_78 loc_bar__minus_9_bar_2_bar_1_bar_60)\n (objectAtLocation Chair_bar__minus_02_dot_15_bar__plus_00_dot_00_bar__plus_01_dot_29 loc_bar__minus_11_bar_5_bar_1_bar_60)\n (objectAtLocation Painting_bar__minus_00_dot_02_bar__plus_02_dot_06_bar__plus_05_dot_38 loc_bar__minus_3_bar_22_bar_1_bar__minus_30)\n (objectAtLocation Chair_bar__minus_01_dot_55_bar__plus_00_dot_00_bar__plus_01_dot_78 loc_bar__minus_6_bar_9_bar_2_bar_60)\n (objectAtLocation Chair_bar__minus_01_dot_08_bar__plus_00_dot_00_bar__plus_01_dot_29 loc_bar__minus_2_bar_6_bar_3_bar_60)\n (objectAtLocation Statue_bar__minus_01_dot_94_bar__plus_00_dot_85_bar__plus_06_dot_70 loc_bar__minus_7_bar_24_bar_0_bar_60)\n (objectAtLocation Watch_bar__minus_01_dot_73_bar__plus_00_dot_76_bar__plus_01_dot_70 loc_bar__minus_6_bar_9_bar_2_bar_60)\n (objectAtLocation FloorLamp_bar__minus_04_dot_72_bar__plus_00_dot_00_bar__plus_03_dot_69 loc_bar__minus_18_bar_12_bar_0_bar_60)\n (objectAtLocation WateringCan_bar__minus_00_dot_21_bar_00_dot_00_bar__plus_03_dot_23 loc_bar__minus_3_bar_13_bar_1_bar_60)\n (objectAtLocation Laptop_bar__minus_02_dot_49_bar__plus_00_dot_46_bar__plus_03_dot_63 loc_bar__minus_10_bar_10_bar_0_bar_60)\n (objectAtLocation Television_bar__minus_03_dot_19_bar__plus_01_dot_18_bar__plus_06_dot_78 loc_bar__minus_13_bar_24_bar_0_bar_60)\n (objectAtLocation CreditCard_bar__minus_03_dot_05_bar__plus_00_dot_07_bar__plus_06_dot_70 loc_bar__minus_14_bar_22_bar_0_bar_45)\n (objectAtLocation KeyChain_bar__minus_02_dot_99_bar__plus_00_dot_38_bar__plus_06_dot_72 loc_bar__minus_10_bar_23_bar_0_bar_45)\n (objectAtLocation HousePlant_bar__minus_00_dot_17_bar__plus_00_dot_62_bar__plus_03_dot_99 loc_bar__minus_4_bar_14_bar_1_bar_60)\n (objectAtLocation LightSwitch_bar__minus_03_dot_48_bar__plus_01_dot_47_bar__plus_00_dot_00 loc_bar__minus_14_bar_2_bar_2_bar_15)\n (objectAtLocation Pillow_bar__minus_04_dot_34_bar__plus_00_dot_47_bar__plus_04_dot_40 loc_bar__minus_13_bar_21_bar_3_bar_60)\n (objectAtLocation RemoteControl_bar__minus_02_dot_49_bar__plus_00_dot_40_bar__plus_03_dot_70 loc_bar__minus_10_bar_11_bar_0_bar_60)\n (objectAtLocation DeskLamp_bar__minus_00_dot_26_bar__plus_00_dot_62_bar__plus_03_dot_31 loc_bar__minus_4_bar_14_bar_1_bar_60)\n (objectAtLocation Window_bar__minus_00_dot_01_bar__plus_01_dot_34_bar__plus_01_dot_73 loc_bar__minus_2_bar_7_bar_1_bar_30)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o1 - object)\n (and\n (objectType ?o1 WatchType)\n (receptacleType ?r DresserType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 WatchType)\n (receptacleType ?r DresserType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to diningtable 1", "take watch 2 from diningtable 1", "go to dresser 1", "move watch 2 to dresser 1", "go to diningtable 1", "take watch 1 from diningtable 1", "go to dresser 1", "move watch 1 to dresser 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/valid_seen/pick_two_obj_and_place-Watch-None-Dresser-205/trial_T20190907_182211_592010/initial_state.pddl b/data/alfworld/json_2.1.1/valid_seen/pick_two_obj_and_place-Watch-None-Dresser-205/trial_T20190907_182211_592010/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..0bf594bfed0bdee5a3a5e191b963b607bdee0ed5 --- /dev/null +++ b/data/alfworld/json_2.1.1/valid_seen/pick_two_obj_and_place-Watch-None-Dresser-205/trial_T20190907_182211_592010/initial_state.pddl @@ -0,0 +1,527 @@ + +(define (problem plan_trial_T20190907_182211_592010) +(:domain alfred) +(:objects +agent1 - agent +Curtains - object + SprayBottle - object + Mirror - object + HousePlant - object + Watch - object + TeddyBear - object + WateringCan - object + Bathtub - object + LightSwitch - object + Vase - object + Candle - object + Bread - object + Statue - object + HandTowel - object + StoveKnob - object + PaperTowelRoll - object + Pan - object + PepperShaker - object + Painting - object + CellPhone - object + Plunger - object + Spoon - object + SaltShaker - object + KeyChain - object + Footstool - object + Poster - object + Television - object + LaundryHamperLid - object + Glassbottle - object + AlarmClock - object + WineBottle - object + Bowl - object + Sink - object + TissueBox - object + TennisRacket - object + ToiletPaper - object + ScrubBrush - object + CreditCard - object + Laptop - object + Cloth - object + Cup - object + Chair - object + BasketBall - object + Kettle - object + PaperTowel - object + ShowerDoor - object + BaseballBat - object + Potato - object + Pillow - object + Lettuce - object + RemoteControl - object + Window - object + DishSponge - object + CD - object + Boots - object + Blinds - object + Pen - object + Newspaper - object + Plate - object + Mug - object + ShowerGlass - object + ToiletPaperRoll - object + SoapBar - object + FloorLamp - object + SoapBottle - object + Pot - object + Pencil - object + Spatula - object + Towel - object + Fork - object + Ladle - object + Knife - object + Apple - object + Box - object + Tomato - object + ButterKnife - object + Egg - object + Book - object + DeskLamp - object +CurtainsType - otype + SprayBottleType - otype + MirrorType - otype + HousePlantType - otype + WatchType - otype + TeddyBearType - otype + WateringCanType - otype + BathtubType - otype + LightSwitchType - otype + VaseType - otype + CandleType - otype + BreadType - otype + StatueType - otype + HandTowelType - otype + StoveKnobType - otype + PaperTowelRollType - otype + PanType - otype + PepperShakerType - otype + PaintingType - otype + CellPhoneType - otype + PlungerType - otype + SpoonType - otype + SaltShakerType - otype + KeyChainType - otype + FootstoolType - otype + PosterType - otype + TelevisionType - otype + LaundryHamperLidType - otype + GlassbottleType - otype + AlarmClockType - otype + WineBottleType - otype + BowlType - otype + SinkType - otype + TissueBoxType - otype + TennisRacketType - otype + ToiletPaperType - otype + ScrubBrushType - otype + CreditCardType - otype + LaptopType - otype + ClothType - otype + CupType - otype + ChairType - otype + BasketBallType - otype + KettleType - otype + PaperTowelType - otype + ShowerDoorType - otype + BaseballBatType - otype + PotatoType - otype + PillowType - otype + LettuceType - otype + RemoteControlType - otype + WindowType - otype + DishSpongeType - otype + CDType - otype + BootsType - otype + BlindsType - otype + PenType - otype + NewspaperType - otype + PlateType - otype + MugType - otype + ShowerGlassType - otype + ToiletPaperRollType - otype + SoapBarType - otype + FloorLampType - otype + SoapBottleType - otype + PotType - otype + PencilType - otype + SpatulaType - otype + TowelType - otype + ForkType - otype + LadleType - otype + KnifeType - otype + AppleType - otype + BoxType - otype + TomatoType - otype + ButterKnifeType - otype + EggType - otype + BookType - otype + DeskLampType - otype +CabinetType - rtype + ShelfType - rtype + DiningTableType - rtype + TowelHolderType - rtype + PaintingHangerType - rtype + TVStandType - rtype + LaundryHamperType - rtype + OttomanType - rtype + SafeType - rtype + CoffeeMachineType - rtype + CounterTopType - rtype + ToiletType - rtype + FridgeType - rtype + CoffeeTableType - rtype + SinkBasinType - rtype + GarbageCanType - rtype + BathtubBasinType - rtype + SideTableType - rtype + CartType - rtype + BedType - rtype + DeskType - rtype + SofaType - rtype + ArmChairType - rtype + MicrowaveType - rtype + HandTowelHolderType - rtype + ToasterType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + DrawerType - rtype + DresserType - rtype + + + Box_bar__minus_01_dot_61_bar__plus_00_dot_15_bar__plus_06_dot_85 - object + Chair_bar__minus_01_dot_08_bar__plus_00_dot_00_bar__plus_01_dot_29 - object + Chair_bar__minus_01_dot_55_bar__plus_00_dot_00_bar__plus_01_dot_78 - object + Chair_bar__minus_01_dot_63_bar__plus_00_dot_00_bar__plus_00_dot_78 - object + Chair_bar__minus_02_dot_15_bar__plus_00_dot_00_bar__plus_01_dot_29 - object + CreditCard_bar__minus_03_dot_05_bar__plus_00_dot_07_bar__plus_06_dot_70 - object + CreditCard_bar__minus_03_dot_66_bar__plus_00_dot_40_bar__plus_03_dot_81 - object + Curtains_bar__minus_00_dot_04_bar__plus_02_dot_15_bar__plus_01_dot_00 - object + DeskLamp_bar__minus_00_dot_26_bar__plus_00_dot_62_bar__plus_03_dot_31 - object + FloorLamp_bar__minus_04_dot_72_bar__plus_00_dot_00_bar__plus_03_dot_69 - object + HousePlant_bar__minus_00_dot_17_bar__plus_00_dot_62_bar__plus_03_dot_99 - object + KeyChain_bar__minus_02_dot_99_bar__plus_00_dot_38_bar__plus_06_dot_72 - object + KeyChain_bar__minus_04_dot_30_bar__plus_00_dot_48_bar__plus_05_dot_56 - object + Laptop_bar__minus_01_dot_68_bar__plus_00_dot_75_bar__plus_01_dot_49 - object + Laptop_bar__minus_01_dot_87_bar__plus_00_dot_75_bar__plus_00_dot_99 - object + Laptop_bar__minus_02_dot_49_bar__plus_00_dot_46_bar__plus_03_dot_63 - object + LightSwitch_bar__minus_03_dot_48_bar__plus_01_dot_47_bar__plus_00_dot_00 - object + Painting_bar__minus_00_dot_02_bar__plus_02_dot_06_bar__plus_05_dot_38 - object + Pillow_bar__minus_04_dot_34_bar__plus_00_dot_47_bar__plus_04_dot_40 - object + RemoteControl_bar__minus_01_dot_31_bar__plus_00_dot_76_bar__plus_01_dot_41 - object + RemoteControl_bar__minus_02_dot_49_bar__plus_00_dot_40_bar__plus_03_dot_70 - object + RemoteControl_bar__minus_04_dot_12_bar__plus_00_dot_49_bar__plus_03_dot_63 - object + Statue_bar__minus_01_dot_17_bar__plus_00_dot_76_bar__plus_01_dot_13 - object + Statue_bar__minus_01_dot_17_bar__plus_00_dot_76_bar__plus_01_dot_70 - object + Statue_bar__minus_01_dot_94_bar__plus_00_dot_85_bar__plus_06_dot_70 - object + Television_bar__minus_03_dot_19_bar__plus_01_dot_18_bar__plus_06_dot_78 - object + Watch_bar__minus_01_dot_73_bar__plus_00_dot_76_bar__plus_01_dot_70 - object + Watch_bar__minus_01_dot_87_bar__plus_00_dot_76_bar__plus_01_dot_27 - object + WateringCan_bar__minus_00_dot_21_bar_00_dot_00_bar__plus_03_dot_23 - object + Window_bar__minus_00_dot_01_bar__plus_01_dot_34_bar__plus_01_dot_73 - object + ArmChair_bar__minus_02_dot_45_bar__plus_00_dot_01_bar__plus_03_dot_50 - receptacle + ArmChair_bar__minus_03_dot_55_bar__plus_00_dot_00_bar__plus_03_dot_58 - receptacle + DiningTable_bar__minus_01_dot_59_bar__plus_00_dot_31_bar__plus_01_dot_27 - receptacle + Drawer_bar__minus_02_dot_93_bar__plus_00_dot_16_bar__plus_06_dot_71 - receptacle + Drawer_bar__minus_02_dot_93_bar__plus_00_dot_47_bar__plus_06_dot_71 - receptacle + Drawer_bar__minus_03_dot_48_bar__plus_00_dot_16_bar__plus_06_dot_71 - receptacle + Drawer_bar__minus_03_dot_48_bar__plus_00_dot_47_bar__plus_06_dot_71 - receptacle + Dresser_bar__minus_03_dot_20_bar__minus_00_dot_01_bar__plus_06_dot_79 - receptacle + GarbageCan_bar__minus_00_dot_26_bar__plus_00_dot_00_bar__plus_06_dot_80 - receptacle + Ottoman_bar__minus_02_dot_43_bar__plus_00_dot_03_bar__plus_04_dot_41 - receptacle + SideTable_bar__minus_00_dot_24_bar__plus_00_dot_00_bar__plus_03_dot_52 - receptacle + SideTable_bar__minus_02_dot_07_bar_00_dot_00_bar__plus_06_dot_70 - receptacle + SideTable_bar__minus_04_dot_19_bar_00_dot_00_bar__plus_03_dot_59 - receptacle + Sofa_bar__minus_04_dot_43_bar__plus_00_dot_01_bar__plus_05_dot_06 - receptacle + loc_bar__minus_15_bar_18_bar_2_bar_60 - location + loc_bar__minus_12_bar_23_bar_0_bar_45 - location + loc_bar__minus_18_bar_12_bar_0_bar_60 - location + loc_bar__minus_13_bar_24_bar_0_bar_60 - location + loc_bar__minus_7_bar_24_bar_0_bar_60 - location + loc_bar__minus_10_bar_23_bar_0_bar_45 - location + loc_bar__minus_11_bar_5_bar_1_bar_60 - location + loc_bar__minus_3_bar_26_bar_1_bar_60 - location + loc_bar__minus_6_bar_9_bar_2_bar_60 - location + loc_bar__minus_4_bar_14_bar_1_bar_60 - location + loc_bar__minus_13_bar_21_bar_3_bar_60 - location + loc_bar__minus_9_bar_2_bar_1_bar_60 - location + loc_bar__minus_3_bar_3_bar_1_bar__minus_30 - location + loc_bar__minus_10_bar_20_bar_2_bar_60 - location + loc_bar__minus_10_bar_11_bar_0_bar_60 - location + loc_bar__minus_12_bar_22_bar_0_bar_45 - location + loc_bar__minus_2_bar_6_bar_3_bar_60 - location + loc_bar__minus_6_bar_25_bar_0_bar_60 - location + loc_bar__minus_14_bar_2_bar_2_bar_15 - location + loc_bar__minus_14_bar_22_bar_0_bar_45 - location + loc_bar__minus_15_bar_11_bar_0_bar_60 - location + loc_bar__minus_3_bar_22_bar_1_bar__minus_30 - location + loc_bar__minus_2_bar_7_bar_1_bar_30 - location + loc_bar__minus_3_bar_13_bar_1_bar_60 - location + loc_bar__minus_10_bar_10_bar_0_bar_60 - location + loc_bar__minus_14_bar_19_bar_1_bar_30 - location + ) + + +(:init + + + (receptacleType Ottoman_bar__minus_02_dot_43_bar__plus_00_dot_03_bar__plus_04_dot_41 OttomanType) + (receptacleType Drawer_bar__minus_03_dot_48_bar__plus_00_dot_16_bar__plus_06_dot_71 DrawerType) + (receptacleType ArmChair_bar__minus_03_dot_55_bar__plus_00_dot_00_bar__plus_03_dot_58 ArmChairType) + (receptacleType GarbageCan_bar__minus_00_dot_26_bar__plus_00_dot_00_bar__plus_06_dot_80 GarbageCanType) + (receptacleType SideTable_bar__minus_00_dot_24_bar__plus_00_dot_00_bar__plus_03_dot_52 SideTableType) + (receptacleType Drawer_bar__minus_03_dot_48_bar__plus_00_dot_47_bar__plus_06_dot_71 DrawerType) + (receptacleType DiningTable_bar__minus_01_dot_59_bar__plus_00_dot_31_bar__plus_01_dot_27 DiningTableType) + (receptacleType SideTable_bar__minus_04_dot_19_bar_00_dot_00_bar__plus_03_dot_59 SideTableType) + (receptacleType Drawer_bar__minus_02_dot_93_bar__plus_00_dot_47_bar__plus_06_dot_71 DrawerType) + (receptacleType Drawer_bar__minus_02_dot_93_bar__plus_00_dot_16_bar__plus_06_dot_71 DrawerType) + (receptacleType Dresser_bar__minus_03_dot_20_bar__minus_00_dot_01_bar__plus_06_dot_79 DresserType) + (receptacleType ArmChair_bar__minus_02_dot_45_bar__plus_00_dot_01_bar__plus_03_dot_50 ArmChairType) + (receptacleType SideTable_bar__minus_02_dot_07_bar_00_dot_00_bar__plus_06_dot_70 SideTableType) + (receptacleType Sofa_bar__minus_04_dot_43_bar__plus_00_dot_01_bar__plus_05_dot_06 SofaType) + (objectType Chair_bar__minus_01_dot_08_bar__plus_00_dot_00_bar__plus_01_dot_29 ChairType) + (objectType FloorLamp_bar__minus_04_dot_72_bar__plus_00_dot_00_bar__plus_03_dot_69 FloorLampType) + (objectType Laptop_bar__minus_01_dot_87_bar__plus_00_dot_75_bar__plus_00_dot_99 LaptopType) + (objectType Curtains_bar__minus_00_dot_04_bar__plus_02_dot_15_bar__plus_01_dot_00 CurtainsType) + (objectType WateringCan_bar__minus_00_dot_21_bar_00_dot_00_bar__plus_03_dot_23 WateringCanType) + (objectType RemoteControl_bar__minus_04_dot_12_bar__plus_00_dot_49_bar__plus_03_dot_63 RemoteControlType) + (objectType Chair_bar__minus_01_dot_63_bar__plus_00_dot_00_bar__plus_00_dot_78 ChairType) + (objectType KeyChain_bar__minus_04_dot_30_bar__plus_00_dot_48_bar__plus_05_dot_56 KeyChainType) + (objectType RemoteControl_bar__minus_02_dot_49_bar__plus_00_dot_40_bar__plus_03_dot_70 RemoteControlType) + (objectType LightSwitch_bar__minus_03_dot_48_bar__plus_01_dot_47_bar__plus_00_dot_00 LightSwitchType) + (objectType Laptop_bar__minus_01_dot_68_bar__plus_00_dot_75_bar__plus_01_dot_49 LaptopType) + (objectType Laptop_bar__minus_02_dot_49_bar__plus_00_dot_46_bar__plus_03_dot_63 LaptopType) + (objectType Pillow_bar__minus_04_dot_34_bar__plus_00_dot_47_bar__plus_04_dot_40 PillowType) + (objectType Statue_bar__minus_01_dot_17_bar__plus_00_dot_76_bar__plus_01_dot_70 StatueType) + (objectType Statue_bar__minus_01_dot_17_bar__plus_00_dot_76_bar__plus_01_dot_13 StatueType) + (objectType RemoteControl_bar__minus_01_dot_31_bar__plus_00_dot_76_bar__plus_01_dot_41 RemoteControlType) + (objectType Statue_bar__minus_01_dot_94_bar__plus_00_dot_85_bar__plus_06_dot_70 StatueType) + (objectType Painting_bar__minus_00_dot_02_bar__plus_02_dot_06_bar__plus_05_dot_38 PaintingType) + (objectType Chair_bar__minus_02_dot_15_bar__plus_00_dot_00_bar__plus_01_dot_29 ChairType) + (objectType Watch_bar__minus_01_dot_87_bar__plus_00_dot_76_bar__plus_01_dot_27 WatchType) + (objectType CreditCard_bar__minus_03_dot_05_bar__plus_00_dot_07_bar__plus_06_dot_70 CreditCardType) + (objectType Watch_bar__minus_01_dot_73_bar__plus_00_dot_76_bar__plus_01_dot_70 WatchType) + (objectType DeskLamp_bar__minus_00_dot_26_bar__plus_00_dot_62_bar__plus_03_dot_31 DeskLampType) + (objectType Window_bar__minus_00_dot_01_bar__plus_01_dot_34_bar__plus_01_dot_73 WindowType) + (objectType KeyChain_bar__minus_02_dot_99_bar__plus_00_dot_38_bar__plus_06_dot_72 KeyChainType) + (objectType CreditCard_bar__minus_03_dot_66_bar__plus_00_dot_40_bar__plus_03_dot_81 CreditCardType) + (objectType Television_bar__minus_03_dot_19_bar__plus_01_dot_18_bar__plus_06_dot_78 TelevisionType) + (objectType HousePlant_bar__minus_00_dot_17_bar__plus_00_dot_62_bar__plus_03_dot_99 HousePlantType) + (objectType Chair_bar__minus_01_dot_55_bar__plus_00_dot_00_bar__plus_01_dot_78 ChairType) + (objectType Box_bar__minus_01_dot_61_bar__plus_00_dot_15_bar__plus_06_dot_85 BoxType) + (canContain OttomanType PillowType) + (canContain OttomanType RemoteControlType) + (canContain OttomanType KeyChainType) + (canContain OttomanType LaptopType) + (canContain OttomanType CreditCardType) + (canContain OttomanType BoxType) + (canContain DrawerType KeyChainType) + (canContain DrawerType WatchType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType WateringCanType) + (canContain DrawerType CreditCardType) + (canContain ArmChairType PillowType) + (canContain ArmChairType RemoteControlType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType CreditCardType) + (canContain ArmChairType BoxType) + (canContain SideTableType KeyChainType) + (canContain SideTableType WatchType) + (canContain SideTableType RemoteControlType) + (canContain SideTableType WateringCanType) + (canContain SideTableType CreditCardType) + (canContain SideTableType LaptopType) + (canContain SideTableType StatueType) + (canContain SideTableType BoxType) + (canContain DrawerType KeyChainType) + (canContain DrawerType WatchType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType WateringCanType) + (canContain DrawerType CreditCardType) + (canContain DiningTableType KeyChainType) + (canContain DiningTableType WatchType) + (canContain DiningTableType RemoteControlType) + (canContain DiningTableType WateringCanType) + (canContain DiningTableType CreditCardType) + (canContain DiningTableType LaptopType) + (canContain DiningTableType StatueType) + (canContain DiningTableType BoxType) + (canContain SideTableType KeyChainType) + (canContain SideTableType WatchType) + (canContain SideTableType RemoteControlType) + (canContain SideTableType WateringCanType) + (canContain SideTableType CreditCardType) + (canContain SideTableType LaptopType) + (canContain SideTableType StatueType) + (canContain SideTableType BoxType) + (canContain DrawerType KeyChainType) + (canContain DrawerType WatchType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType WateringCanType) + (canContain DrawerType CreditCardType) + (canContain DrawerType KeyChainType) + (canContain DrawerType WatchType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType WateringCanType) + (canContain DrawerType CreditCardType) + (canContain DresserType KeyChainType) + (canContain DresserType WatchType) + (canContain DresserType RemoteControlType) + (canContain DresserType WateringCanType) + (canContain DresserType CreditCardType) + (canContain DresserType LaptopType) + (canContain DresserType StatueType) + (canContain DresserType BoxType) + (canContain ArmChairType PillowType) + (canContain ArmChairType RemoteControlType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType CreditCardType) + (canContain ArmChairType BoxType) + (canContain SideTableType KeyChainType) + (canContain SideTableType WatchType) + (canContain SideTableType RemoteControlType) + (canContain SideTableType WateringCanType) + (canContain SideTableType CreditCardType) + (canContain SideTableType LaptopType) + (canContain SideTableType StatueType) + (canContain SideTableType BoxType) + (canContain SofaType PillowType) + (canContain SofaType RemoteControlType) + (canContain SofaType KeyChainType) + (canContain SofaType LaptopType) + (canContain SofaType CreditCardType) + (canContain SofaType BoxType) + (pickupable Laptop_bar__minus_01_dot_87_bar__plus_00_dot_75_bar__plus_00_dot_99) + (pickupable WateringCan_bar__minus_00_dot_21_bar_00_dot_00_bar__plus_03_dot_23) + (pickupable RemoteControl_bar__minus_04_dot_12_bar__plus_00_dot_49_bar__plus_03_dot_63) + (pickupable KeyChain_bar__minus_04_dot_30_bar__plus_00_dot_48_bar__plus_05_dot_56) + (pickupable RemoteControl_bar__minus_02_dot_49_bar__plus_00_dot_40_bar__plus_03_dot_70) + (pickupable Laptop_bar__minus_01_dot_68_bar__plus_00_dot_75_bar__plus_01_dot_49) + (pickupable Laptop_bar__minus_02_dot_49_bar__plus_00_dot_46_bar__plus_03_dot_63) + (pickupable Pillow_bar__minus_04_dot_34_bar__plus_00_dot_47_bar__plus_04_dot_40) + (pickupable Statue_bar__minus_01_dot_17_bar__plus_00_dot_76_bar__plus_01_dot_70) + (pickupable Statue_bar__minus_01_dot_17_bar__plus_00_dot_76_bar__plus_01_dot_13) + (pickupable RemoteControl_bar__minus_01_dot_31_bar__plus_00_dot_76_bar__plus_01_dot_41) + (pickupable Statue_bar__minus_01_dot_94_bar__plus_00_dot_85_bar__plus_06_dot_70) + (pickupable Watch_bar__minus_01_dot_87_bar__plus_00_dot_76_bar__plus_01_dot_27) + (pickupable CreditCard_bar__minus_03_dot_05_bar__plus_00_dot_07_bar__plus_06_dot_70) + (pickupable Watch_bar__minus_01_dot_73_bar__plus_00_dot_76_bar__plus_01_dot_70) + (pickupable KeyChain_bar__minus_02_dot_99_bar__plus_00_dot_38_bar__plus_06_dot_72) + (pickupable CreditCard_bar__minus_03_dot_66_bar__plus_00_dot_40_bar__plus_03_dot_81) + (pickupable Box_bar__minus_01_dot_61_bar__plus_00_dot_15_bar__plus_06_dot_85) + (isReceptacleObject Box_bar__minus_01_dot_61_bar__plus_00_dot_15_bar__plus_06_dot_85) + (openable Drawer_bar__minus_03_dot_48_bar__plus_00_dot_16_bar__plus_06_dot_71) + (openable Drawer_bar__minus_03_dot_48_bar__plus_00_dot_47_bar__plus_06_dot_71) + (openable Drawer_bar__minus_02_dot_93_bar__plus_00_dot_47_bar__plus_06_dot_71) + (openable Drawer_bar__minus_02_dot_93_bar__plus_00_dot_16_bar__plus_06_dot_71) + + (atLocation agent1 loc_bar__minus_14_bar_19_bar_1_bar_30) + + + + + + + + (toggleable FloorLamp_bar__minus_04_dot_72_bar__plus_00_dot_00_bar__plus_03_dot_69) + (toggleable DeskLamp_bar__minus_00_dot_26_bar__plus_00_dot_62_bar__plus_03_dot_31) + + + + + (inReceptacle CreditCard_bar__minus_03_dot_66_bar__plus_00_dot_40_bar__plus_03_dot_81 ArmChair_bar__minus_03_dot_55_bar__plus_00_dot_00_bar__plus_03_dot_58) + (inReceptacle CreditCard_bar__minus_03_dot_05_bar__plus_00_dot_07_bar__plus_06_dot_70 Drawer_bar__minus_02_dot_93_bar__plus_00_dot_16_bar__plus_06_dot_71) + (inReceptacle Statue_bar__minus_01_dot_17_bar__plus_00_dot_76_bar__plus_01_dot_70 DiningTable_bar__minus_01_dot_59_bar__plus_00_dot_31_bar__plus_01_dot_27) + (inReceptacle Watch_bar__minus_01_dot_87_bar__plus_00_dot_76_bar__plus_01_dot_27 DiningTable_bar__minus_01_dot_59_bar__plus_00_dot_31_bar__plus_01_dot_27) + (inReceptacle Statue_bar__minus_01_dot_17_bar__plus_00_dot_76_bar__plus_01_dot_13 DiningTable_bar__minus_01_dot_59_bar__plus_00_dot_31_bar__plus_01_dot_27) + (inReceptacle Watch_bar__minus_01_dot_73_bar__plus_00_dot_76_bar__plus_01_dot_70 DiningTable_bar__minus_01_dot_59_bar__plus_00_dot_31_bar__plus_01_dot_27) + (inReceptacle Laptop_bar__minus_01_dot_87_bar__plus_00_dot_75_bar__plus_00_dot_99 DiningTable_bar__minus_01_dot_59_bar__plus_00_dot_31_bar__plus_01_dot_27) + (inReceptacle Laptop_bar__minus_01_dot_68_bar__plus_00_dot_75_bar__plus_01_dot_49 DiningTable_bar__minus_01_dot_59_bar__plus_00_dot_31_bar__plus_01_dot_27) + (inReceptacle RemoteControl_bar__minus_01_dot_31_bar__plus_00_dot_76_bar__plus_01_dot_41 DiningTable_bar__minus_01_dot_59_bar__plus_00_dot_31_bar__plus_01_dot_27) + (inReceptacle Statue_bar__minus_01_dot_94_bar__plus_00_dot_85_bar__plus_06_dot_70 SideTable_bar__minus_02_dot_07_bar_00_dot_00_bar__plus_06_dot_70) + (inReceptacle HousePlant_bar__minus_00_dot_17_bar__plus_00_dot_62_bar__plus_03_dot_99 SideTable_bar__minus_00_dot_24_bar__plus_00_dot_00_bar__plus_03_dot_52) + (inReceptacle DeskLamp_bar__minus_00_dot_26_bar__plus_00_dot_62_bar__plus_03_dot_31 SideTable_bar__minus_00_dot_24_bar__plus_00_dot_00_bar__plus_03_dot_52) + (inReceptacle KeyChain_bar__minus_02_dot_99_bar__plus_00_dot_38_bar__plus_06_dot_72 Drawer_bar__minus_02_dot_93_bar__plus_00_dot_47_bar__plus_06_dot_71) + (inReceptacle Television_bar__minus_03_dot_19_bar__plus_01_dot_18_bar__plus_06_dot_78 Dresser_bar__minus_03_dot_20_bar__minus_00_dot_01_bar__plus_06_dot_79) + (inReceptacle Laptop_bar__minus_02_dot_49_bar__plus_00_dot_46_bar__plus_03_dot_63 ArmChair_bar__minus_02_dot_45_bar__plus_00_dot_01_bar__plus_03_dot_50) + (inReceptacle KeyChain_bar__minus_04_dot_30_bar__plus_00_dot_48_bar__plus_05_dot_56 Sofa_bar__minus_04_dot_43_bar__plus_00_dot_01_bar__plus_05_dot_06) + (inReceptacle Pillow_bar__minus_04_dot_34_bar__plus_00_dot_47_bar__plus_04_dot_40 Sofa_bar__minus_04_dot_43_bar__plus_00_dot_01_bar__plus_05_dot_06) + (inReceptacle RemoteControl_bar__minus_04_dot_12_bar__plus_00_dot_49_bar__plus_03_dot_63 SideTable_bar__minus_04_dot_19_bar_00_dot_00_bar__plus_03_dot_59) + + + (receptacleAtLocation ArmChair_bar__minus_02_dot_45_bar__plus_00_dot_01_bar__plus_03_dot_50 loc_bar__minus_10_bar_10_bar_0_bar_60) + (receptacleAtLocation ArmChair_bar__minus_03_dot_55_bar__plus_00_dot_00_bar__plus_03_dot_58 loc_bar__minus_15_bar_18_bar_2_bar_60) + (receptacleAtLocation DiningTable_bar__minus_01_dot_59_bar__plus_00_dot_31_bar__plus_01_dot_27 loc_bar__minus_6_bar_9_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__minus_02_dot_93_bar__plus_00_dot_16_bar__plus_06_dot_71 loc_bar__minus_14_bar_22_bar_0_bar_45) + (receptacleAtLocation Drawer_bar__minus_02_dot_93_bar__plus_00_dot_47_bar__plus_06_dot_71 loc_bar__minus_10_bar_23_bar_0_bar_45) + (receptacleAtLocation Drawer_bar__minus_03_dot_48_bar__plus_00_dot_16_bar__plus_06_dot_71 loc_bar__minus_12_bar_22_bar_0_bar_45) + (receptacleAtLocation Drawer_bar__minus_03_dot_48_bar__plus_00_dot_47_bar__plus_06_dot_71 loc_bar__minus_12_bar_23_bar_0_bar_45) + (receptacleAtLocation Dresser_bar__minus_03_dot_20_bar__minus_00_dot_01_bar__plus_06_dot_79 loc_bar__minus_13_bar_24_bar_0_bar_60) + (receptacleAtLocation GarbageCan_bar__minus_00_dot_26_bar__plus_00_dot_00_bar__plus_06_dot_80 loc_bar__minus_3_bar_26_bar_1_bar_60) + (receptacleAtLocation Ottoman_bar__minus_02_dot_43_bar__plus_00_dot_03_bar__plus_04_dot_41 loc_bar__minus_10_bar_20_bar_2_bar_60) + (receptacleAtLocation SideTable_bar__minus_00_dot_24_bar__plus_00_dot_00_bar__plus_03_dot_52 loc_bar__minus_4_bar_14_bar_1_bar_60) + (receptacleAtLocation SideTable_bar__minus_02_dot_07_bar_00_dot_00_bar__plus_06_dot_70 loc_bar__minus_7_bar_24_bar_0_bar_60) + (receptacleAtLocation SideTable_bar__minus_04_dot_19_bar_00_dot_00_bar__plus_03_dot_59 loc_bar__minus_15_bar_11_bar_0_bar_60) + (receptacleAtLocation Sofa_bar__minus_04_dot_43_bar__plus_00_dot_01_bar__plus_05_dot_06 loc_bar__minus_13_bar_21_bar_3_bar_60) + (objectAtLocation RemoteControl_bar__minus_01_dot_31_bar__plus_00_dot_76_bar__plus_01_dot_41 loc_bar__minus_6_bar_9_bar_2_bar_60) + (objectAtLocation KeyChain_bar__minus_04_dot_30_bar__plus_00_dot_48_bar__plus_05_dot_56 loc_bar__minus_13_bar_21_bar_3_bar_60) + (objectAtLocation CreditCard_bar__minus_03_dot_66_bar__plus_00_dot_40_bar__plus_03_dot_81 loc_bar__minus_15_bar_18_bar_2_bar_60) + (objectAtLocation Laptop_bar__minus_01_dot_68_bar__plus_00_dot_75_bar__plus_01_dot_49 loc_bar__minus_6_bar_9_bar_2_bar_60) + (objectAtLocation Watch_bar__minus_01_dot_87_bar__plus_00_dot_76_bar__plus_01_dot_27 loc_bar__minus_6_bar_9_bar_2_bar_60) + (objectAtLocation Statue_bar__minus_01_dot_17_bar__plus_00_dot_76_bar__plus_01_dot_70 loc_bar__minus_6_bar_9_bar_2_bar_60) + (objectAtLocation Laptop_bar__minus_01_dot_87_bar__plus_00_dot_75_bar__plus_00_dot_99 loc_bar__minus_6_bar_9_bar_2_bar_60) + (objectAtLocation RemoteControl_bar__minus_04_dot_12_bar__plus_00_dot_49_bar__plus_03_dot_63 loc_bar__minus_15_bar_11_bar_0_bar_60) + (objectAtLocation Statue_bar__minus_01_dot_17_bar__plus_00_dot_76_bar__plus_01_dot_13 loc_bar__minus_6_bar_9_bar_2_bar_60) + (objectAtLocation Curtains_bar__minus_00_dot_04_bar__plus_02_dot_15_bar__plus_01_dot_00 loc_bar__minus_3_bar_3_bar_1_bar__minus_30) + (objectAtLocation Box_bar__minus_01_dot_61_bar__plus_00_dot_15_bar__plus_06_dot_85 loc_bar__minus_6_bar_25_bar_0_bar_60) + (objectAtLocation Chair_bar__minus_01_dot_63_bar__plus_00_dot_00_bar__plus_00_dot_78 loc_bar__minus_9_bar_2_bar_1_bar_60) + (objectAtLocation Chair_bar__minus_02_dot_15_bar__plus_00_dot_00_bar__plus_01_dot_29 loc_bar__minus_11_bar_5_bar_1_bar_60) + (objectAtLocation Painting_bar__minus_00_dot_02_bar__plus_02_dot_06_bar__plus_05_dot_38 loc_bar__minus_3_bar_22_bar_1_bar__minus_30) + (objectAtLocation Chair_bar__minus_01_dot_55_bar__plus_00_dot_00_bar__plus_01_dot_78 loc_bar__minus_6_bar_9_bar_2_bar_60) + (objectAtLocation Chair_bar__minus_01_dot_08_bar__plus_00_dot_00_bar__plus_01_dot_29 loc_bar__minus_2_bar_6_bar_3_bar_60) + (objectAtLocation Statue_bar__minus_01_dot_94_bar__plus_00_dot_85_bar__plus_06_dot_70 loc_bar__minus_7_bar_24_bar_0_bar_60) + (objectAtLocation Watch_bar__minus_01_dot_73_bar__plus_00_dot_76_bar__plus_01_dot_70 loc_bar__minus_6_bar_9_bar_2_bar_60) + (objectAtLocation FloorLamp_bar__minus_04_dot_72_bar__plus_00_dot_00_bar__plus_03_dot_69 loc_bar__minus_18_bar_12_bar_0_bar_60) + (objectAtLocation WateringCan_bar__minus_00_dot_21_bar_00_dot_00_bar__plus_03_dot_23 loc_bar__minus_3_bar_13_bar_1_bar_60) + (objectAtLocation Laptop_bar__minus_02_dot_49_bar__plus_00_dot_46_bar__plus_03_dot_63 loc_bar__minus_10_bar_10_bar_0_bar_60) + (objectAtLocation Television_bar__minus_03_dot_19_bar__plus_01_dot_18_bar__plus_06_dot_78 loc_bar__minus_13_bar_24_bar_0_bar_60) + (objectAtLocation 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loc_bar__minus_2_bar_7_bar_1_bar_30) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o1 - object) + (and + (objectType ?o1 WatchType) + (receptacleType ?r DresserType) + (inReceptacle ?o1 ?r) + (exists (?o2 - object) + (and + (not (= ?o1 ?o2)) + (objectType ?o2 WatchType) + (receptacleType ?r DresserType) + (inReceptacle ?o2 ?r) + ) + ) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/valid_seen/pick_two_obj_and_place-Watch-None-Dresser-205/trial_T20190907_182211_592010/traj_data.json b/data/alfworld/json_2.1.1/valid_seen/pick_two_obj_and_place-Watch-None-Dresser-205/trial_T20190907_182211_592010/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..a260aaff505f3cf4e920cac97a7daf7b95e09451 --- /dev/null +++ b/data/alfworld/json_2.1.1/valid_seen/pick_two_obj_and_place-Watch-None-Dresser-205/trial_T20190907_182211_592010/traj_data.json @@ -0,0 +1,6764 @@ +{ + "images": [ + { + "high_idx": 0, + 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